WO2021128268A1 - 基于双ccd的点胶针头校正方法及装置 - Google Patents

基于双ccd的点胶针头校正方法及装置 Download PDF

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WO2021128268A1
WO2021128268A1 PCT/CN2019/129149 CN2019129149W WO2021128268A1 WO 2021128268 A1 WO2021128268 A1 WO 2021128268A1 CN 2019129149 W CN2019129149 W CN 2019129149W WO 2021128268 A1 WO2021128268 A1 WO 2021128268A1
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value
ccd
dispensing needle
correction
coordinate
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PCT/CN2019/129149
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English (en)
French (fr)
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胡远亮
黄永宁
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深圳市轴心自控技术有限公司
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Priority to PCT/CN2019/129149 priority Critical patent/WO2021128268A1/zh
Publication of WO2021128268A1 publication Critical patent/WO2021128268A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05C11/00—Component parts, details or accessories not specifically provided for in groups B05C1/00 - B05C9/00
    • B05C11/10—Storage, supply or control of liquid or other fluent material; Recovery of excess liquid or other fluent material
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05C5/00—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work
    • B05C5/02—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work

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  • the present invention relates to a calibration method and device, in particular to a method and device for calibrating a dispensing needle based on dual CCDs.
  • each module needs to collaborate efficiently to improve dispensing efficiency.
  • the dispensing needle will be periodically replaced. After replacing the dispensing needle, the position of the dispensing needle must be repositioned.
  • the XY direction calibration of the dispensing needle is mainly by moving the dispensing needle to the dispensing platform, so that the dispensing needle and the dispensing platform maintain a certain dispensing height.
  • the dispensing needle dispenses and moves the camera to the dispensing platform. Position, by correcting the deviation between the center point of the camera and the glue point to achieve compensation in the XY direction.
  • dispensing correction may cause a certain deviation in the calibration of the dispensing needle in the XY direction, and the consistency of high-precision dispensing cannot be achieved.
  • it is necessary to repeat the dispensing step which is inefficient and cannot meet the demand for high-efficiency dispensing.
  • fiber laser is used to calibrate the dispensing needle, but the fiber laser calibration is slower and takes too long, which will seriously affect production efficiency.
  • the prior art dispensing needle calibration technical solution has the following defects: high error and low efficiency.
  • One of the technical problems to be solved by the present invention is to provide a double CCD-based dispensing needle calibration method that can calibrate the replaced dispensing needle with high precision and high efficiency in view of the above-mentioned defects in the prior art.
  • the technical solution includes the following steps: forming a cross detection area between the first CCD and the second CCD placed vertically, collecting the coordinate value and angle value of the target dispensing needle in the cross detection area, and calculating the coordinate value and The deviation of the coordinate preset value forms a correction value, and the difference value between the angle value and the angle preset value is calculated. If the difference value is greater than the set value, a warning is given, and the target dispensing needle is adjusted with the correction value s position.
  • the specific steps include:
  • the first CCD collects the initial X coordinate value and the initial X-direction tilt angle value of the preset dispensing needle, while the second CCD collects the initial YZ coordinate value and the initial YZ direction of the preset dispensing needle A tilt angle value, the coordinate preset value includes the initial X coordinate value and the initial YZ coordinate value, and the angle preset value includes the initial X-direction tilt angle value and the initial YZ-direction tilt angle value;
  • the first CCD collects the real-time X coordinate value and real-time X-direction tilt angle value of the target dispensing needle, while the second CCD collects the real-time YZ coordinate value and real-time YZ tilt angle of the target dispensing needle
  • An angle value the coordinate value includes the real-time X coordinate value and the real-time YZ coordinate value
  • the angle value includes the real-time X-direction tilt angle value and the real-time YZ-direction tilt angle value;
  • S5 Adjust the position of the target dispensing needle according to the correction value, so that during the dispensing operation of the target dispensing needle, the correction value is compensated to the position of the dispensing operation.
  • the step S5 includes:
  • the motor adjusts the position of the target dispensing needle, so that during the dispensing operation of the target dispensing needle, the correction value is compensated to the position of the dispensing operation.
  • the second technical problem to be solved by the present invention is to provide a double CCD-based dispensing needle correction device that can correct the replaced dispensing needle with high precision and high efficiency in view of the above-mentioned defects in the prior art.
