CN114708338A - Calibration method, device, equipment and medium of dispenser - Google Patents
Calibration method, device, equipment and medium of dispenser Download PDFInfo
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- CN114708338A CN114708338A CN202210322615.0A CN202210322615A CN114708338A CN 114708338 A CN114708338 A CN 114708338A CN 202210322615 A CN202210322615 A CN 202210322615A CN 114708338 A CN114708338 A CN 114708338A
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- 238000000034 method Methods 0.000 title claims abstract description 67
- 238000012795 verification Methods 0.000 claims abstract description 49
- 230000000007 visual effect Effects 0.000 claims abstract description 11
- 239000003292 glue Substances 0.000 claims description 58
- 238000006073 displacement reaction Methods 0.000 claims description 40
- 238000005259 measurement Methods 0.000 claims description 19
- 238000004590 computer program Methods 0.000 claims description 18
- 230000008569 process Effects 0.000 abstract description 10
- 238000010586 diagram Methods 0.000 description 10
- 238000004891 communication Methods 0.000 description 8
- 238000004364 calculation method Methods 0.000 description 7
- 238000012545 processing Methods 0.000 description 5
- 239000000853 adhesive Substances 0.000 description 4
- 230000001070 adhesive effect Effects 0.000 description 4
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- 230000003287 optical effect Effects 0.000 description 3
- 230000003993 interaction Effects 0.000 description 2
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- 238000003491 array Methods 0.000 description 1
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- 238000006467 substitution reaction Methods 0.000 description 1
- 238000011179 visual inspection Methods 0.000 description 1
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
- G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
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Abstract
The invention discloses a calibration method, a device, equipment and a medium of a dispenser, which can realize automatic calibration of the dispenser, guide dispensing of the dispenser in a visual guide mode after calibration, realize full automation of the dispenser, and ensure that the guide of the dispenser is more accurate in a verification process, thereby improving the dispensing accuracy.
Description
Technical Field
The invention relates to the technical field of dispenser calibration, in particular to a method, a device, equipment and a medium for calibrating a dispenser.
Background
At present, in the dispensing process of the dispenser, a common controller controls the motor to operate by receiving parameters input manually so as to drive the needle head, the laser and the like to dispense, so that the parameters are input manually, and the automation function of the dispenser is reduced. And the calibration of the current dispenser is mainly realized in a mode of visual inspection, calibration and compensation, and the calibrated result is not verified, so that the error in calibration cannot be determined, and the operation of the equipment after calibration has a certain collision risk.
Disclosure of Invention
The invention provides a calibration method, a device, equipment and a medium of a dispenser, which are used for solving the inconvenience that the dispenser still needs to manually input parameters and verifying the calibration of the dispenser, thereby improving the dispensing precision of the dispenser.
In order to solve the above problem, an embodiment of a first aspect of the present invention provides a calibration method for a dispenser, including:
the method comprises the following steps: controlling laser scanning to the edge of the calibration block;
step two: fitting a laser central point of the calibration block according to the position of each edge;
step three: controlling a camera to shoot an image of the calibration block;
step four: calibrating and fitting a visual center point of the calibration block according to the image of the calibration block;
step five: acquiring a relative position relation between the camera and the laser according to a coordinate position relation between the laser central point and the vision central point;
step six: and guiding the laser to measure through the camera according to the relative position relationship between the camera and the laser.
According to an embodiment of the present invention, before step six, the method further comprises:
step seven: verifying the relative position relationship between the camera and the laser; if the verification result is greater than or equal to the preset value, executing the sixth step; if the verification result is smaller than the preset value, repeating the first step to the fifth step until the verification result is larger than or equal to the preset value.
According to an embodiment of the present invention, the seventh step includes:
controlling the camera to shoot a central through hole image of the calibration block;
acquiring the coordinate of the central through hole according to the central through hole image of the calibration block;
guiding the laser emergent beam to the position of the central through hole according to the relative position relation between the camera and the laser and the coordinate of the central through hole;
obtaining a first height of the laser measured at the central through hole of the calibration block;
acquiring a second height of the laser measured on the plane around the calibration block;
calculating a first difference value between the first height and the second height, and executing the sixth step if the first difference value is greater than the preset value;
and if the first difference value is smaller than the preset value, repeating the first step to the fifth step, and recalibrating.
According to an embodiment of the present invention, further comprising:
step eight: controlling the laser to run to a laser measuring point;
step nine: obtaining a third height between the laser-to-point films of the laser measurement;
step ten: dispensing a crossed glue path with a preset length on the glue dispensing sheet by the needle head according to the third height, and acquiring a mechanical coordinate of a central point of the crossed glue path;
step eleven: controlling the camera to shoot the image of the crossed rubber road;
step twelve: acquiring the coordinates of the center point of the crossed rubber road according to the image of the crossed rubber road;
step thirteen: acquiring the relative position relation between the camera and the needle head according to the center point coordinate of the crossed rubber circuit and the mechanical coordinate;
fourteen steps: and guiding the needle head to carry out dispensing according to the relative position relationship between the camera and the needle head.
