CN116060269A - Spraying method for loop-shaped product - Google Patents
Spraying method for loop-shaped product Download PDFInfo
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- CN116060269A CN116060269A CN202211572834.0A CN202211572834A CN116060269A CN 116060269 A CN116060269 A CN 116060269A CN 202211572834 A CN202211572834 A CN 202211572834A CN 116060269 A CN116060269 A CN 116060269A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05D—PROCESSES FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05D1/00—Processes for applying liquids or other fluent materials
- B05D1/02—Processes for applying liquids or other fluent materials performed by spraying
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
Abstract
The spraying method of the loop-shaped product comprises the following steps of: calibrating the camera position and the spider hand position; step 2: when the product runs below the camera, triggering the camera to take a picture, and acquiring a shooting position coordinate and an original image by a vision program in the controller; step 3: the vision program divides the camera view into four areas, and respectively searches to obtain pixel coordinates of four corners of the outer frame and pixel coordinates of two adjacent corners of the inner frame by using a template matching principle; step 4: searching the outer frame of the return type product according to points in the upper, lower, left and right ranges between the starting point and the end point by taking pixel coordinates of four corners of the outer frame as a starting point and the end point of the caliper, and searching to obtain outer edge points positioned on the outer frame of the return type product; step 5: calculating the single-side width of the loop-shaped product; retracting all the outer edge points obtained in the step 4 by half a single-side width towards the center direction of the return product to obtain glue spraying points; step 6: and the spider hands dynamically spray according to the glue spraying points. The invention performs accurate spraying for each product.
Description
Technical Field
The invention relates to the field of electricity, in particular to a spraying method for a loop-shaped product.
Background
The frame-shaped product shown in fig. 1 is enclosed by an inner frame and an outer frame, the inner part is hollow, and the whole frame-shaped product is in a shape of a Chinese character 'hui'. The width of the frame of the Chinese character 'Hui' type product is very small, generally about 5 mm.
In addition, the material of the Chinese character 'Hui' shaped product is very soft. Materials such as rubber and silica gel are generally adopted, so that when the Chinese character 'hui' shaped product is placed on a flow line for processing, deformation is very easy to occur, and the deformed shape is shown in figure 2. After deformation, the character-returning product is in an irregular shape and can be inclined, and the product is processed on the basis, including double-sided spraying and the like, so that errors are easy to occur, and the yield is greatly reduced.
Disclosure of Invention
The invention aims to solve the technical problems that: aiming at the problems that the Chinese character Hui-shaped product is easy to deform and cannot be precisely sprayed, the Chinese character Hui-shaped product spraying method is provided.
The technical scheme of the invention is as follows:
a spraying method of a loop-shaped product,
step 1: a camera and a spider hand are sequentially arranged on the assembly line, and a spraying device is arranged below the spider hand; after the installation is finished, calibrating the camera position and the spider hand position;
step 2: placing the loop-shaped product on a production line, and triggering the camera to take a picture when the loop-shaped product runs below the camera to obtain an original image; a vision program in the controller acquires photographing position coordinates and an original image;
step 3: the visual program divides the visual field of the camera into four areas of upper left, lower left, upper right and lower right, pre-processes the original image, and searches four corners of the outer frame of the return type product respectively by utilizing a template matching principle to obtain pixel coordinates of the four corners of the outer frame; simultaneously, searching two adjacent corners of the inner frame of the product by using a template matching principle respectively to obtain pixel coordinates of the two adjacent corners of the inner frame;
step 4: searching the outer frame of the return type product according to points in the range of up, down, left and right between the starting point and the end point by taking pixel coordinates of four corners of the outer frame as a caliper starting point and the end point, searching to obtain outer edge points positioned on the outer frame of the return type product, and fitting all the searched outer edge points to obtain the outer contour of the return type product;
step 5: searching one edge of the inner frame of the product according to points in the range of up, down, left and right between the starting point and the finishing point by taking pixel coordinates of two adjacent corners of the inner frame as a caliper starting point and a finishing point, searching to obtain an inner edge point positioned on the edge, and measuring the distance between the inner edge point and the corresponding outer edge point of the outer frame, wherein the distance is the single-side width of the product; retracting all the outer edge points obtained in the step 4 by half a single-side width towards the center direction of the return product to obtain a glue spraying point and also obtain the pixel coordinates of the glue spraying point;
step 6: and the spider hand performs dynamic spraying according to the pixel coordinates of the glue spraying points.