  • the technical solution includes:
  • Control unit used to calculate the deviation between the coordinate value and the coordinate preset value to form a correction value, and calculate the difference value between the angle value and the angle preset value, and a warning is given if the difference value is greater than the set value;
  • the driving unit includes:
  • Motion controller used to receive and calculate the correction value to form a corresponding control signal
  • the driver drives the motor to rotate, and the motor adjusts the position of the target dispensing needle, so that when the target dispensing needle is in the dispensing operation process, the correction value is compensated to the value of the dispensing operation.
  • control unit is an industrial computer.
  • FIG. 1 is a schematic flowchart of an embodiment of a method for correcting a dispensing needle based on a dual CCD according to the present invention
  • FIG. 2 is a structural block diagram of an embodiment of the dispensing needle correction device based on dual CCD of the present invention
  • the double CCD-based dispensing needle correction method of this embodiment includes the following steps: forming a cross detection area between a first CCD and a second CCD placed vertically, and collecting in the cross detection area The coordinate value and angle value of the target dispensing needle, the deviation between the coordinate value and the coordinate preset value is calculated to form a correction value, and the difference between the angle value and the angle preset value is calculated, and the difference is greater than the set value A warning is issued, and the position of the target dispensing needle is adjusted with the correction value.
  • Dual CCD refers to 2 CCDs.
  • CCD Charge Coupled Device
  • CCD Charge Coupled Device
  • the CCD in this embodiment includes a coordinate camera, a coordinate camera lens, Coordinate camera light source and light source mounting block.
  • the first CCD and the second CCD are placed vertically, so that the image acquisition path of the first CCD and the image acquisition path of the second CCD are perpendicular to each other in the horizontal plane, which not only makes the correction more accurate, but also detects and corrects the angle of the target dispensing needle , Detect and warn the inclined target dispensing needle, improve the accuracy of target dispensing needle placement, help improve dispensing accuracy and improve production efficiency.
  • the specific steps include:
  • the first CCD collects the initial X coordinate value and the initial X-direction tilt angle value of the preset dispensing needle, while the second CCD collects the initial YZ coordinate value and the initial YZ-direction tilt angle value of the preset dispensing needle.
  • the set value includes the initial X coordinate value and the initial YZ coordinate value, and the angle preset value includes the initial X-direction tilt angle value and the initial YZ-direction tilt angle value;
  • the first CCD collects the real-time X coordinate value and real-time X-direction tilt angle value of the target dispensing needle, while the second CCD collects the real-time YZ coordinate value and real-time YZ tilt angle value of the target dispensing needle, and the coordinate values include real-time X Coordinate value and real-time YZ coordinate value, angle value includes real-time X-direction tilt angle value and real-time YZ-direction tilt angle value;
  • S5 Adjust the position of the target dispensing needle with the correction value, so that the correction value is compensated to the position of the dispensing operation during the dispensing operation of the target dispensing needle. That is, during the dispensing operation of the target dispensing needle, after the correction value compensation is performed, the dispensing running trajectory of the target dispensing needle is consistent with the dispensing running trajectory of the preset dispensing needle.
  • step S5 includes:
  • the motor adjusts the position of the target dispensing needle, so that the correction value is compensated to the position of the dispensing operation during the dispensing operation of the target dispensing needle. That is, during the dispensing operation of the target dispensing needle, after the correction value compensation is performed, the dispensing running trajectory of the target dispensing needle is consistent with the dispensing running trajectory of the preset dispensing needle.
  • the double CCD-based dispensing needle correction device of this embodiment includes:
  • the first CCD1 and the second CCD2 are used to collect the coordinate value and angle of the target dispensing needle in the cross detection area value;
  • Control unit 3 used to calculate the deviation between the coordinate value and the coordinate preset value to form a correction value, and to calculate the difference between the angle value and the angle preset value, and a warning is given when the difference is greater than the set value;
  • the drive unit includes:
  • Motion controller 4 used to receive and calculate the correction value to form the corresponding control signal
  • Driver 5 used to execute control signals
  • the driver 5 drives the motor 6 to rotate, and the motor 6 adjusts the position of the target dispensing needle, so that the correction value is compensated to the position of the dispensing operation during the dispensing operation of the target dispensing needle. That is, during the dispensing operation of the target dispensing needle, after the correction value compensation is performed, the dispensing running trajectory of the target dispensing needle is consistent with the dispensing running trajectory of the preset dispensing needle.
