CN112317241B - Dispensing method, system, equipment and storage medium - Google Patents
Dispensing method, system, equipment and storage medium Download PDFInfo
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- CN112317241B CN112317241B CN202011103757.5A CN202011103757A CN112317241B CN 112317241 B CN112317241 B CN 112317241B CN 202011103757 A CN202011103757 A CN 202011103757A CN 112317241 B CN112317241 B CN 112317241B
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Classifications
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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
- B05C5/0208—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 for applying liquid or other fluent material to separate articles
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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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Abstract
The embodiment of the invention discloses a dispensing method, a dispensing system, dispensing equipment and a storage medium, wherein the method comprises the following steps: processing the acquired original image of the device to be subjected to glue dispensing, acquired by the image acquisition device, to acquire a glue dispensing area, and determining each image coordinate of the glue dispensing area in an image coordinate system; determining each image coordinate to be mapped to each physical coordinate under a physical coordinate system of a dispensing platform according to the pixel resolution of the image acquisition device, wherein the dispensing platform is used for placing a device to be dispensed; the method comprises the steps of determining a dispensing starting point coordinate according to each physical coordinate corresponding to a dispensing area and a dispensing head physical coordinate, enabling the dispensing head to dispense on the dispensing area by taking the dispensing starting point coordinate as an initial position, solving the problem of low dispensing precision in the traditional dispensing method, converting an image coordinate of the dispensing area into a physical coordinate which can be identified by the dispensing head by determining the dispensing area, controlling the dispensing head to dispense, and improving the dispensing precision and the dispensing efficiency without manually fixing and inputting a dispensing position and a dispensing path.
Description
Technical Field
The embodiments of the present invention relate to the field of dispensing technologies, and in particular, to a dispensing method, system, device, and storage medium.
Background
The security monitoring network camera (IPC) is applied to various indoor and outdoor scenes, has higher requirement on waterproof performance, and the quality of the tail line dispensing quality directly influences the height of the IPC waterproof performance and the product quality, thereby being an important link in the IPC production process. The traditional IPC (internet protocol camera) tail line dispensing mode mainly finishes the dispensing process by manually fixing and inputting the dispensing position and the dispensing path, the precision of the dispensing mode is mainly controlled by improving the clamping precision of a clamp, and the dispensing mode has low dispensing precision and large random error; because of the peristaltic production mode, the production efficiency is also at a lower level.
In a conventional method for dispensing an IPC (internet protocol camera) tail, the major factors affecting the dispensing accuracy of the IPC tail include the dimensional tolerances of the IPC housing and the tail, the design accuracy of the fixture, the dispensing manner, the dispensing control manner, and the like. The accuracy and the production efficiency of the IPC tail line are greatly influenced by the size tolerance of the product, the design accuracy of the clamp, the stepping motor dispensing motion device and the digital pulse signal dispensing control mode.
Disclosure of Invention
The invention provides a dispensing method, a dispensing system, dispensing equipment and a storage medium, which are used for realizing quick and accurate dispensing.
In a first aspect, an embodiment of the present invention provides a dispensing method, where the dispensing method includes:
processing the acquired original image of the device to be subjected to glue dispensing, acquired by the image acquisition device, to acquire a glue dispensing area, and determining each image coordinate of the glue dispensing area in an image coordinate system;
determining each image coordinate to be mapped to each physical coordinate under a physical coordinate system of a dispensing platform according to the pixel resolution of the image acquisition device, wherein the dispensing platform is used for placing the device to be dispensed;
and determining the coordinates of the dispensing starting point according to the physical coordinates corresponding to the dispensing area and the physical coordinates of the glue head, so that the glue head performs dispensing on the dispensing area by taking the coordinates of the dispensing starting point as an initial position.
In a second aspect, an embodiment of the present invention further provides a dispensing system, where the dispensing system includes:
the image acquisition device is used for acquiring an original image of the device to be glued and a glue point image of the glue point platform;
the dispensing platform is used for placing the device to be dispensed;
the glue head is used for dispensing the device to be dispensed;
adhesive deposite device includes:
the image coordinate determination module is used for processing the original image of the device to be subjected to glue dispensing, which is acquired by the image acquisition device, so as to obtain a glue dispensing area and determine each image coordinate of the glue dispensing area under an image coordinate system;
the physical coordinate determination module is used for determining each image coordinate mapped to each physical coordinate under a physical coordinate system of a dispensing platform according to the pixel resolution of the image acquisition device, and the dispensing platform is used for placing the device to be dispensed;
and the starting point coordinate determining module is used for determining the coordinates of the dispensing starting points according to the physical coordinates corresponding to the dispensing areas and the physical coordinates of the glue heads so as to enable the glue heads to dispense glue on the dispensing areas by taking the coordinates of the dispensing starting points as initial positions.
