CN106733525A - A kind of method and device of the automatically dropping glue based on dual camera - Google Patents
A kind of method and device of the automatically dropping glue based on dual camera Download PDFInfo
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- CN106733525A CN106733525A CN201611048385.4A CN201611048385A CN106733525A CN 106733525 A CN106733525 A CN 106733525A CN 201611048385 A CN201611048385 A CN 201611048385A CN 106733525 A CN106733525 A CN 106733525A
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- 239000003292 glue Substances 0.000 title claims abstract description 34
- 230000000875 corresponding Effects 0.000 claims abstract description 29
- 239000000853 adhesive Substances 0.000 claims abstract description 23
- 230000001070 adhesive Effects 0.000 claims abstract description 23
- 238000006243 chemical reaction Methods 0.000 claims description 14
- 238000003702 image correction Methods 0.000 claims description 3
- 230000004438 eyesight Effects 0.000 abstract description 18
- 241000894007 species Species 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 11
- 238000005516 engineering process Methods 0.000 description 7
- 238000004519 manufacturing process Methods 0.000 description 5
- 238000001514 detection method Methods 0.000 description 2
- 229920000591 gum Polymers 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 238000002360 preparation method Methods 0.000 description 2
- 210000004556 Brain Anatomy 0.000 description 1
- 210000001138 Tears Anatomy 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- -1 it can be solved Substances 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
- 230000001737 promoting Effects 0.000 description 1
- 238000004805 robotic Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 235000010384 tocopherol Nutrition 0.000 description 1
- 235000019731 tricalcium phosphate Nutrition 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05D—PROCESSES FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05D1/00—Processes for applying liquids or other fluent materials
- B05D1/26—Processes for applying liquids or other fluent materials performed by applying the liquid or other fluent material from an outlet device in contact with, or almost in contact with, the surface
-
- 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
-
- 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
Abstract
The invention discloses a kind of method and device of the automatically dropping glue based on dual camera, the method is comprised the following steps：S1：Current panorama image information is obtained by a full-view camera, the panorama image information includes workpiece information and Work position information corresponding with workpiece；S2：Close-up shot is moved at corresponding workpiece according to the Work position information for getting, and obtains the image feature information of workpiece；S3：The image feature information that will be got according to template matching algorithm carries out characteristic matching to obtain corresponding workpiece type, the anglec of rotation and dispensing track with workpiece template；S4：Workpiece type, the anglec of rotation and the dispensing track that will be got are transmitted to adhesive dispensing robot, and control the adhesive dispensing robot to carry out dispensing operation.Intelligent adhesive dispensing robot based on dual camera vision guide of the invention, can autonomous classification workpiece species and positioning dispensing track, and guide the mechanical arm to carry out dispensing Job Operations, and automatic identification dispensing quality.
Description
Technical field
The invention belongs to technical field of robot control, more particularly to a kind of method of the automatically dropping glue based on dual camera
And device.
Background technology
With the development of modern society, the requirement such as product quality, production efficiency, working condition, environment is improved constantly, intelligence
Energyization, automation, robotization are the inexorable trends of industrial development, and machine vision technique is the core skill for promoting its development
Art.Vision guide technology based on machine vision and image procossing is dissolved into robot, is made by machine vision technique
Robot has the acquisition of information function to surrounding environment especially object, and control system is carried out according to the information for obtaining
Set, achieve the detection to target object, position and autonomous function for dispensing glue.The success of many visions and image algorithm should
With the level of intelligence for being obviously improved robot, and robot carries out real-time for dispensing glue, accuracy and steady to object in itself
It is qualitative, it is also that robot is embodied using the standard that vision guide carries out intelligence level of intelligence for dispensing glue.
Increasingly rise due to cost of labor and the big pressure of workman's mobility, many manufacturing enterprises put forth effort to introduce intelligent machine
Device people, and in actual industrial production, main method is side in advance using the programming setting movement locus based on teaching
Formula, by regulation path and motion planning so as to complete required task, in this process, robot is simply to be repeatedly carried out
The good algorithm routine of advance staff establishment, completes each step action of program setting.Once the state or machine of process object
Some changes in device people's working environment, existing demonstration teaching generally lacks enough understanding to these changes, is not easy to do
Appropriate adjustment, causes crudy to meet requirement, or even cannot work on, and this environmental change is very likely
Occur, such as human users are improper, clamp wear etc..