According to an embodiment of the present invention, before the step fourteen, the method further includes:
step fifteen: verifying the relative position relationship between the camera and the needle head; if the verification result is within the preset range, executing the fourteen steps; and if the verification result is out of the preset range, repeating the step eight to the step thirteen until the verification result is in the preset range.
According to one embodiment of the invention, the step fifteen includes:
controlling the needle head to perform cross dispensing at a preset distance of a mechanical coordinate of the center point of the cross-shaped crossed glue path to form a cross-shaped crossed glue path;
controlling the camera to shoot the image of the crossed rubber road of the second cross;
acquiring the center coordinates of the crossed rubber road according to the image of the crossed rubber road;
acquiring the central mechanical coordinate of the rubber road intersected in the twentieth shape according to the relative position relationship between the camera and the needle head and the central coordinate of the rubber road intersected in the twentieth shape;
calculating the distance between the mechanical coordinate of the center of the crossed rubber road and the mechanical coordinate of the center of the crossed rubber road;
if the distance is within a preset range, executing the fourteen step; and if the distance is out of the preset range, repeating the step eight to the step thirteen until the verification result is in the preset range.
According to an embodiment of the present invention, further comprising:
sixthly, the steps are as follows: controlling the laser to move above a displacement sensor platform, acquiring a laser value of the laser and acquiring a first position of a current z axis;
seventeen steps: controlling the needle head to move above the displacement sensor platform, controlling the z axis to move downwards, and when the numerical value of the displacement sensor changes to a second preset value, controlling the z axis to stop moving downwards to obtain a second position of the current z axis;
eighteen steps: calculating the relative position relation of the laser and the needle head in the z-axis direction according to the first position, the second preset value and the laser value;
nineteen steps: and guiding the dispensing height of the needle head in the z-axis direction through the laser according to the relative position relation between the laser and the needle head in the z-axis direction.
According to an embodiment of the present invention, before the nineteen step, the method further includes:
twenty steps: verifying the relative position relation of the laser and the needle head in the z-axis direction; if the verification result is within a preset range, executing the nineteen step; and if the verification result is not in the preset range, repeating the sixteenth step to the eighteenth step, and recalibrating.
According to one embodiment of the invention, said step twenty comprises:
guiding the needle head to glue a preset height to the displacement sensor through the laser;
acquiring a measurement value of the displacement sensor;
if the measured value of the displacement sensor is within a preset range, executing the nineteen step; and if the measured value is not in the preset range, repeating the sixteen step to the eighteen step, and recalibrating.
In order to solve the above problem, an embodiment of a second aspect of the present invention provides a calibration apparatus for a dispenser, including:
the control module is used for controlling the laser scanning to the edge of the calibration block;
the fitting module is used for fitting a laser central point of the calibration block according to the position of each edge;
the control module is also used for controlling the camera to shoot the image of the calibration block;
the fitting module is also used for fitting the visual center point of the calibration block according to the image calibration of the calibration block;
the relative position relation acquisition module is used for acquiring the relative position relation between the camera and the laser according to the coordinate position relation between the laser central point and the vision central point;
and the execution module is used for guiding the laser to measure through the camera according to the relative position relation between the camera and the laser.
According to an embodiment of the present invention, further comprising:
the first verification module is used for verifying the relative position relation between the camera and the laser.
According to one embodiment of the invention, the first authentication module comprises:
the control module is used for controlling the camera to shoot a central through hole image of the calibration block;
the first coordinate acquisition module is used for acquiring the coordinate of the central through hole according to the central through hole image of the calibration block;
the execution module is used for guiding the laser emergent beam to the position of the central through hole according to the relative position relation between the camera and the laser and the coordinate of the central through hole;
the first height acquisition module is used for acquiring a first height of the laser measured at the central through hole of the calibration block;
the second height acquisition module is used for acquiring a second height of the laser measured on the plane around the calibration block;
a first calculation module for calculating a first difference between the first height and the second height; if the first difference value is larger than the preset value, the verification is successful; and if the first difference is smaller than the preset value, the verification fails.
According to an embodiment of the present invention, further comprising:
the control module is used for controlling the laser to run to a laser measuring point;
a third height obtaining module, configured to obtain a third height between the laser-to-point films for the laser measurement;
the second coordinate acquisition module is used for dispensing crossed glue paths with preset lengths on the glue dispensing sheet according to the third height control needle head and acquiring the mechanical coordinates of the central points of the crossed glue paths;
the control module is also used for controlling the camera to shoot the image of the crossed rubber road;
the third coordinate acquisition module is used for acquiring the coordinates of the center point of the crossed rubber road according to the image of the crossed rubber road;
the second relative position relation acquisition module is used for acquiring the relative position relation between the camera and the needle head according to the center point coordinate of the crossed glue path and the mechanical coordinate;
the execution module is used for guiding the needle head to carry out dispensing according to the relative position relation between the camera and the needle head.
According to an embodiment of the present invention, further comprising:
the second verification module is used for verifying the relative position relationship between the camera and the needle head;
according to one embodiment of the invention, the second authentication module comprises:
the control module is used for controlling the needle head to carry out cross dispensing at a preset distance of a mechanical coordinate of the center point of the cross-shaped crossed glue path to form a cross-shaped crossed glue path;
the control module is used for controlling the camera to shoot the image of the crossed glue road of the second cross;
the fourth coordinate acquisition module is used for acquiring the center coordinate of the crossed glue path according to the image of the crossed glue path;
a fifth coordinate obtaining module, configured to obtain a central mechanical coordinate of the second intersecting glue road according to a relative position relationship between the camera and the needle, and a central coordinate of the second intersecting glue road;
the second calculation module is used for calculating the distance between the mechanical coordinate of the center of the crossed rubber road and the mechanical coordinate of the center of the crossed rubber road; if the distance is within a preset range, the verification is successful; and if the distance is out of the preset range, the verification fails.
According to an embodiment of the present invention, further comprising:
the control module controls the laser to move above a displacement sensor platform, and obtains the laser value of the laser and the first position of the current z axis;
meanwhile, the needle head is controlled to move above the displacement sensor platform, the z axis is controlled to move downwards, and when the numerical value of the displacement sensor changes to a second preset value, the z axis is controlled to stop moving downwards to obtain a second position of the current z axis;
the third calculating module is used for calculating the relative position relation of the laser and the needle head in the z-axis direction according to the first position, the second preset value and the laser value;
the execution module is used for guiding the dispensing height of the needle head in the z-axis direction through the laser according to the relative position relation between the laser and the needle head in the z-axis direction.
According to an embodiment of the present invention, before the nineteen step, the method further includes:
and the third verification module is used for verifying the relative position relationship between the laser and the needle head in the z-axis direction.
According to one embodiment of the invention, the third authentication module comprises:
the execution module is used for guiding the needle head to dispense a preset height onto the displacement sensor through the laser;
the displacement measurement value acquisition module is used for acquiring the measurement value of the displacement sensor, and if the measurement value of the displacement sensor is within a preset range, the verification is successful; and if the measured value is not in the preset range, the verification fails.
In order to solve the above problem, an embodiment of a third aspect of the present invention provides a calibration apparatus for a dispenser, where the calibration apparatus for a dispenser includes:
the system comprises a dispenser to be calibrated, a displacement sensor, a calibration block and electronic equipment;
the electronic device includes: at least one processor; and
a memory communicatively coupled to the at least one processor; wherein,
the memory stores a computer program executable by the at least one processor, the computer program being executable by the at least one processor to enable the at least one processor to perform the calibration method of the dispenser as described above.
In order to solve the above problem, a fourth aspect of the present invention provides a computer-readable storage medium, which stores computer instructions for causing a processor to implement the calibration method of a dispenser as described above when the processor executes the computer instructions.
According to the calibration method, the device, the apparatus and the medium of the dispenser, provided by the embodiment of the invention, the dispenser can be automatically calibrated, dispensing of the dispenser can be guided in a visual guide manner after calibration, full automation of the dispenser is realized, and in addition, the guide of the dispenser is more accurate in a verification process, so that the dispensing accuracy is improved.
It should be understood that the statements in this section do not necessarily identify key or critical features of the embodiments of the present invention, nor do they necessarily limit the scope of the invention. Other features of the present invention will become apparent from the following description.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a flowchart of a calibration method of a dispenser according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a calibration device for calibrating a dispenser according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a trace of a laser scanning calibration block according to an embodiment of the present invention;
fig. 4 is a flowchart of a calibration method of a dispenser according to an embodiment of the present invention;
fig. 5 is a flowchart of a calibration method of a dispenser according to another embodiment of the present invention;
fig. 6 is a schematic diagram illustrating a relative position relationship between a laser and a needle in a calibration method of a dispenser according to another embodiment of the present invention;
fig. 7 is a schematic block diagram of a calibration apparatus of a dispenser according to an embodiment of the present invention;
fig. 8 is a schematic structural diagram of an electronic device in a calibration device of a dispenser according to an embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Fig. 1 is a flowchart of a calibration method of a dispenser according to an embodiment of the present invention. As shown in fig. 1, the calibration method of the dispenser includes:
the method comprises the following steps: controlling laser scanning to the edge of the calibration block;
fig. 2 is a schematic structural diagram of a calibration device for calibrating a dispenser in an embodiment of the present invention. As shown in fig. 2, the calibration device includes three calibration blocks 100, the three calibration blocks 100 have the same size, but the through holes at the centers have different diameters (0.3 mm, 0.2mm, and 0.4mm, respectively). In other embodiments, the setting of the calibration block may be performed according to the actual requirements of the dispenser. Fig. 3 is a schematic diagram of a track of a laser scanning calibration block according to an embodiment of the present invention. As shown in fig. 3, the edge of the calibration block can be scanned by the laser by inputting the control parameters through the side length of the calibration block, wherein the curve indicated by the arrow in fig. 3 is the scanning track of the laser.
Step two: fitting a laser central point of the calibration block according to the position of each edge;
after controlling the edges of the laser scanning calibration block, fitting can be performed according to the coordinates of the tracks of the edges of the scanned calibration block, and the coordinates of the center point of the laser scanning track, that is, the mechanical coordinates of the scanning track, are calculated.
Step three: controlling a camera to shoot an image of a calibration block;
the camera may be a CCD camera or a CMOS camera, among others. The camera can be controlled to move right above the calibration block, and the calibration block is photographed.
Step four: calibrating and fitting a visual center point of the calibration block according to the image of the calibration block;
that is, after acquiring the image of the calibration block, the camera coordinates of the center of the calibration block in the camera coordinate system may be acquired.
Step five: acquiring a relative position relation between the camera and the laser according to the coordinate position relation between the laser central point and the visual central point;
therefore, after the first step to the fourth step, the mechanical coordinate and the camera coordinate of the center of the calibration block can be obtained, so that the relation between the camera coordinate and the mechanical coordinate is established, and the relative position relation between the laser control mechanical structure and the camera is further established.
Step six: according to the relative position relation between the camera and the laser, the laser is guided by the camera to measure.
In the subsequent operation process of the dispensing machine, laser operation can be guided through the vision of the camera, for example, the camera coordinates of a certain point are obtained through the camera, and then the actual mechanical coordinates are obtained according to the relation between the camera coordinates and the mechanical coordinates so as to guide laser to move in the xy direction to perform operation. From this, realized through the radium-shine operation of vision guide for the point gum machine is automatic more, and is intelligent.
According to an embodiment of the present invention, before step six, the method further comprises:
step seven: verifying the relative position relationship between the camera and the laser; if the verification result is greater than or equal to the preset value, executing the sixth step; and if the verification result is smaller than the preset value, repeating the first step to the fifth step until the verification result is larger than or equal to the preset value.
Optionally, step seven includes:
controlling a camera to shoot a central through hole image of the calibration block;
wherein, the camera can be controlled to shoot the central through hole image of the other calibration block;
acquiring the coordinate of the central through hole according to the central through hole image of the calibration block;
for example, the coordinates of the central through hole obtained from the central through hole image are (15.46mm, 13.38 mm);
guiding a laser emergent beam to the position of the central through hole according to the relative position relation between the camera and the laser and the coordinate of the central through hole;
the relative position relationship is (-0.135mm, +0.108mm), for example, according to the coordinates of the central through hole being (15.46mm, 13.38mm), the actual mechanical coordinates can be obtained as (15.325mm, 13.488mm), so that the laser can be guided to move above the coordinates with the mechanical coordinates of (15.325mm, 13.488mm), and the laser is emitted;
obtaining a first height of a laser measured at a central through hole of a calibration block;
acquiring a second height of the laser measured on the plane around the calibration block;
calculating a first difference value between the first height and the second height, and if the first difference value is greater than a preset value, executing a sixth step;
if the first difference is smaller than the preset value, repeating the first step to the fifth step, and recalibrating.
When the difference between the first height and the second height of the laser measurement is greater than 0.07mm, it can be considered that the relative position relationship between the laser and the camera obtained from the calibration in the first step to the calibration in the fifth step is accurate, and the calibration is successful. When the difference between the first height and the second height of the laser measurement is less than 0.07mm, the camera is not successful in guiding the laser to the position of the central through hole of the calibration block, and the laser is guided on a plane around the position of the central through hole of the calibration block. The calibration fails before, and needs to be carried out again. The height of the 0.07mm through hole in the above description may be set to other accuracy. The present invention is not particularly limited in this regard.
According to an embodiment of the present invention, as shown in fig. 4, the method further includes:
step eight: controlling laser to run to a laser measuring point;
after the sixth step, guiding the laser to the laser measuring point position (the position can be manually specified, namely any position on the dispensing sheet can be used);
step nine: acquiring a third height between the laser and the point film of the laser measurement;
step ten: controlling the needle head to glue a crossed glue path with a preset length on the glue dispensing sheet according to the third height, and acquiring a mechanical coordinate of a central point of the crossed glue path;
after the distance between the laser and the dispensing film in the z direction is measured by the laser, the moving distance of the needle in the z direction can be obtained because the distance between the needle and the laser is known (the distance can be calibrated by the next embodiment), so that the distance between the needle and the dispensing film in the z direction can be controlled; therefore, the needle head can be controlled by a mechanical structure to point the cross (on the xy plane) with the length and the width of 20mm at the glue dispensing position on the glue dispensing piece, and the mechanical coordinate of the central point of the glue path crossed by the cross can be acquired according to the motion coordinate of the mechanical structure.
Step eleven: controlling a camera to shoot images of crossed rubber paths;
step twelve: acquiring the coordinates of the center point of the crossed rubber road according to the image of the crossed rubber road;
step thirteen: acquiring a relative position relation between the camera and the needle head according to the center point coordinate and the mechanical coordinate of the crossed rubber circuit;
fourteen steps: and guiding the needle head to carry out dispensing according to the relative position relationship between the camera and the needle head.
Therefore, the camera is used for shooting the image of the crossed glue path, the camera coordinate of the central point of the crossed glue path is obtained, the relative position relation between the camera and the needle head is obtained according to the camera coordinate and the mechanical coordinate, the needle head can be guided by the camera to work in the later operation process, for example, the camera specifies the position of a certain point, the mechanical coordinate is calculated according to the relative position relation between the camera and the needle head, the needle head is controlled to move in the xy direction according to the mechanical coordinate, and the automatic control of the glue dispenser is realized.
According to an embodiment of the present invention, before the fourteenth step, the method further includes:
step fifteen: verifying the relative position relationship between the camera and the needle head; if the verification result is in the preset range, executing a fourteenth step; and if the verification result is out of the preset range, repeating the step eight to the step thirteen until the verification result is in the preset range.
According to one embodiment of the invention, step fifteen includes:
controlling the needle head to perform cross dispensing at a preset distance of a mechanical coordinate of the central point of the crossed glue path to form a crossed glue path in a cross shape;
for example, the mechanical coordinate of the center point of the glue path intersected by the cross where the needle is dispensed is (45.3mm, 38,7mm), the preset distance may be 35mm, or other values, which is not limited in the present invention.
Controlling a camera to shoot an image of the crossed glue path in the second cross shape;
acquiring the center coordinates of the crossed glue paths according to the images of the crossed glue paths; namely, the center camera coordinates of the glue road intersected by the second letter are acquired.
Calculating and acquiring the central mechanical coordinate of the rubber road intersected in the second cross according to the relative position relationship between the camera and the needle head and the central coordinate of the rubber road intersected in the second cross;
calculating the distance between the central mechanical coordinate of the crossed glue path and the mechanical coordinate of the central point of the crossed glue path;
if the distance is within the preset range, executing a fourteenth step; and if the distance is out of the preset range, repeating the step eight to the step thirteen until the verification result is in the preset range.
That is, after the mechanical structure is dispensed at a preset distance of 35mm from the mechanical coordinate of the center point of the cross-shaped adhesive path, and the second cross-shaped adhesive path is formed, an image is captured by a camera, the mechanical coordinate of the center point of the second cross-shaped adhesive path is calculated, and then the distance calculation is performed with the mechanical coordinate of the center point of the cross-shaped adhesive path, if the distance is within the range of 35mm ± 0.3mm, the calibration is successful, and if the distance is outside the range, the calibration is failed, and the recalibration is required.
It should be noted that, in other embodiments, the needle head may also be guided by the camera to a position 35mm from the mechanical coordinate of the center point of the glue path intersected by the previous cross, that is, the target mechanical position is obtained; and then, acquiring an actual mechanical position according to the coordinate of the mechanical structure, finally calculating the distance between the actual mechanical position and the mechanical coordinate of the central point of the glue path intersected with the previous cross, and judging whether the distance is within the range of 35mm +/-0.3 mm.
Alternatively, in the two verification embodiments, the central mechanical coordinate of the glue line intersected in the second letter obtained by the coordinate of the mechanical structure itself may be directly calculated, and the difference value between the central mechanical coordinate of the glue line intersected in the second letter obtained by the camera calculation may be obtained. After the calibration is successful, the needle head can be guided by the camera to operate.
According to an embodiment of the present invention, as shown in fig. 5, the method further includes:
sixthly, the steps are as follows: controlling laser to run above a displacement sensor platform, acquiring a laser value of the laser and acquiring a first position of a current z axis;
seventeen steps: controlling the needle head to move above the displacement sensor platform, controlling the z axis to move downwards, and when the numerical value of the displacement sensor changes to a second preset value, controlling the z axis to stop moving downwards to obtain a second position of the current z axis;
eighteen steps: calculating the relative position relation of the laser and the needle head in the z-axis direction according to the first position, the second preset value and the laser value;
nineteen steps: according to the relative position relation of the laser and the needle head in the z-axis direction, the glue dispensing height of the needle head in the z-axis direction is guided through the laser.
It should be noted that, after the laser is guided by the camera and the needle moves in the xy plane, the relative position relationship between the laser and the needle along the z axis needs to be calibrated, and since the laser and the needle are the same from top to bottom along the z axis, the displacement of the z axis can be controlled by the laser measurement value only if the relative position relationship between the laser and the needle along the z axis is known, so that the needle can move to the dispensing plane.
In a specific calibration method, as shown in fig. 6, a square box in the drawing represents laser, a circle represents a needle, and a surface of a displacement sensor is located on an xy plane, wherein a laser value of laser measurement is h1, h2 is a distance from the needle to the surface of the displacement sensor at a first position on a z axis, h3 is a second preset value (which may be 0.1mm), and the first position and the second position on the z axis can be read by coordinates of a mechanical structure itself. Therefore, as can be seen from fig. 6, the value obtained by subtracting the second position from the first position of the z-axis is h2+ h3, wherein h3 is the index of the displacement sensor, and then h2 can be obtained, and the distance between the laser and the needle is h1-h 2. Wherein, laser can also be located the below of syringe needle, and the calibration process principle is the same and is not repeated here.
According to an embodiment of the present invention, before the nineteen steps, the method further includes:
twenty steps: verifying the relative position relationship between the laser and the needle head in the z-axis direction; if the verification result is within the preset range, executing nineteen steps; and if the verification result is not in the preset range, repeating the sixteen step to the eighteen step, and recalibrating.
According to one embodiment of the invention, step twenty comprises:
dispensing a preset height onto the displacement sensor through the laser guide needle head;
acquiring a measurement value of a displacement sensor;
if the measured value of the displacement sensor is within the preset range, executing the nineteen step; and if the measured value is not in the preset range, repeating the sixteen step to the eighteen step, and recalibrating.
That is to say, after calibration, the distance between the needle head and the dispensing surface can be obtained through the measurement value of the laser and the distance between the laser and the needle head, dispensing is performed by controlling the preset dispensing height (0.5mm), after dispensing is performed, the dispensing height is measured by using the displacement sensor, if the dispensing height is within 0.5mm ± 0.03mm, calibration is successful, and if the dispensing height is outside 0.5mm ± 0.03mm, calibration failure is indicated, and re-calibration is required.
Fig. 7 is a schematic block diagram of a calibration apparatus of a dispenser according to an embodiment of the present invention. As shown in fig. 7, the apparatus includes:
the control module 101 is used for controlling the edge of the laser scanning calibration block;
the fitting module 102 is configured to fit a laser center point of the calibration block according to the position of each edge;
the control module 101 is further configured to control the camera to capture an image of the calibration block;
the fitting module 102 is further configured to fit a visual center point of the calibration block according to the image calibration of the calibration block;
the relative position relation acquisition module 103 is used for acquiring the relative position relation between the camera and the laser according to the coordinate position relation between the laser central point and the vision central point;
and the execution module 104 is used for guiding the laser to measure through the camera according to the relative position relationship between the camera and the laser.
According to an embodiment of the present invention, further comprising:
the first verification module is used for verifying the relative position relation between the camera and the laser.
According to one embodiment of the invention, the first authentication module comprises:
the control module is used for controlling the camera to shoot the central through hole image of the calibration block;
the first coordinate acquisition module is used for acquiring the coordinate of the central through hole according to the central through hole image of the calibration block;
the execution module is used for guiding the laser emergent beam to the position of the central through hole according to the relative position relation between the camera and the laser and the coordinate of the central through hole;
the first height acquisition module is used for acquiring a first height of laser measured at the central through hole of the calibration block;
the second height acquisition module is used for acquiring a second height of the laser measured on the peripheral plane of the calibration block;
a first calculation module for calculating a first difference between the first height and the second height; if the first difference is larger than the preset value, the verification is successful; if the first difference is smaller than the preset value, the verification fails.
According to an embodiment of the present invention, further comprising:
the control module is used for controlling laser to run to the laser measuring point;
the third height acquisition module is used for acquiring a third height between the laser and the point film for laser measurement;
the second coordinate acquisition module is used for dispensing crossed glue paths with preset lengths on the glue dispensing sheet according to the third height control needle head, and acquiring the mechanical coordinates of the central points of the crossed glue paths;
the control module is also used for controlling the camera to shoot images of the crossed rubber road;
the third coordinate acquisition module is used for acquiring the coordinates of the center point of the crossed rubber road according to the image of the crossed rubber road;
the second relative position relation acquisition module is used for acquiring the relative position relation between the camera and the needle head according to the center point coordinate and the mechanical coordinate of the crossed glue path;
the execution module is used for guiding the needle head to carry out dispensing according to the relative position relation between the camera and the needle head.
According to an embodiment of the present invention, further comprising:
the second verification module is used for verifying the relative position relationship between the camera and the needle head;
according to one embodiment of the invention, the second authentication module comprises:
the control module is used for controlling the needle head to carry out cross dispensing at a preset distance of a mechanical coordinate of the central point of the cross-shaped crossed glue path to form a cross-shaped crossed glue path;
the control module is used for controlling the camera to shoot the image of the crossed glue path in the second cross shape;
the fourth coordinate acquisition module is used for acquiring the center coordinate of the crossed glue road according to the image of the crossed glue road;
the fifth coordinate acquisition module is used for acquiring the central mechanical coordinate of the crossed rubber road according to the relative position relationship between the camera and the needle head and the central coordinate of the crossed rubber road;
the second calculation module is used for calculating the distance between the mechanical coordinate of the center of the crossed glue path and the mechanical coordinate of the center of the crossed glue path; if the distance is within the preset range, the verification is successful; if the distance is outside the preset range, the verification fails.
According to an embodiment of the present invention, further comprising:
the control module controls laser to run above the displacement sensor platform, and obtains a laser value of the laser and a first position of a current z axis;
meanwhile, the needle head is controlled to move above the displacement sensor platform, the z axis is controlled to descend, and when the numerical value of the displacement sensor changes to a second preset value, the z axis is controlled to stop descending, and a second position of the current z axis is obtained;
the third calculation module is used for calculating the relative position relation of the laser and the needle head in the z-axis direction according to the first position, the second preset value and the laser value;
the execution module is used for guiding the dispensing height of the needle head in the z-axis direction through laser according to the relative position relation of the laser and the needle head in the z-axis direction.
According to an embodiment of the present invention, before the nineteen steps, the method further includes:
and the third verification module is used for verifying the relative position relationship between the laser and the needle head in the z-axis direction.
According to one embodiment of the invention, the third authentication module comprises:
the execution module is used for dispensing a preset height onto the displacement sensor through the laser guide needle head;
the displacement measurement value acquisition module is used for acquiring the measurement value of the displacement sensor, and if the measurement value of the displacement sensor is within a preset range, the verification is successful; if the measured value is not within the preset range, the verification fails.
The calibration device of the dispenser provided by the embodiment of the invention can execute the calibration method of the dispenser provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.
Fig. 8 is a schematic structural diagram of an electronic device in a calibration device of a dispenser according to an embodiment of the present invention. As shown in fig. 8, the calibration apparatus of the dispenser includes:
the system comprises a dispenser to be calibrated, a displacement sensor, a calibration block and an electronic device 10;
the electronic device 10 includes: at least one processor; and
a memory communicatively coupled to the at least one processor; wherein,
the memory stores a computer program executable by the at least one processor, the computer program being executable by the at least one processor to enable the at least one processor to perform the previous calibration method of the dispenser.
The invention also provides a computer readable storage medium, which stores computer instructions for implementing the calibration method of the dispenser when the processor executes.
Wherein the electronic device 10 is intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.
As shown in fig. 8, the electronic device 10 includes at least one processor 11, and a memory communicatively connected to the at least one processor 11, such as a Read Only Memory (ROM)12, a Random Access Memory (RAM)13, and the like, wherein the memory stores a computer program executable by the at least one processor, and the processor 11 can perform various suitable actions and processes according to the computer program stored in the Read Only Memory (ROM)12 or the computer program loaded from a storage unit 18 into the Random Access Memory (RAM) 13. In the RAM 13, various programs and data necessary for the operation of the electronic apparatus 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other via a bus 14. An input/output (I/O) interface 15 is also connected to bus 14.
A number of components in the electronic device 10 are connected to the I/O interface 15, including: an input unit 16 such as a keyboard, a mouse, or the like; an output unit 17 such as various types of displays, speakers, and the like; a storage unit 18 such as a magnetic disk, optical disk, or the like; and a communication unit 19 such as a network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunication networks.
The processor 11 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, or the like. The processor 11 performs the various methods and processes described above, such as a calibration method for a dispenser.
In some embodiments, the calibration method of the dispenser may be implemented as a computer program tangibly embodied in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 10 via the ROM 12 and/or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the calibration method of the dispenser described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform the calibration method of the dispenser by any other suitable means (e.g., by means of firmware).
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuitry, Field Programmable Gate Arrays (FPGAs), Application Specific Integrated Circuits (ASICs), Application Specific Standard Products (ASSPs), system on a chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.
A computer program for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be performed. A computer program can execute entirely on a machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.
In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. A computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user can provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form, including acoustic, speech, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), Wide Area Networks (WANs), blockchain networks, and the internet.
The computing system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical host and VPS service are overcome.
In summary, according to the calibration method, device, equipment and medium of the dispenser provided by the embodiment of the invention, the dispenser can be automatically calibrated, dispensing of the dispenser can be guided in a visual guidance manner after calibration, full automation of the dispenser is realized, and in addition, the guide of the dispenser is more accurate in a verification process, so that the dispensing accuracy is improved.
It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present invention may be executed in parallel, sequentially, or in different orders, and are not limited herein as long as the desired results of the technical solution of the present invention can be achieved.
The above-described embodiments should not be construed as limiting the scope of the invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (12)
1. A calibration method of a dispenser is characterized by comprising the following steps:
the method comprises the following steps: controlling laser scanning to the edge of the calibration block;
step two: fitting a laser central point of the calibration block according to the position of each edge;
step three: controlling a camera to shoot an image of the calibration block;
step four: calibrating and fitting a visual center point of the calibration block according to the image of the calibration block;
step five: acquiring a relative position relation between the camera and the laser according to a coordinate position relation between the laser central point and the vision central point;
step six: and guiding the laser to measure through the camera according to the relative position relationship between the camera and the laser.
2. The calibration method of the dispenser according to claim 1, further comprising before step six:
step seven: verifying the relative position relationship between the camera and the laser; if the verification result is greater than or equal to the preset value, executing the sixth step; if the verification result is smaller than the preset value, repeating the first step to the fifth step until the verification result is larger than or equal to the preset value.
3. The calibration method of the dispenser according to claim 2, wherein the seventh step comprises:
controlling the camera to shoot a central through hole image of the calibration block;
acquiring the coordinate of the central through hole according to the central through hole image of the calibration block;
guiding the laser outgoing beam to the position of the central through hole according to the relative position relation between the camera and the laser and the coordinate of the central through hole;
obtaining a first height of the laser measured at the central through hole of the calibration block;
acquiring a second height of the laser measured on the plane around the calibration block;
calculating a first difference value between the first height and the second height, and executing the sixth step if the first difference value is greater than the preset value;
and if the first difference value is smaller than the preset value, repeating the first step to the fifth step, and recalibrating.
4. The calibration method of the dispenser according to claim 1, further comprising:
step eight: controlling the laser to run to a laser measuring point;
step nine: obtaining a third height between the laser-to-point films of the laser measurement;
step ten: dispensing a crossed glue path with a preset length on the glue dispensing sheet by the needle head according to the third height, and acquiring a mechanical coordinate of a central point of the crossed glue path;
step eleven: controlling the camera to shoot the image of the crossed rubber road;
step twelve: acquiring the coordinates of the center point of the crossed rubber road according to the image of the crossed rubber road;
step thirteen: acquiring the relative position relation between the camera and the needle head according to the center point coordinate of the crossed rubber circuit and the mechanical coordinate;
fourteen steps: and guiding the needle head to carry out dispensing according to the relative position relationship between the camera and the needle head.
5. The calibration method of the dispenser according to claim 4, before said step fourteen, further comprising:
a fifteenth step: verifying the relative position relationship between the camera and the needle head; if the verification result is within the preset range, executing the fourteen steps; and if the verification result is out of the preset range, repeating the step eight to the step thirteen until the verification result is in the preset range.
6. The calibration method of the dispenser according to claim 5, wherein said fifteen steps comprise:
controlling the needle head to carry out cross dispensing at a preset distance of a mechanical coordinate of the central point of the cross-shaped crossed glue path to form a cross-shaped crossed glue path;
controlling the camera to shoot the image of the crossed rubber road of the second cross;
acquiring the center coordinates of the crossed rubber road according to the image of the crossed rubber road;
acquiring the central mechanical coordinate of the rubber road intersected in the twentieth shape according to the relative position relationship between the camera and the needle head and the central coordinate of the rubber road intersected in the twentieth shape;
calculating the distance between the mechanical coordinate of the center of the crossed rubber road and the mechanical coordinate of the center of the crossed rubber road;
if the distance is within a preset range, executing the fourteen step; and if the distance is out of the preset range, repeating the step eight to the step thirteen until the verification result is in the preset range.
7. The calibration method of the dispenser according to claim 1, further comprising:
sixthly, the steps are as follows: controlling the laser to run above a displacement sensor platform, acquiring a laser value of the laser and acquiring a first position of a current z axis;
seventeen steps: controlling the needle head to move above the displacement sensor platform, controlling the z axis to move downwards, and when the numerical value of the displacement sensor changes to a second preset value, controlling the z axis to stop moving downwards to obtain a second position of the current z axis;
eighteen steps: calculating the relative position relation of the laser and the needle head in the z-axis direction according to the first position, the second preset value and the laser value;
nineteen steps: and guiding the dispensing height of the needle head in the z-axis direction through the laser according to the relative position relation between the laser and the needle head in the z-axis direction.
8. The calibration method of the dispenser according to claim 7, further comprising, before said nineteen steps:
twenty steps: verifying the relative position relation of the laser and the needle head in the z-axis direction; if the verification result is within a preset range, executing the nineteen step; and if the verification result is not in the preset range, repeating the sixteenth step to the eighteenth step, and recalibrating.
9. The calibration method of the dispenser according to claim 8, wherein said twenty steps comprise:
guiding the needle head to glue a preset height to the displacement sensor through the laser;
acquiring a measurement value of the displacement sensor;
if the measured value of the displacement sensor is within a preset range, executing the nineteen step; and if the measured value is not in the preset range, repeating the sixteen step to the eighteen step, and recalibrating.
10. A calibration device of a dispenser is characterized by comprising:
the control module is used for controlling the laser scanning to the edge of the calibration block;
the fitting module is used for fitting the laser central point of the calibration block according to the position of each edge;
the control module is also used for controlling the camera to shoot the image of the calibration block;
the fitting module is also used for fitting the visual center point of the calibration block according to the image calibration of the calibration block;
the relative position relation acquisition module is used for acquiring the relative position relation between the camera and the laser according to the coordinate position relation between the laser central point and the vision central point;
and the execution module is used for guiding the laser to measure through the camera according to the relative position relation between the camera and the laser.
11. The utility model provides a calibration equipment of point gum machine which characterized in that, calibration equipment of point gum machine includes:
the system comprises a dispenser to be calibrated, a displacement sensor, a calibration block and electronic equipment;
the electronic device includes: at least one processor; and
a memory communicatively coupled to the at least one processor; wherein,
the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the calibration method of the dispenser of any one of claims 1-9.
12. A computer-readable storage medium, characterized in that the computer-readable storage medium stores computer instructions for causing a processor to implement the calibration method of a dispenser as claimed in any one of claims 1-9 when executed.
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