CN113900465B - Intelligent positioning visual dispensing system for precise products - Google Patents
Intelligent positioning visual dispensing system for precise products Download PDFInfo
- Publication number
- CN113900465B CN113900465B CN202111482004.4A CN202111482004A CN113900465B CN 113900465 B CN113900465 B CN 113900465B CN 202111482004 A CN202111482004 A CN 202111482004A CN 113900465 B CN113900465 B CN 113900465B
- Authority
- CN
- China
- Prior art keywords
- signal
- dispensing
- positioning
- value
- pressure
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D27/00—Simultaneous control of variables covered by two or more of main groups G05D1/00 - G05D25/00
- G05D27/02—Simultaneous control of variables covered by two or more of main groups G05D1/00 - G05D25/00 characterised by the use of electric means
-
- 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
-
- 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
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Feedback Control In General (AREA)
Abstract
The invention discloses the technical field of dispensing positioning, which is used for solving the problems that the prior dispensing technology can not carry out advanced pre-judgment on the precision of dispensing positioning before the dispensing positioning of a precision product and can not carry out the correction of positioning errors, so that the accuracy of the dispensing positioning of the precision product and the precision of product bonding are difficult to ensure; according to the invention, the positioning precision effect is enhanced by analyzing and correcting the interference factor information influencing the visual dispensing positioning of the precision product in advance, and the dispensing positioning operation of the precision product is realized by utilizing the accurate region division, the conversion of coordinate values and the mode of constructing a dispensing motion track route, so that the positioning accuracy and the bonding accuracy of the precision product during dispensing are further ensured.
Description
Technical Field
The invention relates to the technical field of dispensing positioning, in particular to an intelligent positioning visual dispensing system for a precision product.
Background
The dispensing machine is also called a glue spreader, a glue dripping machine, a glue spreading machine, a glue pouring machine and the like, is specially used for controlling fluid and dripping and coating the fluid on the surface of a product or an automatic machine in the product, can realize three-dimensional and four-dimensional path dispensing, accurate positioning, accurate glue control, no wire drawing, no glue leakage and no glue dripping, is mainly used for accurately dripping, pouring, spreading and dripping glue, paint and other liquid in the product process to each accurate position of the product, and can be used for realizing the purposes of dotting, line drawing, circular or muscle type.
The glue dispensing technology is a crucial connection point in a product production line, the bonding and packaging of products both require a glue dispensing process, the traditional glue dispensing technology usually depends on naked eyes and an operation method of manual teaching programming to perform glue dispensing positioning, the glue dispensing positioning method is difficult to adapt to the bonding and packaging of precision products, and the existing glue dispensing technology cannot realize positioning error analysis and correction before the glue dispensing positioning of the precision products, so that the positioning accuracy and the precision of the precision products during glue dispensing are difficult to ensure.
In order to solve the above-mentioned drawbacks, a technical solution is now provided.
Disclosure of Invention
The invention aims to solve the problems that the precision of dispensing positioning cannot be pre-judged in advance and the positioning error cannot be corrected before the precise product dispensing positioning by the existing dispensing technology, so that the precision of the dispensing positioning of the precise product and the precision of the product are difficult to ensure.
The purpose of the invention can be realized by the following technical scheme:
an intelligent positioning visual dispensing system for precise products comprises a data acquisition unit, a pre-judgment analysis unit, a precise analysis unit, a category correction unit, an area positioning unit and a display terminal;
the data acquisition unit is used for acquiring interference data information of positioning visual dispensing of the precision product and sending the interference data information to the pre-judgment analysis unit;
the data acquisition unit is also used for acquiring visual positioning information for positioning the visual dispensing of the precision product and sending the visual positioning information to the area positioning unit;
the pre-judging analysis unit is used for carrying out error pre-judging analysis processing on the received interference data information, generating an error-free signal and an error slight signal according to the error pre-judging analysis processing, sending the error-free signal to the area positioning unit and sending the error slight signal to the accurate analysis unit;
the pre-judging analysis unit is also used for repeatedly executing error pre-judging analysis processing on the received temperature-signal or temperature + signal, consistency-signal or consistency + signal and pressure-signal or pressure + signal until only an error-free signal is generated, and sending the error-free signal to the area positioning unit;
the accurate analysis unit is used for receiving the slight error signal, calling interference data information according to the slight error signal, performing item-by-item demonstration analysis processing, generating a high temperature signal or a low temperature signal, a thick consistency signal or a thin consistency signal, a large pressure signal or a small pressure signal according to the slight error signal, and sending the signals to the class correction unit;
the class correction unit respectively performs gear regulation and control analysis processing on the received temperature higher signal or temperature lower signal, consistency thicker signal or consistency thinner signal, pressure larger signal or pressure smaller signal, generates a temperature-signal or temperature + signal, a consistency-signal or consistency + signal and a pressure-signal or pressure + signal according to the gear regulation and control analysis processing, and sends the signals to the pre-judgment analysis unit;
the area positioning unit is used for receiving the error-free signal, calling the visual positioning information to perform dispensing positioning analysis processing according to the error-free signal, generating a route N1+ N2 signal and a route N1+ X2 signal according to the error-free signal, and sending the route N1+ N2 signal and the route N1+ X2 signal to the display terminal in a text word mode for displaying and explaining.