In a third aspect, an embodiment of the present invention further provides an apparatus, where the apparatus includes:
one or more processors;
a storage device for storing one or more programs,
when executed by the one or more processors, cause the one or more processors to implement a method of dispensing as described in any of the embodiments of the present invention.
In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to implement a dispensing method according to any one of the embodiments of the present invention.
The embodiment of the invention provides a dispensing method, a dispensing system, a dispensing device and a storage medium, wherein an obtained original image of a device to be dispensed, which is acquired by an image acquisition device, is processed to obtain a dispensing area, and each image coordinate of the dispensing area under an image coordinate system is determined; determining each image coordinate to be mapped to each physical coordinate under a physical coordinate system of a dispensing platform according to the pixel resolution of the image acquisition device, wherein the dispensing platform is used for placing the device to be dispensed; the method comprises the steps of determining a dispensing starting point coordinate according to each physical coordinate corresponding to the dispensing area and the glue head physical coordinate, enabling the glue head to dispense glue on the dispensing area by taking the dispensing starting point coordinate as an initial position, solving the problem of low dispensing precision in the traditional dispensing method, determining the dispensing area by collecting an image of a device to be dispensed, converting the image coordinate of the dispensing area into a physical coordinate which can be identified by the glue head of a dispensing motion device, controlling the glue head to dispense glue, and collecting the image of each device to be dispensed in real time to determine the dispensing area without manually fixing and inputting the dispensing position and the dispensing path, thereby improving the dispensing precision and the dispensing efficiency.
Drawings
Fig. 1 is a flowchart of a dispensing method according to a first embodiment of the invention;
fig. 2 is a flowchart of a dispensing method according to a second embodiment of the invention;
fig. 3 is an exemplary diagram of an image coordinate system and a physical coordinate system in a dispensing method according to a second embodiment of the invention;
fig. 4 is a schematic structural diagram of a dispensing system according to a third embodiment of the present invention;
fig. 5 is a schematic structural diagram of an apparatus according to a fourth embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Example one
Fig. 1 is a flowchart of a dispensing method according to an embodiment of the present invention, where the embodiment is applicable to a situation of dispensing a device, the method may be performed by a dispensing apparatus, and specifically includes the following steps:
step S110, processing the acquired original image of the device to be glued, acquired by the image acquisition device, to obtain a glue dispensing area, and determining each image coordinate of the glue dispensing area in an image coordinate system.
In this embodiment, the image capturing device may be understood as a device, such as a camera, disposed or mounted above the dispensing platform for capturing images. The device to be glued can be understood as a device needing glue gluing, such as a security monitoring network camera (IPC); the original image can be understood as the image of the to-be-dispensed device which is directly shot by the image acquisition device and is not processed; the dispensing area can be understood as the position of the device to be dispensed, which needs dispensing, and a plurality of pixel points form the dispensing area; the image coordinate system is understood to be the coordinate system established on the acquired image. The image coordinates can be understood as coordinates of each pixel point in the dispensing area under an image coordinate system.
The image acquisition device shoots the device to be subjected to glue dispensing to obtain an original image of the device to be subjected to glue dispensing, the original image is sent to the computer processing unit for image processing, the computer processing unit carries out filtering, noise reduction and other processing on the original image to remove noise in the image, a glue dispensing area in the original image is identified through a pre-trained model or algorithm, the image is processed through software, and image coordinates of the glue dispensing area under an image coordinate system are obtained.
Optionally, the obtained original image of the device to be subjected to dispensing, which is collected by the image collection device, is processed to obtain a dispensing area, and the method can be implemented in the following manner:
processing the original image according to a preset image processing algorithm to obtain an image to be subjected to glue dispensing; and determining the dispensing area of the image to be dispensed based on a preset machine vision learning algorithm.
In this embodiment, the preset image processing algorithm may be understood as a preset algorithm for processing an image, for example, binarization, filtering, and the like; the image to be subjected to glue dispensing can be understood as an image of the device to be subjected to glue dispensing after noise and the like are removed; the machine vision means that a machine replaces human eyes to measure and judge, learning and training are carried out through a large amount of data in advance, and after input data are given, the data are processed through a preset machine learning algorithm to obtain an output result.
