CN111687002A - Point gum machine needle alignment calibration control method based on machine vision - Google Patents
Point gum machine needle alignment calibration control method based on machine vision Download PDFInfo
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- CN111687002A CN111687002A CN202010605631.1A CN202010605631A CN111687002A CN 111687002 A CN111687002 A CN 111687002A CN 202010605631 A CN202010605631 A CN 202010605631A CN 111687002 A CN111687002 A CN 111687002A
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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
- B05C11/10—Storage, supply or control of liquid or other fluent material; Recovery of excess liquid or other fluent material
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Abstract
The invention discloses a machine vision-based dispenser needle alignment calibration control method, which comprises the steps of establishing an XYZ three-dimensional image coordinate system for calibrating a dispenser needle head in advance by arranging a first camera module and a second camera module which are vertically distributed and installed before needle alignment is started; s20), when the needle alignment is started, the needle head of the dispenser is driven to reset to a preset fixed needle alignment position through the dispenser driving system, an XYZ three-dimensional image coordinate system is used as a calibration coordinate system, a first image of the needle head of the dispenser is acquired through the first camera module, and the X-axis coordinate X of the needle head tip is acquired respectively0And Z-axis coordinate Z0Synchronously acquiring a second image of the needle head of the dispenser through a second camera module, and acquiring a Y-axis coordinate Y of the needle head tip0Obtaining a calibration coordinate (X)0，Y0，Z0) The calibration coordinates (X)0，Y0，Z0) As the needle alignment calibration position of the needle head of the dispenser; hair brushThe calibration method can improve the precision and efficiency of the calibration of the needle calibration at the same time, and has simple operation process and no need of daily maintenance.
Description
Technical Field
The invention belongs to the field of dispenser equipment, and particularly relates to a dispenser needle alignment calibration control method based on machine vision.
Background
The needle alignment scheme of the existing dispenser equipment generally adopts two groups of correlation optical fibers to be vertically installed, two paths of light rays are vertically formed into a cross line, when in needle alignment, a dispensing needle head moves forwards, backwards, leftwards and rightwards in XY directions to touch the cross line, the cross line is gradually approached to the center of the cross line, then the needle head is gradually moved upwards, the height in Z direction is changed, and the XY directions are corrected in the upward movement process, so that the tip of the dispensing needle head is just positioned at the intersection point of the cross line; the mode needs to calibrate the needle head for multiple times, the calibration speed is low, the light path of the correlation optical fiber needs to be approached by controlling the movement of the motor in the calibration process, and the adjustment precision is limited.
At present, machine vision technology is applied to a needle aligning technology of dispenser equipment, for example, the invention patent with the publication number of CN203235634U introduces a needle head calibration device of a dispenser, which can rapidly and accurately position a X, Y, Z axis of a needle head by a mode of acquiring an image by an image sensor; however, in the system, the same image sensor is used for acquiring the bottom (for calibrating the XY direction) and the side image (for adjusting the Z direction) of the dispensing needle, one of the optical paths of the bottom image and the side image is reflected by the reflection surface of the refraction reflector, and the other is used for directly acquiring the side image of the needle, so that the difference between the optical paths of the bottom image and the side image is large, one image is unclear, and the final alignment precision is influenced. In addition, because the refraction reflecting structure is arranged at the bottom of the dispensing needle head, the reflection effect of the refraction reflecting structure can be influenced by residual glue or dust, and the refraction reflecting structure is not easy to maintain in practical application.
The applicant therefore decided to seek technical solutions to solve the above technical problems.
Disclosure of Invention
In view of the above, the present invention provides a method for controlling needle alignment calibration of a dispenser based on machine vision, which can simultaneously improve the precision and efficiency of needle alignment calibration, and has a simple operation process without performing routine maintenance.