Furthermore, the interference data information is used for representing data information influencing the accuracy of visual dispensing positioning of the precision product, and the interference data information comprises an ambient temperature, a viscosity, a pressure value and a stable value, wherein the ambient temperature is used for representing the ambient temperature condition of the current precision product in which the dispensing is performed, the viscosity is the viscous condition of the colloidal solution for dispensing the precision product, and the stable value is used for representing the stable condition of the dispensing equipment;
the visual positioning information is used for representing positioning data describing a specific dispensing position of the precision product, and the visual positioning information comprises sample image data and height data, wherein the sample image data is used for representing the area condition of the precision product to be subjected to visual dispensing, and the height data represents the motion height of a dispensing head, namely the height data represents the difference between the dispensing height and the product thickness.
Further, the specific operation steps of the error pre-judgment analysis processing are as follows:
s1: acquiring environmental temperature, viscosity, pressure value and stable quantity value in interference data information of a plurality of time periods, and respectively marking the environmental temperature, viscosity, pressure value and stable quantity value as temi、neci、preiAnd weniAccording to the formula
To find the estimated time interval interference value GariI = {1, 2, 3.. n }, where e1、e2、e3And e4Respectively ambient temperature temiViscosity neciPressure value preiAnd a steady value of weniA weight factor coefficient of, and
，
；
s2: time interval interference estimation Gar for randomly calling 10 continuous time intervalsiAnd removing the interval interference estimate Gar of 10 consecutive intervalsiAnd the maximum and minimum values of (2), and estimates the remaining interval interference of 8 intervals GariPerforming a mean value process to obtain an interference mean value
；
S3: acquiring the ambient temperature, the viscosity, the pressure value and the stable quantity value in the real-time interference data information, and respectively marking the ambient temperature, the viscosity, the pressure value and the stable quantity value astem ', nec', pre 'and wen'According to the formula
Obtaining a real-time interference estimate, wherein f1、f2、f3And f4Respectively ambient temperaturetem'Viscosity, degree of viscositynec'Pressure valuepre'And a stable value of quantitywen'A weight factor coefficient of, and
，
；
s4: estimation of slot interferenceGar'And interference mean value
Making difference according to a formula
Obtaining a deviation value hui;
s5: substituting the deviation magnitude hui into the deviation threshold Yu1If the deviation value hui is within the deviation threshold Yu1If so, an error-free signal is generated, and if the deviation hui is within the deviation threshold Yu1Otherwise, a slight error signal is generated.
Further, the specific operation steps of the item-by-item demonstration analysis processing are as follows:
when the slight error signal is received, the ambient temperature in the real-time interference data information is called according to the slight error signaltem'Viscosity, degree of viscositynec'And the pressure valuepre'And respectively correspond to the preset threshold roe1、roe2And roe3Carrying out comparison analysis;
when the ambient temperature istem'Greater than a preset threshold roe1When the temperature is higher than the maximum value, a signal of higher temperature is generated, and when the ambient temperature is higher than the maximum valuetem'Less than a predetermined threshold roe1When the temperature is lower than the preset temperature, generating a temperature lower signal;
when viscosity is highnec'Is greater thanPreset threshold roe2When the viscosity is not higher than the maximum value, a signal that the consistency is thick is generated, and when the viscosity is higher than the maximum valuenec'Less than a predetermined threshold roe2When the thickness is smaller than the preset value, generating a thickness thin signal;
when the pressure value ispre'Greater than a preset threshold roe3When the pressure value is not less than the maximum value, a pressure greater signal is generated, and when the pressure value is less than the maximum valuepre'Less than a predetermined threshold roe3A pressure-less signal is generated at the minimum value of (3).
Further, the specific operation steps of gear regulation and control analysis processing are as follows:
setting gear mechanisms on the basis of the ambient temperature, the viscosity and the pressure value respectively, wherein each gear mechanism comprises two gears which are respectively an ascending gear and a descending gear;
executing down shift and generating a temperature-signal when receiving a temperature-higher signal, and executing up shift and generating a temperature + signal when receiving a temperature-lower signal;
when a consistency thick signal is received, executing downshifting and generating a consistency-signal, and when a consistency thin signal is received, executing upshifting and generating a consistency + signal;
when a large pressure signal is received, a down shift is performed and a pressure-signal is generated, and when a small pressure signal is received, an up shift is performed and a pressure + signal is generated.