The calibration process of the step 1 is as follows: and obtaining camera position coordinates according to the camera mounting positions, obtaining spider hand position coordinates according to the spider hand mounting positions, and generating a conversion matrix through a nine-point calibration method so as to establish a coordinate conversion relation.
In the step 2, correlation optical fiber sensors are arranged at two sides of the assembly line, when a return product passes through the assembly line, the correlation optical fiber sensors acquire in-place signals, the in-place signals are transmitted into a controller, and a photographing instruction is sent to a camera by the controller; and an encoder is arranged on the assembly line, acquires the travelling distance of the assembly line, sends the shape close distance to a controller, and the controller calculates to obtain photographing position coordinates.
In step 4, connecting lines are carried out between the starting point and the end point, and searching is carried out according to points in the upper and lower ranges of the connecting lines; during searching, searching a point at intervals of a plurality of coordinate distances according to the coordinates of each point; the search determination principle is as follows: according to the edge polarity, searching for an edge with a relatively large pixel mutation amount, which is considered to be the edge of the loop-shaped product, and considering that the point is located on the outer frame of the loop-shaped product.
In step 4, 28 outer edge points are obtained through searching.
After step 5, the visual program will virtual a starting point outside the outline of the product, starting from the starting point, the controller opens the spraying solenoid valve in advance.
In the step 6, the vision program sorts the pixel coordinates of all the glue spraying points to form a closed loop; then, converting pixel coordinates of the glue spraying points into coordinates of spider hands through a conversion matrix, and adding values of an encoder to obtain the spraying coordinates of the spider hands; and (3) sending the spraying coordinates of the spider hands to the spider hands, tracking the product in a loop shape by the spider hands according to the coordinates, and carrying out dynamic spraying according to the obtained spraying coordinates of the spider hands.
The closed loop is provided with a plurality of repeated glue spraying points at the tail end connection part, and at least two repeated glue spraying points are arranged.
In step 6, the sorting of the pixel coordinates of the glue spraying points starts from the upper left corner, and the pixel coordinates are sorted in the anticlockwise direction.
The beneficial effects of the invention are as follows: the invention provides a set of algorithm aiming at the very easy-to-deform Chinese character 'Hui' type products, and the deformed Chinese character 'Hui' type products can be identified according to the algorithm, so that each product is precisely sprayed, and the yield is greatly improved.
Drawings
FIG. 1 is a schematic diagram of the structure of a loop-type product of the present invention;
FIG. 2 is a schematic view of the deformed product structure;
FIG. 3 is a diagram of the overall structure of the present invention;
FIG. 4 is a pipeline arrangement;
FIG. 5 is a schematic view of a photographic station configuration;
FIG. 6 is a schematic diagram of a spider hand structure;
FIG. 7 is a schematic structural view of a cold air drying device;
fig. 8 is a flow chart of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be understood that the terms "upper," "lower," "front," "rear," "left," "right," "top," "bottom," "inner," "outer," and the like indicate or are based on the orientation or positional relationship shown in the drawings, merely to facilitate description of the present invention and to simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.
As shown in fig. 3, the automatic glue sprayer for the loop-shaped product comprises an upper layer work station 1 and a lower layer work station 2, wherein one side of the upper layer work station 1 is provided with a feed inlet 3, and the other side of the lower layer work station 2 is provided with a discharge outlet 4.
As shown in fig. 4, the assembly line includes an upper layer assembly line 5 provided in the upper layer workstation 1 and a lower layer assembly line 6 provided in the lower layer workstation 2, and a drop-off type flip is generated when a loop-type product falls from the upper layer assembly line 5 to the lower layer assembly line 6 because a drop-off is present between the upper layer assembly line 5 and the lower layer assembly line 6.
The upper layer pipeline 5 and the lower layer pipeline 6 are arranged identically, and the present patent application describes the upper layer pipeline 5 as an example.
As shown in fig. 4 and 5, a guiding component 7 is arranged at the inlet of the upper layer pipeline 5, a photographing station 8 is arranged on the upper layer pipeline 5 at the rear end of the guiding component 7, a spraying station 9 is arranged on the upper layer pipeline 5 behind the photographing station 8, and a cold air drying station 10 is arranged on the upper layer pipeline 5 behind the spraying station 9. In this way, after the return product enters the upper layer workstation 1 from the feed inlet 3, the return product is sent to a station of the photographing station 8 by the upper layer pipeline 5, an actual image of the return product is obtained by the photographing station 8, and the glue spraying point 103 is determined according to the actual image calculation; then, spraying the glue spraying point 103 on the spraying station 9, and entering a cold air blow-drying station after spraying to realize blow-drying procedure after spraying.
