Method, device, computer equipment and storage medium for guiding dispensing

Abstract

The present application provides a method for guiding dispensing, comprising: using a dispensing machine to teach a template mechanism dispensing path point set on a template product; scanning the template product to obtain a template image; mapping the template mechanism dispensing path point set to the template image to obtain the image coordinates of each point; establishing a three-dimensional measurement frame based on the image coordinates of each point, performing correction adjustments based on the three-dimensional measurement frame to obtain an adjusted template image coordinate set; scanning the product to be dispensed to obtain a three-dimensional image of the product to be dispensed; extracting the image coordinates of each point based on the three-dimensional image to obtain a point image coordinate set; calculating the target mechanism dispensing path point set corresponding to the product to be dispensed based on the template mechanism dispensing path point set, the template image coordinate set, and the point image coordinate set, and then guiding dispensing. This method achieves high-precision dispensing. In addition, a device, computer equipment, and storage medium for guiding dispensing are also proposed.

Description

Technical Field

[0001] The present application relates to the field of automated processing technology, and in particular to a method, device, computer equipment, and storage medium for guiding dispensing. Background Art

[0002] Currently, there is no good solution for the local micro-deformation that occurs when dispensing medium and large objects. Take the dispensing of 5G base station electromagnetic shielding covers as an example. With the continuous development of 5G technology, base stations are getting larger and larger, and the number of related signal components inside the base stations has increased dramatically, which puts higher requirements on the performance of the shielding covers inside the base stations. As the size of the shielding cover increases, the product deformation is also getting larger and larger, so the precision (position) of the dispensing is also increased. The dispensing of traditional dispensing machines can no longer meet the needs. 3D vision must be used to cope with the spatial deformation of the product (plane deformation and height). However, for medium and large-sized products (taking 400mm*700mm as an example), there is currently no high-precision (within 0.1mm) 3D vision guidance solution. Summary of the Invention

[0003] In response to the above-mentioned problem that there is currently no high-precision 3D vision guidance solution for medium and large-sized products, a method, device, computer equipment and storage medium for guiding dispensing are proposed. This method can correct local deformation and achieve high-precision dispensing, which is particularly suitable for medium and large-sized products.

[0004] A first aspect of the present application provides a method for guiding dispensing, comprising:

[0005] A dispensing machine is used to teach a template mechanism dispensing path point set on a template product, wherein the template mechanism dispensing path point set includes the template mechanism coordinates of each point;

[0006] Scanning the template product to obtain a template image corresponding to the template product;

[0007] Obtaining a conversion relationship between image coordinates and mechanism coordinates, mapping the template mechanism dispensing path point set to the template image according to the conversion relationship, and determining the image coordinates of each point in the template mechanism dispensing path point set;

[0008] Establishing a three-dimensional measurement frame based on the image coordinates of each point, performing correction adjustment according to the three-dimensional measurement frame, obtaining the adjusted target image coordinates of each point, and forming a template image coordinate set;

[0009] Scan the product to be glued to obtain a three-dimensional image of the product to be glued, wherein the product to be glued and the template product are the same type of product;

[0010] Extracting the actual image coordinates of each point based on the three-dimensional image to obtain an actual image coordinate set;

[0011] Calculate the target mechanism dispensing path point set corresponding to the product to be dispensed according to the template mechanism dispensing path point set, the template image coordinate set and the actual image coordinate set, wherein the target mechanism dispensing path point set includes the target mechanism coordinates of each point;

[0012] Guided dispensing is performed based on a target mechanism dispensing path point set corresponding to the product to be dispensed.

[0013] A dispensing guide and correction device, comprising:

[0014] A teaching module, used to teach a template mechanism dispensing path point set on a template product using a dispensing machine, wherein the template mechanism dispensing path point set includes the template mechanism coordinates of each point;

[0015] A scanning module, configured to scan the template product to obtain a template image corresponding to the template product;

[0016] An acquisition module is used to obtain a conversion relationship between image coordinates and mechanism coordinates, map the template mechanism dispensing path point set to the template image according to the conversion relationship, and determine the image coordinates of each point in the template mechanism dispensing path point set;

[0017] A correction module is used to establish a three-dimensional measurement frame based on the image coordinates of each point, perform correction adjustments according to the three-dimensional measurement frame, obtain the adjusted target image coordinates of each point, and form a template image coordinate set;

[0018] The scanning module is further used to scan the product to be glued to obtain a three-dimensional image of the product to be glued, and the product to be glued and the template product are the same type of products;

[0019] An extraction module, configured to extract the actual image coordinates of each point based on the three-dimensional image to obtain an actual image coordinate set;

[0020] A calculation module is used to calculate a target mechanism dispensing path point set corresponding to the product to be dispensed based on the template mechanism dispensing path point set, the template image coordinate set and the actual point image coordinate set, wherein the target mechanism dispensing path point set includes the target mechanism coordinates of each point;

[0021] The dispensing module is used to guide dispensing based on the target mechanism dispensing path point set corresponding to the product to be dispensed.