Further, the specific operation steps of the dispensing positioning analysis processing are as follows:
SS 1: acquiring sample image data and height data of each precision product in visual positioning information, dividing the acquired sample image into k dispensing areas, marking each dispensing area as corresponding conversion with the height data, and generating positioning points according to the positioning points
Wherein j = {1, 2, 3.. m }, and k is a natural number greater than or equal to 1;
SS 2: according to the location point
Constructing visual dispensing motion track route GuivAnd recording the time of completing the path of the one-time visual dispensing motion track, and calibrating the time as TivV is a natural number of 1 or more depending on the exercise time TivThe expression value of (1) the visual dispensing motion track route GuivSorting in descending order, counting the sorting base number Gh, and comparing the sorting base number Gh with the rated base number threshold value Yu2Carrying out comparison;
SS 3: when the sorting radix Gh is at the nominal radix threshold Yu2In the meantime, the visual dispensing motion trajectory Gui with the sequence number of 1 is selectedvAs the best estimated track movement route, and selecting the visual dispensing movement track route Gui with the sequence number of 2vAs an alternative predicted track motion route, generating a route N1+ N2 signal;
SS 4: when the sorting radix Gh is at the nominal radix threshold Yu2Otherwise, the visual dispensing motion trajectory Gui with the sequence number of 1 is selectedvAs the best predicted track movement route, and at least two visual dispensing movement track routes Gui are selectedvAnd generating a route N1+ X2 signal as an alternative predicted trajectory motion route.
Compared with the prior art, the invention has the beneficial effects that:
1. interference data information is respectively subjected to data analysis processing from different angles through symbolic naming and formulaic processing, two types of judgment interference evaluation values are integrated and analyzed by utilizing a difference substitution comparison method, and each interference data is corrected in a way of substitution comparison analysis item by item, so that the error of precise product dispensing positioning is corrected while advanced pre-judgment analysis of the dispensing positioning is realized, the accuracy of the precise product dispensing positioning is promoted, and the positioning precision effect is enhanced;
2. the accurate division of the area is carried out on the sample image information of the precision product, the data conversion and the data output are carried out on the sample image information by utilizing the coordinate mode, the optimal route and the alternative route of the visual dispensing positioning of the precision product are obtained by constructing a plurality of dispensing motion track routes and carrying out descending sequencing and substituting comparison on each dispensing motion track route according to the motion time, so that the visual dispensing positioning effect of the precision product with high precision is realized, the working efficiency of the visual dispensing positioning is further improved, and the precision of the precise product bonding is ensured.
Drawings
In order to facilitate understanding for those skilled in the art, the present invention will be further described with reference to the accompanying drawings;
FIG. 1 is a general block diagram of the system of the present invention;
FIG. 2 is a block diagram of a system according to a second embodiment of the present invention;
fig. 3 is a system block diagram of a third embodiment of the present invention.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the following embodiments, and it should be understood that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The first embodiment is as follows:
as shown in fig. 1, an intelligent positioning visual dispensing system for precision products comprises a data acquisition unit, a pre-judgment analysis unit, a precision analysis unit, a category correction unit, an area positioning unit and a display terminal;
the data acquisition unit is used for acquiring interference data information of the precision product for positioning visual dispensing and sending the interference data information to the pre-judgment analysis unit, and it needs to be explained that the interference data information is used for representing data information influencing the accuracy of the precision product for positioning visual dispensing, and the interference data information comprises an environment temperature, a viscosity, a pressure value and a stable value, wherein the environment temperature is used for representing the environment temperature condition of the current precision product for dispensing, the viscosity refers to the viscous condition of a colloidal solution for dispensing the precision product, and the stable value is used for representing the stable condition of dispensing equipment;
the data acquisition unit is further used for acquiring visual positioning information for positioning the precise product for visual dispensing and sending the visual positioning information to the area positioning unit, and it should be noted that the visual positioning information is used for representing positioning data for describing a specific position for the precise product dispensing, and the visual positioning information comprises sample image data and height data, wherein the sample image data is used for representing the area condition of the precise product to be subjected to visual dispensing, and the height data represents the movement height of a dispensing head, namely the height data represents the difference between the dispensing height and the product thickness;
the pre-judging analysis unit is used for carrying out error pre-judging analysis processing on the received interference data information, generating an error-free signal and an error slight signal according to the error pre-judging analysis processing, sending the error-free signal to the area positioning unit and sending the error slight signal to the accurate analysis unit;
the pre-judging analysis unit is also used for repeatedly executing error pre-judging analysis processing on the received temperature-signal or temperature + signal, consistency-signal or consistency + signal and pressure-signal or pressure + signal until only an error-free signal is generated, and sending the error-free signal to the area positioning unit;
the accurate analysis unit is used for receiving the slight error signal, calling interference data information according to the slight error signal, performing item-by-item demonstration analysis processing, generating a high temperature signal or a low temperature signal, a thick consistency signal or a thin consistency signal, a large pressure signal or a small pressure signal according to the slight error signal, and sending the signals to the class correction unit;
the quality correction unit respectively performs gear regulation and control analysis processing on the received temperature higher signal or temperature lower signal, consistency thicker signal or consistency thinner signal, pressure larger signal or pressure smaller signal, generates a temperature-signal or temperature + signal, a consistency-signal or consistency + signal and a pressure-signal or pressure + signal according to the gear regulation and control analysis processing, and sends the signals to the pre-judgment analysis unit;
the area positioning unit is used for receiving the error-free signal, calling the visual positioning information to perform dispensing positioning analysis processing according to the error-free signal, generating a route N1+ N2 signal and a route N1+ X2 signal according to the error-free signal, and sending the route N1+ N2 signal and the route N1+ X2 signal to the display terminal in a text word mode for displaying and explaining;
the method has the advantages that the interference factor information influencing the visual dispensing positioning of the precise product is analyzed and corrected in advance, so that the positioning precision effect is enhanced, the accurate region division, the coordinate value conversion and the dispensing motion track route construction are utilized, the relatively accurate dispensing positioning operation of the precise product is realized, and the accuracy of the positioning of the precise product during dispensing is further ensured.
