CN116637781B - Equidistant dispensing method, device and equipment for space curve and storage medium - Google Patents
Equidistant dispensing method, device and equipment for space curve and storage medium Download PDFInfo
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- CN116637781B CN116637781B CN202310480681.5A CN202310480681A CN116637781B CN 116637781 B CN116637781 B CN 116637781B CN 202310480681 A CN202310480681 A CN 202310480681A CN 116637781 B CN116637781 B CN 116637781B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05D—PROCESSES FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05D1/00—Processes for applying liquids or other fluent materials
- B05D1/26—Processes for applying liquids or other fluent materials performed by applying the liquid or other fluent material from an outlet device in contact with, or almost in contact with, the surface
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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
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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
- B05C5/00—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work
- B05C5/02—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/30—Computing systems specially adapted for manufacturing
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Abstract
The application discloses an equidistant dispensing method, device and equipment for a space curve and a storage medium, wherein the equidistant dispensing method for the space curve comprises the following steps: acquiring a dispensing path, a dense dispensing file and an initial equidistant file of a product to be dispensed; assigning the gestures of the dense points in the dense point file to the initial equidistant points in the initial equidistant file to obtain an assigned target equidistant file; and carrying out equidistant dispensing operation on the product to be dispensed based on the target equidistant file and the dispensing path. The application belongs to the technical field of dispensing, and aims to improve the dispensing precision by assigning the gestures of dense points in the dense point files to the initial equidistant points in the initial equidistant file so that the equidistant file contains point gesture information, thereby being suitable for a five-axis linkage dispensing machine.
Description
Technical Field
The application relates to the technical field of dispensing, in particular to a method, a device, equipment and a storage medium for equidistant dispensing of a space curve.
Background
In the process of dispensing curved surface products, a five-axis linkage dispensing machine is generally adopted, wherein the five-axis linkage dispensing machine emphasizes 'linkage', namely 5 axes move simultaneously, the working efficiency of the five-axis linkage dispensing machine is much higher than that of a non-linkage machine type, and the difference in structural form is small, so long as a mechanical structure can reach, any space track can be completed, and the five-axis linkage dispensing machine can be used for dispensing complex curved surface workpieces.
In the related art, an equidistant file (PT) file generated by software is used, and under five-axis linkage when the five-axis linkage dispensing machine works, the dispensing point does not meet the equidistant requirement, so that the dispensing precision is low.
Disclosure of Invention
The application mainly aims to provide an equidistant dispensing method, device and equipment for space curves and a storage medium, and aims to solve the technical problem of low dispensing precision in the prior art.
In order to achieve the above object, the present application provides an equidistant dispensing method for a space curve, where the equidistant dispensing method for a space curve includes:
acquiring a dispensing path, a dense dispensing file and an initial equidistant file of a product to be dispensed;
Assigning the gestures of the dense points in the dense point file to the initial equidistant points in the initial equidistant file to obtain an assigned target equidistant file;
And carrying out equidistant dispensing operation on the product to be dispensed based on the target equidistant file and the dispensing path.
Optionally, the step of assigning the gesture of the dense point in the dense point file to the initial equidistant point in the initial equidistant file to obtain an assigned target equidistant file includes:
acquiring a first space axis coordinate of a dense point in the dense point file, a rotation axis coordinate of the dense point and a second space axis coordinate of an initial equidistant point in the initial equidistant file;
Determining a dense point with the closest distance to each initial equidistant point based on the first space axis coordinate and the second space axis coordinate;
Assigning the rotation axis coordinates of the closest dense points to the corresponding initial equidistant points to obtain assigned target equidistant points;
And forming a target equidistant file based on each assigned target equidistant point.
Optionally, the step of determining, based on the first spatial axis coordinate and the second spatial axis coordinate, a closest dense point from each of the initial equidistant points includes:
Placing each initial equidistant point into the dense point file of the dense point file, and traversing all dense points in the dense point file;
calculating the distance between each initial equidistant point and all the dense points to obtain a distance data set;
And determining the dense point corresponding to the smallest distance data in the distance data set as the dense point with the closest distance to the current initial equidistant point.
Optionally, the step of determining the dense point corresponding to the smallest distance data in the distance data set as the dense point closest to the current initial equidistant point distance includes:
Sorting the distance data in the distance data set from small to large to obtain a sorting result;
and determining the dense point corresponding to the first distance data in the sorting result as the dense point with the closest distance to the current initial equidistant point.