Numerous productions and assembling enterprise need to carry out a glue process, and in the market part factory has been incorporated into traditional point
Glue robot, i.e., set movement locus using teaching in advance, and task is completed by regulation path and motion planning.Mainly face several
Problem：1) requirement of adhesive dispensing device people operating technology is high, and operating personnel need extra training；2) equipment use cost is high, each product
Needing customization fixture causes the use cost to increase, and fixture easily weares and teares；3) dispensing precision is low, and product needed operating personnel are pre-
It is first point-device to be put into fixture, operating personnel slightly neglect be easily caused dispensing deviation, 4) practical range is poor, factory is because of product
The reason such as kind class is more, product dispensing track is complicated, fixture use cost is high, leads to not be fully introduced into adhesive dispensing robot substitution
Artificial operation.
The content of the invention
In order to overcome the deficiencies in the prior art, an object of the present invention is to provide a kind of based on the automatic of dual camera
Method for dispensing glue, it can be solved, and product clamper is pre-aligned, reduces operator's technical requirements and improves the technology of dispensing speed
Problem.
The second object of the present invention is to provide a kind of device of the automatically dropping glue based on dual camera, and it can solve product
Fixture is pre-aligned, reduces operator's technical requirements and improves the technical problem of dispensing speed.
An object of the present invention is realized using following technical scheme：
A kind of method of the automatically dropping glue based on dual camera, comprises the following steps：
S1：Current panorama image information is obtained by a full-view camera, the panorama image information includes and workpiece
Corresponding Work position information；
S2：Close-up shot is moved at corresponding workpiece according to the Work position information for getting, and obtains workpiece
Image feature information；
S3：The image feature information that will be got according to template matching algorithm carries out characteristic matching to obtain with workpiece template
Corresponding workpiece type, the anglec of rotation and dispensing track；
S4：Workpiece type, the anglec of rotation and the dispensing track that will be got are transmitted to adhesive dispensing robot, and control point gum machine
Device people carries out dispensing operation.
Preferably, S20 is also included between step S1 and step S2：
S20：Panorama image information is corrected according to a distortion parameter, the distortion parameter is obtained by image calibration method
Obtain.Its deviation that can further repair image.
Preferably, the image calibration method employed in step S20 is Zhang Zhengyou scaling methods.It can further be disclosed
The method of image calibration.
Preferably, step S2 specifically includes following sub-step：
S21：Close-up shot is moved at corresponding workpiece according to the Work position information for getting；
S22：Obtain current workpiece image information；
S23：The workpiece image information is corrected by a distortion parameter；
S24：The image feature information of workpiece is obtained according to the workpiece image information after correction.It further discloses step
The sub-step of S2.
Preferably, step S1 specifically includes following sub-step：
S11：Current panorama image information is obtained by a full-view camera；
S12：The position of the central point of workpiece in the panorama image information for getting is determined according to template matching algorithm,
S13：The center of workpiece is converted into the Work position information under robot coordinate system.Its further public affairs
The sub-step of step S1 is opened.
Preferably, step S31 is also included between step S3 and step S4：
S31：Image feature information is converted to according to Work position information for image feature information under robot coordinate system.
Its technical problem that can further solve coordinate system conversion.
Preferably, it is further comprising the steps of after step s4：
S5：Obtain by the dispensing image information after adhesive dispensing robot dispensing；
S6：Judge whether dispensing result is qualified according to dispensing image template, if it is, output is qualified；If it is not, then
Output is unqualified.It further discloses dispensing verification step.
The second object of the present invention is realized using following technical scheme：
A kind of device of the automatically dropping glue based on dual camera, including with lower module：
Panorama acquisition module：For obtaining current panorama image information, the panoramic picture by a full-view camera
Information includes workpiece information and Work position information corresponding with workpiece；
Workpiece acquisition module：For close-up shot to be moved into corresponding workpiece according to the Work position information for getting
Place, and obtain the image feature information of workpiece；
Template matches module：Image feature information and workpiece template for will be got according to template matching algorithm are carried out
Characteristic matching is obtaining corresponding workpiece type, the anglec of rotation and dispensing track；
Dispensing operation module：Workpiece type, the anglec of rotation and the dispensing track that will be got are transmitted to adhesive dispensing robot, and
Control adhesive dispensing robot carries out dispensing operation.