The technical scheme adopted by the invention is as follows:
a needle alignment calibration control method of a dispenser based on machine vision comprises the following operation steps:
s10), before the needle alignment is started, an XYZ three-dimensional image coordinate system for calibrating the needle head of the dispenser is established in advance through a first camera module and a second camera module which are vertically distributed and installed, wherein the first camera module and the second camera module adopt synchronous triggering to carry out image acquisition;
s20), when the needle alignment is started, the needle head of the dispenser is driven to reset to a preset fixed needle alignment position through the dispenser driving system, the XYZ three-dimensional image coordinate system is used as a calibration coordinate system, a first image of the needle head of the dispenser is acquired through the first camera module, and the X-axis coordinate X of the needle head tip is acquired respectively0And Z-axis coordinate Z0Synchronously acquiring a second image of the needle head of the dispenser through a second camera module, and acquiring a Y-axis coordinate Y of the needle head tip0Obtaining a calibration coordinate (X)0，Y0，Z0) The calibration coordinates (X)0，Y0，Z0) As the needle alignment calibration position of the needle head of the dispenser;
s30), aligning and calibrating the position (X) by the needle of the dispenser0，Y0，Z0) And as an initial position, setting a dispensing path for the needle head of the dispenser, and driving the needle head of the dispenser to dispense according to the preset dispensing path by using the dispensing path as a driving target by the dispenser driving system.
Preferably, step S40) is further included: when next round of dispensing needle alignment is started, the needle head of the dispensing machine is driven to reset to a preset fixed needle alignment position through the dispensing machine driving system, the XYZ three-dimensional image coordinate system is used as a calibration coordinate system, a first image of the needle head of the dispensing machine is acquired through the first camera module, and the X-axis coordinate X of the needle head tip is respectively acquired1And Z-axis coordinate Z1Synchronously acquiring a second image of the needle head of the dispenser through a second camera module, and acquiring a Y-axis coordinate Y of the needle head tip1Obtaining a calibration coordinate (X)1，Y1，Z1) The offset calibration processing is carried out on the dispensing path, and the offset coordinate needing to be calibrated is (X)1-X0，Y1-X0，Z1-X0)。
Preferably, in the step S20), an X-axis coordinate X of the center of the needle tip is taken0And Z-axis coordinate Z0Taking the Y-axis coordinate Y of the center of the needle tip0。
Preferably, in the step S20), an X-axis coordinate X of the center of the needle tip is taken1And Z-axis coordinate Z1Taking the Y-axis coordinate Y of the center of the needle tip1。
Preferably, the range of the outer diameter of the needle tip of the dispensing machine is 0.1-1mm, the range of the resolution of the first camera and the second camera is 0.004-0.01mm, and the range of the control precision of the needle alignment calibration is not more than 0.01 mm.
Preferably, the dispenser calibration time is no greater than 0.2 seconds.
Preferably, the first camera module and the second camera module are in linkage fit to form a square fixed detection area, and the side length of the square fixed detection area is not less than 5 mm; the fixed needle alignment location is located within the square fixed detection zone.
Preferably, the first camera module comprises a first camera and a first backlight source, and the first backlight source is arranged on the right opposite side of the first camera and is arranged concentrically; the second camera module comprises a second camera and a second backlight source, and the second backlight source is arranged right opposite to the second camera and is concentrically arranged; wherein, the first camera and the second camera are vertically distributed and installed.
Preferably, the chip of the first camera and the chip of the second camera adopt the same driving device to realize synchronous trigger starting.
Preferably, the focusing centers of the first camera and the second camera intersect to form a point, and the distance between the point and the first camera lens is equal to the distance between the point and the second camera lens
The method comprises the steps that a first camera module and a second camera module which are vertically distributed and installed on a bottom plate form a machine vision-based dispenser alignment calibration system, when aligning, a dispenser needle head is located at a fixed alignment position, a first image of the dispenser needle head is acquired through the first camera module, and a second image of the dispenser needle head is acquired through the second camera module; simultaneously, the synchronous triggering starting between the first camera module and the second camera module is realized through the same driving device, the coordinate calibration is carried out on the needle head through the two cameras respectively, the calibration precision of the needle head can be obviously improved, the calibration efficiency of the needle head is improved, and meanwhile, the point gum machine needle calibration system provided by the application is simple in structure and easy to implement.
When actual calibration is carried out, the side images of two dispensing needle heads in different directions are synchronously acquired in advance through setting single trigger, an XYZ three-dimensional image coordinate system of the needle head of a calibration point gluing machine is established, when needle alignment is carried out, a first camera acquires a position image of the side face of a needle head tip in a certain direction through acquisition, and the X-axis coordinate X of the needle head tip is respectively acquired0And Z-axis coordinate Z0The second camera acquires the position image of the side surface of the needle tip in the vertical direction by collecting, and acquires the Y-axis coordinate Y of the needle tip0Obtaining a calibration coordinate (X)0，Y0，Z0) The calibration coordinates (X)0，Y0，Z0) As the needle alignment calibration position of the needle head of the dispenser, then driving the needle head of the dispenser to dispense according to a preset dispensing path; when entering the next round of dispensing and needle aligning, only the control system of the dispenser needs to carry out deviation coordinates (X) on the dispensing path1-X0，Y1-X0，Z1-X0) Calibrating; the calibration method can improve the precision and efficiency of needle calibration and calibration, and is simple in operation process and free of daily maintenance.
