CN117772566B - Control method and system for planning dispensing track - Google Patents
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- 238000000034 method Methods 0.000 title claims abstract description 22
- 239000003292 glue Substances 0.000 claims abstract description 12
- 238000012015 optical character recognition Methods 0.000 claims 3
- 238000004519 manufacturing process Methods 0.000 description 9
- 238000012545 processing Methods 0.000 description 3
- 239000000853 adhesive Substances 0.000 description 1
- 230000001070 adhesive effect Effects 0.000 description 1
- 238000013528 artificial neural network Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000977 initiatory effect Effects 0.000 description 1
- 238000010801 machine learning Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000012858 packaging process Methods 0.000 description 1
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Abstract
The invention relates to the field of dispensing, and provides a control method and a system for planning a dispensing track, wherein the control method comprises the steps of dividing a target to be dispensed into a plurality of templates according to a template library; each template is preset with at least one preset dispensing track; the preset dispensing track starts from one vertex of the template rectangle and ends from the other vertex; selecting a first starting vertex of a first template, and merging an ending vertex corresponding to the first starting vertex with a starting vertex of an adjacent template to obtain at least one merged vertex; selecting one merging vertex, and regarding a preset dispensing track between the first starting vertex and the first merging vertex as an intermediate track; and taking the first combined vertex as a first starting vertex, repeatedly running the step until the templates of the complete division are traversed, and combining the middle track with the track corresponding to the first starting vertex of the last template to obtain the target point glue track. By the aid of the scheme, the planning speed of the dispensing track can be improved.
Description
Technical Field
The invention relates to the field of dispensing, in particular to a control method and a system for planning a dispensing track.
Background
Automated dispensing is a common application in industrial manufacturing processes that involves the precise application of glue or other adhesive to the surface of a product. This process can be accomplished by an automated system to increase production efficiency, reduce manual operations, and ensure consistent product quality.
The automatic dispensing has wide application in various industrial fields, can improve the production efficiency, reduce the cost and ensure the accuracy and consistency of products. For example, in the manufacture of Printed Circuit Boards (PCBs), automated dispensing may be used to apply conductive paste, solder joint protective paste, etc. to the circuit board. In the packaging process of the electronic component, the dispensing can be used for fixing the component, connecting the circuit and providing protection. In the manufacture of automotive lamps, dispensing may be used to package, secure and attach various components, such as bulbs, lenses, etc. In the manufacture of medical devices, dispensing may be used to assemble and secure the various components of the device, ensuring the accuracy and reliability of the product. In spacecraft manufacturing, dispensing may be used to seal and secure various components of the spacecraft to ensure reliability in extreme environments.
Planning a dispensing track in the automatic dispensing implementation process is an important ring, and the specific position and the dispensing amount of dispensing are required to be determined through a computer, so that the movement of a manipulator is controlled to automatically dispense. In the prior art, a target is usually scanned through a point cloud technology, then the characteristics of the dispensing target are analyzed through a computer vision technology, and then a dispensing track is planned according to the characteristics of the dispensing target, for example, lin Zhiming 'design of a customized line dispensing machine compensation system based on machine vision' and Guo Chao 'planning of a sole dispensing path based on an SOM neural network', the dispensing process in the prior art needs complex image processing, so that the dispensing planning is too slow.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides a control method and a system for planning a dispensing track.
In one aspect of the present invention, a control method for planning a dispensing trajectory is provided, including the steps of: obtaining a target to be dispensed, and dividing the target to be dispensed into a plurality of templates according to a template library; the template is rectangular; the templates are preset in the template library; each template is preset with at least one preset dispensing track; the preset dispensing track starts from one vertex of the template rectangle and ends from the other vertex; the vertex of each dispensing track in each template is a starting vertex, and the vertex of each dispensing track is an ending vertex; selecting a first template with the least starting vertex from the divided templates; selecting a first starting vertex of a first template, and merging an ending vertex corresponding to the first starting vertex with a starting vertex of an adjacent template to obtain at least one merged vertex; selecting one merging vertex, and regarding a preset dispensing track between the first starting vertex and the first merging vertex as an intermediate track; and taking the first combined vertex as a first starting vertex, repeatedly running the step until the templates of the complete division are traversed, and combining the middle track with the track corresponding to the first starting vertex of the last template to obtain the target point glue track.
Further, if the object to be dispensed cannot be completely divided into a plurality of templates according to the template library, the undivided part is subjected to track planning by using a manual or automatic means.
Further, if the dispensing target is a PCB, adopting OCR to recognize the model code on the chip, and matching the template according to the model code.