Preferably, the workpiece acquisition module specifically includes following submodule：
Mobile module：For close-up shot to be moved at corresponding workpiece according to the Work position information for getting；
Data obtaining module：Obtain current workpiece image information；
Image correction module：The workpiece image information is corrected by a distortion parameter；
Info conversion module：Image feature information for obtaining workpiece according to the workpiece image information after correction.
Preferably, also include with lower module after dispensing operation module：
Dispensing image collection module：For obtaining by the dispensing image information after adhesive dispensing robot dispensing；
Judge module：For judging whether dispensing result is qualified according to dispensing image template, if it is, output is closed
Lattice；If it is not, then output is unqualified.
Compared to existing technology, the beneficial effects of the present invention are：
Intelligent adhesive dispensing robot based on dual camera vision guide of the invention, by after the simple teaching of early stage, can
Autonomous classification workpiece species, automatic identification positioning dispensing track, and guide the mechanical arm to carry out dispensing Job Operations, dispensing behaviour
After finishing, can automatic identification dispensing quality, defective work is rejected in guiding, is the robot with eyes and brain, its intelligence
The suitable height of degree can be changed, dispensing operative employee, and adhesive dispensing robot of the invention can be replaced completely to factory and product
Adaptability is good, using simple to operate, with good generalization；And the present invention can solve the problem that three subject matters：Save product
The pre-aligned link of product fixture, reduces operator's technical requirements, improves dispensing speed and precision.
Brief description of the drawings
Fig. 1 is the method for the automatically dropping glue based on dual camera of the invention；
Fig. 2 is the device of the automatically dropping glue based on dual camera of the invention.
Specific embodiment
Below, with reference to accompanying drawing and specific embodiment, the present invention is described further：
As shown in figure 1, a kind of method of automatically dropping glue based on dual camera of the invention, comprises the following steps：
S1：Current panorama image information is obtained by a full-view camera, the panorama image information includes and workpiece
Corresponding Work position information；In embodiment, the positioning of workpiece is completed by panoramic camera, is taken pictures by panoramic camera,
Recognized by vision software, obtained so currently producing position of the workpiece centre point in picture, and these central points are believed
Breath is converted into the value of robot coordinate system, and feature camera of the guiding in robot carries out track fixation and recognition；
In order to realize workpiece fixation and recognition, it is necessary to do two parts work, Part I works for workpiece typing, is accurate early stage
Standby work, each product is taken pictures with panoramic camera, preserves image masterplate, and input database；Part II is known for part
Work is not positioned, is normal production work, after workpiece feeding, ordered by starting, it is disposable to all workpiece on operating desk
Panorama is taken pictures, and the product of current production is identified from distant view photograph, and obtains the position of the product center point in picture.
According to stencil matching algorithm, the center position of all workpiece on workbench can be found out, for guiding feature video camera to take pictures.
By distant view photograph, each workpiece centre (robot coordinate system's) coordinate position on the table is obtained, so that vectoring aircraft
Device people is taken pictures and track positioning one by one with feature video camera to workpiece.
The positioning of workpiece is only intended to due to panoramic camera, as long as ensureing that feature video camera can completely photograph work
Part, therefore its positioning precision need not be very accurate, and application is met by typically accomplishing 1mm or so.
Step S1 specifically includes following sub-step：
S11：Current panorama image information is obtained by a full-view camera；
S20：Panorama image information is corrected according to a distortion parameter, the distortion parameter is obtained by image calibration method
Obtain.The image calibration orientation for wherein using for Zhang Zhengyou standardizations using vision technique come guided robot, it is necessary to first
Accomplish shot by camera to image can reduce object in space, the image that preferable situation is arrived for shot by camera with
There is a kind of simple linear relationship between object in three dimensions.But it is photosensitive due to video camera packaging technology in itself
, there is mobile deviation according to the object of the picture into imaging and reality in the reasons such as the production technology of chip, the kind technique of camera lens,
This deviation is generally termed distortion.
