Lens dispensing method and apparatus

Abstract

The application discloses a lens dispensing method and device. The lens dispensing method comprises the following steps: calibrating a coordinate conversion relationship between a pixel coordinate and an actual world coordinate of the image acquisition device; calibrating a distance between a rotation center of the bent dispensing needle and a calibration point of the image acquisition device to obtain distance information; calibrating a rotation radius of the bent needle; acquiring a lens image of a lens to be dispensed collected by the image acquisition device; determining a lens center world coordinate of the lens to be dispensed based on the lens image; acquiring a glue groove radius of the lens to be dispensed; and controlling the motion device to drive the bent dispensing needle to perform X, Y, Z and W four-axis interpolation dispensing motion for dispensing based on the glue groove radius, the lens center world coordinate, the rotation radius of the bent needle and the distance information. Through the above scheme, the effects of compatible internal and external dispensing, compatible dispensing of different radius products and convenient debugging are realized.

Description

Technical Field

[0001] This invention relates to the technical field of dispensing equipment, and more particularly to a lens dispensing method and equipment. Background Technology

[0002] In the lens manufacturing industry, lens assembly is a fundamental production process, and within this assembly process, a crucial step is adhesive application. Adhesive application serves two purposes: first, it's applied inside the lens to secure internal components; second, it's applied to the outside of the lens to encapsulate the product.

[0003] Currently, the main adhesive application methods for the inside and outside of lenses are as follows:

[0004] 1. The dispensing needle remains stationary while the lens rotates, thus dispensing adhesive into the glue tank. This dispensing method is compatible with both internal and external dispensing, but it requires manual positioning of the needle in the glue tank, necessitates extensive operator experience, and is relatively difficult to adjust.

[0005] 2. The dispensing needle rotates while the lens remains stationary. This dispensing method is compatible with both internal and external dispensing, but the needle must be bent to a suitable angle, and the radius of the glue must be consistent with the radius of the product's dispensing groove during rotation. This method is difficult to adjust.

[0006] 3. Interpolation dispensing: With the lens stationary, the XY axis drives the needle to perform an arc interpolation motion to complete the dispensing. This dispensing method is relatively convenient and applicable to dispensing grooves of different radii, but it is only suitable for external dispensing. Also, when dispensing, the needle is vertical, and when dispensing internally, a vertical needle can easily cause structural interference.

[0007] In summary, current lens dispensing methods are difficult to balance in terms of debugging difficulty, compatibility between internal and external dispensing, and compatibility with products of different radii. Summary of the Invention

[0008] This invention provides a lens dispensing method and apparatus to achieve compatibility with internal and external dispensing, compatibility with dispensing products of different radii, and convenient debugging.

[0009] According to one aspect of the present invention, a lens dispensing method is provided, for use in a lens dispensing apparatus, the lens dispensing apparatus comprising an image acquisition device, a motion device, a dispensing needle, and a processing device, wherein the image acquisition device is used to acquire images, the motion device comprises an X-axis motion component, a Y-axis motion component, a Z-axis motion component, and a W-axis motion component, the W-axis motion component is used to drive the dispensing needle to rotate, the X-axis motion component, the Y-axis motion component, and the Z-axis motion component are respectively used to drive the dispensing needle to move along the X-axis, Y-axis, and Z-axis, the dispensing needle is used to perform dispensing, the dispensing needle is bendable, and the processing device is electrically connected to the image acquisition device, the motion device, and the dispensing needle; the lens dispensing method includes:

[0010] The image acquisition device is calibrated to obtain the coordinate transformation relationship between pixel coordinates and real-world coordinates;

[0011] Based on the coordinate transformation relationship, the distance between the rotation center of the bent dispensing needle and the calibration point of the image acquisition device is determined to obtain the distance information between the rotation center and the calibration point;

[0012] The rotation radius of the bent dispensing needle is obtained by calibrating the rotation radius of the dispensing needle after bending.