Optionally, the space axis coordinate includes an X axis, a Y axis and a Z axis, and the rotation axis coordinate includes a first rotation axis coordinate B and a second rotation axis coordinate C.
Optionally, the step of obtaining the dense dot file and the initial equidistant file of the product to be dispensed includes:
acquiring a 3D image of a product to be dispensed;
and inputting the 3D image into preset image processing software to generate corresponding dense point files and equidistant files.
Optionally, before the step of performing equidistant dispensing operation on the product to be dispensed based on the target equidistant file, the method includes:
detecting whether mutation points exist on the dispensing path;
If the point gum path has the mutation point, smoothing the mutation point to obtain a smoothed point gum path.
The application also provides an equidistant glue dispensing device of the space curve, which comprises:
The acquisition module is used for acquiring a dispensing path, a dense point file and an initial equidistant file of a product to be dispensed;
the assignment module is used for assigning the gestures of the dense points in the dense point file to the initial equidistant points in the initial equidistant file to obtain an assigned target equidistant file;
and the dispensing module is used for carrying out equidistant dispensing operation on the product to be dispensed based on the target equidistant file.
The application also provides equidistant dispensing equipment of the space curve, which comprises: a memory, a processor and a program stored on the memory for implementing the equidistant dispensing method of the space curve,
The memory is used for storing a program for realizing an equidistant dispensing method of the space curve;
the processor is used for executing a program for realizing the equidistant dispensing method of the space curve so as to realize the equidistant dispensing method of the space curve.
The application also provides a storage medium, wherein the storage medium is stored with a program for realizing the equidistant dispensing method of the space curve, and the program for realizing the equidistant dispensing method of the space curve is executed by a processor to realize the equidistant dispensing method of the space curve.
Compared with equidistant dispensing methods, devices, equipment and storage media of space curves, which are generated by software in the related technology, in the application, the equidistant dispensing method, the device and the storage media of the space curves, under the five-axis linkage when the five-axis linkage dispensing machine works, the dispensing points do not meet the equidistant requirements, and the dispensing precision is low, and compared with the method, the device and the storage media of the space curves, the device and the storage media of the application, the method of the application acquire the dispensing paths, the dense dispensing files and the initial equidistant files of the products to be dispensed; assigning the gestures of the dense points in the dense point file to the initial equidistant points in the initial equidistant file to obtain an assigned target equidistant file; and carrying out equidistant dispensing operation on the product to be dispensed based on the target equidistant file and the dispensing path. In the application, the gestures of the dense points in the dense point file are assigned to the initial equidistant points in the initial equidistant file, so that the equidistant file contains the point gesture information, the equidistant file is suitable for the five-axis linkage point gum machine, and the accuracy of point gum is improved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description, serve to explain the principles of the application. In order to more clearly illustrate the embodiments of the application or the technical solutions of the prior art, the drawings which are used in the description of the embodiments or the prior art will be briefly described, and it will be obvious to a person skilled in the art that other drawings can be obtained from these drawings without inventive effort.
FIG. 1 is a schematic diagram of a device architecture of a hardware operating environment according to an embodiment of the present application;
FIG. 2 is a schematic flow chart of a first embodiment of the equidistant dispensing method of the space curve of the present application;
fig. 3 is a schematic block diagram of an equidistant dispensing device with a space curve according to the present application.
The achievement of the objects, functional features and advantages of the present application will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.
As shown in fig. 1, fig. 1 is a schematic diagram of a terminal structure of a hardware running environment according to an embodiment of the present application.
The terminal of the embodiment of the application can be a PC, or can be a mobile terminal device with a display function, such as a smart phone, a tablet personal computer, an electronic book reader, an MP3 (Moving Picture Experts Group Audio Layer III, dynamic image expert compression standard audio layer 3) player, an MP4 (Moving Picture Experts Group Audio Layer IV, dynamic image expert compression standard audio layer 4) player, a portable computer and the like.
As shown in fig. 1, the terminal may include: a processor 1001, such as a CPU, a network interface 1004, a user interface 1003, a memory 1005, a communication bus 1002. Wherein the communication bus 1002 is used to enable connected communication between these components. The user interface 1003 may include a Display, an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may further include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface). The memory 1005 may be a high-speed RAM memory or a stable memory (non-volatile memory), such as a disk memory. The memory 1005 may also optionally be a storage device separate from the processor 1001 described above.