  • the first CCD1 and the second CCD2 are placed vertically, so that the image acquisition path of the first CCD1 and the image acquisition path of the second CCD2 are perpendicular to each other in the horizontal plane, which not only makes the correction more accurate, but also detects and corrects the angle of the target dispensing needle , Detect and warn the inclined target dispensing needle, improve the accuracy of target dispensing needle placement, help improve dispensing accuracy and improve production efficiency.
  • the double CCD-based dispensing needle correction method and device of this embodiment can perform XYZ position correction on the replaced dispensing needle (that is, the target dispensing needle) with high precision and efficiency, and the correction recognition time can be increased to milliseconds. It reduces the time to calibrate new dispensing needles and improves production efficiency.

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Abstract

一种基于双CCD的点胶针头校正方法，其方法包括以下步骤:在垂直放置的第一CCD（1）和第二CCD（2）之间形成交叉检测区域，在交叉检测区域中采集目标点胶针头的坐标值和角度值，计算坐标值与坐标预设值的偏差形成校正值、并计算角度值与角度预设值的差值，差值大于设定值则进行警示，以校正值来调整目标点胶针头的位置。还涉及一种相应的装置包括垂直放置的第一CCD(1)和第二CCD(2)，控制单元(3)和驱动单元。该点胶针头校正方法可以高精度、高效率对更换后的点胶针头进行位置校正和角度偏差警示，校正识别时间可以提高至毫秒级，减少了校正新点胶针头的时间，提高了生产效率。

Description

基于双CCD的点胶针头校正方法及装置 技术领域
本发明涉及校正方法及装置，尤其涉及基于双CCD的点胶针头校正方法及装置。
背景技术
随着科技的进步，各行业对点胶工艺需求逐渐转变的更为精细化，表现为点径和线径更小，点胶胶条的宽度、厚度、边缘解析度等的一致性要求更高，致使点胶设备的精度需要进一步提高。与此同时，在点胶设备的方案中，各个模块需要高效协作才可以提高点胶效率。在点胶过程中，会周期性的更换点胶针头，更换点胶针头后需对点胶针头的位置进行重新定位。目前在传统方法中，XY方向校准点胶针头主要是通过移动点胶针头至点胶平台，使得点胶针头与点胶平台保持一定的点胶高度，点胶针头点胶并移动相机到点胶位置，通过校正相机中心点和打胶点之间的偏差实现XY方向的补偿。在操作过程中，由于接触点胶过程中误差的存在，周期性更换针头时，重复依靠点胶校正可能会导致点胶针头在XY方向校准上存在一定偏差，不能实现高精度点胶的一致性；同时，传统方法XY方向针头校正中，需重复点胶这一步骤，效率低下，不能够满足高效率点胶的需求。
一些现有技术中,采用光纤激光进行点胶针头的校正，但光纤激光校正的速度较慢，占用时间过长，这会严重影响生产效率。
综上，现有技术的点胶针头校正技术方案，存在以下缺陷：误差高、效率低。
发明内容
