Dispensing path correction method, device, equipment and storage medium
By obtaining the path calibration coordinates on the calibration board, calculating the offset, and correcting the physical coordinates of the dispensing path reference point, the problem of low dispensing path accuracy was solved, and higher dispensing path accuracy was achieved.
Patent Information
- Application Number
- CN202211106722.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- Filing Date
- 2022-09-09
- Publication Date
- 2026-01-27
- Estimated Expiration
- 2042-09-09
AI Technical Summary
In existing technologies, the accuracy of the actual dispensing path is not high during dispensing, as it is affected by the planar error of the dispensing machine.
By obtaining the path calibration coordinates on the calibration board, calculating the path calibration coordinate offset, and determining the corrected physical coordinates of the dispensing path reference point based on the transformation relationship, the actual dispensing path is corrected.
It improves the accuracy of the dispensing path and achieves accuracy compensation for the actual dispensing path.
Smart Images
Figure CN115582256B_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of image processing technology, and in particular to a method, apparatus, device and storage medium for path correction of dispensing. Background Technology
[0002] Currently, during dispensing, the dispensing path consists of dispensing reference points. After determining the dispensing start and end points, intermediate planning points of the dispensing path are calculated based on these points. The dispensing reference points include the dispensing start and end points, and the intermediate planning points determined based on these points. These intermediate planning points represent theoretically ideal points. However, in reality, dispensing cannot be guaranteed to proceed exactly according to the preset intermediate planning points. For example, installation-related plane errors in the dispensing machine can cause deviations between the actual and theoretical dispensing physical positions, affecting the dispensing effect. In other words, existing technologies suffer from low accuracy in the actual dispensing path.
[0003] The above content is only used to help understand the technical solution of this application and does not represent an admission that the above content is prior art. Summary of the Invention
[0004] The main objective of this invention is to provide a dispensing path correction method, apparatus, device, and storage medium, aiming to solve the problem of low accuracy of the actual dispensing path in the prior art.
[0005] To achieve the above objectives, this application provides a dispensing path correction method, the method comprising:
[0006] When a dispensing path correction command is detected, the path calibration coordinates of the path calibration points on the preset calibration board are obtained. The path calibration points are determined based on the preset dispensing path. The preset dispensing path reference points include the dispensing start point, the dispensing end point, and intermediate planning points determined based on the dispensing start point and the dispensing end point.
[0007] Obtain the path calibration coordinate offset corresponding to the path calibration coordinates, and determine the path physical coordinate offset between the dispensing path reference points based on the path calibration coordinate offset and the preset conversion relationship.
[0008] Based on the path calibration coordinates and the offset of the path physical coordinates, the corrected physical coordinates of the dispensing path reference point corresponding to the path calibration coordinates are determined.
[0009] Optionally, before the step of obtaining the path calibration coordinate offset corresponding to the path calibration coordinates, and determining the path physical coordinate offset between the dispensing path reference points based on the path calibration coordinate offset and a preset transformation relationship, the method includes:
[0010] Acquire calibration board images according to the preset shooting path;
[0011] Based on the calibration board image, determine the calibration coordinates of all Mark points on the calibration board;
[0012] Calculate the offset between the calibration coordinates to obtain the calibration coordinate offset;
[0013] Based on a preset file that associates calibration coordinates with physical coordinates, the physical coordinates corresponding to the calibration coordinates are determined;
[0014] Calculate the offset between the physical coordinates to obtain the physical coordinate offset;
[0015] Determine the conversion relationship between the calibration coordinate offset and the physical coordinate offset.
[0016] Optionally, the step of calculating the offset between the calibration coordinates to obtain the calibration coordinate offset includes:
[0017] The calibration coordinates are grouped into multiple calibration coordinate groups by using a preset first quantity as a group;
[0018] The center calibration coordinate in the calibration coordinate group is determined as the reference point calibration coordinate;
[0019] Calculate the offset between the remaining preset second number of calibration coordinates and the calibration coordinates of the reference point to obtain the calibration coordinate offset.
[0020] Optionally, the step of calculating the offset between the physical coordinates to obtain the physical coordinate offset includes:
[0021] The physical coordinates are grouped into multiple physical coordinate groups, with a preset third quantity as a group.
[0022] The central physical coordinate in the physical coordinate group is determined as the reference point physical coordinate;
[0023] Calculate the offset between the remaining preset fourth number of physical coordinates and the physical coordinates of the reference point to obtain the physical coordinate offset.
[0024] Optionally, the step of obtaining the path calibration coordinates of path calibration points on a preset calibration board when a dispensing path correction command is detected, wherein the path calibration points are determined based on a preset dispensing path, and the preset dispensing path reference points include a dispensing start point, a dispensing end point, and intermediate planning points determined based on the dispensing start point and the dispensing end point, includes:
[0025] When a dispensing path correction command is detected, the preset dispensing path is determined, wherein the preset dispensing path reference points include a dispensing start point, a dispensing end point, and an intermediate planning point determined based on the dispensing start point and the dispensing end point.
[0026] Based on the dispensing path, determine the corresponding path calibration point;
[0027] On the calibration board, the path calibration coordinates of the dispensing start point are determined to be the origin;
[0028] Based on the path calibration coordinates of the dispensing starting point and the preset calibration plate interval, the path calibration coordinates of the dispensing reference points other than the dispensing starting point are determined.
[0029] Obtain the path calibration coordinates of the path calibration point.
[0030] Optionally, based on the conversion relationship, the calibration coordinate offset is converted into the physical coordinate offset, or based on the conversion relationship, the physical coordinate offset is converted into the calibration coordinate offset.
[0031] Optionally, the step of obtaining the path calibration coordinates of the path calibration points on a preset calibration board when a path correction command for dispensing is detected includes:
[0032] When a path correction command for dispensing is detected, the path calibration coordinates of the path calibration points on the preset circular grid calibration plate are obtained.
[0033] Furthermore, to achieve the above objectives, this application also provides a dispensing path correction device, which includes:
[0034] The first acquisition module is used to acquire the path calibration coordinates of the path calibration points on a preset calibration board when a path correction instruction for dispensing is detected. The path calibration points are determined based on a preset dispensing path. The preset dispensing path reference points include a dispensing start point, a dispensing end point, and an intermediate planning point determined based on the dispensing start point and the dispensing end point.
[0035] The second acquisition module is used to acquire the path calibration coordinate offset corresponding to the path calibration coordinate, and based on the path calibration coordinate offset and a preset conversion relationship, determine the path physical coordinate offset between the dispensing path reference points.
[0036] The determination module is used to determine the corrected physical coordinates of the dispensing path reference point corresponding to the path calibration coordinates based on the offset between the path calibration coordinates and the path physical coordinates.
[0037] In addition, to achieve the above objectives, this application also provides a dispensing path correction device, which is a physical node device. The dispensing path correction device includes: a memory, a processor, and a dispensing path correction program stored in the memory and executable on the processor. The processor executes the dispensing path correction program to implement the steps of the dispensing path correction method.
[0038] In addition, to achieve the above objectives, this application also provides a storage medium storing a program for implementing a dispensing path correction method, wherein the dispensing path correction program, when executed by a processor, implements the steps of the dispensing path correction method described above.
[0039] This application provides a dispensing path correction method, apparatus, device, and storage medium. Compared with the prior art, which suffers from low accuracy of the actual dispensing path during dispensing, this application, upon detecting a dispensing path correction command, acquires the path calibration coordinates of path calibration points on a preset calibration board. The path calibration points are determined based on a preset dispensing path, and the preset dispensing path reference points include a dispensing start point, a dispensing end point, and an intermediate planning point determined based on the dispensing start point and the dispensing end point. The application then acquires the path calibration coordinate offset corresponding to the path calibration coordinates, and based on the path calibration coordinate offset and a preset transformation relationship, determines the path physical coordinate offset between the dispensing path reference points. Finally, based on the path calibration coordinates and the path physical coordinate offset, it determines the corrected physical coordinates of the dispensing path reference points corresponding to the path calibration coordinates. In this application, after determining the path calibration coordinates of the path calibration points on the calibration board based on the dispensing path, the path calibration coordinate offset and the unique corresponding path physical coordinate offset can be determined based on the transformation relationship. Based on the uniquely determined path physical coordinate offset, the corrected physical coordinates of the uniquely corresponding dispensing path reference point can be determined. The corrected physical coordinates can have the effect of accuracy compensation for the actual dispensing path, that is, it improves the accuracy of the actual dispensing path during dispensing. Attached Figure Description
[0040] Figure 1 This is a schematic diagram of the process involved in the embodiments of this application;
[0041] Figure 2 This is a logic architecture diagram of a dispensing path correction device according to an embodiment of this application.
[0042] Figure 3 This is a schematic diagram of the equipment structure of the hardware operating environment involved in the path correction method for dispensing in this application.
[0043] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation
[0044] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.
[0045] Example 1
[0046] This application provides a dispensing path correction method. In the common embodiments of the dispensing path correction method of this application, refer to... Figure 1 A path correction device for dispensing, wherein the dispensing path correction method includes:
[0047] Step S10: When a dispensing path correction command is detected, obtain the path calibration coordinates of the path calibration points on the preset calibration board. The path calibration points are determined based on the preset dispensing path. The preset dispensing path reference points include the dispensing start point, the dispensing end point, and intermediate planning points determined based on the dispensing start point and the dispensing end point.
[0048] Step S20: Obtain the path calibration coordinate offset corresponding to the path calibration coordinate; based on the path calibration coordinate offset and the preset conversion relationship, determine the path physical coordinate offset between the dispensing path reference points.
[0049] Step S30: Based on the path calibration coordinates and the offset of the path physical coordinates, determine the corrected physical coordinates of the dispensing path reference point corresponding to the path calibration coordinates.
[0050] In this embodiment, the calibration plate refers to a flat plate with a fixed-pitch pattern array, which can determine the conversion relationship between physical dimensions and pixels. As an example, the calibration plate is a 10mm x 10mm calibration plate with 59 columns and 41 rows.
[0051] In this embodiment, the preset dispensing path refers to a fixed dispensing path pre-set for the target product. The preset dispensing path is determined by multiple dispensing path reference points. The dispensing path can be a straight line or a curve, without limitation. The dispensing path reference points determine the dispensing path. The preset dispensing path reference points include a dispensing start point, a dispensing end point, and intermediate planning points determined based on the dispensing start point and the dispensing end point.
[0052] In this embodiment, based on a preset dispensing path, path calibration points are determined, and the coordinates of these points on a preset calibration board are the path calibration coordinates.
[0053] In this embodiment, the conversion relationship is the mutual conversion between the path calibration coordinate offset and the path physical coordinate offset.
[0054] In this embodiment, when a dispensing path correction command is detected, the path calibration coordinates of the path calibration points on a preset calibration board are obtained. These path calibration points are determined based on a preset dispensing path. The preset dispensing path reference points include a dispensing start point, a dispensing end point, and an intermediate planning point determined based on the dispensing start point and the dispensing end point. The path calibration coordinate offset corresponding to the path calibration coordinates is obtained. Based on the path calibration coordinate offset and a preset transformation relationship, the physical coordinate offset between the dispensing path reference points is determined. Based on the path calibration coordinates and the physical coordinate offset, the correction physical coordinates of the dispensing path reference points corresponding to the path calibration coordinates are determined.
[0055] The specific steps are as follows:
[0056] Step S10: When a dispensing path correction command is detected, obtain the path calibration coordinates of the path calibration points on the preset calibration board. The path calibration points are determined based on the preset dispensing path. The preset dispensing path reference points include the dispensing start point, the dispensing end point, and intermediate planning points determined based on the dispensing start point and the dispensing end point.
[0057] In this embodiment, the preset calibration board type includes a checkerboard calibration board, a circular grid calibration board, and a CharuCo calibration board. In this embodiment, the calibration board type used is a circular grid calibration board. When a dispensing path correction command is detected, the path calibration coordinates of the path calibration points on the preset circular grid calibration board are obtained. The path calibration points are determined based on a preset dispensing path. The preset dispensing path reference points include a dispensing start point, a dispensing end point, and an intermediate planning point determined based on the dispensing start point and the dispensing end point.
[0058] Step S10, when a dispensing path correction command is detected, obtaining the path calibration coordinates of the path calibration points on a preset calibration board, wherein the path calibration points are determined based on a preset dispensing path, and the preset dispensing path reference points include a dispensing start point, a dispensing end point, and intermediate planning points determined based on the dispensing start point and the dispensing end point, includes the following steps:
[0059] Step S11: When a dispensing path correction command is detected, the preset dispensing path is determined, wherein the preset dispensing path reference points include a dispensing start point, a dispensing end point, and an intermediate planning point determined based on the dispensing start point and the dispensing end point.
[0060] Step S12: Based on the dispensing path, determine the corresponding path calibration point;
[0061] Step S13: Determine the path calibration coordinates of the dispensing start point on the calibration board as the origin;
[0062] Step S14: Based on the path calibration coordinates of the dispensing starting point and the preset calibration plate interval, determine the path calibration coordinates of the dispensing reference point other than the dispensing starting point.
[0063] Step S15: Obtain the path calibration coordinates of the path calibration point.
[0064] In this embodiment, when a dispensing path correction command is detected, a preset dispensing path is determined. The preset dispensing path reference points include a dispensing start point, a dispensing end point, and an intermediate planning point determined based on the dispensing start point and the dispensing end point. Based on the dispensing path, corresponding path calibration points are determined. On the calibration board, the path calibration coordinates of the dispensing start point are determined as the origin. Based on the path calibration coordinates of the dispensing start point and the preset calibration board interval, the path calibration coordinates of the dispensing reference points other than the dispensing start point are determined. The path calibration coordinates of the path calibration points are then obtained. As an example, the path calibration coordinates are (0, 0), (5, 0), (10, 0), and (15, 0), etc.
[0065] Step S20: Obtain the path calibration coordinate offset corresponding to the path calibration coordinate; based on the path calibration coordinate offset and the preset conversion relationship, determine the path physical coordinate offset between the dispensing path reference points.
[0066] In this embodiment, the path calibration coordinate offset refers to the offset of the path calibration coordinates in the X and Y directions of the calibration plate, respectively.
[0067] In this embodiment, the conversion relationship is the mutual conversion between the path calibration coordinate offset and the path physical coordinate offset.
[0068] In this embodiment, the offset between the physical coordinates of the dispensing path reference points is the path physical coordinate offset.
[0069] In this embodiment, the path calibration coordinate offset corresponding to the path calibration coordinate is obtained, and based on the path calibration coordinate offset and a preset conversion relationship, the physical coordinate offset between the dispensing path reference points is determined.
[0070] Before step S20, which involves obtaining the path calibration coordinate offset corresponding to the path calibration coordinates and determining the path physical coordinate offset between the dispensing path reference points based on the path calibration coordinate offset and a preset conversion relationship, the following steps are included:
[0071] Step A1: Obtain the calibration board image according to the preset shooting path;
[0072] In this embodiment, the area within the calibration board is photographed according to a preset shooting path to obtain the calibration board image, and the entire calibration board is traversed according to the preset shooting path.
[0073] Step A2: Based on the calibration board image, determine the calibration coordinates of all Mark points on the calibration board;
[0074] In this embodiment, after acquiring the calibration board image, the calibration coordinates of all Mark points on the calibration board are determined based on the calibration board image.
[0075] Step A3: Calculate the offset between the calibration coordinates to obtain the calibration coordinate offset;
[0076] In this embodiment, there is a deviation between the calibration coordinates in the X and Y directions respectively. The offset between the calibration coordinates in the X direction is calculated, and the offset between the calibration coordinates in the Y direction is calculated to obtain the calibration coordinate offset.
[0077] Step A3, calculating the offset between the calibration coordinates to obtain the calibration coordinate offset, includes:
[0078] Step B1: Group the calibration coordinates into multiple calibration coordinate groups by a preset first quantity.
[0079] In this embodiment, there are multiple calibration coordinates. The calibration coordinates are grouped into multiple calibration coordinate groups, with a preset first number as each group. As an example, the first number is 9, and the 12 calibration coordinates are grouped into groups numbered 1 to 12. Groups 1 to 9 are divided into the first group, 2 to 10 into the second group, 3 to 11 into the third group, and 4 to 12 into the fourth group, resulting in 4 calibration coordinate groups.
[0080] Step B2: Determine the center calibration coordinate in the calibration coordinate group as the reference point calibration coordinate;
[0081] In this embodiment, if the 12 calibration coordinates are grouped into 4 calibration coordinate groups, each group has 9 calibration coordinates. The center calibration coordinate among the 9 calibration coordinates is the fifth calibration coordinate, and the fifth calibration coordinate in each calibration coordinate group is the reference point calibration coordinate of the group.
[0082] Step B3: Calculate the offset between the remaining preset second number of calibration coordinates and the calibration coordinates of the reference point, and obtain the calibration coordinate offset.
[0083] In this embodiment, the second quantity is 8. Since the fifth calibration coordinate in each calibration coordinate group is the reference point calibration coordinate of this group, there are 8 remaining calibration coordinates in each calibration coordinate group. The offset between the remaining 8 calibration coordinates and the fifth calibration coordinate (reference point calibration coordinate) is calculated to obtain the calibration coordinate offset. As an example, if the 9 calibration coordinates of one calibration coordinate group are (0, 10), (0, 20), (0, 30), (-10, 10), (-10, -20), (-10, 30), (-20, 10), (-20, 20), and (-20, 30). The reference point calibration coordinates are (-10, 20), and the corresponding offset of the reference point calibration coordinates from itself is (0, 0). Then, calculate the offsets between the remaining 8 calibration coordinates and the reference point calibration coordinates, and obtain the offsets of the 9 calibration coordinates as (-10, 10), (-10, 0), (-10, -10), (0, 10), (0, 0), (0, -10), (10, 10), (10, 0), and (10, -10).
[0084] Step A4: Based on the preset file that associates calibration coordinates and physical coordinates, determine the physical coordinates corresponding to the calibration coordinates;
[0085] In this embodiment, the preset file that associates calibration coordinates and physical coordinates is in XML (Extensible Markup Language) format. The calibration coordinates and physical coordinates are written into the XML file one by one. Based on the XML file, the physical coordinates corresponding to the calibration coordinates can be determined, or the calibration coordinates corresponding to the physical coordinates can be determined based on the XML file.
[0086] Step A5: Calculate the offset between the physical coordinates to obtain the physical coordinate offset;
[0087] In this embodiment, after determining the physical coordinates corresponding to the calibration coordinates, the offset between the physical coordinates is calculated to obtain the physical coordinate offset.
[0088] Step A5, calculating the offset between the physical coordinates, includes the following steps:
[0089] Step C1: Group the physical coordinates into multiple physical coordinate groups, using a preset third quantity as a group.
[0090] In this embodiment, there are multiple physical coordinates. These physical coordinates are grouped into multiple physical coordinate groups, with a preset third number as one group. For example, if the third number is 9, and 12 physical coordinates are grouped as a1 to a12, then a1 to a9 are grouped into the first group, a2 to a10 into the second group, a3 to a11 into the third group, and a4 to a12 into the fourth group, resulting in 4 physical coordinate groups.
[0091] Step C2: Determine the center physical coordinate in the physical coordinate group as the reference point physical coordinate;
[0092] In this embodiment, if the 12 physical coordinates are grouped into 4 groups, each group has 9 physical coordinates. The center physical coordinate among the 9 physical coordinates is the fifth physical coordinate, and the fifth physical coordinate in each group is the reference point physical coordinate of the group.
[0093] Step C3: Calculate the offset between the remaining preset fourth number of physical coordinates and the physical coordinates of the reference point, and obtain the physical coordinate offset.
[0094] In this embodiment, the fourth quantity is 8. Since the fifth physical coordinate in each physical coordinate group is the reference point physical coordinate of this group, there are 8 remaining physical coordinates in each physical coordinate group. The offset between the remaining 8 physical coordinates and the fifth physical coordinate (reference point physical coordinate) is calculated to obtain the physical coordinate offset. As an example, if the 9 physical coordinates of one physical coordinate group are (-129, 33), (-129, 38), (-129, 43), (-129, 48), (-129, 53), (-129, 58), (-129, 63), (-129, 68), and (-129, 13). The physical coordinates of the reference point are (-129, 53). The corresponding offset of the physical coordinates of the reference point from itself is (0, 0). The offsets of the remaining 8 physical coordinates from the physical coordinates of the reference point are calculated, and the offsets of the 9 physical coordinates are (0, 20), (0, 15), (0, 10), (0, 5), (0, -5), (0, -5), (0, -10), (0, -15), and (0, -20).
[0095] Step A6: Determine the conversion relationship between the calibration coordinate offset and the physical coordinate offset.
[0096] In this embodiment, the conversion relationship between the calibration coordinate offset and the physical coordinate offset is determined. In this embodiment, the conversion relationship is a matrix.
[0097] Step S30: Based on the path calibration coordinates and the offset of the path physical coordinates, determine the corrected physical coordinates of the dispensing path reference point corresponding to the path calibration coordinates.
[0098] In this embodiment, based on the path calibration coordinates and the offset of the path physical coordinates, the corrected physical coordinates of the dispensing path reference point corresponding to the path calibration coordinates are determined, and the corrected physical coordinates are used as the actual dispensing physical coordinates.
[0099] This application provides a dispensing path correction method, apparatus, device, and storage medium. Compared with the prior art, which suffers from low accuracy of the actual dispensing path during dispensing, this application, upon detecting a dispensing path correction command, acquires the path calibration coordinates of path calibration points on a preset calibration board. The path calibration points are determined based on a preset dispensing path, and the preset dispensing path reference points include a dispensing start point, a dispensing end point, and an intermediate planning point determined based on the dispensing start point and the dispensing end point. The application then acquires the path calibration coordinate offset corresponding to the path calibration coordinates, and based on the path calibration coordinate offset and a preset transformation relationship, determines the path physical coordinate offset between the dispensing path reference points. Finally, based on the path calibration coordinates and the path physical coordinate offset, it determines the corrected physical coordinates of the dispensing path reference points corresponding to the path calibration coordinates. In this application, after determining the path calibration coordinates of the path calibration points on the calibration board based on the dispensing path, the path calibration coordinate offset and the unique corresponding path physical coordinate offset can be determined based on the transformation relationship. Based on the uniquely determined path physical coordinate offset, the corrected physical coordinates of the uniquely corresponding dispensing path reference point can be determined. The corrected physical coordinates can have the effect of accuracy compensation for the actual dispensing path, that is, it improves the accuracy of the actual dispensing path during dispensing.
[0100] Example 2
[0101] Furthermore, based on Embodiment 1 of this application, another embodiment of this application is provided, wherein, based on the conversion relationship, the calibration coordinate offset is converted into the physical coordinate offset, or, based on the conversion relationship, the physical coordinate offset is converted into the calibration coordinate offset.
[0102] In this embodiment, the conversion relationship is the conversion rule between the calibration coordinate offset and the physical coordinate offset. As an example, the conversion relationship is a matrix. Based on the conversion relationship, the physical coordinate offset is converted into the calibration coordinate offset, and then the calibration coordinate is corrected based on the physical coordinate offset. Alternatively, based on the conversion relationship, the calibration coordinate offset is converted into the physical coordinate offset, and then the physical coordinate is corrected based on the calibration coordinate offset.
[0103] In this embodiment, based on the conversion relationship, not only can the calibration coordinate offset be converted into the physical coordinate offset to correct the physical coordinate, but the physical coordinate offset can also be converted into the calibration coordinate offset to correct the calibration coordinate, thus further improving the accuracy of the actual dispensing path during dispensing.
[0104] Example 3
[0105] Furthermore, based on all the above embodiments, another embodiment of this application is provided, in which, as... Figure 2 A dispensing path correction device is provided, the device comprising:
[0106] The first acquisition module is used to acquire the path calibration coordinates of the path calibration points on a preset calibration board when a path correction instruction for dispensing is detected. The path calibration points are determined based on a preset dispensing path. The preset dispensing path reference points include a dispensing start point, a dispensing end point, and an intermediate planning point determined based on the dispensing start point and the dispensing end point.
[0107] The second acquisition module is used to acquire the path calibration coordinate offset corresponding to the path calibration coordinate, and based on the path calibration coordinate offset and a preset conversion relationship, determine the path physical coordinate offset between the dispensing path reference points.
[0108] The determination module is used to determine the corrected physical coordinates of the dispensing path reference point corresponding to the path calibration coordinates based on the offset between the path calibration coordinates and the path physical coordinates.
[0109] Optionally, in one possible embodiment of this application, before the step of obtaining the path calibration coordinate offset corresponding to the path calibration coordinates, and determining the path physical coordinate offset between the dispensing path reference points based on the path calibration coordinate offset and a preset transformation relationship, the device includes:
[0110] The third acquisition module is used to acquire calibration board images according to a preset shooting path;
[0111] The first determining module is used to determine the calibration coordinates of all Mark points on the calibration board based on the calibration board image;
[0112] The first calculation module is used to calculate the offset between the calibration coordinates to obtain the calibration coordinate offset.
[0113] The second determining module is used to determine the physical coordinates corresponding to the calibration coordinates based on a preset file that associates calibration coordinates with physical coordinates;
[0114] The second calculation module is used to calculate the offset between the physical coordinates to obtain the physical coordinate offset.
[0115] The third determining module is used to determine the conversion relationship between the calibration coordinate offset and the physical coordinate offset.
[0116] Optionally, in one possible embodiment of this application, the apparatus for calculating the offset between the calibration coordinates to obtain the calibration coordinate offset includes:
[0117] The first grouping module is used to group the calibration coordinates into multiple calibration coordinate groups by a preset first number of groups.
[0118] The fourth determining module is used to determine the center calibration coordinates in the calibration coordinate group as the reference point calibration coordinates;
[0119] The third calculation module is used to calculate the offset between the remaining preset second number of calibration coordinates and the calibration coordinates of the reference point, and to obtain the calibration coordinate offset.
[0120] Optionally, in one possible embodiment of this application, the apparatus for calculating the offset between the physical coordinates to obtain the physical coordinate offset includes:
[0121] The second grouping module is used to group the physical coordinates into multiple physical coordinate groups by a preset third number.
[0122] The fifth determining module is used to determine the center physical coordinates in the physical coordinate group as the reference point physical coordinates;
[0123] The fourth calculation module is used to calculate the offset between the remaining preset fourth number of physical coordinates and the physical coordinates of the reference point, and obtain the physical coordinate offset.
[0124] Optionally, in one possible embodiment of this application, when a dispensing path correction command is detected, the step of acquiring the path calibration coordinates of a path calibration point on a preset calibration board, wherein the path calibration point is determined based on a preset dispensing path, and the preset dispensing path reference point includes a dispensing start point, a dispensing end point, and an intermediate planning point determined based on the dispensing start point and the dispensing end point, the device includes:
[0125] The sixth determining module is used to determine the preset dispensing path when a dispensing path correction command is detected, wherein the preset dispensing path is determined by the pre-defined path.
[0126] The reference points for the dispensing path include a dispensing start point, a dispensing end point, and intermediate planning points determined based on the dispensing start point and the dispensing end point.
[0127] The seventh determining module is used to determine the corresponding path calibration point based on the dispensing path;
[0128] The eighth determining module is used to determine that the path calibration coordinates of the dispensing start point on the calibration board are the origin;
[0129] The ninth determining module is used to determine the path calibration coordinates of the dispensing reference point other than the dispensing starting point, based on the path calibration coordinates of the dispensing starting point and the preset calibration plate interval.
[0130] The fourth acquisition module is used to acquire the path calibration coordinates of the path calibration point.
[0131] Optionally, in one possible implementation of this application, the calibration coordinate offset is converted into the physical coordinate offset based on the conversion relationship, or the physical coordinate offset is converted into the calibration coordinate offset based on the conversion relationship.
[0132] Optionally, in one possible embodiment of this application, the device for obtaining the path calibration coordinates of the path calibration point on a preset calibration board when a path correction command for dispensing is detected includes:
[0133] The fifth acquisition module is used to acquire the path calibration coordinates of the path calibration points on the preset circular grid calibration plate when a path correction command for dispensing is detected.
[0134] The specific implementation of the dispensing path correction device of this application is basically the same as the embodiments of the dispensing path correction method described above, and will not be repeated here.
[0135] Example 4
[0136] Furthermore, based on all the above embodiments, another embodiment of this application is provided. In this embodiment, a dispensing path correction device is provided. The dispensing path correction device is a physical node device. The dispensing path correction device includes: a memory, a processor, and a program stored in the memory for implementing the dispensing path correction method. The memory is used to store the program for implementing the dispensing path correction method; the processor is used to execute the program for implementing the dispensing path correction method to implement the steps of the dispensing path correction method in the above embodiments.
[0137] Reference Figure 3 , Figure 3 This is a schematic diagram of the device structure of the hardware operating environment involved in the embodiments of this application.
[0138] like Figure 3 As shown, the dispensing path correction device may include: a processor 1001, such as a CPU, a memory 1005, and a communication bus 1002. The communication bus 1002 is used to establish communication between the processor 1001 and the memory 1005. The memory 1005 may be a high-speed RAM or a stable, non-volatile memory, such as a disk drive. Optionally, the memory 1005 may also be a storage device independent of the aforementioned processor 1001.
[0139] Optionally, the dispensing path correction device may also include a network interface, audio circuitry, display, connecting cable, sensor, input module, etc. The network interface may optionally include a standard wired interface or a wireless interface (such as a Wi-Fi interface or a Bluetooth interface). The input module may optionally include a keyboard, a system soft keyboard, voice input, wireless receiver input, etc.
[0140] Those skilled in the art will understand that the structure of the dispensing path correction device does not constitute a limitation on the dispensing path correction device, and may include more or fewer components than shown in the figure, or combine certain components, or have different component arrangements.
[0141] The memory, as a computer storage medium, may include an operating system, an information exchange module, and a dispensing path correction program. The operating system is a program that manages and controls the hardware and software resources of the dispensing path correction equipment, supporting the operation of the dispensing path correction program and other software and / or programs. The information exchange module is used to enable communication between the various components within the memory, as well as communication with other hardware and software in the dispensing path correction system.
[0142] In the dispensing path correction device, the processor executes the dispensing path correction program stored in the memory to implement the above-mentioned dispensing path correction steps.
[0143] The specific implementation of the dispensing path correction device in this application is basically the same as the embodiments of the dispensing path correction method described above, and will not be repeated here.
[0144] Example 5
[0145] This application provides a storage medium that stores one or more programs, which can be executed by one or more processors to implement the steps of the dispensing path correction method in the above embodiments.
[0146] The specific implementation of the storage medium in this application is basically the same as the embodiments of the above-described dispensing path correction method, and will not be repeated here.
[0147] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.
[0148] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.
[0149] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM or RAM, magnetic disk, optical disk) as described above, and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in the various embodiments of this application.
[0150] The above are merely preferred embodiments of this application and do not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.
Claims
1. A method for correcting the path of dispensing adhesive, characterized in that, The dispensing path correction method includes: When a dispensing path correction command is detected, the path calibration coordinates of the path calibration points on the preset calibration board are obtained. The path calibration points are determined based on the preset dispensing path. The preset dispensing path reference points include the dispensing start point, the dispensing end point, and intermediate planning points determined based on the dispensing start point and the dispensing end point. Obtain the path calibration coordinate offset corresponding to the path calibration coordinates, and determine the path physical coordinate offset between the dispensing path reference points based on the path calibration coordinate offset and the preset conversion relationship. Based on the path calibration coordinates and the offset of the path physical coordinates, the corrected physical coordinates of the dispensing path reference point corresponding to the path calibration coordinates are determined; Before the step of obtaining the path calibration coordinate offset corresponding to the path calibration coordinates, and determining the path physical coordinate offset between the dispensing path reference points based on the path calibration coordinate offset and a preset conversion relationship, the following steps are included: Acquire calibration board images according to the preset shooting path; Based on the calibration board image, determine the calibration coordinates of all Mark points on the calibration board; Calculate the offset between the calibration coordinates to obtain the calibration coordinate offset; Based on a preset file that associates calibration coordinates with physical coordinates, the physical coordinates corresponding to the calibration coordinates are determined; Calculate the offset between the physical coordinates to obtain the physical coordinate offset; Determine the conversion relationship between the calibration coordinate offset and the physical coordinate offset; The step of calculating the offset between the calibration coordinates to obtain the calibration coordinate offset includes: The calibration coordinates are grouped into multiple calibration coordinate groups by using a preset first quantity as a group; The center calibration coordinate in the calibration coordinate group is determined as the reference point calibration coordinate; Calculate the offset between the remaining preset second number of calibration coordinates and the calibration coordinates of the reference point to obtain the calibration coordinate offset.
