Automatic generation device and method for coating track of special-shaped lens

Abstract

The present application belongs to the technical field of lens gluing, and discloses a device and method for automatically generating a gluing track for a special-shaped lens. The method comprises the following steps: when a control unit receives a movement signal sent by a clamping module, moving a first movement mechanism, a second movement mechanism and a third movement mechanism so that the special-shaped lens product reaches a preset photographing range of a vision module; the vision module photographs the special-shaped lens product to obtain a product image, and extracts contour points according to a preset extraction template; the vision module obtains vision coordinate information of each contour point in the vision module and sends the information to the control unit; the control unit converts the vision coordinate information into platform coordinate information in a three-axis platform; and the control unit generates a gluing track according to the platform coordinate information and controls a gluing module to glue the special-shaped lens product. Through the above method, the accurate coordinate values of each position point in the gluing track of the special-shaped lens are automatically generated, automatic gluing is realized, the efficiency is high, the precision is high, and the lens size can be self-adapted.

Description

Technical Field

[0001] This invention relates to the field of lens coating technology, and in particular to an automatic device and method for generating coating trajectories for irregularly shaped lenses. Background Technology

[0002] Currently, the adhesive coating trajectory of lenses is usually generated by teaching. However, due to the increasing variety of lens shapes and sizes on the market, teaching the adhesive coating trajectory for some irregularly shaped lenses is often complicated and inefficient. The positional accuracy of the generated adhesive coating trajectory is also poor. Furthermore, if the lens size or shape changes when the lens is replaced, the adhesive coating trajectory cannot be adjusted quickly and accurately, which affects production efficiency and increases production costs.

[0003] The above content is only used to help understand the technical solution of the present invention 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 an automatic adhesive coating trajectory generation device and method for irregularly shaped lenses, aiming to solve the technical problems in the prior art where traditional adhesive coating methods for irregularly shaped lenses are complex to operate, have low positional accuracy, and cannot be quickly and accurately adjusted for different lenses, thus affecting production efficiency and increasing production costs.

[0005] To achieve the above objectives, the present invention provides an automatic adhesive application trajectory generation device for irregularly shaped lenses. The device includes a vision module, a three-axis platform, a clamping module, and an adhesive application module. The three-axis platform includes a control unit, a first moving mechanism, a second moving mechanism, and a third moving mechanism. The third moving mechanism is disposed on the first moving mechanism, the clamping module is disposed on the second moving mechanism, and the vision module and the adhesive application module are disposed on the third moving mechanism. The vision module and the adhesive application module are located above the clamping module. The control unit is connected to the vision module, the clamping module, the adhesive application module, the first moving mechanism, the second moving mechanism, and the third moving mechanism, respectively.

[0006] The clamping module is used to fix the irregularly shaped lens product when it is detected, and to send a movement signal to the control unit.

[0007] The control unit is used to control the first moving mechanism, the second moving mechanism and the third moving mechanism to move when the moving signal is received, so that the irregular lens product can reach the preset shooting range of the vision module.

[0008] The vision module is used to take pictures of irregularly shaped lens products within the preset shooting range, obtain product images, and extract contour points from the product images according to a preset extraction template.

[0009] The vision module is also used to acquire visual coordinate information corresponding to each contour point in the vision module, and send the visual coordinate information to the control unit;

[0010] The control unit is also used to determine the platform coordinate information corresponding to each contour point in the three-axis platform based on the visual coordinate information and the preset coordinate transformation relationship;

[0011] The control unit is also used to generate an adhesive application trajectory based on the platform coordinate information, and control the adhesive application module to apply adhesive to the irregularly shaped lens product based on the adhesive application trajectory.

[0012] Optionally, the first moving mechanism includes a first moving axis, the second moving mechanism includes a second moving axis, and the third moving mechanism includes a third moving axis. The first moving axis is located in a first horizontal moving direction, the second moving axis is located in a second horizontal moving direction, and the third moving axis is located in a vertical moving direction. The first horizontal moving direction and the second horizontal moving direction are perpendicular to the horizontal plane, and the vertical moving direction is perpendicular to the horizontal plane.

[0013] The first moving axis is used to move in the first horizontal moving direction;

[0014] The second moving axis is used to move in the second horizontal moving direction;

[0015] The third moving axis is used to move in the vertical moving direction.

[0016] Optionally, the vision module includes a camera, a light source, and a processing unit. The camera and the light source are disposed on the third moving axis. The camera is located above the light source. The camera is connected to the processing unit, and the processing unit is connected to the control unit.

[0017] The camera is used to take pictures of the irregularly shaped lens products within the preset shooting range, generate a product image of the irregularly shaped lens products, and send the product image to the processing unit;

[0018] The light source is used to provide light to the camera when the camera is taking a picture;

[0019] The processing unit is used to extract contour feature points from the product image, filter the contour feature points according to preset qualification conditions, determine qualified contour feature points, and reduce the qualified contour feature points according to preset required quantity to obtain the contour points.

[0020] The processing unit is further configured to acquire the visual coordinate information corresponding to each contour point in the vision module, and send the visual coordinate information to the control unit.

[0021] Optionally, the glue application module includes a glue gun, which is connected to the control unit and is mounted on the third moving axis;

[0022] The glue gun is used to apply glue to the irregularly shaped lens product.

[0023] Optionally, the automatic generation device for the adhesive coating trajectory of the irregularly shaped lens further includes a tool setter, which is disposed on the side of the clamping module;

[0024] The tool setting device is used to adjust the third moving axis so that the glue gun and the irregular lens maintain at least a preset glue application distance.

[0025] Optionally, the clamping module includes tooling;

[0026] The tooling is used to fix the irregularly shaped lens product.

[0027] Furthermore, to achieve the above objectives, the present invention also proposes an automatic method for generating adhesive application trajectories for irregularly shaped lenses, the method comprising the following steps:

[0028] When the clamping module detects an irregularly shaped lens product, it fixes the irregularly shaped lens product and sends a movement signal to the control unit.

