CN108734688A - Correlating method, device, electronic equipment and the storage medium of coordinate - Google Patents
Correlating method, device, electronic equipment and the storage medium of coordinate Download PDFInfo
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
- G06T7/0004—Industrial image inspection
- G06T7/001—Industrial image inspection using an image reference approach
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/60—Analysis of geometric attributes
- G06T7/66—Analysis of geometric attributes of image moments or centre of gravity
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
- G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30108—Industrial image inspection
- G06T2207/30164—Workpiece; Machine component
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Abstract
The embodiment of the invention discloses the correlating method of coordinate, device, electronic equipment and storage mediums, are related to dispensing technology field.The correlating method of the coordinate includes：The image coordinate M1 of the first image template and image coordinate M2 of the second image template is demarcated according to described image coordinate system；Conversion obtains mechanical coordinate P1 and mechanical coordinate P2 corresponding with described image coordinate M1 and described image coordinate M2；The rotation center coordinate O1 of described first image template and second image template is determined according to the mechanical coordinate system；Calculate the rotation angle α 1 of described first image template and second image template；Self-defined coordinate system is established, and the coordinate in the self-defined coordinate system is freely converted with the mechanical coordinate in the mechanical coordinate system；Based on the self-defined coordinate system, the starting point coordinate A1 and terminal point coordinate B2 of calibration dispensing track.The embodiment of the present invention is conducive to promote positioning and dispensing efficiency on the whole.
Description
Technical field
Technical solution disclosed by the embodiments of the present invention is related to dispensing technology field more particularly to dispensing track and image template
Between coordinate correlating method, device, electronic equipment and storage medium.
Background technology
Currently, the location technology based on image detection is widely used in the productions such as product dispensing, product testing, product sorting
In technique.On the one hand location technology based on image detection can identify the shape of workpiece, on the other hand can be on workpiece
Pattern (such as image template for image detection and positioning), specific region (such as dispensing track) etc. positioned.
Inventor has found during studying the present invention, coordinate between dispensing track and image template in the prior art
Correlating method will fail after workpiece position error or image template change.
Invention content
Technical solution disclosed by the invention can at least solve following technical problem：Dispensing track and image in the prior art
The correlating method of coordinate will fail after workpiece variation or image template change between template.
One or more embodiment of the present invention discloses a kind of correlating method of coordinate, including：
It is preset with image coordinate system and mechanical coordinate system, and the image coordinate in described image coordinate system is sat with the machinery
Mechanical coordinate in mark system is freely converted；The image coordinate M1 and the of the first image template is demarcated according to described image coordinate system
The image coordinate M2 of two image templates；Conversion obtains mechanical coordinate corresponding with described image coordinate M1 and described image coordinate M2
P1 and mechanical coordinate P2；The rotation of described first image template and second image template is determined according to the mechanical coordinate system
Centre coordinate O1；Calculate the rotation angle α 1 of described first image template and second image template；
Self-defined coordinate system is established, and the coordinate in the self-defined coordinate system is sat with the machinery in the mechanical coordinate system
Mark is freely converted；Based on the self-defined coordinate system, the starting point coordinate A1 and terminal point coordinate B2 of calibration dispensing track；
When workpiece shifts, the image coordinate of described first image template is demarcated again according to described image coordinate system
The image coordinate M21 of M11 and second image template；Conversion obtains and described image coordinate M11 and described image coordinate
M21 corresponding mechanical coordinate P11 and mechanical coordinate P21；Described first image template is determined again according to the mechanical coordinate system
With the rotation center coordinate O2 of second image template；Described first image template and second image template are calculated again
Rotation angle α 2；
The mechanical coordinate P11 and mechanical coordinate P21 is calculated to sit relative to the mechanical coordinate P1 and the machinery
Deviations of the mark P2 in X-directionWith the deviation in Y directionThe rotation angle α 2 is calculated relative to the rotation angle
Spend the deviation of α 1
The rotation center coordinate O1 is translated and compensated, the rotation center coordinate O1 is converted into the rotation
Centre coordinate O2；The mechanical coordinate P1 of described first image template is translated, the mechanical coordinate P1 is converted into machinery
Coordinate P1 '；The mechanical coordinate P2 of second image template is translated, the mechanical coordinate P2 is converted into mechanical coordinate
P2’。
In one or more embodiment of the present invention, the preset image coordinate system is three-dimensional system of coordinate, including E
Axis, F axis and G axis；The image coordinate M1 of described first image template is (E1, F1, G1), and the image of second image template is sat
It is (E2, F2, G2) to mark M2；
The preset mechanical coordinate system is three-dimensional system of coordinate, including X-axis, Y-axis and Z axis；According to preset mechanical coordinate
The image coordinate M1 (E1, F1, G1) of system and described first image template, determines the mechanical coordinate P1 of described first image template
For (X1, Y1, Z1)；According to preset mechanical coordinate system and the image coordinate M2 (E2, F2, G2) of second image template,
Determine that the mechanical coordinate P2 of second image template is (X2, Y2, Z2)；At this point, described first image template and described second
The rotation center coordinate O1 of image template is ((X1+X2) ÷ 2, (Y1+Y2) ÷ 2)；
The rotation angle α 1=arctan2 ((Y2-Y1), (X2-X1))；
The image coordinate M11 of described first image template is (E11, F11, G11)；The image of second image template is sat
It is (E21, F21, G21) to mark M21；The mechanical coordinate P11 of described first image template is (X11, Y11, Z11)；Second figure
As the mechanical coordinate P21 of template is (X21, Y21, Z21)；
At this point, the rotation center coordinate O2 of described first image template and second image template is ((X11+X21) ÷
2,(Y11+Y21)÷2)；
The rotation angle α 2=arctan2 ((Y21-Y11), (X21-X11)) of second image template.
In one or more embodiment of the present invention, according to the mechanical coordinate P1 of described first image template and institute
The mechanical coordinate P2 for stating the second image template establishes self-defined coordinate system；
The self-defined coordinate system is two-dimensional coordinate system, including U axis and V axis, and the U axis and V axis and the E axis and F
Axis is generally aligned in the same plane；
Based on the self-defined coordinate system, determine that the starting point coordinate A1 of dispensing track is (U1, V1) and terminal point coordinate B2 is
(U2,V2)；
The starting point coordinate A1 (U1, V1) and the terminal point coordinate B2 (U2, V2) are converted into the preset machinery
The corresponding mechanical coordinate of coordinate system, and according to the starting point coordinate A1 (U1, V1) and the terminal point coordinate B2 (U2, V2) described
The corresponding mechanical coordinate of preset mechanical coordinate system carries out dispensing to the dispensing track.