And performing image processing, such as filtering and binarization, on the original image by using a preset image processing algorithm to obtain an image to be subjected to glue dispensing, and performing memorability processing on the image to be subjected to glue dispensing by using a preset machine vision learning algorithm to obtain a glue dispensing area. The manual vision inspection product quality is inefficient and the precision is not high, and the dispensing area is determined by presetting a machine vision learning algorithm, so that the dispensing efficiency and precision are improved, manual operation is reduced, and the production automation is improved.
Optionally, the original image is processed according to a preset image processing algorithm to obtain an image to be dispensed, and the processing can be implemented in the following manner:
carrying out binarization processing on the original image to obtain a gray image; carrying out image enhancement processing on the gray level image to obtain a contour enhanced image; and performing morphological processing on the contour enhancement image to obtain an image to be subjected to glue dispensing.
In this embodiment, binarization refers to setting the gray value of a pixel point on an image to be 0 or 255, that is, the whole image has an obvious visual effect only including black and white; a grayscale image may be understood as an image in which each pixel has only one sample color; the contour-enhanced image can be understood as an image with sharper edge contour compared with the original image; the morphological processing includes processing methods such as opening operation and closing operation.
The binarization processing of the original image may be performed by setting a threshold value, and dividing the image data into two parts according to the threshold value: the pixel values of the pixel groups larger than the threshold value and the pixel groups smaller than the threshold value are set to white (or black) and the pixel values of the pixel groups smaller than the threshold value are set to black (or white), thereby obtaining a grayscale image. The method for enhancing the gray level image may be a frequency domain method, a spatial domain method, etc., and the frequency domain method may be a low-pass filtering method, which removes noise in the image or a high-pass filtering method, which can enhance high-frequency signals such as edges, etc., so that the blurred image becomes clear. The outline enhanced image is morphologically processed by corroding the outline enhanced image by a certain structural unit to remove small parts of some areas, and then restoring the outline enhanced image to the original size of the outline enhanced image by expansion operation to obtain an image to be subjected to glue dispensing. And eliminating a micro area interfering with contour fitting while not reducing the identification area to obtain an interference-free image so as to conveniently and accurately determine the image coordinates subsequently.
And step S120, determining each image coordinate to be mapped to each physical coordinate under a physical coordinate system of a dispensing platform according to the pixel resolution of the image acquisition device, wherein the dispensing platform is used for placing the device to be dispensed.
In this embodiment, the physical coordinate system can be understood as a coordinate system established on the dispensing platform. A distance in the image corresponds to a certain pixel value, for example, the pixel resolution of the image capturing device is 700, the actual total distance is 7cm, and one pixel corresponds to 0.01 cm. And converting the image coordinates according to the pixel resolution, and mapping the image coordinates onto a physical coordinate system of the dispensing platform to obtain corresponding physical coordinates.
Step S130, determining a dispensing starting point coordinate according to each physical coordinate corresponding to the dispensing area and the physical coordinate of the glue head, so that the glue head performs dispensing on the dispensing area with the dispensing starting point coordinate as an initial position.
In this embodiment, the physical coordinates of the glue head may be understood as the coordinates of the glue head used for dispensing in the physical coordinate system; the dispensing start coordinate may be understood as a physical coordinate of a starting point from which dispensing starts.
The glue head needs to move to a glue dispensing area when glue dispensing is carried out, the current stop position of the glue head is the physical coordinate of the glue head, and the glue dispensing is carried out by taking the point in the glue dispensing area as the starting point when the glue head starts to dispense according to the physical coordinate of the glue head. The manner of determining the coordinates of the dispensing start point may be to select any one of the physical coordinates corresponding to the dispensing area as the coordinates of the dispensing start point, or to select the physical coordinate of the closest point as the coordinates of the dispensing start point. And after the coordinate of the dispensing starting point is determined, controlling the dispensing head to dispense the dispensing area by taking the coordinate of the dispensing starting point as an initial position.
The embodiment of the invention provides a glue dispensing method, which comprises the steps of processing an original image of a device to be subjected to glue dispensing, acquired by an acquired image acquisition device, to obtain a glue dispensing area, and determining each image coordinate of the glue dispensing area in an image coordinate system; determining each image coordinate to be mapped to each physical coordinate under a physical coordinate system of a dispensing platform according to the pixel resolution of the image acquisition device, wherein the dispensing platform is used for placing the device to be dispensed; the method comprises the steps of determining a dispensing starting point coordinate according to each physical coordinate corresponding to the dispensing area and the glue head physical coordinate, enabling the glue head to dispense glue on the dispensing area by taking the dispensing starting point coordinate as an initial position, solving the problem of low dispensing precision in the traditional dispensing method, determining the dispensing area by collecting an image of a device to be dispensed, converting the image coordinate of the dispensing area into a physical coordinate which can be identified by the glue head of a dispensing motion device, controlling the glue head to dispense glue, and collecting the image of each device to be dispensed in real time to determine the dispensing area without manually fixing and inputting the dispensing position and the dispensing path, thereby improving the dispensing precision and the dispensing efficiency.