本发明要解决的技术问题之一在于，针对现有技术中的上述缺陷，提供一种可以高精度、高效率对更换后的点胶针头进行校正的基于双CCD的点胶针头校正方法，其技术方案是包括以下步骤:在垂直放置的第一CCD和第二CCD之间形成交叉检测区域，在所述交叉检测区域中采集目标点胶针头的坐标值 和角度值，计算所述坐标值与坐标预设值的偏差形成校正值、并计算所述角度值与角度预设值的差值，所述差值大于设定值则进行警示，以所述校正值来调整所述目标点胶针头的位置。
在本发明所述的基于双CCD的点胶针头校正方法中，具体步骤包括：
S1:所述第一CCD和所述第二CCD垂直放置，所述第一CCD和所述第二CCD之间形成交叉检测区域，在所述交叉检测区域中，进行下述步骤S2-S5；
S2:所述第一CCD采集预设点胶针头的初始X坐标值和初始X向倾斜角度值,同时所述第二CCD采集所述预设点胶针头的初始YZ坐标值和和初始YZ向倾斜角度值，所述坐标预设值包括所述初始X坐标值和所述初始YZ坐标值，所述角度预设值包括所述初始X向倾斜角度值和所述初始YZ向倾斜角度值；
S3:所述第一CCD采集所述目标点胶针头的实时X坐标值和实时X向倾斜角度值，同时所述第二CCD采集所述目标点胶针头的实时YZ坐标值和实时YZ向倾斜角度值，所述坐标值包括所述实时X坐标值和所述实时YZ坐标值，所述角度值包括所述实时X向倾斜角度值和所述实时YZ向倾斜角度值；
S4:计算所述实时X坐标值和所述初始X坐标值的偏差距离形成X向校正值，计算所述实时YZ坐标值和所述初始YZ坐标值的偏差距离形成YZ向校正值，计算所述实时X向倾斜角度值和所述初始X向倾斜角度值的第一偏差角度，计算所述实时YZ向倾斜角度值和所述初始YZ向倾斜角度值的第二偏差角度，并分别计算所述第一偏差角度和所述第二偏差角度与所述角度预设值的差值，所述差值大于所述设定值则进行警示；所述校正值包括所述X向校正值和所述YZ向校正值；
S5:以所述校正值来调整所述目标点胶针头的位置，使得在所述目标点胶针头进行点胶运行过程中，将所述校正值补偿到点胶运行的位置中。
在本发明所述的基于双CCD的点胶针头校正方法中，所述步骤S5包括：
S5.1：接收并计算所述校正值，形成相应的控制信号；
S5.2：执行所述控制信号，驱动电机转动；
S5.3：所述电机调整所述目标点胶针头的位置，使得在所述目标点胶针头进行点胶运行过程中，将所述校正值补偿到点胶运行的位置中。
本发明要解决的技术问题之二在于，针对现有技术中的上述缺陷，提供一种可以高精度、高效率对更换后的点胶针头进行校正的基于双CCD的点胶针头校正装置，其技术方案是包括：
垂直放置的第一CCD和第二CCD，在所述第一CCD和所述第二CCD之间形成交叉检测区域，所述第一CCD和所述第二CCD用于在所述交叉检测区域中采集目标点胶针头的坐标值和角度值；
控制单元：用于计算所述坐标值与坐标预设值的偏差形成校正值、并计算所述角度值与角度预设值的差值，所述差值大于设定值则进行警示；
驱动单元：用于以所述校正值来调整所述目标点胶针头的位置。
在本发明所述的基于双CCD的点胶针头校正装置中，所述驱动单元包括：
运动控制器：用于接收并计算所述校正值，形成相应的控制信号；
驱动器：用于执行所述控制信号；
电机：所述驱动器驱动所述电机转动，所述电机调整所述目标点胶针头的位置，使得在所述目标点胶针头进行点胶运行过程中，将所述校正值补偿到点胶运行的位置中。
在本发明所述的基于双CCD的点胶针头校正装置中，所述控制单元为工控机。
实施本发明的基于双CCD的点胶针头校正方法及装置，有益效果是：可以高精度、高效率对更换后的点胶针头进行位置校正和角度偏差警示，校正识别时间可以提高至毫秒级，减少了校正新点胶针头的时间，提高了生产效率。
附图说明
图1是本发明基于双CCD的点胶针头校正方法实施例的流程示意图；
图2是本发明基于双CCD的点胶针头校正装置实施例的结构框图；
图中：
1-第一CCD；2-第二CCD；3-控制单元；4-运动控制器；5-驱动器；6-电机。
具体实施方式
为了使本发明的目的、技术方案及优点更加清楚明白，下文将要描述的各种实施例将要参考相应的附图，这些附图构成了实施例的一部分，其中描述了实现本发明可能采用的各种实施例。应明白，还可使用其他的实施例，或者对本文列举的实施例进行结构和功能上的修改，而不会脱离本发明的范围和实质。
