CN113304966A - Dynamic dispensing compensation method and device, computer equipment and storage medium thereof - Google Patents
Dynamic dispensing compensation method and device, computer equipment and storage medium thereof Download PDFInfo
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- CN113304966A CN113304966A CN202110451995.3A CN202110451995A CN113304966A CN 113304966 A CN113304966 A CN 113304966A CN 202110451995 A CN202110451995 A CN 202110451995A CN 113304966 A CN113304966 A CN 113304966A
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- 239000000463 material Substances 0.000 claims abstract description 63
- 238000004590 computer program Methods 0.000 claims description 18
- 239000003292 glue Substances 0.000 claims description 7
- 238000004364 calculation method Methods 0.000 claims description 6
- 238000013519 translation Methods 0.000 claims description 4
- 238000011161 development Methods 0.000 claims description 2
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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
- B05C11/1002—Means for controlling supply, i.e. flow or pressure, of liquid or other fluent material to the applying apparatus, e.g. valves
- B05C11/1015—Means for controlling supply, i.e. flow or pressure, of liquid or other fluent material to the applying apparatus, e.g. valves responsive to a conditions of ambient medium or target, e.g. humidity, temperature ; responsive to position or movement of the coating head relative to the target
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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
- B05C11/1002—Means for controlling supply, i.e. flow or pressure, of liquid or other fluent material to the applying apparatus, e.g. valves
- B05C11/1015—Means for controlling supply, i.e. flow or pressure, of liquid or other fluent material to the applying apparatus, e.g. valves responsive to a conditions of ambient medium or target, e.g. humidity, temperature ; responsive to position or movement of the coating head relative to the target
- B05C11/1021—Means for controlling supply, i.e. flow or pressure, of liquid or other fluent material to the applying apparatus, e.g. valves responsive to a conditions of ambient medium or target, e.g. humidity, temperature ; responsive to position or movement of the coating head relative to the target responsive to presence or shape of target
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Abstract
The invention discloses a dynamic dispensing compensation method, a device, computer equipment and a storage medium thereof, wherein the method comprises the following steps: acquiring a target image of a target material; determining a first Mark point on a target image; calculating a deviation value between a first Mark point on a target image and a second Mark point on a template image, wherein the template image is an image obtained by shooting a template material, the shape and the size of the template material are the same as those of the target material, the first Mark point is a characteristic point on the target material, and the second Mark point is a characteristic point on the template material corresponding to the same position on the target material; and compensating the dispensing path of the target material according to the deviation value. According to the dynamic dispensing compensation method, the device, the computer equipment and the storage medium thereof provided by the embodiment of the invention, the accuracy and reliability of the dispensing path of the target material can be ensured, the target material has angle difference, the correction can be obtained through the compensation and the correction of the dispensing path, the dispensing effect is more stable, and the quality and the yield can be obviously improved.
Description
Technical Field
The present invention relates to the field of dispensing technologies, and in particular, to a dynamic dispensing compensation method and apparatus, a computer device, and a storage medium thereof.
Background
Dispensing is a process of applying, encapsulating and dripping electronic glue, oil or other liquid onto a product to make the product have the functions of adhering, encapsulating, insulating, fixing, smoothing the surface and the like.
In the related art, when the dispensing equipment is used for producing products with high precision requirements, the placing positions of materials can be different, so that the trajectory of a glue path is deviated, and the yield of the products is reduced.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art. Therefore, the invention aims to provide a dynamic dispensing compensation method, a dynamic dispensing compensation device, a computer device and a storage medium thereof.
In order to achieve the above object, in a first aspect, a dynamic dispensing compensation method according to an embodiment of the present invention includes:
acquiring a target image of a target material;
determining a first Mark point on the target image;
calculating a deviation value between a first Mark point on the target image and a second Mark point on the template image, wherein the template image is an image obtained by shooting a template material, the shape and the size of the template material are the same as those of the target material, the first Mark point is a characteristic point on the target material, and the second Mark point is a characteristic point on the template material corresponding to the same position on the target material;
and compensating the dispensing path of the target material according to the deviation value.
