CN113720263A - Dispensing head visual detection method, system and device and storage medium - Google Patents
Dispensing head visual detection method, system and device and storage medium Download PDFInfo
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- CN113720263A CN113720263A CN202111024000.1A CN202111024000A CN113720263A CN 113720263 A CN113720263 A CN 113720263A CN 202111024000 A CN202111024000 A CN 202111024000A CN 113720263 A CN113720263 A CN 113720263A
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- 238000001514 detection method Methods 0.000 title abstract description 34
- 230000000007 visual effect Effects 0.000 title abstract description 12
- 238000000034 method Methods 0.000 claims abstract description 31
- 238000013507 mapping Methods 0.000 claims description 19
- 238000011179 visual inspection Methods 0.000 claims description 14
- 238000004590 computer program Methods 0.000 claims description 6
- 230000000694 effects Effects 0.000 abstract description 7
- 239000003292 glue Substances 0.000 description 19
- 238000004364 calculation method Methods 0.000 description 6
- 230000009191 jumping Effects 0.000 description 6
- 238000007689 inspection Methods 0.000 description 4
- 238000005507 spraying Methods 0.000 description 2
- 238000007792 addition Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004422 calculation algorithm Methods 0.000 description 1
- 238000012217 deletion Methods 0.000 description 1
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- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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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
Abstract
The application relates to a visual detection method, a system, a device and a storage medium for a dispensing head, relating to the technical field of dispensing head detection, wherein the method comprises the steps of obtaining the dispensing point position; forming and executing a dispensing head moving instruction according to the dispensing point position, wherein the dispensing head moving instruction is used for driving the dispensing head to move to the dispensing point position; forming and executing a horizontal camera moving instruction according to the dispensing point position, wherein the horizontal camera moving instruction is used for driving a horizontal camera to move to the dispensing point position; acquiring a horizontal image, wherein the horizontal image is obtained by shooting through a horizontal camera; calculating the true position degree of the needle head in the horizontal image; and sending the calculated true position degree to an intelligent terminal of the user. The method and the device have the effects of improving the efficiency and the accuracy of the dispensing head detection and calibration.
Description
Technical Field
The present disclosure relates to the field of dispensing head detection technologies, and in particular, to a method, a system, an apparatus, and a storage medium for dispensing head visual detection.
Background
The glue dispensing head is one of important tools for glue dispensing operation, belongs to accessory products of full-automatic glue spraying machines, and mainly plays a role in dispensing glue in a glue bottle to a position needing glue dispensing.
In the actual operation, the dispensing head internal diameter size should be 1/2 of the dispensing point diameter for the point, and the in-process should be glued to the point, should select the point according to pad size on the pcb and glue the syringe needle: for example, 0805 and 1206 pads have small size difference, the same needle can be selected, but different needles are selected for the pads with large difference, so that the quality of glue spots can be ensured, and the production efficiency can be improved. Different automatic glue spraying machines adopt different glue dispensing heads, and the calibration of the needle head is carried out before the work starts each time.
However, when calibrating the needle, it is common for the inspector to calibrate by his or her own vision, resulting in a slower and less accurate inspection.
Disclosure of Invention
In order to improve the efficiency and accuracy of the detection and calibration of the dispensing head, the application provides a visual detection method, a system, a device and a storage medium for the dispensing head.
In a first aspect, the present application provides a method for visually inspecting a dispensing head, which adopts the following technical scheme:
a dispensing head visual inspection method comprises the following steps:
obtaining a dispensing point position;
forming and executing a dispensing head moving instruction according to the dispensing point position, wherein the dispensing head moving instruction is used for driving the dispensing head to move to the dispensing point position;
forming and executing a horizontal camera moving instruction according to the dispensing point position, wherein the horizontal camera moving instruction is used for driving a horizontal camera to move to the dispensing point position;
acquiring a horizontal image, wherein the horizontal image is obtained by shooting through a horizontal camera;
calculating the true position degree of the needle head in the horizontal image;
and sending the calculated true position degree to an intelligent terminal of the user.
