Methods for generating dispensing trails, electronic devices and storage media

Abstract

This application relates to the field of automatic control technology, and provides a method for generating dispensing trajectories, an electronic device, and a storage medium. The method for generating dispensing trajectories includes: acquiring a region image of a target area based on a trajectory generation system; determining a dispensing path in the target area based on the region image; dividing the dispensing path into at least one path segment based on the path type; setting dispensing process data corresponding to the path segment based on the path type; and finally determining the dispensing trajectory based on the dispensing path and the dispensing process data corresponding to each path segment. This allows the dispensing process data in the dispensing trajectory to match the dispensing requirements of path segments of different path types in the dispensing path, thereby enabling precise control of the dispensing method based on the dispensing trajectory and improving the effect of automatic dispensing.

Description

Technical Field

[0001] This application relates to the field of automatic control technology, and in particular to a method for generating dispensing trajectories, electronic devices, and storage media. Background Technology

[0002] With the continuous development of automatic control technology, the dispensing process of dispensing machines has gradually shifted from manual to automatic, and various automatic dispensing machines have been put into production applications.

[0003] In related technologies, the coordinates of the dispensing position are pre-input into the dispensing machine, and the automatic dispensing machine can dispense glue onto the object to be dispensed based on the coordinates of the dispensing position.

[0004] However, different dispensing locations may require different dispensing methods, and it is usually difficult to control the dispensing method during automatic dispensing, which leads to poor automatic dispensing results. Summary of the Invention

[0005] To help improve the effect of automatic dispensing, this application provides a dispensing trajectory generation method, electronic device, and storage medium.

[0006] In a first aspect, this application provides a method for generating dispensing trajectories, employing the following technical solution:

[0007] A method for generating dispensing trajectories, implemented based on a trajectory generation system, the method comprising:

[0008] Obtain the region image of the target area;

[0009] Determine the dispensing path in the target area based on the region image;

[0010] The dispensing path is divided into at least one path segment based on the path type;

[0011] Set the dispensing process data corresponding to the path segment based on the path type;

[0012] The dispensing trajectory is determined based on the dispensing path and the dispensing process data corresponding to each path segment.

[0013] By adopting the above technical solution, the dispensing path can be divided into at least one path segment based on the path type, and the dispensing process data corresponding to the path segment can be set based on the path type. Finally, the dispensing trajectory can be determined based on the dispensing path and the dispensing process data corresponding to each dispensing path. This allows the dispensing process data in the dispensing trajectory to match the dispensing requirements of the path segments of different path types in the dispensing path. As a result, the dispensing method of the dispensing process can be precisely controlled based on the dispensing trajectory, thereby improving the effect of automatic dispensing.

[0014] Optionally, after determining the dispensing trajectory based on the dispensing path and the dispensing process data corresponding to each dispensing path segment, the method further includes:

[0015] Confirm whether the generation is complete;

[0016] If it is determined that the generation is incomplete, the target area is redefined, and the process returns to the step of obtaining the region image of the target area.

[0017] By adopting the above technical solution, when a dispensing trajectory corresponding to a target area is determined, it is determined whether the generation is complete. If it is determined that the generation is not complete, the target area is re-determined and the dispensing trajectory corresponding to the re-determined target area is determined. This can help avoid the situation where the final determined dispensing trajectory is incomplete due to the limitation of the target area, thereby helping to improve the completeness of the final determined dispensing trajectory and thus helping to avoid omissions in the automatic dispensing process.

[0018] Optionally, setting the dispensing process data corresponding to the path segment based on the path type includes:

[0019] The dispensing process data corresponding to the path segment is set based on the setting method corresponding to the path type.

[0020] In the above technical solution, since the dispensing process data corresponding to the path segment can be set based on the equipment mode corresponding to the path type, the dispensing process parameters corresponding to different types of path segments can be set separately according to actual needs. This can help match the dispensing parameters with the dispensing method corresponding to the path type, thereby helping to improve the effect of automatic dispensing.

[0021] Optionally, the path type includes a line, and the setting method corresponding to the line includes whether to enable the automatic introduction and exit line function;

[0022] When the automatic lead-out function is enabled, the dispensing process data includes advance distance and delay distance.

[0023] In the above technical solution, when the path type is a line, an automatic lead-in / lead-out function is provided. Furthermore, when the automatic lead-in / lead-out function is enabled, the advance distance and delay distance can be further determined. This helps to ensure the amount of glue at the two ends of the line during the glue dispensing process, thereby helping to ensure the effect of automatic glue dispensing.