Drawings
Fig. 1 is a schematic structural diagram of a needle alignment system 1 of a dispenser according to an embodiment of the present disclosure;
FIG. 2 is an exploded view of FIG. 1;
fig. 3 is a schematic view of an installation structure of the first camera module 20 and the second camera module 30 according to the embodiment of the present application;
fig. 4 is a block diagram of the operation steps of a control method for needle alignment of a dispenser according to an embodiment of the present invention.
Detailed Description
The embodiment of the invention discloses a needle alignment calibration control method of a dispenser based on machine vision, which comprises the following operation steps: s10), before the needle alignment is started, an XYZ three-dimensional image coordinate system for calibrating the needle head of the dispenser is established in advance through a first camera module and a second camera module which are vertically distributed and installed, wherein the first camera module and the second camera module adopt synchronous triggering to carry out image acquisition; s20), when the needle alignment is started, the needle head of the dispenser is driven to reset to a preset fixed needle alignment position through the dispenser driving system, an XYZ three-dimensional image coordinate system is used as a calibration coordinate system, a first image of the needle head of the dispenser is acquired through the first camera module, and the X-axis coordinate X of the needle head tip is acquired respectively0And Z-axis coordinate Z0Synchronously acquiring a second image of the needle head of the dispenser through a second camera module, and acquiring a Y-axis coordinate Y of the needle head tip0Obtaining a calibration coordinate (X)0，Y0，Z0) The calibration coordinates (X)0，Y0，Z0) As the needle alignment calibration position of the needle head of the dispenser; s30), aligning and calibrating the position (X) by the needle of the dispenser0，Y0，Z0) And as an initial position, setting a dispensing path for the needle head of the dispenser, and taking the dispensing path as a driving target by the dispenser driving system to drive the needle head of the dispenser to dispense according to the preset dispensing path.
In order to make those skilled in the art better understand the technical solution of the present invention, the technical solution in the embodiment of the present invention will be clearly and completely described below with reference to the drawings in the embodiment of the present invention, and it is obvious that the described embodiment is only a part of the embodiment of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, 2 and 3, a machine vision-based needle alignment calibration system 1 of a dispenser is provided, in which a dispenser is provided with a dispenser needle (known structure, not shown) driven by a dispenser driving system, and the dispenser needle performs needle alignment calibration by using the needle alignment calibration system 1; the dispenser needle alignment calibration system 1 comprises a first camera module 20 and a second camera module 30 which are vertically distributed on a bottom plate 10 respectively, and the dispenser needle alignment calibration system 1 is provided with a fixed needle alignment position for performing needle alignment calibration; wherein, the needle head of the dispenser is positioned at the fixed needle aligning position; the first camera module 20 is used for acquiring a first image of a needle of the dispenser; the second camera module 30 is used for acquiring a second image of the needle of the dispenser; the first camera module 20 and the second camera module 30 are triggered and started synchronously through the same driving device;
preferably, in the present embodiment, the first camera module 20 includes a first camera 21 and a first backlight 22 respectively mounted on the base plate 10, and the first backlight 22 is mounted right opposite to the first camera 21 and concentrically disposed; the second camera module 30 includes a second camera 31 and a second backlight source 32 respectively mounted on the base plate 10, and the second backlight source 32 is mounted right opposite to the second camera 31 and concentrically disposed; wherein, the first camera 21 and the second camera 31 are vertically distributed and installed on the bottom plate 10; particularly preferably, in the present embodiment, the first backlight 22 and the second backlight 32 both use parallel backlights (available as direct purchase);
preferably, in the present embodiment, the first camera 21 and the second camera 31 are triggered and started synchronously through the same driving device; particularly preferably, in the present embodiment, the same driving device uses the FPGA control circuit board 40;
in order to facilitate the installation layout and avoid the occupation of the installation area, in the present embodiment, the FPGA control circuit board 40 is electrically connected to the chip of the first camera 21 through the first bending circuit board 41, and the FPGA control circuit board 40 is electrically connected to the chip of the second camera 31 through the second bending circuit board 42; preferably, in the present embodiment, the length of the bottom plate 10 ranges from 120 mm to 150mm, and the width of the bottom plate 10 ranges from 100 mm to 130mm, and particularly preferably, in the present embodiment, the length of the bottom plate 10 ranges from 135mm, and the width of the bottom plate 10 ranges from 115 mm;
in order to achieve convenient installation of each camera 21,31, preferably, in the present embodiment, the first camera 21 and the second camera 31 are fixedly installed on the base plate 10 by the first transition installation plate 23 and the second transition installation plate 33, respectively;