The present invention one or more embodiment in, calculate described first image template mechanical coordinate P11 (X11,
Y11, Z11) and second image template mechanical coordinate P21 (X21, Y21, Z21) relative to described first image template
Mechanical coordinate P1 (X1, Y1, Z1) and second image template mechanical coordinate P2 (X2, Y2, Z2) in the X-direction
DeviationWith the deviation in the Y direction
Described first image template is calculated with the rotation angle α 2 of second image template relative to described first image
The deviation of the rotation angle α 1 of template and second image template
The rotation center coordinate O2 is calculated when the workpiece shifts in the deviation of the X-direction
The rotation center coordinate O2 is calculated when the workpiece shifts in the deviation of the Y direction
Calculate the rotating deviation of the rotation center coordinate O2 when workpiece shiftsWith
The rotation center coordinate O2 when workpiece shifts is translated, the rotation center coordinate O3 after translation is
The compensation that the X-direction and the Y direction are carried out to the rotation center coordinate O3 after the translation, after compensation
Rotation center coordinate O4 be
The mechanical coordinate P1 (X1, Y1, Z1) of described first image template is translated, described first image template after translation
Mechanical coordinate P1 ' is (X1 ', Y1 ', Z1),
The mechanical coordinate P2 (X2, Y2, Z2) for translating second image template, second image template after translation
Mechanical coordinate P2 ' is (X2 ', Y2 ', Z2),
In one or more embodiment of the present invention, according to the mechanical coordinate of the described first image template after translation
The mechanical coordinate P2 ' (X2 ', Y2 ', Z2) of second image template after P1 ' (X1 ', Y1 ', Z1) and translation is re-established
Self-defined coordinate system；
Based on the self-defined coordinate system re-established, again determine dispensing track starting point coordinate A11 be (U11,
V11) and terminal point coordinate B21 is (U21, V21)；
The starting point coordinate A11 (U11, V11) and the terminal point coordinate B21 (U21, V21) are converted into described default
The corresponding mechanical coordinate of mechanical coordinate system, and according to the starting point coordinate A11 (U11, V11) and the terminal point coordinate B21
(U21, V21) carries out dispensing in the corresponding mechanical coordinate of the preset mechanical coordinate system to the dispensing track.
One or more embodiment of the present invention discloses a kind of associated apparatus of coordinate, including：
Image coordinate system module, for according to described image coordinate system demarcate the first image template image coordinate M1 and
The image coordinate M2 of second image template；
Mechanical coordinate system module obtains machinery corresponding with described image coordinate M1 and described image coordinate M2 for converting
Coordinate P1 and mechanical coordinate P2；
Rotary module, for determining described first image template and second image template according to the mechanical coordinate system
Rotation center coordinate O1；Calculate the rotation angle α 1 of described first image template and second image template；
Self-defined coordinate system module, for establishing self-defined coordinate system, and the coordinate in the self-defined coordinate system and institute
The mechanical coordinate stated in mechanical coordinate system is freely converted；Based on the self-defined coordinate system, the starting point coordinate of calibration dispensing track
A1 and terminal point coordinate B2；
Described image coordinate system module is additionally operable to demarcate institute again according to described image coordinate system when workpiece shifts
State the image coordinate M11 of the first image template and image coordinate M21 of second image template；Mechanical coordinate system mould
Block is additionally operable to conversion and obtains mechanical coordinate P11 corresponding with described image coordinate M11 and described image coordinate M21 and mechanical coordinate
P21；The rotary module is additionally operable to determine described first image template and second figure again according to the mechanical coordinate system
As the rotation center coordinate O2 of template；The rotary module is additionally operable to calculate described first image template and second figure again
As the rotation angle α 2 of template；
Translation and compensating module, for calculating the mechanical coordinate P11 and mechanical coordinate P21 relative to the machinery
Deviations of the coordinate P1 and mechanical coordinate P2 in X-directionWith the deviation in Y directionCalculate the rotation angle
Deviations of the α 2 relative to the rotation angle α 1The rotation center coordinate O1 is translated and compensated, by the rotation
Centre coordinate O1 is converted to the rotation center coordinate O2；The mechanical coordinate P1 of described first image template is translated, it will
The mechanical coordinate P1 is converted to mechanical coordinate P1 '；The mechanical coordinate P2 of second image template is translated, it will be described
Mechanical coordinate P2 is converted to mechanical coordinate P2 '.
In one or more embodiment of the present invention, the preset image coordinate system is three-dimensional system of coordinate, including E
Axis, F axis and G axis；The image coordinate M1 of described first image template is (E1, F1, G1), and the image of second image template is sat
It is (E2, F2, G2) to mark M2；The preset mechanical coordinate system is three-dimensional system of coordinate, including X-axis, Y-axis and Z axis；
Mechanical coordinate system module is additionally operable to the figure according to preset mechanical coordinate system and described first image template
As coordinate M1 (E1, F1, G1), determine that the mechanical coordinate P1 of described first image template is (X1, Y1, Z1)；According to preset machine
The image coordinate M2 (E2, F2, G2) of tool coordinate system and second image template, determines the machinery of second image template
Coordinate P2 is (X2, Y2, Z2)；
The rotary module is additionally operable to determine described first image template and second figure according to the mechanical coordinate system
As the rotation center coordinate O1 of template is ((X1+X2) ÷ 2, (Y1+Y2) ÷ 2)；
The rotary module is additionally operable to calculate the rotation angle α 1 of described first image template and second image template
=arctan2 ((Y2-Y1), (X2-X1))；
Described image coordinate system module is additionally operable to demarcate described first image template again according to described image coordinate system
Image coordinate M11 is (E11, F11, G11)；The image coordinate M21 of second image template is (E21, F21, G21)；
Mechanical coordinate system module is additionally operable to conversion and obtains and M21 pairs of described image coordinate M11 and described image coordinate
The mechanical coordinate P11 for the described first image template answered is (X11, Y11, Z11) and the machinery of second image template is sat
It is (X21, Y21, Z21) to mark P21；
The rotary module is additionally operable to determine described first image template and second figure according to the mechanical coordinate system
As the rotation center coordinate O2 of template is ((X11+X21) ÷ 2, (Y11+Y21) ÷ 2)；The rotation angle of second image template
Spend α 2=arctan2 ((Y21-Y11), (X21-X11)).