[0024] Optionally, setting the dispensing process data corresponding to the path segment based on the path type includes:

[0025] The dispensing process data corresponding to the path segment is set based on the type of the object to be dispensed and the path type.

[0026] In the above technical solution, since the dispensing process data can be determined by combining the type of the object to be dispensed, dispensing parameters that match different object types can be set, which helps to match the dispensing parameters with the object type, thereby further improving the effect of automatic dispensing.

[0027] Optionally, determining the dispensing path in the target area based on the area image includes:

[0028] Identify the glue-applied image points in the region image;

[0029] The coordinates of the points in the image to be glued are transformed to obtain the location of the glue to be glued;

[0030] A dispensing path is generated based on the location where the adhesive is to be dispensed.

[0031] By adopting the above technical solution, the coordinate transformation of the image points to be dispensed in the area image can be performed to obtain the position to be dispensed, and a dispensing path can be generated based on the position to be dispensed, thereby ensuring the accuracy of the determined dispensing path, and also facilitating automatic dispensing equipment to dispense glue based on the dispensing path.

[0032] Optionally, the step of performing coordinate transformation on the image points to be dispensed to obtain the position of the dispensing point includes:

[0033] Determine whether there are at least two positioning points in the region image, wherein the positioning points are located in the object to be glued at a predetermined position;

[0034] When at least two positioning points exist in the region image, the position of the adhesive to be applied is determined based on the relative positional relationship between the image point to be applied and the at least two positioning points, as well as the positioning position corresponding to the positioning point.

[0035] By adopting the above technical solution, when there are at least two positioning points in the regional image, the position of the glue to be applied can be determined based on the relative positional relationship between the image point to be applied and the at least two positioning points, as well as the positioning position corresponding to the positioning point. In this way, the coordinate transformation of the image point to be applied can be realized based on the camera pose parameters.

[0036] Optionally, the step of transforming the coordinates of the image points to be dispensed to obtain the position of the dispensing agent includes:

[0037] Obtain camera pose information corresponding to the region image, wherein the camera pose information is recorded by the camera when acquiring the region image;

[0038] Based on the camera pose information, the coordinates of the points in the image to be glued are transformed to obtain the position of the glue to be glued.

[0039] By adopting the above technical solution, the position of the glue to be applied can be determined based on the camera pose information corresponding to the regional image, thus enabling coordinate transformation of the glue to be applied image point based on the camera pose parameters.

[0040] Secondly, this application provides an electronic device that adopts the following technical solution:

[0041] An electronic device, the electronic device comprising:

[0042] At least one processor;

[0043] Memory;

[0044] At least one application, wherein the at least one application is stored in memory and configured to be executed by at least one processor, the at least one application being configured to: execute any of the dispensing trajectory generation methods provided in the first aspect.

[0045] Thirdly, this application provides a computer-readable storage medium, which adopts the following technical solution:

[0046] A computer-readable storage medium having a computer program stored thereon, which, when executed in a computer, causes the computer to perform any of the dispensing trajectory generation methods provided in the first aspect.

[0047] In summary, this application includes at least one of the following beneficial technical effects:

[0048] 1. It can match the dispensing process data in the dispensing trajectory with the dispensing requirements of different path types in the dispensing path, thereby enabling precise control of the dispensing method based on the dispensing trajectory, and thus improving the effect of automatic dispensing.

[0049] 2. The dispensing process data can be determined by combining the type of the object to be dispensed. This allows for the setting of matching dispensing parameters for different object types, which helps to match the dispensing parameters with the object type and further improves the effect of automatic dispensing. Attached Figure Description

[0050] Figure 1 This is a flowchart of one implementation of the dispensing trajectory generation method provided in this application;

[0051] Figure 2 This is a schematic diagram of a region image example provided in an embodiment of this application;

[0052] Figure 3 This is a schematic diagram of the user interface of the dispensing trajectory generation system provided in the embodiments of this application;

[0053] Figure 4 This is a schematic diagram of the parameter setting interface corresponding to the point in the dispensing trajectory generation system provided in the embodiments of this application;

[0054] Figure 5 This is a schematic diagram of the parameter setting interface corresponding to the online path in the dispensing trajectory generation system provided in this application embodiment;

[0055] Figure 6 This is a flowchart of another implementation of the dispensing trajectory generation method provided in the embodiments of this application;

[0056] Figure 7 This is a flowchart illustrating a method for determining a dispensing path according to an embodiment of this application;

[0057] Figure 8 This is a flowchart illustrating another method for determining the dispensing path provided in an embodiment of this application;

[0058] Figure 9 This is a flowchart illustrating another method for determining the dispensing path provided in the embodiments of this application;

[0059] Figure 10 This is a schematic diagram of an electronic device provided in an embodiment of this application. Detailed Implementation

[0060] To make the purpose, technical solution, and advantages of this application clearer, the following description is provided in conjunction with the appendix. Figures 1 to 10 The present application will be further described in detail below with reference to embodiments. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the application.

[0061] First, several terms used in the embodiments of this application will be introduced.

[0062] Dispensing is a process, also known as gluing, coating, potting, or dripping, in which glue, oil, or other liquids are applied, potted, or dripped onto a product to achieve functions such as adhesion, sealing, insulation, fixation, and surface smoothing.

[0063] This application discloses a method for generating dispensing trajectories, which is based on a trajectory generation system. This system can be integrated into industrial design software as a plug-in, such as CAD software, or it can be a standalone software. This embodiment does not limit the implementation method of the trajectory generation system.

[0064] This embodiment uses the example of a trajectory generation system running on an electronic device as an example. The electronic device can be a terminal or a server. The terminal can be a computer, industrial control computer, tablet computer, or other devices. This embodiment does not limit the implementation method of the electronic device.

[0065] Reference Figure 1 The method for generating dispensing trajectories includes the following steps:

[0066] Step 101: Obtain the region image of the target area.

[0067] The target area is used to place the object to be dispensed with adhesive. In one example, the target area is located in the working area of ​​an automatic dispensing device, which dispenses adhesive onto the object within the target area. In practice, the target area can also be located in a separate image acquisition area used to capture images of the object to be dispensed; this embodiment does not limit the way the target area is set.

[0068] The area image is obtained by capturing images of the target area using a camera. In one example, the camera is integrated into an automated dispensing device. In practice, the camera can also be a separate device; this embodiment does not limit the implementation method of the camera.

[0069] In one example, the camera is a CCD (Charge Coupled Device) camera.

[0070] In one instance, refer to Figure 2 , Figure 2 This is a schematic diagram of a region image instance.

[0071] Optionally, the target area can be determined based on user operation, such as: the user adjusts the camera's acquisition position and / or acquisition range to obtain the target area; or it can be determined by the trajectory generation system based on a preset area determination method, such as: the trajectory generation system sequentially determines different areas within the range to be acquired as the target area based on a preset area determination method. This embodiment does not limit the method of determining the target area.

[0072] Step 102: Determine the dispensing path in the target area based on the area image.

[0073] The dispensing path includes the locations in the target area where dispensing is required.

[0074] Optionally, the dispensing path can be set by the user through the trajectory generation system, or it can be obtained by the trajectory generation system through the recognition of the area image. This embodiment does not limit the method of determining the dispensing path.

[0075] In one example, the dispensing path is user-specified. In this case, the dispensing path in the target area is determined based on the area image, including determining the dispensing path based on specified operations such as points, lines, and / or arcs. In one instance, refer to... Figure 3 The dispensing trajectory generation system provides a graphical user interface, which includes a CCD field of view and a function button bar above the CCD field of view. The function button bar, from left to right, includes motion, idle run, point, line, arc, and Mark (positioning) point recognition function buttons. During the dispensing path specification process, the user needs to first select the corresponding function button in the function button bar, and then draw the dispensing path in the CCD field of view.

[0076] In another example, the dispensing path is identified by the trajectory generation system. In this case, determining the dispensing path in the target area based on the area image includes: inputting the area image into a pre-set image recognition model to obtain the image range corresponding to the component sub-region; and determining the dispensing path based on the image range corresponding to the component sub-region.

[0077] In practice, the dispensing path is usually determined based on the edge of the component sub-region. Thus, when the component is installed in the component sub-region of the object to be dispensed, the component can be further fixed to the object by dispensing glue at the edge of the component.

[0078] In one instance, the component sub-region has a different color than other locations in the target region. In this way, the image recognition model can identify the image range corresponding to the component sub-region in the regional image based on the colors of different locations in the regional image.

[0079] In another instance, the image recognition model is trained on an initial model using a sample dataset; the sample dataset includes at least one set of sample data, each set of sample data including sample image data and the image range corresponding to the component sub-region in the sample image data, which can help improve the accuracy of the image range corresponding to the component sub-region.

[0080] Furthermore, the automatically determined dispensing path can be edited. After the dispensing path is automatically determined, it is displayed in the area image through the user interface provided by the dispensing trajectory generation system, allowing the user to confirm and modify it. This reduces the user's workload while ensuring that the determined dispensing path meets the user's needs.

[0081] Step 103: Split the dispensing path into at least one path segment based on the path type.

[0082] In one example, the path type includes points, lines, and / or arcs. In actual implementation, the dispensing path can also be split into other path types based on actual needs; this embodiment does not limit the path type.

[0083] During their research, the inventors discovered that path type may affect dispensing method, meaning that different path types may correspond to different dispensing methods. Therefore, they split the dispensing path into path segments based on the path type. This allows them to generate dispensing trajectories based on the dispensing methods of different path segments, which can help improve the dispensing effect.

[0084] Optionally, the dispensing path is split into at least one path segment based on the path type, including: determining the path type change point on the dispensing path; and splitting the dispensing path into at least one path segment based on the path type change point.

[0085] In one example, the path type change point is determined based on the user's specified operation. For instance, if the user draws the dispensing path using specified operations such as points, lines, and arcs, the location where the drawing type changes during the dispensing path drawing process can be identified as the type change point. Another example is that the user specifies the path type change point from within the dispensing path after it has been generated.

[0086] In another example, the path type change point is automatically determined by the trajectory generation system. In this case, the trajectory generation system can analyze the changes in the dispensing path to determine the type change point on the dispensing path.

[0087] Furthermore, path type change points can be edited. After the path type change points are determined, they are displayed in the dispensing path through the user interface provided by the dispensing trajectory generation system, allowing users to confirm and modify them. This reduces the user's workload while ensuring that the determined path segments meet the user's needs.

[0088] Step 104: Set the dispensing process data corresponding to the path segment based on the path type.

[0089] The dispensing process data is used to indicate the working parameters of the automatic dispensing machine during the dispensing process, such as the number of dispensing items, dispensing height, valve opening time, valve closing time, etc. This embodiment does not limit the method of determining the dispensing process data.

[0090] During the research process, the inventors discovered that different path types may have different dispensing methods. Therefore, it is necessary to set the dispensing process parameters for different path types separately. This can help match the dispensing parameters with the dispensing method corresponding to the path type, thereby improving the effect of automatic dispensing.

[0091] Optionally, the dispensing process data corresponding to the path segment can be set based on the path type, including: setting the dispensing process data corresponding to the path segment based on the setting method corresponding to the path type.

[0092] The settings for different path types are pre-defined, and the settings for different path types may be the same or different.

[0093] Optionally, the dispensing process parameters corresponding to the path type can be preset or determined during the trajectory generation process, such as those set by the user during trajectory generation. This embodiment does not limit the setting method of the dispensing process parameters corresponding to the path.

[0094] Optionally, the dispensing data corresponding to different path segments with the same path type can be uniformly set based on the setting method corresponding to the path type. In this case, the dispensing process parameters of different path segments with the same path type are the same. Alternatively, the dispensing data corresponding to different path types can be set separately based on the setting method corresponding to the path type. In this case, the dispensing process parameters of different path segments with the same path type may be different. This embodiment does not limit this.

[0095] In one example, the path type includes a line, and the settings for lines include whether to enable the automatic lead-in / lead-out function. When the automatic lead-in / lead-out function is enabled, the dispensing process data includes the lead distance and the delay distance. Because the automatic lead-in / lead-out function is provided when the path type is a line, and the lead and delay distances can be further determined when the automatic lead-in / lead-out function is enabled, this helps ensure the amount of adhesive dispensed at both ends of the line during dispensing, thus contributing to the effectiveness of automatic dispensing.

[0096] In actual implementation, the dispensing process data corresponding to the line may also include other data, such as trajectory speed. This embodiment does not limit the dispensing working parameters corresponding to the line.

[0097] In one instance, refer to Figure 4 and Figure 5 The trajectory generation system provides a process parameter setting interface, which includes a path type selection bar and a parameter setting bar. During process parameter setting, the user can select the desired type through the path type selection bar. The parameter setting bar will then adjust to the parameter setting template corresponding to the selected path type. This allows for the setting of dispensing process parameters based on the parameter setting template corresponding to the path type. Specifically... Figure 4 This is the parameter settings interface when the path type is point. Figure 5 This is the parameter settings interface when the path type is line.

[0098] In the above technical solution, since the dispensing process data can be set based on the setting method corresponding to the path type, the corresponding dispensing process parameters can be set according to the dispensing method corresponding to different path types, so that the determined dispensing process parameters match the required dispensing method, which can help improve the dispensing effect in the automatic dispensing process.

[0099] Furthermore, the dispensing process data corresponding to the path segment is set based on the path type, including: setting the dispensing process data corresponding to the path segment based on the type of the object to be dispensed and the path type.

[0100] The type of object to be glued is predetermined. Specifically, object types include Lens DP, Dam & Fill DP, Underfill, FPC, PCB, aluminum-based, glass-based, Flux, Paste, Encape, etc. This embodiment does not limit the way object types are classified.

[0101] In one instance, refer to Figure 4 and Figure 5 The trajectory generation system pre-sets different parameter groups for each path type, with each parameter group corresponding to the object type. Therefore, when determining the dispensing process data, simply selecting the corresponding parameter group from the parameter interface provided by the trajectory generation system for the corresponding path type is sufficient. This facilitates the setting of dispensing process parameters based on the type of the object to be dispensed and the path type. Furthermore, if the type of the object to be dispensed is difficult to determine or if a parameter group corresponding to that type does not exist, the default parameter group (e.g., parameter group 0) is set as the parameter group corresponding to the object to be dispensed.

[0102] In the above technical solution, since the dispensing process data can be determined by combining the type of the object to be dispensed, dispensing parameters that match different object types can be set, which helps to match the dispensing parameters with the object type, thereby further improving the effect of automatic dispensing.

[0103] Step 105: Determine the dispensing trajectory based on the dispensing path and the dispensing process data corresponding to each path segment.

[0104] In one example, the dispensing trajectory is determined based on the dispensing path and the dispensing process data corresponding to each path segment, including: assigning the dispensing process data corresponding to each path segment to the corresponding position of the dispensing path to obtain the dispensing trajectory.

[0105] In actual implementation, the dispensing path and the dispensing process data corresponding to each path segment can also be associated and stored in other ways to obtain the dispensing trajectory. This embodiment does not limit the way of determining the dispensing trajectory based on the dispensing path and the dispensing process data corresponding to each path segment.

[0106] The implementation principle of the dispensing trajectory generation method provided in this embodiment includes: acquiring a region image of the target area based on the trajectory generation system, determining the dispensing path in the target area based on the region image, splitting the dispensing path into at least one path segment based on the path type, setting the dispensing process data corresponding to the path segment based on the path type, and finally determining the dispensing trajectory based on the dispensing path and the dispensing process data corresponding to each path segment. This allows the dispensing process data in the dispensing trajectory to match the dispensing requirements of path segments of different path types in the dispensing path, thereby enabling precise control of the dispensing method in the dispensing process based on the dispensing trajectory, and thus improving the effect of automatic dispensing.

[0107] In some implementations, reference Figure 6 Optionally, after determining the dispensing trajectory based on the dispensing path and the dispensing process data corresponding to each path segment in step 105, the following steps are also included:

[0108] Step 201: Determine whether the generation is complete.

[0109] In one example, the completion of generation is determined based on the user's selection. For instance, a selection box is displayed for the user to choose whether to continue generation. If the user chooses to continue generation, step 202 is executed; if the user chooses not to continue generation, step 203 is executed.

[0110] In another example, the trajectory generation system automatically determines whether the generation is complete. For example, it determines whether the image acquisition of the area to be acquired is complete; if it is determined that the image acquisition of the area to be acquired is not complete, step 202 is executed; if it is determined that the image acquisition of the area to be acquired is complete, step 203 is executed.

[0111] Step 202: If it is determined that the generation is not complete, the target area is redefined and the step of obtaining the area image of the target area is executed, that is, return to step 101 until it is determined that the generation is complete.

[0112] The method for redetermining the target area can be specified by the user or determined automatically by the system. For details, please refer to step 101 above. This embodiment will not repeat the process here.

[0113] Step 203: If the generation is confirmed to be complete, a completion confirmation message can be output, and the generation can be ended upon receiving a confirmation instruction.

[0114] In actual implementation, once the generation is determined to be complete, the generation process can be terminated directly, or other steps can be executed. This embodiment does not limit the content to be executed once the generation is determined to be complete.

[0115] In the above technical solution, when a dispensing trajectory corresponding to a target area is determined, it is determined whether the generation is complete. If it is determined that the generation is not complete, the target area is redefined and the dispensing trajectory corresponding to the redefined target area is determined. This can help avoid the situation where the final determined dispensing trajectory is incomplete due to the limitation of the target area, thereby helping to improve the completeness of the final determined dispensing trajectory and thus helping to avoid omissions in the automatic dispensing process.

[0116] In some implementations, reference Figure 7 Optionally, step 102, determining the dispensing path in the target area based on the area image, includes the following steps:

[0117] Step 301: Determine the points in the region image to be applied with adhesive.

[0118] In one example, the image points to be applied are specified by the user. Determining the image points to be applied in the region image includes: determining the image points to be applied in the region image based on specified operations of points, lines, and / or arcs. Specifically, when the image points to be applied are specified by lines and / or arcs, all image points on the lines and / or arcs are determined as the image points to be applied.

[0119] In another example, the glue-to-dispense image points are identified by the trajectory generation system. In this case, determining the glue-to-dispense image points in the region image includes: inputting the region image into a pre-set image recognition model to obtain the image range corresponding to the component sub-region; and determining the glue-to-dispense image points from the contour of the image range corresponding to the component sub-region.

[0120] In one instance, refer to Figure 2 , Figure 2 The dotted lines in the image are composed of several dots of the image to be applied with adhesive.

[0121] Step 302: Perform coordinate transformation on the image points to be dispensed to obtain the positions where the adhesive is to be dispensed.

[0122] The location to be glued refers to the position on the object where glue needs to be applied, and the location to be glued corresponds one-to-one with the point in the image to be glued.

[0123] For a concrete example of coordinate transformation, please refer to the following text. Figure 8 and Figure 9 The relevant explanations will not be repeated here in this embodiment.

[0124] In one example, the location to be dispensed is represented using coordinates on a coordinate system constructed based on the object to be dispensed.

[0125] Step 303: Generate a dispensing path based on the location to be dispensed.

[0126] Based on the above processing, the coordinate transformation of the points to be dispensed in the region image can be performed to obtain the position to be dispensed, and a dispensing path can be generated based on the position to be dispensed, thereby ensuring the accuracy of the determined dispensing path, and also facilitating automatic dispensing equipment to dispense glue based on the dispensing path.

[0127] In some implementations, reference Figure 8 Optionally, step 302 above, which involves transforming the coordinates of the points in the image to be dispensed to obtain the dispensing location, includes the following steps:

[0128] Step 401: Determine whether there are at least two localization points in the region image.

[0129] The positioning point is located in the pre-determined position of the object to be glued, and the position of the positioning point is different for different points.

[0130] In one example, the location is represented using coordinates on a coordinate system constructed based on the object to be glued.

[0131] In one example, a positioning position and corresponding representation information are set on the object to be glued. Different positioning positions have different identification information. At this time, during the image acquisition process, the image information of the positioning position can be acquired, and the image information of the positioning position is the positioning point.

[0132] In practice, the trajectory generation system can automatically identify the positioning points in the area image, which makes it easier to determine the location of the adhesive to be applied based on the area image.

[0133] Step 402: If there are at least two positioning points in the region image, determine the position of the adhesive to be applied based on the relative positional relationship between the image point to be applied and the at least two positioning points and the positioning position corresponding to the positioning point.

[0134] Optionally, determining the dispensing position based on the relative positional relationship between the image point to be dispensed and at least two positioning points, and the positioning position corresponding to the positioning point, includes: determining the dispensing position based on the relative positional relationship between the image point to be dispensed and any at least two positioning points in the region image, and the positioning position corresponding to the at least two positioning points.

[0135] In one example, the relative positional relationship includes the relative direction. In this case, determining the position to be dispensed based on the relative positional relationship between the image point to be dispensed and at least two positioning points and the positioning position corresponding to the positioning point includes: determining the position to be dispensed based on the relative positional relationship between the image point to be dispensed and any two positioning points and the positioning position corresponding to the arbitrary two positioning points using a forward intersection method.

[0136] In another example, the relative positional relationship includes the relative direction, and the positioning points include at least three. In this case, the position to be applied is determined based on the relative positional relationship between the image point to be applied and at least two positioning points and the positioning position corresponding to the positioning points. This includes: using a resection method to determine the position to be applied based on the relative positional relationship between the image point to be applied and any three or more positioning points and the positioning position corresponding to the three or more positioning points.

[0137] Based on the above processing, when there are at least two positioning points in the regional image, the position to be glued can be determined based on the relative positional relationship between the image point to be glued and the at least two positioning points, as well as the positioning position corresponding to the positioning point. In this way, the coordinate transformation of the image point to be glued can be achieved based on the camera pose parameters.

[0138] In some implementations, reference Figure 9 Optionally, step 302 above, which involves transforming the coordinates of the points in the image to be dispensed to obtain the dispensing location, includes the following steps:

[0139] Step 501: Obtain the camera pose information corresponding to the region image.

[0140] Among them, camera pose information is recorded by the camera when acquiring images of the area.

[0141] In one example, the camera can move in the X, Y, and Z directions, and the camera pose information includes the camera position information. In one instance, the camera position information is represented using coordinates on a coordinate system constructed based on the object to be glued.

[0142] Furthermore, the camera lens can rotate, and the camera pose parameters also include the camera lens orientation angle.

[0143] Optionally, camera pose information is recorded and maintained by the trajectory generation system.

[0144] In one example, before the camera moves, the camera position is calibrated, and the initial pose information of the camera is recorded. During the camera movement, the initial pose information is corrected based on the camera movement method and / or the lens rotation method to obtain the real-time pose information of the camera. During the acquisition of regional images, the real-time pose information of the camera is determined as the camera pose parameters corresponding to the regional images.

[0145] Since the real-time pose information of the camera may have calculation errors, further, when the camera has acquired a positioning point, the real-time pose information of the camera is corrected based on the positioning position corresponding to the positioning point. This can help improve the accuracy of the real-time pose information of the camera, and thus help improve the accuracy of the determined camera pose parameters.

[0146] In one example, the real-time pose information of the camera is corrected based on the positioning position corresponding to the positioning point, including: determining the predicted position information of the positioning point based on the real-time pose information; and correcting the real-time pose information of the camera when the predicted position information of the positioning point does not match the positioning position information corresponding to the positioning point, so that the predicted position information of the positioning point determined based on the corrected real-time pose information matches the positioning position information corresponding to the positioning point.

[0147] Step 502: Based on the camera pose information, perform coordinate transformation on the points of the image to be glued to obtain the position of the glue to be glued.

[0148] Based on the above processing, given the camera pose information corresponding to the region image, the position of the glue to be applied can be determined based on the camera pose information. In this way, the coordinate transformation of the glue to be applied image point can be achieved based on the camera pose parameters.

[0149] It is understandable that the above method of performing coordinate transformation on the points of the image to be dispensed can be flexibly adjusted. For example, it can be first determined whether there are at least two positioning points in the area image, and if it is determined that there are no at least two positioning points in the area image, then the camera pose information can be obtained and the coordinate transformation of the points of the image to be dispensed can be performed based on the camera pose information. This can help improve the efficiency of coordinate transformation on the points of the image to be dispensed.

[0150] This application also provides an electronic device, such as... Figure 10 As shown, Figure 10 The illustrated electronic device 600 includes a processor 601 and a memory 603. The processor 601 and the memory 603 are connected, for example, via a bus 602. Optionally, the electronic device 600 may also include a transceiver 604. It should be noted that in practical applications, the transceiver 604 is not limited to one type, and the structure of this electronic device 600 does not constitute a limitation on the embodiments of this application.

[0151] Processor 601 may be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It may implement or execute the various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this application. Processor 601 may also be a combination that implements computational functions, such as including one or more microprocessor combinations, a combination of a DSP and a microprocessor, etc.

[0152] Bus 602 may include a pathway for transmitting information between the aforementioned components. Bus 602 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. Bus 602 may be divided into address bus, data bus, etc. For ease of representation, Figure 10 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0153] The memory 603 may be ROM (Read Only Memory) or other types of static storage devices capable of storing static information and instructions, RAM (Random Access Memory) or other types of dynamic storage devices capable of storing information and instructions, or EEPROM (Electrically Erasable Programmable Read Only Memory), magnetic disk storage media or other magnetic storage devices, or any other medium capable of carrying or storing desired program code in the form of instructions or data structures and accessible by a computer, but is not limited thereto.

[0154] The memory 603 stores application code that executes the scheme of this application, and its execution is controlled by the processor 601. The processor 601 executes the application code stored in the memory 603 to implement the content shown in the foregoing method embodiments.