Example two:
as shown in fig. 1 and 2, the data acquisition unit is configured to acquire interference data information of the precision product for positioning and visual dispensing, and send the interference data information to the pre-judgment analysis unit;
when the interference data information received by the pre-judging and analyzing unit is processed, the error pre-judging and analyzing processing is performed according to the interference data information, and the specific operation steps are as follows:
s1: acquiring environmental temperature, viscosity, pressure value and stable quantity value in interference data information of a plurality of time periods, and respectively marking the environmental temperature, viscosity, pressure value and stable quantity value as temi、neci、preiAnd weniAccording to the formula
To find the estimated time interval interference value GariI = {1, 2, 3.. n }, where, sum, and are ambient temperatures tem, respectivelyiViscosity neciPressure value preiAnd a steady value of weniA weight factor coefficient of, and
，
it should be noted that i represents each time interval, and the weighting factor coefficient is used to represent the influence of each item of data on the proportion weighting of the formula calculation result;
s2: time interval interference estimation Gar for randomly calling 10 continuous time intervalsiAnd removing the interval interference estimate Gar of 10 consecutive intervalsiAnd the remaining 8 areInterval interference estimation Gar of time intervaliPerforming a mean value process to obtain an interference mean value
；
S3: acquiring the ambient temperature, the viscosity, the pressure value and the stable quantity value in the real-time interference data information, and respectively marking the ambient temperature, the viscosity, the pressure value and the stable quantity value astem'、nec'、pre'Andwen'according to the formula
Determining a real-time interference estimateGar'Wherein, and are respectively ambient temperaturetem'Viscosity, degree of viscositynec'Pressure valuepre'And a stable value of quantitywen'A weight factor coefficient of, and
，
it should be noted that the slot interference estimationGar'And real-time interference estimationGar'The smaller the expression numerical value is, the lower the interference degree of the precise product in dispensing positioning on the positioning accuracy is, and the high accuracy and the accuracy of the dispensing positioning of the precise product are further illustrated;
s4: estimation of slot interferenceGar'And interference mean value
Making difference according to a formula
Obtaining a deviation value hui;
s5: substituting the deviation magnitude hui into the deviation threshold Yu1If the deviation value hui is within the deviation threshold Yu1If so, an error-free signal is generated, and if the deviation hui is within the deviation threshold Yu1Otherwise, a slight error signal is generated and will be mistakenSending the difference light signal to a precision analysis unit;
when the precise analysis unit receives the slight error signal, interference data information is called according to the slight error signal to perform item-by-item demonstration analysis processing, and the specific operation steps are as follows:
retrieving ambient temperature in real-time interference data informationtem'Viscosity, degree of viscositynecAnd the pressure valuepre'And respectively correspond to the preset threshold roe1、roe2And roe3Carrying out comparison analysis;
when the ambient temperature istem'Greater than a preset threshold roe1When the ambient temperature is less than the preset threshold roe, a high temperature signal is generated1When the temperature is lower than the preset temperature, generating a temperature lower signal;
when viscosity is highnecGreater than a preset threshold roe2When the viscosity is not higher than the maximum value, a signal that the consistency is thick is generated, and when the viscosity is higher than the maximum valuenecLess than a predetermined threshold roe2When the thickness is smaller than the preset value, generating a thickness thin signal;
when the pressure value is greater than the preset threshold value roe3When the pressure value is not less than the maximum value, a pressure greater signal is generated, and when the pressure value is less than the maximum valuepre'Less than a predetermined threshold roe3When the pressure is smaller than the minimum value, generating a pressure smaller signal;
the generated high temperature signal or low temperature signal, thick consistency signal or thin consistency signal, large pressure signal or small pressure signal are all sent to a class correction unit;
when the product class correction unit receives a temperature higher signal or a temperature lower signal, a consistency thicker signal or a consistency thinner signal, a pressure larger signal or a pressure smaller signal, gear regulation and control analysis processing is carried out according to the signals, and the specific operation steps are as follows:
setting gear mechanisms on the basis of the ambient temperature, the viscosity and the pressure value respectively, wherein each gear mechanism comprises two gears which are respectively an ascending gear and a descending gear;
executing down shift and generating a temperature-signal when receiving a temperature-higher signal, and executing up shift and generating a temperature + signal when receiving a temperature-lower signal;
when a consistency thick signal is received, executing downshifting and generating a consistency-signal, and when a consistency thin signal is received, executing upshifting and generating a consistency + signal;
when a signal with larger pressure is received, executing downshifting and generating a pressure-signal, and when a signal with smaller pressure is received, executing upshifting and generating a pressure + signal;
the generated temperature-signal or temperature + signal, consistency-signal or consistency + signal and pressure-signal or pressure + signal are all sent to a pre-judgment analysis unit;
when the pre-judging analysis unit receives the temperature-signal or the temperature + signal, the consistency-signal or the consistency + signal and the pressure-signal or the pressure + signal, the error pre-judging analysis processing is repeatedly executed until only the error-free signal is generated, and the error-free signal is sent to the area positioning unit.