preferably, in the present embodiment, the focusing centers of the first camera 21 and the second camera 31 intersect to form a point, and the distance between the point and the first camera lens 21a is equal to the distance between the point and the second camera lens 31a, so as to ensure that the resolutions of the images acquired by the two cameras 21,31 are the same, which is beneficial to establishing a unified three-dimensional image coordinate system;
preferably, in the present embodiment, the first camera 21 and the second camera 31 cooperate to form a square fixed detection area 50, and a side length of the square fixed detection area 50 is not less than 5 mm; the fixed needle alignment position is located within the square fixed detection area 50; in order to facilitate the protection of the core functional components of the dispenser needle calibration system 1, in the present embodiment, the dispenser needle calibration system 1 further includes a cover plate 60 located above the bottom plate 10, and the cover plate 60 is fixedly installed and connected with the bottom plate 50 to form an installation protection space for installing the first camera module 20 and the second camera module 30; wherein, the cover plate 60 is provided with a detection window 61 corresponding to the square fixed detection area 50 for plugging the pinhead of the dispenser.
In the embodiment, the first camera module 20 and the second camera module 30 which are vertically distributed and installed on the bottom plate 10 form the machine vision-based dispenser alignment calibration system 1, when aligning, the needle head of the dispenser is located at a fixed alignment position, a first image of the needle head of the dispenser is acquired through the first camera module 20, and a second image of the needle head of the dispenser is acquired through the second camera module 30; meanwhile, the first camera module 20 and the second camera module 30 are synchronously triggered and started through the FPGA control circuit board 40, the two cameras 21 and 31 are used for respectively calibrating the needle, the calibration and calibration precision of the needle can be obviously improved, the calibration and calibration efficiency of the needle is improved, and meanwhile, the dispenser needle calibration system 1 provided by the embodiment is simple in structure and easy to implement.
With reference to fig. 4, the needle alignment control method of the dispenser based on machine vision is performed by using the needle alignment control system 1 of the dispenser according to the present embodiment, and includes the following operation steps:
s10), before the needle alignment is started, an XYZ three-dimensional image coordinate system (unit is mm) for calibrating the needle head of the dispenser is established in advance through the first camera 21 and the second camera 31 which are vertically distributed and installed, wherein the first camera 21 and the second camera 31 perform image acquisition through synchronous triggering;
s20), when the needle alignment is started, the needle head of the dispenser is driven to reset to a preset fixed needle alignment position through the dispenser driving system, an XYZ three-dimensional image coordinate system is used as a calibration coordinate system, a first image of the needle head of the dispenser is acquired through the first camera 21, and an X-axis coordinate X of the center of the needle head tip is respectively acquired0And Z-axis coordinate Z0Synchronously acquiring a second image of the needle of the dispenser through a second camera 31, and acquiring a Y-axis coordinate Y of the center of the needle tip0Obtaining a calibration coordinate (X)0，Y0，Z0) The calibration coordinates (X)0，Y0，Z0) As the needle alignment calibration position of the needle head of the dispenser;
s30), aligning and calibrating the position (X) by the needle of the dispenser0，Y0，Z0) Setting a dispensing path for a needle of the dispenser as an initial position, and driving the needle of the dispenser to dispense according to the preset dispensing path by using the dispensing path as a driving target by a dispenser driving system;
s40), when the next round of dispensing needle alignment is started, the needle head of the dispenser is driven to reset to a preset fixed needle alignment position through the dispenser driving system, an XYZ three-dimensional image coordinate system is used as a calibration coordinate system, a first image of the needle head of the dispenser is acquired through the first camera 21, and an X-axis coordinate X of the center of the needle head is respectively acquired1And Z-axis coordinate Z1Synchronized by the second camera 31Acquiring a second image of the needle of the dispenser, and taking a Y-axis coordinate Y of the center of the needle tip1Obtaining a calibration coordinate (X)1，Y1，Z1) The offset calibration processing is carried out on the dispensing path, and the offset coordinate needing to be calibrated is (X)1-X0，Y1-X0，Z1-X0)。
In the embodiment, the range of the outer diameter of the needle tip of the dispensing machine is 0.1-1mm (usually not greater than 1mm), the range of the resolution of the first camera 21 and the second camera 31 is 0.004-0.01mm, the range of the control precision of needle alignment is not greater than 0.01mm, and the time for needle alignment of the dispensing machine is not greater than 0.2 second; specifically, the control precision of the needle alignment calibration of the embodiment is 0.01mm, and the needle alignment calibration time of the dispenser is not more than 0.1 second; it should be noted that the dispenser needle alignment time referred to in the present application does not include the time for the dispenser needle to return to the fixed needle alignment position.
