CN115463805A

CN115463805A - Dispensing method and dispensing system based on dispensing path

Info

Publication number: CN115463805A
Application number: CN202210933093.8A
Authority: CN
Inventors: 汪凯; 谢宏威; 徐耿聪
Original assignee: Dongguan Huishi Intelligent Technology Co ltd
Current assignee: Dongguan Huishi Intelligent Technology Co ltd
Priority date: 2022-08-04
Filing date: 2022-08-04
Publication date: 2022-12-13

Abstract

The invention relates to the technical field of dispensing, in particular to a dispensing method and a dispensing system based on a dispensing path, wherein the dispensing method comprises the following steps: acquiring an image of an area to be dispensed; extracting the outline of the area to be subjected to glue dispensing according to the image; enabling the outline of the outermost circle of the area to be subjected to glue dispensing to be in an equidistant linear array towards the center point of the area to be subjected to glue dispensing; respectively carrying out point sampling on each array profile, and extracting each sampling point; and sequentially connecting the sampling points to form a dispensing path, wherein two adjacent sampling points are connected by adopting a straight line. According to the technical scheme of the invention, the outline of the image of the area to be subjected to glue dispensing is extracted, the outline of the outermost circle is arrayed, the outlines of all arrays are subjected to point sampling, and all sampling points are sequentially connected to obtain the glue dispensing path. The dispensing machine can realize automatic dispensing according to the dispensing path, thereby improving the dispensing efficiency and reducing the labor intensity of operating personnel.

Description

Dispensing method and dispensing system based on dispensing path

Technical Field

The invention relates to the technical field of glue dispensing, in particular to a glue dispensing method and a glue dispensing system based on a glue dispensing path.

Background

The dispenser is also called a glue spreader, a glue dispenser, a glue filling machine and the like, is an automatic machine which is specially used for controlling fluid and dripping and coating the fluid on the surface of a product or in the product, and is widely applied to various industries of industrial production.

At present, the traditional glue dispensing of the special shape of the surface of the die has low automation degree, the penetrating glue dispensing is completed by manual operation, and the glue dispensing efficiency is low. To realize the automatic dispensing production, the dispenser needs to know the dispensing path to control the movement of the dispensing valve nozzle according to the dispensing path to realize the automatic dispensing, and how to obtain the dispensing path becomes a technical problem that needs to be solved by those skilled in the art.

Disclosure of Invention

In view of this, the present invention provides a dispensing method and a dispensing system based on a dispensing path, and mainly solves the technical problems of: how to obtain the dispensing path.

In order to achieve the purpose, the invention mainly provides the following technical scheme:

in one aspect, an embodiment of the present invention provides a dispensing method based on a dispensing path, including the following steps: acquiring an image of a region to be subjected to glue dispensing; extracting the outline of the area to be subjected to glue dispensing according to the image; enabling the outline of the outermost circle of the area to be subjected to glue dispensing to be in an equidistant linear array towards the center point of the area to be subjected to glue dispensing; respectively carrying out point sampling on each array profile, and extracting each sampling point; and sequentially connecting the sampling points to form a dispensing path, wherein two adjacent sampling points are connected by adopting a straight line.

Optionally, acquiring an image of the area to be subjected to dispensing specifically includes: acquiring an image of a target area on a product to be subjected to glue dispensing, wherein the target area comprises the area to be subjected to glue dispensing; acquiring shape characteristics and area characteristics of an area to be subjected to glue dispensing; and matching the area to be subjected to glue dispensing in the target area image according to the shape characteristic and the area characteristic to obtain the image of the area to be subjected to glue dispensing.

Optionally, the obtaining of the image of the target area on the product to be subjected to glue dispensing specifically includes: acquiring an image of a product to be subjected to glue dispensing, wherein the image of the product to be subjected to glue dispensing comprises a positioning feature on the product and the target area; determining the center a of the positioning feature according to the positioning feature; according to the center a of the positioning feature, cutting the image of the product to be subjected to glue dispensing by using a set template to obtain the image of the target area; wherein the center of the setting template coincides with the center a of the positioning feature, and the image of the target area corresponds to the setting template.