Optionally, the terminal may also include a camera, an RF (Radio Frequency) circuit, a sensor, an audio circuit, a WiFi module, and so on. Among other sensors, such as light sensors, motion sensors, and other sensors. Specifically, the light sensor may include an ambient light sensor that may adjust the brightness of the display screen according to the brightness of ambient light, and a proximity sensor that may turn off the display screen and/or the backlight when the mobile terminal moves to the ear. As one of the motion sensors, the gravity acceleration sensor can detect the acceleration in all directions (generally three axes), and can detect the gravity and the direction when the mobile terminal is stationary, and the mobile terminal can be used for recognizing the gesture of the mobile terminal (such as horizontal and vertical screen switching, related games, magnetometer gesture calibration), vibration recognition related functions (such as pedometer and knocking), and the like; of course, the mobile terminal may also be configured with other sensors such as a gyroscope, a barometer, a hygrometer, a thermometer, an infrared sensor, and the like, which are not described herein.
It will be appreciated by those skilled in the art that the terminal structure shown in fig. 1 is not limiting of the terminal and may include more or fewer components than shown, or may combine certain components, or a different arrangement of components.
As shown in fig. 1, an operating device, a network communication module, a user interface module, and an equidistant dispensing program of a space curve may be included in a memory 1005 as a computer storage medium.
In the terminal shown in fig. 1, the network interface 1004 is mainly used for connecting to a background server and performing data communication with the background server; the user interface 1003 is mainly used for connecting a client (user side) and performing data communication with the client; and the processor 1001 may be used to invoke an equidistant dispensing procedure of the space curve stored in the memory 1005.
Referring to fig. 2, an embodiment of the present application provides an equidistant dispensing method for a space curve, where the equidistant dispensing method for a space curve includes:
Step S100, a dispensing path, a dense point file and an initial equidistant file of a product to be dispensed are obtained;
Step S200, assigning the gestures of the dense points in the dense point file to the initial equidistant points in the initial equidistant file to obtain an assigned target equidistant file;
And step S300, carrying out equidistant dispensing operation on the product to be dispensed based on the target equidistant file and the dispensing path.
In this embodiment, the application scenario aimed at is:
As an example, the equidistant dispensing of the space curve may be performed by dispensing a curved surface dispensing product in a five-axis linkage dispensing machine. In the related art, it is proposed that an equidistant file (PT) file generated by using software is used, and under five-axis linkage when the five-axis linkage dispensing machine works, a dispensing point does not meet an equidistant requirement, so that the dispensing precision is low. Aiming at the scene, the equidistant dispensing method of the space curve of the embodiment assigns the gestures of the dense points in the dense point file to the initial equidistant points in the initial equidistant file, so that the equidistant file contains the point gesture information, is suitable for a five-axis linkage dispensing machine, and improves the dispensing precision.
As an example, the application scenario of equidistant dispensing of the space curve is not only the five-axis linkage dispensing machine described above, but also includes equidistant dispensing scenarios of various space curves, which is not limited herein.
The present embodiment aims at: and the dispensing precision is improved.
In this embodiment, the equidistant dispensing method of the space curve is applied to the equidistant dispensing device of the space curve.
The method comprises the following specific steps:
Step S100, a dispensing path, a dense point file and an initial equidistant file of a product to be dispensed are obtained;
In this embodiment, the product to be dispensed is usually a PCB board, a digital product, and the dispensing is to spread, fill and drop the electronic glue on the product, so that the product has some functions of adhesion, insulation, fixation, smooth surface, and the like, the dispensing path (i.e., the movement track of the dispensing) can be programmed independently according to the production requirement, the dispensing operation can be performed on any non-plane, the dispensing machine not only can improve the dispensing consistency, reduce the material waste, but also can improve the working efficiency and quality, and realize the high-end equipment of mechanized production. Can be widely applied to the dispensing industry with various requirements.
In this embodiment, the dense point file is a file including a plurality of dense points, the dense points form a corresponding dispensing path, the initial equidistant file is a file including dense points with equal intervals, and the dense point file and the initial equidistant file are both generated based on corresponding software.
