CN113510047B - Dispensing method and device for planning dispensing track - Google Patents
Dispensing method and device for planning dispensing track Download PDFInfo
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- CN113510047B CN113510047B CN202110577329.4A CN202110577329A CN113510047B CN 113510047 B CN113510047 B CN 113510047B CN 202110577329 A CN202110577329 A CN 202110577329A CN 113510047 B CN113510047 B CN 113510047B
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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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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/30—Computing systems specially adapted for manufacturing
Abstract
The invention provides a dispensing method for planning a dispensing track, which comprises the steps of presetting a dispensing template; planning a dispensing path on a dispensing template; scanning the product outline through an area array laser sensor to obtain three-dimensional data of the product to be dispensed; obtaining an optimal conversion relation according to the three-dimensional data of the product to be dispensed and the dispensing template; and obtaining a dispensing path on the dispensing product through the optimal conversion relation between the product to be dispensed and the dispensing template. According to the invention, the point is selected on the point cloud data of the point glue template, so that the visual error during human eye teaching is avoided, and the point glue precision of the product is improved; meanwhile, if the product track is complex, after a plurality of sections of tracks are generated, track optimization can be performed, so that the track running time of the dispensing processing is shortened; for similar products, the template does not need to be updated, and the method can be automatically matched with the dispensing template and automatically plan the dispensing path.
Description
Technical Field
The invention relates to the technical field of dispensing, in particular to a dispensing method and device for planning a dispensing track.
Background
The dispensing technology is widely applied to industries such as electronics, illumination, automobiles and the like. In actual production, the dispensing products have great differences in various aspects such as size, shape, surface materials and the like. In practice, the demand for dispensing accuracy is often high, and the traditional method mostly adopts a human eye teaching mode, or designs special characteristics according to the dispensing position of the product to position and plan the dispensing track for each product to be dispensed.
Human eyes teach that human eyes are required to observe whether a needle head is aligned to a physical path or not, and then a special-shaped path is generated according to a plurality of point positions. This approach can be time consuming and labor intensive due to errors in the human eye's vision, resulting in a large deviation of the generated path from the actual one. In particular to a product with space radian, the teaching becomes complicated, and once the consistency of the product is not good, the operation is not possible at all.
The defect of designing special features according to the actual dispensing positions of the products is also obvious, different features are required to be redeveloped and designed for different products so as to be positioned at the dispensing positions, and the development efficiency is low. Secondly, when the shapes of the dispensing positions are complex and changeable and have no obvious characteristics, the designed algorithm is often poor in robustness, and the calculation complexity is high and the time is long, so that the dispensing operation efficiency is low.
Therefore, a new dispensing method for planning a dispensing track is needed to solve the technical problems in the prior art. .
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide a dispensing method and a dispensing device for planning a dispensing track.
The technical scheme of the invention is summarized as follows:
in one aspect, the present invention provides a dispensing method for planning a dispensing trajectory, including:
a preset dispensing template; planning a dispensing path on a dispensing template;
scanning the product outline through an area array laser sensor to obtain three-dimensional data of the product to be dispensed;
obtaining an optimal conversion relation according to the three-dimensional data of the product to be dispensed and the dispensing template;
and obtaining a dispensing path on the dispensing product through the optimal conversion relation between the product to be dispensed and the dispensing template.
Further, the method further comprises the following steps:
and processing the dispensing path on the dispensing product to obtain an optimized dispensing path.
Further, the method further comprises the following steps: and performing actual dispensing operation according to the optimized dispensing path.
Further, the processing the dispensing path on the dispensing product includes:
processing track points on the dispensing path by using a Dubin curve algorithm to obtain an optimized broken line segment;
and then introducing a Bezier third-order curve to smooth the optimized broken line segment, so as to obtain an optimized dispensing path.
Further, the preset dispensing template; obtaining a dispensing path on a dispensing template, comprising:
the method comprises the steps of presetting a dispensing template, and preprocessing the dispensing template to obtain the attribute of each point on the dispensing template;
and determining a dispensing path on the dispensing template according to the attribute of each point on the dispensing template.
Further, the pre-processing the dispensing template to obtain the attribute of each point on the dispensing template includes:
and displaying the point cloud data of the dispensing template by using a three-dimensional visualization engine, selecting a target point from the point cloud data of the dispensing template, and endowing each point with an attribute.