Different factors according into distortion phenomenon it is different, the distortion factor that general camera lens reason is introduced is maximum, referred to as footpath
To distortion, this project uses the short-focus lens of 8mm, therefore there is picture tubular distortion phenomenon.Except the short-focus mirror of 8mm
Head, can also be required for carrying out Picture Calibration using other camera lenses using different camera lenses.
Therefore, camera views are corrected, its process is broadly divided into two steps, and the first step is staking-out work, used as preceding
Phase preparation, the conversion parameter for extracting picture；Second step is correction work, after collecting camera image, using distortion
Parameter is calculated, and restores real image frame.In calibration process, the scheme of the Zhang Zhengyou of use：It is based primarily upon
OpenCV algorithms libraries realize that scaling board uses the round dot scaling board of 7*7, the craft precision of scaling board to select 1um.Calibration algorithm base
This flow is as follows：
A) scaling board is positioned over each position within the vision, is taken pictures；
B) characteristic point in each image is detected；
C) intrinsic parameter and outer parameter of video camera are obtained according to characteristic point；
D) distortion factor is obtained according to inside and outside parameter；
E) last Optimal Parameters, reduce operand, it is ensured that correction accuracy.
To feature camera positioning accuracy request highest, the positioning according to feature camera is, it is necessary to guided robot is accurate for the demarcation
The dispensing path of workpiece is really navigated to, is required according to normal process, its positioning precision needs control within 0.1mm.With mark
The photo that fixed board shoots is placed in the file of regulation, is imported for calibration software and calculating is used.When scaling board is placed, it is desirable to
All field ranges of camera can be covered, to obtain most accurate calibrating parameters.
S12：The position of the central point of workpiece in the panorama image information for getting is determined according to template matching algorithm；
S13：The center of workpiece is converted into the Work position information under robot coordinate system.In order that vision
Accurately guided robot can operate, workpiece position in the picture must be converted into the coordinate of robot by vision system
Position.Arbitrfary point i.e. in image, by conversion formula, can obtain the point that robot coordinate is fastened, therefore coordinate system is changed
Work as the premise of vision guide works.
Worked, it is necessary to do two parts to realize that coordinate system is changed, Part I is the staking-out work of vision and robot,
By staking-out work, coordinate system conversion formula is obtained, Part II is conversion work, during normal work, work is obtained in the picture
After part and dispensing tracing point, the point of robot coordinate system is switched to by conversion formula.
Conventional scaling scheme, using calibration tool, the artificial top by teaching machine control robot, alignment demarcates work
3 central points of index point on tool, record the coordinate value of this corresponding robot of 3 index points respectively, then use video camera
These three o'clocks are filmed in a picture, the central point of these three points is searched in picture, so as to obtain this 3 marks
Coordinate value in the robot coordinate value and image of will point, is calculated coordinate system conversion formula, for panorama by this 3 values
Camera and close-up shot are equally applicable
Due to having panoramic camera and feature video camera in the present invention, panoramic camera is fixed installation, therefore according to upper
The mode of stating obtains coordinate system conversion formula, and above-mentioned conversion formula conversion can be used directly when using.Feature video camera is fixed on Z axis
On, its X, the position of Y, Z changes with the change in location of robot, therefore, when its coordinate system is changed, the coordinate of image is base
In the relative position of the coordinate of photo opportunity device people, it is necessary to be changed on the basis of picture-taking position when coordinate system is changed, that is to say needs
To carry out the conversion of coordinate system again on the basis of the position of the central point of workpiece in panorama image information；Visual coordinate system is
The workpiece that video camera is photographed position coordinates in the picture, robot coordinate system refer to control be singly controlled it is for dispensing glue
When dispensing coordinate.
S2：Close-up shot is moved at corresponding workpiece according to the Work position information for getting, and obtains workpiece
Image feature information；Step S2 specifically includes following sub-step：
S21：Close-up shot is moved at corresponding workpiece according to the Work position information for getting；
S22：Obtain current workpiece image information；
S23：The workpiece image information is corrected by a distortion parameter；
S24：The image feature information of workpiece is obtained according to the workpiece image information after correction.
S3：The image feature information that will be got according to template matching algorithm carries out characteristic matching to obtain with workpiece template
Corresponding workpiece type, the anglec of rotation and dispensing track；The dispensing track of workpiece, is recognized by feature video camera and positioned, feature
After video camera is individually taken pictures to each workpiece, dispensing track of the workpiece in picture is first recognized, then the dispensing track in picture
The track of robot coordinate system is converted to, is finally downloaded on robot controller, so as to guide dispensing.