The present invention one or more embodiment in, described image coordinate system module, mechanical coordinate system module,
The rotary module, the self-defined coordinate system module and the translation and compensating module are additionally operable to realize any one of the above
The correlating method of the coordinate.
One or more embodiment of the present invention also discloses a kind of electronic equipment, including：
At least one central processing unit, at least one processor；
At least one processor is connected at least one central processing unit by bus communication；
At least one processor is for storing computer instruction, when the electronic equipment is run, described at least one
A central processing unit executes the computer instruction of at least one processor storage so that the electronic equipment is held for controlling
The correlating method of coordinate described in row any one of the above.
One or more embodiment of the present invention also discloses a kind of non-transient computer readable storage medium, described non-
Transitory computer readable storage medium is stored with computer executable instructions, and the computer executable instructions are executed for controlling
The correlating method of any one of the above coordinate.
Compared with prior art, technical solution disclosed by the invention mainly has following advantageous effect：
In an embodiment of the present invention, corresponding with described image coordinate M1 and described image coordinate M2 by converting acquisition
Mechanical coordinate P1 and mechanical coordinate P2, by determining described first image template and second figure according to the mechanical coordinate system
As the rotation center coordinate O1 of template, by the rotation angle α for calculating described first image template and second image template
1, each image coordinate of product in described image coordinate system is associated with each mechanical coordinate system of product in the mechanical coordinate system
Get up.When workpiece shifts, by calculating the mechanical coordinate P11 and mechanical coordinate P21 relative to the machinery
Deviations of the coordinate P1 and mechanical coordinate P2 in X-directionWith the deviation in Y directionCalculate the rotation angle
Deviations of the α 2 relative to the rotation angle α 1It, will be described by the way that the rotation center coordinate O1 is translated and compensated
Rotation center coordinate O1 is converted to the rotation center coordinate O2, is put down to the mechanical coordinate P1 of described first image template
It moves, the mechanical coordinate P1 is converted into mechanical coordinate P1 ', the mechanical coordinate P2 of second image template is translated,
The mechanical coordinate P2 is converted into mechanical coordinate P2 '；So that the mechanical coordinate P11 and mechanical coordinate P21 with it is described
Mechanical coordinate P1 and the mechanical coordinate P2 are associated.Therefore, it after workpiece position error or image template change, does not influence
The coordinate auto-associating of the coordinate and described first image template and second image template of dispensing track.The pass of above-mentioned coordinate
Linked method will not fail after workpiece position error or image template change, and still can automatically generate the coordinate of glue track, have
It is positioned and dispensing efficiency conducive to being promoted on the whole.
Description of the drawings
Fig. 1 is the schematic diagram of image coordinate system, mechanical coordinate system and self-defined coordinate system in one embodiment of the invention；
Fig. 2 is the flow chart of the correlating method of coordinate in one embodiment of the invention；
Fig. 3 is the schematic diagram of the associated apparatus of coordinate in one embodiment of the invention；
Fig. 4 is the schematic diagram of electronic equipment in one embodiment of the invention.
Specific implementation mode
To facilitate the understanding of the present invention, below with reference to relevant drawings to invention is more fully described.In attached drawing
Give presently preferred embodiments of the present invention.But the present invention can realize in many different forms, however it is not limited to this paper institutes
The embodiment of description.Keep the understanding to the disclosure more thorough on the contrary, purpose of providing these embodiments is
Comprehensively.
Unless otherwise defined, all of technologies and scientific terms used here by the article and belong to the technical field of the present invention
The normally understood meaning of technical staff is identical.Used term is intended merely to description tool in the description of the invention herein
The purpose of the embodiment of body, it is not intended that in the limitation present invention.Following claims, specification and Figure of description
In term " first ", " second ", " third " etc. be for distinguishing different objects, rather than for describing particular order.
It it is showing for image coordinate system in one embodiment of the invention, mechanical coordinate system and self-defined coordinate system with reference to figure 1
It is intended to.Wherein, described image coordinate system is associated with the acquisition of image, such as the visual field with the industrial camera for acquiring image
It is associated.Track of the mechanical coordinate system generally with the driving module operation of machine, the factors such as size of product are associated.Institute
It states image coordinate system and the mechanical coordinate system generally requires and presets, and the image coordinate in described image coordinate system and institute
The mechanical coordinate stated in mechanical coordinate system is freely converted.And the self-defined coordinate system generally generates temporarily.
It is the flow chart of the correlating method of coordinate in one embodiment of the invention with reference to figure 1 and Fig. 2, wherein Fig. 2.
One embodiment of the invention discloses a kind of correlating method of coordinate, is applied to product dispensing, product testing, product point
It picks etc. in production technologies.
The correlating method of the coordinate includes：
Step 100：The image coordinate M1 and the second image mould of the first image template are demarcated according to described image coordinate system
The image coordinate M2 of plate；Conversion obtains mechanical coordinate P1 corresponding with described image coordinate M1 and described image coordinate M2 and machinery
Coordinate P2；The rotation center coordinate of described first image template and second image template is determined according to the mechanical coordinate system
O1；Calculate the rotation angle α 1 of described first image template and second image template.
Step 200：Self-defined coordinate system is established, and in the coordinate in the self-defined coordinate system and the mechanical coordinate system
Mechanical coordinate freely convert；Based on the self-defined coordinate system, the starting point coordinate A1 and terminal point coordinate B2 of calibration dispensing track.
Step 300：When workpiece shifts, described first image template is demarcated again according to described image coordinate system
The image coordinate M21 of image coordinate M11 and second image template；Conversion obtains and described image coordinate M11 and described
Image coordinate M21 corresponding mechanical coordinate P11 and mechanical coordinate P21；Described first is determined again according to the mechanical coordinate system
The rotation center coordinate O2 of image template and second image template；Described first image template and described second is calculated again
The rotation angle α 2 of image template.