[0022] A computer device includes a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor performs the following steps:

[0023] A dispensing machine is used to teach a template mechanism dispensing path point set on a template product, wherein the template mechanism dispensing path point set includes the template mechanism coordinates of each point;

[0024] Scanning the template product to obtain a template image corresponding to the template product;

[0025] Obtaining a conversion relationship between image coordinates and mechanism coordinates, mapping the template mechanism dispensing path point set to the template image according to the conversion relationship, and determining the image coordinates of each point in the template mechanism dispensing path point set;

[0026] Establishing a three-dimensional measurement frame based on the image coordinates of each point, performing correction adjustment according to the three-dimensional measurement frame, obtaining the adjusted target image coordinates of each point, and forming a template image coordinate set;

[0027] Scan the product to be glued to obtain a three-dimensional image of the product to be glued, wherein the product to be glued and the template product are the same type of product;

[0028] Extracting the actual image coordinates of each point based on the three-dimensional image to obtain an actual image coordinate set;

[0029] Calculate the target mechanism dispensing path point set corresponding to the product to be dispensed according to the template mechanism dispensing path point set, the template image coordinate set and the actual image coordinate set, wherein the target mechanism dispensing path point set includes the target mechanism coordinates of each point;

[0030] Guided dispensing is performed based on a target mechanism dispensing path point set corresponding to the product to be dispensed.

[0031] A computer-readable storage medium stores a computer program, which, when executed by a processor, causes the processor to perform the following steps:

[0032] A dispensing machine is used to teach a template mechanism dispensing path point set on a template product, wherein the template mechanism dispensing path point set includes the template mechanism coordinates of each point;

[0033] Scanning the template product to obtain a template image corresponding to the template product;

[0034] Obtaining a conversion relationship between image coordinates and mechanism coordinates, mapping the template mechanism dispensing path point set to the template image according to the conversion relationship, and determining the image coordinates of each point in the template mechanism dispensing path point set;

[0035] Establishing a three-dimensional measurement frame based on the image coordinates of each point, performing correction adjustment according to the three-dimensional measurement frame, obtaining the adjusted target image coordinates of each point, and forming a template image coordinate set;

[0036] Scan the product to be glued to obtain a three-dimensional image of the product to be glued, wherein the product to be glued and the template product are the same type of product;

[0037] Extracting the actual image coordinates of each point based on the three-dimensional image to obtain an actual image coordinate set;

[0038] Calculate the target mechanism dispensing path point set corresponding to the product to be dispensed according to the template mechanism dispensing path point set, the template image coordinate set and the actual image coordinate set, wherein the target mechanism dispensing path point set includes the target mechanism coordinates of each point;

[0039] Guided dispensing is performed based on a target mechanism dispensing path point set corresponding to the product to be dispensed.

[0040] The above-mentioned method, device, computer equipment and storage medium for guiding dispensing first teach the template product through the dispensing machine to obtain the template mechanism dispensing path point set, then scan the template product to obtain the template image, and then map the template mechanism dispensing path point set to the template image according to the conversion relationship between the image coordinates and the mechanism coordinates to obtain the image coordinates of each point, and then establish a three-dimensional measurement frame based on the image coordinates of each point, perform correction adjustment based on the three-dimensional measurement frame, obtain the target image coordinates of each point after adjustment, and constitute the template image coordinate set; subsequently, when it is necessary to dispense glue to the product, obtain the three-dimensional image of the product to be dispensed, extract the image coordinates of each point based on the three-dimensional image, and obtain the point image coordinate set, and finally calculate the target mechanism dispensing path point set corresponding to the product to be dispensed according to the template mechanism dispensing path point set, the template image coordinate set and the point image coordinate set, and guide dispensing based on the target mechanism dispensing path point set. In this guided dispensing method, a template mechanism dispensing path point set and a template image coordinate set are first established. After obtaining the point image coordinate set of the product to be dispensed, the points in the template mechanism path point set can be corrected in combination with the template image coordinate set. Guided dispensing is performed based on the corrected target mechanism dispensing path point set, thereby achieving high-precision dispensing. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0042] in:

[0043] Figure 1 A flow chart of a method for guiding dispensing in one embodiment;

[0044] Figure 2 A schematic diagram of a process for guiding dispensing using 3D vision in one embodiment;

[0045] Figure 3 is a structural block diagram of a device for guiding dispensing in one embodiment;

[0046] Figure 4 FIG. 1 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0047] It should be understood that the specific embodiments described herein are only used to explain the present application and are not intended to limit the present application.

[0048] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0049] like Figure 1 As shown, a method for guided dispensing is proposed, the method comprising:

[0050] Step 102: Use a dispensing machine to teach a set of dispensing path points of the template mechanism on the template product.

[0051] The template mechanism dispensing path point set includes the coordinates of each point on the template product. The template mechanism dispensing path point set is a collection of individual points. To perform dispensing operations, manual teaching is required to obtain the template mechanism dispensing path point set.

[0052] Step 104 : Scan the template product to obtain a template image corresponding to the template product.

[0053] The template is 3D scanned using a visual tool to obtain a template image of the template product. In one embodiment, the range of a single scan is limited. For medium and large products, multiple scans are required, and the results of the multiple scans are then spliced ​​together to obtain a complete template image.

[0054] Step 106 , obtaining the conversion relationship between the image coordinates and the mechanism coordinates, mapping the template mechanism dispensing path point set to the template image according to the conversion relationship, and determining the image coordinates of each point in the template mechanism dispensing path point set.

[0055] The process of pre-establishing a transformation relationship between image coordinates and mechanism coordinates is commonly referred to as data calibration. Based on this pre-established transformation relationship, the mechanism coordinates of each point in the template mechanism's dispensing path are mapped onto the template image, yielding the image coordinates of each point. Due to factors such as calibration errors, the image coordinates derived from this transformation relationship may not be fully mapped to the template image during the teaching process, necessitating subsequent correction adjustments.

[0056] Step 108 : establishing a three-dimensional measurement frame based on the image coordinates of each point, performing correction adjustment according to the three-dimensional measurement frame, obtaining the adjusted target image coordinates of each point, and forming a template image coordinate set.

[0057] Among them, the image coordinates of the points obtained through the conversion relationship will have deviations. In order to obtain more accurate image coordinates of the points, a three-dimensional measurement frame is established based on the points. The three-dimensional measurement frame is established with the image coordinates of the points as the center according to the preset length, width and height. The three-dimensional measurement frame is a three-dimensional cuboid. Each three-dimensional measurement frame captures the corresponding points of the template image according to the set parameters, and then uses the coordinates of the captured points as the target image coordinates of the points. In one embodiment, manual adjustment can be used, that is, the points are adjusted through the three-dimensional measurement frame so that the glue is located at the position where glue is required. For example, if glue needs to be dispensed on a long rib, and the set glue dispensing position is in the middle, then we need to adjust the point to the middle position. After the correction adjustment, we can obtain a high-precision template image coordinate set.

[0058] Step 110 , scanning the product to be glued to obtain a three-dimensional image of the product to be glued. The product to be glued and the template product are the same type of products.

[0059] The product to be dispensed is the actual product to be dispensed. It is the same product as the template being taught, except that it may have internal deformations. Our goal is to achieve high-precision dispensing even with internal deformations. The product to be dispensed also needs to be scanned to obtain a 3D image.

[0060] Step 112 : extracting the image coordinates of each point based on the three-dimensional image to obtain a point image coordinate set.

[0061] The three-dimensional image of the product to be glued contains various points, and the image coordinates of each point are extracted. The point image coordinate set includes the image coordinates corresponding to each point.

[0062] Step 114 , calculating the target mechanism dispensing path point set corresponding to the product to be dispensed based on the template mechanism dispensing path point set, the template image coordinate set, and the point image coordinate set.

[0063] If a local location on the product to be glued is deformed, the resulting image coordinates will also be deformed. By comparing the image coordinates of the point on the product to be glued with the template image coordinates, the corresponding deformation amount for each point can be determined. This deformation amount is then superimposed on the template mechanism coordinates at the point in the glue path to obtain the target mechanism coordinates corresponding to that point. These target mechanism coordinates are the corrected mechanism coordinates, and correcting the mechanism coordinates significantly improves glue dispensing accuracy.

