CN114054302A - Accurate positioning control method and system of dispenser - Google Patents
Accurate positioning control method and system of dispenser Download PDFInfo
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- CN114054302A CN114054302A CN202210046786.5A CN202210046786A CN114054302A CN 114054302 A CN114054302 A CN 114054302A CN 202210046786 A CN202210046786 A CN 202210046786A CN 114054302 A CN114054302 A CN 114054302A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C5/00—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work
- B05C5/02—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C11/00—Component parts, details or accessories not specifically provided for in groups B05C1/00 - B05C9/00
- B05C11/10—Storage, supply or control of liquid or other fluent material; Recovery of excess liquid or other fluent material
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- 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
- B05C11/1002—Means for controlling supply, i.e. flow or pressure, of liquid or other fluent material to the applying apparatus, e.g. valves
- B05C11/1005—Means for controlling supply, i.e. flow or pressure, of liquid or other fluent material to the applying apparatus, e.g. valves responsive to condition of liquid or other fluent material already applied to the surface, e.g. coating thickness, weight or pattern
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C11/00—Component parts, details or accessories not specifically provided for in groups B05C1/00 - B05C9/00
- B05C11/10—Storage, supply or control of liquid or other fluent material; Recovery of excess liquid or other fluent material
- B05C11/1002—Means for controlling supply, i.e. flow or pressure, of liquid or other fluent material to the applying apparatus, e.g. valves
- B05C11/1015—Means for controlling supply, i.e. flow or pressure, of liquid or other fluent material to the applying apparatus, e.g. valves responsive to a conditions of ambient medium or target, e.g. humidity, temperature ; responsive to position or movement of the coating head relative to the target
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C11/00—Component parts, details or accessories not specifically provided for in groups B05C1/00 - B05C9/00
- B05C11/10—Storage, supply or control of liquid or other fluent material; Recovery of excess liquid or other fluent material
- B05C11/1002—Means for controlling supply, i.e. flow or pressure, of liquid or other fluent material to the applying apparatus, e.g. valves
- B05C11/1015—Means for controlling supply, i.e. flow or pressure, of liquid or other fluent material to the applying apparatus, e.g. valves responsive to a conditions of ambient medium or target, e.g. humidity, temperature ; responsive to position or movement of the coating head relative to the target
- B05C11/1021—Means for controlling supply, i.e. flow or pressure, of liquid or other fluent material to the applying apparatus, e.g. valves responsive to a conditions of ambient medium or target, e.g. humidity, temperature ; responsive to position or movement of the coating head relative to the target responsive to presence or shape of target
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Abstract
The application discloses a precise positioning control method and a system of a dispenser, wherein the method comprises the following steps: obtaining first transmission device information and first dispensing product information of a first dispensing machine; monitoring the motion parameters of the first transmission device in real time according to the inertial sensor to obtain real-time dispensing sensing parameters; constructing a position precision detection model; inputting the real-time dispensing sensing parameters into a position precision detection model to obtain first output information; obtaining first iterative deviation data according to the first output information; generating a first dispensing positioning characteristic by analyzing characteristic data of the first dispensing product; constructing a first preset deviation threshold value based on the first dispensing positioning feature; and performing initialization control on the first dispenser according to the first iteration deviation data and the first preset deviation threshold value. The technical problem that the dispensing position of the dispensing machine cannot be intelligently controlled in the prior art is solved.
Description
Technical Field
The application relates to the field of artificial intelligence, in particular to a precise positioning control method and system of a dispenser.
Background
The dispenser is also called a glue spreader, a glue dripping machine, a glue spreading machine, a glue pouring machine and the like, and is an automatic machine which is specially used for controlling fluid and dripping and smearing the fluid on the surface of a product or in the product. In the actual production and operation process, the dispensing machine often does not reach corresponding precision requirement because in the machine-building, installation, relevant staff does not reset after full-automatic dispensing machine stops, and equipment load is too heavy or parameter setting is incorrect etc. leads to the location of dispensing machine to take place great skew to influence point and glue quality. Therefore, the accurate control of the positioning of the dispenser by means of computer technology has important practical significance.
In the process of implementing the technical solution in the embodiment of the present application, the inventor of the present application finds that the above-mentioned technology has at least the following technical problems:
the technical problem that the dispensing position of a dispenser can not be intelligently controlled exists in the prior art.
Disclosure of Invention
The application aims to provide an accurate positioning control method and an accurate positioning control system for a dispenser, which are used for solving the technical problem that the dispensing position of the dispenser can not be intelligently and accurately controlled in the prior art.
In view of the foregoing problems, the embodiments of the present application provide a method and a system for controlling precise positioning of a dispenser.
In a first aspect, the present application provides a method for controlling precise positioning of a dispenser, the method being implemented by a system for controlling precise positioning of a dispenser, wherein the method comprises: obtaining first transmission device information and first dispensing product information of a first dispensing machine; monitoring the motion parameters of the first transmission device in real time according to the inertial sensor to obtain real-time dispensing sensing parameters; constructing a position precision detection model; inputting the real-time dispensing sensing parameters into the position precision detection model, and obtaining first output information according to the position precision detection model, wherein the first output information is position repetition precision; obtaining first iterative deviation data according to the first output information; generating a first dispensing positioning characteristic by analyzing characteristic data of the first dispensing product; constructing a first preset deviation threshold value based on the first dispensing positioning feature; and performing initialization control on the first dispenser according to the first iteration deviation data and the first preset deviation threshold value.