[0155] Electronic devices include, but are not limited to: mobile terminals such as mobile phones, laptops, PDAs (personal digital assistants), and PADs (tablet computers), as well as fixed terminals such as digital TVs and desktop computers. They can also serve as server-side components. Figure 10 The electronic device shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments of this application.

[0156] This application also provides a computer-readable storage medium storing a computer program thereon, which, when executed in a computer, causes the computer to execute the dispensing trajectory generation method provided in the above embodiments.

[0157] It should be understood that although the steps in the flowcharts in the accompanying drawings are shown sequentially as indicated by the arrows, these steps are not necessarily performed in the order indicated by the arrows. Unless otherwise expressly stated herein, there is no strict order in which these steps are performed, and they may be performed in other orders.

[0158] The above are only some embodiments of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A method for generating a dispensing trajectory, characterized in that, Based on a trajectory generation system, the method includes: Acquire a regional image of the target area, wherein the regional image is obtained by using a camera to capture images of the target area, and the camera is integrated into an automatic dispensing device; Determine the dispensing path in the target area based on the region image; the determination of the dispensing path in the target area based on the region image includes: determining the image points to be dispensed in the region image; performing coordinate transformation on the image points to be dispensed to obtain the dispensing position, the dispensing position is represented by coordinate points on a coordinate system constructed based on the object to be dispensed, the dispensing position corresponds one-to-one with the image points to be dispensed; and generating the dispensing path based on the dispensing position. The dispensing path is divided into at least one path segment based on the path type; the process of dividing the dispensing path into at least one path segment based on the path type includes: determining path type change points on the dispensing path, wherein the path type includes at least one of point, line, and arc, and different path types correspond to different dispensing methods, and the path type change points are determined based on user-specified operations or automatically determined by the trajectory generation system; and dividing the dispensing path into at least one path segment based on the path type change points. Setting the dispensing process data corresponding to the path segment based on the path type includes: setting the dispensing process data corresponding to the path segment based on the setting method corresponding to the path type. The dispensing process data is used to indicate the working parameters of the automatic dispensing machine during the dispensing process. The setting methods corresponding to different path types may be the same or different. The path type includes a line, and the setting method corresponding to a line includes whether to enable the automatic lead-in / lead-out function. When the automatic lead-in / lead-out function is enabled, the dispensing process data includes advance distance and delay distance. The step of setting the dispensing process data corresponding to the path segment based on the setting method corresponding to the path type includes: selecting the parameter group corresponding to the type of the object to be dispensed from each reference group corresponding to the path type, wherein the parameter group is set based on different object types; in the case that there is no parameter group corresponding to the type of the object to be dispensed, the default parameter group is determined as the parameter group corresponding to the object to be dispensed, so as to set the dispensing parameters that match the different object types. The dispensing trajectory is determined based on the dispensing path and the dispensing process data corresponding to each path segment.

2. The method of claim 1, wherein, After determining the dispensing trajectory based on the dispensing path and the dispensing process data corresponding to each dispensing path segment, the method further includes: Confirm whether the generation is complete; If it is determined that the generation is incomplete, the target area is redefined, and the process returns to the step of obtaining the region image of the target area.

3. The method of claim 1, wherein, The step of transforming the coordinates of the points in the image to be glued to obtain the position of the glue to be glued includes: Determine whether there are at least two positioning points in the region image, wherein the positioning points are located in the object to be glued at a predetermined position; If at least two positioning points exist in the region image, the position of the adhesive to be applied is determined based on the relative positional relationship between the image point to be applied and the at least two positioning points, as well as the positioning position corresponding to the positioning point.

4. The method of claim 1, wherein, The step of transforming the coordinates of the points in the image to be glued to obtain the position of the glue to be glued includes: Obtain camera pose information corresponding to the region image, wherein the camera pose information is recorded by the camera when acquiring the region image; Based on the camera pose information, the coordinates of the points in the image to be glued are transformed to obtain the position of the glue to be glued.

5. An electronic device, comprising: The electronic device includes: At least one processor; Memory; At least one application, wherein the at least one application is stored in memory and configured to be executed by at least one processor, said at least one application being configured to: perform the dispensing trajectory generation method according to any one of claims 1 to 3.

6. A computer-readable storage medium having stored thereon a computer program, characterized in that, When the computer program is executed in the computer, the computer is instructed to perform the dispensing trajectory generation method according to any one of claims 1 to 3.

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