CN115239796A - Camera positioning and laser height detection synchronous operation method and system - Google Patents
Camera positioning and laser height detection synchronous operation method and system Download PDFInfo
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- CN115239796A CN115239796A CN202210678851.6A CN202210678851A CN115239796A CN 115239796 A CN115239796 A CN 115239796A CN 202210678851 A CN202210678851 A CN 202210678851A CN 115239796 A CN115239796 A CN 115239796A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/06—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness for measuring thickness ; e.g. of sheet material
- G01B11/0608—Height gauges
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Abstract
The invention relates to the field of dispensing, and provides a synchronous operation method and a system for camera positioning and laser height detection, which comprises the following steps: correcting the identification position of the camera and the height detection position of the laser; opening control software, and editing control programs of the camera and the laser; based on the control program, the laser and the camera synchronously position and detect the height of each identification point of a plurality of small plate dispensing products; according to the technical scheme, the camera positioning and the laser height measurement are synchronously carried out, so that the time for acquiring the dispensing position information is saved, and the dispensing efficiency is improved.
Description
Technical Field
The invention relates to the field of dispensing, in particular to a synchronous operation method and a synchronous operation system for camera positioning and laser height detection.
Background
In the automatic dispensing process, the dispensing products are divided into small plates firstly, the transportation and processing costs are saved by splicing the small plates after the identification points of the dispensing products are dispensed, wherein the standard operation mode is that after the identification point cameras of all the small plates are positioned, the laser height detection compensation dispensing height is carried out, finally, the position information of each identification point is sent to the industrial personal computer, the dispensing guiding is realized after the industrial personal computer processes the position information, but the position information of the identification point of each small plate dispensing product can only be acquired in times by firstly positioning the cameras of all the small plate dispensing products and then carrying out the laser height detection, the time for acquiring the position information is prolonged, and the dispensing efficiency is reduced.
Disclosure of Invention
The invention solves the problem of how to synchronously carry out camera positioning and laser height measurement, thereby improving the dispensing efficiency.
In a first aspect, the present invention provides a method for synchronizing camera positioning and laser height detection, comprising:
correcting the identification position of the camera and the height detection position of the laser;
opening control software, and editing control programs of the camera and the laser;
based on the control program, the laser and the camera synchronously position and detect the height of each identification point of a plurality of small plate dispensing products.
Optionally, the correcting the recognition position of the camera and the detection height position of the laser includes:
moving the identified position of the camera onto a target of a calibration platform;
when the camera can clearly identify the test points on the target, judging whether the laser can detect a numerical value;
when the numerical value of the laser is displayed normally, moving the light-gathering point of the laser to the test point;
moving a center point of an identified location of the camera to the target center.
Optionally, when the camera can clearly identify the test point on the target, the determining whether the laser can detect the value includes:
if yes, executing the next step;
if not, adjusting the parameters of the laser until the laser can detect the numerical value.
Optionally, the opening the control software, and editing the control program of the camera and the laser includes:
newly building a sub-template in the software, selecting one small plate dispensing product at any time, and editing Mark point information of the sub-template according to the Mark point information of the small plate dispensing product;
selecting a Mark point of the small plate adhesive dispensing product as a sub-template Mark point, and editing a camera recognition position and a laser height detection position of the sub-template Mark point according to Mark point information;
editing the dispensing track of the sub-template identification point according to the actual dispensing requirement, the camera identification position and the laser height detection position to complete the programming of the sub-template;
and placing the edited sub-template in the main template, and setting a synchronization matrix.
Optionally, the number of Mark points of the small glue-dispensing product may be several, and the number of Mark points of the small glue-dispensing product may also be several.
Optionally, the master template includes a plurality of sub-templates, each sub-template is arranged in rows and columns, and one sub-template corresponds to one small plate dispensing product.
Optionally, the placing the edited sub-template in the main template, and performing matrix setting includes:
correspondingly placing the edited sub-template in the main template according to the position of the sub-template identification point;
and setting a synchronous matrix of the main template according to the sub-templates, setting the number of rows and columns required by glue dispensing, and teaching corresponding row end points and column end points.
Optionally, after the synchronization matrix setting is completed, the sub-templates placed in the main template are disabled.
Optionally, the step of, based on the control program, synchronously positioning and height detecting each identification point of a plurality of small glue dispensing products by the laser and the camera includes:
starting the synchronous matrix and setting the interval quantity of the camera and the laser;
and carrying out synchronous operation of camera positioning and laser height detection of the dispensing product according to the synchronous matrix.
Compared with the beneficial effects of the prior art, the method has the advantages that firstly, the recognition position of the camera and the height detection position of the laser are corrected, so that when the camera recognizes the identification point of the dispensing product, the laser can detect a numerical value, namely, the parameters of the camera and the parameters of the laser are adjusted and confirmed, so that the camera and the laser can be linked, then the control software is opened, the control program of the camera and the laser is edited for a plurality of identification points of one small dispensing product, then the matrix setting is expanded into all small dispensing products, so that the camera and the laser are controlled to synchronously position and detect the height of all the identification points of all the small dispensing products, and the camera positioning and the laser height detection are synchronously performed for each identification point, so that the laser height detection time is saved, and the dispensing efficiency is improved.
In a second aspect, the present invention further provides a synchronous operation system for camera positioning and laser height detection, which includes a camera, a laser range finder and an industrial personal computer, and is used for implementing the synchronous operation method for camera positioning and laser height detection.
The camera positioning and laser height detection synchronous operation system and the camera positioning and laser height detection synchronous operation method have the same beneficial effects, and are not repeated herein.
Drawings
FIG. 1 is a block diagram of a process of a method for synchronizing camera positioning and laser height detection according to an embodiment of the present invention;
FIG. 2 is a block diagram of the process of step S1 in the embodiment of the present invention;
FIG. 3 is a block diagram of the process of step S2 according to the embodiment of the present invention;
fig. 4 is a block diagram of the flow of step S3 in the embodiment of the present invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.
It is noted that the terms first, second and the like in the description and in the claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein.
In the description of the present invention, it should be noted that unless otherwise explicitly stated or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; may be a mechanical connection; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In the description herein, references to the terms "an embodiment," "one embodiment," and "one implementation," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or implementation is included in at least one embodiment or example implementation of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or implementation. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or implementations.
The present invention will be described in detail with reference to the accompanying drawings.
In order to solve the above technical problem, with reference to fig. 1, an embodiment of the present invention provides a method for synchronizing camera positioning and laser height detection, including:
s1, correcting the recognition position of a camera and the height detection position of laser;
s2, opening control software, and editing control programs of the camera and the laser;
and S3, based on the control program, the laser and the camera synchronously position and detect the height of each identification point of the small plate adhesive dispensing products.
It should be noted that, in step S1, in order to ensure that the camera and the laser can perform synchronous operation, the identification position of the camera and the height detection position of the laser need to be corrected, where the identification position of the camera is a position clearly identifiable by the camera, and the height detection position of the laser is a position irradiated by a laser point after the laser is emitted, and by correcting the identification position of the camera and the height detection position of the laser, parameters of the camera and parameters of the laser are set, so that the laser can normally read a height value when the camera can clearly identify, and thus the camera and the laser can be linked to provide a basis for subsequent synchronous operation of the camera and the laser.
In step S2, the control software is opened, and the control programs of the camera and the laser are edited on the control software, where the control programs can control the number of the camera recognition positions and the number of the laser recognition positions, and also can control the order of the camera recognition positions and the laser height detection positions, so as to control the camera and the laser to perform positioning and height detection synchronously.
In the step S3, the control program is run, and under the control of the control program, the camera and the laser perform synchronous positioning and height detection on each identification point of a plurality of small-plate dispensing products, so that the time for detecting the height of the laser is saved, and the dispensing efficiency is improved; the small board dispensing products are suitable for being arranged in rows and columns in the carrier, the carrier is suitable for being transported to the camera and the laser operation position through external transportation equipment, the identification point is a position point needing dispensing, the small board dispensing products can be a PCB, and the identification point is a mounting position point of a chip element on the PCB.
In summary, by synchronously positioning and raising each identification point by the camera and the laser, the laser raising time for each identification point in the dispensing process is saved, thereby improving the dispensing efficiency, wherein taking ten rows of small-board dispensing products as an example, assuming that each small-board dispensing product has one identification point, wherein the camera positioning time for the identification point is T1, and the laser raising time is T2, then according to the conventional mode, after the camera positioning is completely performed on each identification point of each small-board dispensing product, the laser raising is performed, and then the operating cycle T = 60T 1+ 60T 2; if the laser height detection is synchronous with the camera positioning, namely when the dispensing product performs the camera positioning, partial laser height measurement is performed synchronously, the operation period T = 60T 1+ N T2, and N is less than 60, and the comparison shows that partial laser height detection time is saved, and the dispensing efficiency is improved.
In an embodiment of the present invention, as shown in fig. 2, the correcting the recognition position of the camera and the detection height position of the laser includes:
s11, moving the recognition position of the camera to a target of a correction platform;
s12, when the camera can clearly identify the test points on the target, judging whether the laser can detect numerical values or not;
s13, when the numerical value of the laser is displayed normally, moving a light-gathering point of the laser to the test point;
and S14, moving the central point of the identification position of the camera to the target center.
It should be noted that, in step S11, the camera may be disposed on the three-axis manipulator, and the camera is moved by controlling the movement of the three-axis manipulator, so that the recognition position of the camera is moved to a target of the calibration platform, where the recognition position of the camera is a range that can be photographed by the camera, where the calibration platform is located at a position to be recognized of the small dispensing product, and the target may also be replaced by a position with a special mark, and a reference target for debugging can be set for the camera by setting the calibration platform, so as to facilitate the debugging of the camera;
in step S12, any one point on the target is selected as a test point, the camera is enabled to clearly identify the test point on the target by adjusting the distance between the camera and the target and the parameters of the camera, when the camera is enabled to clearly identify the test point on the target, it is determined whether the laser can detect a numerical value, the numerical value detected by the laser is the distance from the target to the initial position of the laser emission, wherein the laser can be emitted by a laser range finder, if the laser cannot detect a numerical value, a red indicator of the laser range finder is turned on to display in an abnormal detection state, and if the laser can detect a numerical value, a green indicator of the laser range finder is turned on to display in a normal detection state, wherein the test point is a debugging substitute point of the small spot adhesive dispensing product identification point, and the camera and the laser can be tested in a linkage manner by setting the test point to substitute the identification point, so as to ensure linkage of the camera and the laser.
In step S13, the laser may be emitted to the target through a laser range finder, the laser reflected by the target is received by the laser range finder, the laser range finder may be electrically connected to the industrial personal computer, the laser range finder converts the flight time of the laser to the target according to the wavelength and frequency of the laser, the laser range finder transmits the measured flight time of the laser to the industrial personal computer, the industrial personal computer multiplies the flight time of the laser by the light speed to obtain the distance from the target to the initial position of the laser emission, the laser range finder may be disposed on the three-axis manipulator, when the laser reading shows normal, the light-focusing point irradiated by the laser on the target may be moved to the test point through the three-axis manipulator, and at this time, the camera may clearly identify the test point, and the laser may also probe the test point normally;
in step S14, after the focal point of the laser moves to the test point, the center point of the recognition position of the camera needs to be moved to the center of the target, the center point of the recognition position of the camera can be moved to the center of the target by the three-axis manipulator, and then the camera is clicked to correct parameters such as the focal length of the camera, so that the camera can clearly recognize the target, and the center point of the recognition position of the camera is located at the center of the target, so that the recognition range of the camera is maximized, and when the camera is positioned, the camera can be guaranteed to completely recognize each small dispensing product.
In summary, the correction of the camera and the laser lays a foundation for camera positioning and laser height detection of each small board dispensing product, the position parameters and the self parameters of the camera and the laser can be intuitively adjusted by setting the target on the correction platform, when the camera can clearly identify the test point on the target, the laser can also detect numerical values, namely the distance and the angle between the camera and the laser from the target, and the laser and the camera self parameters are adjusted to proper numerical values, and at this time, the center point of the identification position of the camera is moved to the center of the target, so that the identification range of the camera can be increased, and the camera can be ensured to completely identify each small board dispensing product when the camera is positioned.
In an embodiment of the present invention, when the camera can clearly identify the test point on the target, the determining whether the laser can detect the value includes:
if yes, executing the next step;
if not, adjusting the parameters of the laser until the laser can detect the numerical value.
It should be noted that, if the camera can clearly identify the test point on the target and the laser can also detect a corresponding numerical value, step S13 is executed, if the laser cannot detect a corresponding numerical value, the position parameter and the self parameter of the laser, such as the distance and the angle between the laser and the test point, and the wavelength and the frequency of the laser, need to be adjusted until the laser can detect a numerical value, and the laser can detect a numerical value by repeatedly adjusting the parameter of the laser, so that when the camera can clearly identify, the laser can normally measure the distance, so as to form the linkage between the camera and the laser, so that the camera and the laser can synchronously identify and detect the height of each identification point of each small-plate dispensing product.
In an embodiment of the present invention, in conjunction with fig. 3, the opening control software, editing the control program of the camera and the laser includes:
s21, newly building a sub-template in the software, randomly selecting one small plate dispensing product, and editing Mark point information of the sub-template according to the Mark point information of the small plate dispensing product;
s22, selecting the Mark points of the small plate adhesive dispensing products as sub-template Mark points, and editing the camera recognition positions and the laser height detection positions of the sub-template Mark points according to the Mark point information;
s23, editing a dispensing track of the sub-template identification point according to actual dispensing requirements, the camera identification position and the laser height detection position, and finishing programming of the sub-template;
and S24, placing the edited sub-template in the main template, and setting a synchronization matrix.
It should be noted that, in step S21, the software is opened, a sub-template is newly created in the software, and the sub-template is named to facilitate subsequent searching and use, for example, the sub-template a is named, any one of the small plate dispensing products is selected, mark point information of the sub-template is edited according to Mark point information of the small plate dispensing product, for example, the number and position information of Mark points, and the Mark point information of the sub-template corresponds to the Mark point information of the small plate dispensing product, where the Mark point is a position identification reference point designed for the convenience of identifying a camera or other devices by the dispensing product, and the setting of the Mark point of the sub-template is convenient for identifying the position of the camera, so as to perform camera identification and laser height detection.
In step S22, selecting a Mark point of the small plate dispensing product as a Mark point of the sub-template, editing position information of the Mark point of the sub-template by contrasting Mark point information already set in the sub-template according to a relative position relationship between the Mark point and the Mark point in the small plate dispensing product, where the position of the Mark point of the sub-template is the camera recognition position and the laser height detection position, and through setting the position relationship between the Mark point and the Mark point, the camera can recognize the Mark point position information by recognizing the Mark position information, and then, directing the laser to perform height detection of the Mark point.
In step S23, when the camera recognizes the sub-template Mark point, the camera converts the position information of the sub-template Mark point into a planar pixel coordinate according to the Mark point position information, each coordinate is expressed by a pixel in the pixel coordinate system, however, the pixel expression method cannot reflect the actual position coordinate of the object in the image, so the camera needs to convert the pixel coordinate of the sub-template Mark point into an image coordinate, that is, the XY axis coordinate of the sub-template Mark point, and the laser probe can measure the Z axis coordinate of the sub-template Mark point, so as to edit the track of the sub-template Mark point through the coordinate information, thereby implementing the subsequent dispensing guidance;
in step S24, the edited sub-template is placed in the main template according to the position of the sub-template identification point in the main template, so that the sub-template identification point and the position of the sub-template identification point on the dispensing product are completely corresponding to each other, and finally, the placed sub-template is selected in the main template for matrix setting, so that the dispensing setting of the sub-template is repeatedly performed when the main template is dispensed, the setting process is simplified, and the operation efficiency is improved;
in summary, by setting a control program for completing a sub-template, positioning the sub-template in the main template, and performing the matrix setting according to the sub-template, each identification point in the main template is set by the sub-template, so that the camera and the laser can complete the positioning and height detection of all the identification points, and meanwhile, the control program for each identification point is not required to be set one by one, thereby saving the setting time and improving the efficiency.
In an embodiment of the present invention, the number of Mark points of the small board dispensing product may be several, and the number of Mark points of the small board dispensing product may also be several.
It should be noted that the Mark points of the small plate adhesive dispensing product may be one, two, or more, at this time, the Mark point information of a corresponding number of sub-templates is set, the Mark points of the small plate adhesive dispensing product may also be one, two, or more, that is, the small plate adhesive dispensing product may also be multi-position adhesive dispensing, at this time, the camera recognizes the relative position information between each Mark point on the small plate adhesive dispensing product and each Mark point of each small plate adhesive dispensing product, and recognizes and calculates the XY-axis position information of each Mark point of each small plate adhesive dispensing product through the set Mark point information, so as to guide the laser to probe each Mark point of the small plate adhesive dispensing product, and obtain the Z-axis information, so that the method is suitable for small plate adhesive dispensing products with multiple Mark point numbers and multi-position adhesive dispensing, and the applicability of the method is stronger.
In an embodiment of the present invention, the master template includes a plurality of sub-templates, each of the sub-templates is arranged in rows and columns, and one of the sub-templates corresponds to one of the small glue dispensing products.
It should be noted that each of the small plate adhesive products is arranged in a row and column and is suitable for being placed in a carrier, the carrier is suitable for being conveyed to the camera and the operation position of the laser through a transportation device, before that, one of the small plate adhesive products is required to be selected as a setting basis of a sub-template, the main template corresponds to a plurality of small plate adhesive products, so that the main template comprises a plurality of sub-templates, each sub-template is arranged in a row and column according to the position of the corresponding small plate adhesive product on the carrier, and each small plate adhesive product is arranged in a row and column on the carrier, so that the sub-template corresponding to one of the small plate adhesive products is conveniently selected and expanded into the whole main template, and the sub-templates corresponding to each small plate adhesive product are not required to be arranged one by one, thereby simplifying the setting process and further simplifying the operation steps.
In an embodiment of the present invention, the placing the edited sub-template in the main template, and performing matrix setting includes:
correspondingly placing the edited sub-template in the main template according to the position of the sub-template identification point;
and setting a synchronous matrix of the main template according to the sub-templates, setting the number of rows and columns required by dispensing, and teaching corresponding row end points and column end points.
It should be noted that the main template includes a plurality of sub-templates, one sub-template corresponds to one small board dispensing product, and each small board dispensing product is arranged in the carrier in a row and column manner, so that the position of the small board dispensing product corresponding to the edited sub-template in the carrier needs to be determined, the position of the edited sub-template in the main template is determined, the position of the edited sub-template identification point in the main template is determined, and the edited sub-template identification point is correspondingly placed in the main template; after the placement is finished, because each small plate adhesive dispensing product is arranged in the carrier in a row and column manner, and each sub-template is also arranged in the main template in a row and column manner, the edited sub-templates need to be subjected to synchronous matrix arrangement, and a corresponding row end point and a corresponding column end point need to be set, so that the starting point and the end point of the row and column manner of the camera identification and the laser height detection are controlled conveniently; at this time, the master template can control the camera and the laser to identify and detect the height of each small plate dispensing product on the whole carrier, so that the dispensing efficiency is further accelerated.
In one embodiment of the invention, the sub-templates placed within the master template are disabled after the synchronization matrix setting is completed.
It should be noted that after the synchronous matrix is set, the master template completely includes each of the sub-templates, at this time, two sub-templates are placed in the master template, and if the sub-templates placed in the master template are not disabled, the small board dispensing product corresponding to the sub-template will perform the camera recognition and the laser probing twice, so as to perform the dispensing operation twice.
In an embodiment of the present invention, as shown in fig. 4, the sequentially performing synchronous positioning and height detection on a plurality of identification points of a dispensing product by the laser and the camera based on the control program includes:
s31, starting the synchronous matrix, and setting the number of intervals between the camera and the laser;
and S32, carrying out synchronous operation of camera positioning and laser height detection of the dispensing product according to the synchronous matrix.
It should be noted that, in step S31, if the camera and the laser are completely positioned synchronously and detect the height, mutual shielding is easily caused, so that the camera identification and the laser detection are inaccurate, a certain number of intervals needs to be set for the camera and the laser, the laser can be set on one side of the camera, and the number of the intervals is several, so as to ensure the accuracy of the camera identification and the laser detection, and thus the accuracy of dispensing is ensured.
In step S32, after the synchronization matrix is activated, the camera and the laser perform a synchronization operation of camera positioning and laser height detection on the product to be dispensed according to the synchronization matrix and the number of intervals, for example, the laser is set on the right side of the camera and is set to-1, at this time, the number of intervals between the camera and the laser is 1, so that when the camera identifies a first row or a first column, the laser does not perform height detection, when the camera identifies a next row or a next column, the laser performs height detection on the first row or the first column, and so on, so that the camera and the laser perform an ordered operation and a part of a synchronization operation, thereby ensuring dispensing efficiency.
In conclusion, when the camera and the laser are operated in the mode, the camera identification and the laser height detection can be partially synchronized, the dispensing efficiency is improved, and the camera and the laser can be prevented from being shielded mutually to influence the identification and the height detection.
In another embodiment of the present invention, a system for synchronous operation of camera positioning and laser height detection is provided, which includes a camera, a laser range finder and an industrial personal computer, and is used to implement the method for synchronous operation of camera positioning and laser height detection as described in the above embodiments.
It should be noted that the camera is used for positioning the identification point, the laser range finder is used for emitting laser to measure the height of the identification point, and the industrial personal computer is used for controlling the camera and the laser range finder so as to realize a synchronous operation method of camera positioning and laser height detection, thereby realizing the whole synchronous camera identification and laser height detection process.
The technical features mentioned above are combined with each other to form various embodiments which are not listed above, and all of them are regarded as the scope of the present invention described in the specification; also, modifications and variations may be suggested to those skilled in the art in light of the above teachings, and it is intended to cover all such modifications and variations as fall within the true spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. A synchronous operation method of camera positioning and laser height detection is characterized by comprising the following steps:
correcting the recognition position of the camera and the height detection position of the laser;
opening control software, and editing control programs of the camera and the laser;
based on the control program, the laser and the camera synchronously position and detect the height of each identification point of a plurality of small plate dispensing products.
2. The method for synchronous operation of camera positioning and laser height detection according to claim 1, wherein the correcting the recognition position of the camera and the height detection position of the laser comprises:
moving the identified position of the camera onto a target of a calibration platform;
when the camera can clearly identify the test points on the target, judging whether the laser can detect a numerical value;
when the numerical value of the laser is displayed normally, moving the light-gathering point of the laser to the test point;
moving a center point of an identified location of the camera to the target center.
3. The method of claim 2, wherein the determining whether the laser can detect the value when the camera can clearly identify the test point on the target comprises:
if yes, executing the next step;
if not, adjusting the parameters of the laser until the laser can detect the numerical value.
4. The method for synchronous operation of camera positioning and laser height detection according to claim 1, wherein the opening of the control software and the editing of the control program of the camera and the laser comprise:
newly building a sub-template in the software, selecting one small plate dispensing product at any time, and editing Mark point information of the sub-template according to the Mark point information of the small plate dispensing product;
selecting a Mark point of the small plate adhesive dispensing product as a sub-template Mark point, and editing a camera recognition position and a laser height detection position of the sub-template Mark point according to Mark point information;
editing the dispensing track of the sub-template identification point according to the actual dispensing requirement, the camera identification position and the laser height detection position to complete the programming of the sub-template;
and placing the edited sub-template in the main template, and setting a synchronization matrix.
5. The method of claim 4, wherein the number of Mark points of the small glue-dispensing product is several, and the number of Mark points of the small glue-dispensing product is also several.
6. The method of claim 4, wherein the main template comprises a plurality of sub-templates, each sub-template is arranged in rows and columns, and one sub-template corresponds to one small glue-dispensing product.
7. The method of claim 4, wherein the step of placing the edited sub-template in a main template and performing matrix setting comprises:
correspondingly placing the edited sub-template in the main template according to the position of the sub-template identification point;
and setting a synchronous matrix of the main template according to the sub-templates, setting the number of rows and columns required by dispensing, and teaching corresponding row end points and column end points.
8. The method of claim 6, wherein the sub-templates placed in the main template are disabled after the setting of the synchronization matrix is completed.
9. The method of claim 1, wherein the step of synchronously positioning and detecting the height of each of the plurality of small dispensing products by the laser and the camera based on the control program comprises:
starting the synchronous matrix and setting the interval quantity of the camera and the laser;
and carrying out synchronous operation of camera positioning and laser height detection of the dispensing product according to the synchronous matrix.
10. A synchronous operation system for camera positioning and laser height detection is characterized by comprising a camera, a laser range finder and an industrial personal computer and being used for realizing the synchronous operation method for camera positioning and laser height detection as claimed in any one of claims 1 to 9.
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|---|---|
| CN (1) | CN115239796A (en) |
-
2022
- 2022-06-15 CN CN202210678851.6A patent/CN115239796A/en active Pending
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