On the other hand, the present application further provides a precise positioning control system of a dispenser, configured to execute the precise positioning control method of the dispenser according to the first aspect, wherein the system includes: a first obtaining unit: the first obtaining unit is used for obtaining first transmission device information and first dispensing product information of the first dispensing machine; a second obtaining unit: the second obtaining unit is used for monitoring the motion parameters of the first transmission device in real time according to the inertial sensor to obtain real-time dispensing sensing parameters; a first building unit: the first construction unit is used for constructing a position precision detection model; a third obtaining unit: the third obtaining unit is configured to input the real-time dispensing sensing parameter into the position accuracy detection model, and obtain first output information according to the position accuracy detection model, where the first output information is position repetition accuracy; a fourth obtaining unit: the fourth obtaining unit is used for obtaining first iterative deviation data according to the first output information; a first generation unit: the first generating unit is used for generating a first dispensing positioning characteristic by analyzing the characteristic data of the first dispensing product; a second building element: the second construction unit is used for constructing a first preset deviation threshold value based on the first adhesive dispensing positioning feature; a first control unit: the first control unit is used for carrying out initialization control on the first dispenser according to the first iteration deviation data and the first preset deviation threshold value.
In a third aspect, an embodiment of the present application further provides a system for controlling precise positioning of a dispenser, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor implements the steps of the method according to the first aspect when executing the program.
One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages:
1. obtaining first transmission device information and first dispensing product information of a first dispensing machine; monitoring the motion parameters of the first transmission device in real time according to the inertial sensor to obtain real-time dispensing sensing parameters; constructing a position precision detection model; inputting the real-time dispensing sensing parameters into the position precision detection model, and obtaining first output information according to the position precision detection model, wherein the first output information is position repetition precision; obtaining first iterative deviation data according to the first output information; generating a first dispensing positioning characteristic by analyzing characteristic data of the first dispensing product; constructing a first preset deviation threshold value based on the first dispensing positioning feature; and performing initialization control on the first dispenser according to the first iteration deviation data and the first preset deviation threshold value. The technical effect of intelligently and accurately regulating and controlling the dispensing positioning aiming at the characteristics of the dispensing product and the real-time sensing parameters of the dispensing machine is achieved.
2. Based on the first initial sensing parameter, the system has a comparison benchmark of the deviation degree of the dispensing position at each time, so that the control of the first transmission device is realized, the accurate position of the dispensing at each time is controlled, the dispensing effect is ensured, and the technical effect of ensuring the product percent of pass is achieved.
The foregoing description is only an overview of the technical solutions of the present application, and the present application can be implemented according to the content of the description in order to make the technical means of the present application more clearly understood, and the following detailed description of the present application is given in order to make the above and other objects, features, and advantages of the present application more clearly understandable.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only exemplary, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a schematic flow chart of a precise positioning control method of a dispenser according to an embodiment of the present application;
fig. 2 is a schematic flow chart illustrating a process of generating the first iterative deviation data by iterating the N-1 position repetition accuracies in the precise positioning control method of the dispenser according to the embodiment of the present application;
fig. 3 is a schematic flow chart illustrating parameter initialization control of the first transmission device by using the first initial sensing parameter as basic data in the precise positioning control method of the dispenser according to the embodiment of the present application;
fig. 4 is a schematic flow chart illustrating a process of predicting a dispensing amount according to the first dispensing plane data and the first colloid analysis data to obtain a first predicted dispensing amount in the precise positioning control method of the dispenser according to the embodiment of the present application;
fig. 5 is a schematic structural diagram of a precise positioning control system of a dispenser according to an embodiment of the present application;
fig. 6 is a schematic structural diagram of an exemplary electronic device according to an embodiment of the present application.
Description of reference numerals:
a first obtaining unit 11, a second obtaining unit 12, a first constructing unit 13, a third obtaining unit 14, a fourth obtaining unit 15, a first generating unit 16, a second constructing unit 17, a first control unit 18, a bus 300, a receiver 301, a processor 302, a transmitter 303, a memory 304, and a bus interface 305.
Detailed Description
The embodiment of the application provides a method and a system for accurately positioning and controlling a dispenser, and solves the technical problem that the dispensing position of the dispenser can not be intelligently and accurately controlled in the prior art. The technical effect of intelligently and accurately regulating and controlling the dispensing positioning aiming at the characteristics of the dispensing product and the real-time sensing parameters of the dispensing machine is achieved.
In the following, the technical solutions in the embodiments of the present application will be clearly and completely described with reference to the accompanying drawings, and it is to be understood that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments of the present application, and it should be understood that the present application is not limited by the example embodiments described herein. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present application without making any creative effort, shall fall within the protection scope of the present application. It should be further noted that, for the convenience of description, only some but not all of the elements relevant to the present application are shown in the drawings.
Summary of the application
The dispenser is also called a glue spreader, a glue dripping machine, a glue spreading machine, a glue pouring machine and the like, and is an automatic machine which is specially used for controlling fluid and dripping and smearing the fluid on the surface of a product or in the product. In the actual production and operation process, the dispensing machine often does not reach corresponding precision requirement because in the machine-building, installation, relevant staff does not reset after full-automatic dispensing machine stops, and equipment load is too heavy or parameter setting is incorrect etc. leads to the location of dispensing machine to take place great skew to influence point and glue quality. Therefore, the accurate control of the positioning of the dispenser by means of computer technology has important practical significance.