Example two
Fig. 2 is a flowchart of a dispensing method according to a second embodiment of the present invention. The technical scheme of the embodiment is further refined on the basis of the technical scheme, and specifically mainly comprises the following steps:
step S210, processing the acquired original image of the device to be glued, acquired by the image acquisition device, to obtain a glue dispensing area, and determining each image coordinate of the glue dispensing area in an image coordinate system.
Step S220, determining physical coordinates corresponding to the image coordinates according to the pixel resolution, the predetermined origin image coordinates and the predetermined origin physical coordinates of the image acquisition device and a predetermined coordinate conversion relation.
In the present embodiment, the origin image coordinates may be understood as coordinates of the camera origin in the image coordinate system; origin physical coordinates may be understood as coordinates of the camera origin in a physical coordinate system; the coordinate conversion relation may be understood as a correspondence relation between the image coordinates and the physical coordinates, and is used to perform mutual conversion between the image coordinates and the physical coordinates.
The origin image coordinate and the origin physical coordinate of the image acquisition device are predetermined before coordinate conversion is carried out, and the image coordinate, the pixel resolution, the origin image coordinate and the origin physical coordinate are brought into a coordinate conversion relational expression to obtain a corresponding physical coordinate. The timing of determining the origin image coordinate and the origin physical coordinate may be that the origin image coordinate and the origin physical coordinate are determined once before each pair of devices to be subjected to dispensing is subjected to dispensing; or when the dispensing system is used each time, the computer equipment associated with the dispensing system is started and then determined once, and during the use process, dispensing is carried out on a plurality of devices to be dispensed, only the original point image coordinate and the original point physical coordinate need to be determined once, and the original point image coordinate and the original point physical coordinate are stored and then defined; or before the dispensing system is used, the origin image coordinate and the origin physical coordinate are only determined and stored once, and then the following is used as a standard; the origin image coordinates and the origin physical coordinates can also be triggered manually by a user and determined after receiving the triggering operation of the user. After the dispensing is started, the positions of the glue head and the camera cannot be changed randomly, so that the original point image coordinate and the original point physical coordinate are determined only once after the equipment is started every time, the calibration times of the original point of the camera are reduced, and the dispensing working efficiency is improved.
Optionally, an embodiment of the present invention provides a coordinate transformation relation:
Xm＝Xmmid-(Xp-Xpmid)×ratio；
Ym＝Ymmid+(Yp-Ypmid)×ratio；
wherein, XmIs the abscissa in the physical coordinates; y ismIs the ordinate of the physical coordinate; xmmidIs the abscissa in the origin physical coordinate; y ismmidIs a vertical coordinate in the origin physical coordinate; xpmidIs the abscissa in the origin image coordinates; y ispmidIs a vertical coordinate in the origin image coordinate; xpIs the abscissa in the image coordinates; y ispIs the ordinate in the image coordinate; ratio is the pixel resolution.
For example, fig. 3 provides an exemplary diagram of an image coordinate system and a physical coordinate system in a dispensing method, wherein X ispOYpAs an image coordinate system, XmOYmIs a physical coordinate system, point M is the origin of the camera, (X)pmid，Ypmid) For the origin image coordinates of the camera origin M in the image coordinate system, (X)mmid，Ymmid) Is the origin point physical coordinate of the camera origin point M in the physical coordinate system, the point N is any point collected by the image collecting device, (X)p，Yp) Is the image coordinate of point N.
Optionally, before step S220, the method further includes:
controlling the glue head to perform glue dispensing at any position of the glue dispensing platform to obtain a glue dispensing point; controlling the center of the image acquisition device to move to the glue point, and acquiring a glue point image of the glue point platform, wherein the glue point image comprises the glue point; processing the glue dot image through preset processing software to obtain an image coordinate of the glue dot, and determining the image coordinate of the glue dot as an original point image coordinate of the image acquisition device; and determining the physical coordinates of the glue dots as the original point physical coordinates of the image acquisition device.
In this embodiment, the glue dispensing may be understood as a drop of glue dispensed by the glue head during dispensing; the glue dot image can be understood as an image of a glue dispensing platform containing glue dots; the preset processing software can be understood as software which can process the image to obtain the coordinates of each pixel point in the image coordinate system, such as eVISION.