[0064] Step 116 , guiding the dispensing based on the target mechanism dispensing path point set corresponding to the product to be dispensed.

[0065] Among them, the target mechanism coordinates corresponding to each point are the actual dispensing position. Since the target mechanism coordinates are relatively accurate, guiding dispensing based on the target mechanism dispensing path point set can guide dispensing with high precision.

[0066] The above-mentioned method for guiding dispensing is to first teach the template product through the dispensing machine to obtain the template mechanism dispensing path point set, then scan the template product to obtain the template image, and then map the template mechanism dispensing path point set to the template image according to the conversion relationship between the image coordinates and the mechanism coordinates to obtain the image coordinates of each point, and then establish a three-dimensional measurement frame based on the image coordinates of each point, perform correction adjustment based on the three-dimensional measurement frame, and obtain the target image coordinates of each point after adjustment to constitute the template image coordinate set; subsequently, when it is necessary to dispense glue to the product, obtain the three-dimensional image of the product to be dispensed, extract the image coordinates of each point based on the three-dimensional image, and obtain the point image coordinate set, and finally calculate the target mechanism dispensing path point set corresponding to the product to be dispensed according to the template mechanism dispensing path point set, the template image coordinate set and the point image coordinate set, and guide dispensing based on the target mechanism dispensing path point set. In this guided dispensing method, a template mechanism dispensing path point set and a template image coordinate set are first established. After obtaining the point image coordinate set of the product to be dispensed, the points in the template mechanism path point set can be corrected in combination with the template image coordinate set. Guided dispensing is performed based on the corrected target mechanism dispensing path point set, thereby achieving high-precision dispensing.

[0067] In one embodiment, scanning the template product to obtain a template image corresponding to the template product includes: scanning the template product multiple times, and splicing the multiple scanned images to obtain the template image corresponding to the template product.

[0068] Because medium and large products are large and the field of view of 3D vision scanning is limited, multiple scans can be performed and then stitched together to create a complete template image corresponding to the template product. This multiple scan method can solve the scanning problem of medium and large products and has a wider applicability.

[0069] In one embodiment, before obtaining the conversion relationship between the image coordinates and the mechanism coordinates, it also includes: establishing the conversion relationship between the image coordinates and the mechanism coordinates, including: scanning the calibration block with a camera multiple times to obtain multiple images, and splicing the multiple images to obtain a complete image; using a visual tool to capture the image coordinates of N calibration points in the complete image; moving the dispensing machine needle to the position of the calibration block and recording the corresponding N mechanism coordinates; determining the conversion relationship between the image coordinates and the mechanism coordinates based on the image coordinates of the N calibration points and the N mechanism coordinates.

[0070] The transformation relationship, also known as the "calibration relationship," refers to the transformation relationship between different coordinate systems, embodied in the conversion between image coordinates and mechanism coordinates. The process of establishing this transformation relationship specifically involves first determining the image coordinates of N calibration points, then determining the mechanism coordinates of these N calibration points. Finally, the transformation relationship between the two can be calculated based on the image coordinates and the mechanism coordinates of these N calibration points.

[0071] In one embodiment, establishing a three-dimensional measurement frame based on the image coordinates of each point, performing a deflection adjustment according to the three-dimensional measurement frame, and obtaining adjusted target image coordinates of each point to form a template image coordinate set includes: generating the three-dimensional measurement frame for each point using the image coordinates of the point as a center point; and performing a deflection adjustment on the point within the three-dimensional measurement frame to obtain target image coordinates corresponding to the adjusted point.

[0072] Each point corresponds to a 3D measurement frame, and correction adjustments can be made within the bounds of the 3D measurement frame. The adjustment range is limited to control the accuracy of the adjustment, effectively acting as a precision range. Feature search is performed within the 3D measurement frame, followed by correction adjustments, to obtain the adjusted target image coordinates for each point. The target image coordinates of each point constitute the template image coordinate set.

[0073] In one embodiment, the target mechanism dispensing path point set corresponding to the product to be dispensed is calculated based on the template mechanism dispensing path point set, the template image coordinate set and the point image coordinate set, including: obtaining the template mechanism coordinates, template image coordinates, and actual image coordinates corresponding to the same point; calculating the deviation between the template image coordinates and the actual image coordinates; and obtaining the target mechanism coordinates corresponding to the same point based on the template mechanism coordinates and the deviation. The target mechanism coordinates corresponding to each point constitute the target mechanism dispensing path point set.