[0029] When the control unit receives the movement signal, it controls the first movement mechanism, the second movement mechanism, and the third movement mechanism to move so that the irregularly shaped lens product reaches the preset shooting range of the vision module.

[0030] The vision module takes pictures of the irregularly shaped lens products within the preset shooting range to obtain product images, and extracts the contour points in the product images according to the preset extraction template.

[0031] The vision module acquires the visual coordinate information corresponding to each contour point in the vision module, and sends the visual coordinate information to the control unit;

[0032] The control unit determines the platform coordinate information corresponding to each contour point in the three-axis platform based on the visual coordinate information and the preset coordinate transformation relationship;

[0033] The control unit generates an adhesive application trajectory based on the platform coordinate information, and controls the adhesive application module to apply adhesive to the irregularly shaped lens product according to the adhesive application trajectory.

[0034] Optionally, generating the adhesive application trajectory based on the platform coordinate information includes:

[0035] The control unit determines the functional type of each contour point based on the platform coordinate information of each contour point;

[0036] The control unit determines key contour points from the contour points according to the function type.

[0037] The control unit obtains the positional relationship between the preset imaging range and the glue application module, and determines the initial glue application trajectory based on the positional relationship and the platform coordinate information of the key contour points;

[0038] The control unit generates a glue application trajectory based on preset glue application parameters and the initial glue application trajectory.

[0039] Optionally, before the clamping module detects the irregularly shaped lens product, fixes the irregularly shaped lens product, and sends a movement signal to the control unit, it further includes:

[0040] The vision module extracts contour feature points from the product image according to a preset extraction template;

[0041] The vision module filters the contour feature points according to preset qualification conditions to determine qualified contour feature points;

[0042] The vision module reduces the number of qualified contour feature points according to a preset requirement to obtain the contour points.

[0043] Optionally, before the clamping module detects the irregularly shaped lens product, fixes the irregularly shaped lens product, and sends a movement signal to the control unit, it further includes:

[0044] The vision module determines the extracted feature points in the preset product sample based on the preset product sample;

[0045] The vision module establishes a preset extraction template based on the extracted feature points.

[0046] In this invention, when the clamping module detects an irregularly shaped lens product, it fixes the product and sends a movement signal to the control unit. Upon receiving the movement signal, the control unit controls the first, second, and third moving mechanisms to move so that the irregularly shaped lens product reaches the preset imaging range of the vision module. The vision module takes a picture of the irregularly shaped lens product within the preset imaging range to obtain a product image, and extracts contour points from the product image according to a preset extraction template. The vision module obtains the visual coordinate information corresponding to each contour point in the vision module and sends the visual coordinate information to the control unit. The control unit determines the platform coordinate information corresponding to each contour point in the three-axis platform according to the conversion relationship between the visual coordinate information and the preset coordinates. The control unit generates an adhesive application trajectory based on the platform coordinate information and controls the adhesive application module to apply adhesive to the irregularly shaped lens product according to the adhesive application trajectory. Compared to traditional methods of applying adhesive to irregularly shaped lenses, which involve complex operations, low positional accuracy, and the inability to quickly and accurately adjust to different lenses, thus affecting production efficiency, this invention places the irregularly shaped lens into a clamping fixture. The fixture automatically presses the lens firmly, and a camera takes a picture of the lens. The key contour points of the captured image are extracted, and the accurate coordinate values ​​of each position point in the adhesive application trajectory are automatically generated. This method is efficient, highly accurate, and adaptable to different lens sizes, enabling automated adhesive application for various irregularly shaped lenses. Attached Figure Description

[0047] Figure 1 This is a schematic diagram of the structure of the first embodiment of the automatic generation device for adhesive coating trajectory of irregularly shaped lenses of the present invention;

[0048] Figure 2 This is a schematic diagram of the second embodiment of the automatic generation device for adhesive coating trajectory of irregularly shaped lenses according to the present invention;

[0049] Figure 3 This is a flowchart illustrating the first embodiment of the automatic generation method for adhesive coating trajectory of irregularly shaped lenses according to the present invention;

[0050] Figure 4 This is a schematic diagram of the overall process of an embodiment of the method for automatically generating adhesive application trajectory for irregularly shaped lenses according to the present invention;

[0051] Figure 5 This is a flowchart illustrating the second embodiment of the automatic generation method for adhesive coating trajectory of irregularly shaped lenses according to the present invention;

[0052] Figure 6 This is a schematic diagram of singularities in an embodiment of the automatic generation method for adhesive coating trajectory of irregularly shaped lenses according to the present invention.

[0053] Figure 7 This is a schematic diagram of the visual module processing flow of an embodiment of the automatic generation method for adhesive coating trajectory of irregularly shaped lenses according to the present invention.

[0054] Explanation of icon numbers:

[0055] label name label name 10 Visual module 202 First moving mechanism 20 Three-axis platform 203 Second moving mechanism 30 Clamping Module 204 Third mobile unit 40 Glue application module 301 work clothes 50 Tool setting device 401 glue gun 101 camera 2021 First moving axis 102 light source 2031 Second moving axis 201 Control Unit 2041 Third moving axis

[0056] 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

[0057] It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0058] 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 a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0059] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.

[0060] Furthermore, the use of terms such as "first" and "second" in this invention is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. When the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed by this invention.

[0061] This invention provides an automatic adhesive coating trajectory generation device for irregularly shaped lenses, referring to... Figure 1 , Figure 1 This is a schematic diagram of the first embodiment of the automatic generation device for adhesive coating trajectory of irregularly shaped lenses according to the present invention.