The glue head is usually arranged at a fixed position on the glue dispensing platform, the glue head is moved back to the fixed position after each glue dispensing is finished, the glue head is controlled to move to any position of the glue dispensing platform, and next glue dripping is performed to obtain a glue dispensing point. In practical applications, the glue dispensing head should be controlled to move a small distance, for example, 5mm downward, 5mm leftward, etc., to avoid dripping on the device to be dispensed. The mode of controlling the center of the image acquisition device to move to the glue point can be that the image acquisition device is controlled to move, the center of the image acquisition device is usually displayed on computer equipment in a cross form, a user can see the center, when the center of the image acquisition device moves to the glue point, the image acquisition device is controlled to stop moving, and at the moment, the glue point image of the glue point platform is acquired. Analyzing the glue dot image by preset processing software to obtain an image coordinate of the glue dot, and determining the image coordinate of the glue dot as an original point image coordinate of the image acquisition device; the glue dots are actually on the motion platform, the physical coordinates of the glue dots can be known, and the physical coordinates of the glue dots are determined as the original point physical coordinates of the image acquisition device.
Step S230, determining a dispensing distance between the physical coordinate of the dispensing head and each physical coordinate corresponding to the dispensing area.
In this embodiment, the physical coordinates of the glue head may be understood as the physical coordinates of the glue head in the physical coordinate system; the dispensing distance can be understood as the distance that the dispensing head needs to move when dispensing is started.
The physical coordinate of the glue head can be a fixed position, and the glue head moves back to the fixed position after the glue dispensing of a device to be dispensed is finished each time; or when the origin image coordinate and the origin physical coordinate are calibrated after the equipment is started, when the glue is dispensed at any position of the glue dispensing platform to obtain a glue point, taking the position of the glue head as a fixed position, moving the glue head to the position after each glue dispensing, and taking the coordinate corresponding to the position as the physical coordinate of the glue head; or after dispensing is finished each time, the glue head stops at the last dispensing pixel point, and the physical coordinate of the point is the physical coordinate of the glue head. When the physical coordinate of the glue head selects the fixed position, namely the glue head moves back to the position corresponding to the physical coordinate of the glue head after the glue dispensing is finished each time, the physical position of the glue head does not need to be determined each time, and the glue head is convenient and quick. And calculating the linear distance between the physical coordinate of the glue head and each physical coordinate corresponding to the glue dispensing area, and taking the linear distance as the glue dispensing distance. The method for determining the dispensing distance can be obtained by calculating through the Pythagorean theorem according to the abscissa and the ordinate between two points.
Step S240, determining the physical coordinate corresponding to the minimum value of the glue distances of the respective points as a dispensing start coordinate, so that the glue head performs dispensing on the dispensing area with the dispensing start coordinate as an initial position.
And comparing the glue distance of each point, taking the physical coordinate corresponding to the minimum value as the coordinate of the dispensing starting point, and controlling the glue head to move to the position corresponding to the coordinate of the dispensing starting point to start dispensing. The distance that the head of having guaranteed to glue removed is minimum, saves time, provides work efficiency.
The embodiment of the invention provides a glue dispensing method, which comprises the steps of processing an original image of a device to be subjected to glue dispensing, acquired by an acquired image acquisition device, to obtain a glue dispensing area, and determining each image coordinate of the glue dispensing area in an image coordinate system; determining each image coordinate to be mapped to each physical coordinate under a physical coordinate system of a dispensing platform according to the pixel resolution of the image acquisition device, wherein the dispensing platform is used for placing the device to be dispensed; the method comprises the steps of determining a dispensing starting point coordinate according to each physical coordinate corresponding to the dispensing area and the glue head physical coordinate, enabling the glue head to dispense glue on the dispensing area by taking the dispensing starting point coordinate as an initial position, solving the problem of low dispensing precision in the traditional dispensing method, determining the dispensing area by collecting an image of a device to be dispensed, converting the image coordinate of the dispensing area into a physical coordinate which can be identified by the glue head of a dispensing motion device, controlling the glue head to dispense glue, and collecting the image of each device to be dispensed in real time to determine the dispensing area without manually fixing and inputting the dispensing position and the dispensing path, thereby improving the dispensing precision and the dispensing efficiency. By calculating the glue distance of each point and selecting the minimum value as the coordinate of the glue dispensing starting point, the minimum moving distance of the glue head is ensured, the time is saved, and the working efficiency is improved.