The technical problem that the dispensing position of a dispenser can not be intelligently controlled exists in the prior art.
In view of the above technical problems, the technical solution provided by the present application has the following general idea:
the application provides a precise positioning control method of a dispenser, which is applied to a precise positioning control system of the dispenser, wherein the method comprises the following steps: obtaining first transmission device information and first dispensing product information of a first dispensing machine; monitoring the motion parameters of the first transmission device in real time according to the inertial sensor to obtain real-time dispensing sensing parameters; constructing a position precision detection model; inputting the real-time dispensing sensing parameters into the position precision detection model, and obtaining first output information according to the position precision detection model, wherein the first output information is position repetition precision; obtaining first iterative deviation data according to the first output information; generating a first dispensing positioning characteristic by analyzing characteristic data of the first dispensing product; constructing a first preset deviation threshold value based on the first dispensing positioning feature; and performing initialization control on the first dispenser according to the first iteration deviation data and the first preset deviation threshold value.
Having thus described the general principles of the present application, various non-limiting embodiments thereof will now be described in detail with reference to the accompanying drawings.
Example one
Referring to fig. 1, an embodiment of the present application provides a method for controlling precise positioning of a dispenser, where the method is applied to a system for controlling precise positioning of a dispenser, and the method specifically includes the following steps:
step S100: acquiring first transmission device information and first dispensing product information of a first dispensing machine;
particularly, the accurate positioning control method of the dispensing machine is applied to the accurate positioning control system of the dispensing machine, and can intelligently and accurately regulate and control dispensing positioning according to the characteristics of dispensing products and the real-time sensing parameters of the dispensing machine. The dispenser is also called a glue spreader, a glue dripping machine, a glue spreading machine, a glue pouring machine and the like, and is an automatic machine which is specially used for controlling fluid and dripping and smearing the fluid on the surface of a product or in the product.
The first dispenser is any dispensing equipment which uses the precise positioning control system of the dispenser to control the dispensing position. The first transmission information refers to a high-rotating-speed and few-bearing rotating body in the first dispenser, and the dynamic balance of the first transmission information is crucial. Generally, a dynamic balance test is carried out on a transmission device before the transmission device leaves a factory, and the transmission device is adjusted on a balancing machine. The first dispensing product information refers to a product carrier of the first dispensing machine corresponding to dispensing work, and includes information such as product name, product characteristics, dispensing position, dispensing amount and quality effect to be achieved by dispensing. For example, a dispensing product is a toy for children, and two parts of the toy are required to be adhered by glue through a dispensing operation, so before the dispensing operation is performed by a dispenser, the type, characteristics, etc. of the glue corresponding to the dispensing of the toy, and information such as a specific dispensing position, a dispensing area, etc. corresponding to the toy should be determined.
The first transmission device information and the first dispensing product information of the first dispensing machine are obtained, so that the dispensing requirement is clear, and the technical effect of providing directions for subsequent dispensing scheme formulation is achieved.
Step S200: monitoring the motion parameters of the first transmission device in real time according to the inertial sensor to obtain real-time dispensing sensing parameters;
specifically, a sensor (english name: transducer/sensor) is a detection device, which can sense measured information and convert the sensed information into an electrical signal or other information in a required form according to a certain rule to output, so as to meet the requirements of information transmission, processing, storage, display, recording, control and the like. The inertial sensor is mainly used for detecting and measuring acceleration, inclination, impact, vibration, rotation and multi-degree-of-freedom motion, and solves important equipment for navigation, orientation and motion carrier control. By means of the inertial sensor, some minor movements of the transmission, such as a robot arm, may be monitored, including specific and comprehensive data information such as the inertial movement speed, inertial movement distance, angular velocity, etc. of the first transmission. And based on the first inertial sensor, real-time dispensing sensing parameters can be formed by monitoring the data obtained by monitoring the motion speed and the motion distance of the arm rod of the mechanical arm of the first transmission device in real time in a working state, such as stretching, lifting, rotating and the like.
When the first dispenser is dispensed through the inertial sensor, the change of various parameters corresponding to the first transmission device is monitored in real time, the technical effect of quantifying the working process of the dispenser is achieved, the working condition of the dispenser is analyzed based on the change of specific data, and the analysis result is more convincing.
Step S300: constructing a position precision detection model;
step S400: inputting the real-time dispensing sensing parameters into the position precision detection model, and obtaining first output information according to the position precision detection model, wherein the first output information is position repetition precision;
specifically, the position precision detection model is a model for intelligently analyzing various dispensing data and further performing dispensing position precision analysis. The real-time dispensing sensing parameters monitored by the inertial sensor in real time are input into the position precision detection model, and the position precision detection model intelligently outputs first output information containing dispensing position repetition precision. The position repetition precision refers to the repetition degree of the dispensing position of the current dispensing position relative to the last dispensing position. For example, when a certain dispensing machine continuously performs three times of dispensing operations, by inputting the real-time sensor monitoring data of the three times of dispensing operations into the position accuracy detection model, two position repetition accuracy data can be intelligently obtained, namely, the repetition degree of the second dispensing position relative to the first dispensing position and the repetition degree of the third dispensing position relative to the second dispensing position are included. The real-time position information of the dispensing machine during dispensing operation is visually known through the real-time monitoring data of the sensor, and after calculation and analysis, the technical effect of datamation and concreteness of the deviation degree of the dispensing position is achieved.