By adopting the technical scheme, the program control dispensing head and the horizontal camera both automatically move to the dispensing point position, so that the horizontal camera is controlled to automatically shoot the dispensing head to obtain a horizontal image, and the position of the dispensing head in the horizontal image is calculated to obtain the true position degree of the needle head, so that the needle head can be directly fed back to the intelligent terminal of a user, and the user can obtain the detection result of the needle head. Wherein utilize procedure automatic control and camera high definition to shoot, just can realize improving the effect of the efficiency and the accuracy of dispensing head detection calibration.
Optionally, the calculating the true position of the needle in the horizontal image includes:
dividing an orthogonal coordinate system according to the horizontal image, wherein the orthogonal coordinate system takes the center of the horizontal image as a zero point;
acquiring a needle point position of a needle vertically mapped to a horizontal image;
and calculating the actual deviation value of the point position of the needle head and the zero point according to the orthogonal coordinate system.
By adopting the technical scheme, the pinhead is vertically mapped to the pinhead point position in the horizontal image and is compared with the zero point of the orthogonal coordinate system in the horizontal image for calculation, so that the actual deviation value of the pinhead is accurately calculated.
Optionally, after sending the calculated true position to the intelligent terminal of the user, the method includes:
judging whether the actual deviation value exceeds a preset deviation value or not according to the actual deviation value;
if the judgment result is yes, a replacement signal is formed and sent out;
if not, planning a deviation rectifying path and sending the deviation rectifying path, wherein the deviation rectifying path comprises the distance from the point position of the needle head to the zero point in the orthogonal coordinate system along the X, Y direction.
By adopting the technical scheme, when the actual deviation value exceeds the preset deviation value, the deviation degree of the needle head is larger, and a user is reminded to replace the dispensing head; when the actual deviation value does not exceed the preset deviation value, the position of the dispensing head can be slightly adjusted, so that the dispensing accuracy is improved under the condition of saving resources.
Optionally, the acquiring a horizontal image, where the horizontal image is obtained by shooting with a horizontal camera, includes:
according to the horizontal image, obtaining a mapping point position of the axis where the dispensing head is located and mapping the axis to the horizontal image;
judging whether the mapping point location is in the center of the horizontal image;
if yes, executing the step of calculating the true position degree of the needle head in the horizontal image;
if not, an alarm signal is formed and sent out.
By adopting the technical scheme, before calculating the needle head normal position degree, the program can firstly judge whether the mapping point position mapped from the axis where the dispensing head is located to the horizontal image is located at the center of the horizontal image, so that the coincidence between the axis where the dispensing head is located and the dispensing point position is firstly ensured, then the normal position degree of the needle head is calculated, and the accuracy of needle head detection is improved.
Optionally, after the alarm signal is formed and sent out, the method includes:
judging whether the dispensing point positions coincide with the center of the horizontal image or not;
if the judgment result is yes, forming a dispensing head adjusting instruction and sending the dispensing head adjusting instruction;
if not, forming a horizontal camera adjusting instruction and sending the horizontal camera adjusting instruction;
further judging whether the point location coincides with the mapping point location or not on the basis of the judgment result of no judgment;
if not, executing the step of forming a dispensing head adjusting instruction and sending out.
Through adopting above-mentioned technical scheme, when the mapping point location is not in horizontal image center, judge earlier whether the position of horizontal camera is accurate, if the position of horizontal camera is accurate then the position of adjustment dispensing head, if the horizontal camera position is also inaccurate, then further judge the position of dispensing head when adjusting the horizontal camera to guarantee that horizontal camera and dispensing head all accurately move to the dispensing point location, and then carry out accurate detection to the syringe needle.
Optionally, the method includes:
acquiring the point position of a dispensing head;
forming and executing a vertical camera moving instruction according to the dispensing head point position, wherein the vertical camera moving instruction is used for driving a vertical camera to move to the dispensing head point position;
acquiring a vertical image, wherein the vertical image is obtained by shooting through a vertical camera;
and sending the vertical image to an intelligent terminal of a user.
By adopting the technical scheme, the vertical camera is automatically controlled by the program to move to the dispensing head point position and shoot to obtain a vertical image, and a user can conveniently and visually detect whether the needle head has the conditions of glue overflow, glue residue and the like by utilizing the vertical image.