Optionally, the shape feature and the area feature of the region to be subjected to dispensing are obtained, specifically: and extracting the shape characteristic and the area characteristic of the dxf template according to the region to be glued.

Optionally, the distances between two adjacent sampling points on each array profile are all equal.

Optionally, the sampling points are connected in sequence, specifically: and sequentially connecting the sampling points on each array profile from outside to inside, and connecting the sampling points on one array profile with the nearest sampling point on the next array profile after sequentially connecting.

Optionally, the dispensing method based on the dispensing path further includes a step of determining a dispensing parameter, where the determining the dispensing parameter specifically includes: generating a perimeter C of the dispensing path according to the dispensing path; obtaining the total dispensing amount U and the dispensing time t of a product to be dispensed; and generating dispensing parameters, wherein the dispensing parameters comprise a dispensing movement speed v and a dispensing amount U, the dispensing movement speed v = a dispensing path perimeter C/a dispensing time t, and the dispensing amount U = a dispensing total amount U/a dispensing time t.

Optionally, the dispensing method based on the dispensing path further includes the following steps: generating a path track motion coordinate processing G code according to the dispensing path; and generating an instruction for controlling the movement of the dispensing valve spray head according to the G code.

In another aspect, an embodiment of the present invention further provides a dispensing system, which may include:

the system comprises a to-be-dispensed region acquisition module, a to-be-dispensed region acquisition module and a to-be-dispensed region image acquisition module, wherein the to-be-dispensed region acquisition module is used for acquiring an image of the to-be-dispensed region;

the contour extraction module is used for extracting the contour of the area to be dispensed according to the image;

the linear array module is used for enabling the outline of the outermost circle of the area to be subjected to glue dispensing to be in an equidistant linear array towards the central point of the area to be subjected to glue dispensing;

the sampling module is used for performing point sampling on each contour line respectively and extracting each sampling point;

and the dispensing path generation module is used for sequentially connecting the sampling points to form a dispensing path, wherein two adjacent sampling points are connected by adopting a straight line.

Optionally, the area to be dispensed acquiring module includes a target area acquiring module, a feature acquiring module and a matching module; the target area acquisition module is used for acquiring an image of a target area on a product to be subjected to glue dispensing, wherein the target area comprises a region to be subjected to glue dispensing; the characteristic acquisition module is used for acquiring the shape characteristic and the area characteristic of the area to be subjected to glue dispensing; the matching module is used for matching the area to be glued in the target area image according to the shape characteristic and the area characteristic of the area to be glued so as to obtain the image of the area to be glued.

Optionally, the target area acquiring module includes an image acquiring module of a product to be dispensed, a positioning feature module and a cutting module; the image acquisition module of the product to be subjected to glue dispensing is used for acquiring an image of the product to be subjected to glue dispensing, and the image of the product to be subjected to glue dispensing comprises a positioning feature on the product and the target area; the positioning feature module is used for determining the center a of the positioning feature according to the positioning feature; the cutting module is used for cutting the image of the product to be subjected to glue dispensing by using a set template according to the center a of the positioning feature to obtain the image of the target area; wherein the center of the setting template coincides with the center a of the positioning feature, and the image of the target area corresponds to the setting template.

Optionally, the dispensing system further includes a dxf template module; the dxf template module is used for acquiring a dxf template of an area to be subjected to glue dispensing; the characteristic acquisition module is used for extracting shape characteristics and area characteristics of the dxf template according to the area to be glued.

By the technical scheme, the dispensing method and the dispensing system based on the dispensing path have at least the following beneficial effects:

1. the outline of the image of the area to be subjected to glue dispensing is extracted, the outline of the outermost circle is arrayed, the outline of each array is subjected to point sampling, and all sampling points are sequentially connected to obtain a glue dispensing path. The dispensing machine can realize automatic dispensing according to the dispensing path, thereby improving the dispensing efficiency and reducing the labor intensity of operators;

2. the invention solves the problems of manual glue dispensing on the mould and poor quality stability at present, automatically identifies and positions images, dispenses automatically, realizes high-efficiency and high-quality glue dispensing production, and is simple, convenient, easy to learn and use.

The foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical solutions of the present invention more clearly understood and to implement them in accordance with the contents of the description, the following detailed description is given with reference to the preferred embodiments of the present invention and the accompanying drawings.

