CN114653510B - Automatic ink coating method and device for side edges of AR (augmented reality) glasses lenses and related equipment - Google Patents

Automatic ink coating method and device for side edges of AR (augmented reality) glasses lenses and related equipment Download PDF

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Publication number
CN114653510B
CN114653510B CN202210243254.0A CN202210243254A CN114653510B CN 114653510 B CN114653510 B CN 114653510B CN 202210243254 A CN202210243254 A CN 202210243254A CN 114653510 B CN114653510 B CN 114653510B
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lens
inking
path
ink
target
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CN114653510A (en
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吴成文
李晓军
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GBA National Institute for Nanotechnology Innovation
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GBA National Institute for Nanotechnology Innovation
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
    • B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
    • B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
    • B05B13/0431—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to 3D-surfaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
    • B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
    • B05B12/084—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to condition of liquid or other fluent material already sprayed on the target, e.g. coating thickness, weight or pattern
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
    • B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
    • B05B12/12—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus
    • B05B12/122—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus responsive to presence or shape of target
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
    • B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
    • B05B12/12—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus
    • B05B12/124—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus responsive to distance between spray apparatus and target
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
    • B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
    • B05B13/0221—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work characterised by the means for moving or conveying the objects or other work, e.g. conveyor belts
    • B05B13/0271—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work characterised by the means for moving or conveying the objects or other work, e.g. conveyor belts the object or work standing still during the spraying operation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
    • B05B15/60—Arrangements for mounting, supporting or holding spraying apparatus
    • B05B15/68—Arrangements for adjusting the position of spray heads
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B1/00—Optical elements characterised by the material of which they are made; Optical coatings for optical elements
    • G02B1/10—Optical coatings produced by application to, or surface treatment of, optical elements

Abstract

The application discloses an AR glasses lens side edge automatic inking method, device and related equipment, wherein the method comprises the following steps: moving and fixing the lenses of the AR glasses to be inked from within the feeding box to the work table; determining a target inking path of the side edge of the lens and distance information from each point in the target inking path to a reference point through a CCD positioning technology and a laser ranging technology; controlling the ink-jet valve to jet ink according to a target ink-jet path with preset force, speed and angle, and adjusting the position of the ink-jet valve according to the distance information in the ink-jet process so as to keep the same distance with each point in the target ink-jet path when the ink-jet valve jets ink to each point in the target ink-jet path; the inked lenses are moved from the table and placed into a blanking box. The application realizes the uniform inking of the side edges of the lenses to a certain extent, and the inking process parameters are controllable, thereby being beneficial to improving inking precision and inking efficiency and improving inking effect.

Description

Automatic ink coating method and device for side edges of AR (augmented reality) glasses lenses and related equipment
Technical Field
The application relates to the technical field of lens processing, in particular to an automatic ink coating method and device for side edges of an AR (augmented reality) eyeglass and related equipment.
Background
With the continuous development of intelligent products, after intelligent mobile phones and tablet personal computers, the AR technology (Augmented Reality, augmented Reality technology) breaks through the limitation that the VR technology (Virtual Reality technology) is limited to the Virtual world, has wider application scenes than VR, and has great potential to become a next-generation universal interaction technology, so that the method becomes an important direction of an electronic consumer market. The AR glasses serve as an important component in AR technology application, and can smartly fuse the virtual world with the real world to realize augmented reality display.
The core technology of the AR glasses is that the nanometer grating pattern in the center area of the lens has the main working principle that the picture on the screen is reflected to the nanometer grating through the diffraction of light, and then the picture enters the sight of a person through the diffraction of the nanometer grating, and the light of a real scene can penetrate into the eyes of the person through the area without the grating, so that the superposition effect is generated in the brain of the person. In the manufacturing process of AR glasses, an important step is to coat ink on the side edges of the attached and cured AR glasses, so as to prevent external light from entering the inside of the glasses through the side surfaces of the glasses, which interferes with the research and analysis of the nano-structure in the glass wafer by workers, therefore, the process of coating ink on the side edges of the AR glasses is particularly important.
At present, the ink-applying operation of the side edges of the AR glasses lenses is mainly performed manually, specifically, a worker picks up the lenses by hand, and applies ink to each of the side edges of the cured lenses one by using a sponge dipped with ink. Because the ink coating angle, force and speed of the side edge of the AR glasses lens are important factors influencing the ink coating precision of the side edge of the AR glasses lens, the parameters such as the ink coating force, the ink coating speed and the ink coating angle cannot be controlled and quantized in a manual ink coating mode on the side edge of the AR glasses lens, and the ink coating precision is directly determined by the proficiency of staff, so that the ink coating precision and the ink coating effect are directly influenced. In addition, if the staff is slightly distracted, the inking area of the lens is easily uneven, the inking effect is poor, the efficiency is low, and finally the requirements cannot be met.
Disclosure of Invention
In view of the above, the present application provides an automatic ink-coating method, device and related equipment for the side edge of an AR spectacle lens, so as to realize controllable and quantifiable ink-coating parameters and improve the accuracy and efficiency of ink-coating.
To achieve the above object, a first aspect of the present application provides an automatic inking method for a side edge of an AR spectacle lens, including:
Moving and fixing the lenses of the AR glasses to be inked from within the feeding box to the work table;
determining a target inking path of the side edge of the lens and distance information from each point in the target inking path to a reference point by using a CCD positioning technology and a laser ranging technology, wherein the reference point is a preset reference position of an inking jet valve;
controlling an ink-jet valve to jet ink according to the target ink-jet path at preset force, speed and angle, and adjusting the position of the ink-jet valve according to the distance information from each point in the target ink-jet path to the reference point in the ink-jet process so as to keep the same distance as each point in the target ink-jet path when the ink-jet valve jets ink to each point in the target ink-jet path;
the inked lenses are moved from the table and placed into a blanking box.