Specifically, the guide assembly 7 includes a front rod 71 and a rear rod 72, two diagonal rods 73 are disposed between the front rod 71 and the rear rod 72, a feeding channel formed by the two diagonal rods 73 is wide at an inlet of the feeding channel and narrow at an outlet of the feeding channel, so that a loop-shaped product is located at a middle position of the upper layer pipeline 5, and a photographing station is facilitated to photograph.
As shown in fig. 5, the photographing station includes photographing supports 84 disposed at two sides of the upper assembly line 5, a beam 85 is disposed between the two photographing supports 84, a camera 86 is disposed on the beam 85, and a lens of the camera 86 faces downward toward the upper assembly line.
The photographing station is also provided with a sensor bracket 81, the sensor bracket 81 is also positioned at two sides of the upper layer pipeline 5, and the sensor bracket 81 is provided with a correlation optical fiber sensor 82. The correlation fiber optic sensor 82 and the camera 86 are both connected to a controller. When the loop-type product is transported forward by the upper layer pipeline 5, the loop-type product blocks the light source of the correlation fiber optic sensor 82, and the controller sends a command to trigger the camera 86 to take a picture.
Further, a rotating shaft is fixedly arranged on the sensor bracket 81, an encoder 83 is sleeved on the rotating shaft, and the encoder 83 is also connected with the controller. When installed, the encoder 83 is disposed closely to the upper layer pipeline 5 and rotates as the upper layer pipeline 5 is operated, so that the upper layer pipeline 5 is operated forward, and the encoder 83 rotates, thereby transmitting the travel distance of the upper layer pipeline 5 to the controller.
As shown in fig. 6, the spraying station 9 comprises a spider hand 91 and a spraying device 92 positioned at the lower end of the spider hand, a spraying electromagnetic valve 93 is arranged at the outlet of the spraying device 92, and the spraying electromagnetic valve 93 is controlled to be opened by a controller.
As shown in fig. 7, the cold air drying station 10 includes cold air drying devices 11 that are installed on two sides of the upper laminar water layer 5, and the cold air drying devices are existing devices and are not described herein.
On the above-mentioned glue sprayer, as shown in fig. 8, the spraying method of the invention for the loop-shaped product comprises the following steps:
step 1: a camera 86 and a spider hand 91 are sequentially arranged on the assembly line, and a spraying device 92 is arranged below the spider hand 91; after the installation is finished, the camera position and the spider hand position are calibrated.
Further, the calibration process is as follows: obtaining camera position coordinates according to the mounting position of the camera 86, obtaining spider hand position coordinates according to the mounting position of the spider hand 91, and generating a conversion matrix by a nine-point calibration method so as to establish a coordinate conversion relation; and then the calibration is not needed as long as the camera or the spider hand is not dismounted.
Further, a spraying electromagnetic valve 93 is arranged at the outlet of the spraying device 92, and the spraying electromagnetic valve 93 is controlled to be opened by a controller.
Step 2: placing the loop-shaped product on a production line, and triggering the camera 86 to take a picture when the loop-shaped product runs below the camera to obtain an original image; a vision program in the controller acquires photographing position coordinates and an original image.
Further, correlation optical fiber sensors 82 are arranged on two sides of the assembly line, when the product passes through the assembly line, the correlation optical fiber sensors 82 collect in-place signals, the in-place signals are transmitted into the controller, and the controller sends a photographing instruction to the camera.
Further, an encoder 83 is arranged on the pipeline, the encoder 83 obtains the travelling distance of the pipeline and sends the shape close distance to a controller, and the controller calculates to obtain photographing position coordinates.
Step 3: the visual program divides the visual field of the camera into four areas of upper left, lower left, upper right and lower right, pre-processes the original image, filters out interference points in the image through pre-processing, only retains a binarized black-white image, and searches four corners of the outer frame of the product respectively by utilizing a template matching principle to obtain pixel coordinates of the four corners of the outer frame; simultaneously, searching two adjacent corners of the inner frame of the product by using a template matching principle respectively to obtain pixel coordinates of the two adjacent corners of the inner frame;
step 4: and searching the outer edge frame of the return type product according to points in the range of up, down, left and right between the starting point and the end point by taking the pixel coordinates of the four corners of the outer edge frame as a caliper starting point and an end point, searching to obtain outer edge points 101 positioned on the outer edge frame of the return type product, and fitting all the searched outer edge points 101 to obtain the outer contour 100 of the return type product.