[0062] In this embodiment, the automatic generation device for the adhesive application trajectory of irregularly shaped lenses includes a vision module 10, a three-axis platform 20, a clamping module 30, and an adhesive application module 40. The three-axis platform 20 includes a control unit 201, a first moving mechanism 202, a second moving mechanism 203, and a third moving mechanism 204. The third moving mechanism 204 is disposed on the first moving mechanism 202, the clamping module 30 is disposed on the second moving mechanism 203, the vision module 10 and the adhesive application module 40 are disposed on the third moving mechanism 204, and the vision module 10 and the adhesive application module 40 are located above the clamping module 30. The control unit 201 is connected to the vision module 10, the clamping module 30, the adhesive application module 40, the first moving mechanism 202, the second moving mechanism 203, and the third moving mechanism 204, respectively.

[0063] It should be noted that the control unit 201 is the control center of the three-axis platform 20, integrated within the three-axis platform 20. It can run corresponding control programs / algorithms to control the vision module 10, the first moving mechanism 202, the second moving mechanism 203, the third moving mechanism 204, the clamping module 30, and the glue application module 40. The connection between the control unit 201 and the vision module 10, the first moving mechanism 202, the second moving mechanism 203, the third moving mechanism 204, the clamping module 30, and the glue application module 40 can be wired or wireless, depending on the actual situation. This embodiment does not impose any restrictions on this.

[0064] It is understood that the control unit 201 can transmit data with the vision module 10 and communicate with the clamping module 30. The specific implementation of communication and data transmission can be any method that can achieve communication and data transmission, such as Bluetooth, WiFi (wireless network communication technology), or cable. It can be set according to actual needs, and this embodiment does not limit it.

[0065] In a specific implementation, the clamping module 30 is used to fix the irregularly shaped lens product when it is detected, and send a movement signal to the control unit 201. The control unit 201 is used to control the first moving mechanism 202, the second moving mechanism 203, and the third moving mechanism 204 to move when it receives the movement signal, so that the irregularly shaped lens product reaches the preset imaging range of the vision module 10. The vision module 10 is used to take pictures of the irregularly shaped lens product within the preset imaging range to obtain a product image, and extract contour points in the product image according to a preset extraction template. The vision module 10 is also used to obtain the visual coordinate information corresponding to each contour point in the vision module, and send the visual coordinate information to the control unit 201. The control unit 201 is also used to determine the platform coordinate information corresponding to each contour point in the three-axis platform 20 according to the visual coordinate information and the preset coordinate transformation relationship. The control unit 201 is also used to generate a glue application trajectory according to the platform coordinate information, and control the glue application module 40 to apply glue to the irregularly shaped lens product according to the glue application trajectory.

[0066] It should be understood that the irregularly shaped lens product refers to an irregularly shaped lens that requires adhesive application. Its shape is usually irregular and it typically needs to be fixed to the clamping module 30. The movement signal refers to the signal that allows the irregularly shaped lens product to be moved. Only when the clamping module 30 has fixed the irregularly shaped lens product will it send a corresponding movement signal to the control unit 201 for subsequent photographing. The clamping module 30 can detect the irregularly shaped lens product using any method that can detect that the irregularly shaped lens product has been placed, such as pressure sensing; this embodiment does not limit this. The preset photographing range refers to the photographing point of the vision module 10, i.e., the area where the irregularly shaped lens product is photographed. Since the vision module 10 needs a clear and complete image for processing, the preset photographing range is usually the center of the vision module 10's field of view. When the irregularly shaped lens product is in the center of the vision module 10's field of view, the vision module 10 will be triggered to take a picture. The image obtained at this time can meet the requirements of clarity and completeness. Other ranges can also be set according to actual conditions; this embodiment does not limit this. The product image is a photograph of the irregularly shaped lens product taken by the vision module 10.

[0067] It should be noted that in order to bring the irregularly shaped lens product into the preset imaging range of the vision module, the control unit 201 controls the first moving mechanism 202 and the third moving mechanism 204 to move, so that the position of the vision module 10 is adjusted. At the same time, it controls the second moving mechanism 203 to move, so that the position of the irregularly shaped lens product is adjusted.

[0068] It is understood that the preset extraction template refers to a pre-defined contour point extraction benchmark. Different products typically have different shapes, therefore, one template corresponds to one product. The contour points refer to points on the contour of the irregularly shaped lens product. Combining all contour points yields a scatter plot of the irregularly shaped lens product's contour. The vision module 10 has its own coordinate system, and the three-axis platform 20 also has its own coordinate system. Therefore, the position coordinates of the contour points in the vision module 10 need to be converted to position coordinates in the three-axis platform 20. The vision coordinate information refers to the position coordinates of the contour points in the coordinate system of the vision module 10, and the platform coordinate information refers to the position coordinates of the contour points in the coordinate system of the three-axis platform 20. The preset transformation relationship refers to the transformation method between the two coordinate systems, which usually needs to be predetermined. For example, if the coordinates of point A in the vision module 10 are (x, y, z), and the coordinates of point A in the three-axis platform 20 are (m, n, p), then the preset transformation relationship is the relationship between coordinates (m, n, p) and coordinates (x, y, z).

[0069] It should be understood that the adhesive application trajectory is the movement trajectory of the adhesive application module 40 when applying adhesive to irregularly shaped lens products. Each irregularly shaped lens product will generate a corresponding adhesive application trajectory, which can adapt to different lenses. The control unit 201 will control the adhesive application module 40 to apply adhesive according to the adhesive application trajectory.

[0070] In this embodiment, the automatic generation device for adhesive application trajectory of irregularly shaped lenses includes a vision module 10, a three-axis platform 20, a clamping module 30, and an adhesive application module 40. The three-axis platform 20 includes a control unit 201, a first moving mechanism 202, a second moving mechanism 203, and a third moving mechanism 204. The third moving mechanism 204 is disposed on the first moving mechanism 202, the clamping module 30 is disposed on the second moving mechanism 203, the vision module 10 and the adhesive application module 40 are disposed on the third moving mechanism 204, and the vision module 10 and the adhesive application module 40 are located above the clamping module 30. The control unit 201 is connected to the vision module 10, the clamping module 30, the adhesive application module 40, the first moving mechanism 202, the second moving mechanism 203, and the third moving mechanism 204, respectively. The present invention places irregularly shaped lenses into clamping modules 30, which automatically clamp the lenses. Vision modules 10 take pictures of the irregularly shaped lenses and extract contour points from the images. Control unit 201 automatically generates accurate coordinate values ​​of each position point in the adhesive application trajectory. It is efficient, accurate, and adaptable to lens size, realizing automated adhesive application for different irregularly shaped lenses.