Further, the obtaining the dispensing path on the dispensing product according to the optimal conversion relation between the product to be dispensed and the dispensing template includes:
and converting the dispensing path on the dispensing template through the optimal conversion relation between the product to be dispensed and the dispensing template to obtain the dispensing path on the dispensing product.
Further, the obtaining the optimal conversion relation according to the three-dimensional data of the product to be dispensed and the dispensing template comprises:
according to the three-dimensional data of the product to be dispensed, N key points on the product to be dispensed are obtained;
and comparing the N key points on the product to be dispensed with the N key points on the dispensing template to obtain the optimal conversion relation.
Further, comparing the N key points on the product to be dispensed with the N key points on the dispensing template to obtain an optimal conversion relationship, including:
aligning N key points on the product to be dispensed with N key points on the dispensing template to obtain the sum of Euclidean distances between the N key points on the product to be dispensed and the N key points on the dispensing template;
and taking the conversion relation between N key points on the product to be dispensed and N key points on the dispensing template when the sum of Euclidean distances between the N key points is minimum as the optimal conversion relation between the dispensing template and the product to be dispensed.
Correspondingly, the invention also provides a dispensing device for automatically planning the dispensing track, which comprises:
the preset module is used for presetting the dispensing template; planning a dispensing path on a dispensing template;
the first acquisition module is used for scanning the product outline through the area array laser sensor to obtain three-dimensional data of the product to be dispensed;
the second acquisition module is used for obtaining the optimal conversion relation according to the three-dimensional data of the product to be dispensed and the dispensing template;
and the third acquisition module is used for obtaining a dispensing path on the dispensing product through the optimal conversion relation between the product to be dispensed and the dispensing template.
Compared with the prior art, the invention has the beneficial effects that: according to the invention, the point is selected on the point cloud data of the point glue template, so that the visual error during human eye teaching is avoided, and the point glue precision of the product is improved; meanwhile, if the product track is complex, after a plurality of sections of tracks are generated, track optimization can be performed, so that the track running time of the dispensing processing is shortened; for similar products, the template does not need to be updated, and the method can be automatically matched with the dispensing template and automatically plan the dispensing path.
The foregoing description is only an overview of the present invention, and is intended to provide a better understanding of the present invention, as it is embodied in the following description, with reference to the preferred embodiments of the present invention and the accompanying drawings. Specific embodiments of the present invention are given in detail by the following examples and the accompanying drawings.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiments of the invention and together with the description serve to explain the invention and do not constitute a limitation on the invention. In the drawings:
FIG. 1 is a schematic process diagram of a dispensing method for planning a dispensing trajectory according to the present invention;
FIG. 2 is a schematic flow chart of a dispensing method for planning a dispensing trajectory according to the present invention;
fig. 3 is a schematic diagram of a dispensing device for planning a dispensing track according to the present invention.
Reference numerals: 100. a predetermined module; 200. a first acquisition module; 300. a second acquisition module; 400. and a third acquisition module.
Detailed Description
The foregoing and other objects, features, aspects and advantages of the present invention will become more apparent to those skilled in the art from the following detailed description, which, taken in conjunction with the annexed drawings, discloses a device for practicing the invention. In the drawings, the shape and size may be exaggerated for clarity, and the same reference numerals will be used throughout the drawings to designate the same or similar components. In the following description, terms such as center, thickness, height, length, front, back, rear, left, right, top, bottom, upper, lower, etc. are based on the orientation or positional relationship shown in the drawings. In particular, "height" corresponds to the top-to-bottom dimension, "width" corresponds to the left-to-right dimension, and "depth" corresponds to the front-to-back dimension. These relative terms are for convenience of description and are not generally intended to require a particular orientation. Terms (e.g., "connected" and "attached") referring to an attachment, coupling, etc., refer to a relationship wherein these structures are directly or indirectly secured or attached to one another through intervening structures, as well as both movable or rigid attachments or relationships, unless expressly described otherwise.
The present invention will be further described with reference to the accompanying drawings and detailed description, wherein it is to be understood that, on the premise of no conflict, new embodiments may be formed by any combination of the embodiments or technical features described below. It will be understood that terms, such as "having," "including," and "comprising," as used herein, do not preclude the presence or addition of one or more other elements or groups thereof.