Step 400：The mechanical coordinate P11 and mechanical coordinate P21 is calculated relative to the mechanical coordinate P1 and institute
State mechanical coordinate P2 X-direction deviationWith the deviation in Y directionThe rotation angle α 2 is calculated relative to institute
State the deviation of rotation angle α 1
Step 500：The rotation center coordinate O1 is translated and compensated, the rotation center coordinate O1 is converted to
The rotation center coordinate O2；The mechanical coordinate P1 of described first image template is translated, the mechanical coordinate P1 is turned
It is changed to mechanical coordinate P1 '；The mechanical coordinate P2 of second image template is translated, the mechanical coordinate P2 is converted to
Mechanical coordinate P2 '.
The correlating method of coordinate in above-described embodiment is obtained and described image coordinate M1 and described image coordinate by converting
M2 corresponding mechanical coordinate P1 and mechanical coordinate P2, by determining described first image template and institute according to the mechanical coordinate system
The rotation center coordinate O1 for stating the second image template, by the rotation for calculating described first image template and second image template
Gyration α 1, by each mechanical coordinate of product in each image coordinate of product in described image coordinate system and the mechanical coordinate system
System associates.
When workpiece shifts, by calculating the mechanical coordinate P11 and mechanical coordinate P21 relative to the machine
Deviations of the tool coordinate P1 and mechanical coordinate P2 in X-directionWith the deviation in Y directionCalculate the rotation angle
Spend deviations of the α 2 relative to the rotation angle α 1By the way that the rotation center coordinate O1 is translated and compensated, by institute
It states rotation center coordinate O1 and is converted to the rotation center coordinate O2, the mechanical coordinate P1 of described first image template is put down
It moves, the mechanical coordinate P1 is converted into mechanical coordinate P1 ', the mechanical coordinate P2 of second image template is translated,
The mechanical coordinate P2 is converted into mechanical coordinate P2 '；So that the mechanical coordinate P11 and mechanical coordinate P21 with it is described
Mechanical coordinate P1 and the mechanical coordinate P2 are associated.Therefore, it after workpiece position error or image template change, does not influence
The coordinate auto-associating of the coordinate and described first image template and second image template of dispensing track.The pass of above-mentioned coordinate
Linked method will not fail after workpiece position error or image template change, and still can automatically generate the coordinate of glue track, have
It is positioned and dispensing efficiency conducive to being promoted on the whole.
It will be exemplified below some specific association process and calculating process of the correlating method of the coordinate.
In some embodiments of the invention, the preset image coordinate system be three-dimensional system of coordinate, including E axis, F axis and
G axis；The image coordinate M1 of described first image template is (E1, F1, G1), and the image coordinate M2 of second image template is
(E2、F2、G2)。
The preset mechanical coordinate system is three-dimensional system of coordinate, including X-axis, Y-axis and Z axis；According to preset mechanical coordinate
The image coordinate M1 (E1, F1, G1) of system and described first image template, determines the mechanical coordinate P1 of described first image template
For (X1, Y1, Z1)；According to preset mechanical coordinate system and the image coordinate M2 (E2, F2, G2) of second image template,
Determine that the mechanical coordinate P2 of second image template is (X2, Y2, Z2)；At this point, described first image template and described second
The rotation center coordinate O1 of image template is ((X1+X2) ÷ 2, (Y1+Y2) ÷ 2).
The rotation angle α 1=arctan2 ((Y2-Y1), (X2-X1)).
The image coordinate M11 of described first image template is (E11, F11, G11)；The image of second image template is sat
It is (E21, F21, G21) to mark M21；The mechanical coordinate P11 of described first image template is (X11, Y11, Z11)；Second figure
As the mechanical coordinate P21 of template is (X21, Y21, Z21).
At this point, the rotation center coordinate O2 of described first image template and second image template is ((X11+X21) ÷
2、(Y11+Y21)÷2)。
The rotation angle α 2=arctan2 ((Y21-Y11), (X21-X11)) of second image template.
In some embodiments of the invention, according to the mechanical coordinate P1 of described first image template and second figure
As the mechanical coordinate P2 of template establishes self-defined coordinate system.
The self-defined coordinate system is two-dimensional coordinate system, including U axis and V axis, and the U axis and V axis and the E axis and F
Axis is generally aligned in the same plane.
Based on the self-defined coordinate system, determine that the starting point coordinate A1 of dispensing track is (U1, V1) and terminal point coordinate B2 is
(U2、V2)。
The starting point coordinate A1 (U1, V1) and the terminal point coordinate B2 (U2, V2) are converted into the preset machinery
The corresponding mechanical coordinate of coordinate system, and according to the starting point coordinate A1 (U1, V1) and the terminal point coordinate B2 (U2, V2) described
The corresponding mechanical coordinate of preset mechanical coordinate system carries out dispensing to the dispensing track.
In some embodiments of the invention, the method further includes：Calculate the mechanical coordinate of described first image template
The mechanical coordinate P21 (X21, Y21, Z21) of P11 (X11, Y11, Z11) and second image template is relative to described first
The mechanical coordinate P1 (X1, Y1, Z1) of image template and the mechanical coordinate P2 (X2, Y2, Z2) of second image template are in institute
State the deviation of X-directionWith the deviation in the Y direction
Described first image template is calculated with the rotation angle α 2 of second image template relative to described first image
The deviation of the rotation angle α 1 of template and second image template
The rotation center coordinate O2 is calculated when the workpiece shifts in the deviation of the X-direction
The rotation center coordinate O2 is calculated when the workpiece shifts in the deviation of the Y direction
Calculate the rotating deviation of the rotation center coordinate O2 when workpiece shiftsWith
Translate the rotation when workpiece shiftsCentre coordinate O2, the rotation center coordinate O3 after translation
For
The compensation that the X-direction and the Y direction are carried out to the rotation center coordinate O3 after the translation, after compensation
Rotation center coordinate O4 be
The mechanical coordinate P1 (X1, Y1, Z1) of described first image template is translated, described first image template after translation
Mechanical coordinate P1 ' is (X1 ', Y1 ', Z1),
The mechanical coordinate P2 (X2, Y2, Z2) for translating second image template, second image template after translation
Mechanical coordinate P2 ' is (X2 ', Y2 ', Z2),
In some embodiments of the invention, the method further includes：According to the described first image template after translation
Mechanical coordinate P1 ' (X1 ', Y1 ', Z1) and translation after second image template mechanical coordinate P2 ' (X2 ', Y2 ', Z2)
Re-establish self-defined coordinate system.
Based on the self-defined coordinate system re-established, again determine dispensing track starting point coordinate A11 be (U11,
V11) and terminal point coordinate B21 is (U21, V21).