Drawings

Fig. 1 is a flowchart of a dispensing method based on a dispensing path according to an embodiment of the present invention;

fig. 2 is a schematic diagram of an image of a product to be dispensed according to an embodiment of the present invention;

FIG. 3 is a schematic view of a target area;

FIG. 4 is a schematic view of the dispensing region having only an outer contour;

FIG. 5 is a schematic view of an annular region for dispensing;

FIG. 6 is a schematic diagram showing the sequential connection of sampling points on two adjacent arrays of profiles;

fig. 7 is a block diagram of a partial structure of a dispensing system according to an embodiment of the present invention.

Reference numerals: 1. an image of a product to be dispensed; 2. a positioning feature; 3. setting a template; 4. a region to be subjected to glue dispensing; 5. a useless area; 6. a target area; 8. dispensing path; 9. a rectangle shape; 41. an outer ring profile; 411. an array profile; 10. a module for acquiring a region to be dispensed; 11. a contour extraction module; 12. a linear array module; 13. a sampling module; 14. and a dispensing path generation module.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without inventive step based on the embodiments of the present invention, are within the scope of protection of the present invention.

It should be noted that, if directional indications (such as upper, lower, left, right, front, rear, 8230; \8230;) are involved in the embodiment of the present invention, the directional indications are only used to explain the relative positional relationship between the components in a specific posture (as shown in the figure), the motion situation, etc., and if the specific posture is changed, the directional indications are correspondingly changed.

In addition, if there is a description relating to "first", "second", etc. in the embodiments of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or to implicitly indicate the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.

As shown in fig. 1, an embodiment of the present invention provides a dispensing method based on a dispensing path, which includes steps S1 to S8, wherein steps S1 to S5 are steps of generating a dispensing path, step S6 is a step of determining a dispensing parameter, and steps S7 to S8 are steps of generating a motion command. The above-described steps S1 to S8 will be specifically described below.

Step S1: and acquiring an image of the area to be glued 4.

The above step S1 of acquiring the image of the dispensing waiting area 4 can be specifically realized by step S11, step S12 and step S13. The following specifically describes steps S11 to S13.

Step S11: and acquiring an image of a target area 6 on the product to be subjected to glue dispensing, wherein the target area 6 comprises the area 4 to be subjected to glue dispensing. The product to be glued can be a mould. The step S11 of acquiring the image of the target area 6 on the product to be dispensed can be implemented by the steps S111, S112 and S113.

Step S111: as shown in fig. 2, an image 1 of a product to be dispensed is obtained, where the image 1 of the product to be dispensed includes a positioning feature 2 on the product and the target area 6. Specifically, the product to be subjected to glue dispensing can be photographed through a CMOS industrial camera to obtain an image 1 of the product to be subjected to glue dispensing, wherein the image is a three-channel color image. Because the shooting view of the CMOS industrial camera is large, the shot image 1 of the product to be dispensed contains many other useless areas 5 in addition to the positioning features 2 on the product and the target area 6, and these useless areas 5 need to be removed from the image of the product to be dispensed, so as to reduce interference with capturing the image of the target area 6 and improve the efficiency of capturing the image of the target area 6 from the image 1 of the product to be dispensed.

In order to remove the useless area 5 on the product to be dispensed to obtain the target area 6, it can be implemented by steps S112 and S113. The steps S112 and S113 are as follows:

step S112: as shown in fig. 2, the center a of the positioning feature 2 is determined according to the positioning feature 2 on the image 1 of the product to be dispensed. In a specific application example, the positioning features 2 may be four circular positioning holes distributed on the product, such as the corners of the mold, the four circular positioning holes are distributed on four corners of a rectangle 9, and the center of each circular positioning hole corresponds to one corner.

The specific method for determining the center of the positioning feature 2 is as follows: according to an image 1 of a product to be subjected to glue dispensing, which is acquired by a camera, calling an emphasze function in a halcon to enhance the image contrast; segmenting and filling the image domain with the threshold value between 0 and 120 by using a threshold segmentation function threshold; disconnecting the connected domain, and screening a region for removing noise points according to the area characteristics; calculating the roundness of the area, and screening values larger than 0.9 to position the area to four circular positioning holes of a rectangular product (mold); then, according to the centers of the four circular positioning holes, the center a of the rectangular 9 area formed by the four circular positioning holes can be determined, and the center a of the rectangular 9 area is the center of the positioning feature 2.