[0074] Among them, research has found that for locally deformed products, the deviation of the mechanism dispensing is consistent with the corresponding image deviation. Therefore, for the same point, the deviation between the template image coordinates and the actual image coordinates corresponding to that point is calculated. Then, the template mechanism coordinates corresponding to that point are added with this deviation to obtain the target mechanism coordinates corresponding to that point. The target mechanism coordinates of each point constitute the target mechanism dispensing path point set. By correcting the deviation of the template mechanism coordinates, more accurate target mechanism coordinates are obtained. Dispensing is performed based on these target mechanism coordinates, achieving high-precision dispensing.

[0075] like Figure 2The figure below is a schematic diagram of the entire 3D vision-guided dispensing process. It consists of three parts: the first is establishing the calibration relationship; the second is establishing the template mechanism coordinate set and the template image coordinate set; and the third is the actual dispensing process.

[0076] Among them, in the first part, the calibration block is scanned multiple times by the camera to obtain multiple images, and then the multiple images are spliced ​​to obtain a complete image. After that, the image coordinates of N calibration points in the complete image are captured using visual tools; in addition, the dispensing machine needle is moved to the position of the calibration block and the corresponding N mechanism coordinates are recorded; according to the image coordinates of the N calibration points and the mechanism coordinates of the N calibration points, the calibration relationship between the image coordinates and the mechanism coordinates is determined.

[0077] In the second part, a dispensing machine is first used to teach the template mechanism dispensing path point set P1 on template product A. The template product is then scanned multiple times and stitched together to obtain a template image. The template mechanism dispensing path point set is then mapped to the template image based on the calibration relationship obtained in the first part, and the image coordinates of each point in the template mechanism dispensing path point set are determined. A three-dimensional measurement frame is then generated based on the image coordinates of each point. Corrective adjustments are then made based on the three-dimensional measurement frame to obtain the adjusted target image coordinates of each point, forming the template image coordinate set P2.

[0078] In the third part, the object A1 to be glued is scanned to obtain a 3D image. The actual image coordinates of the points in the 3D image are captured, resulting in the actual image coordinate set P3. The target mechanical coordinates of each point are then calculated using the following formula: P4 = P1 + P3 - P2. Glue dispensing is guided based on the target mechanical coordinates.

[0079] like Figure 3 As shown, in one embodiment, a dispensing guide device is proposed, the device comprising:

[0080] The teaching module 302 is used to teach a template mechanism dispensing path point set on a template product using a dispensing machine, wherein the template mechanism dispensing path point set includes the template mechanism coordinates of each point;

[0081] A scanning module 304 is configured to scan the template product to obtain a template image corresponding to the template product;

[0082] An acquisition module 306 is configured to acquire a conversion relationship between image coordinates and mechanism coordinates, map the template mechanism dispensing path point set to the template image based on the conversion relationship, and determine the image coordinates of each point in the template mechanism dispensing path point set;

[0083] A correction module 308 is configured to establish a three-dimensional measurement frame based on the image coordinates of each point, perform correction adjustments based on the three-dimensional measurement frame, obtain the adjusted target image coordinates of each point, and form a template image coordinate set;

[0084] The scanning module 304 is further used to scan the product to be glued to obtain a three-dimensional image of the product to be glued, and the product to be glued and the template product are the same product;

[0085] An extraction module 310 is configured to extract the actual image coordinates of each point based on the three-dimensional image to obtain an actual image coordinate set;

[0086] A calculation module 312 is configured to calculate a target mechanism dispensing path point set corresponding to the product to be dispensed based on the template mechanism dispensing path point set, the template image coordinate set, and the actual point image coordinate set, wherein the target mechanism dispensing path point set includes the target mechanism coordinates of each point;

[0087] The dispensing module 314 is used to guide dispensing based on the target mechanism dispensing path point set corresponding to the product to be dispensed.

[0088] In one embodiment, the scanning module is further configured to scan the template product multiple times, and splice the multiple scanned images to obtain a template image corresponding to the template product.