Example three:
as shown in fig. 1 and 3, the data acquisition unit is further configured to acquire visual positioning information for positioning and visually dispensing the precision product, and send the visual positioning information to the area positioning unit;
when the area positioning unit receives the error-free signal, the visual positioning information is called according to the error-free signal to carry out dispensing positioning analysis processing, and the specific operation steps are as follows:
SS 1: acquiring sample image data and height data of each precision product in visual positioning information, dividing the acquired sample image into k dispensing areas, marking each dispensing area as corresponding conversion with the height data, and generating positioning points according to the positioning points
Wherein j = {1, 2, 3.. m }, k is a natural number greater than or equal to 1, and it should be noted that j represents a precision product type;
SS 2: according to the location point
Constructing visual dispensing motion track route GuivAnd recording the time of completing the path of the one-time visual dispensing motion track, and calibrating the time as TivV is a natural number greater than or equal to 1, and the visual dispensing motion trajectory route Gui is dispensed according to the expression value of the motion timevSorting in descending order, counting the sorting base number Gh, and comparing the sorting base number Gh with the rated base number threshold value Yu2Carrying out comparison;
SS 3: when the sorting radix Gh is at the nominal radix threshold Yu2In the meantime, the visual dispensing motion trajectory Gui with the sequence number of 1 is selectedvAs the best estimated track movement route, and selecting the visual dispensing movement track route Gui with the sequence number of 2vAs an alternative predicted track motion route, generating a route N1+ N2 signal;
SS 4: when the sorting radix Gh is at the nominal radix threshold Yu2Otherwise, the visual dispensing motion trajectory Gui with the sequence number of 1 is selectedvAs the best predicted track movement route, and at least two visual dispensing movement track routes Gui are selectedvAs an alternative predicted track motion route, generating a route N1+ X2 signal;
and performing text editing on the signals N1+ N2, specifically, performing glue dispensing positioning on the precision product on the optimal predicted track motion route and the alternative predicted track motion routes, performing text editing on the generated signals N1+ X2, specifically, performing glue dispensing positioning on the precision product on the optimal predicted track motion route under the normal condition, but performing random selection on at least more than two alternative predicted track motion routes under the non-normal condition, performing glue dispensing positioning on the precision product, and sending text characters to a display terminal for reference of technicians.
The formulas are obtained by acquiring a large amount of data and performing software simulation, and the coefficients in the formulas are set by the technicians in the field according to actual conditions;
such as the formula:
；
collecting multiple groups of sample data and setting corresponding weight factor coefficient for each group of sample data by the technicians in the field; substituting the set weight factor coefficient and the collected sample data into a formula, forming a quaternary linear equation set by any two formulas, screening the calculated coefficients and taking the mean value to obtain e1、e2、e3And e4Values of 0.7548, 1.3762, 0.9875 and 1.2084, respectively;
the size of the coefficient is a specific numerical value obtained by quantizing each parameter, so that the subsequent comparison is convenient, and the size of the coefficient depends on the number of sample data and a corresponding weight factor coefficient is preliminarily set for each group of sample data by a person skilled in the art; as long as the proportional relationship between the parameters and the quantized values is not affected.