Step S113: and according to the center a of the positioning feature 2, cutting the image 1 of the product to be dispensed by using a setting template 3 to obtain an image of the target area 6. Wherein the center of the setting template 3 coincides with the center a of the positioning feature 2, and the image of the target area 6 corresponds to the setting template 3. In a specific application example, the setting template 3 may be a rectangle, and the size of the rectangle is predetermined. The center of the setting template 3 is overlapped with the center a of the positioning feature 2, then the setting template 3 is used for shearing the image 1 of the product to be subjected to glue dispensing, the setting template 3 can divide the image 1 of the product to be subjected to glue dispensing into two parts, wherein the part of the image consistent with the shape and the size of the setting template 3 is the image of the target area 6. Here, it should be noted that: fig. 2 is a schematic diagram of an image 1 of a product to be dispensed, in which a rectangular box denoted by reference numeral 3 in fig. 2 is a setting template, and fig. 3 is an image of a target area 6 obtained by cutting the image 1 of the product to be dispensed by using the setting template 3.

The image of the target area 6 includes the dispensing waiting area 4 and other areas, and the dispensing waiting area 4 (i.e., the shaded portion in fig. 3) in the image of the target area 6 needs to be captured, which can be realized by the following steps S12 and S13.

Step S12: and acquiring the shape characteristic and the area characteristic of the area 4 to be dispensed. Specifically, the shape feature and the area feature of the dispensing region 4 may be extracted from the dxf template thereof. The operator can introduce the dxf template of the region 4 to be dispensed into the computer, and the computer automatically extracts the shape feature and the area feature of the dxf template.

Step S13: and matching the area to be glued 4 in the target area 6 image according to the shape characteristic and the area characteristic to obtain an image of the area to be glued 4. In the following, an example is given by taking an image of the region to be dispensed 4 as a circle with an area of 1 plane cm, and as shown in fig. 3, the region to be dispensed 4 is a circle with an area of 1 plane cm. Circular areas with different areas in the image of the target area 6 can be screened out through the shape characteristics, and then a specific area with the area of 1 plane centimeter in each circular area is screened out according to the area characteristics, and the specific area is the area to be subjected to glue dispensing 4, so that the image of the area to be subjected to glue dispensing 4 can be obtained.

Step S2: and extracting the outline of the area to be dispensed 4 according to the image. Specifically, the boundary skeleton of the dispensing region 4 may be extracted according to the image of the dispensing region, and then the xld contour of the dispensing region 4 may be obtained by converting the boundary skeleton.

And step S3: and (3) carrying out equidistant linear array on the outermost circle outline 41 of the area to be glued 4 towards the central point b of the area to be glued 4.

Here, it should be noted that: the dispensing waiting area 4 may be an annular area having an outer ring contour and an inner ring contour (as shown in fig. 5), or may be a non-annular area having only an outer ring contour, such as a circular area (as shown in fig. 4).

As shown in fig. 4, when the dispensing region 4 is a non-annular region, such as a circular region, the outline of the dispensing region 4 only has an outer contour 41, and the outer contour 41 is in a linear array with equal spacing toward the center point b of the dispensing region 4. The array profile 411 is located inside the outermost ring profile 41.

As shown in fig. 5, when the dispensing region 4 is an annular region, the contour of the dispensing region 4 includes an outer contour 41 and an inner contour 42, the outer contour 41 is linearly arrayed at equal intervals toward the center point b of the dispensing region 4, and the array contour 411 is located between the outer contour 41 and the inner contour 42.

In a specific application example, the array distance of the outermost circle profile 41 is 5mm, and the number of the arrays is rounded.

And step S4: each array profile 411 is point sampled and each sample point is extracted.

Wherein, the distances between two adjacent sampling points on each array profile 411 are all equal. For example, the distance between two adjacent sampling points on each array profile 411 may be 5mm.