Step S500: obtaining first iterative deviation data according to the first output information;
specifically, the first output information includes repeated precision data of the dispensing positions for a plurality of times, and the deviation data of the actual dispensing position of the first dispenser can be calculated through the repeated precision data of the dispensing positions for a plurality of times, that is, the deviation data of the actual dispensing position of the first dispenser is the first iterative deviation data. For example, after the dispenser is used for a period of time, the position deviation is often caused by too heavy load of the dispensing device, and today is deviated by 1 micrometer compared with yesterday, tomorrow is deviated by 1 micrometer again on the basis of today deviation, namely tomorrow is deviated by 2 micrometers on the basis of yesterday, wherein 2 micrometers is iterative deviation data. After a period of time, the final dispensing position and the initial dispensing position will have a significant offset. Through the intelligent calculation of the accurate positioning control system of the dispenser, the whole position deviation information of the first dispenser can be obtained, and the technical effect of intelligently calculating the real deviation data of the dispenser is achieved.
Step S600: generating a first dispensing positioning characteristic by analyzing characteristic data of the first dispensing product;
step S700: constructing a first preset deviation threshold value based on the first dispensing positioning feature;
specifically, based on the characteristic data of the position requirement, the dispensing area and the like in the first dispensing product, the corresponding first dispensing positioning characteristic is obtained through analysis. And further based on the first dispensing positioning characteristic, synthesizing information such as product dispensing requirements, estimated dispensing effects and the like, analyzing and determining the maximum position deviation range of the first dispensing product during actual dispensing, namely the first preset deviation threshold. For example, a certain toy needs to be glued through a glue dispensing technology and is glued below the head of the toy, so that the head of the toy is adhered to the body of the toy, the central position below the head of the toy is a preset glue dispensing position, the central position serves as the circle center, a certain distance serves as the glue dispensing within the radius range, the head of the toy and the body of the toy can be adhered, and the glue dispensing position can have certain deviation. By analyzing the actual requirements and other conditions of the first dispensing product, the system presets the dispensing position maximum deviation range, namely the first preset deviation threshold, dispensing can not affect the product quality in the range, the maximum deviation range of the data product is reached, the actual dispensing position of the product is controllable, and the product percent of pass is not affected.
Step S800: and performing initialization control on the first dispenser according to the first iteration deviation data and the first preset deviation threshold value.
Specifically, the accurate control of the dispensing position of the first dispensing machine is performed through the first iterative deviation data obtained based on the actual condition of the first dispensing machine and the first preset deviation threshold obtained based on the information of the first dispensing product. By integrating the first iteration deviation data and the first preset deviation threshold value, the technical effect of individually and precisely controlling the dispensing position of the dispenser based on specific data is achieved.
Further, as shown in fig. 2, step S500 in the embodiment of the present application further includes:
step S510: obtaining first sample detection data;
step S520: respectively obtaining N real-time sensing positions of the first transmission device under the same condition according to the first sample detection data;
step S530: generating N-1 position repetition accuracies by performing differential calculation on the N real-time sensing positions, wherein the N-1 position repetition accuracies comprise a first position repetition accuracy and a second position repetition accuracy … …, and the N-1 position repetition accuracy;
step S540: generating the first iterative deviation data by iterating the N-1 position repetition accuracies.
Specifically, the first sample detection data refers to a multiple-dispensing real-time dispensing sensing parameter set monitored by the inertial sensor in real time when the first dispenser continuously dispenses within a certain period of time. And respectively determining N real-time monitoring data of the first transmission device when the first dispenser continuously works under the same condition within a period of time according to the first sample detection data. And N times of glue dispensing corresponds to N glue dispensing parameters and N glue dispensing position data.
Through specific position calculation of the N real-time sensing positions, the offset of the 2 nd dispensing position compared with the 1 st dispensing position can be obtained, so that the corresponding 1 st dispensing position repetition precision is obtained and recorded as the first position repetition precision; similarly, the deviation of the 3 rd dispensing position from the 2 nd dispensing position can be obtained, so that the corresponding 2 nd dispensing position repetition precision is obtained and recorded as a second position repetition precision; by analogy, the deviation of the dispensing position for the Nth time compared with the dispensing position for the (N-1) th time can be finally obtained, so that the corresponding repeating precision of the dispensing position for the (N-1) th time is obtained and recorded as the repeating precision of the (N-1) th position. In summary, N-1 position repeat accuracies are generated, and finally the N-1 position repeat accuracies are iterated to generate a deviation of the nth dispensing position from the 1 st dispensing position, which is the first iteration deviation data.
And calculating to obtain the actual final deviation data of the dispensing position through repeated position precision for multiple times, thereby achieving the technical effect of intuitively and accurately obtaining the actual deviation value of the dispensing position.
Further, as shown in fig. 3, step S800 in this embodiment of the present application further includes:
step S810: judging whether the first iteration deviation data is in the first preset deviation threshold value;
step S820: when the first iteration deviation data is in the first preset deviation threshold value, obtaining a first extraction instruction;
step S830: extracting a first initial sensing parameter from the real-time dispensing sensing parameters according to the first extraction instruction;
step S840: and performing parameter initialization control on the first transmission device by taking the first initial sensing parameter as basic data.