[0071] refer to Figure 2 , Figure 2 This is a schematic diagram of the second embodiment of the automatic generation device for adhesive coating trajectory of irregularly shaped lenses according to the present invention.

[0072] Based on the first embodiment described above, the first moving mechanism 202 includes a first moving shaft 2021, the second moving mechanism 203 includes a second moving shaft 2031, and the third moving mechanism 204 includes a third moving shaft 2041. The first moving shaft 2021 is located in a first horizontal moving direction, the second moving shaft 2031 is located in a second horizontal moving direction, and the third moving shaft 2041 is located in a vertical moving direction. The first horizontal moving direction and the second horizontal moving direction are perpendicular to each other on a horizontal plane, and the vertical moving direction is perpendicular to the horizontal plane.

[0073] It should be noted that the first moving axis 2021, the second moving axis 2031, and the third moving axis 2041 can move in three different directions. The first horizontal moving direction is a movement direction on the horizontal plane, which can be forward / backward or left / right. The second horizontal moving direction is also a movement direction on the horizontal plane, which can be forward / backward or left / right. Since the first and second horizontal moving directions are perpendicular to each other on the horizontal plane, if the first horizontal moving direction is forward / backward, the first moving axis 2021 corresponds to the Y-axis; then the second horizontal moving direction is left / right, and the second moving axis 2031 corresponds to the X-axis. Conversely, if the first horizontal moving direction is left / right, and the first moving axis 2021 corresponds to the X-axis, then the second horizontal moving direction is forward / backward, and the second moving axis 2031 corresponds to the Y-axis. The vertical moving direction is a movement direction perpendicular to the horizontal plane, which can be up / down; the third moving axis 2041 corresponds to the Z-axis.

[0074] In a specific implementation, the first moving axis 2021 is used to move in the first horizontal moving direction, the second moving axis 2031 is used to move in the second horizontal moving direction, and the third moving axis 2041 is used to move in the vertical moving direction.

[0075] Furthermore, the vision module 10 includes a camera 101, a light source 102, and a processing unit. The camera 101 and the light source 102 are disposed on the third moving axis 2041. The camera 101 is located above the light source 102. The camera 101 is connected to the processing unit, and the processing unit is connected to the control unit 201.

[0076] It is understandable that the processing unit (not in) Figure 2The processing unit (represented by the symbol) is typically a computer that can run corresponding algorithms / programs to process product images. It can also communicate and transmit data with the camera 101 and control unit 201. The connection between the processing unit and the camera 101 and control unit 201 can be wired or wireless, depending on the specific circumstances. This embodiment does not impose any restrictions on this. The communication and data transmission method between the processing unit and the camera 101 and control unit 201 can be any method capable of communication and data transmission, such as Bluetooth, WiFi, or cable, and can be set according to actual needs. This embodiment does not impose any restrictions on this either. The location of the processing unit is also not limited in this embodiment and can be adjusted as needed.

[0077] It should be understood that the camera 101 and the light source 102 are mounted on the third moving axis 2041, which is mounted on the first moving axis 2021. The camera 101 and the light source 102 can be moved horizontally and / or vertically via the third moving axis 2041 and the first moving axis 2021.

[0078] In a specific implementation, the camera 101 is used to take pictures of the irregularly shaped lens products within the preset shooting range, generate product images of the irregularly shaped lens products, and send the product images to the processing unit. The processing unit is used to extract contour feature points from the product images, filter the contour feature points according to preset qualification conditions, determine qualified contour feature points, and reduce the qualified contour feature points according to a preset required number to obtain the contour points. The processing unit is also used to obtain the visual coordinate information corresponding to each contour point in the vision module and send the visual coordinate information to the control unit 201.

[0079] In addition, the light source 102 is used to provide light to the camera 101 when the camera 101 takes a picture, and plays a role in lighting.

[0080] It should be noted that the contour feature points refer to all extractable points that may lie on the contour. When extracting contour points, some singular points that are not part of the contour are often extracted, therefore further verification is required to improve accuracy. The qualified contour feature points refer to the selected qualified points, i.e., points on the contour. The preset qualified conditions refer to the conditions for selecting qualified contour feature points, i.e., some features possessed by non-singular points.

[0081] It is understandable that the screening of contour feature points is the process of deleting singular points from the contour feature points. The processing unit will screen out the qualified points from the contour feature points and delete the singular points from the contour feature points, and finally obtain all qualified contour feature points.

[0082] It should be understood that the number of qualified contour feature points is large, and in order to improve efficiency, it is usually necessary to simplify them. The preset required number refers to the number of qualified contour feature points required to generate the glue application trajectory in the future, which can be set according to the actual situation. This embodiment does not limit this.

[0083] Furthermore, the glue application module 40 includes a glue gun 401, which is connected to the control unit 201 and is mounted on the third moving axis 2041.

[0084] It should be noted that the glue gun 401 is mounted on the third moving axis 2041, which is mounted on the first moving axis 2021. The glue gun 401 can be moved horizontally and / or vertically via the third moving axis 2041 and the first moving axis 2021.

[0085] In a specific implementation, the glue gun 401 is used to apply glue to the irregularly shaped lens product.

[0086] Furthermore, the automatic generation of the adhesive coating trajectory for the irregularly shaped lens also includes a tool setting device 50, which is located on the side of the clamping module 30 and is connected to the control unit 201.