Specifically, the step S100 includes the following steps S110 to S120:
Step S110, a 3D image of a product to be dispensed is obtained;
step S120, inputting the 3D map to preset image processing software, and generating a corresponding dense point file and an equidistant file.
In this embodiment, the device inputs the 3D map of the product to be dispensed to a preset image processing software to generate a corresponding dense point file and equidistant file, where the image processing software specifically adopts hypermill software, and HYPERMILL is to be used for geometric modeling and analysis. The advantage of HYPERMILL in terms of machining is its advanced machining strategies such as high-speed milling, five-axis machining, bevel-blade milling, etc.
Step S200, assigning the gestures of the dense points in the dense point file to the initial equidistant points in the initial equidistant file to obtain an assigned target equidistant file;
In this embodiment, since the dense dot files are used alone to perform dispensing, where the dense dots have the gestures of dots, the spacing between the glue dots is unequal after dispensing, and the glue dispensing requirement is not met; the points of the initial equidistant file are used for dispensing, the included points are equidistant, but the glue points do not meet the equidistant requirement because the gesture problem of the points is ignored. Therefore, the method assigns the gestures of the dense points in the dense point file to the initial equidistant points in the initial equidistant file to obtain the assigned target equidistant file, wherein the assigned target equidistant file is an equidistant file formed by equidistant points after the gestures of the dense points are assigned, so that equidistant dispensing is ensured, uneven spacing of the adhesive points is avoided, and the accuracy of dispensing is improved.
Specifically, the step S200 includes the following steps S210 to S240:
Step S210, acquiring first space axis coordinates of dense points in the dense point file, rotation axis coordinates of the dense points and second space axis coordinates of initial equidistant points in the initial equidistant file;
In this embodiment, the device obtains a first spatial axis coordinate of the dense point in the dense point file, a rotational axis coordinate of the dense point, and a second spatial axis coordinate of the initial equidistant point in the initial equidistant file, where the device is applied to a five-axis linkage dispenser, the spatial axis coordinates include an X axis, a Y axis, and a Z axis, the rotational axis coordinates include a first rotational axis coordinate B and a second rotational axis coordinate C, for example, the points in the dense point file are (X1, Y1, Z1, B, C), and the points in the equidistant file are (X2, Y2, Z2).
Step S220, determining the closest dense point of each initial equidistant point distance based on the first space axis coordinate and the second space axis coordinate;
In this embodiment, the device determines, based on the first spatial axis coordinate and the second spatial axis coordinate, a dense point closest to each initial equidistant point, that is, finds a dense point closest to each initial equidistant point in a dense point file, for example, the initial equidistant file includes equidistant points a and B, the dense point file includes dense points X and Y, where the initial equidistant point a is closest to the dense point X in the dense point file, the initial equidistant point B is closest to the dense point Y in the dense point file, and assigns the rotation axis coordinate of the dense point X to the initial equidistant point a, and assigns the rotation axis coordinate of the dense point Y to the initial equidistant point B.
Specifically, the step S220 includes the following steps S221 to S223:
step S221, each initial equidistant point is put into the dense point file of the dense point file, and all dense points in the dense point file are traversed;
step S222, calculating the distance between each initial equidistant point and all the dense points to obtain a distance data set;
and S223, determining the dense point corresponding to the smallest distance data in the distance data set as the dense point with the closest distance to the current initial equidistant point.
In this embodiment, the device puts each initial equidistant point into the dense point file of the dense point file, traverses all dense points in the dense point file, that is, each initial equidistant point performs distance calculation with all other dense points to obtain a distance data set of the initial equidistant point, and determines a dense point corresponding to the smallest distance data in the distance data set as a dense point with the closest current initial equidistant point distance.
Specifically, the step S223 includes the following steps S2231-S2232:
step S2231, sorting the distance data in the distance data set from small to large to obtain a sorting result;
step S2232, determining the dense point corresponding to the first distance data in the sorting result as the dense point closest to the current initial equidistant point distance.
In this embodiment, the method for determining the dense point corresponding to the smallest distance data in the distance data set specifically includes that the device sorts the distance data in the distance data set from small to large to obtain a sorting result, and the dense point corresponding to the first distance data in the sorting result is determined as the dense point with the closest distance to the current initial equidistant point.