[0013] Acquire the lens image of the lens to be coated by the image acquisition device;

[0014] The world coordinates of the lens center of the lens to be coated are determined based on the lens image.

[0015] Obtain the radius of the glue groove on the lens to be glued;

[0016] Based on the radius of the glue groove, the world coordinates of the lens center, the rotation radius of the bent needle, and the spacing information, the motion device is controlled to drive the bent dispensing needle to perform X, Y, Z, W four-axis interpolation dispensing motion for dispensing.

[0017] In an optional embodiment of the present invention, calibrating the coordinate transformation relationship between pixel coordinates and actual world coordinates obtained by the image acquisition device includes:

[0018] The motion device is controlled to move the image acquisition device sequentially to the nine calibration points in a nine-square grid pattern;

[0019] The image acquisition device is controlled to move to the calibration point to acquire image information;

[0020] Based on the image information, an N-point calibration algorithm is used to calculate the transformation relationship between pixel coordinates and real-world coordinates to obtain the coordinate transformation relationship between pixel coordinates and real-world coordinates.

[0021] In an optional embodiment of the present invention, the step of calibrating the distance between the rotation center of the bent dispensing needle and the calibration point of the image acquisition device based on the coordinate transformation relationship to obtain the distance information between the rotation center and the calibration point includes:

[0022] The motion device is controlled to move the bent dispensing needle to the first world coordinate.

[0023] The control motion device drives the bent dispensing needle to rotate and dispense adhesive, making the dispensed adhesive round;

[0024] The motion device is controlled to move the image acquisition device in a second-world coordinate system so that the glue is located in the acquisition area of ​​the image acquisition device.

[0025] Control the image acquisition device to acquire glue images;

[0026] The center pixel coordinates of the glue are determined based on the glue image;

[0027] Based on the coordinate transformation relationship, the center pixel coordinates are converted into center world coordinates;

[0028] Based on the world coordinates of the center of the circle, the first world coordinates, and the second world coordinates, the distance between the rotation center of the bent dispensing needle and the calibration point of the image acquisition device is determined, thus obtaining the distance information between the rotation center and the calibration point.

[0029] In an optional embodiment of the present invention, the determination of the rotation radius of the calibrated bent dispensing needle to obtain the rotation radius of the bent needle includes:

[0030] The motion device is controlled to move the bent dispensing needle to the acquisition area of ​​the image acquisition device;

[0031] The motion device is controlled to drive the dispensing needle to rotate at a preset angle, and the image acquisition device is controlled to acquire the needle image of the bent dispensing needle in real time during the rotation, until the dispensing needle rotates 360 degrees.

[0032] The rotation radius of the bent dispensing needle is determined based on the image of the needle as it rotates after bending.

[0033] In an optional embodiment of the present invention, determining the rotation radius of the bent needle based on the image of the needle when the bent dispensing needle rotates includes:

[0034] The position points traversed by the needle during rotation are determined based on the needle image when the bent dispensing needle rotates.

[0035] The points through which the needle rotates are fitted using a circle fitting algorithm to obtain the circle of needle rotation.

[0036] The radius of rotation of the bent needle is determined based on the needle rotation circle.

[0037] In an optional embodiment of the present invention, the step of controlling the motion device to drive the bent dispensing needle to perform X, Y, Z, W four-axis interpolation dispensing motion based on the glue groove radius, the lens center world coordinates, the bending needle rotation radius, and the spacing information to perform dispensing includes:

[0038] Based on the world coordinates of the lens center and the spacing information, the motion device is controlled to move the rotation center of the dispensing needle to the lens center.

[0039] Based on the radius of the glue groove and the rotation radius of the bent needle, the motion device is controlled to drive the bent dispensing needle to perform X, Y, Z, W four-axis interpolation dispensing motion for dispensing.