Specifically, whether the first iteration deviation data is in the first preset deviation threshold value or not is judged, when the first iteration deviation data is in the first preset deviation threshold value, a precise positioning control system of the dispenser sends a first extraction instruction, first initial sensing parameters are extracted from the real-time dispensing sensing parameters according to the first extraction instruction, and the first initial sensing parameters are used as basic data to carry out parameter initialization control on the first transmission device. The first initial sensing parameter is initial positioning of the first dispenser, namely, is used as reference target data of initial positioning. Based on the first initial sensing parameter, the system has a comparison benchmark of the deviation degree of the dispensing position at each time, so that the control of the first transmission device is realized, the accurate position of the dispensing at each time is controlled, the dispensing effect is ensured, and the technical effect of ensuring the product percent of pass is achieved.
Further, as shown in fig. 4, step S100 in the embodiment of the present application further includes:
step S110: obtaining a first product geometric parameter according to the first adhesive dispensing product information;
step S120: generating first dispensing plane data according to the first product geometric parameters, wherein the first dispensing plane data is a contact surface of a product and a colloid in the dispensing operation of the first dispenser;
step S130: generating first colloid analysis data by performing colloid analysis of dispensing on the first dispenser;
step S140: and predicting the dispensing amount according to the first dispensing plane data and the first colloid analysis data to obtain a first predicted dispensing amount.
Specifically, the information such as the shape and the size of the product to be dispensed is determined according to the information of the first dispensing product, and the information of the position to be dispensed corresponding to the product is further determined, that is, the first dispensing plane data is generated. The first dispensing plane data is a contact surface of a product and a colloid in the dispensing operation performed by the first dispensing machine.
Further, the products dispensed by the first dispensing machine, including electronic glue, oil or other liquids, are subjected to dispensing liquid characteristic analysis to generate corresponding first colloid analysis data. And predicting and estimating the dispensing amount corresponding to the first dispensing product according to the first dispensing plane data and the first colloid analysis data, so as to generate the first predicted dispensing amount. For example, a certain toy is linked with glue, the glue is thinner and has strong fluidity, and correspondingly, the glue dispensing amount should be properly reduced, so that the glue is prevented from remaining in other parts, and the attractiveness of the toy is prevented from being influenced. The technical effects of estimating and predicting the dispensing amount, avoiding the waste of the colloid and simultaneously ensuring the dispensing quality are achieved based on the analysis of the colloid and the actual dispensing position.
Further, step S400 in the embodiment of the present application further includes:
step S410: constructing a three-dimensional coordinate system, wherein the three-dimensional coordinate system is used for carrying out coordinate conversion on the motion parameters of the first transmission device;
step S420: performing coordinate conversion on the real-time dispensing sensing parameters based on the three-dimensional coordinate system to obtain three-dimensional dispensing sensing parameters;
step S430: and inputting the three-dimensional dispensing sensing parameters into the position precision detection model to obtain the first output information, wherein the first output information comprises first positioning precision, second positioning precision and third positioning precision.
Specifically, the three-dimensional coordinate system is used for performing coordinate conversion on the motion parameters of the first transmission device monitored by the inertial sensor in real time. And performing coordinate conversion on the real-time dispensing sensing parameters through the three-dimensional coordinate system to obtain the three-dimensional dispensing sensing parameters of the real-time movement of the first transmission device. And further inputting the three-dimensional dispensing sensing parameters into the position precision detection model, and obtaining the first output information. The first output information comprises a first positioning precision, a second positioning precision and a third positioning precision of the movement of the first transmission device, and the first positioning precision, the second positioning precision and the third positioning precision respectively correspond to the data of the three axes x, y and z of the three-dimensional coordinate system. By constructing the three-dimensional coordinate system, the technical effect that the motion parameters of the transmission device are specified when the dispensing machine dispenses glue is achieved.
Further, step S400 in the embodiment of the present application further includes:
step S440: generating corresponding first initialization parameters, second initialization parameters and third initialization parameters based on the first positioning precision, the second positioning precision and the third positioning precision;
step S450: obtaining a first initialization control parameter according to the first initialization parameter, the second initialization parameter and the third initialization parameter;
step S460: and performing initialization control on the first transmission device based on the first initialization control parameter.
Specifically, based on the first positioning accuracy, the second positioning accuracy and the third positioning accuracy, x, y and z three-axis data corresponding to the first dispensing position of the first dispenser are generated, and the x, y and z three-axis data are set as the first initialization parameter, the second initialization parameter and the third initialization parameter, respectively. And then the first initialization control parameter is formed based on the first initialization parameter, the second initialization parameter and the third initialization parameter, that is, the first initialization control parameter is a control parameter after compensation adjustment is performed according to the offset precision between the precision offset of the first dispensing machine on the x, y and z axes and the first initial sensing parameter, that is, the offset precision between the initialization target positioning, so that the technical target of initialization control of the first transmission device is realized by taking the first dispensing position as the reference.
Further, step S130 in the embodiment of the present application further includes:
step S131: according to the first colloid analysis data, obtaining a first curing speed of dispensing in the first dispenser;
step S132: obtaining a first point control characteristic based on the first curing speed;
step S133: carrying out glue dispensing mode matching according to the first glue dispensing control characteristic and the first glue dispensing positioning characteristic to obtain a first matching result;
step S134: and carrying out positioning control on the first dispenser based on the first matching result.