Step S230, assigning the rotation axis coordinates of the closest dense points to corresponding initial equidistant points to obtain assigned target equidistant points;
In this embodiment, the device assigns the rotation axis coordinates of the closest dense point to the corresponding initial equidistant point, so as to obtain the assigned target equidistant point, for example, the initial equidistant point a is closest to the dense point X in the dense point file, and assigns the rotation axis coordinates of the dense point X to the initial equidistant point a, where the first spatial circumferential coordinate+rotation axis coordinate of the dense point X is (X1, Y1, Z1, B, C), the second spatial circumferential coordinate of the initial equidistant point a is (X2, Y2, Z2), and the rotation axis coordinates of the dense point X are assigned to the initial equidistant point a, i.e., the assigned coordinates of the target equidistant point a are (X2, Y2, Z2, B, C).
And step S240, forming a target equidistant point file based on each assigned target equidistant point.
In this embodiment, after each initial equidistant point is assigned, a corresponding target equidistant point is obtained, and the target equidistant point is formed into a target equidistant file.
And step S300, carrying out equidistant dispensing operation on the product to be dispensed based on the target equidistant file and the dispensing path.
In this embodiment, the device performs equidistant dispensing operation on the product to be dispensed based on the target equidistant file and the dispensing path, that is, the device inputs the target equidistant file and the dispensing path to a corresponding dispensing execution module of the five-axis linkage dispensing machine, and the dispensing execution module performs equidistant dispensing operation on the product to be dispensed.
In this embodiment, the following beneficial effects are included: 1. the computer programming replaces part of manual teaching, so that the working efficiency and the dispensing precision are improved; 2. five-axis linkage realizes the surface dispensing work of the complex curved surface workpiece, ensures equidistant dispensing and avoids the problem of uneven dispensing point spacing; 3. the full-function dispensing mode is provided by combining computer software programming with manual teaching so as to cope with different products.
Compared with equidistant dispensing methods of space curves, which are generated by software in the related art, in the five-axis linkage dispensing machine, under the five-axis linkage when the five-axis linkage dispensing machine works, the equidistant dispensing method of space curves provided by the application does not meet the equidistant requirements, so that the dispensing precision is low, and in the application, the dispensing path, dense dispensing files and initial equidistant files of the product to be dispensed are obtained; assigning the gestures of the dense points in the dense point file to the initial equidistant points in the initial equidistant file to obtain an assigned target equidistant file; and carrying out equidistant dispensing operation on the product to be dispensed based on the target equidistant file and the dispensing path. In the application, the gestures of the dense points in the dense point file are assigned to the initial equidistant points in the initial equidistant file, so that the equidistant file contains the point gesture information, the equidistant file is suitable for the five-axis linkage point gum machine, and the accuracy of point gum is improved.
Based on the first embodiment, the present application further provides another embodiment, and the equidistant dispensing method for the space curve includes:
In step S300, before the step of performing equidistant dispensing operation on the product to be dispensed based on the target equidistant file, the method includes the following steps a100-a200:
step A100, detecting whether mutation points exist on the dispensing path;
And step A200, if the point gum path has a mutation point, performing smoothing treatment on the mutation point to obtain a smoothed point gum path.
In this embodiment, because the glue points set by the computer programming are equidistant under five-axis linkage, when the curved surface of the product has abrupt change, the glue dispensing position is inaccurate due to the reason that the axes suddenly accelerate and decelerate in the glue dispensing process, and the glue dispensing precision is reduced.
In the embodiment, the movement speed of the smooth shaft in the abrupt path is reduced by detecting the abrupt points, the mechanical vibration of the machine is reduced, and the stability of the machine is improved.
The application also provides an equidistant glue dispensing device of the space curve, which comprises:
The obtaining module 10 is used for obtaining a dispensing path, a dense dispensing file and an initial equidistant file of a product to be dispensed;
The assignment module 20 is configured to assign the gestures of the dense points in the dense point file to the initial equidistant points in the initial equidistant file, so as to obtain an assigned target equidistant file;
And the dispensing module 30 is used for carrying out equidistant dispensing operation on the product to be dispensed based on the target equidistant file.