[0040] In an optional embodiment of the present invention, after obtaining the rotation radius of the bent dispensing needle by calibrating the rotation radius of the needle, the method further includes:

[0041] The rotation radius of the bent needle is stored in the needle radius database;

[0042] Before controlling the motion device to drive the bent dispensing needle to perform X, Y, Z, W four-axis interpolation dispensing motion based on the glue groove radius, the lens center world coordinates, the bending needle rotation radius, and the spacing information to perform dispensing, the method further includes:

[0043] The rotation radius of the dispensing needle after the second calibration and bending is used to obtain the current rotation radius of the needle;

[0044] Compare the current rotation radius of the needle with the rotation radius of the bent needle in the needle radius database;

[0045] When the comparison results are consistent, the following steps are performed: based on the glue groove radius, the world coordinates of the lens center, the rotation radius of the bent needle, and the spacing information, the motion device is controlled to drive the bent dispensing needle to perform X, Y, Z, W four-axis interpolation dispensing motion to dispensing glue.

[0046] An alarm message will be issued when the comparison results are inconsistent.

[0047] In an optional embodiment of the present invention, before controlling the motion device to drive the bent dispensing needle to perform X, Y, Z, W four-axis interpolation dispensing motion based on the glue groove radius, the lens center world coordinates, the bending needle rotation radius, and the spacing information to perform dispensing, the method further includes:

[0048] Obtain an image of the dispensing needle after it has been bent;

[0049] Determine whether there are foreign objects in the dispensing needle based on the image of the dispensing needle;

[0050] If a foreign object is present in the dispensing needle, an alarm message will be issued;

[0051] If there are no foreign objects in the dispensing needle, the following steps are performed: based on the radius of the glue groove, the world coordinates of the lens center, the rotation radius of the bent needle, and the spacing information, the motion device is controlled to drive the bent dispensing needle to perform X, Y, Z, W four-axis interpolation dispensing motion to dispense glue.

[0052] In an optional embodiment of the present invention, after controlling the motion device to drive the bent dispensing needle to perform X, Y, Z, W four-axis interpolation dispensing motion based on the glue groove radius, the lens center world coordinates, the bending needle rotation radius, and the spacing information to perform dispensing, the method further includes:

[0053] Obtain an image of the lens after adhesive has been applied to the lens to be coated;

[0054] Determine whether the adhesive application is defective based on the lens adhesive application image;

[0055] If the adhesive application is faulty, an alarm message will be issued.

[0056] According to another aspect of the present invention, a lens dispensing apparatus is provided, the lens dispensing apparatus comprising an image acquisition device, a motion device, a dispensing needle, and a processing device;

[0057] The image acquisition device is used to acquire images;

[0058] The motion device includes an X-axis motion component, a Y-axis motion component, a Z-axis motion component, and a W-axis motion component. The W-axis motion component is used to drive the bent dispensing needle to rotate.

[0059] The X-axis motion component, Y-axis motion component, and Z-axis motion component are respectively used to drive the dispensing needle to move along the X-axis, Y-axis, and Z-axis.

[0060] The dispensing needle is used for dispensing adhesive, and the dispensing needle is bendable.

[0061] The processing device is electrically connected to the image acquisition device, the motion device, and the dispensing needle. The processing device is used to execute the lens dispensing method described in any embodiment of the present invention.

[0062] The technical solution of this invention pre-calibrates the coordinate transformation relationship between pixel coordinates and actual world coordinates, the distance information between the rotation center and the calibration point, the rotation radius of the bent needle, and obtains the lens image of the lens to be glued. Based on the lens image, the world coordinates of the lens center are determined. Then, during processing, only the glue groove radius of the lens to be glued needs to be obtained. Based on the glue groove radius, the world coordinates of the lens center, the rotation radius of the bent needle, and the distance information, the motion device can be controlled to drive the bent dispensing needle to perform X, Y, Z, W four-axis interpolation dispensing motion for dispensing. Because the dispensing needle is flexible, it is compatible with both internal and external dispensing. The X, Y, Z, and W four-axis interpolation dispensing motion allows for dispensing into glue tanks of different radii. Since the dispensing needle can be bent at any angle, an image acquisition device captures images, and an image processing algorithm determines the needle's rotation radius. If an anomaly occurs, only the dispensing needle needs to be replaced and recalibrated, a process that can be completed in minutes without requiring much experience, greatly reducing the difficulty of debugging. Therefore, it achieves the effect of being compatible with both internal and external dispensing, compatible with products of different radii, and easy to debug.