In order to realize track positioning, guiding dispensing function, it is necessary to complete two parts work, Part I is dispensing track mould
Version sets up work, and used as preliminary preparation, Part II is identification orientation direction work, is realized as in normal work.Point
Glue track masterplate sets up work, it is necessary to be taken pictures to workpiece with feature camera in advance, and dispensing path is set on image
Track, and setting dispensing is highly, according to the track drawn on workpiece, software changes into the track of robot automatically, can be by " fixed
Position tracing point " makes robot syringe needle be automatically positioned the physical location of workpiece, confirms for detecting.When robot is normally generated,
Taken pictures by feature video camera, by photo and the workpiece stencil matching principle that pre-builds, obtain workpiece in current photo
Exact position and the anglec of rotation, so that the positional information of track in masterplate is transformed into the dispensing track letter of workpiece in current photo
These trace informations, are then transformed into robot coordinate track by breath again, download to robot controller, guided robot fortune
OK.The positioning for guiding dispensing track of feature video camera, its positioning accuracy request is very high, is typically not less than 0.1mm.
S31：Image feature information is converted to according to Work position information for image feature information under robot coordinate system.
S4：Workpiece type, the anglec of rotation and the dispensing track that will be got are transmitted to adhesive dispensing robot, and control point gum machine
Device people carries out dispensing operation.Vision guide robot motion, generates dispensing movement locus, by robot control by vision system software
Device processed realizes movement locus.
Special motion controller is used in this stage, as long as starting point, terminal, the line of the agreement input trajectory according to regulation
Type, track is completed by controller and is implemented, complete the interpolation work of track process point.According to robotic vision system
The communications protocol arranged with robot controller, both sides are communicated by network interface, the custom protocol based on TCP/IP, the pass of agreement
Key byte is：The dispensing track of each workpiece is disposably sent to robot by point sequence number, point coordinates, vertex type, vision system
Controller, after robot control receives track, performs since first point, to the last 1 point, after the completion of motion, has been given
Into signal.After vision system receives completion signal, continuation is taken pictures to next industry control, track identification.
S5：Obtain by the dispensing image information after adhesive dispensing robot dispensing；
S6：Judge whether dispensing result is qualified according to dispensing image template, if it is, output is qualified；If it is not, then
Output is unqualified.After the completion of dispensing operation, according to technological requirement, generally require carries out quality inspection to dispensing track, detects the presence of disconnected
The phenomenon such as glue, few glue, many glue, to ensure the assembling quality of product.This function can be as the upgrade function of this project, to improve product
The added value of product, to reduce by a quality inspection workman.Because glue is generally water white transparency fluid, while existing irregular reflective
Phenomenon.
In order to accurately detection Jiao Lu, using suitable vision light source, enable glue uniform reflective, using spy
Write video camera and shoot dispensing track, so as to accurately detect dispensing quality condition.
As shown in Fig. 2 a kind of device of automatically dropping glue based on dual camera of the invention, including with lower module：
Panorama acquisition module：For obtaining current panorama image information, the panoramic picture by a full-view camera
Information includes workpiece information and Work position information corresponding with workpiece；
Workpiece acquisition module：For close-up shot to be moved into corresponding workpiece according to the Work position information for getting
Place, and obtain the image feature information of workpiece；The workpiece acquisition module specifically includes following submodule：
Mobile module：For close-up shot to be moved at corresponding workpiece according to the Work position information for getting；
Data obtaining module：Obtain current workpiece image information；
Image correction module：The workpiece image information is corrected by a distortion parameter；
Info conversion module：Image feature information for obtaining workpiece according to the workpiece image information after correction.
Template matches module：Image feature information and workpiece template for will be got according to template matching algorithm are carried out
Characteristic matching is obtaining corresponding workpiece type, the anglec of rotation and dispensing track；
Dispensing operation module：Workpiece type, the anglec of rotation and the dispensing track that will be got are transmitted to adhesive dispensing robot, and
Control adhesive dispensing robot carries out dispensing operation.