Further, when selecting the merged vertex, the template with the least starting vertex is selected.
Further, if the template of the next step cannot be found in any step, the previous step is returned to select another path.
On the other hand, the invention also discloses a control system for planning the dispensing track, which comprises the following modules: the dividing module is used for obtaining a target to be dispensed and dividing the target to be dispensed into a plurality of templates according to the template library; the template is rectangular; the templates are preset in the template library; each template is preset with at least one preset dispensing track; the preset dispensing track starts from one vertex of the template rectangle and ends from the other vertex; the vertex of each dispensing track in each template is a starting vertex, and the vertex of each dispensing track is an ending vertex; a planning module, which is used for selecting a first template with the least starting vertex from a plurality of divided templates; selecting a first starting vertex of a first template, and merging an ending vertex corresponding to the first starting vertex with a starting vertex of an adjacent template to obtain at least one merged vertex; selecting one merging vertex, and regarding a preset dispensing track between the first starting vertex and the first merging vertex as an intermediate track; and taking the first combined vertex as a first starting vertex, repeatedly running the step until the templates of the complete division are traversed, and combining the middle track with the track corresponding to the first starting vertex of the last template to obtain the target point glue track.
Further, if the object to be dispensed cannot be completely divided into a plurality of templates according to the template library, the undivided part is subjected to track planning by using a manual or automatic means.
Further, if the dispensing target is a PCB, adopting OCR to recognize the model code on the chip, and matching the template according to the model code.
Further, when selecting the merged vertex, the template with the least starting vertex is selected.
Further, if the template of the next step cannot be found in any step, the previous step is returned to select another path.
Through the technical scheme, the invention can produce the following beneficial effects:
and (3) carrying out module division on the dispensing targets, and planning the whole dispensing track according to each module, so that the track of the targets is improved, and the planning efficiency is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is an example of a dispensing type;
FIG. 2 is an example of a dispensing trace in a dispensing template;
FIG. 3 is a template partitioning example;
FIG. 4 is an example of a dispensing initiation point;
FIG. 5 is a merge vertex example;
FIG. 6 is an example of selecting a next template;
FIG. 7 is another merged vertex example;
FIG. 8 is an alternative merge vertex example;
FIG. 9 is a partial path example;
FIG. 10 is an example of a scratch path;
Fig. 11 is a full path example.
Detailed Description
The invention will be described with reference to the drawings and detailed description.
The present embodiment solves the above-described problems by a system that:
In one embodiment, the invention provides a control method for planning a dispensing track, which comprises the following steps.
Obtaining a target to be dispensed, and dividing the target to be dispensed into a plurality of templates according to a template library; the template is rectangular; the templates are preset in the template library; each template is preset with at least one preset dispensing track; the preset dispensing track starts from one vertex of the template rectangle and ends from the other vertex; the vertex of each dispensing track in each template is a starting vertex, and the vertex of each dispensing track is an ending vertex.
The object to be dispensed is an object to be dispensed, and may be a PCB, a sole or other parts requiring dispensing, in this embodiment, the principle of this embodiment is mainly described by taking a PCB board as an example, and similar applications may be performed for other objects of this embodiment, where other objects all belong to the protection scope of the present invention.
The template library is a database comprising a plurality of templates, along with the development of a templating technology, more and more products are composed of various templates, particularly in the field of PCBs, parts of the PCBs needing to be glued are usually various general chips, different chips possibly need different glue dispensing positions and methods, and as shown in FIG. 1, four-point glue dispensing and double-side glue dispensing are respectively carried out; in the production and manufacturing process, a template library is generated by a dispensing method for collecting different templates according to experience.
In order to facilitate subsequent path planning, the templates are unified into rectangles, rectangular interception can be performed on non-rectangular elements, and target elements are contained in the rectangles.
As shown in fig. 2, taking a template requiring four-point dispensing as an example, fig. 2 (a) - (f) preset at least one preset dispensing track, wherein the preset dispensing track starts from one vertex and ends from the other vertex of the template rectangle. As shown in fig. 2 (a), the dispensing trajectory starts from an a vertex, which is a start vertex, to a B vertex, which is an end vertex; in fig. 2, for the same starting vertex a, a plurality of different dispensing traces may be included, and as shown in fig. 2 (b) and fig. 2 (c), a starts at a and ends at C, D. Meanwhile, for the same template, there may be a plurality of different starting points, as shown in fig. 2 (d), taking C as the starting point, as shown in fig. 2 (e), and taking vertex B as the starting point; it is foreseen that there may be a plurality of different end points for the start point cases in fig. 2 (d), 2 (e); fig. 2 (f) shows a track of two-sided dispensing, it is easily understood that the two-sided dispensing can also plan a plurality of different tracks, and the specific track planning method is not limited by the embodiment of the present invention, and the starting point and the ending point are not used.