The starting point coordinate A11 (U11, V11) and the terminal point coordinate B21 (U21, V21) are converted into described default
The corresponding mechanical coordinate of mechanical coordinate system, and according to the starting point coordinate A11 (U11, V11) and the terminal point coordinate B21
(U21, V21) carries out dispensing in the corresponding mechanical coordinate of the preset mechanical coordinate system to the dispensing track.
Another embodiment of the present invention discloses a kind of associated apparatus of coordinate.It is another embodiment of the present invention with reference to figure 3
A kind of schematic diagram of the association dress of middle coordinate.The association for the coordinate illustrated in Fig. 3 fills：
Image coordinate system module 1, for according to described image coordinate system demarcate the first image template image coordinate M1 with
And second image template image coordinate M2；
Mechanical coordinate system module 2 obtains machine corresponding with described image coordinate M1 and described image coordinate M2 for converting
Tool coordinate P1 and mechanical coordinate P2；
Rotary module 3, for determining described first image template and the second image mould according to the mechanical coordinate system
The rotation center coordinate O1 of plate；Calculate the rotation angle α 1 of described first image template and second image template；
Self-defined coordinate system module 4, for establishing self-defined coordinate system, and the coordinate in the self-defined coordinate system and institute
The mechanical coordinate stated in mechanical coordinate system is freely converted；Based on the self-defined coordinate system, the starting point coordinate of calibration dispensing track
A1 and terminal point coordinate B2；
Described image coordinate system module 1 is additionally operable to demarcate institute again according to described image coordinate system when workpiece shifts
State the image coordinate M11 of the first image template and image coordinate M21 of second image template；Mechanical coordinate system mould
Block 2 is additionally operable to conversion and obtains mechanical coordinate P11 corresponding with described image coordinate M11 and described image coordinate M21 and machinery seat
Mark P21；The rotary module 3 is additionally operable to determine described first image template and described second again according to the mechanical coordinate system
The rotation center coordinate O2 of image template；The rotary module 3 is additionally operable to calculate described first image template and described the again
The rotation angle α 2 of two image templates；
Translation and compensating module 5, for calculating the mechanical coordinate P11 and mechanical coordinate P21 relative to the machine
Deviations of the tool coordinate P1 and mechanical coordinate P2 in X-directionWith the deviation in Y directionCalculate the rotation angle
Spend deviations of the α 2 relative to the rotation angle α 1The rotation center coordinate O1 is translated and compensated, by the rotation
Turn centre coordinate O1 and is converted to the rotation center coordinate O2；The mechanical coordinate P1 of described first image template is translated,
The mechanical coordinate P1 is converted into mechanical coordinate P1 '；The mechanical coordinate P2 of second image template is translated, by institute
It states mechanical coordinate P2 and is converted to mechanical coordinate P2 '.
In a kind of possible embodiment, the preset image coordinate system be three-dimensional system of coordinate, including E axis, F axis and
G axis；The image coordinate M1 of described first image template is (E1, F1, G1), and the image coordinate M2 of second image template is
(E2,F2,G2)；The preset mechanical coordinate system is three-dimensional system of coordinate, including X-axis, Y-axis and Z axis.
Mechanical coordinate system module 2 is additionally operable to the figure according to preset mechanical coordinate system and described first image template
As coordinate M1 (E1, F1, G1), determine that the mechanical coordinate P1 of described first image template is (X1, Y1, Z1)；According to preset machine
The image coordinate M2 (E2, F2, G2) of tool coordinate system and second image template, determines the machinery of second image template
Coordinate P2 is (X2, Y2, Z2).
The rotary module 3 is additionally operable to determine described first image template and second figure according to the mechanical coordinate system
As the rotation center coordinate O1 of template is ((X1+X2) ÷ 2, (Y1+Y2) ÷ 2).
The rotary module 3 is additionally operable to calculate the rotation angle α 1 of described first image template and second image template
=arctan2 ((Y2-Y1), (X2-X1)).
Described image coordinate system module 1 is additionally operable to demarcate described first image template again according to described image coordinate system
Image coordinate M11 is (E11, F11, G11) and the image coordinate M21 of second image template is (E21, F21, G21).
Mechanical coordinate system module 2 is additionally operable to conversion and obtains and M21 pairs of described image coordinate M11 and described image coordinate
The mechanical coordinate P11 for the described first image template answered is (X11, Y11, Z11) and the machinery of second image template is sat
It is (X21, Y21, Z21) to mark P21.
The rotary module 3 is additionally operable to determine described first image template and second figure according to the mechanical coordinate system
As the rotation center coordinate O2 of template is ((X11+X21) ÷ 2, (Y11+Y21) ÷ 2)；The rotation angle of second image template
Spend α 2=arctan2 ((Y21-Y11), (X21-X11)).
In a kind of possible embodiment, the self-defined coordinate system module 4 is additionally operable to according to described first image mould
The mechanical coordinate P2 of the mechanical coordinate P1 of plate and second image template establishes self-defined coordinate system.The self-defined coordinate
System is two-dimensional coordinate system, including U axis and V axis, and the U axis and V axis are generally aligned in the same plane with the E axis and F axis.It is described to make by oneself
Adopted coordinate system module 4 is additionally operable to be based on the self-defined coordinate system, determines that the starting point coordinate A1 of dispensing track is (U1, V1) and whole
Point coordinates B2 is (U2, V2).The self-defined coordinate system module 4 was additionally operable to the starting point coordinate A1 (U1, V1) and the end
Point coordinates B2 (U2, V2) is converted into mechanical coordinate corresponding in the preset mechanical coordinate system.
Associated apparatus spot gluing equipment equipped with the coordinate is according to the starting point coordinate A1 (U1, V1) and the terminal point coordinate
B2 (U2, V2) carries out dispensing in the corresponding mechanical coordinate of the preset mechanical coordinate system to the dispensing track.