Dispensing image collection module：For obtaining by the dispensing image information after adhesive dispensing robot dispensing；
Judge module：For judging whether dispensing result is qualified according to dispensing image template, if it is, output is closed
Lattice；If it is not, then output is unqualified.
It will be apparent to those skilled in the art that technical scheme that can be as described above and design, make other various
It is corresponding to change and deformation, and all these change and deformation should all belong to the protection domain of the claims in the present invention
Within.
Claims (10)
1. a kind of method of the automatically dropping glue based on dual camera, it is characterised in that comprise the following steps：
S1：Current panorama image information is obtained by a full-view camera, the panorama image information includes corresponding with workpiece
Work position information；
S2：Close-up shot is moved at corresponding workpiece according to the Work position information for getting, and obtains the figure of workpiece
As characteristic information；
S3：The image feature information that will be got according to template matching algorithm carries out characteristic matching to obtain phase with a workpiece template
Corresponding workpiece type, the anglec of rotation and dispensing track；
S4：Workpiece type, the anglec of rotation and the dispensing track that will be got are transmitted to adhesive dispensing robot, and control adhesive dispensing robot
Carry out dispensing operation.
2. the method for the automatically dropping glue of dual camera is based on as claimed in claim 1, it is characterised in that step S1 is specifically included
Following sub-step：
S11：Current panorama image information is obtained by a full-view camera；
S12：The position of the central point of workpiece in the panorama image information for getting is determined according to template matching algorithm；
S13：The center of workpiece is converted into the Work position information under robot coordinate system.
3. the method for the automatically dropping glue of dual camera is based on as claimed in claim 2, it is characterised in that step S11 and step
Also include S20 between S12：
S20：Panorama image information is corrected according to a distortion parameter, the distortion parameter is obtained by image calibration method
Arrive.
4. the method for the automatically dropping glue of dual camera is based on as claimed in claim 3, it is characterised in that
Image calibration method employed in step S20 is Zhang Zhengyou scaling methods.
5. the method for the automatically dropping glue of dual camera is based on as claimed in claim 1, it is characterised in that step S2 is specifically included
Following sub-step：
S21：Close-up shot is moved at corresponding workpiece according to the Work position information for getting；
S22：Obtain current workpiece image information；
S23：The workpiece image information is corrected by a distortion parameter；
S24：The image feature information of workpiece is obtained according to the workpiece image information after correction.
6. the method for the automatically dropping glue of dual camera is based on as claimed in claim 1, it is characterised in that step S3 and step S4
Between also include step S31：
S31：Image feature information is converted to according to Work position information for image feature information under robot coordinate system.
7. the method for the automatically dropping glue of dual camera is based on as claimed in claim 1, it is characterised in that after step s4 also
Comprise the following steps：
S5：Obtain by the dispensing image information after adhesive dispensing robot dispensing；
S6：Judge whether dispensing result is qualified according to dispensing image template, if it is, output is qualified；If it is not, then output
It is unqualified.
8. a kind of device of the automatically dropping glue based on dual camera, it is characterised in that including with lower module：
Panorama acquisition module：For obtaining current panorama image information, the panorama image information by a full-view camera
Including Work position information corresponding with workpiece；
Workpiece acquisition module：For close-up shot to be moved at corresponding workpiece according to the Work position information for getting,
And obtain the image feature information of workpiece；
Template matches module：Image feature information and a workpiece template for will be got according to template matching algorithm carry out spy
Matching is levied to obtain corresponding workpiece type, the anglec of rotation and dispensing track；
Dispensing operation module：Workpiece type, the anglec of rotation and the dispensing track that will be got are transmitted to adhesive dispensing robot, and are controlled
Adhesive dispensing robot carries out dispensing operation.
9. the device of the automatically dropping glue of dual camera is based on as claimed in claim 8, it is characterised in that the workpiece obtains mould
Block specifically includes following submodule：
Mobile module：For close-up shot to be moved at corresponding workpiece according to the Work position information for getting；
Data obtaining module：Obtain current workpiece image information；
Image correction module：The workpiece image information is corrected by a distortion parameter；
Info conversion module：Image feature information for obtaining workpiece according to the workpiece image information after correction.