[0063] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0064] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0065] Figure 1 This is a flowchart of a lens dispensing method provided in Embodiment 1 of the present invention;

[0066] Figure 2 This is a flowchart of the steps provided in Embodiment 1 of the present invention to calibrate the coordinate transformation relationship between pixel coordinates and actual world coordinates obtained by the image acquisition device;

[0067] Figure 3 This is a flowchart of the steps provided in Embodiment 1 of the present invention to calibrate the distance between the rotation center of the bent dispensing needle and the calibration point of the image acquisition device based on the coordinate transformation relationship, and obtain the distance information between the rotation center and the calibration point;

[0068] Figure 4This is a flowchart of the steps provided in Embodiment 1 of the present invention to calibrate the rotation radius of the bent dispensing needle to obtain the rotation radius of the bent needle;

[0069] Figure 5 This is a flowchart of a lens dispensing method provided in Embodiment 2 of the present invention;

[0070] Figure 6 This is a schematic diagram of the structure of a lens dispensing device provided in Embodiment 3 of the present invention;

[0071] Figure 7 This is a schematic diagram of the structure of a lens dispensing device provided in Embodiment 3 of the present invention from another perspective;

[0072] Figure 8 This is a circuit block diagram of a lens dispensing device provided in Embodiment 3 of the present invention.

[0073] The components include: 1. Image acquisition device; 11. Upper camera; 12. Lower camera; 2. Motion device; 21. X-axis motion assembly; 22. Y-axis motion assembly; 23. Z-axis motion assembly; 24. W-axis motion assembly; 3. Dispensing needle; 4. Processing device. Detailed Implementation

[0074] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0075] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0076] Example 1

[0077] Figure 1This is a flowchart of a lens dispensing method provided in Embodiment 1 of the present invention. The lens dispensing equipment includes an image acquisition device, a motion device, a dispensing needle, and a processing device. The image acquisition device is used to acquire images, and the image acquisition device is a device capable of acquiring images, such as a camera. The motion device includes an X-axis motion component, a Y-axis motion component, a Z-axis motion component, and a W-axis motion component. The W-axis motion component drives the dispensing needle to rotate. The X-axis, Y-axis, and Z-axis motion components drive the dispensing needle to move along the X-axis, Y-axis, and Z-axis, respectively. The X-axis motion component is the component that can drive the dispensing needle to move along the X-axis, the Y-axis motion component is the component that can drive the dispensing needle to move along the Y-axis, and the Z-axis motion component is the component that can drive the dispensing needle to move along the Z-axis. The X-axis, Y-axis, and Z-axis motion components can be common driving components that can drive objects to move in a specific direction, such as one or more of electric drive devices, hydraulic drive devices, and pneumatic drive devices. Electric drive devices can be further divided into DC, AC servo motor drives, and stepper motor drives, etc. Hydraulic drive devices achieve linear motion through high-precision cylinders and pistons, using the relative movement of the cylinder and piston rod. The W-axis motion component is the component capable of driving the dispensing needle to rotate; it can be a motor or other driving component, and is not specifically limited here. The dispensing needle is used for dispensing adhesive. The dispensing needle is bendable, allowing the operator to manually bend it during dispensing. The processing device is electrically connected to the image acquisition device, the motion device, and the dispensing needle. This method can be executed by the processing device, which can be implemented in hardware and / or software, and is configured in the lens dispensing equipment. Figure 1 As shown, the lens dispensing method includes:

[0078] S110. The image acquisition device is calibrated to obtain the coordinate transformation relationship between pixel coordinates and actual world coordinates.