Step S5: sequentially connecting the sampling points to form a dispensing path 8; the two adjacent sampling points are connected by a straight line, and the straight line between the two points is shortest, so that the dispensing path is shortened, and the dispensing efficiency can be improved.

Wherein, connect each sampling point in proper order, specifically do: the sampling points on each array contour 411 are connected in sequence from outside to inside, and the sampling points on one array contour 411 are connected with the nearest sampling point on the next array contour 411 after being connected in sequence.

As shown in fig. 6, the connection of the sampling points is illustrated below with two adjacent array profiles 411 as a and B, respectively. The array profile A is located on the outer side of the array profile B, and the array profile A is provided with 5 sampling points A1-A5. The array profile B has 4 sampling points, B1-B4. When connecting each sampling point, first connecting each sampling point on the outer array profile a, for example, sampling point A1 is the starting point on the array profile a, A5 is the end point on the array profile a, and sequentially connecting sampling points A1-A5. And then connecting the sampling point A5 with the sampling points on the next array profile B, wherein the sampling point B1 on the array profile B is the closest point to the sampling point A5, so that the sampling point A5 is connected with the sampling point B1 on the array profile B, the sampling point B1 is the starting point on the array profile B, the sampling point B4 is the end point on the array profile B, and the sampling points B1-B4 are sequentially connected. Then, the sampling point B4 is connected to the closest sampling point on the next array profile 411, and the above method is repeated until all the sampling points are connected. In fig. 5, the sampling points on the array profile a and the array profile B are sequentially connected by a straight line along the arrow direction to form a dispensing path 8 therebetween.

In the above example, the dispensing path 8 is obtained by extracting the outline of the image of the dispensing area 4, performing an array on the outermost circle outline 41 and performing point sampling on each array outline 411, and sequentially connecting each sampling point. The dispensing machine can realize automatic dispensing according to the dispensing path 8, thereby improving the dispensing efficiency and reducing the labor intensity of operators.

The dispensing parameters need to be determined during dispensing so as to facilitate dispensing of the dispenser. Which may be implemented by step S6. Step S6 determines the dispensing parameters, which may be specifically implemented through steps S61-S63. The steps S61 to S63 will be specifically described below.

Step S61: from the dispensing path 8, a perimeter C of the dispensing path is generated.

Step S62: and obtaining the total dispensing amount U and the dispensing time t of the product to be dispensed. The total dispensing amount U and the dispensing time t are preset parameters and can be input externally.

Step S63: and generating a parameter to be dispensed. The parameters to be glued comprise a glue dispensing movement speed v and a glue dispensing amount u. The dispensing motion speed v = dispensing path perimeter C/dispensing time t, and the dispensing amount U = dispensing total amount U/dispensing time t.

The dispensing amount u can be converted into cylinder pressure, so that the dispensing valve cylinder can be conveniently controlled. Here, it should be noted that: the method for converting the dispensing amount u into the cylinder pressure is the prior art and is not described herein again.

The dispensing method further includes a step of generating a motion command according to the dispensing path 8, which may be implemented through steps S7 to S8.

Step S7: generating a path track motion coordinate processing G code according to the dispensing path 8;

step S8: and generating a command for controlling the movement of the spray head of the dispensing valve according to the G code.

The system transmits a processing G code to a motion controller such as a PLC, and the motion controller generates a pulse signal command according to an input G code signal and transmits the pulse signal command to the dispensing valve nozzle to complete dispensing operation.

As shown in fig. 7, an embodiment of the present invention further provides a dispensing system, which includes: the device comprises a module 10 for obtaining the area to be glued, a contour extraction module 11, a linear array module 12, a sampling module 13 and a gluing path generation module 14.

The module 10 for acquiring the area to be dispensed is configured to acquire an image of the area to be dispensed 4. In order to realize the function of the module 10 for acquiring the area to be dispensed, so that the module 10 for acquiring the area to be dispensed can acquire the image of the area 4 to be dispensed, the module 10 for acquiring the area to be dispensed may include a target area acquiring module, a feature acquiring module, and a matching module. The target area acquisition module is used for acquiring an image of a target area 6 on a product to be subjected to glue dispensing. The target area 6 includes the dispensing waiting area 4. The characteristic obtaining module is used for obtaining the shape characteristic and the area characteristic of the area 4 to be glued. Specifically, the dispensing system of the present invention may further include a dxf template module, where the dxf template module is configured to obtain a dxf template of the region to be dispensed 4. The characteristic obtaining module is used for extracting shape characteristics and area characteristics of the dxf template of the area to be glued 4. The matching module is used for matching the area 4 to be dispensed in the target area 6 image according to the shape feature and the area feature of the area 4 to be dispensed so as to obtain the area 4 image to be dispensed. The specific matching process can refer to the corresponding description above, and is not described herein again.