[0087] In a specific implementation, the blade adjuster 50 is used to adjust the third moving axis 2041 so that the glue gun 401 and the irregular lens maintain at least a preset glue application distance.

[0088] It is understood that a certain distance needs to be maintained between the glue gun 401 and the glue application position, and the preset glue application distance is the distance that needs to be maintained between the glue gun 401 and the glue application position. The blade setter 50 and the control unit 201 can also be connected in any suitable way to achieve communication.

[0089] Furthermore, the clamping module 30 includes a tooling 301.

[0090] In a specific implementation, the tooling 301 is used to fix the irregularly shaped lens product.

[0091] It should be understood that the tooling 301 includes a clamp that can fix the irregularly shaped lens product. When the clamping module 30 detects the irregularly shaped lens product, the clamp will fix the irregularly shaped lens product. After the glue application is completed, the control unit 201 will control the clamp to release, so that the irregularly shaped lens product after glue application can be removed.

[0092] In this embodiment, the first moving mechanism 202 includes a first moving axis 2021, the second moving mechanism 203 includes a second moving axis 2031, and the third moving mechanism 204 includes a third moving axis 2041. The first moving axis 2021, the second moving axis 2031, and the third moving axis 2041 can move from three different directions. The vision module 10 includes a camera 101, a light source 102, and a processing unit. The camera 101 and the light source 102 are mounted on the third moving axis 2041. In this embodiment, the processing unit can extract contour feature points from the product image, filter and refine them to obtain the required contour points, acquire the position coordinates of the contour points in the visual coordinate system, and send them to the control unit 201 for further processing. This process is highly accurate and can adapt to lens sizes to achieve automated adhesive application for different shaped lenses.

[0093] This invention provides a method for automatically generating adhesive application trajectories on irregularly shaped lenses, referring to... Figure 3 , Figure 3 This is a flowchart illustrating the first embodiment of the method for automatically generating adhesive coating trajectories for irregularly shaped lenses according to the present invention.

[0094] Based on the above embodiments, the automatic generation method for adhesive coating trajectory of irregularly shaped lenses in this embodiment includes the following steps:

[0095] Step S10: When the clamping module detects the irregularly shaped lens product, it fixes the irregularly shaped lens product and sends a movement signal to the control unit.

[0096] It should be noted that this embodiment is applied to the above-mentioned automatic adhesive trajectory generation device for irregularly shaped lenses. The automatic adhesive trajectory generation device for irregularly shaped lenses includes a vision module, a three-axis platform, a clamping module, and an adhesive application module. The three-axis platform includes a control unit, a first moving mechanism, a second moving mechanism, and a third moving mechanism. For the specific structure, please refer to [reference needed]. Figure 1 and Figure 2 The execution entity in this embodiment is the automatic adhesive trajectory generation device for the irregularly shaped lens.

[0097] It is understood that the aforementioned irregularly shaped lens product refers to an irregularly shaped lens that requires adhesive application. Its shape is typically irregular and it usually needs to be fixed to a clamping module. The movement signal refers to the signal that indicates the movement of the irregularly shaped lens product can begin. Once the clamping module has fixed the irregularly shaped lens product, it will send a corresponding movement signal to the control unit to proceed with subsequent steps.

[0098] It should be understood that the clamping module can detect whether an irregularly shaped lens product is placed. Once the irregularly shaped lens product is detected, the clamping module will fix the irregularly shaped lens product. The detection method can be any method that can detect that an irregularly shaped lens product has been placed, such as pressure sensing or light sensing. This embodiment does not limit this.

[0099] In practice, the irregularly shaped lens product is placed on the clamping module. After the clamping module detects the irregularly shaped lens product, it will fix it and send a movement signal to the control unit so that the control unit knows that the irregularly shaped lens product has been fixed and can start the subsequent glue application process.

[0100] Step S20: When the control unit receives the movement signal, it controls the first movement mechanism, the second movement mechanism and the third movement mechanism to move so that the irregular lens product reaches the preset imaging range of the vision module.

[0101] It should be noted that the preset shooting range refers to the shooting point of the vision module, that is, the area for taking pictures of the irregularly shaped lens product. The vision module has a camera that can realize the shooting function. Since the vision module needs a clear and complete image for processing, the preset shooting range is usually the center of the vision of the vision module. The image captured at this time can meet the requirements of clarity and completeness. Other ranges can also be set according to the actual situation. This embodiment does not limit this.

[0102] It is understandable that the first, second, and third moving mechanisms can move in three different directions: the X-axis (left-right), the Y-axis (front-back), and the Z-axis (up-down). The movement of the first and third moving mechanisms adjusts the position of the vision module, while the movement of the second moving mechanism adjusts the position of the irregularly shaped lens product on the clamping module.

[0103] In practice, the three-axis platform adjusts the positions of the vision module and the irregularly shaped lens product so that the irregularly shaped lens product is located at the center of the vision module's field of view.

[0104] Step S30: The vision module takes a picture of the irregularly shaped lens product within the preset shooting range to obtain a product image, and extracts the contour points in the product image according to the preset extraction template.

[0105] It should be understood that the product image is a photograph of the irregularly shaped lens product captured by the vision module. The preset extraction template refers to a pre-defined outline point extraction benchmark. Different products typically have different shapes; therefore, one template corresponds to one product. The outline points refer to points on the outline of the irregularly shaped lens product. Combining all the outline points yields a scatter plot of the irregularly shaped lens product's outline.

[0106] In practice, when the irregularly shaped lens product reaches the camera point (center of the field of view) of the vision module, it will trigger the camera in the vision module to take a picture and obtain the corresponding image. The vision module processes the image according to the pre-set contour point extraction benchmark and extracts the contour points in the image.

[0107] Furthermore, in order to obtain the preset extraction template, before step S10, the method further includes: the vision module determines the extraction feature points in the preset product sample based on the preset product sample, and establishes the preset extraction template based on the extraction feature points.