Preferably, the process of determining the target inking path of the side edge of the lens and the distance information from each point in the target inking path to the reference point by using a CCD positioning technology and a laser ranging technology comprises the following steps:
acquiring contour information of the lens through a CCD positioning technology to obtain an inking path of the side edge of the lens in a horizontal state;
Turning the lens to a vertical state, and calculating a target inking path of the side edge of the lens in the vertical state according to the inking path in the horizontal state;
and measuring the distance from each point on the target inking path to the reference point along the target inking path by a laser ranging technology to obtain the distance information from each point in the target inking path to the reference point.
Preferably, the process of obtaining the contour information of the lens by using a CCD positioning technology to obtain the inking path of the side edge of the lens in a horizontal state includes:
moving a CCD camera to a datum point area of the lens through an X/Y/Z axis motor, and capturing a preset datum point on the lens through the CCD camera to obtain an inking path of the lens in a horizontal state;
wherein the fiducial point is associated with contour information of the lens.
Preferably, the process of turning the lens to a vertical state and calculating a target inking path of the side edge of the lens in the vertical state according to the inking path in the horizontal state includes:
the lens is overturned from a horizontal state to a vertical state through an R-axis motor;
And converting the inking path in the horizontal state to a target inking path of the lens in the vertical state by a coordinate transformation method according to the position information of the R-axis motor.
Preferably, the process of measuring the distance from each point on the target inking path to the reference point along the target inking path by the laser ranging technology to obtain the distance information from each point in the target inking path to the reference point includes:
calibrating the relative positions of the laser ranging sensor and the lens through a CCD positioning technology, so that the laser ranging sensor is arranged on the reference point;
the lens is controlled to rotate along with the U shaft through the U shaft motor;
measuring, while the lens is rotating, a distance from each point on a side edge of the lens to the laser ranging sensor by the laser ranging sensor;
and calculating the distance information from each point in the target inking path to a reference point according to the distance from each point on the side edge of the lens to the laser ranging sensor.
Preferably, the process of moving and fixing the lenses of the AR glasses to be inked from within the loading box to the table comprises:
Taking a datum point on the feeding box through a CCD camera, and determining the relative position of a lens of the AR glasses to be coated with ink in the feeding box and a sucker on the manipulator;
taking a datum point of a workbench through a CCD camera, and determining the relative position of the lens and the workbench;
according to the relative positions of the lens and the sucker on the manipulator and the relative positions of the lens and the workbench, the lens is moved to the workbench through the sucker on the manipulator and is fixed on the sucker on the workbench.
Preferably, the process of controlling the ink jet valve to jet ink according to the target ink jet path with preset force, speed and angle, and adjusting the position of the ink jet valve according to the distance information from each point in the target ink jet path to the reference point in the ink jet process includes:
calibrating the relative positions of the inking injection valve and the lens through a CCD positioning technology, so that the inking injection valve is arranged at a preset reference position;
the lens is controlled to rotate along with the U shaft on a vertical plane at a preset speed through the U shaft motor;
and adjusting the distance between the inking jet valve and the side edge of the lens according to the target inking path and the distance information while the lens rotates, and inking the side edge of the lens according to preset inking force, speed and angle.
Preferably, before moving and placing the inked lens from the table into the blanking box, the method further comprises:
and carrying out UV curing on the lens subjected to inking through a UV device.
The second aspect of the present application provides an automatic inking device for the side edges of AR spectacle lenses, comprising:
the feeding unit is used for moving the lenses of the AR glasses to be inked from the feeding box and fixing the lenses to the workbench;
the system comprises an inking information calculation unit, a control unit and a control unit, wherein the inking information calculation unit is used for determining a target inking path of the side edge of the lens and distance information from each point in the target inking path to a reference point through a CCD positioning technology and a laser ranging technology, and the reference point is a preset reference position of an inking injection valve;
the ink jet unit is used for controlling the ink jet valve to jet ink according to the target ink jet path at preset force, speed and angle, and adjusting the position of the ink jet valve according to the distance information from each point in the target ink jet path to the reference point in the ink jet process so as to keep the same distance with each point in the target ink jet path when the ink jet valve jets ink to each point in the target ink jet path;
And the blanking unit is used for moving the coated lenses from the workbench and placing the lenses into the blanking box.
A third aspect of the present application provides an AR eyeglass lens side edge automatic inking apparatus comprising: a memory and a processor;
the memory is used for storing programs;
the processor is used for executing the program to realize each step of the automatic ink coating method for the side edge of the AR glasses lens.
A fourth aspect of the present application provides a storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of an AR spectacle lens side edge automatic inking method as described above.
According to the technical scheme, the application firstly moves the lenses of the AR glasses to be coated with ink from the feeding box and fixes the lenses to the workbench, and the feeding procedure of the lenses is automatically completed. And then, determining a target inking path of the side edge of the lens and distance information from each point in the target inking path to a reference point by using a CCD positioning technology and a laser ranging technology, wherein the reference point is a preset reference position of an inking jet valve. Wherein the target inking path characterizes a path for inking the side edges of the lens, and the distance information is used for determining the position of the inking jet valve so as to ensure that the jet distance between the inking jet valve and each surface to be inked is consistent in the inking process. And then controlling an ink jet valve to jet ink according to the target ink coating path at preset force, speed and angle, and adjusting the position of the ink jet valve according to the distance information from each point in the target ink coating path to the reference point in the ink jet process so as to keep the same distance as the distance between each point in the target ink coating path and each ink jet valve when the ink jet valve jets ink to each point in the target ink coating path. Because the spraying distance is consistent, the uniform ink coating on the side edge of the lens is realized to a certain extent under the preset ink coating force, speed and angle, and the parameters are controllable, thereby being beneficial to improving the ink coating precision and improving the ink coating effect. And finally, the lenses subjected to the inking are moved from the workbench and placed into the blanking box, so that the blanking procedure of the lenses is automatically completed, and the automatic feeding and blanking process is beneficial to improving the inking efficiency.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present application, and that other drawings may be obtained according to the provided drawings without inventive effort to a person skilled in the art.
FIG. 1 is a schematic diagram of an automatic AR eyeglass lens side edge inking method as disclosed in the embodiments of the present application;
FIG. 2 illustrates a schematic diagram of an AR ophthalmic lens and a loading cartridge according to an embodiment of the present application;
FIG. 3 is another schematic diagram of an automatic AR eyeglass lens side edge inking method as disclosed in the embodiments of the present application;
FIG. 4 illustrates a workflow diagram of an AR eyeglass lens side-edge automatic inking method disclosed in an embodiment of the present application;
FIG. 5 is a schematic diagram of an AR eyeglass lens side-edge automatic inking device as disclosed in the embodiments of the present application;
fig. 6 is a schematic diagram of an AR eyeglass lens side edge automatic inking apparatus disclosed in an embodiment of the present application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all, of the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.
The following describes an automatic ink-applying method for the side edge of an AR spectacle lens provided in the embodiment of the present application. Referring to fig. 1, the automatic ink-coating method for the side edge of an AR spectacle lens according to the embodiment of the present application may include the following steps:
step S101, the lenses of the AR glasses to be inked are moved from the inside of the loading box and fixed to the workbench.
For example, an automatic feeding control program is started, a manipulator is controlled to control a manipulator to move a lens of AR glasses to be inked from a feeding box to a workbench according to a pre-planned automatic feeding path and simultaneously combine images taken by a CCD camera on the feeding box and the workbench in real time, and the lens is fixed to the workbench, so that the automatic feeding of the lens is realized.
Step S102, determining a target inking path of the side edge of the lens and distance information from each point in the target inking path to a reference point through CCD positioning technology and laser ranging technology.
Wherein the target inking path is a path formed along a side edge of the lens; the reference point is a preset reference position of the ink-jet valve. The distance information is used to control the actual position of the inking jet valve so that the firing range is consistent when jetting every location on the target inking path.
Step S103, controlling the inking jet valve to conduct inking on each point in the target inking path with preset force, speed and angle and the same jet range.
Specifically, the ink jet valve is controlled to jet ink according to the target ink jet path with preset force, speed and angle, and the position of the ink jet valve is adjusted according to the distance information from each point in the target ink jet path to the reference point in the ink jet process, so that the distance between the ink jet valve and each point in the target ink jet path is kept the same when the ink jet valve jets ink to each point in the target ink jet path.
For example, the ink-jet valve may be provided on a device that functions as a support and a fixture such as a bracket or a base, the device is fixedly provided at the position of the reference point, and the ink-jet valve is made to face the side edge of the lens to be inked, and then the position of the ink-jet valve is adjusted by telescoping the ink-jet valve so that the range of the ink-jet valve when ink is ejected at each point in the side edge of the lens to be inked is made uniform.
Step S104, the coated lens is moved from the workbench and placed into a blanking box.
For example, the workbench can be controlled to release the coated lenses, then an automatic blanking control program is started, the manipulator is controlled to control the manipulator to move the lenses of the AR glasses to be coated from the workbench into the blanking box according to a pre-planned automatic blanking path and simultaneously combining images taken by the CCD camera on the blanking box and the workbench in real time, and the automatic blanking of the lenses is realized.
The application firstly moves the lenses of the AR glasses to be coated with ink from the feeding box and fixes the lenses to the workbench, and automatically completes the feeding procedure of the lenses. And then, determining a target inking path of the side edge of the lens and distance information from each point in the target inking path to a reference point by using a CCD positioning technology and a laser ranging technology, wherein the reference point is a preset reference position of an inking jet valve. Wherein the target inking path characterizes a path for inking the side edges of the lens, and the distance information is used for determining the position of the inking jet valve so as to ensure that the jet distance between the inking jet valve and each surface to be inked is consistent in the inking process. And then controlling an ink jet valve to jet ink according to the target ink coating path at preset force, speed and angle, and adjusting the position of the ink jet valve according to the distance information from each point in the target ink coating path to the reference point in the ink jet process so as to keep the same distance as the distance between each point in the target ink coating path and each ink jet valve when the ink jet valve jets ink to each point in the target ink coating path. Because the spraying distance is consistent, the uniform ink coating on the side edge of the lens is realized to a certain extent under the preset ink coating force, speed and angle, and the parameters are controllable, thereby being beneficial to improving the ink coating precision and improving the ink coating effect. And finally, the lenses subjected to the inking are moved from the workbench and placed into the blanking box, so that the blanking procedure of the lenses is automatically completed, and the automatic feeding and blanking process is beneficial to improving the inking efficiency.
In some embodiments of the present application, the process of moving and fixing the lens of the AR glasses to be inked from the loading box to the table in step S101 may include:
s1, shooting a datum point on the feeding box through a CCD camera, and determining the relative position of the lens of the AR glasses to be coated with ink in the feeding box and the sucker on the manipulator.
S2, shooting a datum point of the workbench through a CCD camera, and determining the relative position of the lens and the workbench.
S3, according to the relative positions of the lens and the sucker on the manipulator and the relative positions of the lens and the workbench, the lens is moved to the workbench through the sucker on the manipulator and is fixed on the sucker on the workbench.
The reference point of the feeding box and the reference point of the workbench have a preset association relation, the reference point of the feeding box and the reference point of the workbench are shot by the CCD camera, and then the position relation between the feeding box and the workbench can be determined according to the preset association relation, so that the manipulator can be ensured to move the lens into the workbench, and the lens is stably placed on the workbench. It will be appreciated that for irregularly shaped lenses, the lenses should also be placed according to a preset rule, which may be a setting of the relative positional relationship of the contour shape of the lens to the loading bin and its datum point, when the lens is placed in advance in the loading bin. By placing the lenses in the feeding boxes in advance according to preset rules, after the datum points of the feeding boxes are obtained, the position information of the lenses can be obtained correspondingly. In addition, when the robot arm places the lens on the workbench through the datum point on the workbench, the lens is placed according to a preset rule, so that the lens can be stably placed on the workbench. The preset rule may be a relationship setting of the relative position and/or relative orientation of the lens contour shape and the table and its datum point. Through predetermineeing the rule, manipulator accessible angle regulation for the lens can be placed in the recess of the corresponding direction of workstation, makes the lens of irregular shape can be steady place on the workstation, has effectively avoided because of angle, direction are unpaired, and makes the lens can not be steady place in the recess of corresponding shape.
For example, an automatic feeding control program of the manipulator (the automatic feeding control program of the manipulator includes a pre-planned automatic feeding path) may be started, so as to control the manipulator to sequentially take a picture of a reference point (mark point) on the feeding box and a reference point (mark point) of the workbench according to the planned automatic feeding path, and record the relative positions of the lens and the manipulator, and the relative positions of the lens and the workbench. After the necessary position information is obtained, the sucker on the manipulator is controlled to suck the lens from the feeding box and move the lens to the workbench. Referring to fig. 2, for an AR spectacle lens, a plurality of grating areas are provided on the surface of the lens, such as a circular area, a trapezoid area and a rectangular area with diagonal filling in fig. 2, which are grating areas of the lens, and suction cup points of the lens can be disposed at 4 corners of the lens, i.e. the places marked with O in fig. 2. Further, the suction cup may be a vacuum suction cup. When the lens is moved to the workbench, the workbench is controlled to absorb the lens in vacuum through the sucker so as to fix the lens.
It is understood that the process of moving and placing the inked lens from the table into the blanking box in the step S104 is substantially the reverse operation of the step S101, and the operation processes thereof can be referred to each other. The problem that the production efficiency is low and the high labor cost is increased in the side edge inking of the AR glasses lens is solved through automatic feeding and discharging, the problem that the lenses are polluted due to manual feeding and discharging of the AR glasses lens is solved on the other hand, and the visual effect of the AR glasses is prevented from being influenced due to pollution.
In some embodiments of the present application, the determining, in the step S102, the target inking path of the side edge of the lens and the distance information from each point in the target inking path to the reference point by using the CCD positioning technology and the laser ranging technology may include:
s1, acquiring contour information of the lens through a CCD positioning technology to obtain an inking path of the side edge of the lens in a horizontal state.
S2, turning the lens to a vertical state, and calculating a target inking path of the side edge of the lens in the vertical state according to the inking path in the horizontal state.
The process is to obtain the ink applying path of the lens in the horizontal state, and calculate the target ink applying path of the lens in the vertical state through the body position conversion of the lens. It will be appreciated that the lenses are placed horizontally in the feed box, which facilitates handling thereof by the robot via the suction cups. When the side edge of the lens is coated with ink, the lens is in a vertical state (namely, the equivalent plane of the lens is perpendicular to the horizontal plane), so that uneven ink coating caused by the gravity of the ink is avoided, and the problems of high equipment complexity, complex control, low yield and the like caused by the fact that the ink spraying valve needs to realize ink coating through at least three-axis linkage when the ink spraying valve is horizontally placed and sprayed due to the irregularity of the contour of the lens are effectively solved.
Specifically, since the outer contour of the AR eyeglass lens is mostly irregularly shaped due to the grating pattern provided on the surface thereof, for example, referring to fig. 2, the upper side has a structure protruding outward as shown in fig. 2, based on which, if the ink-applying injection valve is horizontally placed on the side of the lens, the side of the lens is applied with ink from the side of the lens, and when the lens is rotated to the position of the protruding corner or the like, it is necessary to control the ink-applying injection valve to perform the movement in XYZ three-axis directions so that the ink-applying injection valve moves to the edge where the corner is blocked, so that the ink-applying of the entire side of the lens can be achieved, that is, if the ink is applied in a horizontal state due to the irregularity of the outer contour of the lens, there is a possibility that some areas are not applied with ink. If the vertical ink jet is adopted, the nozzle of the ink jet valve is directly driven to move downwards or upwards at the corner.
S3, measuring the distance from each point on the target inking path to the reference point along the target inking path by a laser ranging technology to obtain the distance information from each point in the target inking path to the reference point.
Wherein the individual points are standing points when ink is ejected onto the side edge of the lens, which may be a preset number of points, for example, 50 points, in the target inking path. Specifically, after the distance from each point to the reference point is measured by adopting the laser ranging technology, the distances between the two adjacent points and the reference point are compared, if the difference between the distances between the two adjacent points and the reference point is larger than a preset value, the preset number of points are increased (namely, if one of the points is named as a first point, the adjacent point is named as a second point, the distance between the first point and the reference point is measured by adopting the laser ranging technology, the distance between the second point and the reference point is named as a first distance, the distance between the second point and the reference point is named as a second distance, then the difference between the first distance and the second distance is calculated, and if the difference between the first distance and the second distance is larger than the preset value, the preset number of points are increased) until the difference between the distances between any two adjacent points and the reference point is smaller than the preset value. By adopting the mode, the inking paths between two adjacent points are relatively flat (namely, the path amplitude is not too large), so that more uniform inking on the side edges of the lenses is realized, and the product yield is improved.
It will be appreciated that the contour of the AR spectacle lens to be inked may be irregularly shaped, so that when the side edges of the lens are inked, to ensure uniform application everywhere on the side edges, the side edges of the lens can be applied using the same force, angle and same throw through the inking jet valve. And at least two schemes may be included when inking the side edges of the lens with the ink jet valve:
1) Holding the lens stationary, and rotating the lens around the lens by the ink-jet valve, and simultaneously coating the side edge of the lens with ink while rotating the lens;
2) The base or support for supporting the inking jet valve is held stationary and rotated by the lens about the center (or other equivalent point) of the lens and the side edges of the lens are painted while the lens is rotated.
Based on this, in the case of the above-described mode 1), the reference point may include a plurality of points, for example, the points may be respective points on a circle of the lens periphery, wherein each point corresponds to a certain point on the target inking path.
In the case of the above-described mode 2), the reference point may be a point, for example, the position of the base or the bracket for supporting the ink jet valve, that is, the reference position of the ink jet valve.
Further, when the above-described mode 2) is adopted for the ink application, it is also necessary to consider the problem of the matching between the ink-jet speed of the application jet valve and the rotational speed of the lens. If the ink jet speed is not matched with the rotating speed, partial parts are not sprayed, and the problem of uneven ink coating on the side edge of the lens is caused. The injection frequency of the injection valve and the rotation speed of the workbench can be adjusted through experiments to match the two.
In some embodiments of the present application, the step of obtaining the profile information of the lens by using the CCD positioning technology to obtain the inking path of the side edge of the lens in the horizontal state may include:
and moving the CCD camera to a reference point area of the lens through an X/Y/Z axis motor, and capturing a preset reference point on the lens through the CCD camera to obtain an inking path of the lens in a horizontal state.
Wherein the reference point is also called mark point, and is associated with the contour information of the lens, and 2 or more mark points can be set according to the specific contour of the lens. By acquiring the information of the mark points, the outline information of the lens can be further determined according to the association relation between the mark points and the outline. For example, the position information of mark points is first obtained, and then the contour information and the azimuth condition of the lens are determined according to the distance information and the angle information of each mark point to the contour of the lens.
For example, the position of the CCD camera that has been calibrated in advance may be sent to a servo driver of the X/Y/Z axis motor, and then the servo driver of the X/Y/Z axis motor is controlled to drive the X/Y/Z axis motor to complete the capture of mark points of the AR eyeglass lens to be inked by the CCD camera. In the process of driving the X/Y/Z axis motor, the position of the CCD camera is fed back to the control system in real time so as to complete the whole closed-loop control, finally complete the positioning photographing of the CCD camera on the lens, and upload the photographed positioning coordinates to the control system, thereby accurately obtaining the blackening path of the side edge of the lens.
In some embodiments of the present application, the step S2 of turning the lens to a vertical state and calculating the target inking path of the side edge of the lens in the vertical state according to the inking path in the horizontal state may include:
s21, the lens is turned over from a horizontal state to a vertical state through an R-axis motor.
S22, converting the inking path in the horizontal state to the target inking path of the lens in the vertical state by a coordinate transformation method according to the position information of the R-axis motor.
Illustratively, the origin positions of the coordinate systems before and after the inversion can be determined based on the position information of the R-axis motor, and then the inking path in the horizontal state is converted into the inking path in the vertical state by the spatial rectangular coordinate conversion.
The target inking path of the side edge of the AR glasses lens is accurately obtained by controlling the CCD camera to visually locate and capture mark points, the problem of uneven blackening caused by position deviation when the side edge of the AR glasses lens is inked is solved, meanwhile, the inking position accuracy of the lens is improved, and the yield of the lens inking Mo Bu is reduced.
In some embodiments of the present application, the step S3 of measuring, along the target inking path, a distance from each point on the target inking path to a reference point by using a laser ranging technique, to obtain distance information from each point in the target inking path to the reference point may include:
S31, calibrating the relative positions of the laser ranging sensor and the lens through a CCD positioning technology, so that the laser ranging sensor is arranged on the reference point.
S32, controlling the lens to rotate along with the U shaft through the U shaft motor.
It will be appreciated that the U-axis is connected vertically to the lens, and as the U-axis rotates, the lens is driven to rotate.
S33, measuring the distance from each point on the side edge of the lens to the laser ranging sensor by the laser ranging sensor while the lens rotates.
S34, calculating the distance information from each point in the target inking path to the reference point according to the distance from each point on the side edge of the lens to the laser ranging sensor.
After the target inking path is obtained through the step S2, a preset laser ranging control program is started, the laser ranging control program ranges the side edges of the lens along the target inking path, and the laser ranging control program sends the position information of the laser ranging sensor to the servo driver of the X/Y/Z/U-axis motor in real time so as to drive the four-axis motor to interpolate the ranging action flow of the laser ranging sensor to the side edges of the lens, and meanwhile, the measured distance information is uploaded to the control system.
The distance measurement is carried out on the side edge of the AR glasses lens by controlling the laser distance measurement sensor, so that the problem that the ink-coating injection valve cannot keep consistent with the side edge of the AR glasses lens is solved, and the ink-coating precision of the side edge of the AR glasses lens is prevented from being influenced due to inconsistent distance.
In some embodiments of the present application, the step S103 controls the ink jet valve to perform ink jet according to the target ink jet path at a preset force, speed and angle, and adjusts the position of the ink jet valve according to the distance information from each point in the target ink jet path to the reference point during the ink jet process, which may include:
s1, calibrating the relative positions of the ink-jet valve and the lens through CCD positioning technology, so that the ink-jet valve is arranged at a preset reference position.
S2, controlling the lens to rotate along with the U shaft on a vertical plane at a preset speed through the U shaft motor.
S3, adjusting the distance between the ink-coating jet valve and the side edge of the lens according to the target ink-coating path and the distance information while the lens rotates, and coating ink on the side edge of the lens according to preset ink-coating force, speed and angle.
In an embodiment, the side edges of the lens are inked in manner 2) described above. Since the lens rotates along with the U shaft, the lens and the U shaft are both in motion, and the rotation center of the U shaft can be regarded as stationary, and the bracket or the base for supporting the ink jet valve is fixedly arranged at a preset reference position, the distance between the ink jet valve and the side edge of the lens can be adjusted by adjusting the distance between the ink jet valve and the rotation center of the U shaft. In particular, the distance may be adjusted by telescoping the inking jet valve relative to the support or base.
The AR spectacle lens is subjected to an ink coating process by controlling the ink coating injection valve, the X/Y/Z and the servo motor of the rotating U shaft, so that the problems of poor black coating precision and poor black coating effect caused by uneven flow in the ink dipped by the sponge and incapability of quantification are solved, and meanwhile, the problems of black coating precision caused by uncontrollable parameters such as ink coating force, speed and angle are also solved, and finally, the phenomena of ink overflow at the side edge of the AR spectacle lens and uncontrollable ink coating thickness are avoided.
In some embodiments of the present application, referring to fig. 3, before the step S104 of moving the inked lens from the workbench and placing the lens into the blanking box, the method further includes:
step S105, UV curing is carried out on the lens after inking through a UV device.
By performing UV curing (i.e., ultraviolet irradiation) on the coated lens, the ink sprayed on the side edge of the lens can be accelerated to cure, which is beneficial to maintaining a good ink coating effect.
For ease of understanding, referring to fig. 4, the process steps for inking using automatic inking of the AR eyeglass lens side edges of some embodiments of the present application may include:
s1, before the ink coating starts, placing a tray for containing AR glasses lenses to be coated on an automatic loading and unloading tool. After the inking starts, the mechanical arm automatically places the lenses in the tray on the working platform clamp of the U shaft of the rotating shaft, and waits for inking.
S2, the control system automatically controls the X/Y/Z axis to enable the CCD camera to move to the mark point area of the grating pattern of the waveguide lens, so that visual positioning capturing is performed, and an accurate X/Y/Z coordinate position is obtained for inking the lens.
S3, rotating the rotating shaft R clockwise by 90 degrees, enabling the fixed lens to rotate to the vertical surface through vacuum adsorption on the jig, controlling the moving laser ranging head to conduct ranging action flow on the surface of the profile of the lens on the vertical surface through X/Y/Z axis coordinates after the control system converts data of the horizontal coordinate axis and the vertical coordinate axis, and uploading ranging data to the control system.
S4, the control system outputs and controls the four-axis interpolation linkage of X/Y/Z/U1 according to the CCD positioning data and the ranging data through system operation processing, so that the black coating injection valve is started and starts to carry out the ink coating process on the lens, and finally the ink coating process is completed.
S5, after the inking process is finished, the rotating shaft R rotates anticlockwise by 90 degrees and returns to the initial position, and at the moment, the mechanical arm automatically places the AR lens with the inked ink into a finished product tray, so that automatic blanking action is finished, and the process is circulated.
The following describes an automatic ink-applying device for an AR spectacle lens side edge provided in the embodiment of the present application, and the automatic ink-applying device for an AR spectacle lens side edge described below and the automatic ink-applying method for an AR spectacle lens side edge described above may be referred to correspondingly to each other.
Referring to fig. 5, an automatic ink-applying device for an edge of an AR eyeglass lens according to an embodiment of the present application may include:
a loading unit 21 for moving and fixing lenses of AR glasses to be inked from within the loading box to the work table;
an inking information calculating unit 22, configured to determine a target inking path of a side edge of the lens and distance information from each point in the target inking path to a reference point, where the reference point is a preset reference position of an inking jet valve, by using a CCD positioning technology and a laser ranging technology;
an inkjet unit 23, configured to control an inkjet jet valve to perform inkjet according to the target inkjet path with a preset force, speed, and angle, and adjust a position of the inkjet jet valve according to distance information from each point in the target inkjet path to the reference point during inkjet, so as to keep a distance between the inkjet jet valve and each point in the target inkjet path when the inkjet jet valve performs inkjet on each point in the target inkjet path;
and the blanking unit 24 is used for moving the coated lenses from the workbench and placing the lenses into the blanking box.
In some embodiments of the present application, the process of moving and fixing the lens of the AR glasses to be inked from the loading box to the table by the loading unit 21 may include:
Taking a datum point on the feeding box through a CCD camera, and determining the relative position of a lens of the AR glasses to be coated with ink in the feeding box and a sucker on the manipulator;
taking a datum point of a workbench through a CCD camera, and determining the relative position of the lens and the workbench;
according to the relative positions of the lens and the sucker on the manipulator and the relative positions of the lens and the workbench, the lens is moved to the workbench through the sucker on the manipulator and is fixed on the sucker on the workbench.
In some embodiments of the present application, the process of determining, by the above-mentioned inking information calculating unit 22, the target inking path of the side edge of the lens and the distance information from each point in the target inking path to the reference point by using the CCD positioning technology and the laser ranging technology may include:
acquiring contour information of the lens through a CCD positioning technology to obtain an inking path of the side edge of the lens in a horizontal state;
turning the lens to a vertical state, and calculating a target inking path of the side edge of the lens in the vertical state according to the inking path in the horizontal state;
and measuring the distance from each point on the target inking path to the reference point along the target inking path by a laser ranging technology to obtain the distance information from each point in the target inking path to the reference point.
In some embodiments of the present application, the process of obtaining the inking path of the side edge of the lens in the horizontal state by the inking information calculating unit 22 through the CCD positioning technology may include:
moving a CCD camera to a datum point area of the lens through an X/Y/Z axis motor, and capturing a preset datum point on the lens through the CCD camera to obtain an inking path of the lens in a horizontal state;
wherein the fiducial point is associated with contour information of the lens.
In some embodiments of the present application, the process of the inking information calculating unit 22 turning the lens to a vertical state and calculating a target inking path of the side edge of the lens in the vertical state according to the inking path in the horizontal state may include:
the lens is overturned from a horizontal state to a vertical state through an R-axis motor;
and converting the inking path in the horizontal state to a target inking path of the lens in the vertical state by a coordinate transformation method according to the position information of the R-axis motor.
In some embodiments of the present application, the process of measuring, by the above-mentioned inking information calculating unit 22, the distance from each point on the target inking path to the reference point along the target inking path by using the laser ranging technology, to obtain the distance information from each point in the target inking path to the reference point may include:
Calibrating the relative positions of the laser ranging sensor and the lens through a CCD positioning technology, so that the laser ranging sensor is arranged on the reference point;
the lens is controlled to rotate along with the U shaft through the U shaft motor;
measuring, while the lens is rotating, a distance from each point on a side edge of the lens to the laser ranging sensor by the laser ranging sensor;
and calculating the distance information from each point in the target inking path to a reference point according to the distance from each point on the side edge of the lens to the laser ranging sensor.
In some embodiments of the present application, the process of controlling the inkjet unit 23 to perform inkjet according to the target inkjet path with a preset force, speed and angle by using the inkjet jet valve, and adjusting the position of the inkjet jet valve according to the distance information from each point in the target inkjet path to the reference point during inkjet may include:
calibrating the relative positions of the inking injection valve and the lens through a CCD positioning technology, so that the inking injection valve is arranged at a preset reference position;
the lens is controlled to rotate along with the U shaft on a vertical plane at a preset speed through the U shaft motor;
And adjusting the distance between the inking jet valve and the U shaft according to the target inking path and the distance information while the lens rotates, and inking the side edge of the lens according to preset inking force, speed and angle.
In some embodiments of the present application, the AR eyeglass lens side edge automatic inking device may further include a UV curing unit for UV curing the inked lens by a UV device.
The automatic ink-coating device for the side edge of the AR glasses lens can be applied to automatic ink-coating equipment for the side edge of the AR glasses lens, such as a computer and the like. Alternatively, fig. 6 shows a block diagram of a hardware structure of the AR eyeglass lens side edge automatic inking apparatus, and referring to fig. 6, the hardware structure of the AR eyeglass lens side edge automatic inking apparatus may include: at least one processor 31, at least one communication interface 32, at least one memory 33 and at least one communication bus 34.
In the embodiment of the present application, the number of the processor 31, the communication interface 32, the memory 33, and the communication bus 34 is at least one, and the processor 31, the communication interface 32, and the memory 33 complete communication with each other through the communication bus 34;
The processor 31 may be a central processing unit CPU, or a specific integrated circuit ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement embodiments of the present application, etc.;
the memory 32 may comprise a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory) or the like, such as at least one disk memory;
wherein the memory 33 stores a program, the processor 31 may call the program stored in the memory 33, the program being for:
moving and fixing the lenses of the AR glasses to be inked from within the feeding box to the work table;
determining a target inking path of the side edge of the lens and distance information from each point in the target inking path to a reference point by using a CCD positioning technology and a laser ranging technology, wherein the reference point is a preset reference position of an inking jet valve;
controlling an ink-jet valve to jet ink according to the target ink-jet path at preset force, speed and angle, and adjusting the position of the ink-jet valve according to the distance information from each point in the target ink-jet path to the reference point in the ink-jet process so as to keep the same distance as each point in the target ink-jet path when the ink-jet valve jets ink to each point in the target ink-jet path;
The inked lenses are moved from the table and placed into a blanking box.
Alternatively, the refinement function and the extension function of the program may be described with reference to the above.
The embodiment of the application also provides a storage medium, which may store a program adapted to be executed by a processor, the program being configured to:
moving and fixing the lenses of the AR glasses to be inked from within the feeding box to the work table;
determining a target inking path of the side edge of the lens and distance information from each point in the target inking path to a reference point by using a CCD positioning technology and a laser ranging technology, wherein the reference point is a preset reference position of an inking jet valve;
controlling an ink-jet valve to jet ink according to the target ink-jet path at preset force, speed and angle, and adjusting the position of the ink-jet valve according to the distance information from each point in the target ink-jet path to the reference point in the ink-jet process so as to keep the same distance as each point in the target ink-jet path when the ink-jet valve jets ink to each point in the target ink-jet path;
the inked lenses are moved from the table and placed into a blanking box.
Alternatively, the refinement function and the extension function of the program may be described with reference to the above.
To sum up:
the application firstly moves the lenses of the AR glasses to be coated with ink from the feeding box and fixes the lenses to the workbench, and automatically completes the feeding procedure of the lenses. And then, determining a target inking path of the side edge of the lens and distance information from each point in the target inking path to a reference point by using a CCD positioning technology and a laser ranging technology, wherein the reference point is a preset reference position of an inking jet valve. Wherein the target inking path characterizes a path for inking the side edges of the lens, and the distance information is used for determining the position of the inking jet valve so as to ensure that the jet distance between the inking jet valve and each surface to be inked is consistent in the inking process. And then controlling an ink jet valve to jet ink according to the target ink coating path at preset force, speed and angle, and adjusting the position of the ink jet valve according to the distance information from each point in the target ink coating path to the reference point in the ink jet process so as to keep the same distance as the distance between each point in the target ink coating path and each ink jet valve when the ink jet valve jets ink to each point in the target ink coating path. Because the spraying distance is consistent, the uniform ink coating on the side edge of the lens is realized to a certain extent under the preset ink coating force, speed and angle, and the parameters are controllable, thereby being beneficial to improving the ink coating precision and improving the ink coating effect. And finally, the lenses subjected to the inking are moved from the workbench and placed into the blanking box, so that the blanking procedure of the lenses is automatically completed, and the automatic feeding and blanking process is beneficial to improving the inking efficiency.
Finally, it is further noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
In the present specification, each embodiment is described in a progressive manner, and each embodiment focuses on the difference from other embodiments, and may be combined according to needs, and the same similar parts may be referred to each other.
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.