EXAMPLE III
Fig. 4 is a schematic structural diagram of a dispensing system according to a third embodiment of the present invention, where the dispensing system includes: the image acquisition device 31, the dispensing platform 32, the glue head 33 and the dispensing device 34.
The image acquisition device 31 is used for acquiring an original image of the device to be glued and a glue dot image of the glue dot platform; the dispensing platform 32 is used for placing the device to be dispensed; the glue head 33 is used for dispensing the device to be dispensed; the dispensing device 34 includes: the image coordinate determination module is used for processing the original image of the device to be subjected to glue dispensing, which is acquired by the image acquisition device, so as to obtain a glue dispensing area and determine each image coordinate of the glue dispensing area under an image coordinate system; the physical coordinate determination module is used for determining each image coordinate mapped to each physical coordinate under a physical coordinate system of a dispensing platform according to the pixel resolution of the image acquisition device, and the dispensing platform is used for placing the device to be dispensed; and the starting point coordinate determining module is used for determining the coordinates of the dispensing starting points according to the physical coordinates corresponding to the dispensing areas and the physical coordinates of the glue heads so as to enable the glue heads to dispense glue on the dispensing areas by taking the coordinates of the dispensing starting points as initial positions.
The embodiment of the invention provides a dispensing system, which solves the problem of low dispensing precision in the traditional dispensing method, determines a dispensing area by acquiring an image of a device to be dispensed, converts the image coordinate of the dispensing area into a physical coordinate which can be identified by a dispensing head of a dispensing motion device, controls the dispensing head to dispense, does not need to manually fix and input a dispensing position and a dispensing path, acquires the image of each device to be dispensed in real time to determine the dispensing area, and improves the dispensing precision and the dispensing efficiency. By calculating the glue distance of each point and selecting the minimum value as the coordinate of the glue dispensing starting point, the minimum moving distance of the glue head is ensured, the time is saved, and the working efficiency is improved.
Optionally, the image coordinate determination module includes:
the image acquisition unit is used for processing the original image according to a preset image processing algorithm to obtain an image to be subjected to glue dispensing;
and the area determining unit is used for determining the dispensing area of the image to be dispensed based on a preset machine vision learning algorithm.
Optionally, the image obtaining unit is specifically configured to perform binarization processing on the original image to obtain a grayscale image; carrying out image enhancement processing on the gray level image to obtain a contour enhanced image; and performing morphological processing on the contour enhancement image to obtain an image to be subjected to glue dispensing.
Optionally, the dispensing device further includes:
the glue point determining module is used for controlling the glue head to perform glue dispensing at any position of the glue dispensing platform to obtain a glue point;
the image determining module is used for controlling the center of the image acquisition device to move to the glue point and acquiring a glue point image of the glue point platform, wherein the glue point image comprises the glue point;
the original point image coordinate determining module is used for processing the glue point image through preset processing software to obtain an image coordinate of the glue point and determining the image coordinate of the glue point as the original point image coordinate of the image acquisition device;
and the origin physical coordinate determination module is used for determining the physical coordinates of the glue points as the origin physical coordinates of the image acquisition device.
Optionally, the physical coordinate determining module is specifically configured to determine a physical coordinate corresponding to each image coordinate according to the pixel resolution, a predetermined origin image coordinate of the image capturing device, and a predetermined coordinate conversion relation in which the origin physical coordinate is combined with the predetermined coordinate conversion relation.
Optionally, the coordinate transformation relation is as follows:
Xm＝Xmmid-(Xp-Xpmid)×ratio；
Ym＝Ymmid+(Yp-Ypmid)×ratio；
wherein, XmIs the abscissa in the physical coordinates; y ismIs the ordinate of the physical coordinate; xmmidIs the abscissa in the origin physical coordinate; y ismmidIs a vertical coordinate in the origin physical coordinate; xpmidIs the abscissa in the origin image coordinates; y ispmidIs a vertical coordinate in the origin image coordinate; xpIs the abscissa in the image coordinates; y ispIs the ordinate in the image coordinate; ratio is the pixel resolution.
Optionally, the starting point coordinate determining module includes:
the distance determining unit is used for determining the dispensing distance between the physical coordinate of the glue head and each physical coordinate corresponding to the dispensing area;
and the starting point coordinate determining unit is used for determining the physical coordinate corresponding to the minimum value in the glue distance of each point as the glue starting point coordinate.
The dispensing device provided by the embodiment of the invention can execute the dispensing method provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.