As shown in fig. 1-2, a dispensing method for planning a dispensing track according to the present invention includes:
s1, presetting a dispensing template; and planning a dispensing path on the dispensing template.
S2, scanning the product outline through an area array laser sensor to obtain three-dimensional data of the product to be dispensed;
s3, obtaining an optimal conversion relation according to the three-dimensional data of the product to be dispensed and the dispensing template;
s4, obtaining a dispensing path on the dispensing product through the optimal conversion relation between the product to be dispensed and the dispensing template.
Preferably, the present invention may further include: s5, processing the dispensing path on the dispensing product to obtain an optimized dispensing path.
Further comprises: s6, performing actual dispensing operation according to the optimized dispensing path.
The step S1 comprises the following steps:
s11, presetting a dispensing template, and preprocessing the dispensing template to obtain the attribute of each point on the dispensing template.
S12, determining a dispensing path on the dispensing template according to the attribute of each point on the dispensing template.
According to the invention, a dispensing path is not generated in a human eye teaching mode in the prior art, but a dispensing template is preset, the dispensing template is subjected to point selection according to a template generated by a large number of objects, the dispensing path on the dispensing template is manually planned, the dispensing path on the dispensing template is generated, the visual error during human eye teaching is fully avoided, and the dispensing precision of products is improved.
Specifically, in S11, the dispensing template is preprocessed to obtain the attribute of each point on the dispensing template, including: and displaying the point cloud data of the dispensing template by using a three-dimensional visualization engine, selecting a target point from the point cloud data of the dispensing template, and endowing each point with an attribute.
For example, three-dimensional point cloud data of the dispensing template is displayed by using a three-dimensional visualization engine, a proper view angle is selected by rotating and zooming the data, and a proper position point is selected in the point cloud data to be used as a point on a dispensing path. Each point is assigned with attributes such as a starting point, a straight line midpoint, an arc end point, an end point and the like. When the beginning of the start point and the end of the end point are satisfied, the segment path serves as an effective path.
When meeting the beginning of the starting point and the end of the ending point, the path is used as an effective path, and the effective path is the dispensing path on the dispensing template.
And S2, scanning the product outline of the product to be dispensed through an area array laser sensor, and generating three-dimensional point cloud data of the product to be dispensed.
Step S3, obtaining the optimal conversion relation according to the three-dimensional data of the product to be dispensed and the dispensing template, wherein the step comprises the following steps:
s31, obtaining N key points on the product to be dispensed according to the three-dimensional data of the product to be dispensed;
s32, comparing N key points on the product to be dispensed with N key points on the dispensing template to obtain the optimal conversion relation.
Preferably, S32 includes:
s321, aligning N key points on a product to be dispensed with N key points on a dispensing template to obtain the sum of Euclidean distances between the N key points on the product to be dispensed and the N key points on the dispensing template;
s322, taking the conversion relation between N key points on the product to be dispensed and N key points on the dispensing template when the sum of Euclidean distances between the N key points is minimum as the optimal conversion relation between the dispensing template and the product to be dispensed.
In this embodiment, the product to be dispensed may be aligned with the dispensing template based on the reference point on the product to be dispensed, where the reference point may be a center point, and after the N key points on the product to be dispensed are aligned with the N key points on the dispensing template, the sum of the euclidean distances between the N key points on the product to be dispensed and the N key points on the dispensing template is obtained; and taking the conversion relation between the product to be dispensed and the dispensing template when the minimum distance is the sum as the optimal conversion relation. The conversion relation is the conversion relation between the left side on the product to be dispensed and the coordinates on the dispensing template. If the product to be dispensed is completely matched with the dispensing template, the sum of Euclidean distances between N key points on the product to be dispensed and N key points on the dispensing template is 0. Specifically, the process of obtaining the sum of the euclidean distances between the N key points on the product to be dispensed and the N key points on the dispensing template is a process of solving an optimal solution of a multiple nonlinear equation.
Step S4, obtaining a dispensing path on a dispensing product through the optimal conversion relation between the product to be dispensed and a dispensing template, wherein the step comprises the following steps:
and converting the dispensing path on the dispensing template through the optimal conversion relation between the product to be dispensed and the dispensing template to obtain the dispensing path on the dispensing product.