如图1所示，本实施例的基于双CCD的点胶针头校正方法，包括以下步骤:在垂直放置的第一CCD和第二CCD之间形成交叉检测区域，在所述交叉检测区域中采集目标点胶针头的坐标值和角度值，计算所述坐标值与坐标预设值的偏差形成校正值、并计算所述角度值与角度预设值的差值，所述差值大于设定值则进行警示，以所述校正值来调整所述目标点胶针头的位置。
双CCD是指2个CCD。CCD(Charge Coupled Device)是电荷藕合器件图像传感器；它使用一种高感光度的半导体材料制成，能把光线转变成电荷，通过模数转换器芯片转换成数字信号，数字信号经过压缩以后由相机内部的闪速存储器或内置硬盘卡保存，因而可以轻而易举地把数据传输给计算机，并借助于计算机的处理手段，根据需要来修改图像；本实施例的CCD包括坐标相机、坐标相机镜头、坐标相机光源和光源安装块。
第一CCD和第二CCD垂直放置，使得第一CCD的图像采集路径和第二CCD的图像采集路径在水平面相互垂直，这样不仅使得校正更精准，而且可以检测并校正目标点胶针头的角度情况，对倾斜放置的目标点胶针头进行检测与警示，提高目标点胶针头放置的精确性，利于提高点胶精度，提高生产效率。
具体步骤包括：
S1:第一CCD和第二CCD垂直放置，第一CCD和第二CCD之间形成交叉检测区域，在交叉检测区域中，进行下述步骤S2-S5；
S2:第一CCD采集预设点胶针头的初始X坐标值和初始X向倾斜角度值,同时第二CCD采集预设点胶针头的初始YZ坐标值和和初始YZ向倾斜角度值，坐标预设值包括初始X坐标值和初始YZ坐标值，角度预设值包括初始X向倾斜角度值和初始YZ向倾斜角度值；
S3:第一CCD采集目标点胶针头的实时X坐标值和实时X向倾斜角度值， 同时第二CCD采集目标点胶针头的实时YZ坐标值和实时YZ向倾斜角度值，坐标值包括实时X坐标值和实时YZ坐标值，角度值包括实时X向倾斜角度值和实时YZ向倾斜角度值；
S4:计算实时X坐标值和初始X坐标值的偏差距离形成X向校正值，计算实时YZ坐标值和初始YZ坐标值的偏差距离形成YZ向校正值，计算实时X向倾斜角度值和初始X向倾斜角度值的第一偏差角度，计算实时YZ向倾斜角度值和初始YZ向倾斜角度值的第二偏差角度，并分别计算第一偏差角度和第二偏差角度与角度预设值的差值，差值大于设定值则进行警示；校正值包括X向校正值和YZ向校正值；差值例如是5度，设定值例如是2度，此时差值大于设定值，则进行警示；当然，XYZ向至少一方向的偏差角度大于设定值，则就会进行警示；如果差值小于或者等于设定值，则不进行警示，跳入步骤S4；
S5:以校正值来调整目标点胶针头的位置，使得在目标点胶针头进行点胶运行过程中，将校正值补偿到点胶运行的位置中。即在目标点胶针头进行点胶运行过程中，进行校正值补偿后，使得目标点胶针头的点胶运行轨迹与预设点胶针头的点胶运行轨迹一致。
进一步讲，步骤S5包括：
S5.1：接收并计算校正值，形成相应的控制信号；
S5.2：执行控制信号，驱动电机转动；
S5.3：电机调整目标点胶针头的位置，使得在目标点胶针头进行点胶运行过程中，将校正值补偿到点胶运行的位置中。即在目标点胶针头进行点胶运行过程中，进行校正值补偿后，使得目标点胶针头的点胶运行轨迹与预设点胶针头的点胶运行轨迹一致。
如图2所示，本实施例的基于双CCD的点胶针头校正装置，包括：
垂直放置的第一CCD1和第二CCD2，在第一CCD1和第二CCD2之间形成交叉检测区域，第一CCD1和第二CCD2用于在交叉检测区域中采集目标点胶针头的坐标值和角度值；
控制单元3：用于计算坐标值与坐标预设值的偏差形成校正值、并计算角度值与角度预设值的差值，差值大于设定值则进行警示；
驱动单元：用于以校正值来调整目标点胶针头的位置。
驱动单元包括：
运动控制器4：用于接收并计算校正值，形成相应的控制信号；
驱动器5：用于执行控制信号；
电机6：驱动器5驱动电机6转动，电机6调整目标点胶针头的位置，使得在目标点胶针头进行点胶运行过程中，将校正值补偿到点胶运行的位置中。即在目标点胶针头进行点胶运行过程中，进行校正值补偿后，使得目标点胶针头的点胶运行轨迹与预设点胶针头的点胶运行轨迹一致。
第一CCD1和第二CCD2垂直放置，使得第一CCD1的图像采集路径和第二CCD2的图像采集路径在水平面相互垂直，这样不仅使得校正更精准，而且可以检测并校正目标点胶针头的角度情况，对倾斜放置的目标点胶针头进行检测与警示，提高目标点胶针头放置的精确性，利于提高点胶精度，提高生产效率。
