Automatic glue spraying system based on target tracking

Abstract

The present invention is applicable to the technical field of automatic glue spraying, and provides an automatic glue spraying system based on target tracking, including a conveying module, which can transport a plurality of groups of ultra-microporous plates placed on the conveying module; a first visual recognition module, which, based on the target tracking technology, identifies and processes the plurality of groups of ultra-microporous plates conveyed, creates a model to establish the processing trajectory of spraying glue required for the ultra-microporous plates, and converts the trajectory information into coordinate information to control the movement of the spray module; the spray module, which can spray glue on the ultra-microporous plates according to the target tracking technology; a buffer module, wherein the separation module can separate the overlapping ultra-microporous plates, and the secondary glue spraying module can perform secondary glue spraying on the ultra-microporous plates after separation. The device solves the problem that the target tracking spraying technology cannot be processed in time when facing obstruction, thereby resulting in incomplete processing, and achieves the purpose of separating and spraying the obstructed ultra-microporous plates.

Description

Technical Field

[0001] The invention relates to the technical field of automatic glue spraying, and more specifically, to an automatic glue spraying system based on target tracking. Background Art

[0002] Visual object tracking is an important research direction in computer vision and has a wide range of applications, such as video surveillance, human-computer interaction, and unmanned driving. In the past two or three decades, visual object tracking technology has made great progress. In particular, in the past two years, the object tracking method using deep learning has achieved satisfactory results, making object tracking technology a breakthrough.

[0003] At present, the processing of ultra-microporous plates on the market usually adopts an automatic glue spraying system. In the prior art, the automatic glue spraying system generally uses a conveyor belt to transport the ultra-microporous plates according to a specified placement method and a fixed placement angle. In order to achieve good transportation and spraying effects, it is even necessary to use a mold to limit the ultra-microporous plates. Therefore, if it is necessary to transport and spray ultra-microporous plates of different shapes, the shape of the mold needs to be changed. This method requires the re-production of the mold, which will result in high costs.

[0004] Therefore, nowadays people usually use target tracking technology to assist the automatic glue spraying system. The automatic glue spraying system using target tracking technology can scan and identify the shape of the ultra-microporous plate through target tracking technology, without placing the ultra-microporous plate in a certain direction and position. Therefore, even if the placement angle and position of the ultra-microporous plate deviate, glue can still be sprayed.

[0005] However, although target tracking technology can identify and determine the position of ultra-microporous plates, occlusion is one of the most common challenges in target tracking, and occlusion is divided into partial occlusion and complete occlusion. In the actual production process, occlusion may occur during the transmission of ultra-microporous plates, and there may be a situation where two ultra-microporous plates overlap. When two ultra-microporous plates overlap, there are two situations. The two ultra-microporous plates may partially overlap, resulting in part of the bottom ultra-microporous plate not being sprayed with glue; there may also be a situation where the two ultra-microporous plates completely overlap, resulting in the bottom ultra-microporous plate not being in contact with glue at all.

[0006] Although, with certain program settings, the target tracking technology can determine partial occlusion, but if the ultra-microporous plate is completely occluded, it is difficult to judge using the target tracking technology. Target tracking can only determine that it is an ultra-microporous plate, which will cause the ultra-microporous plate with the bottom occluded to be directly output without being coated with glue, which will cause the defective rate to increase. Therefore, a technology is needed to process the partially occluded ultra-microporous plates identified by target tracking, as well as to determine and process complete occlusion. Summary of the invention

[0007] In view of the shortcomings of the prior art, the purpose of the present invention is to provide an automatic glue spraying system based on target tracking that can identify an ultra-microporous plate through target tracking technology to spray glue, and can solve the problems of partial occlusion and complete occlusion existing in target tracking technology.

[0008] To achieve the above object, the present invention provides the following technical solutions:

[0009] An automatic glue spraying system based on target tracking includes a conveying module, the conveying module transports the ultra-microporous plate placed on the conveying module, and the number of ultra-microporous plates transported in a single time is set to X;

[0010] The first visual recognition module, based on the target tracking technology, recognizes and processes the groups of ultra-microporous plates transmitted by the transmission module, creates a model to establish the spray glue processing trajectory required for the ultra-microporous plates, and converts the trajectory information into coordinate information;

[0011] A spray module, including a spray component, sprays glue on the ultra-microporous plate according to the data information identified and analyzed by the first visual recognition module;

[0012] The buffer module is arranged at the output end of the spray module, and includes a separation module and a secondary spray glue module. The separation module includes a second visual recognition module and a suction cup. The separation module separates the overlapping ultra-microporous plates, and the secondary spray glue module performs secondary spray glue processing on the ultra-microporous plates that have not been sprayed with glue after separation.