And (3) obtaining the optimal conversion relation between the product to be dispensed and the dispensing template by matching the point cloud data of the product to be dispensed and the dispensing template, so that the dispensing path on the dispensing template is converted to obtain the dispensing path on the dispensing product based on the optimal conversion relation. In step S5, processing the dispensing path on the dispensing product includes:
s51, processing track points on the spot gluing path by using a Dubin curve algorithm to obtain an optimized broken line segment;
s52, a Bezier third-order curve is introduced to smooth the optimized broken line segment, and an optimized dispensing path is obtained.
Because of the interference of factors such as different surface structure changes of the dispensing product and the noise measured by the area array laser sensor, the surface fluctuation consistency of the actually generated three-dimensional point cloud data has certain difference, and the smoothness of the generated dispensing path is poor. Thus, the invention performs smoothing treatment on the dispensing path on the dispensing product.
Specifically, the Dubins curve is the shortest path connecting two-dimensional planes under conditions that satisfy curvature constraints and defined tangents to the beginning and end. And processing the track points on the dispensing path through a Dubin curve algorithm to obtain the processed optimal folded line segment. The optimal broken line section at least comprises a first broken line section and a second broken line section, characteristic points of a third-order Bezier curve are determined according to the first broken line section and the second broken line section, the third-order Bezier curve is constructed according to the characteristic points and is used as a smooth transition section between the first broken line section and the second broken line section, the starting point of the smooth transition section is a turning-out point of the first broken line section, and the ending point of the smooth transition section is used as a turning-in point of the second broken line section. The smooth transition section and the first folding line section have the same tangential vector direction and the same curvature on the starting point; the tangential vector directions of the smooth transition section and the second turning section on the termination point are the same and the curvatures are the same, so that acceleration at the inflection points (turning-out points and turning-in points) can be continuous without jump.
Correspondingly, as shown in fig. 3, the invention further provides a dispensing device for automatically planning a dispensing track, which is characterized by comprising:
a predetermined module 100 for predetermining a dispensing template; and planning a dispensing path on the dispensing template.
The first obtaining module 200 is configured to scan the product contour through the area array laser sensor to obtain three-dimensional data of the product to be dispensed;
the second obtaining module 300 is configured to obtain an optimal conversion relationship according to the three-dimensional data of the product to be dispensed and the dispensing template;
and the third obtaining module 400 is configured to obtain a dispensing path on the product to be dispensed according to the optimal conversion relationship between the product to be dispensed and the dispensing template.
The device also comprises an optimizing module, which is used for processing the dispensing path on the dispensing product to obtain an optimized dispensing path.
And the execution module is used for carrying out actual dispensing operation according to the optimized dispensing path.
According to the invention, the point is selected on the point cloud data of the point glue template, so that the visual error during human eye teaching is avoided, and the point glue precision of the product is improved; meanwhile, if the product track is complex, after a plurality of sections of tracks are generated, track optimization can be performed, so that the track running time of the dispensing processing is shortened; for similar products, the template does not need to be updated, and the method can be automatically matched with the dispensing template and automatically plan the dispensing path.
Furthermore, the device and method embodiments in the device embodiments are based on the same inventive concept.
The embodiment of the invention also provides a computer storage medium which comprises a memory and a processor, wherein at least one instruction and at least one section of program are stored in the memory, and the at least one instruction and the at least one section of program are loaded and executed by the processor to realize the dispensing method for planning the dispensing track provided by the embodiment of the method.
It should be noted that: the sequence of the embodiments of the present invention is only for description, and does not represent the advantages and disadvantages of the embodiments. And the foregoing description has been directed to specific embodiments of this specification. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims can be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.
In this specification, each embodiment is described in a progressive manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments. In particular, for the apparatus and electronic device embodiments, since they are substantially similar to the method embodiments, the description is relatively simple, and references to the parts of the description of the method embodiments are only required.
The foregoing description has fully disclosed specific embodiments of this invention. It should be noted that any modifications to the specific embodiments of the invention may be made by those skilled in the art without departing from the scope of the invention as defined in the appended claims. Accordingly, the scope of the claims of the present invention is not limited to the foregoing detailed description.