In order to realize the function of the target area acquisition module, the target area acquisition module may acquire an image of a target area 6 on a product to be dispensed, and the target area acquisition module may include a product to be dispensed image acquisition module, a positioning feature module, and a cutting module. The image acquisition module of the product to be glued is used for acquiring an image 1 of the product to be glued, and the image 1 of the product to be glued comprises a positioning feature 2 and a target area 6 on the product. Specifically, the product to be subjected to glue dispensing can be photographed through the CMOS industrial camera to obtain an image 1 of the product to be subjected to glue dispensing, wherein the image is a color three-channel image. Because the shooting view of the CMOS industrial camera is large, the shot image 1 of the product to be dispensed contains many other useless areas 5 in addition to the positioning features 2 on the product and the target area 6, and these useless areas 5 need to be removed from the image of the product to be dispensed, so as to reduce interference with capturing the image of the target area 6 and improve the efficiency of capturing the image of the target area 6 from the image 1 of the product to be dispensed.

The above-mentioned locating feature module is used to determine the center a of the locating feature 2 according to the locating feature 2. In a specific application example, the positioning features 2 may be four circular positioning holes distributed on the product, such as the corners of the mold, the four circular positioning holes are distributed on four corners of a rectangle 9, and the center of each circular positioning hole corresponds to one corner. The specific method for determining the center of the positioning feature 2 may refer to the corresponding description above, and is not described herein again.

The cutting module is used for cutting the image 1 of the product to be subjected to glue dispensing by using the setting template 3 according to the center a of the positioning feature 2 to obtain an image of a target area 6; wherein the center of the setting template 3 coincides with the center a of the locating feature 2 and the image of the target area 6 corresponds to the setting template 3. In a specific application example, the setting template 3 may be a rectangle, and the size of the rectangle is predetermined. The center of the setting template 3 is overlapped with the center a of the positioning feature 2, then the setting template 3 is used for shearing the image 1 of the product to be subjected to glue dispensing, the setting template 3 can divide the image 1 of the product to be subjected to glue dispensing into two parts, wherein the part of the image consistent with the shape and the size of the setting template 3 is the image of the target area 6.

The contour extraction module 11 is configured to extract a contour of the dispensing region 4 according to the image. Specifically, the boundary skeleton of the region to be dispensed 4 may be extracted according to the image of the region to be dispensed 4, and then the xld contour of the region to be dispensed 4 may be obtained through transformation of the boundary skeleton.

The linear array module 12 is configured to linearly array the outermost contour 41 of the dispensing region 4 toward a central point b of the dispensing region 4 at equal intervals.

The sampling module 13 is configured to perform point sampling on each array contour 411, and extract each sampling point. Wherein, the distances between two adjacent sampling points on each array profile 411 are all equal. For example, the distance between two adjacent sampling points on each array profile 411 may be 5mm.

The dispensing path generating module 14 is configured to sequentially connect the sampling points to form a dispensing path. And two adjacent sampling points are connected by adopting a straight line. Wherein, connect each sampling point in proper order, specifically do: the sampling points on each array contour 411 are connected in sequence from outside to inside, and the sampling points on one array contour 411 are connected with the nearest sampling point on the next array contour 411 after being connected in sequence. The specific connection method can be referred to the corresponding description above, and is not repeated herein.