The preset dispensing track needs to include parameters required in normal dispensing operation, such as specific coordinate points (relative to the template) of dispensing, dispensing quantity (usually determined by dispensing pressure parameters), and the like, and the dispensing machine can automatically dispense the selected template according to the data after the dispensing track data in the template are read.
The preset dispensing track and parameters can be planned manually in advance, or can be planned automatically by adopting a machine vision method in the prior art, so long as a template library can be formed, and the embodiment is not particularly limited. For the PCB, planning can be performed according to different types of chips, and each type/model of chip corresponds to a plurality of dispensing tracks.
Further, dividing the object to be dispensed into a plurality of templates according to the template library can be determined through image matching. The target mark to be glued and the template image are obtained through the optical equipment, and the matched template can be quickly found by adopting a quick characteristic matching algorithm, approximate nearest neighbor search, hamming distance matching and the like, and the speed of simple image matching is far higher than the speed of point cloud processing speed or the speed of a machine learning method in the prior art, so that the speed of the whole track can be greatly improved.
Further, the present embodiment performs image matching using the following method:
moving the template image on the dispensing target in a window mode, matching the similarity in real time to measure the similarity between the template image and the dispensing target image, and setting the T dispensing target image and the S as the template, wherein the normalized correlation can be expressed as follows:
wherein R represents the correlation degree, i and j are positive integers, n and m are the length and the width of the dispensing target image, and u and v represent the length and the width of the template; s represents the pixel of the template, the subscript thereof represents the position of the pixel, T represents the pixel of the dispensing target, the subscript thereof represents the position of the pixel, Representing the pixel mean.
And traversing to calculate R, and when R is larger than a preset value, considering that the template is matched with one region in the target.
Further, if the object to be dispensed can not be completely divided into a plurality of templates according to the template library, the undivided part is subjected to track planning by using a manual or automatic means, and the planning result is stored in the template library. The automation means may here be local planning using prior art means, such as prior art solutions mentioned in the background.
Further, for the PCB, the model codes on the OCR recognition chip can be adopted, and the template is matched according to the model codes, so that the speed of OCR is faster than that of image matching, and the matching speed is further improved.
After dividing the object to be dispensed into a plurality of templates according to a template library, various situations may occur, as shown in fig. 3 (a), in which the entire object is perfectly divided into four templates for perfectly dividing the scene; as shown in fig. 3 (b), there may be a case where the template cannot be completely spliced into the target; neither perfect nor imperfect division affects subsequent steps.
In the step, the dispensing target is divided into a plurality of templates, and each template is internally provided with a plurality of preset dispensing tracks, so that the dispensing tracks of the whole dispensing target can be obtained by connecting the dispensing tracks in series.
Selecting a first template having a minimum starting vertex from among the divided templates in order to concatenate the templates; selecting a first starting vertex of a first template, and merging an ending vertex corresponding to the first starting vertex with a starting vertex of an adjacent template to obtain at least one merged vertex; selecting one merging vertex, and regarding a preset dispensing track between the first starting vertex and the first merging vertex as an intermediate track; and taking the first combined vertex as a first starting vertex, repeatedly running the step until the templates of the complete division are traversed, and combining the middle track with the track corresponding to the first starting vertex of the last template to obtain the target point glue track.
Since the templates having the least start vertices are most difficult to be connected in series, the first template having the least start vertices is selected from among the divided templates as the starting template, and any one of the starting points of the starting templates is selected as the starting point. As shown in fig. 4, the vertex of the template has a starting point, and in fig. 4, the starting point of the template 3 has only one starting point, so the template 3 is used as an initial template, and the starting point at the lower left of the template 3 is used as a first starting vertex.
In order to combine with other templates, the ending vertex of the template 3 needs to be connected with other starting vertices, in order to achieve the purpose, the ending vertex corresponding to the first starting vertex is combined with the starting vertex of the adjacent template to obtain at least one combined vertex, as shown in fig. 5, when the first starting vertex of the template 3 corresponds to 3 ending points, adjacent starting points of other templates of each ending point are searched, wherein the adjacent starting points refer to the vertex of one other template closest to the ending point of the template 3; as in fig. 5, the vertex of the other template closest to the vertex at the lower right of the template 3 is the vertex at the lower left of the template 4, and there is a starting point at the lower left of the template 4, so that the vertex at the lower left of the template 4 and the vertex at the lower right of the template 3 are combined to obtain a combined vertex, which is indicated by a gray-scale circle in fig. 5, and similarly, the combined vertex of the template 2 and the template 3 can also be found.