本实施例的基于双CCD的点胶针头校正方法及装置，可以高精度、高效率对更换后的点胶针头(即目标点胶针头)进行XYZ位置校正，校正识别时间可以提高至毫秒级，减少了校正新点胶针头的时间，提高了生产效率。
以上所述仅为本发明的较佳实施例而已，并不用以限制本发明，凡在本发明的精神和原则之内所作的任何修改、等同替换和改进等，均应包含在本发明的保护范围之内。

Claims (6)

  1. 一种基于双CCD的点胶针头校正方法，其特征在于，包括以下步骤:在垂直放置的第一CCD和第二CCD之间形成交叉检测区域，在所述交叉检测区域中采集目标点胶针头的坐标值和角度值，计算所述坐标值与坐标预设值的偏差形成校正值、并计算所述角度值与角度预设值的差值，所述差值大于设定值则进行警示，以所述校正值来调整所述目标点胶针头的位置。
  2. 根据权利要求1所述的基于双CCD的点胶针头校正方法，其特征在于，具体步骤包括：
    S1:所述第一CCD和所述第二CCD垂直放置，所述第一CCD和所述第二CCD之间形成交叉检测区域，在所述交叉检测区域中，进行下述步骤S2-S5；
    S2:所述第一CCD采集预设点胶针头的初始X坐标值和初始X向倾斜角度值,同时所述第二CCD采集所述预设点胶针头的初始YZ坐标值和和初始YZ向倾斜角度值，所述坐标预设值包括所述初始X坐标值和所述初始YZ坐标值，所述角度预设值包括所述初始X向倾斜角度值和所述初始YZ向倾斜角度值；
    S3:所述第一CCD采集所述目标点胶针头的实时X坐标值和实时X向倾斜角度值，同时所述第二CCD采集所述目标点胶针头的实时YZ坐标值和实时YZ向倾斜角度值，所述坐标值包括所述实时X坐标值和所述实时YZ坐标值，所述角度值包括所述实时X向倾斜角度值和所述实时YZ向倾斜角度值；
    S4:计算所述实时X坐标值和所述初始X坐标值的偏差距离形成X向校正值，计算所述实时YZ坐标值和所述初始YZ坐标值的偏差距离形成YZ向校正值，计算所述实时X向倾斜角度值和所述初始X向倾斜角度值的第一偏差角度，计算所述实时YZ向倾斜角度值和所述初始YZ向倾斜角度值的第二偏差角度，并分别计算所述第一偏差角度和所述第二偏差角度与所述角度预设值的差值，所述差值大于所述设定值则进行警示；所述校正值包括所述X向校正值和所述YZ向校正值；
    S5:以所述校正值来调整所述目标点胶针头的位置，使得在所述目标点胶针头进行点胶运行过程中，将所述校正值补偿到点胶运行的位置中。
  3. 根据权利要求2所述的基于双CCD的点胶针头校正方法，其特征在于，所述步骤S5包括：
    S5.1：接收并计算所述校正值，形成相应的控制信号；
    S5.2：执行所述控制信号，驱动电机转动；
    S5.3：所述电机调整所述目标点胶针头的位置，使得在所述目标点胶针头进行点胶运行过程中，将所述校正值补偿到点胶运行的位置中。
  4. 一种基于双CCD的点胶针头校正装置，其特征在于，包括：
    垂直放置的第一CCD(1)和第二CCD(2)，在所述第一CCD(1)和所述第二CCD(2)之间形成交叉检测区域，所述第一CCD(1)和所述第二CCD(2)用于在所述交叉检测区域中采集目标点胶针头的坐标值和角度值；
    控制单元(3)：用于计算所述坐标值与坐标预设值的偏差形成校正值、并计算所述角度值与角度预设值的差值，所述差值大于设定值则进行警示；
    驱动单元：用于以所述校正值来调整所述目标点胶针头的位置。
  5. 根据权利要求4所述的基于双CCD的点胶针头校正装置，其特征在于，所述驱动单元包括：
    运动控制器(4)：用于接收并计算所述校正值，形成相应的控制信号；
    驱动器(5)：用于执行所述控制信号；
    电机(6)：所述驱动器(5)驱动所述电机(6)转动，所述电机(6)调整所述目标点胶针头的位置，使得在所述目标点胶针头进行点胶运行过程中，将所述校正值补偿到点胶运行的位置中。
  6. 根据权利要求5所述的基于双CCD的点胶针头校正装置，其特征在于，所述控制单元(3)为工控机。
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