According to one embodiment of the invention, the first Mark point and the second Mark point are both two; the calculating a deviation value between a first Mark point on the target image and a second Mark point on the template image comprises:
calculating an included angle between a first straight line and a second straight line support, wherein the first straight line is a connecting line between the two first Mark points, and the second straight line is a connecting line between the two second Mark points;
and calculating deviation values of the middle point of the first straight line and the middle point of the second straight line in the X direction and the Y direction.
According to an embodiment of the present invention, before acquiring the target image of the target material, the method further includes:
acquiring a template image of a template material;
determining a second Mark point on the template image;
and recording a dispensing path of the dispensing equipment during dispensing of the template material, and taking the dispensing path as a standard dispensing path.
According to an embodiment of the present invention, the compensating the dispensing path of the target material according to the deviation value includes:
obtaining a standard dispensing path of the template material;
and compensating the standard dispensing path according to the deviation value to form an actual dispensing path matched with the target material, wherein the actual dispensing path is used for controlling the dispensing equipment to dispense the target material.
According to an embodiment of the present invention, the compensating the standard dispensing path according to the deviation value to form an actual dispensing path matching the target material includes:
performing angle compensation on the standard dispensing path according to the included angle to form a first compensation path, wherein the first compensation path is parallel to the target material;
and carrying out translation compensation in the X direction and the Y direction on the first compensation path according to the deviation values in the X direction and the Y direction to form a second compensation path, and taking the second compensation path as the actual dispensing path.
According to one embodiment of the invention, determining a first Mark point on the target image comprises:
detecting each corner feature point on the target image;
and taking two detected corner characteristic points of the diagonal line on the target image as first Mark points.
The determining a second Mark point on the template image comprises:
detecting each corner feature point on the template image;
and taking two detected corner feature points of the diagonal line on the template image as second Mark points.
In a second aspect, a dynamic dispensing compensation apparatus according to an embodiment of the present invention includes:
the first acquisition unit is used for acquiring a target image of a target material;
a first determination unit configured to determine a first Mark point on the target image;
the calculating unit is used for calculating a deviation value between a first Mark point on the target image and a second Mark point on the template image, wherein the template image is an image obtained by shooting a template material, the shape and the size of the template material are the same as those of the target material, the first Mark point is a feature point on the target material, and the second Mark point is a feature point on the template material corresponding to the same position on the target material;
and the compensation unit is used for compensating the dispensing path of the target material according to the deviation value.
According to one embodiment of the invention, the first Mark point and the second Mark point are both two; the calculation unit includes:
the first calculation module is used for calculating an included angle between a first straight line and a second straight line support, wherein the first straight line is a connecting line between the two first Mark points, and the second straight line is a connecting line between the two second Mark points;
and the second calculating module is used for calculating deviation values of the middle point of the first straight line and the middle point of the second straight line in the X direction and the Y direction.
In a third aspect, a computer device according to an embodiment of the present invention includes a memory, a processor, and a computer program stored on the memory and executable on the processor, and the processor implements the dynamic dispensing compensation method as described above when executing the computer program.
In a fourth aspect, a computer storage medium according to an embodiment of the present invention has a computer program stored thereon, and when the program is executed by a processor, the method for dynamic dispensing compensation is implemented as described above.