Specifically, according to the first colloid analysis data, a curing speed parameter of the dispensing colloid in the first dispenser can be determined, so that a first dispensing position control characteristic corresponding to the first dispenser is obtained. And matching the dispensing modes of the dispensing machine according to the first dispensing control characteristic and the first dispensing positioning characteristic, and finally performing positioning control on the first dispensing machine based on a dispensing mode matching result. The dispensing method generally includes dispensing, circle drawing, irregular coating, and the like. For example, after the glue dispensing position is determined, the glue dispensing can be performed in a dispensing manner, so that the contact area between the glue and the air is effectively reduced, the curing speed of the glue is reduced, and sufficient operation time is reserved for the subsequent bonding operation. Based on the colloid characteristics, the technical effects of ensuring the dispensing effect and saving the glue amount are achieved while matching the corresponding dispensing mode.
In summary, the precise positioning control method of the dispenser provided by the embodiment of the present application has the following technical effects:
1. obtaining first transmission device information and first dispensing product information of a first dispensing machine; monitoring the motion parameters of the first transmission device in real time according to the inertial sensor to obtain real-time dispensing sensing parameters; constructing a position precision detection model; inputting the real-time dispensing sensing parameters into the position precision detection model, and obtaining first output information according to the position precision detection model, wherein the first output information is position repetition precision; obtaining first iterative deviation data according to the first output information; generating a first dispensing positioning characteristic by analyzing characteristic data of the first dispensing product; constructing a first preset deviation threshold value based on the first dispensing positioning feature; and performing initialization control on the first dispenser according to the first iteration deviation data and the first preset deviation threshold value. The technical effect of intelligently and accurately regulating and controlling the dispensing positioning aiming at the characteristics of the dispensing product and the real-time sensing parameters of the dispensing machine is achieved.
2. Based on the first initial sensing parameter, the system has a comparison benchmark of the deviation degree of the dispensing position at each time, so that the control of the first transmission device is realized, the accurate position of the dispensing at each time is controlled, the dispensing effect is ensured, and the technical effect of ensuring the product percent of pass is achieved.
Example two
Based on the same inventive concept as the precise positioning control method of the dispenser in the foregoing embodiment, the present invention further provides a precise positioning control system of a dispenser, please refer to fig. 5, where the system includes:
a first obtaining unit 11, where the first obtaining unit 11 is configured to obtain first transmission device information and first dispensing product information of a first dispensing machine;
the second obtaining unit 12 is configured to monitor the motion parameter of the first transmission device in real time according to an inertial sensor, and obtain a real-time dispensing sensing parameter;
a first constructing unit 13, wherein the first constructing unit 13 is used for constructing a position precision detection model;
a third obtaining unit 14, where the third obtaining unit 14 is configured to input the real-time dispensing sensing parameter into the position precision detection model, and obtain first output information according to the position precision detection model, where the first output information is position repetition precision;
a fourth obtaining unit 15, where the fourth obtaining unit 15 is configured to obtain first iterative deviation data according to the first output information;
a first generating unit 16, wherein the first generating unit 16 is configured to generate a first dispensing positioning feature by performing feature data analysis on the first dispensing product;
a second constructing unit 17, where the second constructing unit 17 is configured to construct a first preset deviation threshold value based on the first dispensing location feature;
a first control unit 18, where the first control unit 18 is configured to perform initialization control on the first dispenser according to the first iterative deviation data and the first preset deviation threshold.
Further, the system further comprises:
a fifth obtaining unit configured to obtain first sample detection data;
a sixth obtaining unit, configured to obtain, according to the first sample detection data, N real-time sensing positions of the first transmission device under the same condition;
a second generating unit, configured to generate N-1 position repetition accuracies by performing a differential calculation on the N real-time sensing positions, where the N-1 position repetition accuracies include a first position repetition accuracy and a second position repetition accuracy … …, the N-1 position repetition accuracy;
a third generating unit for generating the first iterative deviation data by iterating the N-1 position repetition precisions.
Further, the system further comprises:
a first judging unit, configured to judge whether the first iterative deviation data is within the first preset deviation threshold;
a seventh obtaining unit, configured to obtain a first extraction instruction when the first iterative deviation data is within the first preset deviation threshold;
the first extraction unit is used for extracting a first initial sensing parameter from the real-time dispensing sensing parameters according to the first extraction instruction;
and the second control unit is used for carrying out parameter initialization control on the first transmission device by taking the first initial sensing parameter as basic data.
Further, the system further comprises:
an eighth obtaining unit, configured to obtain a first product geometric parameter according to the first dispensing product information;
a fourth generating unit, configured to generate first dispensing plane data according to the first product geometric parameter, where the first dispensing plane data is a contact surface between a product and a glue during a dispensing operation performed by the first dispenser;
a fifth generating unit, configured to generate first colloid analysis data by performing colloid analysis of dispensing on the first dispenser;
a ninth obtaining unit, configured to predict the dispensing amount according to the first dispensing plane data and the first colloid analysis data, so as to obtain a first predicted dispensing amount.