[0079] In an image, everything is composed of pixels, and pixel coordinates are the position of a pixel in the image coordinate system. Real-world coordinates are the absolute coordinates of the objective three-dimensional world, reflecting the actual position of an object in its environment. Image coordinate systems typically have a calibration point as their origin. Since image acquisition devices determine object positions by acquiring images using pixel coordinates, by calibrating the coordinate transformation relationship between pixel coordinates and real-world coordinates, the relative position of the object to the calibration point of the image acquisition device can be easily determined based on the image acquired by the device.

[0080] S120. Based on the coordinate transformation relationship, the distance between the rotation center of the bent dispensing needle and the calibration point of the image acquisition device is calibrated to obtain the distance information between the rotation center and the calibration point.

[0081] The dispensing needle can be bent manually by the operator. The dispensing needle performs rotary dispensing, meaning it dispenses glue while rotating. The dispensed glue is typically in a circular shape. The center of rotation of the dispensing needle is the center point of the dispensing needle during rotation, which is also the center point of the circular glue dispensing. The distance between the center of rotation and the calibration point reflects the positional deviation of the dispensing needle's center of rotation from the calibration point of the image acquisition device in various directions.

[0082] S130. The rotation radius of the bent dispensing needle is obtained by calibrating the rotation radius of the needle.

[0083] The dispensing needle operates by rotating during dispensing, typically dispensing adhesive in a circular pattern. The radius of rotation is the radius of the circle formed by the dispensed adhesive, which is also the radius of the trajectory of the dispensing needle during rotation. Because the dispensing needle is bendable, its radius of rotation varies depending on the bending angle. The radius of rotation of the bent needle is the radius of rotation of the dispensing needle under the current bending condition.

[0084] S140. Obtain the lens image of the lens to be coated by the image acquisition device.

[0085] The lens to be glued is the lens that requires glue dispensing equipment in this process. The lens image is the image including the lens to be glued. Since the image acquisition device can capture images, simply taking a picture of the lens to be glued with the image acquisition device will capture the lens image.

[0086] S150. Determine the world coordinates of the center of the lens of the lens to be coated based on the lens image.

[0087] The area where adhesive is to be applied to the lens is usually circular, and the center of the lens circle is the center point of the area where adhesive is to be applied. The world coordinates of the lens center are the coordinates of the lens center in the objective three-dimensional world. Since these coordinates are determined based on the lens image, they are coordinates relative to the calibration point of the image acquisition device.

[0088] In one specific embodiment, the pixel coordinates of the lens center relative to the calibration point can be determined by an image recognition algorithm based on the lens image. Then, the actual world coordinates of the lens center can be determined based on the coordinate transformation relationship, i.e., the world coordinates of the lens center.

[0089] S160, Obtain the radius of the glue groove for the lens to be glued.

[0090] The glue groove of the lens to be glued is the channel used to hold the glue during the glue dispensing process. The radius of the glue groove is its radius value.

[0091] S170. Based on the radius of the glue groove, the world coordinates of the lens center, the rotation radius of the bent needle, and the spacing information, the motion device is controlled to drive the bent dispensing needle to perform X, Y, Z, W four-axis interpolation dispensing motion to dispense glue.

[0092] The X, Y, Z, W four-axis interpolation dispensing motion refers to the simultaneous rotation of the W axis and compensation in the X, Y, and Z axes, ensuring that the final trajectory of the dispensing needle is a circle with the radius of the glue groove. Since the world coordinates of the lens center reflect the relative position of the lens center with respect to the calibration point of the image acquisition device, and the spacing information reflects the relative position of the rotation center of the dispensing needle with respect to the calibration point of the image acquisition device, the relative position of the rotation center of the dispensing needle and the lens center can be determined based on the world coordinates of the lens center and the spacing information. Knowing the glue groove radius, the relative position of the rotation center of the dispensing needle and the lens center, and the rotation radius of the bent needle, the motion device can be controlled to drive the bent dispensing needle to perform X, Y, Z, W four-axis interpolation dispensing motion for dispensing.