Optionally, the acquiring a vertical image, where the vertical image is obtained by shooting with a vertical camera, includes:
and marking the area where the bottom end of the dispensing head is located according to the vertical image to form a marked area.
By adopting the technical scheme, after the vertical image is obtained by shooting, the program can automatically form the mark area on the vertical image so as to facilitate the user to visually check.
In a second aspect, the present application provides a dispensing head vision inspection system, which adopts the following technical scheme:
a dispensing head visual inspection system comprising:
the dispensing point location obtaining module is used for obtaining a dispensing point location;
the dispensing head moving module is used for forming and executing a dispensing head moving instruction according to the dispensing point position, and the dispensing head moving instruction is used for driving the dispensing head to move to the dispensing point position;
the horizontal camera moving module is used for forming and executing a horizontal camera moving instruction according to the dispensing point position, and the horizontal camera moving instruction is used for driving the horizontal camera to move to the dispensing point position;
the horizontal image acquisition module is used for acquiring a horizontal image, and the horizontal image is obtained by shooting by a horizontal camera;
the righting degree calculating module is used for calculating the righting degree of the needle head in the horizontal image;
and the sending module is used for sending the calculated true position degree to an intelligent terminal of a user.
By adopting the technical scheme, the program control dispensing head and the horizontal camera both automatically move to the dispensing point position, so that the horizontal camera is controlled to automatically shoot the dispensing head to obtain a horizontal image, and the position of the dispensing head in the horizontal image is calculated to obtain the true position degree of the needle head, so that the needle head can be directly fed back to the intelligent terminal of a user, and the user can obtain the detection result of the needle head. Wherein utilize procedure automatic control and camera high definition to shoot, just can realize improving the effect of the efficiency and the accuracy of dispensing head detection calibration.
In a third aspect, the present application provides a dispensing head vision inspection device, which adopts the following technical scheme:
a dispensing head visual inspection device comprises a memory and a processor, wherein the memory is stored with a computer program which can be loaded by the processor and can execute any one of the methods.
By adopting the technical scheme, the program control dispensing head and the horizontal camera both automatically move to the dispensing point position, so that the horizontal camera is controlled to automatically shoot the dispensing head to obtain a horizontal image, and the position of the dispensing head in the horizontal image is calculated to obtain the true position degree of the needle head, so that the needle head can be directly fed back to the intelligent terminal of a user, and the user can obtain the detection result of the needle head. Wherein utilize procedure automatic control and camera high definition to shoot, just can realize improving the effect of the efficiency and the accuracy of dispensing head detection calibration.
In a fourth aspect, the present application provides a computer-readable storage medium, which adopts the following technical solutions:
a computer readable storage medium storing a computer program capable of being loaded by a processor and performing any of the methods described above.
By adopting the technical scheme, the program control dispensing head and the horizontal camera both automatically move to the dispensing point position, so that the horizontal camera is controlled to automatically shoot the dispensing head to obtain a horizontal image, and the position of the dispensing head in the horizontal image is calculated to obtain the true position degree of the needle head, so that the needle head can be directly fed back to the intelligent terminal of a user, and the user can obtain the detection result of the needle head. Wherein utilize procedure automatic control and camera high definition to shoot, just can realize improving the effect of the efficiency and the accuracy of dispensing head detection calibration.
In summary, the present application includes at least one of the following beneficial technical effects:
by utilizing automatic program control and high-definition camera shooting, the effects of improving the efficiency and accuracy of the detection and calibration of the dispensing head can be realized;
when the actual deviation value exceeds the preset deviation value, the deviation degree of the needle head is larger, and a user is reminded to replace the dispensing head; when the actual deviation value does not exceed the preset deviation value, the position of the dispensing head can be slightly adjusted, so that the dispensing accuracy is improved under the condition of saving resources.
Drawings
FIG. 1 is a flow chart of the needle true position detection steps in the embodiment of the present application.
Fig. 2 is a flowchart of the steps of calibrating a horizontal camera and a dispensing head in the embodiment of the present application.