Further, the system further comprises:
a third constructing unit, configured to construct a three-dimensional coordinate system, where the three-dimensional coordinate system is configured to perform coordinate conversion on a motion parameter of the first transmission device;
a tenth obtaining unit, configured to perform coordinate conversion on the real-time dispensing sensing parameter based on the three-dimensional coordinate system, to obtain a three-dimensional dispensing sensing parameter;
an eleventh obtaining unit, configured to input the three-dimensional dispensing sensing parameter into the position accuracy detection model, and obtain the first output information, where the first output information includes a first positioning accuracy, a second positioning accuracy, and a third positioning accuracy.
Further, the system further comprises:
a sixth generating unit, configured to generate a corresponding first initialization parameter, a second initialization parameter, and a third initialization parameter based on the first positioning accuracy, the second positioning accuracy, and the third positioning accuracy;
a twelfth obtaining unit, configured to obtain a first initialization control parameter according to the first initialization parameter, the second initialization parameter, and the third initialization parameter;
a third control unit configured to perform initialization control on the first transmission device based on the first initialization control parameter.
Further, the system further comprises:
a thirteenth obtaining unit, configured to obtain, according to the first colloid analysis data, a first curing speed of dispensing in the first dispenser;
a fourteenth obtaining unit configured to obtain a first dot position control characteristic based on the first curing speed;
a fifteenth obtaining unit, configured to perform dispensing manner matching according to the first dispensing location control feature and the first dispensing location feature, so as to obtain a first matching result;
and the fourth control unit is used for carrying out positioning control on the first dispenser based on the first matching result.
In the present specification, each embodiment is described in a progressive manner, and the main point of each embodiment is that the embodiment is different from other embodiments, the foregoing method for controlling precise positioning of a dispenser in the first embodiment of fig. 1 and the specific example are also applicable to a system for controlling precise positioning of a dispenser in the present embodiment, and through the foregoing detailed description of the method for controlling precise positioning of a dispenser, a person skilled in the art can clearly know a system for controlling precise positioning of a dispenser in the present embodiment, and therefore, for the brevity of the description, detailed description is not repeated here. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Exemplary electronic device
The electronic apparatus of the embodiment of the present application is described below with reference to fig. 6.
Fig. 6 illustrates a schematic structural diagram of an electronic device according to an embodiment of the present application.
Based on the inventive concept of the precise positioning control method of the dispenser in the foregoing embodiments, the present invention further provides a precise positioning control system of a dispenser, on which a computer program is stored, and the computer program, when executed by a processor, implements the steps of any one of the foregoing precise positioning control methods of a dispenser.
Where in fig. 6 a bus architecture (represented by bus 300), bus 300 may include any number of interconnected buses and bridges, bus 300 linking together various circuits including one or more processors, represented by processor 302, and memory, represented by memory 304. The bus 300 may also link together various other circuits such as peripherals, voltage regulators, power management circuits, and the like, which are well known in the art, and therefore, will not be described any further herein. A bus interface 305 provides an interface between the bus 300 and the receiver 301 and transmitter 303. The receiver 301 and the transmitter 303 may be the same element, i.e., a transceiver, providing a means for communicating with various other apparatus over a transmission medium.
The processor 302 is responsible for managing the bus 300 and general processing, and the memory 304 may be used for storing data used by the processor 302 in performing operations.
The application provides a precise positioning control method of a dispenser, which is applied to a precise positioning control system of the dispenser, wherein the method comprises the following steps: obtaining first transmission device information and first dispensing product information of a first dispensing machine; monitoring the motion parameters of the first transmission device in real time according to the inertial sensor to obtain real-time dispensing sensing parameters; constructing a position precision detection model; inputting the real-time dispensing sensing parameters into the position precision detection model, and obtaining first output information according to the position precision detection model, wherein the first output information is position repetition precision; obtaining first iterative deviation data according to the first output information; generating a first dispensing positioning characteristic by analyzing characteristic data of the first dispensing product; constructing a first preset deviation threshold value based on the first dispensing positioning feature; and performing initialization control on the first dispenser according to the first iteration deviation data and the first preset deviation threshold value. The technical problem that the dispensing position of the dispensing machine cannot be intelligently controlled in the prior art is solved. The technical effect of intelligently and accurately regulating and controlling the dispensing positioning aiming at the characteristics of the dispensing product and the real-time sensing parameters of the dispensing machine is achieved.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, apparatus, or computer program product. Accordingly, the present application may take the form of an entirely software embodiment, an entirely hardware embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application is in the form of a computer program product that may be embodied on one or more computer-usable storage media having computer-usable program code embodied therewith. And such computer-usable storage media include, but are not limited to: 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 Memory, a Compact Disc Read-Only Memory (CD-ROM), and an optical Memory.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create a system for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including an instruction system which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks. While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (6)
1. A precise positioning control method of a dispenser is applied to a precise positioning control system of the dispenser, the system is in communication connection with an inertial sensor, and the method comprises the following steps:
acquiring first transmission device information and first dispensing product information of a first dispensing machine;
monitoring the motion parameters of the first transmission device in real time according to the inertial sensor to obtain real-time dispensing sensing parameters;
constructing a position precision detection model;
inputting the real-time dispensing sensing parameters into the position precision detection model, and obtaining first output information according to the position precision detection model, wherein the first output information is position repetition precision;
obtaining first iterative deviation data according to the first output information;
generating a first dispensing positioning characteristic by analyzing characteristic data of the first dispensing product;
constructing a first preset deviation threshold value based on the first dispensing positioning feature;
performing initialization control on the first dispenser according to the first iteration deviation data and the first preset deviation threshold, including:
judging whether the first iteration deviation data is in the first preset deviation threshold value;
when the first iteration deviation data is in the first preset deviation threshold value, obtaining a first extraction instruction;
extracting a first initial sensing parameter from the real-time dispensing sensing parameters according to the first extraction instruction;
performing parameter initialization control on the first transmission device by taking the first initial sensing parameter as basic data;
the method further comprises the following steps:
constructing a three-dimensional coordinate system, wherein the three-dimensional coordinate system is used for carrying out coordinate conversion on the motion parameters of the first transmission device;
performing coordinate conversion on the real-time dispensing sensing parameters based on the three-dimensional coordinate system to obtain three-dimensional dispensing sensing parameters;
inputting the three-dimensional dispensing sensing parameters into the position precision detection model to obtain the first output information, wherein the first output information comprises first positioning precision, second positioning precision and third positioning precision;
generating corresponding first initialization parameters, second initialization parameters and third initialization parameters based on the first positioning precision, the second positioning precision and the third positioning precision;
obtaining a first initialization control parameter according to the first initialization parameter, the second initialization parameter and the third initialization parameter;
and performing initialization control on the first transmission device based on the first initialization control parameter.