Optionally, the assignment module 20 includes:
the coordinate acquisition module is used for acquiring first space axis coordinates of the dense points in the dense point file, rotation axis coordinates of the dense points and second space axis coordinates of the initial equidistant points in the initial equidistant file;
The dense point determining module is used for determining the dense point with the closest initial equidistant point distance based on the first space axis coordinate and the second space axis coordinate;
The rotation axis coordinate assignment module is used for assigning the rotation axis coordinates of the closest dense points to the corresponding initial equidistant points to obtain assigned target equidistant points;
And the file determining module is used for forming a target equidistant file based on the target equidistant points after each assignment.
Optionally, the dense point determining module includes:
the traversing module is used for placing each initial equidistant point into the dense point file of the dense point file and traversing all dense points in the dense point file;
The calculation module is used for calculating the distance between each initial equidistant point and all the dense points to obtain a distance data set;
And the closest dense point determining module is used for determining the dense point corresponding to the smallest distance data in the distance data set as the closest dense point of the current initial equidistant point distance.
Optionally, the closest dense point determining module includes:
the sorting module is used for sorting the distance data in the distance data set from small to large to obtain a sorting result;
And the minimum distance determining module is used for determining the dense point corresponding to the first distance data in the sorting result as the dense point with the closest distance to the current initial equidistant point.
Optionally, the acquiring module 10 includes:
the 3D image acquisition module is used for acquiring a 3D image of the product to be dispensed;
and the file generation module is used for inputting the 3D image into preset image processing software to generate corresponding dense point files and equidistant files.
Optionally, the equidistant glue dispensing device of the space curve further includes:
The detection module is used for detecting whether mutation points exist on the dispensing path;
and the smoothing module is used for smoothing the abrupt points if the abrupt points exist on the adhesive dispensing path, so as to obtain the smoothed adhesive dispensing path.
The specific implementation manner of the equidistant dispensing device of the space curve is basically the same as that of each embodiment of the equidistant dispensing method of the space curve, and is not repeated here.
Referring to fig. 1, fig. 1 is a schematic diagram of a terminal structure of a hardware operating environment according to an embodiment of the present application.
As shown in fig. 1, the terminal may include: a processor 1001, such as a CPU, a network interface 1004, a user interface 1003, a memory 1005, a communication bus 1002. Wherein the communication bus 1002 is used to enable connected communication between these components. The user interface 1003 may include a Display, an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may further include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface). The memory 1005 may be a high-speed RAM memory or a stable memory (non-volatile memory), such as a disk memory. The memory 1005 may also optionally be a storage device separate from the processor 1001 described above.
Optionally, the equidistant dispensing device of the space curve may further include a rectangular user interface, a network interface, a camera, an RF (Radio Frequency) circuit, a sensor, an audio circuit, a WiFi module, and the like. The rectangular user interface may include a Display screen (Display), an input sub-module such as a Keyboard (Keyboard), and the optional rectangular user interface may also include a standard wired interface, a wireless interface. The network interface may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface).
It will be appreciated by those skilled in the art that the equidistant dispensing device configuration of the space curve shown in fig. 1 does not constitute a limitation of the equidistant dispensing device of the space curve, and may include more or fewer components than shown, or may combine certain components, or may be a different arrangement of components.
As shown in fig. 1, a memory 1005, which is a storage medium, may include an operating system, a network communication module, and an equidistant dispensing program for a space curve. The operating system is a program for managing and controlling hardware and software resources of the equidistant dispensing equipment of the space curve, and supports the equidistant dispensing program of the space curve and the running of other software and/or programs. The network communication module is used for realizing communication among all components in the memory 1005 and communication between other hardware and software in the equidistant dispensing system of the space curve.
In the equidistant dispensing device for space curves shown in fig. 1, the processor 1001 is configured to execute an equidistant dispensing program for space curves stored in the memory 1005, so as to implement the steps of the equidistant dispensing method for space curves described in any one of the foregoing.
The specific implementation manner of the equidistant dispensing device of the space curve is basically the same as that of each embodiment of the equidistant dispensing method of the space curve, and is not repeated here.
The present application also provides a storage medium, on which a program for implementing an equidistant dispensing method of a space curve is stored, where the program for implementing the equidistant dispensing method of the space curve is executed by a processor to implement the equidistant dispensing method of the space curve as follows:
acquiring a dispensing path, a dense dispensing file and an initial equidistant file of a product to be dispensed;
Assigning the gestures of the dense points in the dense point file to the initial equidistant points in the initial equidistant file to obtain an assigned target equidistant file;
And carrying out equidistant dispensing operation on the product to be dispensed based on the target equidistant file and the dispensing path.
Optionally, the step of assigning the gesture of the dense point in the dense point file to the initial equidistant point in the initial equidistant file to obtain an assigned target equidistant file includes:
acquiring a first space axis coordinate of a dense point in the dense point file, a rotation axis coordinate of the dense point and a second space axis coordinate of an initial equidistant point in the initial equidistant file;
Determining a dense point with the closest distance to each initial equidistant point based on the first space axis coordinate and the second space axis coordinate;
Assigning the rotation axis coordinates of the closest dense points to the corresponding initial equidistant points to obtain assigned target equidistant points;
And forming a target equidistant file based on each assigned target equidistant point.
Optionally, the step of determining, based on the first spatial axis coordinate and the second spatial axis coordinate, a closest dense point from each of the initial equidistant points includes:
Placing each initial equidistant point into the dense point file of the dense point file, and traversing all dense points in the dense point file;
calculating the distance between each initial equidistant point and all the dense points to obtain a distance data set;
And determining the dense point corresponding to the smallest distance data in the distance data set as the dense point with the closest distance to the current initial equidistant point.
Optionally, the step of determining the dense point corresponding to the smallest distance data in the distance data set as the dense point closest to the current initial equidistant point distance includes:
Sorting the distance data in the distance data set from small to large to obtain a sorting result;
and determining the dense point corresponding to the first distance data in the sorting result as the dense point with the closest distance to the current initial equidistant point.
Optionally, the space axis coordinate includes an X axis, a Y axis and a Z axis, and the rotation axis coordinate includes a first rotation axis coordinate B and a second rotation axis coordinate C.
Optionally, the step of obtaining the dense dot file and the initial equidistant file of the product to be dispensed includes:
acquiring a 3D image of a product to be dispensed;
and inputting the 3D image into preset image processing software to generate corresponding dense point files and equidistant files.
Optionally, before the step of performing equidistant dispensing operation on the product to be dispensed based on the target equidistant file, the method includes:
detecting whether mutation points exist on the dispensing path;
If the point gum path has the mutation point, smoothing the mutation point to obtain a smoothed point gum path.
The specific implementation manner of the storage medium is basically the same as that of each embodiment of the equidistant dispensing method of the space curve, and is not repeated here.
The application also provides a computer program product comprising a computer program which, when executed by a processor, implements the steps of the equidistant dispensing method of a space curve as described above.
The specific implementation manner of the computer program product of the present application is basically the same as the equidistant dispensing method embodiments of the space curve, and will not be repeated here.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The foregoing embodiment numbers of the present application are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. ROM/RAM, magnetic disk, optical disk) as described above, comprising instructions for causing a terminal device (which may be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) to perform the method according to the embodiments of the present application.
The foregoing description is only of the preferred embodiments of the present application, and is not intended to limit the scope of the application, but rather is intended to cover any equivalents of the structures or equivalent processes disclosed herein or in the alternative, which may be employed directly or indirectly in other related arts.
Claims (9)
1. The equidistant dispensing method for the space curve is characterized by comprising the following steps of:
acquiring a dispensing path, a dense dispensing file and an initial equidistant file of a product to be dispensed;
Assigning the gestures of the dense points in the dense point file to the initial equidistant points in the initial equidistant file to obtain an assigned target equidistant file;
the step of assigning the gestures of the dense points in the dense point file to the initial equidistant points in the initial equidistant file to obtain an assigned target equidistant file comprises the following steps:
acquiring a first space axis coordinate of a dense point in the dense point file, a rotation axis coordinate of the dense point and a second space axis coordinate of an initial equidistant point in the initial equidistant file;
Determining a dense point with the closest distance to each initial equidistant point based on the first space axis coordinate and the second space axis coordinate;
Assigning the rotation axis coordinates of the closest dense points to the corresponding initial equidistant points to obtain assigned target equidistant points;
Forming a target equidistant file based on each assigned target equidistant point;
And carrying out equidistant dispensing operation on the product to be dispensed based on the target equidistant file and the dispensing path.