10. the device of the automatically dropping glue of dual camera is based on as claimed in claim 8, it is characterised in that operate mould in dispensing
Also include with lower module after block：
Dispensing image collection module：For obtaining by the dispensing image information after adhesive dispensing robot dispensing；
Judge module：For judging whether dispensing result is qualified according to dispensing image template, if it is, output is qualified；Such as
It is really no, then export unqualified.
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| CN201611048385.4A CN106733525A (en) | 2016-11-24 | 2016-11-24 | A kind of method and device of the automatically dropping glue based on dual camera |
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| CN201611048385.4A CN106733525A (en) | 2016-11-24 | 2016-11-24 | A kind of method and device of the automatically dropping glue based on dual camera |
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Cited By (24)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107597516A (en) * | 2017-10-30 | 2018-01-19 | 东莞华贝电子科技有限公司 | The adjusting method and system of dispensing height |
| CN109029369A (en) * | 2018-05-30 | 2018-12-18 | 常州铭赛机器人科技股份有限公司 | The detection method of flight shooting |
| CN109500812A (en) * | 2018-11-13 | 2019-03-22 | 上海智殷自动化科技有限公司 | A kind of robotic programming method positioned in real time by visual pattern |
| CN109960669A (en) * | 2017-12-26 | 2019-07-02 | 金洁 | Computer management system |
| CN110134061A (en) * | 2019-04-08 | 2019-08-16 | 珠海诚锋电子科技有限公司 | A kind of automatically dropping glue method and device based on machine vision |
| CN110170416A (en) * | 2019-04-08 | 2019-08-27 | 珠海诚锋电子科技有限公司 | A kind of automatically dropping glue method and device being applicable in multiple product |
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| CN111097662A (en) * | 2020-01-06 | 2020-05-05 | 广东博智林机器人有限公司 | Gluing method and device of gluing robot, storage medium and gluing robot |
| CN111687010A (en) * | 2019-03-15 | 2020-09-22 | 深圳市腾盛精密装备股份有限公司 | Dispensing method and device |
| CN111774247A (en) * | 2020-07-10 | 2020-10-16 | 济南奥图自动化股份有限公司 | Automatic gluing system and method for building glass door and window |
| CN111871713A (en) * | 2020-07-29 | 2020-11-03 | 深圳市永顺创能技术有限公司 | Dispensing, curing and packaging equipment and camera production line |
| CN112024318A (en) * | 2020-09-09 | 2020-12-04 | 苏州艾科瑞思智能装备股份有限公司 | 2D and 3D vision integration independent dispensing method |
| CN112172191A (en) * | 2020-09-23 | 2021-01-05 | 江西省智能产业技术创新研究院 | Robot glue scraping method based on visual identification |
| CN113134454A (en) * | 2020-01-20 | 2021-07-20 | 深圳硅基传感科技有限公司 | Drop coating device for sensing electrode |
| CN113284191A (en) * | 2021-06-10 | 2021-08-20 | 广东奥普特科技股份有限公司 | Dispensing method, system, equipment and storage medium based on visual guidance |
| CN113290556A (en) * | 2021-05-17 | 2021-08-24 | 苏州明图智能科技有限公司 | Robot gluing path planning method |
| CN113510047A (en) * | 2021-05-26 | 2021-10-19 | 飓蜂科技(苏州)有限公司 | Dispensing method and device for planning dispensing track |
| CN113846478A (en) * | 2021-09-28 | 2021-12-28 | 东佑服饰科技(太仓)有限公司 | Seamless glue dispensing process |
| CN113953158A (en) * | 2021-09-07 | 2022-01-21 | 沪东中华造船(集团)有限公司 | Adhesive tape coating method for insulation box of liquid cargo containment system |
| CN114193460A (en) * | 2022-02-16 | 2022-03-18 | 常州铭赛机器人科技股份有限公司 | Rubber road guiding and positioning method based on three-dimensional vision and Mark self-compensation |
| CN114713462A (en) * | 2022-05-10 | 2022-07-08 | 深圳市智力昌智能设备有限公司 | Control system of point gum machine based on industry internet |