And selecting one merging vertex, and regarding a preset dispensing track between the first starting vertex and the first merging vertex as an intermediate track. As shown in fig. 6, assuming that the selected merging vertex is the merging vertex between the templates 3 and 4, the preset dispensing track from the lower left to the lower right in the template 3 is a middle track (not shown in fig. 6) of the target track, and we do not need to care how the track inside the template 3 is implemented specifically.
Further, when selecting the merging vertex, the template having the smallest starting vertex is selected, as shown in fig. 4, the template 2 has 3 starting points, and the template 4 has 4 starting points, and thus, the merging vertex between the template 2 and the template 3 is selected.
As shown in fig. 7, regarding the first merging vertex as a first starting vertex, repeating the step of searching for the next vertex, that is, taking the vertex at the lower left of the template 2 as the first starting vertex, searching for the next module which can be connected from the path starting from the lower left of the template 2, and as shown in fig. 8, there are two merging vertices between the template 2 and the template 1, at this time, one merging vertex can be selected randomly, and the subsequent steps can be continued.
The searching step is operated again, the lower left vertex of the template 1 is taken as a first starting point, and as shown in fig. 9, the combined vertex of the template 1 and the template 4 is found; as shown in fig. 10, a line connecting templates 3, 2, 1, and 4 in sequence is further found; meanwhile, each of the templates 3, 2 and 1 has an intermediate track, the intermediate tracks are sequentially connected with tracks corresponding to the first starting vertex of the last template 4 (namely the upper left corner of the template 4) and are combined to obtain a target point glue track, and a plurality of tracks taking the upper left corner of the template 4 as starting points possibly exist, and then one track is selected; as shown in fig. 11, if the lower right vertex of the template 4 is selected as the end point, the entire trajectory is lower left of the template 3-upper left of the template 3-lower left of the template 2-upper left of the template 2-lower left of the template 1-upper right of the template 1-upper left of the template 4-lower right of the template 4.
Further, if the template of the next step cannot be found in any step, the previous step is returned to select another path. Based on the foregoing example, as shown in fig. 8, if the path of the upper left of the template 2 and the lower left of the template 1 is selected, but the end point of the connection with the template 4 cannot be found with the lower left of the template 1 as the start point, the step of selecting the merge node by the template 2 is returned, at this time, the path of the upper right of the template 2 and the lower right of the template 1 is reselected, and the search is continued.
In this embodiment, the step of searching the track may be represented by a purely mathematical process, for example, the vertex of each template is converted into a coordinate, and the whole searching process may not involve complex image processing, so that the track can be run at a very fast speed, thereby greatly improving the speed of track planning.
In one aspect of the present invention, there is provided a control system for planning a dispensing trajectory, comprising:
The dividing module is used for obtaining a target to be dispensed and dividing the target to be dispensed into a plurality of templates according to the template library; the template is rectangular; the templates are preset in the template library; each template is preset with at least one preset dispensing track; the preset dispensing track starts from one vertex of the template rectangle and ends from the other vertex; the vertex of each dispensing track in each template is a starting vertex, and the vertex of each dispensing track is an ending vertex;
A planning module, which is used for selecting a first template with the least starting vertex from a plurality of divided templates; selecting a first starting vertex of a first template, and merging an ending vertex corresponding to the first starting vertex with a starting vertex of an adjacent template to obtain at least one merged vertex; selecting one merging vertex, and regarding a preset dispensing track between the first starting vertex and the first merging vertex as an intermediate track; and taking the first combined vertex as a first starting vertex, repeatedly running the step until the templates of the complete division are traversed, and combining the middle track with the track corresponding to the first starting vertex of the last template to obtain the target point glue track.
Finally, it should be noted that: the above embodiments are only for illustrating the technical aspects of the present invention and not for limiting the same, and although the present invention has been described in detail with reference to the above embodiments, it should be understood by those of ordinary skill in the art that: modifications and equivalents may be made to the specific embodiments of the invention without departing from the spirit and scope of the invention, which is intended to be covered by the claims.