2. The method of claim 1, wherein the obtaining first iterative deviation data is based on the first output information, the method further comprising:
obtaining first sample detection data;
respectively obtaining N real-time sensing positions of the first transmission device under the same condition according to the first sample detection data;
generating N-1 position repetition accuracies by performing differential calculation on the N real-time sensing positions, wherein the N-1 position repetition accuracies comprise a first position repetition accuracy and a second position repetition accuracy … …, and the N-1 position repetition accuracy;
generating the first iterative deviation data by iterating the N-1 position repetition accuracies.
3. The method of claim 1, wherein the method further comprises:
obtaining a first product geometric parameter according to the first adhesive dispensing product information;
generating first dispensing plane data according to the first product geometric parameters, wherein the first dispensing plane data is a contact surface of a product and a colloid in the dispensing operation of the first dispenser;
generating first colloid analysis data by performing colloid analysis of dispensing on the first dispenser;
and predicting the dispensing amount according to the first dispensing plane data and the first colloid analysis data to obtain a first predicted dispensing amount.
4. The method of claim 3, wherein the method further comprises:
according to the first colloid analysis data, obtaining a first curing speed of dispensing in the first dispenser;
obtaining a first point control characteristic based on the first curing speed;
carrying out glue dispensing mode matching according to the first glue dispensing control characteristic and the first glue dispensing positioning characteristic to obtain a first matching result;
and carrying out positioning control on the first dispenser based on the first matching result.
5. An accurate positioning control system of a dispenser, wherein the system comprises:
a first obtaining unit: the first obtaining unit is used for obtaining first transmission device information and first dispensing product information of the first dispensing machine;
a second obtaining unit: the second obtaining unit is used for monitoring the motion parameters of the first transmission device in real time according to the inertial sensor to obtain real-time dispensing sensing parameters;
a first building unit: the first construction unit is used for constructing a position precision detection model;
a third obtaining unit: the third obtaining unit is configured to input the real-time dispensing sensing parameter into the position accuracy detection model, and obtain first output information according to the position accuracy detection model, where the first output information is position repetition accuracy;
a fourth obtaining unit: the fourth obtaining unit is used for obtaining first iterative deviation data according to the first output information;
a first generation unit: the first generating unit is used for generating a first dispensing positioning characteristic by analyzing the characteristic data of the first dispensing product;
a second building element: the second construction unit is used for constructing a first preset deviation threshold value based on the first adhesive dispensing positioning feature;
a first control unit: the first control unit is configured to perform initialization control on the first dispenser according to the first iterative deviation data and the first preset deviation threshold, and includes:
a first judging unit, configured to judge whether the first iterative deviation data is within the first preset deviation threshold;
a seventh obtaining unit, configured to obtain a first extraction instruction when the first iterative deviation data is within the first preset deviation threshold;
the first extraction unit is used for extracting a first initial sensing parameter from the real-time dispensing sensing parameters according to the first extraction instruction;
the second control unit is used for carrying out parameter initialization control on the first transmission device by taking the first initial sensing parameter as basic data;
further, the system further comprises:
a third constructing unit, configured to construct a three-dimensional coordinate system, where the three-dimensional coordinate system is configured to perform coordinate conversion on a motion parameter of the first transmission device;
a tenth obtaining unit, configured to perform coordinate conversion on the real-time dispensing sensing parameter based on the three-dimensional coordinate system, to obtain a three-dimensional dispensing sensing parameter;
an eleventh obtaining unit, configured to input the three-dimensional dispensing sensing parameter into the position accuracy detection model, and obtain the first output information, where the first output information includes a first positioning accuracy, a second positioning accuracy, and a third positioning accuracy;
a sixth generating unit, configured to generate a corresponding first initialization parameter, a second initialization parameter, and a third initialization parameter based on the first positioning accuracy, the second positioning accuracy, and the third positioning accuracy;
a twelfth obtaining unit, configured to obtain a first initialization control parameter according to the first initialization parameter, the second initialization parameter, and the third initialization parameter;
a third control unit configured to perform initialization control on the first transmission device based on the first initialization control parameter.
6. A precise positioning control system of a dispenser, comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the steps of the method of any one of claims 1 to 4 when executing the program.
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