Claims (8)

1. An automatic ink application method for a side edge of an AR spectacle lens, comprising:
moving and fixing the lenses of the AR glasses to be inked from within the feeding box to the work table;
determining a target inking path of the side edge of the lens and distance information from each point in the target inking path to a reference point by using a CCD positioning technology and a laser ranging technology, wherein the reference point is a preset reference position of an inking jet valve;
controlling an ink-jet valve to jet ink according to the target ink-jet path at preset force, speed and angle, and adjusting the position of the ink-jet valve according to the distance information from each point in the target ink-jet path to the reference point in the ink-jet process so as to keep the same distance as each point in the target ink-jet path when the ink-jet valve jets ink to each point in the target ink-jet path;
Moving the coated lenses from the workbench and placing the lenses into a blanking box;
the process of determining the target inking path of the side edge of the lens and the distance information from each point in the target inking path to a reference point by using a CCD positioning technology and a laser ranging technology comprises the following steps:
acquiring contour information of the lens through a CCD positioning technology to obtain an inking path of the side edge of the lens in a horizontal state;
turning the lens to a vertical state, and calculating a target inking path of the side edge of the lens in the vertical state according to the inking path in the horizontal state;
measuring the distance from each point on the target inking path to a reference point along the target inking path by a laser ranging technology to obtain the distance information from each point in the target inking path to the reference point;
the process of controlling the ink jet valve to jet ink according to the target ink jet path with preset force, speed and angle and adjusting the position of the ink jet valve according to the distance information from each point in the target ink jet path to the reference point in the ink jet process comprises the following steps:
Calibrating the relative positions of the inking injection valve and the lens through a CCD positioning technology, so that the inking injection valve is arranged at a preset reference position;
the lens is controlled to rotate along with the U shaft on a vertical plane at a preset speed through the U shaft motor;
and adjusting the distance between the inking jet valve and the side edge of the lens according to the target inking path and the distance information while the lens rotates, and inking the side edge of the lens according to preset inking force, speed and angle.
2. The method according to claim 1, wherein the process of obtaining the contour information of the lens by a CCD positioning technique to obtain the inking path of the side edge of the lens in a horizontal state comprises:
moving a CCD camera to a datum point area of the lens through an X/Y/Z axis motor, and capturing a preset datum point on the lens through the CCD camera to obtain an inking path of the lens in a horizontal state;
wherein the fiducial point is associated with contour information of the lens.
3. The method of claim 1, wherein flipping the lens to a vertical state and calculating a target inking path for the side edge of the lens in the vertical state based on the inking path in the horizontal state comprises:
The lens is overturned from a horizontal state to a vertical state through an R-axis motor;
and converting the inking path in the horizontal state to a target inking path of the lens in the vertical state by a coordinate transformation method according to the position information of the R-axis motor.
4. The method of claim 1, wherein the measuring the distance from each point on the target inking path to the reference point by the laser ranging technique along the target inking path to obtain the distance information from each point in the target inking path to the reference point comprises:
calibrating the relative positions of the laser ranging sensor and the lens through a CCD positioning technology, so that the laser ranging sensor is arranged on the reference point;
the lens is controlled to rotate along with the U shaft through the U shaft motor;
measuring, while the lens is rotating, a distance from each point on a side edge of the lens to the laser ranging sensor by the laser ranging sensor;
and calculating the distance information from each point in the target inking path to a reference point according to the distance from each point on the side edge of the lens to the laser ranging sensor.
5. The method of claim 1, wherein the process of moving and securing the lens of the AR glasses to be inked from within the upper magazine to the table comprises:
taking a datum point on the feeding box through a CCD camera, and determining the relative position of a lens of the AR glasses to be coated with ink in the feeding box and a sucker on the manipulator;
taking a datum point of a workbench through a CCD camera, and determining the relative position of the lens and the workbench;
according to the relative positions of the lens and the sucker on the manipulator and the relative positions of the lens and the workbench, the lens is moved to the workbench through the sucker on the manipulator and is fixed on the sucker on the workbench.
6. The method of claim 1, further comprising, prior to moving and placing the inked lens from the table into a blanking box:
and carrying out UV curing on the lens subjected to inking through a UV device.
7. An AR eyeglass lens side edge automatic inking apparatus, comprising:
the feeding unit is used for moving the lenses of the AR glasses to be inked from the feeding box and fixing the lenses to the workbench;
The system comprises an inking information calculation unit, a control unit and a control unit, wherein the inking information calculation unit is used for determining a target inking path of the side edge of the lens and distance information from each point in the target inking path to a reference point through a CCD positioning technology and a laser ranging technology, and the reference point is a preset reference position of an inking injection valve;
the ink jet unit is used for controlling the ink jet valve to jet ink according to the target ink jet path at preset force, speed and angle, and adjusting the position of the ink jet valve according to the distance information from each point in the target ink jet path to the reference point in the ink jet process so as to keep the same distance with each point in the target ink jet path when the ink jet valve jets ink to each point in the target ink jet path;
the blanking unit is used for moving the coated lenses from the workbench and placing the lenses into a blanking box;
the process of determining the target inking path of the side edge of the lens and the distance information from each point in the target inking path to a reference point by using a CCD positioning technology and a laser ranging technology comprises the following steps:
acquiring contour information of the lens through a CCD positioning technology to obtain an inking path of the side edge of the lens in a horizontal state;
Turning the lens to a vertical state, and calculating a target inking path of the side edge of the lens in the vertical state according to the inking path in the horizontal state;
measuring the distance from each point on the target inking path to a reference point along the target inking path by a laser ranging technology to obtain the distance information from each point in the target inking path to the reference point;
the process of controlling the ink jet valve to jet ink according to the target ink jet path with preset force, speed and angle and adjusting the position of the ink jet valve according to the distance information from each point in the target ink jet path to the reference point in the ink jet process comprises the following steps:
calibrating the relative positions of the inking injection valve and the lens through a CCD positioning technology, so that the inking injection valve is arranged at a preset reference position;
the lens is controlled to rotate along with the U shaft on a vertical plane at a preset speed through the U shaft motor;
and adjusting the distance between the inking jet valve and the side edge of the lens according to the target inking path and the distance information while the lens rotates, and inking the side edge of the lens according to preset inking force, speed and angle.
8. An AR eyeglass lens side edge automatic inking apparatus, comprising: a memory and a processor;
the memory is used for storing programs;
the processor is configured to execute the program to implement the steps of the automatic AR eyeglass lens side edge inking method according to any one of claims 1 to 6.
CN202210243254.0A 2022-03-11 2022-03-11 Automatic ink coating method and device for side edges of AR (augmented reality) glasses lenses and related equipment Active CN114653510B (en)

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