Example four
Fig. 5 is a schematic structural diagram of an apparatus according to a fourth embodiment of the present invention, as shown in fig. 5, the apparatus includes a processor 40, a memory 41, an input device 42, and an output device 43; the number of processors 40 in the device may be one or more, and one processor 40 is taken as an example in fig. 5; the processor 40, the memory 41, the input device 42 and the output device 43 in the apparatus may be connected by a bus or other means, which is exemplified in fig. 5.
The memory 41 serves as a computer-readable storage medium for storing software programs, computer-executable programs, and modules, such as program instructions/modules corresponding to the dispensing method in the embodiment of the present invention (e.g., an image coordinate determination module, a physical coordinate determination module, and a start point coordinate determination module in the dispensing apparatus). The processor 40 executes various functional applications and data processing of the device by running software programs, instructions and modules stored in the memory 41, so as to implement the above-mentioned dispensing method.
The memory 41 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the terminal, and the like. Further, the memory 41 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, memory 41 may further include memory located remotely from processor 40, which may be connected to the device over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input device 42 is operable to receive input numeric or character information and to generate key signal inputs relating to user settings and function controls of the apparatus. The output device 43 may include a display device such as a display screen.
EXAMPLE five
An embodiment of the present invention further provides a storage medium containing computer-executable instructions, where the computer-executable instructions are executed by a computer processor to perform a method for dispensing, and the method includes:
processing the acquired original image of the device to be subjected to glue dispensing, acquired by the image acquisition device, to acquire a glue dispensing area, and determining each image coordinate of the glue dispensing area in an image coordinate system;
determining each image coordinate to be mapped to each physical coordinate under a physical coordinate system of a dispensing platform according to the pixel resolution of the image acquisition device, wherein the dispensing platform is used for placing the device to be dispensed;
and determining the coordinates of the dispensing starting point according to the physical coordinates corresponding to the dispensing area and the physical coordinates of the glue head, so that the glue head performs dispensing on the dispensing area by taking the coordinates of the dispensing starting point as an initial position.
Of course, the storage medium provided by the embodiment of the present invention contains computer-executable instructions, and the computer-executable instructions are not limited to the method operations described above, and may also perform related operations in the dispensing method provided by any embodiment of the present invention.
From the above description of the embodiments, it is obvious for those skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly, can also be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the methods according to the embodiments of the present invention.
It should be noted that, in the embodiment of the foregoing dispensing apparatus, each included unit and module are only divided according to functional logic, but are not limited to the above division, as long as the corresponding function can be realized; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (9)
1. A dispensing method, comprising:
processing the acquired original image of the device to be subjected to glue dispensing, acquired by the image acquisition device, to acquire a glue dispensing area, and determining each image coordinate of the glue dispensing area in an image coordinate system;
determining each image coordinate to be mapped to each physical coordinate under a physical coordinate system of a dispensing platform according to the pixel resolution of the image acquisition device, wherein the dispensing platform is used for placing the device to be dispensed;
determining a dispensing starting point coordinate according to each physical coordinate corresponding to the dispensing area and the physical coordinate of the glue head, so that the glue head performs dispensing on the dispensing area by taking the dispensing starting point coordinate as an initial position;
before determining that each image coordinate is mapped to each physical coordinate under a physical coordinate system of the dispensing platform according to the pixel resolution of the image acquisition device, the method further comprises the following steps:
controlling the glue head to perform glue dispensing at any position of the glue dispensing platform to obtain a glue dispensing point;
controlling the center of the image acquisition device to move to the glue point, and acquiring a glue point image of the glue point platform, wherein the glue point image comprises the glue point;
processing the glue dot image through preset processing software to obtain an image coordinate of the glue dot, and determining the image coordinate of the glue dot as an original point image coordinate of the image acquisition device;
and determining the physical coordinates of the glue dots as the original point physical coordinates of the image acquisition device.
2. The method according to claim 1, wherein the processing the obtained original image of the device to be subjected to dispensing, collected by the image collecting device, to obtain a dispensing area comprises:
processing the original image according to a preset image processing algorithm to obtain an image to be subjected to glue dispensing;
and determining the dispensing area of the image to be dispensed based on a preset machine vision learning algorithm.
3. The method according to claim 2, wherein the processing the original image according to a preset image processing algorithm to obtain an image to be dispensed comprises:
carrying out binarization processing on the original image to obtain a gray image;
carrying out image enhancement processing on the gray level image to obtain a contour enhanced image;
and performing morphological processing on the contour enhancement image to obtain an image to be subjected to glue dispensing.