In a kind of possible embodiment, the translation and compensating module 5 are additionally operable to calculate described first image template
Mechanical coordinate P11 (X11, Y11, Z11) and second image template mechanical coordinate P21 (X21, Y21, Z21) it is opposite
In described first image template mechanical coordinate P1 (X1, Y1, Z1) and second image template mechanical coordinate P2 (X2,
Y2, Z2) in the deviation of the X-directionWith the deviation in the Y direction
The translation and compensating module 5 are additionally operable to calculate the rotation of described first image template and second image template
Deviation of the angle [alpha] 2 relative to described first image template and the rotation angle α 1 of second image template
The translation and compensating module 5 are additionally operable to calculate when the workpiece shifts the rotation center coordinate O2 in institute
State the deviation of X-direction
The translation and compensating module 5 are additionally operable to calculate when the workpiece shifts the rotation center coordinate O2 in institute
State the deviation of Y direction
The translation and compensating module 5 are additionally operable to calculate the rotation of the rotation center coordinate O2 when workpiece shifts
Turn deviationWith
The translation and compensating module 5 are additionally operable to translate the rotation center coordinate O2 when workpiece shifts, and translate
Rotation center coordinate O3 afterwards is
The translation and compensating module 5 are additionally operable to carry out the X-direction to the rotation center coordinate O3 after the translation
With the compensation of the Y direction, the rotation center coordinate O4 after compensation is
The translation and compensating module 5 are additionally operable to the mechanical coordinate P1 (X1, Y1, Z1) of translation described first image template,
The mechanical coordinate P1 ' of described first image template after translation is (X1 ', Y1 ', Z1),
The translation and compensating module 5 are additionally operable to translate the mechanical coordinate P2 (X2, Y2, Z2) of second image template,
The mechanical coordinate P2 ' of second image template after translation is (X2 ', Y2 ', Z2),
In a kind of possible embodiment, the self-defined coordinate system module 4 is additionally operable to according to described after translation
The mechanical coordinate P1 ' (X1 ', Y1 ', Z1) of the one image template and mechanical coordinate P2 ' of second image template after translation
(X2 ', Y2 ', Z2) re-establishes self-defined coordinate system.The self-defined coordinate system module 4 is additionally operable to re-establish based on described
Self-defined coordinate system, again determine dispensing track starting point coordinate A11 be (U11, V11) and terminal point coordinate B21 for (U21,
V21)。
The self-defined coordinate system module 4 is additionally operable to the starting point coordinate A11 (U11, V11) and the terminal point coordinate
B21 (U21, V21) is converted into mechanical coordinate corresponding in the preset mechanical coordinate system.
Associated apparatus spot gluing equipment equipped with the coordinate is according to the starting point coordinate A11 (U11, V11) and the terminal
Coordinate B21 (U21, V21) carries out dispensing in the corresponding mechanical coordinate of the preset mechanical coordinate system to the dispensing track.
The associated apparatus of coordinate in above-described embodiment will not fail after workpiece position error or image template change, still
The coordinate that glue track can so be automatically generated is conducive to promote positioning and dispensing efficiency on the whole.
Another embodiment of the present invention discloses a kind of electronic equipment.With reference to figure 4, set for electronics in one embodiment of the invention
Standby schematic diagram.The electronic equipment illustrated in Fig. 4 includes at least one central processing unit 410, at least one processor 420；Institute
It states at least one processor 410 and at least one central processing unit 420 is connected by bus communication 430；Described at least one
A memory 420 is for storing computer instruction, when the electronic equipment is run, at least one central processing unit 410
Execute the computer instruction of the storage of at least one processor 420 so that the electronic equipment executes above-mentioned for controlling
It anticipates a kind of correlating method of coordinate.
Another embodiment of the present invention discloses a kind of non-transient computer readable storage medium, and the non-transient computer can
It reads storage medium and is stored with computer executable instructions, the computer executable instructions execute any one of the above for controlling
The correlating method of coordinate.
When the technical solution in above-mentioned each embodiment uses software realization, above-mentioned each embodiment can will be realized
Computer instruction and/or data storage in computer-readable medium or as on readable medium one or more instructions or
Code is transmitted.Computer-readable medium includes computer storage media and communication media, and wherein communication media includes being convenient for
Any medium of computer program is transmitted from a place to another place.Storage medium, which can be computer, to be stored
Any usable medium.As example but it is not limited to secondary：Computer-readable medium may include RAM, ROM, EEPROM, CD-ROM or
Other optical disc storages, magnetic disk storage medium or other magnetic storage apparatus or can carry or store with instruction or data
The desired program code of structure type simultaneously can be by any other medium of computer access.In addition, any connection can fit
When become computer-readable medium.For example, if software is using coaxial cable, light pricker optical cable, twisted-pair feeder, Digital Subscriber Line
(DSL) either the wireless technology of such as infrared ray, radio and microwave etc is transmitted from website, server or other remote sources
, then the wireless technology packet of coaxial cable, light pricker optical cable, twisted-pair feeder, DSL or such as infrared ray, wireless and microwave etc
It includes in the definition of affiliated medium.
Finally it should be noted that：Above example is only to illustrate the technical solution of the application, rather than its limitations.Although
The application is described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that, still may be used
With technical scheme described in the above embodiments is modified or equivalent replacement of some of the technical features.
And these modifications or replacements, each embodiment technical solution of the application that it does not separate the essence of the corresponding technical solution spirit and
Range.
Claims (10)
1. a kind of correlating method of coordinate, which is characterized in that including：
It is preset with image coordinate system and mechanical coordinate system, and the image coordinate in described image coordinate system and the mechanical coordinate system
Interior mechanical coordinate is freely converted；The image coordinate M1 and the second figure of the first image template are demarcated according to described image coordinate system
As the image coordinate M2 of template；Conversion obtain mechanical coordinate P1 corresponding with described image coordinate M1 and described image coordinate M2 and
Mechanical coordinate P2；The rotation center of described first image template and second image template is determined according to the mechanical coordinate system
Coordinate O1；Calculate the rotation angle α 1 of described first image template and second image template；
Self-defined coordinate system is established, and the coordinate in the self-defined coordinate system and the mechanical coordinate in the mechanical coordinate system are certainly
By converting；Based on the self-defined coordinate system, the starting point coordinate A1 and terminal point coordinate B2 of calibration dispensing track；
When workpiece shifts, the image coordinate M11 of described first image template is demarcated again according to described image coordinate system
And the image coordinate M21 of second image template；Conversion obtains and described image coordinate M11 and described image coordinate M21
Corresponding mechanical coordinate P11 and mechanical coordinate P21；Described first image template and institute are determined again according to the mechanical coordinate system
State the rotation center coordinate O2 of the second image template；The rotation of described first image template and second image template is calculated again
Gyration α 2；
The mechanical coordinate P11 and mechanical coordinate P21 is calculated relative to the mechanical coordinate P1 and the mechanical coordinate P2
Deviation ▽ X in the X-direction and deviation ▽ Y in Y direction；The rotation angle α 2 is calculated relative to the rotation angle α 1
Deviation ▽ α；
The rotation center coordinate O1 is translated and compensated, the rotation center coordinate O1 is converted into the rotation center
Coordinate O2；The mechanical coordinate P1 of described first image template is translated, the mechanical coordinate P1 is converted into mechanical coordinate
P1'；The mechanical coordinate P2 of second image template is translated, the mechanical coordinate P2 is converted into mechanical coordinate P2 '.