Claims (8)
1. The control method for planning the dispensing track is characterized by comprising the following steps:
Obtaining a target to be dispensed, wherein the target to be dispensed is a PCB, and dividing the target to be dispensed into a plurality of templates according to a template library; the template is rectangular; the templates are preset in the template library; each template is preset with at least one preset dispensing track; the preset dispensing track starts from one vertex of the template rectangle and ends from the other vertex; the vertex of each dispensing track in each template is a starting vertex, and the vertex of each dispensing track is an ending vertex;
selecting a first template with the least starting vertex from the divided templates; selecting a first starting vertex of a first template, and merging an ending vertex corresponding to the first starting vertex with a starting vertex of an adjacent template to obtain at least one merged vertex; selecting one merging vertex, and regarding a preset dispensing track between the first starting vertex and the first merging vertex as an intermediate track; taking the first combined vertex as a first starting vertex, repeatedly running the step until the templates of the complete division are traversed, and combining the middle track with the track corresponding to the first starting vertex of the last template to obtain a target point glue track;
the templates are chips, and the dispensing positions of different chips are different;
and adopting OCR to recognize model codes on the chip, and matching templates according to the model codes.
2. The control method for planning a dispensing trajectory according to claim 1, wherein: if the object to be dispensed can not be completely divided into a plurality of templates according to the template library, the undivided part is subjected to track planning by using a manual or automatic means.
3. The control method for planning a dispensing trajectory according to claim 1, wherein: when the merge vertex is selected, the template with the least start vertex is selected.
4. The control method for planning a dispensing trajectory according to claim 1, wherein: if the template of the next step cannot be found in any step, the previous step is returned to select another path.
5. A control system for planning a dispensing trajectory, characterized in that the system comprises the following modules:
The dividing module is used for obtaining a target to be glued, wherein the target to be glued is a PCB, dividing the target to be glued into a plurality of templates according to a template library, adopting model codes on an OCR (optical character recognition) chip, and matching the templates according to the model codes; the template is rectangular; the templates are preset in the template library, the templates are chips, and dispensing positions of different chips are different; each template is preset with at least one preset dispensing track; the preset dispensing track starts from one vertex of the template rectangle and ends from the other vertex; the vertex of each dispensing track in each template is a starting vertex, and the vertex of each dispensing track is an ending vertex;
A planning module, which is used for selecting a first template with the least starting vertex from a plurality of divided templates; selecting a first starting vertex of a first template, and merging an ending vertex corresponding to the first starting vertex with a starting vertex of an adjacent template to obtain at least one merged vertex; selecting one merging vertex, and regarding a preset dispensing track between the first starting vertex and the first merging vertex as an intermediate track; and taking the first combined vertex as a first starting vertex, repeatedly running the step until the templates of the complete division are traversed, and combining the middle track with the track corresponding to the first starting vertex of the last template to obtain the target point glue track.
6. The control system for planning a dispensing trajectory of claim 5, wherein: if the object to be dispensed can not be completely divided into a plurality of templates according to the template library, the undivided part is subjected to track planning by using a manual or automatic means.
7. The control system for planning a dispensing trajectory of claim 5, wherein: when the merge vertex is selected, the template with the least start vertex is selected.
8. The control system for planning a dispensing trajectory of claim 5, wherein: if the template of the next step cannot be found in any step, the previous step is returned to select another path.
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| CN116475025A (en) * | 2023-06-21 | 2023-07-25 | 深圳德森精密设备有限公司 | Processing track making method, processing system, processor and storage medium |
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| CN108906482A (en) * | 2018-03-30 | 2018-11-30 | 鸿利智汇集团股份有限公司 | A kind of LED dispensing method and point glue equipment |
| CN110328107A (en) * | 2019-07-24 | 2019-10-15 | 广州番禺职业技术学院 | Dispensing method for planning track, device and spot gluing equipment for LED lens attachment |
| CN113510047B (en) * | 2021-05-26 | 2023-05-12 | 飓蜂科技(苏州)有限公司 | Dispensing method and device for planning dispensing track |
| CN115646751B (en) * | 2022-12-14 | 2023-03-17 | 常州铭赛机器人科技股份有限公司 | Dispensing device and dispensing method thereof |
| CN116786373B (en) * | 2023-08-28 | 2023-11-10 | 苏州希盟科技股份有限公司 | Dispensing control method, device and equipment of dispensing equipment and storage medium |
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| CN111300673A (en) * | 2018-12-11 | 2020-06-19 | 楚雄隆基硅材料有限公司 | Dispensing method, bonding plate and crystal support for manufacturing silicon wafer |
| CN116475025A (en) * | 2023-06-21 | 2023-07-25 | 深圳德森精密设备有限公司 | Processing track making method, processing system, processor and storage medium |
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