[0013] The first visual recognition module processing flow specifically includes the following contents:

[0014] S1, collecting basic data of the ultra-microplate transmitted by the transmission module; the basic data includes a color histogram and a rectangular frame size;

[0015] S2, determining the quantity of the ultra-microplate;

[0016] S3. Classify and process according to the judgment results;

[0017] That is, if the number of ultra-microporous plates identified is X, normal glue spraying is performed, and the spraying module outputs after the ultra-microporous plates are sprayed with glue;

[0018] If the number of ultra-microplates identified is less than X, normal glue spraying continues and then transmitted to the buffer module for special judgment processing;

[0019] The special judgment process includes: if the number of ultra-micro-well plates identified is less than X, the shape of each identified ultra-micro-well plate is compared, and if inconsistent shapes are identified, it means that partial occlusion has occurred;

[0020] If the recognized shapes are all consistent, it means that complete occlusion has occurred.

[0021] The present invention is further configured such that the transmission module includes a transmission component and an identification platform, the transmission component can transmit the ultra-microplate, transmit into X ultra-microplates at a time, stop transmitting after entering the identification platform, and continue transmitting after being identified by the first visual identification module at the identification platform; the identification platform is set to green to avoid color interference to the first visual identification module.

[0022] By adopting the above technical solution, the conveying component transports the X ultra-microplates produced. The X ultra-microplates placed here do not need to be restricted in shape and direction, and the ultra-microplates produced from the ultra-microplate production line can be directly transported. The conveying component transports the X ultra-microplates to the recognition platform, and the recognition platform is set to green to avoid the color from affecting the target tracking technology. A first visual recognition module is set above the recognition platform. When the X ultra-microplates are transported to the recognition platform, the first visual recognition module is started and begins to recognize.

[0023] The present invention is further configured as follows: the first visual recognition module uses CamShift Tracking technology to perform recognition, track the position of the target and estimate the size and shape of the target;

[0024] The CamShift algorithm specifically includes the following:

[0025] The CamShift algorithm first uses the Mean-Shift algorithm to determine the new position of the target; the size and aspect ratio of the target's rectangular frame are adjusted according to the change in color distribution.

[0026] By adopting the above technical scheme, the first visual recognition module adopts occlusion judgment to ensure that through the cooperation of target tracking technology and judgment logic, it can judge whether the ultra-microporous plate is obstructed, and through shape comparison, it can judge whether the ultra-microporous plate is partially obstructed or completely obstructed. This step ensures that there will be no situation where the obstructed ultra-microporous plate is not recognized, resulting in the obstructed part of the ultra-microporous plate not being sprayed, and the unsprayed ultra-microporous plate is output from the system. The above steps further reduce the defective rate of the system.

[0027] The present invention is further configured as follows: The first visual recognition module performs recognition processing on a plurality of groups of ultra-microplates transmitted by the transmission module, including the following contents:

[0028] When the first visual recognition module recognizes the occlusion, the entire set of ultra-microplates is transmitted to the separation module;

[0029] If the first visual recognition module determines that occlusion occurs, the separation module performs separation, and the suction cup absorbs and separates the ultra-microplates of different shapes. If after separation, the second visual recognition module determines that the number is X, it means that only partial occlusion occurs at this time, and partial occlusion processing is performed and the remaining ultra-microplates are output;

[0030] If after separation, the second visual recognition module determines that the number is still less than X, it means that complete occlusion and partial occlusion occur at the same time, and complete occlusion processing is performed.

[0031] By adopting the above technical solution, a secondary occlusion judgment logic is set in the second visual recognition module. Although the first visual recognition module can determine that the group of ultra-microporous plates has been occluded, and can determine whether complete occlusion or partial occlusion has occurred, it cannot determine whether partial occlusion and complete occlusion have occurred at the same time. After a group of ultra-microporous plates that have been determined to be occluded in the first visual recognition module enters the buffer zone, the second visual recognition module can perform a secondary judgment and can accurately identify which ultra-microporous plate has been partially occluded, and can determine whether a group of ultra-microporous plates that have been partially occluded are also completely occluded.

[0032] The present invention is further configured as follows: the partial occlusion processing flow is as follows: the second visual recognition module records the occluded portion, the suction cup separates the top occluding plate, and then the secondary glue spraying module sprays glue on the recorded occluded portion.

[0033] The present invention is further configured as follows: the complete occlusion processing process is as follows, the suction cup adsorbs the ultra-microporous plate in turn, and outputs the ultra-microporous plate after adsorption. At this time, the ultra-microporous plate remaining in the separation module is the ultra-microporous plate that has not been sprayed with glue due to occlusion, and is sprayed with glue through the secondary glue spraying module and then output.

[0034] The present invention is further configured as follows: the spray assembly includes a control component, one side of the control component is connected to a fixing plate, a mounting plate is installed at the bottom of the fixing plate, and a spray head is installed on one side of the control component close to the fixing plate.

[0035] The present invention is further configured as follows: the spray head includes a spray pipe, a moving rod is inserted into the inside of the spray pipe, a plug is installed at one end of the moving rod away from the fixed plate, a spring is sleeved on the moving rod, and a connector is installed at one end of the moving rod away from the plug.

[0036] By adopting the above technical solution, when the control component receives the coordinate information transmitted from the first visual recognition module and the second visual recognition module, and analyzes and identifies that the part where the glue is sprayed is an edge, the control component controls the moving rod and the plug to move 2mm away from the control component. At this time, the glue can be sprayed through the gap between the plug and the spray pipe, and the sprayed glue is precisely sprayed along the conical surface of the plug. When the control component receives the coordinate information transmitted from the first visual recognition module and the second visual recognition module, and analyzes and identifies that the part where the glue is sprayed is a corner, the control component controls the moving rod and the plug to move closer to the control component. At this time, the gap between the plug and the spray pipe is reduced to 1mm, and the amount of glue sprayed is smaller than when spraying the edge. When the control component receives the coordinate information transmitted from the first visual recognition module and the second visual recognition module, and analyzes and recognizes that the ultra-microporous plate has been sprayed in its entirety, the control component controls the moving rod and the plug to move closer to the control component. At this time, the spring can ensure that it moves quickly until there is no gap between the plug and the spray pipe. At this time, the glue will not flow out from the gap between the plug and the spray pipe. Therefore, the spraying stops at this moment.

[0037] In summary, the present application includes at least one of the following beneficial technical effects:

[0038] 1. The conveying component transports the X pieces of ultra-micro-porous plates produced. The several groups of ultra-micro-porous plates placed here do not need to be restricted in shape and direction, and the ultra-micro-porous plates produced from the ultra-micro-porous plate production line can be directly transported. The conveying component can convey the X pieces of ultra-micro-porous plates to the range that the first visual recognition module can identify, and spray glue through the spray module. When it is determined that this group of ultra-micro-porous plates is not blocked, the group of ultra-micro-porous plates is output after the spraying is completed; when it is identified that this group of ultra-micro-porous plates is blocked, this group of ultra-micro-porous plates is conveyed to the buffer module, and the blocked ultra-micro-porous plates are separated by the separation module in the buffer module. After separation, the ultra-micro-porous plates separated are sprayed with glue for the second time by the secondary spray glue module and then output.

[0039] 2. The first visual recognition module adopts occlusion judgment to ensure that through the cooperation of target tracking technology and judgment logic, it can judge whether the ultra-microporous plate is occluded, and through shape comparison, it can judge whether the ultra-microporous plate is partially occluded or completely occluded. This step ensures that there will be no situation where the obstructed ultra-microporous plate is not recognized, resulting in the obstructed part of the ultra-microporous plate not being sprayed, and the unsprayed ultra-microporous plate is output from the system. The above steps further reduce the defective rate of the system.

[0040] 3. A secondary occlusion judgment logic is set in the second visual recognition module. Although the first visual recognition module can determine that the group of ultra-micro-porous plates has been occluded, and can determine whether it is completely occluded or partially occluded, it cannot determine whether partial occlusion and complete occlusion occur at the same time. After a group of ultra-micro-porous plates that have been determined to be occluded in the first visual recognition module enters the buffer zone, the second visual recognition module can perform a secondary judgment and can accurately identify which ultra-micro-porous plate is partially occluded, and can determine whether a group of ultra-micro-porous plates that are partially occluded are also completely occluded.

[0041] 4. When the control component receives the coordinate information transmitted from the first visual recognition module and the second visual recognition module, and analyzes and identifies that the part where the glue is sprayed is an edge, the control component controls the moving rod and the plug to move 2mm away from the control component. At this time, the glue can be sprayed through the gap between the plug and the spray pipe, and the sprayed glue is precisely sprayed along the conical surface of the plug. When the control component receives the coordinate information transmitted from the first visual recognition module and the second visual recognition module, and analyzes and identifies that the part where the glue is sprayed is a corner, the control component controls the moving rod and the plug to move closer to the control component. At this time, the gap between the plug and the spray pipe is reduced to 1mm, and the amount of glue sprayed is smaller than when spraying the edge. When the control component receives the coordinate information transmitted from the first visual recognition module and the second visual recognition module, and analyzes and recognizes that the ultra-microporous plate has been sprayed in its entirety, the control component controls the moving rod and the plug to move closer to the control component. At this time, the spring can ensure that it moves quickly until there is no gap between the plug and the spray pipe. At this time, the glue will not flow out from the gap between the plug and the spray pipe. Therefore, the spraying stops at this moment. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 The module schematic diagram of the automatic glue spraying system based on target tracking of the present invention.

[0043] Figure 2 The present invention is a flow chart of the automatic glue spraying system based on target tracking.

[0044] Figure 3 It is a flow chart of buffer processing in the present invention.

[0045] Figure 4 It is a schematic diagram of the structure of the spray assembly in the present invention.

[0046] Figure 5 It is a schematic diagram of the explosion of the spray assembly in the present invention.

[0047] Explanation of the reference numerals: 1. spray assembly; 11. control component; 12. fixing plate; 13. spray head; 131. spray pipe; 132. spring; 133. plug; 134. moving rod; 135. connecting head; 14. mounting plate. DETAILED DESCRIPTION

[0048] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application may be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0049] It should be noted that, unless otherwise specified, all technical and scientific terms used in this application have the same meanings as commonly understood by ordinary technicians in the technical field to which this application belongs.

[0050] See also Figure 1-Figure 5 , the present invention provides the following technical solutions:

[0051] For example, see Figure 1-Figure 5 The automatic glue spraying system based on target tracking includes a conveying module, which includes a conveying component and an identification platform. The conveying module can transport several groups of ultra-microporous plates placed on the conveying module, and after being transmitted to the identification platform, they can be identified and sprayed with glue, and then the ultra-microporous plates that have been sprayed can be output. The first visual recognition module, based on the target tracking technology, identifies and processes the transmitted groups of ultra-microporous plates, creates a model to establish the processing trajectory of the spray glue required for the ultra-microporous plates, and converts the trajectory information into coordinate information to control the movement of the spray module; the buffer module is arranged at the output end of the spray module, including a separation module and a secondary spray glue module, the separation module includes a second visual recognition module and a suction cup, the separation module separates the overlapping ultra-microporous plates, and the secondary spray glue module performs secondary spray glue processing on the ultra-microporous plates that have not been sprayed with glue after separation; the spray module includes a spray component 1 and a control component 11, and the control component 11 can control the travel route of the spray component 1 according to the feedback result of the target tracking technology, so as to realize uniform spraying of glue around the edge of the ultra-microporous plate.

[0052] The transmission module in this embodiment adopts the existing technology. Any transmission module that can be directly or improved by those skilled in the art can be applied to the system of this embodiment. The specific structure of the transmission module is not absolutely limited here.

[0053] Specifically, the conveying component transports the X ultra-microplates produced. The X ultra-microplates placed here do not need to be restricted in shape and direction, and can directly transport the ultra-microplates produced from the ultra-microplate production line. The conveying component transports the X ultra-microplates to the recognition platform, and the recognition platform is set to green to avoid the color from affecting the target tracking technology. A first visual recognition module is set above the recognition platform. When the X ultra-microplates are transferred to the recognition platform, the first visual recognition module is started and begins to recognize.

[0054] The first visual recognition module uses CamShift Tracking technology for recognition. In addition to tracking the position of the target, it can also estimate the size and shape of the target. The CamShift algorithm first uses the Mean-Shift algorithm to determine the new position of the target, and then adjusts the size and aspect ratio of the target's rectangular box according to the change in color distribution. The specific recognition process of the first visual recognition module is as follows:

[0055] S1. Target initialization: Select an area as the target in the first frame fed back by the first visual recognition module, and calculate the color histogram of the area.

[0056] S2. Target modeling: Use the color histogram of the target area as the target model.

[0057] S3, Target positioning: In each subsequent frame, the Mean-Shift algorithm is used to update the target position according to the target model. The Mean-Shift algorithm finds the area that is most similar to the target model and moves the search window to the center of the area.

[0058] Among them, the steps of the Mean-Shift algorithm are as follows:

[0059] S31, initialization: set the center c of the search window as the initial position of the target, and calculate the feature histogram in the window as the target model.

[0060] S32. Calculate the feature histograms of the target model and the candidate area: For the search window c, calculate the feature histogram q(x) within the window; similarly, calculate the feature histogram p(x) in the surrounding area, which is called the candidate area or search area.

[0061] S33. Calculate the similarity between the target and the candidate region: Bhattacharyya distance is usually used to measure the similarity between two histograms. The formula is as follows:

[0062]

[0063] Among them, the smaller D(p,q) is, the more similar the two histograms are.

[0064] S34. Update the center of the search window: Use the Mean-Shift vector m to update the center of the search window. The formula is as follows:

[0065]

[0066] Where S is the candidate region and w(x) is the weight function, which is usually defined as

[0067]

[0068] The Mean-Shift vector m points to the weighted average position of the probability density function p(x) relative to q(x).

[0069] S35, iteration: repeat steps 2 to 4 until convergence, that is, the center c of the search window no longer changes significantly or reaches a preset number of iterations.

[0070] S4. Target shape estimation: Estimate the shape of the target by calculating the contour moment of the target area.

[0071] S5. Target size adjustment: According to the estimation result of the contour moment, the size of the search window is adjusted to make it more suitable for the actual size of the target.

[0072] S6, iterative update: Repeat S3 to S5 until the target leaves the field of view (indicating that the ultra-microplate leaves the recognition platform) or the tracking fails (a system error occurs and the system needs to be restarted).

[0073] Subsequently, the results of the above visual recognition are processed by the first visual recognition module, and a model is created to establish the processing trajectory of the spray glue required for the ultra-microporous plate, and the trajectory information is converted into coordinate information, and the coordinate information is sent to the spray component 1. The spray component 1 controls the travel route of the spray component 1 through the control component 11, and controls the spray component 1 to spray glue to ensure that the ultra-microporous plate is evenly sprayed with glue. When the ultra-microporous plate is evenly sprayed with glue, the transmission component outputs it.

[0074] Example 2, please refer to 1- Figure 5 , this embodiment 2 makes the following improvements on the basis of embodiment 1. Although embodiment 1 can complete the recognition and glue spraying of the ultra-microporous plate, the target tracking technology still faces huge challenges. Occlusion is one of the most common challenging factors in target tracking, and occlusion is divided into partial occlusion and complete occlusion. The solution to partial occlusion is usually this idea: divide the target into multiple blocks and use the unobstructed blocks for effective tracking.

[0075] However, in the actual production process, this method can continue to achieve target tracking, but the result after target tracking is difficult to achieve our desired purpose. At this moment, although the two blocking ultra-microporous plates continue to track and spray glue, the blocked parts still cannot be sprayed with glue, and dividing the target into multiple blocks still cannot determine whether complete occlusion has occurred. Therefore, further improvements are needed in the automatic glue spraying system based on target tracking to achieve the purpose of distinguishing partial occlusion from complete occlusion.

[0076] The conveying component in the conveying module transports X ultra-micro-well plates. After the group of X ultra-micro-well plates is transferred to the identification platform, the conveying component stops transporting, and the first visual recognition module above the identification platform is started to identify and judge the group of X ultra-micro-well plates. When it is determined that the group of X ultra-micro-well plates is not blocked, the group of X ultra-micro-well plates is output from the identification platform; when the group of X ultra-micro-well plates is blocked, the group of X ultra-micro-well plates is output from the identification platform to the buffer module for further judgment; when there is no ultra-micro-well plate identification above the identification platform, the conveying component continues to run and transfers the next group of X ultra-micro-well plates to the identification platform for further identification.

[0077] The first visual recognition module adds an occlusion type judgment process in the process steps. The purpose of the occlusion judgment process is to determine whether partial occlusion or complete occlusion occurs during the transportation process or the production process. The judgment process steps are as follows:

[0078] S1, input X pieces of ultra-microplate at a time;

[0079] S2, identifying X pieces of ultra-microplates and comparing the number of ultra-microplates;

[0080] The comparison judgment logic is: if the number of ultra-micro-porous plates identified is X, normal glue spraying is performed, and then the ultra-micro-porous plates that have been sprayed are directly output; if the number of ultra-micro-porous plates identified is less than X, normal glue spraying continues, which means that obstruction occurs, and step S3 is executed;

[0081] The reason why judgment can be made here by comparing the quantity is as follows: when tracking the target, if the two ultra-microporous plates are blocked and overlap, the system will identify them as one ultra-microporous plate, so when there is a set of occlusions, the number of identified ones is X-1.

[0082] S3. Make a judgment on full occlusion or partial occlusion.

[0083] If the number of identified ultra-microplates is less than X, the shapes of each identified ultra-microplate are compared. If inconsistent shapes are identified, it means that partial occlusion has occurred;

[0084] If the recognized shapes are all consistent, it means that complete occlusion has occurred.

[0085] This step ensures that through the cooperation of target tracking technology and judgment logic, it is possible to judge whether the ultra-microporous plate is blocked, and through shape comparison it is possible to judge whether the ultra-microporous plate is partially blocked or completely blocked. This step ensures that there will be no situation where the blocked ultra-microporous plate is not identified, resulting in the blocked part of the blocked ultra-microporous plate not being sprayed, and the unsprayed ultra-microporous plate is output from the system. The above steps further reduce the defective rate of the system.

[0086] When the ultra-microporous plate identifies partial or complete occlusion, the conveying component diverts this group of X pieces for transportation, and diverts this group of X ultra-microporous plates into the buffer module for special processing. After transmission, the conveying component and the recognition platform can still continue to transport and identify without affecting the operating efficiency of the system.

[0087] The buffer module in the second embodiment is arranged at the tail end of the spray module, which is arranged as a conveying platform capable of placing the ultra-microporous plate. The conveying modules with the transmission and conveying function available on the market can be applied to the present embodiment, and the detailed structural description of the buffer module is not given here; the buffer module includes a separation module and a secondary spray glue module arranged on the top thereof, and the separation module separates the overlapping ultra-microporous plates, and the secondary spray glue module can perform secondary spray glue processing on the ultra-microporous plates after separation. The secondary spray glue module has the same structure as the spray component 1, and the specific structure of the secondary spray glue module is not described in detail here.

[0088] The separation module includes a suction cup and a second visual recognition module. The suction cup can adsorb the ultra-microporous plate, and the installation position of the suction cup can be adaptively adjusted according to the specific usage scenario. Technical personnel in this field should understand and implement that the second visual recognition module is designed independently of the first visual recognition module. This second visual recognition module can run independently without being interfered by the first visual recognition module. The purpose of setting this second visual recognition module is to control the movement route of the suction cup when performing occlusion processing, and to determine whether there is an ultra-microporous plate at the bottom through visual recognition after the suction cup is adsorbed.

[0089] The suction cup and the second visual recognition module in this embodiment adopt the existing technology. The suction cup and the second visual recognition module that can be obtained directly or improved by technical personnel in this field can be applied to the system of this embodiment. No absolute limitation is made on the specific structure of the suction cup and the second visual recognition module here.

[0090] When a group of X ultra-microplates with occlusion enters the buffer module, the separation module will first separate them. Although the target tracking technology and judgment logic can intuitively identify the two ultra-microplates with partial occlusion, a group of X ultra-microplates may be partially occluded and completely occluded at the same time. Therefore, the second visual recognition module set in the separation module is required for further processing. The processing process is as follows:

[0091] S1. If the first visual recognition module determines that occlusion occurs, the separation module performs separation, and the suction cup separates the ultra-micro-porous plates of different shapes. If the second visual recognition module determines that the number is X after separation, it means that only partial occlusion occurs at this time, and partial occlusion processing is performed and the remaining ultra-micro-porous plates are output;

[0092] If after separation, the second visual recognition module determines that the number is still less than X, it means that not only partial occlusion but also complete occlusion has occurred, and complete occlusion processing is performed.

[0093] S2, partial occlusion processing, the second visual recognition module records the occluded part, the suction cup separates the top occlusion plate, and then the secondary glue spraying module sprays glue on the recorded occluded part.

[0094] S3, complete shielding treatment, the suction cup adsorbs the ultra-microporous plate in turn, and outputs the ultra-microporous plate after adsorption. At this time, the ultra-microporous plate remaining in the separation module is the ultra-microporous plate that has not been sprayed with glue due to shielding, and is sprayed with glue through the secondary glue spraying module and then output.

[0095] S4. After a group of X ultra-micro-porous plates entering the buffer module are partially blocked or completely blocked, the group of X ultra-micro-porous plates are output.

[0096] Although the first visual recognition module can determine that the group of ultramicroporous plates has been occluded, and can determine whether complete occlusion or partial occlusion has occurred, it cannot determine whether partial occlusion and complete occlusion have occurred at the same time. After a group of ultramicroporous plates that have been determined to be occluded in the first visual recognition module enters the buffer module, the second visual recognition module can make a secondary judgment and can accurately identify which ultramicroporous plate has been partially occluded, and can determine whether a group of ultramicroporous plates that have been partially occluded are also completely occluded.

[0097] For example 3, please refer to Figure 4-Figure 5, this embodiment three makes the following improvements on the basis of embodiment one and embodiment two. Although embodiment one and embodiment two can realize the spraying of glue on the ultra-microporous plate and can deal with the obstruction problem, in the actual production process, the spraying process of glue not only has the obstruction problem, but when the spray component 1 sprays to the edge of the ultra-microporous plate, if its moving speed is consistent with the spraying amount, but because it needs to turn at the corner, its residence time will exceed the time of other edges, which will cause the glue spraying amount at the corner to be too large, and even overflow, so further processing is required inside the spray component 1.

[0098] See also Figure 4 The spray assembly 1 includes a control member 11, which can receive coordinate information transmitted from the first visual recognition module and the second visual recognition module, and analyze and identify edges and corners. A fixed plate 12 is connected to one side of the control member 11, and the fixed plate 12 is arranged in a vertical direction. A mounting plate 14 is installed at the bottom of the fixed plate 12, and a hole is opened on the mounting plate 14. A spray head 13 is installed on one side of the control member 11 close to the fixed plate 12. The fixed plate 12 ensures that the spray head 13 can be arranged in a horizontal direction, and the spray head 13 can spray the glue.

[0099] See also Figure 5 The spray head 13 includes a spray pipe 131, the spray pipe 131 is filled with the glue to be sprayed, a moving rod 134 is inserted into the spray pipe 131, and the moving rod 134 can achieve horizontal displacement. A plug 133 is installed at the end of the moving rod 134 away from the fixed plate 12. The plug 133 is set to a conical structure, and its structure can ensure that the glue is sprayed evenly when it is sprayed from the spray pipe 131. A spring 132 is sleeved on the moving rod 134, and a connector 135 is installed at the end of the moving rod 134 away from the plug 133. The connector 135 is adapted to the shape of the control member 11 and can be plugged into its side wall.

[0100] Specifically, when the control component 11 receives the coordinate information transmitted from the first visual recognition module and the second visual recognition module, and analyzes and identifies that the part where the glue is sprayed is an edge, the control component 11 controls the moving rod 134 and the plug 133 to move 2 mm away from the control component 11. At this time, the glue can be sprayed out through the gap between the plug 133 and the spray pipe 131, and the sprayed glue is accurately sprayed along the conical surface of the plug 133.

[0101] Specifically, when the control component 11 receives the coordinate information transmitted from the first visual recognition module and the second visual recognition module, and analyzes and identifies that the part where the glue is sprayed is a corner, the control component 11 controls the moving rod 134 and the plug 133 to move closer to the control component 11. At this time, the gap between the plug 133 and the spray pipe 131 is reduced to 1 mm, and the amount of glue sprayed is smaller than when spraying the edge.

[0102] Specifically, when the control component 11 receives the coordinate information transmitted from the first visual recognition module and the second visual recognition module, and analyzes and recognizes that the ultra-microporous plate has been sprayed in its entirety, the control component 11 controls the moving rod 134 and the plug 133 to move closer to the control component 11. At this time, the spring 132 can ensure that its moving speed is fast, and it moves until there is no gap between the plug 133 and the spray pipe 131. At this time, the glue will not flow out from the gap between the plug 133 and the spray pipe 131. Therefore, the spraying stops at this moment.

[0103] Obviously, the above-described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

Claims

1. Automatic glue spraying system based on target tracking, characterized by: It includes a conveying module, wherein the conveying module transports the ultra-microplate placed on the conveying module, and the number of ultra-microplates transported in a single time is set to X; The first visual recognition module, based on the target tracking technology, recognizes and processes the groups of ultra-microporous plates transmitted by the transmission module, creates a model to establish the spray glue processing trajectory required for the ultra-microporous plates, and converts the trajectory information into coordinate information; A spray module, comprising a spray component (1), which sprays glue on the ultra-microporous plate according to the data information identified and analyzed by the first visual recognition module; The buffer module is arranged at the output end of the spray module, and includes a separation module and a secondary spray glue module. The separation module includes a second visual recognition module and a suction cup. The separation module separates the overlapping ultra-microporous plates, and the secondary spray glue module performs secondary spray glue processing on the ultra-microporous plates that have not been sprayed with glue after separation. The first visual recognition module processing flow specifically includes the following contents: S1, collecting basic data of the ultra-microplate transmitted by the transmission module; the basic data includes a color histogram and a rectangular frame size; S2, determining the quantity of the ultra-microplate; S3, classify and process according to the judgment results; That is, if the number of ultra-microporous plates identified is X, normal glue spraying is performed, and the spraying module outputs after the ultra-microporous plates are sprayed with glue; If the number of ultra-microplates identified is less than X, normal glue spraying continues and then transmitted to the buffer module for special judgment processing; The special judgment process includes: if the number of ultra-micro-well plates identified is less than X, the shape of each identified ultra-micro-well plate is compared, and if inconsistent shapes are identified, it means that partial occlusion has occurred; If the recognized shapes are all consistent, it means that complete occlusion has occurred.

2. The automatic glue spraying system based on target tracking according to claim 1 is characterized in that: The transmission module includes a transmission component and an identification platform. The transmission component can transmit the ultra-microplates, transmit into X ultra-microplates at a time, stop transmitting after entering the identification platform, and continue transmitting after being identified by the first visual recognition module at the identification platform; The recognition platform is set to green to avoid color interference to the first visual recognition module.

3. The automatic glue spraying system based on target tracking according to claim 1 is characterized in that: The first visual recognition module uses CamShift Tracking technology to identify, track the position of the target and estimate the size and shape of the target; The CamShift algorithm specifically includes the following: The CamShift algorithm first uses the Mean-Shift algorithm to determine the new position of the target; the size and aspect ratio of the target's rectangular frame are adjusted according to the change in color distribution.

4. The automatic glue spraying system based on target tracking according to claim 1 is characterized in that: The first visual recognition module performs recognition processing on the plurality of groups of ultra-microplates transmitted by the transmission module, including the following contents: When the first visual recognition module recognizes the occlusion, the entire set of ultra-microplates is transmitted to the separation module; If the first visual recognition module determines that occlusion occurs, the separation module performs separation, and the suction cup absorbs and separates the ultra-microplates of different shapes. If after separation, the second visual recognition module determines that the number is X, it means that only partial occlusion occurs at this time, and partial occlusion processing is performed and the remaining ultra-microplates are output; If after separation, the second visual recognition module determines that the number is still less than X, it means that complete occlusion and partial occlusion occur at the same time, and complete occlusion processing is performed.

5. The automatic glue spraying system based on target tracking according to claim 4 is characterized in that: The partial occlusion processing flow is as follows: the second visual recognition module records the occluded part, the suction cup separates the top occluding plate, and then the secondary glue spraying module sprays glue on the recorded occluded part.

6. The automatic glue spraying system based on target tracking according to claim 5 is characterized in that: The complete blocking process is as follows: the suction cup sequentially adsorbs the ultra-microporous plate, and then outputs the ultra-microporous plate. At this time, the ultra-microporous plate remaining in the separation module is the ultra-microporous plate that has not been sprayed with glue due to blocking, and is sprayed with glue through the secondary glue spraying module and then output.

7. The automatic glue spraying system based on target tracking according to claim 6 is characterized in that: The spray assembly (1) comprises a control component (11), one side of the control component (11) is connected to a fixing plate (12), a mounting plate (14) is mounted on the bottom of the fixing plate (12), and a spray head (13) is mounted on a side of the control component (11) close to the fixing plate (12).

8. The automatic glue spraying system based on target tracking according to claim 7 is characterized in that: The spray head (13) comprises a spray pipe (131), a moving rod (134) is inserted into the interior of the spray pipe (131), a plug (133) is installed at one end of the moving rod (134) away from the fixed plate (12), a spring (132) is sleeved on the moving rod (134), and a connector (135) is installed at one end of the moving rod (134) away from the plug (133).

Images