When the device is used, interference data information influencing the visual dispensing positioning precision of a precision product is collected, the interference data information is subjected to data analysis processing from different angles through symbolic naming and formulaic processing, interference evaluation values for judging the size influencing the visual dispensing positioning precision of the precision product are generated respectively, and the two types of judgment interference evaluation values are subjected to integrated analysis through a difference substitution comparison method, so that advanced pre-judgment analysis of dispensing positioning is realized, and the accuracy of dispensing positioning of the precision product is promoted;
according to the advanced error discrimination signals, the detailed interference data are called to perform item-by-item demonstration analysis processing, and through the substitution comparison analysis of item-by-item data, each specific interference discrimination signal is generated, a gear adjusting mechanism is set according to each specific interference discrimination signal, and each interference factor is corrected, so that the error of dispensing positioning of the precision product is reduced, and the precision of dispensing positioning of the precision product is further improved;
the advanced positioning error analysis result is used as a basis, the graphic information of the precision product is collected, the area is accurately divided according to the sample image information of the precision product, the data is converted and output in a coordinate mode, a plurality of dispensing motion track routes are constructed according to each coordinate positioning point, each dispensing motion track route is subjected to descending sequencing according to the motion time, the sequencing cardinal number is counted, the sequencing cardinal number is substituted into a rated cardinal number threshold value to be compared and analyzed, the optimal estimated track motion route and the alternative estimated track motion route of the precision product dispensing positioning are effectively generated, and the visual dispensing positioning effect of the precision product is achieved, and meanwhile the working efficiency of the visual dispensing positioning is further improved.
The preferred embodiments of the invention disclosed above are intended to be illustrative only. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise forms disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention. The invention is limited only by the claims and their full scope and equivalents.
Claims (5)
1. An intelligent positioning visual dispensing system for precise products is characterized by comprising a data acquisition unit, a pre-judgment analysis unit, a precise analysis unit, a category correction unit, an area positioning unit and a display terminal;
the data acquisition unit is used for acquiring interference data information of positioning visual dispensing of the precision product and sending the interference data information to the pre-judgment analysis unit;
the data acquisition unit is also used for acquiring visual positioning information for positioning the visual dispensing of the precision product and sending the visual positioning information to the area positioning unit;
the pre-judging analysis unit is used for carrying out error pre-judging analysis processing on the received interference data information, generating an error-free signal and an error slight signal according to the error pre-judging analysis processing, sending the error-free signal to the area positioning unit and sending the error slight signal to the accurate analysis unit;
the pre-judging analysis unit is also used for repeatedly executing error pre-judging analysis processing on the received temperature-signal or temperature + signal, consistency-signal or consistency + signal and pressure-signal or pressure + signal until only an error-free signal is generated, and sending the error-free signal to the area positioning unit;
the accurate analysis unit is used for receiving the slight error signal, calling interference data information according to the slight error signal, performing item-by-item demonstration analysis processing, generating a high temperature signal or a low temperature signal, a thick consistency signal or a thin consistency signal, a large pressure signal or a small pressure signal according to the slight error signal, and sending the signals to the class correction unit;
the class correction unit respectively performs gear regulation and control analysis processing on the received temperature higher signal or temperature lower signal, consistency thicker signal or consistency thinner signal, pressure larger signal or pressure smaller signal, generates a temperature-signal or temperature + signal, a consistency-signal or consistency + signal and a pressure-signal or pressure + signal according to the gear regulation and control analysis processing, and sends the signals to the pre-judgment analysis unit;
the area positioning unit is used for receiving the error-free signal and calling the visual positioning information to perform dispensing positioning analysis processing according to the error-free signal, and the specific operation steps are as follows:
SS 1: acquiring sample image data and height data of each precision product in visual positioning information, dividing the acquired sample image into k dispensing areas, marking each dispensing area as corresponding conversion with the height data, and generating positioning points according to the positioning points
Wherein j = {1, 2, 3.. m }, and k is a natural number greater than or equal to 1;
SS 2: according to the location point
Constructing visual dispensing motion track route GuivAnd recording the time of completing the path of the one-time visual dispensing motion track, and calibrating the time as TivV is a natural number of 1 or more depending on the exercise time TivThe expression value of (1) the visual dispensing motion track route GuivCarry out descending orderCounting a sorting base number Gh, and comparing the sorting base number Gh with a rated base number threshold value Yu2Carrying out comparison;
SS 3: when the sorting radix Gh is at the nominal radix threshold Yu2In the meantime, the visual dispensing motion trajectory Gui with the sequence number of 1 is selectedvAs the best estimated track movement route, and selecting the visual dispensing movement track route Gui with the sequence number of 2vAs an alternative predicted track motion route, generating a route N1+ N2 signal;
SS 4: when the sorting radix Gh is at the nominal radix threshold Yu2Otherwise, the visual dispensing motion trajectory Gui with the sequence number of 1 is selectedvAs the best predicted track movement route, and at least two visual dispensing movement track routes Gui are selectedvAnd generating a route N1+ X2 signal as a candidate predicted track motion route, and sending the route N1+ N2 signal and the route N1+ X2 signal to a display terminal in a text word mode for displaying and explaining.