Fig. 3 is a flowchart of sub-steps of S500 in an embodiment of the present application.
FIG. 4 is a flowchart of the step of determining the actual deviation value in the embodiment of the present application.
FIG. 5 is a flow chart of the needle flash detection step in the embodiment of the present application.
FIG. 6 is a block diagram of a needle true position detection system in an embodiment of the present application.
Description of reference numerals: 1. a dispensing point location obtaining module; 2. a dispensing head moving module; 3. a horizontal camera movement module; 4. a horizontal image acquisition module; 5. a positive level calculation module; 6. and a sending module.
Detailed Description
The present application is described in further detail below with reference to figures 1-6.
The embodiment of the application discloses a dispensing head visual detection method.
Referring to fig. 1, the visual inspection method for the dispensing head includes the following steps:
s100, obtaining the dispensing point positions.
The dispensing point location is a test point location for detecting the needle head, and can be any point location within the moving range of the dispensing head, and the selected dispensing point location is A.
And S200, forming and executing a dispensing head moving instruction.
And according to the dispensing point position A, automatically acquiring the actual position of the dispensing head by the program, editing a path for moving the actual position of the dispensing head to the dispensing point position A, and forming a dispensing head moving instruction. And the dispensing head moving instruction is used for driving the dispensing head to move to the dispensing point position. Further, in this embodiment, all the dispensing heads refer to a cylindrical container filled with the glue solution and a needle at the bottom end of the cylindrical container.
And S300, forming and executing a horizontal camera moving instruction.
And according to the dispensing point position A, automatically acquiring the actual position of the horizontal camera by the program, and editing a path of the actual position of the horizontal camera moving to the dispensing point position A to form a horizontal camera moving instruction. The horizontal camera moving instruction is used for driving the horizontal camera to move to the glue dispensing position.
Specifically, the horizontal camera comprises a camera body and a telecentric lens, wherein the telecentric lens is arranged above the camera body. Further, the resolution of the camera is selected to be 3840(H) × 2748(V), the visual field is 8mm × 5.8mm, and the accuracy of the camera for calculating the visual pixel points is 0.002 mm.
And S400, acquiring a horizontal image.
Wherein the horizontal image is captured by a horizontal camera. Furthermore, horizontal camera and point are glued the head and are all removed to the point and glue the position after to the interval of adjusting horizontal camera and point and glue the head is 65MM, and then shoots the point and glue the head vertically upwards.
Referring to fig. 2, before calculating the needle true position, the method further calibrates the positions of the horizontal camera and the dispensing head, and specifically includes the following steps:
s401, obtaining a mapping point position of the axis where the dispensing head is located and mapping the axis to the horizontal image.
And obtaining the axis of the cylindrical container in the dispensing head according to the horizontal image, and mapping the axis into the horizontal image to form a mapping point position. Further, the mapped dot locations are represented as the actual position of the cylindrical container in the dispensing head relative to the horizontal camera.
S402, judging whether the mapping point position is in the center of the horizontal image.
And judging whether the position of the dispensing head is consistent with the position of the horizontal camera according to whether the mapping point position and the center of the horizontal image coincide or not. If the positions of the two are consistent, the needle head can be accurately detected, and if the positions of the two are not consistent, the positions of the two are deviated, so that the result of detecting the needle head is inaccurate.
If yes, jumping to S403;
and S403, executing the step of calculating the true position of the needle head in the horizontal image.
If not, jumping to S404;
and S404, forming an alarm signal and sending out.
Specifically, before calculating the needle alignment degree, the program judges whether the axis where the dispensing head is located is mapped to the mapping point location in the horizontal image, so as to ensure that the axis where the dispensing head is located and the dispensing point location are overlapped, and then calculates the alignment degree of the needle, so as to improve the accuracy of needle detection.
S405, judging whether the dispensing point positions coincide with the center of the horizontal image.
And when the position of the dispensing head is judged to be inconsistent with the position of the horizontal camera, the position accuracy of the dispensing head and the horizontal camera is further judged. Further, whether the dispensing point location coincides with the center of the horizontal image is firstly utilized to judge whether the horizontal camera is in an accurate position, and if the dispensing point location coincides with the center of the horizontal image, the position of the horizontal camera is accurate and the position of the dispensing head is inaccurate; otherwise, the position of the horizontal camera is not accurate.