According to the dynamic dispensing compensation method, the device, the computer equipment and the storage medium thereof provided by the embodiment of the invention, the target image of the target material is obtained, the first Mark point is determined on the target image, the deviation value between the first Mark point on the target image and the second Mark point of the template image is calculated, and the dispensing path of the target material is compensated according to the deviation value, so that the dispensing path of the target material is ensured to be accurate and reliable, an operator does not need to carelessly place a fixed position of the material when feeding the material, even if the difference in angle exists, the axe can be obtained through the dispensing path compensation and deviation rectification, the dispensing effect is more stable, and the quality and yield can be obviously improved.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
FIG. 1 is a flowchart illustrating a dynamic dispensing compensation method according to an embodiment of the present invention;
FIG. 2 is a flowchart of step S103 of the dynamic dispensing compensation method of the present invention;
FIG. 3 is a flowchart of step S104 of the dynamic dispensing compensation method of the present invention;
FIG. 4 is a schematic structural diagram of a dynamic dispensing compensation device according to an embodiment of the present invention;
FIG. 5 is a schematic structural diagram of a computing unit of the dynamic dispensing compensation device of the present invention;
FIG. 6 is a schematic structural diagram of another embodiment of a dynamic dispensing compensation device according to the present invention;
FIG. 7 is a schematic structural diagram of a compensation unit of the dynamic dispensing compensation device of the present invention;
fig. 8 is a schematic structural diagram of an embodiment of the computer device of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
Referring to fig. 1, fig. 1 is a flowchart illustrating an embodiment of a dynamic dispensing compensation method according to an embodiment of the present invention, and for convenience of description, only a portion related to the embodiment of the present invention is shown. Specifically, the dynamic dispensing compensation method specifically includes:
s101, obtaining a target image of a target material.
Specifically, in the dispensing process, a target material is fixed at a predetermined position, for example, the target material is fixed on a carrier, and the target material is driven to move to a position below the center of the visual field of the visual camera, or the visual camera is driven to move, so that the center of the visual field of the visual camera is located above the target material, and the target material is photographed by the visual camera to obtain a target image of the target material.
And S102, determining a first Mark point on the target image.
That is, after the target image is obtained, at least one feature point needs to be found on the target image, and the feature point is used as a first Mark point, specifically, the visual camera may perform processing analysis according to the target image to find a feature point that meets requirements, for example, positions such as an edge and a corner of the target image have obvious features, and these positions may be used as the feature point.
S103, calculating a deviation value between a first Mark point on the target image and a second Mark point on the template image, wherein the template image is an image obtained by shooting a template material, the shape and the size of the template material are the same as those of the target material, the first Mark point is a feature point on the target material, and the second Mark point is a feature point on the template material corresponding to the same position on the target material.
Specifically, before dispensing, a template image of the template material needs to be acquired, and a second Mark point needs to be determined on the template image. It should be noted that the template image is used as a reference datum for path compensation, and therefore, the template material and the target material belong to the same material class, and the shape and the size of the template material need to be kept the same. In addition, the position of the second Mark point on the template image corresponding to the template material is the same as the position of the first Mark point on the target image corresponding to the target material, for example, the first Mark point corresponds to a corner position on the template material, and the second Mark point also corresponds to the same corner position on the target material.
Calculating a deviation value between a first Mark point on the target image and a second Mark point on the template image, namely calculating a deviation between the target material and the same position on the template material. Preferably, the relative coordinates of the first Mark point with respect to the visual camera may be calculated according to the relative position between the first Mark point and the center of the field of view of the camera. And then converting the relative coordinate into a mechanism coordinate under the coordinate system of the relative motion mechanism according to the conversion relation between the coordinate system of the vision camera and the coordinate system of the motion mechanism, thereby obtaining the coordinate of the first Mark point. In the same manner, the second Mark point coordinates of the second Mark point may be calculated. And finally, comparing the coordinates of the first Mark point with the coordinates of the second Mark point to obtain a deviation value between the first Mark point and the second Mark point.
It should be noted that, in the application of the visual camera, the visual camera needs to be calibrated by using a calibration algorithm, for example, the visual camera needs to be calibrated by using a nine-point calibration algorithm, that is, an operator moves into nine points distributed in three horizontal directions, three vertical directions at fixed intervals, and takes pictures nine times respectively, and then, according to the acquired mechanism coordinates of the nine points, the conversion relationship between the coordinate system of the visual camera and the coordinate system of the motion mechanism, the coordinates can be converted based on the conversion relationship.
And S104, compensating the dispensing path of the target material according to the deviation value.