2. The system of claim 1, wherein the interference data information is used to represent data information affecting accuracy of visual dispensing positioning of the precision product, and the interference data information includes an ambient temperature, a viscosity, a pressure value and a stability value, wherein the ambient temperature is used to represent an ambient temperature condition at which the precision product is currently dispensed, the viscosity is a viscosity condition of a colloidal solution for dispensing the precision product, and the stability value is used to represent a stability condition of a dispensing device;
the visual positioning information is used for representing positioning data describing a specific dispensing position of the precision product, and the visual positioning information comprises sample image data and height data, wherein the sample image data is used for representing the area condition of the precision product to be subjected to visual dispensing, and the height data represents the motion height of a dispensing head, namely the height data represents the difference between the dispensing height and the product thickness.
3. The intelligent positioning visual dispensing system for precise products according to claim 1, wherein the error prediction analysis process comprises the following specific operation steps:
s1: acquiring environmental temperature, viscosity, pressure value and stable quantity value in interference data information of a plurality of time periods, and respectively marking the environmental temperature, viscosity, pressure value and stable quantity value as temi、neci、preiAnd weniAccording to the formula
To find the estimated time interval interference value GariI = {1, 2, 3.. n }, where e1、e2、e3And e4Respectively ambient temperature temiViscosity neciPressure value preiAnd a steady value of weniA weight factor coefficient of, and
，
；
s2: time interval interference estimation Gar for randomly calling 10 continuous time intervalsiAnd removing the interval interference estimate Gar of 10 consecutive intervalsiAnd the maximum and minimum values of (2), and estimates the remaining interval interference of 8 intervals GariPerforming a mean value process to obtain an interference mean value
；
S3: acquiring the ambient temperature, viscosity, pressure value and stable quantity value in the real-time interference data information, respectively marking the ambient temperature, viscosity, pressure value and stable quantity value as tem ', nec', pre 'and wen', and determining the values according to a formula
Determining a real-time interference estimate Gar', where f1、f2、f3And f4Respectively ambient temperature tem ', viscosity nec ', pressure value pre ' and steady value wenA weight factor coefficient, and
，
；
s4: the estimated time interval interference value Gar' and the interference mean value
Making difference according to a formula
Obtaining a deviation value hui;
s5: substituting the deviation magnitude hui into the deviation threshold Yu1If the deviation value hui is within the deviation threshold Yu1If so, an error-free signal is generated, and if the deviation hui is within the deviation threshold Yu1Otherwise, a slight error signal is generated.
4. The intelligent positioning visual dispensing system for precise products according to claim 1, characterized in that the specific operation steps of the item-by-item demonstration analysis processing are as follows:
when the error slight signal is received, the ambient temperature tem in the real-time interference data information is called according to the error slight signal'Viscosity nec 'and pressure pre' and respectively corresponding to preset threshold roe1、roe2And roe3Carrying out comparison analysis;
when the ambient temperature tem 'is greater than the maximum value of the preset threshold roe1, a temperature higher signal is generated, and when the ambient temperature tem' is less than the minimum value of the preset threshold roe1, a temperature lower signal is generated;
when the viscosity nec' is larger than the preset threshold roe2Is detected, a signal of a thick consistency is generated, when the consistency nec' is less than a preset threshold roe2When the thickness is smaller than the preset value, generating a thickness thin signal;
when pressure is appliedThe value pre' is greater than a preset threshold roe3Is detected, a pressure excursion signal is generated when the pressure value pre' is less than a preset threshold value roe3A pressure-less signal is generated at the minimum value of (3).