2. The dispensing path correction method according to claim 1, characterized in that, The step of calculating the offset between the physical coordinates to obtain the physical coordinate offset includes: The physical coordinates are grouped into multiple physical coordinate groups, with a preset third quantity as a group. The central physical coordinate in the physical coordinate group is determined as the reference point physical coordinate; Calculate the offset between the remaining preset fourth number of physical coordinates and the physical coordinates of the reference point to obtain the physical coordinate offset.
3. The dispensing path correction method according to claim 1, characterized in that, When a dispensing path correction command is detected, the step of acquiring the path calibration coordinates of the path calibration points on a preset calibration board, wherein the path calibration points are determined based on a preset dispensing path, and the preset dispensing path reference points include a dispensing start point, a dispensing end point, and intermediate planning points determined based on the dispensing start point and the dispensing end point, includes: When a dispensing path correction command is detected, the preset dispensing path is determined, wherein the preset dispensing path is... The reference points for the dispensing path include a dispensing start point, a dispensing end point, and intermediate planning points determined based on the dispensing start point and the dispensing end point. Based on the dispensing path, determine the corresponding path calibration point; On the calibration board, the path calibration coordinates of the dispensing start point are determined to be the origin; Based on the path calibration coordinates of the dispensing starting point and the preset calibration plate interval, the path calibration coordinates of the dispensing reference points other than the dispensing starting point are determined. Obtain the path calibration coordinates of the path calibration point.
4. The dispensing path correction method according to claim 1, characterized in that, Based on the conversion relationship, the calibration coordinate offset is converted into the physical coordinate offset, or the physical coordinate offset is converted into the calibration coordinate offset.
5. The dispensing path correction method according to claim 1, characterized in that, The step of obtaining the path calibration coordinates of the path calibration point on the preset calibration board when a path correction command for dispensing is detected includes: When a path correction command for dispensing is detected, the path calibration coordinates of the path calibration points on the preset circular grid calibration plate are obtained.
6. A dispensing path correction device, characterized in that, The dispensing path correction device includes: The first acquisition module is used to acquire the path calibration coordinates of the path calibration points on a preset calibration board when a path correction instruction for dispensing is detected. The path calibration points are determined based on a preset dispensing path. The preset dispensing path reference points include a dispensing start point, a dispensing end point, and an intermediate planning point determined based on the dispensing start point and the dispensing end point. The second acquisition module is used to acquire the path calibration coordinate offset corresponding to the path calibration coordinate, and based on the path calibration coordinate offset and a preset conversion relationship, determine the path physical coordinate offset between the dispensing path reference points. The determination module is used to determine the corrected physical coordinates of the dispensing path reference point corresponding to the path calibration coordinates, based on the offset between the path calibration coordinates and the path physical coordinates; The dispensing path correction device is used to achieve: Acquire calibration board images according to the preset shooting path; Based on the calibration board image, determine the calibration coordinates of all Mark points on the calibration board; Calculate the offset between the calibration coordinates to obtain the calibration coordinate offset; Based on a preset file that associates calibration coordinates with physical coordinates, the physical coordinates corresponding to the calibration coordinates are determined; Calculate the offset between the physical coordinates to obtain the physical coordinate offset; Determine the conversion relationship between the calibration coordinate offset and the physical coordinate offset; The dispensing path correction device is also used to achieve: The calibration coordinates are grouped into multiple calibration coordinate groups by using a preset first quantity as a group; The center calibration coordinate in the calibration coordinate group is determined as the reference point calibration coordinate; Calculate the offset between the remaining preset second number of calibration coordinates and the calibration coordinates of the reference point to obtain the calibration coordinate offset.
7. A dispensing path correction device, characterized in that, The method includes a memory, a processor, and a dispensing path correction program stored in the memory and executable on the processor, wherein the processor executes the dispensing path correction program to implement the steps of the dispensing path correction method according to any one of claims 1 to 5.
8. A storage medium, characterized in that, The storage medium stores a program for implementing a dispensing path correction method, which is executed by a processor to implement the steps of the dispensing path correction method as described in any one of claims 1 to 5.
Citation Information
Patent Citations
A glue dispenser camera and glue dispensing head offset calibration method
CN112950722A