Because a deviation value exists between the first Mark point on the target image and the second Mark point on the template image, it is described that the placing position of the target material is not completely consistent with the placing position of the template material, and when the placing position of the target material is not consistent with the placing position of the template material, if the target material is subjected to glue dispensing according to the glue dispensing path corresponding to the template material, the glue dispensing path on the target material obviously has inaccurate problems of deviation and the like.
According to the dynamic dispensing compensation method provided by the embodiment of the invention, the target image of the target material is obtained, the first Mark point is determined on the target image, the deviation value between the first Mark point on the target image and the second Mark point on the template image is calculated, and the dispensing path of the target material is compensated according to the deviation value, so that the dispensing path of the target material is ensured to be accurate and reliable, an operator does not need to deliberately place a fixed position of the material when feeding the material, even if the angle difference exists, the axe can be obtained through the compensation and the deviation rectification of the dispensing path, the dispensing effect is more stable, and the quality and the yield can be obviously improved.
It should be noted that, in the present application, a standard dispensing path of the same type of material is established in advance before dispensing processing, so that when dispensing is performed on subsequent materials of the same type, compensation is performed based on the standard dispensing path, and thus, accuracy of dispensing is ensured.
Illustratively, the steps of establishing the standard dispensing path are as follows:
and acquiring a template image of the template material.
And determining a second Mark point on the template image.
And recording a dispensing path of the dispensing equipment during dispensing of the template material, and taking the dispensing path as a standard dispensing path.
Specifically, the carriers may be reloaded with a template material that is too small in size and shape to be subsequently dispensed, as described above, before being prepared for production processing, to ensure that the template material is horizontal. And then, acquiring a template image of the template material by using a visual camera, and determining a second Mark point on the template image. And then, the dispenser can be manually debugged, the dispenser is controlled to dispense on the template material by a preset dispensing path, the preset dispensing path is matched with the template material, and a dispensing needle head of the dispenser is stored to move to each coordinate point on the preset dispensing path to serve as a standard dispensing path.
Correspondingly, the step S104 of compensating the dispensing path of the target material according to the deviation value includes:
and acquiring a standard dispensing path of the template material.
And compensating the standard dispensing path according to the deviation value to form an actual dispensing path matched with the target material, wherein the actual dispensing path is used for controlling the dispensing equipment to dispense the target material.
That is to say, after a deviation value between a first Mark point of the target image and a second Mark point on the template image is obtained, the standard dispensing path can be compensated according to the deviation value to obtain an actual dispensing path of the target material, and the dispenser is controlled to dispense the target material according to the actual dispensing path.
Referring to fig. 2 to 3, in one embodiment of the present invention, the first Mark point and the second Mark point are both two; the step S103 includes:
s201, calculating an included angle between a first straight line and a second straight line support, wherein the first straight line is a connecting line between two first Mark points, and the second straight line is a connecting line between two second Mark points.
S202, calculating deviation values of the middle point of the first straight line and the middle point of the second straight line in the X direction and the Y direction.
Correspondingly, the compensating the standard dispensing path according to the deviation value to form an actual dispensing path matched with the target material includes:
s301, performing angle compensation on the standard dispensing path according to the included angle to form a first compensation path, wherein the first compensation path is parallel to the target material.
S302, according to the deviation values in the X direction and the Y direction, the first compensation path is subjected to translation compensation in the X direction and the Y direction to form a second compensation path, and the second compensation path is used as the actual dispensing path.
Specifically, a connecting line between two first Mark points is a first straight line, a connecting line between two second Mark points is a second straight line, and when there is a deviation between the position where the target material is placed and the position of the template material, an included angle may exist between the first straight line and the second straight line, and certainly, the included angle may also be parallel, so that the included angle between the first straight line and the second straight line is calculated first. After the included angle between the first straight line and the second straight line is obtained, the obtained first compensation path and the target material can form a parallel state only by correcting the angle of the standard dispensing path of the template material by the included angle. And comparing the coordinates of the middle point of the first straight line and the center of the second straight line, calculating deviation values of the first straight line and the second straight line in the X direction and the Y direction, respectively compensating the first compensation path in the X direction and the Y direction according to the deviation values in the X direction and the Y direction to obtain a second compensation path, and enabling the second compensation path to be overlapped with the target material to serve as an actual dispensing path of the target material.