2. the correlating method of coordinate according to claim 1, it is characterised in that：
The preset image coordinate system is three-dimensional system of coordinate, including E axis, F axis and G axis；The image of described first image template
Coordinate M1 is (E1, F1, G1), and the image coordinate M2 of second image template is (E2, F2, G2)；
The preset mechanical coordinate system is three-dimensional system of coordinate, including X-axis, Y-axis and Z axis；According to preset mechanical coordinate system with
And the image coordinate M1 (E1, F1, G1) of described first image template, determine that the mechanical coordinate P1 of described first image template is
(X1,Y1,Z1)；According to preset mechanical coordinate system and the image coordinate M2 (E2, F2, G2) of second image template, really
The mechanical coordinate P2 of fixed second image template is (X2, Y2, Z2)；At this point, described first image template and second figure
As the rotation center coordinate O1 of template is ((X1+X2) ÷ 2, (Y1+Y2) ÷ 2)；
The rotation angle α 1=arctan2 ((Y2-Y1), (X2-X1))；
The image coordinate M11 of described first image template is (E11, F11, G11)；The image coordinate of second image template
M21 is (E21, F21, G21)；The mechanical coordinate P11 of described first image template is (X11, Y11, Z11)；Second image
The mechanical coordinate P21 of template is (X21, Y21, Z21)；
At this point, the rotation center coordinate O2 of described first image template and second image template be ((X11+X21) ÷ 2,
(Y11+Y21)÷2)；
The rotation angle α 2=arctan2 ((Y21-Y11), (X21-X11)) of second image template.
3. the correlating method of coordinate according to claim 2, it is characterised in that：
It is made by oneself according to the mechanical coordinate P2 foundation of the mechanical coordinate P1 of described first image template and second image template
Adopted coordinate system；
The self-defined coordinate system is two-dimensional coordinate system, including U axis and V axis, and the U axis and V axis and the E axis and F axle positions
In same plane；
Based on the self-defined coordinate system, determine the starting point coordinate A1 of dispensing track be (U1, V1) and terminal point coordinate B2 be (U2,
V2)；
The starting point coordinate A1 (U1, V1) and the terminal point coordinate B2 (U2, V2) are converted into the preset mechanical coordinate
It is corresponding mechanical coordinate, and according to the starting point coordinate A1 (U1, V1) and the terminal point coordinate B2 (U2, V2) described default
The corresponding mechanical coordinate of mechanical coordinate system to the dispensing track carry out dispensing.
4. the correlating method of coordinate according to claim 3, it is characterised in that：
Calculate the mechanical coordinate P11 (X11, Y11, Z11) of described first image template and the machinery of second image template
Coordinate P21 (X21, Y21, Z21) is relative to the mechanical coordinate P1 (X1, Y1, Z1) of described first image template and described second
The mechanical coordinate P2 (X2, Y2, Z2) of image template the deviation ▽ X in the X-direction and the deviation ▽ Y in the Y direction；
▽ X=(X11+X21) ÷ 2- (X1+X2) ÷ 2；▽ Y=(Y11+Y21) ÷ 2- (Y1+Y2) ÷ 2；
Described first image template is calculated with the rotation angle α 2 of second image template relative to described first image template
And deviation ▽ α, ▽ α=α 2- α 1 of the rotation angle α 1 of second image template；
The rotation center coordinate O2 is calculated when the workpiece shifts in the deviation ▽ X 1 of the X-direction, ▽ X1=
(X11+X21)÷2-(X1+X2)÷2；
The rotation center coordinate O2 is calculated when the workpiece shifts in the deviation ▽ Y 1 of the Y direction, ▽ Y1=
(Y11+Y21)-(Y1+Y2)；
Calculate rotating deviation ▽ X 2 and ▽ Y 2, ▽ X2=the ▽ X1 of the rotation center coordinate O2 when workpiece shifts
× cos ▽ α-▽ X1 × sin ▽ α, ▽ Y2=▽ Y2 × cos ▽ α-▽ Y2 × sin ▽ α；
Translate the rotation center coordinate O2 when workpiece shifts, the rotation center coordinate O3 after translation be (▽ X3,
▽ Y3), ▽ X3=▽ X2+ (X1+X2) ÷ 2, ▽ Y3=▽ Y2+ (Y1+Y2) ÷ 2；
The compensation of the X-direction and the Y direction, the rotation after compensation are carried out to the rotation center coordinate O3 after the translation
It is (▽ X4, ▽ Y4), ▽ X4=▽ X3+ ▽ X, ▽ Y4=▽ Y3+ ▽ Y to turn centre coordinate O4；
Translate the mechanical coordinate P1 (X1, Y1, Z1) of described first image template, the machinery of the described first image template after translation
Coordinate P1 ' is (X1 ', Y1 ', Z1), X1 '=X1+ ▽ X, Y1 '=Y1+ ▽ Y；
The mechanical coordinate P2 (X2, Y2, Z2) for translating second image template, the machinery of second image template after translation
Coordinate P2 ' is (X2 ', Y2 ', Z2), X2 '=X2+ ▽ X, Y2 '=Y2+ ▽ Y.
5. the correlating method of coordinate according to claim 4, it is characterised in that：
According to described second after the mechanical coordinate P1 ' (X1 ', Y1 ', Z1) of the described first image template after translation and translation
The mechanical coordinate P2 ' (X2 ', Y2 ', Z2) of image template re-establishes self-defined coordinate system；
Based on the self-defined coordinate system re-established, again determine dispensing track starting point coordinate A11 be (U11, V11) and
Terminal point coordinate B21 is (U21, V21)；
The starting point coordinate A11 (U11, V11) and the terminal point coordinate B21 (U21, V21) are converted into the preset machine
The corresponding mechanical coordinate of tool coordinate system, and according to the starting point coordinate A11 (U11, V11) and the terminal point coordinate B21 (U21,
V21 dispensing) is carried out to the dispensing track in the preset mechanical coordinate system corresponding mechanical coordinate.