[0093] The above solution pre-calibrates the coordinate transformation relationship between pixel coordinates and actual world coordinates, the distance information between the rotation center and the calibration point, and the rotation radius of the bent needle. It then acquires an image of the lens to be glued, determines the world coordinates of the lens center based on the image, and during processing, only the radius of the glue groove is needed. Based on this radius, the world coordinates of the lens center, the rotation radius of the bent needle, and the distance information, the motion device drives the bent dispensing needle to perform X, Y, Z, and W four-axis interpolation dispensing motion. Because the dispensing needle is bendable, it is compatible with both internal and external dispensing. The X, Y, Z, and W four-axis interpolation dispensing motion is compatible with glue grooves of different radii. Since the dispensing needle can be bent at any angle, the image acquisition device captures the image, and the rotation radius of the dispensing needle is determined based on the image processing algorithm. If an anomaly occurs, only the dispensing needle needs to be replaced and recalibrated, which can be completed within minutes and requires little experience, greatly reducing the difficulty of debugging. Therefore, it achieves the effect of being compatible with internal and external dispensing, compatible with dispensing products of different radii, and convenient for debugging.

[0094] In optional embodiments of the present invention, such as Figure 2 As shown, calibrating the coordinate transformation relationship between pixel coordinates and actual world coordinates obtained by the image acquisition device includes:

[0095] S111. Control the motion device to drive the image acquisition device to move sequentially to the nine calibration points in a nine-square grid pattern.

[0096] S112. When the image acquisition device moves to the calibration point, it acquires image information.

[0097] S113. Based on the image information, the N-point calibration algorithm is used to calculate the transformation relationship between pixel coordinates and real-world coordinates to obtain the coordinate transformation relationship between pixel coordinates and real-world coordinates.

[0098] The principle of the N-point calibration algorithm is to find the coordinates of N (N>=3) identical points in two two-dimensional coordinate systems, and then calculate the homography matrix between the two coordinate planes using these coordinates. Nine points are typically used in projects, commonly known as nine-point calibration. The motion device can move the image acquisition device sequentially to the nine calibration points along the X and Y directions in a nine-grid pattern, acquiring image information at each calibration point. The N-point calibration algorithm can then be used to calculate the transformation relationship between world coordinates and pixel coordinates to obtain the coordinate transformation relationship between pixel coordinates and world coordinates. Furthermore, the calibration point at the center of the nine-grid is the location of the calibration point. In a specific embodiment, the N-point calibration algorithm can be implemented using the N-point calibration module in VisionMaster 4.2.0. Through this method, the coordinate transformation relationship between pixel coordinates and actual world coordinates can be easily calculated.

[0099] In optional embodiments of the present invention, such as Figure 3 As shown, the step of calibrating the distance between the rotation center of the bent dispensing needle and the calibration point of the image acquisition device based on the coordinate transformation relationship to obtain the distance information between the rotation center and the calibration point includes:

[0100] S121. Control the motion device to drive the bent dispensing needle to move to the first world coordinate.

[0101] The first world coordinates represent the actual position of the dispensing needle.

[0102] S122. The control motion device drives the bent dispensing needle to rotate and dispense glue in a circular shape.

[0103] Since the motion device includes a W-axis motion component, the dispensing needle can be driven to rotate and dispense adhesive via the W-axis motion component. As the dispensing needle rotates and dispenses adhesive, the adhesive dispensed by the dispensing needle flows out from the tip of the needle, resulting in a circular shape.

[0104] S123. Control the motion device to move the image acquisition device to a second world coordinate so that the glue is located in the acquisition area of ​​the image acquisition device.