[0108] It should be noted that the preset product sample refers to a sample product used to set a benchmark. Different products require different preset product samples so that each product has its corresponding template. The extracted feature points refer to the standard / benchmark for subsequently extracting contour points from the product image.

[0109] In practice, for different products, the corresponding feature points are determined and corresponding preset extraction templates are established.

[0110] Step S40: The vision module acquires the visual coordinate information corresponding to each contour point in the vision module, and sends the visual coordinate information to the control unit.

[0111] It is understood that the vision module has its own coordinate system, and the vision coordinate information refers to the position coordinates of the contour points in the vision module coordinate system.

[0112] In the actual implementation, the vision module determines the position coordinates of the contour points in the vision module coordinate system, obtains the vision coordinate information, generates the corresponding file (.DJJ format), and sends it to the control unit.

[0113] Step S50: The control unit determines the platform coordinate information corresponding to each contour point in the three-axis platform based on the visual coordinate information and the preset coordinate transformation relationship.

[0114] It should be understood that the three-axis platform also has its own coordinate system. Therefore, the position coordinates of the contour points in the vision module need to be converted to position coordinates in the three-axis platform. The platform coordinate information refers to the position coordinates of the contour points in the three-axis platform coordinate system. The preset transformation relationship refers to the transformation method between the two coordinate systems, which usually needs to be determined in advance. For example, if the coordinates of point A in the vision module are (x, y, z), and the coordinates of point A in the three-axis platform are (m, n, p), then the preset transformation relationship is the relationship between coordinates (m, n, p) and coordinates (x, y, z).

[0115] In the actual implementation, after the control unit receives the file sent by the vision module, it parses it to obtain the visual coordinate information of each contour point, and then converts it into position coordinates in the three-axis platform coordinate system.

[0116] Step S60: The control unit generates an adhesive application trajectory based on the platform coordinate information, and controls the adhesive application module to apply adhesive to the irregularly shaped lens product according to the adhesive application trajectory.

[0117] It should be noted that the adhesive application trajectory is the movement trajectory of the adhesive application module when applying adhesive to irregularly shaped lens products. Each irregularly shaped lens product will generate a corresponding adhesive application trajectory, which can adapt to different lenses.

[0118] In practice, the control unit determines the coordinates of the glue application point based on the platform coordinate information of each contour point, generates the corresponding glue application trajectory, and opens the glue gun in the glue application module to apply glue to the irregularly shaped lens product.

[0119] Further, the control unit generates an adhesive application trajectory based on the platform coordinate information, including: the control unit determines the function type of each contour point based on the platform coordinate information of each contour point; the control unit determines key contour points among the contour points based on the function type; the control unit obtains the positional relationship between the preset photography range and the adhesive application module; the control unit determines an initial adhesive application trajectory based on the positional relationship and the platform coordinate information of the key contour points; and the control unit generates an adhesive application trajectory based on preset adhesive application parameters and the initial adhesive application trajectory.

[0120] It is understood that the functional type refers to the role of each contour point in the contour, such as: straight line point, arc point. The key contour point refers to the key glue application position point on the lens contour. Usually, for a straight contour, only the glue application position points of the two vertices need to be determined. For an arc contour, the glue application position points can be determined by the glue application position points of the two vertices plus the glue application position point at the midpoint of the arc. The key contour points in the straight contour and the arc contour can be determined as glue application position points in the above determination method.

[0121] It should be understood that the positional relationship between the preset photographing range and the glue application module refers to the correspondence between the camera's field of view center in the vision module and the glue gun position in the glue application module. There is a certain distance between the preset photographing range and the glue application module, requiring further transformation of the platform coordinate information of the key contour points to obtain the coordinates of the key contour points relative to the glue application module, thereby obtaining the corresponding movement trajectory. The initial glue application trajectory refers to the movement trajectory generated based on the position coordinates of the key contour points, and the preset glue application parameters refer to the pre-set process parameters for glue application. After adding the preset glue application parameters to the initial glue application trajectory and adjusting them, the final glue application trajectory can be obtained.

[0122] In the specific implementation, the control unit needs to determine the role of each contour point in the contour, and select the key contour points in the straight contour and the arc contour. According to the function type, the control unit determines the key contour points in the contour points as the glue application position points, and adds the glue application process parameters to generate the glue application trajectory.

[0123] Understandably, after the adhesive is applied, the control unit will control the clamping module to release the irregularly shaped lens product that has been coated with adhesive, at which point the irregularly shaped lens product can be removed.

[0124] like Figure 4 The overall process diagram shown first requires establishing the transformation relationship between the three-axis platform coordinate system and the vision module coordinate system. Reference feature points are determined on the sample product, a template is created, and the relative positional relationship between the camera's field of view center and the glue gun is confirmed. Next, the irregularly shaped lens to be glued is placed into the fixture of the clamping module, triggering the fixture's clamps for fixation. The three-axis platform adjusts the position of the camera and the irregularly shaped lens so that the lens reaches the camera's field of view center, and the camera takes a picture. The vision module extracts the visual position coordinates of the contour points in the captured image and sends them to the control unit of the three-axis platform. The control unit converts these coordinates into the position coordinates of the three-axis platform. Based on the different function types of the points, the glue application location is selected, glue application parameters are added to generate the glue application trajectory, and then the glue gun is opened to apply the glue. After glue application is complete, the irregularly shaped lens is released and can be manually removed.

[0125] In this embodiment, when the clamping module detects an irregularly shaped lens product, it fixes the product and sends a movement signal to the control unit. Upon receiving the movement signal, the control unit controls the first, second, and third moving mechanisms to move, bringing the irregularly shaped lens product to the preset imaging range of the vision module. The vision module takes a picture of the irregularly shaped lens product within the preset imaging range, obtaining a product image. It then extracts contour points from the product image according to a preset extraction template. The vision module obtains the visual coordinate information corresponding to each contour point and sends this information to the control unit. The control unit determines the platform coordinate information corresponding to each contour point on the three-axis platform based on the visual coordinate information and the preset coordinate transformation relationship. The control unit generates a coating trajectory based on the platform coordinate information and controls the coating module to apply adhesive to the irregularly shaped lens product according to the coating trajectory. In this embodiment, the irregularly shaped lens is placed in a clamping fixture, which automatically clamps the lens. The camera takes a picture of the lens, extracts key contour points from the captured image, and automatically generates accurate coordinate values ​​for each point on the coating trajectory. This method is efficient, accurate, and adaptable to different lens sizes, enabling automated coating of various irregularly shaped lenses.

[0126] This invention provides a method for automatically generating adhesive application trajectories on irregularly shaped lenses, referring to... Figure 5 , Figure 5 This is a flowchart illustrating the second embodiment of the method for automatically generating adhesive coating trajectories for irregularly shaped lenses according to the present invention.

[0127] Based on the above embodiments, step S30 includes:

[0128] Step S301: The vision module extracts the contour feature points in the product image according to the preset extraction template.

[0129] It should be noted that the contour feature points refer to all points that can be extracted that may be on the contour. When extracting contour points, some singular points that are not contours are usually extracted, so further verification is required to improve accuracy.

[0130] In the specific implementation, the vision module first processes the product image to generate obvious contour features, extracts the contour feature points, and generates a contour point set.

[0131] Step S302: The vision module filters the contour feature points according to preset qualification conditions to determine qualified contour feature points.

[0132] It is understood that the qualified contour feature points refer to the selected qualified points, i.e., points on the contour. The preset qualified conditions refer to the conditions for selecting qualified contour feature points, i.e., some features possessed by non-singular points. The selection of contour feature points is the process of deleting singular points from the contour feature points. Qualified points are selected from the contour feature points, while singular points are deleted, ultimately resulting in all qualified contour feature points.

[0133] In specific implementations, such as Figure 6 The diagram showing singular points demonstrates how to verify all contour feature points, delete the corresponding singular points, filter out all qualified contour feature points, and generate a new set of contour points.

[0134] Step S303: The vision module reduces the number of qualified contour feature points according to the preset requirements to obtain the contour points.

[0135] It should be understood that the number of qualified contour feature points is large, and in order to improve efficiency, it is usually necessary to simplify them. The preset required number refers to the number of qualified contour feature points required to generate the glue application trajectory in the future, which can be set according to the actual situation. This embodiment does not limit this.

[0136] like Figure 7 The diagram shows the visual module processing flow. It takes a picture of the irregularly shaped lens at the shooting location to obtain the corresponding product image, processes it to generate obvious contour features, extracts contour feature points, verifies these contour feature points, deletes singular points, retains qualified feature points, and simplifies them to obtain the required contour points. It also determines the coordinate position of each contour point and generates a .DJJ format file.

[0137] In this embodiment, the vision module extracts contour feature points from the product image according to a preset extraction template. The vision module then filters these contour feature points according to preset qualification criteria to determine qualified contour feature points. Finally, the vision module refines the qualified contour feature points according to a preset required quantity, resulting in contour points. This embodiment extracts contour feature points from the product image and performs filtering and refinement to obtain the final required contour points, which are used for subsequent glue application trajectory generation. This process is efficient, ensures glue application position accuracy, and adapts to lens size to achieve automated glue application for different irregularly shaped lenses.

[0138] It should be understood that the above are merely illustrative examples and do not constitute any limitation on the technical solutions of the present invention. In specific applications, those skilled in the art can make settings as needed, and the present invention does not impose any restrictions on this.

[0139] It should be noted that the workflow described above is merely illustrative and does not limit the scope of protection of this invention. In practical applications, those skilled in the art can select some or all of the workflow to achieve the purpose of this embodiment according to actual needs, and no restrictions are imposed here.

[0140] Furthermore, 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.

[0141] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0142] The above are merely preferred embodiments of the present invention and do not limit the scope of the patent. Any equivalent structural or procedural transformations made based on the description and drawings of the present invention, or direct or indirect applications in other related technical fields, are similarly included within the scope of patent protection of the present invention.

Claims

1. An automatic device for generating adhesive application trajectory for irregularly shaped lenses, characterized in that, The automatic generation device for adhesive application trajectory of irregularly shaped lenses includes a vision module, a three-axis platform, a clamping module, and an adhesive application module. The three-axis platform includes a control unit, a first moving mechanism, a second moving mechanism, and a third moving mechanism. The third moving mechanism is disposed on the first moving mechanism, the clamping module is disposed on the second moving mechanism, and the vision module and the adhesive application module are disposed on the third moving mechanism. The vision module and the adhesive application module are located above the clamping module. The control unit is connected to the vision module, the clamping module, the adhesive application module, the first moving mechanism, the second moving mechanism, and the third moving mechanism, respectively. The clamping module is used to fix the irregularly shaped lens product when it is detected, and to send a movement signal to the control unit. The movement signal is sent after the clamping module has fixed the irregularly shaped lens product. The control unit is used to control the first moving mechanism, the second moving mechanism and the third moving mechanism to move when the moving signal is received, so that the irregularly shaped lens product reaches the preset shooting range of the vision module, the preset shooting range being the center of the field of view of the vision module; The vision module is used to take pictures of the irregularly shaped lens products within the preset shooting range to obtain product images, and extract contour points from the product images according to a preset extraction template. The preset extraction template refers to a pre-set contour point extraction benchmark for irregularly shaped lens products, and one type of irregularly shaped lens product corresponds to one type of preset extraction template. The vision module is also used to acquire visual coordinate information corresponding to each contour point in the vision module, and send the visual coordinate information to the control unit; The control unit is also used to determine the platform coordinate information corresponding to each contour point in the three-axis platform based on the visual coordinate information and the preset coordinate transformation relationship; The control unit is also used to generate an adhesive application trajectory based on the platform coordinate information, and control the adhesive application module to apply adhesive to the irregularly shaped lens product based on the adhesive application trajectory. The control unit is further configured to determine the function type of each contour point based on the platform coordinate information of each contour point, determine key contour points among the contour points based on the function type, wherein the function type is used to determine the role of each contour point in the contour, obtain the positional relationship between the preset shooting range and the glue application module, determine the initial glue application trajectory based on the positional relationship and the platform coordinate information of the key contour points, and generate the glue application trajectory based on the preset glue application parameters and the initial glue application trajectory.

2. The automatic generation device for adhesive application trajectory of irregularly shaped lenses as described in claim 1, characterized in that, The first moving mechanism includes a first moving shaft, the second moving mechanism includes a second moving shaft, and the third moving mechanism includes a third moving shaft. The first moving shaft is located in a first horizontal moving direction, the second moving shaft is located in a second horizontal moving direction, and the third moving shaft is located in a vertical moving direction. The first horizontal moving direction and the second horizontal moving direction are perpendicular to the horizontal plane, and the vertical moving direction is perpendicular to the horizontal plane. The first moving axis is used to move in the first horizontal moving direction; The second moving axis is used to move in the second horizontal moving direction; The third moving axis is used to move in the vertical moving direction.

3. The automatic generation device for adhesive application trajectory of irregularly shaped lenses as described in claim 2, characterized in that, The vision module includes a camera, a light source, and a processing unit. The camera and the light source are mounted on the third moving axis. The camera is located above the light source. The camera is connected to the processing unit, and the processing unit is connected to the control unit. The camera is used to take pictures of the irregularly shaped lens products within the preset shooting range, generate a product image of the irregularly shaped lens products, and send the product image to the processing unit; The light source is used to provide light to the camera when the camera is taking a picture; The processing unit is used to extract contour feature points from the product image, filter the contour feature points according to preset qualification conditions, determine qualified contour feature points, and reduce the qualified contour feature points according to preset required quantity to obtain the contour points. The processing unit is further configured to acquire the visual coordinate information corresponding to each contour point in the vision module, and send the visual coordinate information to the control unit.

4. The automatic generation device for adhesive application trajectory of irregularly shaped lenses as described in claim 2, characterized in that, The glue application module includes a glue gun, which is connected to the control unit and is mounted on the third moving axis; The glue gun is used to apply glue to the irregularly shaped lens product.

5. The automatic adhesive application trajectory generation device for irregularly shaped lenses as described in claim 4, characterized in that, The automatic generation device for adhesive coating trajectory of irregularly shaped lenses also includes a tool setter, which is located on the side of the clamping module; The tool setting device is used to adjust the third moving axis so that the glue gun and the irregular lens maintain at least a preset glue application distance.

6. The automatic generation device for adhesive application trajectory of irregularly shaped lenses as described in any one of claims 1 to 5, characterized in that, The clamping module includes tooling; The tooling is used to fix the irregularly shaped lens product.

7. A method for automatically generating adhesive application trajectories for irregularly shaped lenses, applied to the automatic adhesive application trajectory generation device for irregularly shaped lenses as described in any one of claims 1 to 6, wherein the automatic adhesive application trajectory generation device for irregularly shaped lenses comprises a vision module, a three-axis platform, a clamping module, and an adhesive application module, wherein the three-axis platform comprises a control unit, a first moving mechanism, a second moving mechanism, and a third moving mechanism, characterized in that... The method for automatically generating the adhesive application trajectory of irregularly shaped lenses includes: When the clamping module detects an irregularly shaped lens product, it fixes the irregularly shaped lens product and sends a movement signal to the control unit. The movement signal is sent after the clamping module has finished fixing the irregularly shaped lens product. When the control unit receives the movement signal, it controls the first movement mechanism, the second movement mechanism, and the third movement mechanism to move so that the irregularly shaped lens product reaches the preset imaging range of the vision module, where the preset imaging range is the center of the field of view of the vision module. The vision module takes pictures of the irregularly shaped lens products within the preset shooting range to obtain product images, and extracts the contour points in the product images according to the preset extraction template. The preset extraction template refers to the pre-set contour point extraction benchmark for irregularly shaped lens products, and one type of irregularly shaped lens product corresponds to one type of preset extraction template. The vision module acquires the visual coordinate information corresponding to each contour point in the vision module, and sends the visual coordinate information to the control unit; The control unit determines the platform coordinate information corresponding to each contour point in the three-axis platform based on the visual coordinate information and the preset coordinate transformation relationship; The control unit generates an adhesive application trajectory based on the platform coordinate information, and controls the adhesive application module to apply adhesive to the irregularly shaped lens product based on the adhesive application trajectory. The step of generating the adhesive application trajectory based on the platform coordinate information includes: The control unit determines the functional type of each contour point based on the platform coordinate information of each contour point; The control unit determines key contour points among the contour points according to the function type, and the function type is used to determine the role of each contour point in the contour. The control unit obtains the positional relationship between the preset imaging range and the glue application module, and determines the initial glue application trajectory based on the positional relationship and the platform coordinate information of the key contour points; The control unit generates a glue application trajectory based on preset glue application parameters and the initial glue application trajectory.

8. The method as described in claim 7, characterized in that, Before the clamping module detects an irregularly shaped lens product, fixes the irregularly shaped lens product, and sends a movement signal to the control unit, it further includes: The vision module extracts contour feature points from the product image according to a preset extraction template; The vision module filters the contour feature points according to preset qualification conditions to determine qualified contour feature points; The vision module reduces the number of qualified contour feature points according to a preset requirement to obtain the contour points.

9. The method as described in claim 8, characterized in that, Before the clamping module detects an irregularly shaped lens product, fixes the irregularly shaped lens product, and sends a movement signal to the control unit, it further includes: The vision module determines the extracted feature points in the preset product sample based on the preset product sample; The vision module establishes a preset extraction template based on the extracted feature points.

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