| CN114769021A (en) * | 2022-04-24 | 2022-07-22 | 广东天太机器人有限公司 | Robot spraying system and method based on full-angle template recognition |
| CN114950886A (en) * | 2022-06-06 | 2022-08-30 | 东莞理工学院 | Positioning system based on machine vision |
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| CN107597516A (en) * | 2017-10-30 | 2018-01-19 | 东莞华贝电子科技有限公司 | The adjusting method and system of dispensing height |
| CN109960669A (en) * | 2017-12-26 | 2019-07-02 | 金洁 | Computer management system |
| CN109029369A (en) * | 2018-05-30 | 2018-12-18 | 常州铭赛机器人科技股份有限公司 | The detection method of flight shooting |
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| CN111687010A (en) * | 2019-03-15 | 2020-09-22 | 深圳市腾盛精密装备股份有限公司 | Dispensing method and device |
| CN110134061A (en) * | 2019-04-08 | 2019-08-16 | 珠海诚锋电子科技有限公司 | A kind of automatically dropping glue method and device based on machine vision |
| CN110170416A (en) * | 2019-04-08 | 2019-08-27 | 珠海诚锋电子科技有限公司 | A kind of automatically dropping glue method and device being applicable in multiple product |
| CN110170417A (en) * | 2019-04-08 | 2019-08-27 | 珠海诚锋电子科技有限公司 | It is a kind of applied to the method for inspection of dispensing automatic production line, device and its assembly line |
| CN110134061B (en) * | 2019-04-08 | 2022-09-23 | 珠海诚锋电子科技有限公司 | Automatic dispensing method and device based on machine vision |
| CN110170416B (en) * | 2019-04-08 | 2020-09-01 | 珠海诚锋电子科技有限公司 | Automatic dispensing method and device suitable for various products |
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| CN113134454A (en) * | 2020-01-20 | 2021-07-20 | 深圳硅基传感科技有限公司 | Drop coating device for sensing electrode |
| CN111774247A (en) * | 2020-07-10 | 2020-10-16 | 济南奥图自动化股份有限公司 | Automatic gluing system and method for building glass door and window |
| CN111871713A (en) * | 2020-07-29 | 2020-11-03 | 深圳市永顺创能技术有限公司 | Dispensing, curing and packaging equipment and camera production line |
| CN112024318A (en) * | 2020-09-09 | 2020-12-04 | 苏州艾科瑞思智能装备股份有限公司 | 2D and 3D vision integration independent dispensing method |
| CN112172191A (en) * | 2020-09-23 | 2021-01-05 | 江西省智能产业技术创新研究院 | Robot glue scraping method based on visual identification |
| CN112172191B (en) * | 2020-09-23 | 2022-06-17 | 江西省智能产业技术创新研究院 | Robot glue scraping method based on visual identification |
| CN113290556A (en) * | 2021-05-17 | 2021-08-24 | 苏州明图智能科技有限公司 | Robot gluing path planning method |
| CN113510047A (en) * | 2021-05-26 | 2021-10-19 | 飓蜂科技(苏州)有限公司 | Dispensing method and device for planning dispensing track |
| CN113284191A (en) * | 2021-06-10 | 2021-08-20 | 广东奥普特科技股份有限公司 | Dispensing method, system, equipment and storage medium based on visual guidance |
| CN113953158A (en) * | 2021-09-07 | 2022-01-21 | 沪东中华造船(集团)有限公司 | Adhesive tape coating method for insulation box of liquid cargo containment system |
| CN113846478A (en) * | 2021-09-28 | 2021-12-28 | 东佑服饰科技(太仓)有限公司 | Seamless glue dispensing process |
| CN114193460A (en) * | 2022-02-16 | 2022-03-18 | 常州铭赛机器人科技股份有限公司 | Rubber road guiding and positioning method based on three-dimensional vision and Mark self-compensation |
| CN114193460B (en) * | 2022-02-16 | 2022-05-17 | 常州铭赛机器人科技股份有限公司 | Rubber road guiding and positioning method based on three-dimensional vision and Mark self-compensation |
| CN114769021A (en) * | 2022-04-24 | 2022-07-22 | 广东天太机器人有限公司 | Robot spraying system and method based on full-angle template recognition |
| CN114713462A (en) * | 2022-05-10 | 2022-07-08 | 深圳市智力昌智能设备有限公司 | Control system of point gum machine based on industry internet |
| CN114950886A (en) * | 2022-06-06 | 2022-08-30 | 东莞理工学院 | Positioning system based on machine vision |
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