Claims (4)
1. The dispensing method for planning the dispensing track is characterized by comprising the following steps of:
a preset dispensing template; planning a dispensing path on a dispensing template; the preset dispensing template; obtaining a dispensing path on a dispensing template, comprising:
the method comprises the steps of presetting a dispensing template, and preprocessing the dispensing template to obtain the attribute of each point on the dispensing template, wherein the attribute is specifically as follows: displaying the point cloud data of the dispensing template by using a three-dimensional visualization engine, selecting a target point from the point cloud data of the dispensing template, and endowing each point with an attribute; determining a dispensing path on the dispensing template according to the attribute of each point on the dispensing template;
scanning the product outline through an area array laser sensor to obtain three-dimensional data of the product to be dispensed;
obtaining an optimal conversion relation according to the three-dimensional data of the product to be dispensed and the dispensing template;
obtaining a dispensing path on the dispensing product through the optimal conversion relation between the product to be dispensed and the dispensing template,
the method for obtaining the optimal conversion relation according to the three-dimensional data of the product to be dispensed and the dispensing template comprises the following steps: according to the three-dimensional data of the product to be dispensed, N key points on the product to be dispensed are obtained; comparing N key points on the product to be dispensed with N key points on the dispensing template to obtain an optimal conversion relation;
comparing the N key points on the product to be dispensed with the N key points on the dispensing template to obtain an optimal conversion relation, wherein the method comprises the following steps:
aligning N key points on the product to be dispensed with N key points on the dispensing template to obtain the sum of Euclidean distances between the N key points on the product to be dispensed and the N key points on the dispensing template;
the conversion relation between N key points on the product to be dispensed and N key points on the dispensing template when the sum of Euclidean distances is minimum is used as the optimal conversion relation between the dispensing template and the product to be dispensed;
processing the dispensing path on the dispensing product to obtain an optimized dispensing path, wherein the processing the dispensing path on the dispensing product comprises the following steps: processing track points on the dispensing path by using a Dubin curve algorithm to obtain an optimized broken line segment; and then introducing a Bezier third-order curve to smooth the optimized broken line segment, so as to obtain an optimized dispensing path.
2. The dispensing method of claim 1, further comprising: and performing actual dispensing operation according to the optimized dispensing path.
3. The method for dispensing a product according to claim 1, wherein the obtaining a dispensing path on the product through the optimal conversion relationship between the product to be dispensed and the dispensing template comprises:
and converting the dispensing path on the dispensing template through the optimal conversion relation between the product to be dispensed and the dispensing template to obtain the dispensing path on the dispensing product.
4. A dispensing device for automatically planning a dispensing trajectory, for implementing the dispensing method for planning a dispensing trajectory according to any one of claims 1 to 3, comprising:
the preset module is used for presetting the dispensing template; planning a dispensing path on a dispensing template;
the first acquisition module is used for scanning the product outline through the area array laser sensor to obtain three-dimensional data of the product to be dispensed;
the second acquisition module is used for obtaining the optimal conversion relation according to the three-dimensional data of the product to be dispensed and the dispensing template;
and the third acquisition module is used for obtaining a dispensing path on the dispensing product through the optimal conversion relation between the product to be dispensed and the dispensing template.
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| WO2012037267A1 (en) * | 2010-09-17 | 2012-03-22 | Steven Nielsen | Methods and apparatus for dispensing material and electronically tracking same |
| CN106733525A (en) * | 2016-11-24 | 2017-05-31 | 杭州力视科技有限公司 | A kind of method and device of the automatically dropping glue based on dual camera |
| CN209109500U (en) * | 2018-10-26 | 2019-07-16 | 江苏科瑞恩自动化科技有限公司 | A kind of point glue equipment based on the movement of laser traces track |
| CN111152229B (en) * | 2020-02-24 | 2023-08-25 | 群滨智造科技(苏州)有限公司 | Manipulator guiding method and device for 3D mechanical vision |
| CN111905983B (en) * | 2020-07-17 | 2021-06-29 | 深圳市华成工业控制股份有限公司 | Vision following-based dispensing track correction method, device, system and medium |
| CN112793562B (en) * | 2021-02-03 | 2023-02-28 | 武汉理工大学 | Automatic parking path planning and tracking control method, planning device, storage medium and computer equipment |
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