The dispensing system of the invention can also comprise a dispensing path perimeter generating module, a dispensing total U and dispensing time t obtaining module and a dispensing parameter generating module. The dispensing path perimeter generation module is used for generating a perimeter C of the dispensing path according to the dispensing path. The total dispensing amount U and the dispensing time t acquisition module is used for acquiring the total dispensing amount U and the dispensing time t of a product to be dispensed. The dispensing parameter generation module is used for generating a dispensing movement speed v and a dispensing amount U according to the dispensing path perimeter C, the dispensing total amount U and the dispensing time t. The dispensing motion speed v = dispensing path perimeter C/dispensing time t, and the dispensing amount U = dispensing total amount U/dispensing time t.

The dispensing system of the invention can also comprise a G code generation module and an instruction generation module, wherein the G code generation module is used for generating path track motion coordinates to process G codes according to the dispensing path. And the instruction generating module is used for generating an instruction for controlling the dispensing valve nozzle to move according to the G code.

The working principle and preferred embodiments of the present invention are described below.

The invention discloses a dispensing method and a dispensing system based on a dispensing path, wherein the dispensing method comprises the following steps:

and the machine vision module acquires product image data through the CCD camera.

And the image processor performs image processing, determines a calculation area and returns the calculation area to the software display interface in an XLD contour mode. The image processing, determining a calculation region, includes: the method comprises the steps of preprocessing an original image, removing noise by using a Gaussian filter, enhancing image contrast, reducing a product area, and taking a cut image as template matching data.

The template matching method comprises the following steps of finding a dispensing area region and converting the dispensing area region into an xld contour: and finding a region to be subjected to glue dispensing by using shape matching according to the imported dxf template, selecting and determining a specific position region through a characteristic area, converting the region into a boundary framework, and converting the framework to obtain an xld contour of the region.

And inputting a dxf drawing template of the product to match and calculate a dispensing path, and generating dispensing parameters. The method comprises the following steps: (1) Matching the templates to find a dispensing area, converting the dispensing area into an xld profile, and performing linear array towards a central point, wherein the actual distance of the array is 5mm, and the number of the arrays is rounded; (2) Extracting characteristic points of an xld array profile and sampling to generate a dispensing path profile discrete point set; the method comprises the following steps: directly extracting xld coordinate data from Halcon, sequencing contour lines from outside to inside, sampling the outermost contour line points at equal intervals, jumping into the next contour line with the nearest point after sampling one contour line, and repeating the steps in a reciprocating and circulating manner until the sampling is finished. (3) The optimization algorithm extracts the track of the dispensing path and displays and determines the track on a system software interface; (4) And determining the dispensing motion speed v and the dispensing amount U according to the perimeter C of the dispensing path, the total dispensing amount U and the dispensing time t. The dispensing parameters comprise a total dispensing amount U of a single product, a dispensing time t, a perimeter C of a dispensing path, a dispensing movement speed v and a dispensing amount U, wherein U = U × t, and C = v × t. The method comprises the steps of automatically generating the perimeter of a dispensing path after the path is determined, using the total dispensing amount and the dispensing time as input parameters, calculating and generating the dispensing movement speed and the dispensing amount by a system according to data, controlling the dispensing amount by the pressure of an air cylinder, and automatically converting and calculating by the system.

And calculating and generating a dispensing G code by the control processing system and transmitting the dispensing G code to the motion controller module, wherein the motion controller module controls a dispensing valve nozzle to perform dispensing operation. The control processing system comprises a machine vision processing module, a motion controller module, a calculation programming module and an industrial personal computer, wherein the motion controller module and the calculation programming module are integrated in the industrial personal computer.

Here, it should be noted that: in the case of no conflict, a person skilled in the art may combine the related technical features in the above examples according to actual situations to achieve corresponding technical effects, and details of various combining situations are not described herein.

The above description is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may occur to those skilled in the art without departing from the principle of the invention, and are considered to be within the scope of the invention.

Claims

1. A glue dispensing method based on a glue dispensing path is characterized by comprising the following steps:

acquiring an image of the area (4) to be subjected to glue dispensing;

extracting the outline of the area (4) to be dispensed according to the image;

the contour (41) of the outermost circle of the area (4) to be glued is arrayed in a linear mode at equal intervals towards the center point b of the area (4) to be glued;

point sampling is carried out on each array profile (411) respectively, and each sampling point is extracted;

and sequentially connecting the sampling points to form a dispensing path (8), wherein two adjacent sampling points are connected by adopting a straight line.