4. The method of claim 1, wherein determining, according to the pixel resolution of the image capture device, each image coordinate mapped to each physical coordinate in a physical coordinate system of a dispensing platform comprises:
and determining physical coordinates corresponding to the image coordinates according to the pixel resolution, the predetermined origin image coordinates and the predetermined origin physical coordinates of the image acquisition device and the predetermined coordinate conversion relation.
5. The method of claim 4, wherein the coordinate transformation relation is:
Xm＝Xmmid-(Xp-Xpmid)×ratio；
Ym＝Ymmid+(Yp-Ypmid)×ratio；
wherein, XmIs the abscissa in the physical coordinates; y ismIs the ordinate of the physical coordinate; xmmidIs the abscissa in the origin physical coordinate; y ismmidIs a vertical coordinate in the origin physical coordinate; xpmidIs the abscissa in the origin image coordinates; y ispmidIs a vertical coordinate in the origin image coordinate; xpIs the abscissa in the image coordinates; y ispIs the ordinate in the image coordinate; ratio is the pixel resolution.
6. The method of claim 1, wherein determining the coordinates of the dispensing start point according to the physical coordinates corresponding to the dispensing area and the physical coordinates of the dispensing head comprises:
determining the dispensing distance between the physical coordinate of the glue head and each physical coordinate corresponding to the dispensing area;
and determining the physical coordinate corresponding to the minimum value in the glue distances of all points as the coordinate of the glue starting point.
7. A dispensing system, comprising:
the image acquisition device is used for acquiring an original image of the device to be glued and a glue point image of the glue point platform;
the dispensing platform is used for placing the device to be dispensed;
the glue head is used for dispensing the device to be dispensed;
adhesive deposite device includes:
the image coordinate determination module is used for processing the original image of the device to be subjected to glue dispensing, which is acquired by the image acquisition device, so as to obtain a glue dispensing area and determine each image coordinate of the glue dispensing area under an image coordinate system;
the physical coordinate determination module is used for determining each image coordinate mapped to each physical coordinate under a physical coordinate system of a dispensing platform according to the pixel resolution of the image acquisition device, and the dispensing platform is used for placing the device to be dispensed;
a starting point coordinate determining module, configured to determine a dispensing starting point coordinate according to each physical coordinate corresponding to the dispensing area and the physical coordinate of the glue head, so that the glue head performs dispensing on the dispensing area with the dispensing starting point coordinate as an initial position;
the glue point determining module is used for controlling the glue head to perform glue dispensing at any position of the glue dispensing platform to obtain a glue point;
the image determining module is used for controlling the center of the image acquisition device to move to the glue point and acquiring a glue point image of the glue point platform, wherein the glue point image comprises the glue point;
the original point image coordinate determining module is used for processing the glue point image through preset processing software to obtain an image coordinate of the glue point and determining the image coordinate of the glue point as the original point image coordinate of the image acquisition device;
and the origin physical coordinate determination module is used for determining the physical coordinates of the glue points as the origin physical coordinates of the image acquisition device.
8. An electronic device, characterized in that the device comprises:
one or more processors;
a storage device for storing one or more programs,
when executed by the one or more processors, cause the one or more processors to implement a method of dispensing as recited in any of claims 1-6.
9. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out a method of dispensing as claimed in any one of claims 1 to 6.
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| CN113252697B (en) * | 2021-06-18 | 2021-10-08 | 深圳远荣智能制造股份有限公司 | Material quality detection method and equipment and computer readable storage medium |
| CN113996499A (en) * | 2021-09-27 | 2022-02-01 | 普洛赛斯(苏州)软件科技有限公司 | Intelligent positioning system for automatic industrial dispensing robot |
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| CN105964486B (en) * | 2015-03-11 | 2019-01-29 | 宁波舜宇光电信息有限公司 | A kind of automatic adhesive application system and its glue spreading method |
| CN106493042B (en) * | 2016-10-18 | 2018-12-21 | 凌云光技术集团有限责任公司 | Dispensing method and dispenser system |
| CN109550649B (en) * | 2017-09-25 | 2022-02-08 | 深圳市腾盛精密装备股份有限公司 | Dispensing positioning method and device based on machine vision |
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| CN110711670A (en) * | 2018-07-11 | 2020-01-21 | 深圳市裕展精密科技有限公司 | Dispensing device, dispensing method and computer storage medium |
| CN110111317A (en) * | 2019-04-29 | 2019-08-09 | 西安交通大学 | A kind of dispensing visual detection method for quality based on intelligent robot end |
| CN111369593B (en) * | 2020-03-16 | 2024-01-09 | 梅卡曼德（北京）机器人科技有限公司 | Glass gluing method, device, electronic equipment and storage medium |
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