2. The method of equidistant dispensing for a space curve as set forth in claim 1, wherein said step of determining a closest concentration point for each of said initial equidistant points based on said first and second spatial axis coordinates comprises:
Placing each initial equidistant point into the dense point file, and traversing all dense points in the dense point file;
calculating the distance between each initial equidistant point and all the dense points to obtain a distance data set;
And determining the dense point corresponding to the smallest distance data in the distance data set as the dense point with the closest distance to the current initial equidistant point.
3. The equidistant dispensing method of space curve according to claim 2, wherein the step of determining the dense point corresponding to the smallest distance data in the distance data set as the dense point closest to the current initial equidistant point distance comprises:
Sorting the distance data in the distance data set from small to large to obtain a sorting result;
and determining the dense point corresponding to the first distance data in the sorting result as the dense point with the closest distance to the current initial equidistant point.
4. The equidistant dispensing method of a space curve as set forth in claim 1, wherein the space axis coordinates include an X axis, a Y axis and a Z axis, and the rotation axis coordinates include a first rotation axis coordinate B and a second rotation axis coordinate C, applied to a five-axis linkage dispenser.
5. The equidistant dispensing method of space curve according to claim 1, wherein the step of obtaining dense dot files and initial equidistant files of the product to be dispensed comprises:
acquiring a 3D image of a product to be dispensed;
and inputting the 3D image into preset image processing software to generate corresponding dense point files and equidistant files.
6. The equidistant dispensing method of space curve according to claim 1, wherein before the step of equidistant dispensing the product to be dispensed based on the target equidistant file, the method comprises:
detecting whether mutation points exist on the dispensing path;
If the point gum path has the mutation point, smoothing the mutation point to obtain a smoothed point gum path.
7. Equidistant dispensing device of space curve, its characterized in that, equidistant dispensing device of space curve includes:
The acquisition module is used for acquiring a dispensing path, a dense point file and an initial equidistant file of a product to be dispensed;
the coordinate acquisition module is used for acquiring first space axis coordinates of the dense points in the dense point file, rotation axis coordinates of the dense points and second space axis coordinates of the initial equidistant points in the initial equidistant file;
The dense point determining module is used for determining the dense point with the closest initial equidistant point distance based on the first space axis coordinate and the second space axis coordinate;
The rotation axis coordinate assignment module is used for assigning the rotation axis coordinates of the closest dense points to the corresponding initial equidistant points to obtain assigned target equidistant points;
The file determining module is used for forming a target equidistant file based on each assigned target equidistant point;
and the dispensing module is used for carrying out equidistant dispensing operation on the product to be dispensed based on the target equidistant file.
8. Equidistant dispensing equipment of space curve, its characterized in that, equidistant dispensing equipment of space curve includes: a memory, a processor and a program stored on the memory for implementing the equidistant dispensing method of the space curve,
The memory is used for storing a program for realizing an equidistant dispensing method of the space curve;
the processor is configured to execute a program for implementing the equidistant dispensing method of the space curve, so as to implement the steps of the equidistant dispensing method of the space curve as set forth in any one of claims 1 to 6.
9. A storage medium, characterized in that a program for realizing an equidistant dispensing method of a space curve is stored on the storage medium, which program is executed by a processor for realizing the steps of the equidistant dispensing method of a space curve according to any one of claims 1 to 6.
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| CN105618348A (en) * | 2014-10-28 | 2016-06-01 | 技鼎股份有限公司 | Dispensing method and dispensing device |
| US20200069001A1 (en) * | 2018-09-04 | 2020-03-05 | Cerim S.R.L. | Machine and method for applying glue onto soles of footwear |
| CN110717984A (en) * | 2019-09-10 | 2020-01-21 | 佛山缔乐视觉科技有限公司 | Automatic sole gluing method and system based on three-dimensional reconstruction and storage medium |
| CN110976206B (en) * | 2019-11-28 | 2022-08-12 | 深圳市世宗自动化设备有限公司 | Dispensing control method and device, computer equipment and storage medium thereof |
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| CN115518838B (en) * | 2022-11-23 | 2023-05-23 | 苏州佳祺仕科技股份有限公司 | Dispensing control method, device, equipment and storage medium |
| CN115921221A (en) * | 2022-12-28 | 2023-04-07 | 苏州星宇智能制造有限公司 | Dispensing method of five-axis dispenser, electronic device and storage medium |
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| CN103316827A (en) * | 2013-06-09 | 2013-09-25 | 深圳众为兴技术股份有限公司 | Adhesive dispensing method and device |
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