6. a kind of associated apparatus of coordinate, which is characterized in that including：
Image coordinate system module, the image coordinate M1 and second for demarcating the first image template according to described image coordinate system
The image coordinate M2 of image template；
Mechanical coordinate system module obtains mechanical coordinate corresponding with described image coordinate M1 and described image coordinate M2 for converting
P1 and mechanical coordinate P2；
Rotary module, the rotation for determining described first image template and second image template according to the mechanical coordinate system
Turn centre coordinate O1；Calculate the rotation angle α 1 of described first image template and second image template；
Self-defined coordinate system module, for establishing self-defined coordinate system, and the coordinate in the self-defined coordinate system and the machine
Mechanical coordinate in tool coordinate system is freely converted；Based on the self-defined coordinate system, the starting point coordinate A1 of calibration dispensing track and
Terminal point coordinate B2；
Described image coordinate system module is additionally operable to when workpiece shifts again according to described image coordinate system calibration described the
The image coordinate M21 of the image coordinate M11 of one image template and second image template；Mechanical coordinate system module is also
Mechanical coordinate P11 and mechanical coordinate P21 corresponding with described image coordinate M11 and described image coordinate M21 is obtained for converting；
The rotary module is additionally operable to determine described first image template and the second image mould again according to the mechanical coordinate system
The rotation center coordinate O2 of plate；The rotary module is additionally operable to calculate described first image template and the second image mould again
The rotation angle α 2 of plate；
Translation and compensating module, for calculating the mechanical coordinate P11 and mechanical coordinate P21 relative to the mechanical coordinate
The P1 and mechanical coordinate P2 deviation ▽ X in X-direction and the deviation ▽ Y in Y direction；Calculate 2 phases of rotation angle α
For the deviation ▽ α of the rotation angle α 1；The rotation center coordinate O1 is translated and compensated, by the rotation center
Coordinate O1 is converted to the rotation center coordinate O2；The mechanical coordinate P1 of described first image template is translated, it will be described
Mechanical coordinate P1 is converted to mechanical coordinate P1 '；The mechanical coordinate P2 of second image template is translated, by the machinery
Coordinate P2 is converted to mechanical coordinate P2 '.
7. the associated apparatus of coordinate according to claim 6, it is characterised in that：
The preset image coordinate system is three-dimensional system of coordinate, including E axis, F axis and G axis；The image of described first image template
Coordinate M1 is (E1, F1, G1), and the image coordinate M2 of second image template is (E2, F2, G2)；The preset machinery is sat
Mark system is three-dimensional system of coordinate, including X-axis, Y-axis and Z axis；
Mechanical coordinate system module is additionally operable to be sat according to the image of preset mechanical coordinate system and described first image template
M1 (E1, F1, G1) is marked, determines that the mechanical coordinate P1 of described first image template is (X1, Y1, Z1)；It is sat according to preset machinery
The image coordinate M2 (E2, F2, G2) of mark system and second image template, determines the mechanical coordinate of second image template
P2 is (X2, Y2, Z2)；
The rotary module is additionally operable to determine described first image template and the second image mould according to the mechanical coordinate system
The rotation center coordinate O1 of plate is ((X1+X2) ÷ 2, (Y1+Y2) ÷ 2)；
The rotary module is additionally operable to calculate the rotation angle α 1=of described first image template and second image template
arctan2((Y2-Y1),(X2-X1))；
Described image coordinate system module is additionally operable to demarcate the image of described first image template again according to described image coordinate system
Coordinate M11 is (E11, F11, G11)；The image coordinate M21 of second image template is (E21, F21, G21)；
It is corresponding with described image coordinate M11 and described image coordinate M21 that mechanical coordinate system module is additionally operable to conversion acquisition
The mechanical coordinate P11 of described first image template is the mechanical coordinate P21 of (X11, Y11, Z11) and second image template
For (X21, Y21, Z21)；
The rotary module is additionally operable to determine described first image template and the second image mould according to the mechanical coordinate system
The rotation center coordinate O2 of plate is ((X11+X21) ÷ 2, (Y11+Y21) ÷ 2)；The rotation angle α 2 of second image template
=arctan2 ((Y21-Y11), (X21-X11)).
8. the associated apparatus of coordinate according to claim 7, which is characterized in that described image coordinate system module, the machinery
Coordinate system module, the rotary module, the self-defined coordinate system module and the translation and compensating module are additionally operable to realize
The correlating method of coordinate described in claim 3-5 any one.
9. a kind of electronic equipment, which is characterized in that including：At least one central processing unit, at least one processor；
At least one processor is connected at least one central processing unit by bus communication；
At least one processor is for storing computer instruction, when the electronic equipment is run, it is described it is at least one in
Central processor executes the computer instruction of at least one processor storage so that the electronic equipment is for controlling right of execution
Profit requires the correlating method of coordinate described in 1-5 any one.
10. a kind of non-transient computer readable storage medium, which is characterized in that the non-transient computer readable storage medium is deposited
Computer executable instructions are contained, the computer executable instructions are required for controlling perform claim described in 1-5 any one
The correlating method of coordinate.
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| CN111028291A (en) * | 2019-12-10 | 2020-04-17 | 东莞市盛雄激光先进装备股份有限公司 | Element alignment method and device |
| CN113310443A (en) * | 2021-04-26 | 2021-08-27 | 深圳市世宗自动化设备有限公司 | Mechanical arm guided spraying calibration method, device, equipment and storage medium thereof |
| CN115471551A (en) * | 2022-09-13 | 2022-12-13 | 苏州市凌臣采集计算机有限公司 | Method and device for obtaining coordinates of dispensing point positions, computer equipment and readable storage medium |
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Address after: 518000 101-502, No.9, xinbaili Industrial Park, Xinshi community, Dalang street, Longhua District, Shenzhen City, Guangdong Province Applicant after: Shenzhen Tengsheng precision equipment Co., Ltd Address before: 518000 Guangdong city of Shenzhen province Baoan District Dalang Street Huaning road Hualian Industrial Park seven Applicant before: SHENZHEN TENSUN INDUSTRIAL EQUIPMENT CO., LTD. |
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| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20181102 |