[0089] In one embodiment, the dispensing guide device further includes:

[0090] A module is established, which is used to obtain multiple images by scanning the calibration block with a camera multiple times, and stitch the multiple images to obtain a complete image; use a visual tool to capture the image coordinates of N calibration points in the complete image; move the dispensing machine needle to the position of the calibration block and record the corresponding N mechanism coordinates; and determine the conversion relationship between the image coordinates and the mechanism coordinates based on the image coordinates of the N calibration points and the N mechanism coordinates.

[0091] In one embodiment, the correction module is further configured to generate the three-dimensional measurement frame for each point with the image coordinates of the point as the center point; perform correction adjustment on the point in the three-dimensional measurement frame to obtain the target image coordinates corresponding to the adjusted point.

[0092] In one embodiment, the calculation module is also used to obtain the template mechanism coordinates, template image coordinates, and actual image coordinates corresponding to the same point; calculate the deviation between the template image coordinates and the actual image coordinates; and obtain the target mechanism coordinates corresponding to the same point based on the template mechanism coordinates and the deviation. The target mechanism coordinates corresponding to each point constitute the target mechanism dispensing path point set.

[0093] A computer device includes a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor performs the following steps:

[0094] A dispensing machine is used to teach a template mechanism dispensing path point set on a template product, wherein the template mechanism dispensing path point set includes the template mechanism coordinates of each point;

[0095] Scanning the template product to obtain a template image corresponding to the template product;

[0096] Obtaining a conversion relationship between image coordinates and mechanism coordinates, mapping the template mechanism dispensing path point set to the template image according to the conversion relationship, and determining the image coordinates of each point in the template mechanism dispensing path point set;

[0097] Establishing a three-dimensional measurement frame based on the image coordinates of each point, performing correction adjustment according to the three-dimensional measurement frame, obtaining the adjusted target image coordinates of each point, and forming a template image coordinate set;

[0098] Scan the product to be glued to obtain a three-dimensional image of the product to be glued, wherein the product to be glued and the template product are the same type of product;

[0099] Extracting the actual image coordinates of each point based on the three-dimensional image to obtain an actual image coordinate set;

[0100] Calculate the target mechanism dispensing path point set corresponding to the product to be dispensed according to the template mechanism dispensing path point set, the template image coordinate set and the actual image coordinate set, wherein the target mechanism dispensing path point set includes the target mechanism coordinates of each point;

[0101] Guided dispensing is performed based on a target mechanism dispensing path point set corresponding to the product to be dispensed.

[0102] Figure 4 FIG1 shows an internal structure diagram of a computer device in one embodiment. The computer device may be a terminal. Figure 4 As shown, the computer device includes a processor, a memory and a network interface connected via a system bus. Among them, the memory includes a non-volatile storage medium and an internal memory. The non-volatile storage medium of the computer device stores an operating system and may also store a computer program. When the computer program is executed by the processor, the processor can implement the above-mentioned guided dispensing method. The internal memory may also store a computer program. When the computer program is executed by the processor, the processor can implement the above-mentioned guided dispensing method. Those skilled in the art will understand that Figure 4The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the device to which the solution of the present application is applied. The specific device may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0103] A computer-readable storage medium stores a computer program. When the computer program is executed by a processor, the processor executes the steps of the method for guiding dispensing in any of the above embodiments.

[0104] A computer device includes a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor executes the steps of the method for guiding dispensing in any of the above embodiments.

[0105] Those skilled in the art will appreciate that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program. The program can be stored in a non-volatile computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0106] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0107] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present invention, all of which fall within the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be determined by the appended claims.

Claims

1. A method for guiding dispensing, characterized in that: The method comprises: A dispensing machine is used to teach a template mechanism dispensing path point set on a template product, wherein the template mechanism dispensing path point set includes the template mechanism coordinates of each point; Scanning the template product to obtain a template image corresponding to the template product; Obtaining a conversion relationship between image coordinates and mechanism coordinates, mapping the template mechanism dispensing path point set to the template image according to the conversion relationship, and determining the image coordinates of each point in the template mechanism dispensing path point set; Establishing a three-dimensional measurement frame based on the image coordinates of each point, performing correction adjustment according to the three-dimensional measurement frame, obtaining the adjusted target image coordinates of each point, and forming a template image coordinate set; Scan the product to be glued to obtain a three-dimensional image of the product to be glued, wherein the product to be glued and the template product are the same type of product; Extracting the actual image coordinates of each point based on the three-dimensional image to obtain an actual image coordinate set; Calculate the target mechanism dispensing path point set corresponding to the product to be dispensed according to the template mechanism dispensing path point set, the template image coordinate set and the actual image coordinate set, wherein the target mechanism dispensing path point set includes the target mechanism coordinates of each point; Guided dispensing is performed based on a target mechanism dispensing path point set corresponding to the product to be dispensed.

2. The method according to claim 1, characterized in that Scanning the template product to obtain a template image corresponding to the template product includes: The template product is scanned multiple times, and the multiple scanned images are spliced ​​to obtain a template image corresponding to the template product.

3. The method according to claim 1, characterized in that Before acquiring the conversion relationship between the image coordinates and the mechanism coordinates, the method further includes: Establishing a conversion relationship between the image coordinates and the mechanism coordinates includes: Scanning the calibration block multiple times with a camera to obtain multiple images, and stitching the multiple images together to obtain a complete image; Using a visual tool to capture the image coordinates of N calibration points in the complete image; Move the dispensing machine needle to the position of the calibration block and record the corresponding N mechanism coordinates; A conversion relationship between the image coordinates and the mechanism coordinates is determined according to the image coordinates of the N calibration points and the N mechanism coordinates, wherein N is a positive integer.

4. The method according to claim 1, wherein The three-dimensional measurement frame is established based on the image coordinates of each point, and the correction adjustment is performed according to the three-dimensional measurement frame to obtain the adjusted target image coordinates of each point to form a template image coordinate set, including: For each point, the three-dimensional measurement frame is generated using the image coordinates of the point as a center point; Perform deviation correction adjustment on the points in the three-dimensional measurement frame to obtain target image coordinates corresponding to the adjusted points.

5. The method according to claim 1, wherein The step of calculating the target mechanism dispensing path point set corresponding to the product to be dispensed according to the template mechanism dispensing path point set, the template image coordinate set, and the point image coordinate set includes: Obtain the template mechanism coordinates, template image coordinates, and actual image coordinates corresponding to the same point; Calculating the deviation between the template image coordinates and the actual image coordinates; The target mechanism coordinates corresponding to the same point are calculated based on the template mechanism coordinates and the deviation, and the target mechanism coordinates corresponding to each point constitute the target mechanism dispensing path point set.

6. A dispensing guide device, characterized in that: The device comprises: A teaching module, used to teach a template mechanism dispensing path point set on a template product using a dispensing machine, wherein the template mechanism dispensing path point set includes the template mechanism coordinates of each point; A scanning module, configured to scan the template product to obtain a template image corresponding to the template product; An acquisition module is used to obtain a conversion relationship between image coordinates and mechanism coordinates, map the template mechanism dispensing path point set to the template image according to the conversion relationship, and determine the image coordinates of each point in the template mechanism dispensing path point set; A correction module is used to establish a three-dimensional measurement frame based on the image coordinates of each point, perform correction adjustments according to the three-dimensional measurement frame, obtain the adjusted target image coordinates of each point, and form a template image coordinate set; The scanning module is further used to scan the product to be glued to obtain a three-dimensional image of the product to be glued, and the product to be glued and the template product are the same type of products; An extraction module, configured to extract the actual image coordinates of each point based on the three-dimensional image to obtain an actual image coordinate set; A calculation module is used to calculate a target mechanism dispensing path point set corresponding to the product to be dispensed based on the template mechanism dispensing path point set, the template image coordinate set and the actual point image coordinate set, wherein the target mechanism dispensing path point set includes the target mechanism coordinates of each point; The dispensing module is used to guide dispensing based on the target mechanism dispensing path point set corresponding to the product to be dispensed.

7. The device according to claim 6, characterized in that The scanning module is further configured to scan the template product multiple times, and splice the multiple scanned images to obtain a template image corresponding to the template product.

8. The device according to claim 6, characterized in that The above device also includes: Establish a module for obtaining multiple images by scanning a calibration block with a camera multiple times, and stitching the multiple images to obtain a complete image; using a visual tool to capture the image coordinates of N calibration points in the complete image; moving the dispensing machine needle to the position of the calibration block and recording the corresponding N mechanism coordinates; and determining the conversion relationship between the image coordinates and the mechanism coordinates based on the image coordinates of the N calibration points and the N mechanism coordinates.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor executes the steps of the guided dispensing method according to any one of claims 1 to 5.

10. A computer-readable storage medium, characterized in that A computer program is stored, and when the computer program is executed by a processor, the processor is caused to perform the steps of the guided dispensing method according to any one of claims 1 to 5.

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