If yes, jumping to S406;
and S406, forming a dispensing head adjusting instruction and sending the dispensing head adjusting instruction.
Wherein, the user alright adjusts the position of dispensing head according to dispensing head adjustment command.
If not, jumping to S407;
and S407, forming a horizontal camera adjusting instruction and sending the horizontal camera adjusting instruction.
Wherein, the user can adjust the position of the horizontal camera according to the horizontal camera adjusting instruction.
And S408, further judging whether the dispensing point position coincides with the mapping point position on the basis of the judgment result of no judgment.
After the position of the horizontal camera is inaccurate, whether the position of the dispensing head is accurate is not known, so that whether the position of the dispensing head is accurate needs to be further judged, and if the position of the dispensing head is not accurate, the position of the dispensing head still needs to be adjusted.
If not, the process goes to S406.
Specifically, when the mapping point location is not in the horizontal image center, whether the position of the horizontal camera is accurate or not is judged firstly, if the position of the horizontal camera is accurate, the position of the dispensing head is adjusted, if the position of the horizontal camera is inaccurate, the position of the dispensing head is further judged while the horizontal camera is adjusted, so that the horizontal camera and the dispensing head are guaranteed to accurately move to the dispensing point location, and the needle head is accurately detected.
Referring back to fig. 1, the needle detection method further comprises:
and S500, calculating the true position of the needle head in the horizontal image.
The calculation formula of the degree of rightness is known to those skilled in the art, and the calculation formula used herein is also a conventional algorithm, and thus, is not described in detail.
Referring to fig. 3, in S500, the following sub-steps are further included:
and S500.1, dividing an orthogonal coordinate system.
Here, an orthogonal coordinate system in the direction X, Y is divided from the horizontal image with the center of the horizontal image as a zero point.
And S500.2, acquiring the needle point position vertically mapped to the horizontal image.
And S500.3, calculating the actual deviation value of the needle point position and the zero point.
And specifically calculating to obtain the actual deviation value of the needle point position and the zero point according to the orthogonal coordinate system and the needle point position. By way of further example, if the needle point locations are (a, b), the actual deviation values of the needle points are a deviation in the X direction and b deviation in the Y direction.
Specifically, the needle head is vertically mapped to the needle head point position in the horizontal image and is compared with the zero point of the orthogonal coordinate system in the horizontal image for calculation, so that the actual deviation value of the needle head is accurately calculated.
Referring back to fig. 1, the detection method further includes:
and S600, sending the calculated true position degree to an intelligent terminal of a user.
Referring to fig. 4, after the actual deviation value is calculated, the actual deviation value is further determined, which specifically includes the following steps:
s601, judging whether the actual deviation value exceeds a preset deviation value.
And comparing and judging the actual deviation value obtained by calculation with a preset deviation value set by a user to check whether the actual deviation value exceeds the preset deviation value. Further, the user sets a preset deviation value to determine whether the deviation value of the needle head is large and needs to be replaced entirely. If the actual deviation value exceeds the preset deviation value, the deviation value of the needle head is large, and the dispensing head needs to be replaced; if the actual deviation value does not exceed the preset deviation value, the deviation value of the needle head is smaller, the needle head is still in an adjustable range, the dispensing head does not need to be replaced, and the calibration of the needle head can be realized only by finely adjusting the position of the dispensing head.
Specifically, for example, the preset deviation values set by the user are X-direction deviation m and Y-direction deviation n, and at this time, the actual deviation values, that is, X-direction deviation a and Y-direction deviation b, are obtained. If a is larger than m, b is larger than n or a is larger than m, b is smaller than n or a is smaller than m, b is larger than n, and b is larger than n, the actual deviation value is judged to be larger than the preset deviation value; and if a is less than m and b is less than n, judging that the actual deviation value is less than the preset deviation value.
If yes, jumping to S602;
and S602, forming a replacement signal and sending the replacement signal.
Wherein, change signal transmission to user's intelligent terminal to the head is glued in the point that the suggestion user needs to be changed.
If not, jumping to S603;
and S603, planning and sending a deviation rectifying path.
Wherein, the deviation rectifying path comprises the distance of the needle point position moving to the zero point along the X, Y direction in the orthogonal coordinate system. For example, when the deviation a in the X direction is in the actual deviation value, the dispensing head is planned to move a to the zero point in the X direction; and when the Y direction deviates b, planning the dispensing head to move b to the zero point in the Y direction.
Referring to fig. 5, the detection method further includes:
s700, obtaining the point position of the dispensing head.
And S701, forming and executing a vertical camera moving instruction.
And driving the vertical camera to move to the point position of the dispensing head according to the dispensing head. The vertical camera and the horizontal camera are identical in structure, and a telecentric lens of the vertical camera is arranged on the side face of the camera body and faces the dispensing head.
And S702, acquiring a vertical image.
Wherein the vertical image is captured by a vertical camera.
And S703, marking the area where the bottom end of the dispensing head is positioned to form a marking area.
After the vertical image is shot, the program can automatically form a mark area on the vertical image so as to be conveniently and visually checked by a user.
And S704, sending the vertical image to the intelligent terminal of the user.
Specifically, the program automatically controls the vertical camera to move to the dispensing head point position and shoot to obtain a vertical image, and a user can conveniently and visually detect whether the needle head has the situations of glue overflow, glue residue and the like by using the vertical image.
The implementation principle of the dispensing head visual detection method in the embodiment of the application is as follows: during detection, the program controls the dispensing head and the horizontal camera to automatically move to the dispensing point position, then controls the horizontal camera to automatically shoot the dispensing head to obtain a horizontal image, then calculates the position of the dispensing head in the horizontal image to obtain the true position degree of the needle head, and finally directly feeds the true position degree back to the intelligent terminal of the user, so that the user can obtain the detection result of the needle head.
Based on the method, the embodiment of the application also discloses a dispensing head visual detection system.
Referring to fig. 2, the dispensing head vision inspection system includes:
the system comprises a dispensing point location obtaining module 1, wherein the dispensing point location obtaining module 1 is used for obtaining a dispensing point location;
the dispensing head moving module 2 is used for forming and executing a dispensing head moving instruction according to the dispensing point position, and the dispensing head moving instruction is used for driving the dispensing head to move to the dispensing point position;
the horizontal camera moving module 3 is used for forming and executing a horizontal camera moving instruction according to the dispensing point position, and the horizontal camera moving instruction is used for driving the horizontal camera to move to the dispensing point position;
the horizontal image acquisition module 4 is used for acquiring a horizontal image, and the horizontal image is obtained by shooting by a horizontal camera;
the rightness degree calculating module 5 is used for calculating the rightness degree of the needle head in the horizontal image;
and the sending module 6 is used for sending the calculated true position degree to an intelligent terminal of a user.
The embodiment of the application also discloses a dispensing head visual detection device, which comprises a memory and a processor, wherein the memory is stored with a computer program which can be loaded by the processor and can execute the dispensing head visual detection method.
The embodiment of the application also discloses a computer readable storage medium. A computer program capable of being loaded by a processor and executing the above-mentioned dispensing head visual inspection method is stored in a computer readable storage medium, and the computer readable storage medium includes, for example: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
The above examples are only used to illustrate the technical solutions of the present invention, and do not limit the scope of the present invention. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from these embodiments without making any inventive step, fall within the scope of the present invention. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art may still make various combinations, additions, deletions or other modifications of the features of the embodiments of the present invention according to the situation without conflict, so as to obtain different technical solutions without substantially departing from the spirit of the present invention, and these technical solutions also fall within the protection scope of the present invention.
Claims (10)
1. A visual inspection method for a dispensing head is characterized by comprising the following steps:
obtaining a dispensing point position;
forming and executing a dispensing head moving instruction according to the dispensing point position, wherein the dispensing head moving instruction is used for driving the dispensing head to move to the dispensing point position;
forming and executing a horizontal camera moving instruction according to the dispensing point position, wherein the horizontal camera moving instruction is used for driving a horizontal camera to move to the dispensing point position;
acquiring a horizontal image, wherein the horizontal image is obtained by shooting through a horizontal camera;
calculating the true position degree of the needle head in the horizontal image;
and sending the calculated true position degree to an intelligent terminal of the user.