The above search process is illustrated with the top left corner as the starting point and the top right corner as the ending point. And (3) connecting the starting point and the end point, and searching according to points in the upper and lower ranges of the connecting line. During searching, one point is searched every a plurality of coordinate distances according to the coordinates of each point. The search determination principle is as follows: according to the edge polarity, searching for an edge with a relatively large pixel mutation amount, which is considered to be the edge of the loop-shaped product, and considering that the point is located on the outer frame of the loop-shaped product. Similarly, the upper left corner is used as a starting point, the lower left corner is used as an ending point to conduct connection, and point searching is conducted in the left and right range of the connection.
It should be noted that, the more the number of the outer edge points 101 obtained by searching is, the more accurate the fitted contour of the loop-shaped product is, but the slower the speed is, so that the pixel coordinates of the outer edge points are obtained by searching 28 outer edge points in total in the present application.
Step 5: and searching one edge of the inner frame of the return type product according to points in the range of up, down, left and right between the starting point and the finishing point by taking the pixel coordinates of two adjacent corners of the inner frame as a caliper starting point and a finishing point, searching to obtain an inner edge point 102 positioned on the one edge, and measuring the distance between the inner edge point 102 and a corresponding outer edge point 101 of the outer frame, wherein the distance is the single-side width of the return type product. And (3) retracting all the outer edge points 101 obtained in the step (4) by half a single-side width towards the center direction of the return product to obtain glue spraying points 103 and also obtain pixel coordinates of the glue spraying points.
Step 6: the vision program sorts the pixel coordinates of all the glue spraying points to form a closed loop; then, the pixel coordinates of the glue spraying points are converted into the coordinates of the spider hands through a conversion matrix, and the values of the encoder are added to obtain the spraying coordinates of the spider hands. And converting the spraying coordinates of the spider hands into 16 scale, sending the 16 scale to the spider hands according to the communication format defined by the two parties, tracking the loop-shaped product by the spider hands according to the coordinates, and carrying out dynamic spraying according to the obtained spraying coordinates of the spider hands.
Preferably, the above-mentioned closed loop sets up a plurality of repeated spouting gluey point in ending junction, and repeated spouting gluey point sets up two at least, namely: when the closed loop is formed by 28 glue spraying points 103, the first, second and third points of the closed loop are set as repeated glue spraying points, so that uneven flowing of the spraying agent during initial spraying is prevented, and the foolproof purpose is realized.
Better, the visual program can virtual a starting point outside the outline of the product, so that when the controller controls the spider hand to spray, the starting point is used for starting, the controller is convenient to open the spraying electromagnetic valve in advance, and the problem of uneven spraying of the starting point is solved. In this embodiment, the virtual starting point is located outside the upper left corner of the outer contour. Thus, the ordering of the pixel coordinates of the glue spray points begins at the upper left corner and the pixel coordinates are ordered in a counter-clockwise direction.
After the upper layer spraying of the product is finished, the product falls from the upper layer pipeline 5 to the lower layer pipeline 6, and in the falling process, the product is turned over, and then enters the lower layer workstation 2 to be sprayed, and the upper layer spraying and the lower layer spraying have the same working procedures.
The foregoing is merely a preferred embodiment of the present invention, and it should be noted that it will be apparent to those skilled in the art that several changes and modifications can be made without departing from the general inventive concept, and these should also be regarded as the scope of the invention.
Claims (9)
1. The spraying method of the loop-shaped product is characterized by comprising the following steps of: the method comprises the following steps:
step 1: a camera (86) and a spider hand (91) are sequentially arranged on the assembly line, and a spraying device (92) is arranged below the spider hand (91); after the installation is finished, calibrating the camera position and the spider hand position;
step 2: placing the loop-shaped product on a production line, and triggering a camera (86) to take a picture when the loop-shaped product runs below the camera to obtain an original image; a vision program in the controller acquires photographing position coordinates and an original image;
step 3: the visual program divides the visual field of the camera into four areas of upper left, lower left, upper right and lower right, pre-processes the original image, and searches four corners of the outer frame of the return type product respectively by utilizing a template matching principle to obtain pixel coordinates of the four corners of the outer frame; simultaneously, searching two adjacent corners of the inner frame of the product by using a template matching principle respectively to obtain pixel coordinates of the two adjacent corners of the inner frame;
step 4: searching the outer frame of the return type product according to points in the upper, lower, left and right ranges between the starting point and the end point by taking pixel coordinates of four corners of the outer frame as a starting point and the end point of the caliper, and searching to obtain outer edge points (101) positioned on the outer frame of the return type product;
step 5: searching one edge of the inner frame of the product according to points in the range of up, down, left and right between the starting point and the finishing point by taking pixel coordinates of two adjacent corners of the inner frame as a caliper starting point and a finishing point, searching to obtain an inner edge point (102) positioned on the one edge, and measuring the distance between the inner edge point (102) and a corresponding outer edge point (101) of the outer frame, wherein the distance is the single-side width of the product; retracting all the outer edge points (101) obtained in the step 4 by half a single-side width towards the center direction of the return product to obtain glue spraying points (103) and also obtain pixel coordinates of the glue spraying points;
step 6: and the spider hand performs dynamic spraying according to the pixel coordinates of the glue spraying points.
2. The spray method of a loop-type product according to claim 1, wherein: the calibration process of the step 1 is as follows: and obtaining camera position coordinates according to the mounting position of the camera (86), obtaining spider hand position coordinates according to the mounting position of the spider hand (91), and generating a conversion matrix by a nine-point calibration method so as to establish a coordinate conversion relation.
3. The spray method of a loop-type product according to claim 1, wherein: in the step 2, correlation optical fiber sensors (82) are arranged at two sides of the assembly line, when a return product passes through the assembly line, the correlation optical fiber sensors (82) acquire in-place signals, the in-place signals are transmitted into a controller, and the controller sends a photographing instruction to a camera; and an encoder (83) is arranged on the assembly line, the encoder (83) acquires the travelling distance of the assembly line and sends the shape close distance to a controller, and the controller calculates to obtain photographing position coordinates.
4. The spray method of a loop-type product according to claim 1, wherein: in step 4, connecting lines are carried out between the starting point and the end point, and searching is carried out according to points in the upper and lower ranges of the connecting lines; during searching, searching a point at intervals of a plurality of coordinate distances according to the coordinates of each point; the search determination principle is as follows: according to the edge polarity, searching for an edge with a relatively large pixel mutation amount, which is considered to be the edge of the loop-shaped product, and considering that the point is located on the outer frame of the loop-shaped product.
5. The spray method of a loop-type product according to claim 1, wherein: in step 4, 28 outer edge points are obtained through searching.
6. The spray method of a loop-type product according to claim 1, wherein: after step 5, the visual program will virtual a starting point outside the outline of the product, starting from the starting point, the controller opens the spraying solenoid valve in advance.
7. The spray method of a loop-type product according to claim 1, wherein: in the step 6, the vision program sorts the pixel coordinates of all the glue spraying points to form a closed loop; then, converting pixel coordinates of the glue spraying points into coordinates of spider hands through a conversion matrix, and adding values of an encoder to obtain the spraying coordinates of the spider hands; and (3) sending the spraying coordinates of the spider hands to the spider hands, tracking the product in a loop shape by the spider hands according to the coordinates, and carrying out dynamic spraying according to the obtained spraying coordinates of the spider hands.
8. The method of spray-coating a loop-type product according to claim 7, wherein: the closed loop is provided with a plurality of repeated glue spraying points at the tail end connection part, and at least two repeated glue spraying points are arranged.
9. The method of spray-coating a loop-type product according to claim 7, wherein: in step 6, the sorting of the pixel coordinates of the glue spraying points starts from the upper left corner, and the pixel coordinates are sorted in the anticlockwise direction.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211572834.0A CN116060269A (en) | 2022-12-08 | 2022-12-08 | Spraying method for loop-shaped product |
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| CN202211572834.0A CN116060269A (en) | 2022-12-08 | 2022-12-08 | Spraying method for loop-shaped product |
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Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106391397A (en) * | 2016-09-07 | 2017-02-15 | 广东欧珀移动通信有限公司 | Glue spraying device and determination method of border track |
| CN109954613A (en) * | 2017-12-25 | 2019-07-02 | 广州智信科技有限公司 | Spraying method |
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2022
- 2022-12-08 CN CN202211572834.0A patent/CN116060269A/en active Pending
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| CN106391397A (en) * | 2016-09-07 | 2017-02-15 | 广东欧珀移动通信有限公司 | Glue spraying device and determination method of border track |
| CN109954613A (en) * | 2017-12-25 | 2019-07-02 | 广州智信科技有限公司 | Spraying method |
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