In this embodiment, by adopting the above manner, the included angle between the target material and the template material and the deviation values in the upper X direction and the upper Y direction are calculated, and then the compensation is performed respectively according to the included angle and the deviation values, so that the actual dispensing path formed after the compensation can be ensured to be matched with the target material, and further the dispensing is accurate, reliable and stable, and the product yield and efficiency are higher.
In one embodiment of the invention, determining the first Mark point on the target image comprises:
and detecting each corner feature point on the target image.
And taking two detected corner characteristic points of the diagonal line on the target image as first Mark points.
The determining a second Mark point on the template image comprises:
and detecting each corner feature point on the template image.
And taking two detected corner feature points of the diagonal line on the template image as second Mark points.
In this embodiment, the corner characteristic points of two opposite angles on the target material are used as the first Mark points, and the corner characteristic points of two opposite angles on the template material are used as the second Mark points, so that the first straight line formed by connecting the two first Mark points is the diagonal line of the target material, the first straight line formed by connecting the two second Mark points is the diagonal line of the template material, and the included angle between the two diagonal lines is calculated, so that the included angle that can be calculated can accurately reflect the angle difference between the target material and the template material. The center point of the first straight line is the center of the target material, and the center of the second straight line is the center of the template material, so that the deviation values of the centers of the first straight line and the second straight line in the X direction and the Y direction can accurately reflect the deviation of the target material and the template material in the X direction and the Y direction, and further, the matching degree between the actual dispensing path and the target material obtained according to the included angle and the deviation value compensation is higher, and dispensing is more accurate.
Referring to fig. 4, fig. 4 is a schematic structural diagram of an embodiment of a dynamic dispensing compensation device according to an embodiment of the present invention, and for convenience of description, only a portion related to the embodiment of the present invention is shown. Specifically, this compensation arrangement is glued to developments point includes:
the first acquiring unit 201 is configured to acquire a target image of a target material.
A first determining unit 202 for determining a first Mark point on the target image.
The calculating unit 203 is configured to calculate a deviation value between a first Mark point on the target image and a second Mark point on the template image, where the template image is an image obtained by shooting a template material, the template material and the target material have the same shape and size, the first Mark point is a feature point on the target material, and the second Mark point is a feature point on the template material corresponding to the same position on the target material.
And the compensation unit 204 is used for compensating the dispensing path of the target material according to the deviation value.
Referring to fig. 5, in an embodiment of the present invention, the first Mark point and the second Mark point are both two; the calculation unit 203 includes:
the first calculation module 301 is configured to calculate an included angle between a first straight line and a second straight line support, where the first straight line is a connecting line between two first Mark points, and the second straight line is a connecting line between two second Mark points.
The second calculating module 302 is configured to calculate deviation values of the midpoint of the first straight line and the midpoint of the second straight line in the X direction and the Y direction.
Referring to fig. 6, in an embodiment of the present invention, the dynamic dispensing compensation apparatus further includes:
a second obtaining unit 401, configured to obtain a template image of a template material;
a second determining unit 402, configured to determine a second Mark point on the template image;
the recording unit 403 is configured to record a dispensing path of the dispensing apparatus during dispensing on the template material, and use the dispensing path as a standard dispensing path.
Referring to fig. 7, in an embodiment of the present invention, the compensation unit 204 includes:
an obtaining module 501, configured to obtain a standard dispensing path of the template material.
A compensation module 502, configured to compensate the standard dispensing path according to the deviation value to form an actual dispensing path matched with the target material, where the actual dispensing path is used to control the dispensing equipment to dispense the target material.
In an embodiment of the present invention, the compensation module 501 is specifically configured to: performing angle compensation on the standard dispensing path according to the included angle to form a first compensation path, wherein the first compensation path is parallel to the target material; and according to the deviation values in the X direction and the Y direction, carrying out translation compensation on the first compensation path in the X direction and the Y direction to form a second compensation path, and taking the second compensation path as the actual dispensing path.
In an embodiment of the present invention, the first determining unit 202 is specifically configured to: and detecting each corner feature point on the target image, and taking two detected corner feature points of a diagonal line on the target image as first Mark points.
The second determining unit 402 is specifically configured to: and detecting each corner feature point on the template image, and taking two detected corner feature points of the diagonal line on the template image as second Mark points.
It should be noted that, in the present specification, the embodiments are all described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments may be referred to each other. For the device or system type embodiment, since it is basically similar to the method embodiment, the description is simple, and for the relevant points, refer to the partial description of the method embodiment.
According to the dynamic dispensing compensation device provided by the embodiment of the invention, the first obtaining unit 201 obtains a target image of a target material, the first determining unit 202 determines a first Mark point on the target image, the calculating unit 203 calculates a deviation value between the first Mark point on the target image and a second Mark point of the template image, and the compensating unit 204 compensates a dispensing path of the target material according to the deviation value.
Referring to fig. 8, fig. 8 shows a computer device 600 provided by the embodiment of the present invention, which includes a memory 602, a processor 601, and a computer program 6021 stored in the memory 602 and executable on the processor 601, wherein the processor 601 implements the dynamic dispensing compensation method as described above when executing the computer program 6021.
Illustratively, the computer program 6021 may be divided into one or more modules/units that are stored in the memory 602 and executed by the processor 601 to accomplish the present invention. The one or more modules/units can be a series of computer program instruction segments capable of performing certain functions that are used to describe the execution of the computer program 6021 in the computer device 600.
The computer device 600 may include, but is not limited to, a processor 601, a memory 602. Those skilled in the art will appreciate that the figure is merely an example of a computer device 600 and is not intended to limit the computer device 600 and that the computer device 600 may include more or less components than those shown, or some of the components may be combined, or different components, e.g., the computer device 600 may also include input output devices, network access devices, buses, etc.
The Processor 601 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic device, discrete Gate or transistor logic, discrete default hardware components, and so on. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The storage 602 may be an internal storage unit of the computer device 600, such as a hard disk or a memory of the computer device 600. The memory 602 may also be an external storage device of the computer device 600, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like, which are provided on the computer device 600. Further, the memory 602 may also include both internal and external storage for the computer device 600. The memory 602 is used for storing the computer program 6021 as well as other programs and data required by the computer device 600. The memory 602 may also be used to temporarily store data that has been output or is to be output.
An embodiment of the present invention further provides a computer storage medium, on which a computer program 6021 is stored, where the program is executed by the processor 601 to implement the dynamic dispensing compensation method as described above.
The computer program 6021 may be stored in a computer readable storage medium, and when executed by the processor 601, the computer program 6021 may implement the steps of the above-described method embodiments. Wherein the computer program 6021 comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like.
It should be noted that the computer readable medium may contain other components which may be suitably increased or decreased as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media which may not include electrical carrier signals and telecommunications signals in accordance with legislation and patent practice.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
The steps in the method of the embodiment of the invention can be sequentially adjusted, combined and deleted according to actual needs.
The modules or units in the system of the embodiment of the invention can be combined, divided and deleted according to actual needs.
Those of ordinary skill in the art would appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic pre-set hardware or in a combination of computer software and electronic pre-set hardware. Whether these functions are performed by pre-determined hardware or software depends on the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the embodiments provided by the present invention, it should be understood that the disclosed apparatus/computer device 600 and method may be implemented in other ways. For example, the above-described embodiment of the apparatus/computer device 600 is merely illustrative, and for example, the division of the modules or units is only one logical division, and other divisions may be realized in practice, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present invention, and are intended to be included within the scope of the present invention.
Claims (10)
1. A dynamic dispensing compensation method is characterized by comprising the following steps:
acquiring a target image of a target material;
determining a first Mark point on the target image;
calculating a deviation value between a first Mark point on the target image and a second Mark point on the template image, wherein the template image is an image obtained by shooting a template material, the shape and the size of the template material are the same as those of the target material, the first Mark point is a characteristic point on the target material, and the second Mark point is a characteristic point on the template material corresponding to the same position on the target material;
and compensating the dispensing path of the target material according to the deviation value.