2. The dispensing method based on the dispensing path according to claim 1, wherein the obtaining of the image of the region (4) to be dispensed specifically comprises:

acquiring an image of a target area (6) on a product to be subjected to glue dispensing, wherein the target area (6) comprises a region (4) to be subjected to glue dispensing;

acquiring shape characteristics and area characteristics of an area (4) to be subjected to glue dispensing;

and matching the area (4) to be glued in the target area (6) image according to the shape characteristic and the area characteristic to obtain the image of the area (4) to be glued.

3. The dispensing method based on dispensing path according to claim 2, wherein obtaining an image of a target area (6) on a product to be dispensed specifically comprises:

acquiring an image (1) of a product to be subjected to glue dispensing, wherein the image (1) of the product to be subjected to glue dispensing comprises a positioning feature (2) on the product and the target area (6);

determining the center a of the positioning feature (2) according to the positioning feature (2);

according to the center a of the positioning feature (2), cutting the image (1) of the product to be subjected to glue dispensing by using a set template (3) to obtain an image of the target area (6); wherein the center of the setting template (3) coincides with the center a of the positioning feature (2), and the image of the target area (6) corresponds to the setting template (3).

4. The dispensing method based on the dispensing path according to claim 2 or 3, characterized in that the shape and area characteristics of the area (4) to be dispensed are obtained, specifically:

and extracting the shape characteristic and the area characteristic of the dxf template of the area (4) to be glued.

5. The dispensing method based on dispensing path according to any of claims 1 to 3,

the distances between two adjacent sampling points on each array profile are equal.

6. A dispensing method according to any one of claims 1 to 3 based on the dispensing path, characterized in that the sampling points are connected in sequence, specifically:

the sampling points on the array profiles (411) are connected in sequence from outside to inside, and the sampling points on one array profile (411) are connected with the nearest sampling point on the next array profile (411) after being connected in sequence.

7. A dispensing system, comprising:

the dispensing area acquisition module (10) is used for acquiring an image of the dispensing area (4);

the contour extraction module (11) is used for extracting the contour of the region (4) to be glued according to the image;

the linear array module (12) is used for enabling the outline (41) of the outermost circle of the area (4) to be glued to be in an equidistant linear array towards the center point b of the area (4) to be glued;

the sampling module (13) is used for performing point sampling on each array profile (411) respectively and extracting each sampling point;

and the dispensing path generating module (14) is used for sequentially connecting the sampling points to form a dispensing path, wherein two adjacent sampling points are connected by adopting a straight line.

8. The dispensing system according to claim 7, wherein the dispensing area obtaining module (10) comprises a target area obtaining module, a characteristic obtaining module and a matching module;

the target area acquisition module is used for acquiring an image of a target area (6) on a product to be subjected to glue dispensing, and the target area (6) comprises a product to be subjected to glue dispensing area (4);

the characteristic acquisition module is used for acquiring the shape characteristic and the area characteristic of the area (4) to be glued;

the matching module is used for matching the area (4) to be glued in the target area (6) image according to the shape characteristics and the area characteristics of the area (4) to be glued so as to obtain the image of the area (4) to be glued.

9. The dispensing system of claim 8, wherein the target area obtaining module comprises an image obtaining module of a product to be dispensed, a positioning feature module and a cutting module;

the image acquisition module of the product to be subjected to glue dispensing is used for acquiring an image (1) of the product to be subjected to glue dispensing, and the image (1) of the product to be subjected to glue dispensing comprises a positioning feature (2) on the product and the target area (6);

the positioning feature module is used for determining the center a of the positioning feature (2) according to the positioning feature (2);

the cutting module is used for cutting the image (1) of the product to be subjected to glue dispensing by using a set template (3) according to the center a of the positioning feature (2) to obtain an image of the target area (6); wherein the center of the setting template (3) coincides with the center a of the positioning feature (2), and the image of the target area (6) corresponds to the setting template (3).

10. The dispensing system of claim 8 or 9, further comprising a dxf template module;

the dxf template module is used for acquiring a dxf template of the area (4) to be glued;

and the characteristic acquisition module is used for extracting the shape characteristic and the area characteristic of the area to be glued (4) according to the dxf template of the area to be glued.