2. The visual inspection method for a dispensing head of claim 1, wherein the calculating the true position of the needle in the horizontal image comprises:
dividing an orthogonal coordinate system according to the horizontal image, wherein the orthogonal coordinate system takes the center of the horizontal image as a zero point;
acquiring a needle point position of a needle vertically mapped to a horizontal image;
and calculating the actual deviation value of the point position of the needle head and the zero point according to the orthogonal coordinate system.
3. The visual inspection method for dispensing heads according to claim 2, wherein after sending the calculated true position to the intelligent terminal of the user, the method comprises:
judging whether the actual deviation value exceeds a preset deviation value or not according to the actual deviation value;
if the judgment result is yes, a replacement signal is formed and sent out;
if not, planning a deviation rectifying path and sending the deviation rectifying path, wherein the deviation rectifying path comprises the distance from the point position of the needle head to the zero point in the orthogonal coordinate system along the X, Y direction.
4. The visual inspection method for the dispensing head according to claim 1, wherein the acquiring of the horizontal image, which is obtained by the horizontal camera, comprises:
according to the horizontal image, obtaining a mapping point position of the axis where the dispensing head is located and mapping the axis to the horizontal image;
judging whether the mapping point location is in the center of the horizontal image;
if yes, executing the step of calculating the true position degree of the needle head in the horizontal image;
if not, an alarm signal is formed and sent out.
5. The visual inspection method for the dispensing head as claimed in claim 4, wherein after the alarm signal is generated and sent, the method comprises:
judging whether the dispensing point positions coincide with the center of the horizontal image or not;
if the judgment result is yes, forming a dispensing head adjusting instruction and sending the dispensing head adjusting instruction;
if not, forming a horizontal camera adjusting instruction and sending the horizontal camera adjusting instruction;
further judging whether the point location coincides with the mapping point location or not on the basis of the judgment result of no judgment;
if not, executing the step of forming a dispensing head adjusting instruction and sending out.
6. The visual inspection method of a dispensing head according to claim 1, comprising:
acquiring the point position of a dispensing head;
forming and executing a vertical camera moving instruction according to the dispensing head point position, wherein the vertical camera moving instruction is used for driving a vertical camera to move to the dispensing head point position;
acquiring a vertical image, wherein the vertical image is obtained by shooting through a vertical camera;
and sending the vertical image to an intelligent terminal of a user.
7. The visual inspection method for the dispensing head according to claim 6, wherein the acquiring of the vertical image, the vertical image being captured by a vertical camera, comprises:
and marking the area where the bottom end of the dispensing head is located according to the vertical image to form a marked area.
8. A dispensing head visual inspection system, comprising:
the dispensing point location obtaining module (1) is used for obtaining a dispensing point location;
the dispensing head moving module (2) is used for forming and executing a dispensing head moving instruction according to the dispensing point position, and the dispensing head moving instruction is used for driving the dispensing head to move to the dispensing point position;
the horizontal camera moving module (3) is used for forming and executing a horizontal camera moving instruction according to the dispensing point position, and the horizontal camera moving instruction is used for driving the horizontal camera to move to the dispensing point position;
the horizontal image acquisition module (4) is used for acquiring a horizontal image, and the horizontal image is obtained by shooting by a horizontal camera;
the righting degree calculating module (5) is used for calculating the righting degree of the needle head in the horizontal image;
and the sending module (6) is used for sending the calculated true position degree to an intelligent terminal of a user.
9. The utility model provides a head visual inspection device is glued to point which characterized in that: comprising a memory and a processor, said memory having stored thereon a computer program which can be loaded by the processor and which performs the method of any of claims 1 to 7.
10. A computer-readable storage medium characterized by: a computer program which can be loaded by a processor and which performs the method according to any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111024000.1A CN113720263B (en) | 2021-09-02 | 2021-09-02 | Visual inspection method, system and device for dispensing head and storage medium |
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