In the embodiment, when actual calibration is performed, two side images of the dispensing needle heads in different directions are acquired in advance through setting single trigger, an XYZ three-dimensional image coordinate system of the needle head of the calibration dispenser is established, and when the calibration is performed, the first camera 21 acquires a position image of the side surface of the needle head tip in a certain direction through acquisition, and respectively acquires the X-axis coordinate X of the needle head tip0And Z-axis coordinate Z0The second camera 31 acquires the position image of the side surface of the needle tip in the vertical direction by collecting, and takes the Y-axis coordinate Y of the needle tip0Obtaining a calibration coordinate (X)0，Y0，Z0) The calibration coordinates (X)0，Y0，Z0) As the needle alignment calibration position of the needle head of the dispenser, then driving the needle head of the dispenser to dispense according to a preset dispensing path; when entering the next round of dispensing and needle aligning, only the control system of the dispenser needs to carry out deviation coordinates (X) on the dispensing path1-X0，Y1-X0，Z1-X0) Calibrating; the embodiment can simultaneously improve the precision and the efficiency of the calibration of the needle calibration, and the operation process is simple without daily maintenance.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (10)
1. A needle alignment calibration control method of a dispenser based on machine vision is characterized by comprising the following operation steps:
s10), before the needle alignment is started, an XYZ three-dimensional image coordinate system for calibrating the needle head of the dispenser is established in advance through a first camera module and a second camera module which are vertically distributed and installed, wherein the first camera module and the second camera module adopt synchronous triggering to carry out image acquisition;
s20), when the needle alignment is started, the needle head of the dispenser is driven to reset to a preset fixed needle alignment position through the dispenser driving system, the XYZ three-dimensional image coordinate system is used as a calibration coordinate system, a first image of the needle head of the dispenser is acquired through the first camera module, and the X-axis coordinate X of the needle head tip is acquired respectively0And Z-axis coordinate Z0Synchronously acquiring a second image of the needle head of the dispenser through a second camera module, and acquiring a Y-axis coordinate Y of the needle head tip0Obtaining a calibration coordinate (X)0，Y0，Z0) The calibration coordinates (X)0，Y0，Z0) As the needle alignment calibration position of the needle head of the dispenser;
s30), aligning and calibrating the position (X) by the needle of the dispenser0，Y0，Z0) And as an initial position, setting a dispensing path for the needle head of the dispenser, and driving the needle head of the dispenser to dispense according to the preset dispensing path by using the dispensing path as a driving target by the dispenser driving system.
2. The control method for needle alignment of dispenser according to claim 1, further comprising step S40): when next round of dispensing needle alignment is started, the needle head of the dispensing machine is driven to reset to a preset fixed needle alignment position through the dispensing machine driving system, the XYZ three-dimensional image coordinate system is used as a calibration coordinate system, a first image of the needle head of the dispensing machine is acquired through the first camera module, and the X-axis coordinate X of the needle head tip is respectively acquired1And Z-axis coordinate Z1Synchronously acquiring a second image of the needle head of the dispenser through a second camera module, and acquiring a Y-axis coordinate Y of the needle head tip1Obtaining a calibration coordinate (X)1，Y1，Z1) The offset calibration processing is carried out on the dispensing path, and the offset coordinate needing to be calibrated is (X)1-X0，Y1-X0，Z1-X0)。
3. The needle alignment control method of dispenser according to claim 1, wherein in step S20), the X-axis coordinate X of the center of the needle tip is taken0And Z-axis coordinate Z0Taking the Y-axis coordinate Y of the center of the needle tip0。
4. The needle alignment control method of dispenser according to claim 2, wherein in step S20), the X-axis coordinate X of the center of the needle tip is taken1And Z-axis coordinate Z1Taking the Y-axis coordinate Y of the center of the needle tip1。
5. The needle alignment control method of the dispenser according to claim 1, 2, 3 or 4, wherein the outer diameter range of the needle point of the dispenser is 0.1-1mm, the resolution ranges of the first camera and the second camera are 0.004-0.01mm, and the needle alignment control precision range is not more than 0.01 mm.