5. The intelligent positioning visual dispensing system for precise products according to claim 1, wherein the specific operation steps of the gear control analysis processing are as follows:
setting gear mechanisms on the basis of the ambient temperature, the viscosity and the pressure value respectively, wherein each gear mechanism comprises two gears which are respectively an ascending gear and a descending gear;
executing down shift and generating a temperature-signal when receiving a temperature-higher signal, and executing up shift and generating a temperature + signal when receiving a temperature-lower signal;
when a consistency thick signal is received, executing downshifting and generating a consistency-signal, and when a consistency thin signal is received, executing upshifting and generating a consistency + signal;
when a large pressure signal is received, a down shift is performed and a pressure-signal is generated, and when a small pressure signal is received, an up shift is performed and a pressure + signal is generated.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111482004.4A CN113900465B (en) | 2021-12-07 | 2021-12-07 | Intelligent positioning visual dispensing system for precise products |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111482004.4A CN113900465B (en) | 2021-12-07 | 2021-12-07 | Intelligent positioning visual dispensing system for precise products |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113900465A CN113900465A (en) | 2022-01-07 |
| CN113900465B true CN113900465B (en) | 2022-02-22 |
Family
ID=79025599
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111482004.4A Active CN113900465B (en) | 2021-12-07 | 2021-12-07 | Intelligent positioning visual dispensing system for precise products |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113900465B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114454179B (en) * | 2022-03-18 | 2022-10-14 | 深圳威洛博机器人有限公司 | Automatic correction system and method for joints of intelligent robot hand |
| CN114741691A (en) * | 2022-05-05 | 2022-07-12 | 福州年科信息科技有限公司 | Computer software protection system based on cloud computing |
| CN115591742B (en) * | 2022-09-30 | 2023-09-12 | 深圳芯光智能技术有限公司 | Automatic control method and system for dispensing machine for dispensing quality identification |
| CN116637778B (en) * | 2023-05-31 | 2023-10-31 | 日照皓诚电子科技有限公司 | Dispensing positioning control method and system for quartz crystal |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TW200914143A (en) * | 2007-09-21 | 2009-04-01 | Hon Hai Prec Ind Co Ltd | Gluing device |
| CN105750156A (en) * | 2016-04-22 | 2016-07-13 | 大连理工大学 | Precise and automated adhesive dispensing device and method |
| CN106890769A (en) * | 2017-04-26 | 2017-06-27 | 东莞市济通自动化设备有限公司 | A kind of vision positioning point gum machine |
| CN107138319A (en) * | 2017-06-27 | 2017-09-08 | 广东天润自动化科技有限公司 | It is a kind of that the method and system being controlled are exported to fluid quantitative by vision |
| CN108465603A (en) * | 2018-03-12 | 2018-08-31 | Tcl王牌电器(惠州)有限公司 | Glue applying mechanism and dispenser |
| CN208819043U (en) * | 2018-07-07 | 2019-05-03 | 深圳市力为自动化有限公司 | A kind of dispenser system |
-
2021
- 2021-12-07 CN CN202111482004.4A patent/CN113900465B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TW200914143A (en) * | 2007-09-21 | 2009-04-01 | Hon Hai Prec Ind Co Ltd | Gluing device |
| CN105750156A (en) * | 2016-04-22 | 2016-07-13 | 大连理工大学 | Precise and automated adhesive dispensing device and method |
| CN106890769A (en) * | 2017-04-26 | 2017-06-27 | 东莞市济通自动化设备有限公司 | A kind of vision positioning point gum machine |
| CN107138319A (en) * | 2017-06-27 | 2017-09-08 | 广东天润自动化科技有限公司 | It is a kind of that the method and system being controlled are exported to fluid quantitative by vision |
| CN108465603A (en) * | 2018-03-12 | 2018-08-31 | Tcl王牌电器(惠州)有限公司 | Glue applying mechanism and dispenser |
| CN208819043U (en) * | 2018-07-07 | 2019-05-03 | 深圳市力为自动化有限公司 | A kind of dispenser system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113900465A (en) | 2022-01-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113900465B (en) | Intelligent positioning visual dispensing system for precise products | |
| CN103559484B (en) | The method for quickly identifying of measuring instrument graduation mark | |
| CN101344471B (en) | Calibration method for moisture instrument | |
| CN109458936A (en) | A kind of power transmission line sag accurate measurement method based on laser point cloud data | |
| CN110334317B (en) | Automatic extraction method for picture type logging curve data | |
| CN107944005B (en) | Data display method and device | |
| CN113304971B (en) | 3D dynamic guiding dispensing compensation method, device and equipment and storage medium thereof | |
| CN112013921B (en) | Method, device and system for acquiring water level information based on water level gauge measurement image | |
| US11908127B2 (en) | Internet of Things systems for industrial data processing, control methods, and storage medium thereof | |
| CN111680938B (en) | Power flow type big data based rework and production monitoring method and system and readable medium | |
| CN109543267A (en) | Handicraft surface based on image procossing sprays simulation and optimization method | |
| CN113850440B (en) | Wind speed prediction method by using MCP based on average wind speed correction | |
| CN108958212A (en) | Calibrating operation auxiliary device, calibrating operation householder method and recording medium | |
| CN101408492B (en) | Method for calibrating on-line moisture instrument in cigarette packet processing technique | |
| CN103542905B (en) | A kind of watermeter flowing rate recognition methods | |
| CN101444325A (en) | Method for processing cigarettes in groups | |
| CN106780435A (en) | A kind of object count method and device | |
| CN109598070A (en) | A kind of Time Series Forecasting Methods and platform | |
| CN111766642B (en) | Login tropical cyclone precipitation forecasting system | |
| JP2022003329A5 (en) | ||
| CN104809647A (en) | Volatility index compiling method | |
| CN114943728A (en) | Method, system and storage medium for intelligent identification and performance judgment of isometric crystal of casting blank | |
| CN105160087B (en) | A kind of construction method of correlation rule optimal curve model | |
| CN111222525A (en) | Gluing quality database construction method based on improved extreme learning machine | |
| CN103604432B (en) | A kind of dynamic navigation information coarse essence control elimination of burst noise algorithm |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |