An automated assembly line and control method

Abstract

The application provides an automatic assembly production line, which comprises a dust removal station for conveying a workpiece to be assembled after a blowing dust removal process to a dispensing station; a first image acquisition module for acquiring a first real-time image of at least one workpiece to be assembled after a blowing dust removal process on the dust removal station; and the dispensing station comprising a dispensing module and a first controller, wherein the first controller is used for receiving the first real-time image, identifying the type and posture of the workpiece to be assembled according to the first real-time image, planning a dispensing path according to the type and posture of the workpiece to be assembled, generating a dispensing instruction according to the dispensing path, and the dispensing module is used for dispensing the dispensing position on the workpiece to be assembled according to the dispensing instruction. The application can automatically plan a dispensing path according to the type of the workpiece to be assembled and the different dispensing positions to complete the dispensing operation, thereby improving the automation efficiency and work efficiency of the automatic assembly production line.

Description

Technical Field

[0001] This invention relates to the field of automation technology, and more specifically, to an automated assembly line and control method. Background Technology

[0002] A production line is a multi-product production organization that focuses on a specific group of parts. It possesses the necessary machinery and equipment to complete the processing tasks of these similar parts. This equipment and workstations are arranged and configured according to the technological routes and workload proportions of the majority or main parts on the production line. In the electronics field, automated assembly lines are used to assemble multiple electronic components, typically including processes such as conveying, dispensing, dust removal, soldering, and screw tightening.

[0003] The applicant, through searching, discovered several typical existing technologies. For example, Chinese invention patent application number CN202110490079.0 discloses an MEA preparation production line that can complete the double-sided GDL bonding and hot-pressing shaping of five-in-one processed materials in the MEA preparation process to form seven-in-one processed materials. Only the film peeling part requires manual operation, maximizing its automated production efficiency and offering advantages such as high speed and high yield. Another example is Chinese invention patent application number CN201910742942.X, which discloses an intelligent assembly production line. Through a series of structures, this device effectively improves the efficiency of production line operations, reduces manpower, and achieves automated production line operation. Yet another example is Chinese invention patent application number CN201710210075.6, which discloses a dispensing method and system. By controlling the dispensing unit to perform idle dispensing processes, it avoids the problems of dry glue and clogging when the dispensing needle is not in use for a long time, achieving a high degree of automation in the overall dispensing process.

[0004] It is evident that existing automated assembly lines face numerous technical challenges in practical applications, and many unresolved technical solutions remain. Summary of the Invention

[0005] Based on this, in order to improve the automation efficiency of the production line, the present invention provides an automated assembly production line and control method, the specific technical solution of which is as follows:

[0006] An automated assembly line includes a dust removal station, a first image acquisition module, and a dispensing station.

[0007] The dust removal station is used to blow away dust from the workpieces to be assembled and to transport the workpieces to be assembled after the dust removal process to the dispensing station; the first image acquisition module is used to acquire a first real-time image of at least one workpiece to be assembled after the dust removal process at the dust removal station.

[0008] The dispensing station includes a dispensing module and a first controller. The first controller is used to receive at least one first real-time image of a workpiece to be assembled after being purged and dusted. Based on the first real-time image, it identifies the type and orientation of the workpiece to be assembled and plans a dispensing path based on the type and orientation of the workpiece to be assembled. Based on the dispensing path, it generates a dispensing instruction. The dispensing module is used to perform dispensing operations on the dispensing positions on the workpiece to be assembled according to the dispensing instruction.

[0009] The automated assembly line identifies the type and orientation of the workpiece to be assembled, plans the dispensing path based on the type and orientation of the workpiece, and generates dispensing instructions based on the dispensing path. It can automatically plan the dispensing path according to the type of workpiece to be assembled and the different dispensing positions to complete the dispensing operation, thereby improving the automation efficiency and work efficiency of the automated assembly line.

[0010] Furthermore, the automated assembly line also includes a sorting station, which includes a second image acquisition module, a second controller, and a sorting mechanism.

[0011] The second image acquisition module is used to acquire a second real-time image of the workpiece to be sorted after dispensing;

[0012] The second controller is used to receive the second real-time image, extract image feature information of the dispensing position based on the second real-time image, calculate the dispensing quality of the dispensing position based on the image feature information of the dispensing position, and generate sorting instructions based on the dispensing quality of the dispensing position.

[0013] The sorting mechanism is used to sort the workpieces to be assembled after dispensing according to the sorting instructions.

[0014] Furthermore, both the first image acquisition module and the second image acquisition module are CCD industrial cameras.

[0015] An automated assembly line control method, applied to the automated assembly line, includes the following steps:

[0016] The workpieces to be assembled are purged and dusted, and then transported to the dispensing station after purging and dust removal.

[0017] Acquire a first real-time image of at least one workpiece to be assembled at a dust removal station after it has undergone dust removal treatment by blowing;

[0018] The type and orientation of the workpiece to be assembled are identified based on the first real-time image, and the dispensing path is planned based on the type and orientation of the workpiece to be assembled.

[0019] Generate dispensing instructions based on the dispensing path;

[0020] Perform the dispensing operation on the dispensing location on the workpiece to be assembled according to the dispensing instructions.

[0021] Furthermore, the automated assembly line control method includes the following steps:

[0022] Acquire a second real-time image of the workpiece to be sorted after dispensing;

[0023] Extract image feature information of the dispensing location from the second real-time image;

[0024] The dispensing quality at the dispensing location is calculated based on the image feature information of the dispensing location, and a sorting instruction is generated based on the dispensing quality at the dispensing location.

[0025] According to the sorting instructions, the workpieces to be assembled after dispensing are sorted.

[0026] Furthermore, the specific method for planning the dispensing path based on the type and orientation of the workpiece to be assembled includes the following steps:

[0027] Based on the type and orientation of the workpiece to be assembled, obtain the dispensing position for the adhesive.

[0028] Plan at least one dispensing path based on the initialization position of the dispensing module and the dispensing position.

[0029] Furthermore, the specific method for generating dispensing instructions based on the dispensing path includes the following steps:

[0030] Calculate the travel distance of the dispensing module in the dispensing path;

[0031] If there is only one dispensing path, a dispensing instruction is generated based on the dispensing path; otherwise, a dispensing instruction is generated based on the dispensing path with the shortest travel distance.

[0032] Furthermore, a computer-readable storage medium stores a computer program that, when executed by a processor, implements the automated assembly line control method. Attached Figure Description

[0033] The invention will be further understood from the following description taken in conjunction with the accompanying drawings. The components in the drawings are not necessarily drawn to scale, but rather the emphasis is on illustrating the principles of the embodiments. In different views, the same reference numerals designate corresponding parts.

[0034] Figure 1 This is a schematic diagram of the overall structure of an automated assembly production line according to an embodiment of the present invention;

[0035] Figure 2 This is a schematic diagram of the overall process of an automated assembly line control method according to an embodiment of the present invention. Detailed Implementation

[0036] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to its embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not limit the scope of protection of the invention.

[0037] It should be noted that when an element is referred to as being "fixed to" another element, it can be directly attached to the other element or there may be an intervening element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0038] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0039] In this invention, "first" and "second" do not represent a specific quantity or order, but are merely used to distinguish names.

[0040] In assembly lines, it is sometimes necessary to apply adhesive to certain locations on the workpieces to be assembled. By applying UV adhesive to specific locations on the workpiece and then curing it with UV light, certain areas of the workpiece can be sealed or fixed in place.

[0041] Existing assembly lines often only allow dispensing to the same type of workpieces. They cannot perform path planning based on the different types and orientations of the workpieces to be assembled on the conveyor line to better perform dispensing operations, and their dispensing automation efficiency needs to be further improved.

[0042] To improve the automation efficiency of assembly lines, such as Figure 1 As shown, an automated assembly production line according to one embodiment of the present invention includes a dust removal station, a first image acquisition module, and a dispensing station.

[0043] The dust removal station is used to blow away dust from the workpieces to be assembled and to transport the workpieces to be assembled after the dust removal process to the dispensing station; the first image acquisition module is used to acquire a first real-time image of at least one workpiece to be assembled after the dust removal process at the dust removal station.

[0044] The dust removal station includes a blower and a filter component. The blower is used to blow away dust from the workpieces to be assembled, and the filter component is used to filter the exhaust gas after blowing away dust, thereby improving the dust removal and cleaning efficiency of the workpieces to be assembled.

[0045] Specifically, the dust removal station is equipped with an air outlet, and a filter component is installed in the air outlet. The exhaust gas generated after the dust on the surface of the workpiece to be assembled is blown away enters the air outlet and is filtered and collected by the filter component.

[0046] The first image acquisition module includes, but is not limited to, a CCD industrial camera, which acquires the first real-time image of the workpiece to be assembled after dust removal at a preset frequency.

[0047] The first image acquisition module can acquire a first real-time image of a dust-removed workpiece to be assembled, or it can acquire first real-time images of multiple dust-removed workpieces to be assembled.

[0048] The dispensing station includes a dispensing module and a first controller. The first controller is used to receive at least one first real-time image of a workpiece to be assembled after being purged and dusted. Based on the first real-time image, it identifies the type and orientation of the workpiece to be assembled and plans a dispensing path based on the type and orientation of the workpiece to be assembled. Based on the dispensing path, it generates a dispensing instruction. The dispensing module is used to perform dispensing operations on the dispensing positions on the workpiece to be assembled according to the dispensing instruction.

[0049] The dispensing module drips UV adhesive quantitatively onto the designated dispensing location on the workpiece to be assembled at a certain frequency.

[0050] Since the specific structure of the dispensing module is a conventional technique in this field, it will not be described in detail here.

[0051] The specific method for planning the dispensing path based on the type and orientation of the workpiece to be assembled includes: obtaining the dispensing position based on the type and orientation of the workpiece to be assembled; and planning at least one dispensing path based on the initialization position of the dispensing module and the dispensing position.

[0052] The type and orientation of the workpiece to be assembled can be identified by extracting the contour lines of the first real-time image.

[0053] Specifically, the first controller includes a neural network model. This neural network model is trained using pre-acquired images of different types of workpieces to be assembled. The images of the different types of workpieces to be assembled used to train the neural network model have contour lines that correspond one-to-one with their poses and are mutually bound.

[0054] Once the neural network is trained, the trained neural network model can be used to identify the first real-time image to obtain the type and orientation of the workpiece to be assembled.

[0055] For multiple workpieces of the same type to be assembled, the required glue dispensing locations are often the same. That is to say, the glue dispensing locations for workpieces of the same type to be assembled are all the same.

[0056] Since there is often more than one dispensing position, after the workpiece to be assembled is transported to the dispensing station, the dispensing module moves relative to multiple dispensing positions and completes the dispensing operation at the dispensing position, often with more than one dispensing path.

[0057] Different dispensing paths result in varying travel distances for the dispensing module. After planning at least one dispensing path, the path can be filtered to improve dispensing efficiency.

[0058] Specifically, the method for generating dispensing instructions based on the dispensing path includes the following steps:

[0059] Calculate the travel distance of the dispensing module in the dispensing path;

[0060] If there is only one dispensing path, a dispensing instruction is generated based on the dispensing path; otherwise, a dispensing instruction is generated based on the dispensing path with the shortest travel distance.

[0061] By identifying the type and orientation of the workpiece to be assembled, at least one planned path is generated, and the dispensing path with the shortest travel distance is selected to generate a dispensing instruction. Then, the dispensing module is driven to perform the dispensing operation on the workpiece to be assembled, thereby improving dispensing efficiency.

[0062] The automated assembly line identifies the type and orientation of the workpiece to be assembled, plans the dispensing path based on the type and orientation of the workpiece, and generates dispensing instructions based on the dispensing path. It automatically plans the dispensing path according to the type of workpiece to be assembled and the different dispensing positions to complete the dispensing operation. This not only improves the automation efficiency and work efficiency of the automated assembly line, but also allows dispensing operations on different types of workpieces to be assembled on a single production line, thus expanding its applicability.

[0063] After UV adhesive is cured at the dispensing site, different curing qualities can result from environmental factors such as varying dust removal quality and changes in curing temperature.

[0064] The varying quality of UV adhesive curing at the dispensing point can affect the workpiece to be assembled to different degrees, and may even result in defective products. Currently, existing automated production lines often do not inspect the curing quality of the UV adhesive at the dispensing point, which is detrimental to subsequent processing of the workpiece.

[0065] To address the aforementioned issues, in one embodiment, the automated assembly line further includes a sorting station, which comprises a second image acquisition module, a second controller, and a sorting mechanism.

[0066] The second image acquisition module is used to acquire a second real-time image of the workpiece to be sorted after dispensing.

[0067] The second controller is used to receive the second real-time image, extract image feature information of the dispensing position based on the second real-time image, calculate the dispensing quality of the dispensing position based on the image feature information of the dispensing position, and generate sorting instructions based on the dispensing quality of the dispensing position.

[0068] The sorting mechanism is used to sort the workpieces to be assembled after dispensing according to the sorting instructions.

[0069] Specifically, the second image acquisition module is a CCD industrial camera.

[0070] After the dispensing operation is completed at the dispensing station for the workpiece to be assembled, there is usually a UV curing step.

[0071] Preferably, the automated assembly line further includes a UV curing station.

[0072] The UV curing station is used to perform UV curing operations on the dispensing location.

[0073] Image feature information includes, but is not limited to, the binarized grayscale image contour line and the total binarized pixels at the dispensing location. The second controller calculates the dispensing quality at the dispensing location based on the binarized grayscale image contour line and / or the total binarized pixels, and generates a sorting instruction based on the dispensing quality at the dispensing location.

[0074] The sorting mechanism sorts the workpieces to be assembled after dispensing according to the sorting instructions, and sorts the workpieces to be assembled that belong to the same dispensing quality into the same category.

[0075] In this way, by calculating the dispensing quality at the dispensing location and sorting the workpieces to be assembled with the same dispensing quality into the same category, it is beneficial to the subsequent processing and production of the workpieces to be assembled after the dispensing has cured.

[0076] In one embodiment, such as Figure 2 As shown, an automated assembly line control method, applied to the automated assembly line, includes the following steps:

[0077] S1, blows and removes dust from the workpiece to be assembled and then transports the workpiece to the dispensing station after the dust removal process.

[0078] S2, acquire a first real-time image of at least one workpiece to be assembled at a dust removal station after it has undergone purging and dust removal treatment.

[0079] S3, based on the first real-time image, identify the type and orientation of the workpiece to be assembled, and plan the dispensing path according to the type and orientation of the workpiece to be assembled.

[0080] S4 generates dispensing instructions based on the dispensing path.

[0081] S5 performs dispensing operations on the dispensing positions on the workpiece to be assembled according to the dispensing instructions.

[0082] In step S3, the neural network can be trained using images of multiple different types of workpieces to be assembled that have been acquired in advance. Here, the image of each type of workpiece to be assembled includes multiple different poses. After the neural network is trained, it can be used to identify the first real-time image and obtain the type and pose of the corresponding workpiece to be assembled.

[0083] After completing the dispensing work on each workpiece to be assembled, the dispensing module can return to the initialization position. In step S3, the dispensing path is planned according to the type and orientation of the workpiece to be assembled. The dispensing path can be planned based on the initialization position of the dispensing module and several dispensing positions of the workpiece to be assembled.

[0084] Specifically, the station location information of the workpiece to be assembled will be obtained first. Based on the type and posture of the workpiece to be assembled, several dispensing positions on the workpiece to be assembled are obtained. Based on the station location information, dispensing positions and the initial position of the dispensing module, the dispensing path is planned.

[0085] The automated assembly line control method identifies the type and posture of the workpiece to be assembled, plans the dispensing path based on the type and posture of the workpiece, and generates dispensing instructions based on the dispensing path. It automatically plans the dispensing path according to the type of workpiece to be assembled and the different dispensing positions to complete the dispensing operation. This not only improves the automation efficiency and work efficiency of the automated assembly line, but also allows dispensing operations on different types of workpieces to be assembled on a single production line, thus expanding its applicability.

[0086] In one embodiment, the automated assembly line control method further includes the following steps:

[0087] Acquire a second real-time image of the workpiece to be sorted after dispensing;

[0088] Extract image feature information of the dispensing location from the second real-time image;

[0089] The dispensing quality at the dispensing location is calculated based on the image feature information of the dispensing location, and a sorting instruction is generated based on the dispensing quality at the dispensing location.

[0090] According to the sorting instructions, the workpieces to be assembled after dispensing are sorted.

[0091] Specifically, the image feature information includes, but is not limited to, the binarized grayscale image contour line and the binarized total pixels at the dispensing location. The second controller calculates the dispensing quality at the dispensing location based on the binarized grayscale image contour line and / or the binarized total pixels, and generates a sorting instruction based on the dispensing quality at the dispensing location.

[0092] The relationship between image feature information and dispensing quality can be pre-defined. For example, the size of the area enclosed by the binarized grayscale image contour line at different dispensing locations corresponds to different dispensing qualities. That is, different area ranges can be set first, with different area ranges corresponding to different dispensing qualities. Then, the size of the area enclosed by the binarized grayscale image contour line at the dispensing location can be calculated, and the corresponding dispensing quality can be calculated based on the area range corresponding to the area size.

[0093] Of course, different grayscale pixel ranges can be set first. Different grayscale pixel ranges correspond to different dispensing qualities. The total number of binarized pixels of the graphic enclosed by the binarized grayscale image contour line of the dispensing position is calculated. The corresponding dispensing quality is calculated based on the grayscale pixel range corresponding to the total number of binarized pixels.

[0094] Preferably, the dispensing quality corresponding to the binarized grayscale image outline and the total binarized pixels can be comprehensively considered. Workpieces to be assembled after dispensing with the same dispensing quality corresponding to the area enclosed by the binarized grayscale image outline at the dispensing position and the same dispensing quality corresponding to the total binarized pixels can be classified into the same category, so as to make a more detailed classification of the dispensing quality at the dispensing position of the workpiece to be assembled.

[0095] In one embodiment, the specific method for planning the dispensing path based on the type and orientation of the workpiece to be assembled includes the following steps:

[0096] Based on the type and orientation of the workpiece to be assembled, obtain the dispensing position for the adhesive.

[0097] Plan at least one dispensing path based on the initialization position of the dispensing module and the dispensing position.

[0098] Specifically, each dispensing station is equipped with at least one dispensing station and the dispensing station has corresponding station location information.

[0099] For workpieces to be assembled that enter the dispensing station, after obtaining the dispensing position based on the type and posture, at least one dispensing path can be planned by combining the initialization position of the dispensing module and the dispensing position.

[0100] Preferably, the specific method for planning at least one dispensing path based on the initialization position of the dispensing module and the dispensing position includes the following steps:

[0101] The first step is to construct a path planning neural network.

[0102] The second step is to obtain in advance the posture of different types of workpieces to be assembled, the initial position of the dispensing module, and the position information of the workstation where the workpieces to be assembled are located, and then obtain all the dispensing paths of the dispensing module. All the dispensing paths of the dispensing module can be calibrated and planned in advance by technicians. The dispensing path must at least meet the following requirements: the dispensing module can perform dispensing operations at all dispensing positions on the workpieces to be assembled when it moves along the dispensing path.

[0103] The third step involves training the path planning neural network using all the dispensing paths of the dispensing module obtained in the second step, the postures of the corresponding different types of workpieces to be assembled, the initial position of the dispensing module, and the position information of the workstation where the workpieces to be assembled are located.

[0104] The fourth step is to use the trained path planning neural network to identify the initialization position and dispensing position of the dispensing module and plan at least one dispensing path.

[0105] In other words, it is possible to pre-set all possible dispensing paths for each type of workpiece to be assembled in different postures and at different workstations, and obtain the corresponding dispensing path after obtaining the type, posture and dispensing position of the workpiece to be assembled.

[0106] In one embodiment, the specific method for generating dispensing instructions based on the dispensing path includes the following steps:

[0107] Calculate the travel distance of the dispensing module in the dispensing path;

[0108] If there is only one dispensing path, a dispensing instruction is generated based on the dispensing path; otherwise, a dispensing instruction is generated based on the dispensing path with the shortest travel distance.

[0109] By identifying the type and orientation of the workpiece to be assembled, at least one planned path is generated, and the dispensing path with the shortest travel distance is selected to generate a dispensing instruction. Then, the dispensing module is driven to perform the dispensing operation on the workpiece to be assembled, thereby improving dispensing efficiency.

[0110] In one embodiment, the automated assembly line control method further includes the following steps:

[0111] Obtain the type and orientation of at least two workpieces to be assembled, and obtain the station location information of the at least two workpieces to be assembled that are about to enter the dispensing station.

[0112] Based on the type and orientation of the workpiece to be assembled, as well as the station location information of the dispensing station to be entered, obtain the dispensing position coordinate information of the workpiece to be assembled.

[0113] Based on the initial position of the dispensing module and the coordinate information of the dispensing positions of at least two workpieces to be assembled, multiple optional dispensing paths are planned. The optional dispensing paths meet the following conditions: the dispensing module moves along the optimal dispensing path and can perform dispensing operations on all dispensing positions on at least two workpieces to be assembled.

[0114] The preferred dispensing path is selected from multiple optional dispensing paths. Dispensing instructions are generated based on the preferred dispensing path. When at least two workpieces to be assembled enter the dispensing station, the dispensing module is driven to perform dispensing operations at all dispensing positions on the at least two workpieces to be assembled according to the dispensing instructions.

[0115] Specifically, the coordinate information of the workpiece to be assembled in different postures of each type at each station of the dispensing station can be obtained first. This coordinate information can be pre-calibrated and defined by the user. For example, the dispensing station can be equated to an XY-axis plane. When the workpiece to be assembled is located at different stations, the coordinate information of the dispensing position in the XY-axis plane can be defined.

[0116] After obtaining the dispensing position coordinates of the workpieces to be assembled, multiple optional dispensing paths can be planned based on the initial position of the dispensing module and the dispensing position coordinates of at least two workpieces to be assembled.

[0117] The above method obtains multiple optional dispensing paths for at least two workpieces to be assembled, selects the optional dispensing path with the shortest distance as the preferred dispensing path, generates dispensing instructions based on the preferred dispensing path, and drives the dispensing module to perform dispensing operations at all dispensing positions on at least two workpieces to be assembled when at least two workpieces to be assembled enter the dispensing station according to the dispensing instructions. This not only allows dispensing operations to be performed on at least two workpieces to be assembled at the same time, but also minimizes the movement path of the dispensing module and the dispensing time, further improving the overall automation efficiency.

[0118] In one embodiment, the present invention provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the automated assembly line control method.

[0119] The technical features of the above embodiments can be combined in any way. For the sake of brevity, 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.

[0120] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this invention patent should be determined by the appended claims.

Claims

1. An automated assembly production line, characterized in that, The automated assembly line includes: The dust removal station is used to blow away dust from the workpieces to be assembled and then transport the workpieces to the dispensing station after the dust removal process. The first image acquisition module is used to acquire a first real-time image of at least one workpiece to be assembled after being purged and dusted at the dust removal station. The dispensing station includes a dispensing module and a first controller. The first controller is used to receive at least one first real-time image of a workpiece to be assembled after being purged and dusted. It identifies the type and orientation of the workpiece to be assembled based on the first real-time image and plans a dispensing path based on the type and orientation of the workpiece to be assembled. It generates a dispensing instruction based on the dispensing path. The dispensing module is used to perform dispensing operations on the dispensing position on the workpiece to be assembled according to the dispensing instruction. The automated assembly line also includes a sorting station, which includes: The second image acquisition module is used to acquire a second real-time image of the workpiece to be sorted after dispensing; The second controller is used to receive the second real-time image, extract image feature information of the dispensing position based on the second real-time image, calculate the dispensing quality of the dispensing position based on the image feature information of the dispensing position, and generate sorting instructions based on the dispensing quality of the dispensing position. The sorting mechanism is used to sort the workpieces to be assembled after dispensing according to the sorting instructions; Image feature information includes the binarized grayscale image outline of the dispensing location and the total binarized pixels. Different area ranges are set to correspond to different dispensing qualities. The size of the area enclosed by the binarized grayscale image outline of the dispensing location is then calculated. Based on the area range corresponding to the area size, the corresponding dispensing quality is calculated. Similarly, different grayscale pixel ranges are set to correspond to different dispensing qualities. The total binarized pixels of the shape enclosed by the binarized grayscale image outline of the dispensing location are then calculated. Based on the grayscale pixel range corresponding to the total binarized pixels, the corresponding dispensing quality is calculated. Taking into account both the binarized grayscale image contour and the dispensing quality corresponding to the total binarized pixels, the dispensing quality corresponding to the area enclosed by the binarized grayscale image contour at the dispensing position and the dispensing quality corresponding to the total binarized pixels are classified into the same category, so as to make a detailed classification of the dispensing quality at the dispensing position of the dispensing workpiece to be assembled. Obtain the type and orientation of at least two workpieces to be assembled, and obtain the station location information of the at least two workpieces to be assembled that are about to enter the dispensing station. Based on the type and orientation of the workpiece to be assembled, as well as the station location information of the dispensing station to be entered, obtain the dispensing position coordinate information of the workpiece to be assembled. Based on the initial position of the dispensing module and the dispensing position coordinates of at least two workpieces to be assembled, multiple optional dispensing paths are planned; among them, the dispensing module moves along the optimal dispensing path and can perform dispensing operations on all dispensing positions on at least two workpieces to be assembled. The preferred dispensing path is selected from multiple optional dispensing paths. Dispensing instructions are generated based on the preferred dispensing path. When at least two workpieces to be assembled enter the dispensing station, the dispensing module is driven to perform dispensing operations at all dispensing positions on the at least two workpieces to be assembled according to the dispensing instructions.

2. The automated assembly production line as described in claim 1, characterized in that, Both the first image acquisition module and the second image acquisition module are CCD industrial cameras.

3. An automated assembly line control method, applied to the automated assembly line as described in any one of claims 1-2, characterized in that, The automated assembly line control method includes the following steps: The workpieces to be assembled are purged and dusted, and then transported to the dispensing station after purging and dust removal. Acquire a first real-time image of at least one workpiece to be assembled at a dust removal station after it has undergone dust removal treatment by blowing; The type and orientation of the workpiece to be assembled are identified based on the first real-time image, and the dispensing path is planned based on the type and orientation of the workpiece to be assembled. Generate dispensing instructions based on the dispensing path; Perform glue dispensing operations on the glue dispensing locations on the workpiece to be assembled according to the glue dispensing instructions; Acquire a second real-time image of the workpiece to be sorted after dispensing; Extract image feature information of the dispensing location from the second real-time image; The dispensing quality at the dispensing location is calculated based on the image feature information of the dispensing location, and a sorting instruction is generated based on the dispensing quality at the dispensing location. According to the sorting instructions, the workpieces to be assembled after dispensing are sorted. Image feature information includes the binarized grayscale image contour line of the dispensing position and the total binarized pixels. Different area ranges are set to correspond to different dispensing qualities. Then, the size of the area enclosed by the binarized grayscale image contour line of the dispensing position is calculated. Based on the area range corresponding to the size of the area, the corresponding dispensing quality is calculated. And set different grayscale pixel ranges to correspond to different dispensing quality, calculate the total binarized pixels of the graphic enclosed by the binarized grayscale image contour line at the dispensing position, and calculate the corresponding dispensing quality based on the grayscale pixel range corresponding to the total binarized pixels. Taking into account both the binarized grayscale image contour and the dispensing quality corresponding to the total binarized pixels, the dispensing quality corresponding to the area enclosed by the binarized grayscale image contour at the dispensing position and the dispensing quality corresponding to the total binarized pixels are classified into the same category, so as to make a detailed classification of the dispensing quality at the dispensing position of the dispensing workpiece to be assembled. Obtain the type and orientation of at least two workpieces to be assembled, and obtain the station location information of the at least two workpieces to be assembled that are about to enter the dispensing station. Based on the type and orientation of the workpiece to be assembled, as well as the station location information of the dispensing station to be entered, obtain the dispensing position coordinate information of the workpiece to be assembled. Based on the initial position of the dispensing module and the dispensing position coordinates of at least two workpieces to be assembled, multiple optional dispensing paths are planned; among them, the dispensing module moves along the optimal dispensing path and can perform dispensing operations on all dispensing positions on at least two workpieces to be assembled. The preferred dispensing path is selected from multiple optional dispensing paths. Dispensing instructions are generated based on the preferred dispensing path. When at least two workpieces to be assembled enter the dispensing station, the dispensing module is driven to perform dispensing operations at all dispensing positions on the at least two workpieces to be assembled according to the dispensing instructions.

4. The automated assembly line control method as described in claim 3, characterized in that, The specific method for planning the dispensing path based on the type and orientation of the workpiece to be assembled includes the following steps: Based on the type and orientation of the workpiece to be assembled, obtain the dispensing position for the adhesive. Plan at least one dispensing path based on the initialization position of the dispensing module and the dispensing position.

5. The automated assembly line control method as described in claim 4, characterized in that, The specific method for generating dispensing instructions based on the dispensing path includes the following steps: Calculate the travel distance of the dispensing module in the dispensing path; If there is only one dispensing path, a dispensing instruction is generated based on the dispensing path; otherwise, a dispensing instruction is generated based on the dispensing path with the shortest travel distance.

6. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the automated assembly line control method as described in any one of claims 3-5.

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