2. The dynamic glue dispensing compensation method according to claim 1, wherein the number of the first Mark points and the number of the second Mark points are two; the calculating a deviation value between a first Mark point on the target image and a second Mark point on the template image comprises:
calculating an included angle between a first straight line and a second straight line support, wherein the first straight line is a connecting line between the two first Mark points, and the second straight line is a connecting line between the two second Mark points;
and calculating deviation values of the middle point of the first straight line and the middle point of the second straight line in the X direction and the Y direction.
3. The dynamic dispensing compensation method according to claim 2, wherein before the obtaining of the target image of the target material, the method further comprises:
acquiring a template image of a template material;
determining a second Mark point on the template image;
and recording a dispensing path of the dispensing equipment during dispensing of the template material, and taking the dispensing path as a standard dispensing path.
4. The dynamic dispensing compensation method of claim 3, wherein the compensating the dispensing path of the target material according to the deviation value comprises:
obtaining a standard dispensing path of the template material;
and compensating the standard dispensing path according to the deviation value to form an actual dispensing path matched with the target material, wherein the actual dispensing path is used for controlling the dispensing equipment to dispense the target material.
5. The dynamic dispensing compensation method according to claim 4, wherein the compensating the standard dispensing path according to the deviation value to form an actual dispensing path matching the target material comprises:
performing angle compensation on the standard dispensing path according to the included angle to form a first compensation path, wherein the first compensation path is parallel to the target material;
and carrying out translation compensation in the X direction and the Y direction on the first compensation path according to the deviation values in the X direction and the Y direction to form a second compensation path, and taking the second compensation path as the actual dispensing path.
6. The dynamic dispensing compensation method of claim 3, wherein determining a first Mark point on the target image comprises:
detecting each corner feature point on the target image;
and taking two detected corner characteristic points of the diagonal line on the target image as first Mark points.
The determining a second Mark point on the template image comprises:
detecting each corner feature point on the template image;
and taking two detected corner feature points of the diagonal line on the template image as second Mark points.
7. The utility model provides a compensation arrangement is glued to developments point which characterized in that includes:
the first acquisition unit is used for acquiring a target image of a target material;
a first determination unit configured to determine a first Mark point on the target image;
the calculating unit is used for calculating a deviation value between a first Mark point on the target image and a second Mark point on the template image, wherein the template image is an image obtained by shooting a template material, the shape and the size of the template material are the same as those of the target material, the first Mark point is a feature point on the target material, and the second Mark point is a feature point on the template material corresponding to the same position on the target material;
and the compensation unit is used for compensating the dispensing path of the target material according to the deviation value.
8. The dynamic glue dispensing compensation device according to claim 6, wherein the number of the first Mark points and the number of the second Mark points are two; the calculation unit includes:
the first calculation module is used for calculating an included angle between a first straight line and a second straight line support, wherein the first straight line is a connecting line between the two first Mark points, and the second straight line is a connecting line between the two second Mark points;
and the second calculating module is used for calculating deviation values of the middle point of the first straight line and the middle point of the second straight line in the X direction and the Y direction.
9. Computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the method of dynamic spot-gluing compensation according to any one of claims 1 to 6 when executing the computer program.
10. A computer storage medium having a computer program stored thereon, wherein the program, when executed by a processor, implements the dynamic dispensing compensation method of any one of claims 1 to 6.
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| CN202110451995.3A CN113304966A (en) | 2021-04-26 | 2021-04-26 | Dynamic dispensing compensation method and device, computer equipment and storage medium thereof |
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| CN116351666A (en) * | 2023-04-24 | 2023-06-30 | 歌尔股份有限公司 | Dispensing method and dispensing equipment |
| CN116786373A (en) * | 2023-08-28 | 2023-09-22 | 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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