6. A dispenser needle calibration control method according to claim 1 or 2 or 3 or 4, characterized in that the dispenser needle calibration time is not more than 0.2 seconds.
7. The needle alignment calibration control method of the dispenser according to claim 1, 2, 3 or 4, wherein the first camera module and the second camera module are in linkage fit to form a square fixed detection area, and the side length of the square fixed detection area is not less than 5 mm; the fixed needle alignment location is located within the square fixed detection zone.
8. The control method for aligning a dispenser according to claim 1, 2, 3 or 4, wherein the first camera module comprises a first camera and a first backlight source, and the first backlight source is arranged in a concentric manner and is arranged right opposite to the first camera; the second camera module comprises a second camera and a second backlight source, and the second backlight source is arranged right opposite to the second camera and is concentrically arranged; wherein, the first camera and the second camera are vertically distributed and installed.
9. The needle calibration control method of a dispenser according to claim 8, wherein the chip of the first camera and the chip of the second camera are triggered and started synchronously by using the same driving device.
10. The method of claim 8, wherein the centers of focus of the first and second cameras intersect at a point that is equidistant from the first camera lens and the second camera lens.
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| CN112950722A (en) * | 2021-03-03 | 2021-06-11 | 深圳市旗众智能科技有限公司 | Offset calibration method for camera and dispensing head of dispenser |
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| CN114798321A (en) * | 2022-03-29 | 2022-07-29 | 南通科瑞恩智能装备有限公司 | Three-dimensional calibration method, device, equipment and medium for needle head of dispenser |
| CN115415117A (en) * | 2022-09-28 | 2022-12-02 | 苏州天准科技股份有限公司 | Glue dispensing device |
| CN115921207A (en) * | 2022-09-28 | 2023-04-07 | 苏州天准科技股份有限公司 | Glue dispensing identification method and glue dispensing device based on multi-dimensional image |
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| CN112756194A (en) * | 2020-12-24 | 2021-05-07 | 联合汽车电子有限公司 | Dispensing needle position calibration system and calibration method thereof |
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| CN112950722A (en) * | 2021-03-03 | 2021-06-11 | 深圳市旗众智能科技有限公司 | Offset calibration method for camera and dispensing head of dispenser |
| CN112950722B (en) * | 2021-03-03 | 2022-10-04 | 深圳市旗众智能科技有限公司 | Offset calibration method between camera and dispensing head of dispensing machine |
| CN113310403A (en) * | 2021-04-02 | 2021-08-27 | 深圳市世宗自动化设备有限公司 | Camera aiming method, device and system |
| CN113364956A (en) * | 2021-06-08 | 2021-09-07 | 博众精工科技股份有限公司 | Dispensing needle calibration device and method |
| CN113441355A (en) * | 2021-07-19 | 2021-09-28 | 苏州天准科技股份有限公司 | A some mucilage binding is put that is used for equipment of 3C product and has automatic frictioning function |
| CN114324358A (en) * | 2021-12-30 | 2022-04-12 | 聚民生物科技有限公司 | Needle tube needle point visual defect detection method and detection device thereof |
| CN114324358B (en) * | 2021-12-30 | 2023-12-19 | 聚民生物科技有限公司 | Needle tube needle point visual defect detection method and detection device thereof |
| CN114798321A (en) * | 2022-03-29 | 2022-07-29 | 南通科瑞恩智能装备有限公司 | Three-dimensional calibration method, device, equipment and medium for needle head of dispenser |
| CN115415117A (en) * | 2022-09-28 | 2022-12-02 | 苏州天准科技股份有限公司 | Glue dispensing device |
| CN115921207A (en) * | 2022-09-28 | 2023-04-07 | 苏州天准科技股份有限公司 | Glue dispensing identification method and glue dispensing device based on multi-dimensional image |
| CN115921207B (en) * | 2022-09-28 | 2023-12-08 | 苏州天准科技股份有限公司 | Dispensing identification method and dispensing device based on multidimensional image |
| CN115415117B (en) * | 2022-09-28 | 2024-01-26 | 苏州天准科技股份有限公司 | Adhesive dispensing device |
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