[0105] The acquisition area of ​​the image acquisition device refers to the area that the image acquisition device can capture. Second-world coordinates refer to the coordinates of the actual movement of the motion device. Because the positions of the image acquisition device and the dispensing needle are uncertain during installation, it is difficult to guarantee that the glue dispensed by the dispensing needle will be within the acquisition area of ​​the image acquisition device at initial installation. By using the motion device to drive the image acquisition device, it is possible to easily position the glue dispensed by the dispensing needle within the acquisition area of ​​the image acquisition device, facilitating the acquisition of the glue image.

[0106] S124. Control the image acquisition device to acquire the glue image.

[0107] The glue image refers to the image of the glue applied by the dispensing needle. The image acquisition device may specifically include a camera, enabling convenient acquisition of the glue image.

[0108] S125. Determine the center pixel coordinates of the glue based on the glue image.

[0109] Here, the center pixel coordinates refer to the position of the center pixel in the image coordinate system. Since the glue image contains circular glue, the pixel coordinates at the center of the glue can be obtained through image processing algorithms.

[0110] S126. Based on the coordinate transformation relationship, convert the center pixel coordinates into the center world coordinates.

[0111] The world coordinates of the center point reflect the positional deviation of the glue's center point relative to the calibration point of the image acquisition device. The coordinate transformation relationship is the transformation relationship between pixel coordinates and actual world coordinates. Therefore, given the pixel coordinates of the center point, the world coordinates of the center point can be easily obtained through the coordinate transformation relationship.

[0112] S127. Based on the world coordinates of the center of the circle, the first world coordinates, and the second world coordinates, determine the distance between the rotation center of the bent dispensing needle and the calibration point of the image acquisition device to obtain the distance information between the rotation center and the calibration point.

[0113] The rotation center of the dispensing needle is the center point when the dispensing needle rotates to dispense glue; here, it refers to the center point when the dispensing needle is in its initial installation position. The center world coordinates represent the center point of the glue dispensed after the dispensing needle moves from its initial installation position to the first world coordinates. This coordinate also reflects the positional deviation of the glue's center relative to the calibration point of the image acquisition device. The image acquisition device moves from its initial installation position to the second world coordinates to reach a position where it can capture the glue dispensed by the dispensing needle. The distance between the rotation center and the calibration point reflects the relative positional difference between the calibration point of the image acquisition device and the rotation center of the dispensing needle in the initial installation position. Therefore, by using the center world coordinates, the first world coordinates, and the second world coordinates, the distance between the rotation center of the bent dispensing needle and the calibration point of the image acquisition device can be determined, thus obtaining the distance information between the rotation center and the calibration point.

[0114] The above method can conveniently and automatically calibrate the distance information between the rotation center and the calibration point, which is easy to use and greatly reduces the difficulty of debugging.

[0115] The following specific embodiment illustrates how, based on the world coordinates of the circle's center, the first world coordinates, and the second world coordinates, the distance between the rotation center of the bent dispensing needle and the calibration point of the image acquisition device can be determined, thus obtaining the distance information between the rotation center and the calibration point:

[0116] Since the installation orientation of the image acquisition device affects the specific calculation formula, in this embodiment, it is assumed that the X-axis direction inside the image acquisition device is perpendicular to the X-axis direction in the actual world coordinate system. First, the first world coordinate of the dispensing needle to be calibrated is marked as (X1, Y1), and the needle is used to apply a circle of glue at this position. Then, the image acquisition device is moved to a position where the applied glue can be captured, and the second world coordinate of this movement is marked as (X2, Y2). The center pixel coordinates of the applied glue are found by the image captured by the image acquisition device. After coordinate transformation, these coordinates are converted to actual world coordinates, i.e., the center world coordinates are marked as (X3, Y3), and the spacing information is (X...). 针头 Y 针头 )but:

[0117] The distance X between the rotation center of the dispensing needle and the calibration point of the image acquisition device 针头 =X2+Y3-X1.

[0118] The distance Y between the rotation center of the dispensing needle and the calibration point of the image acquisition device 针头 =Y2+X3-Y1.

[0119] When the X-axis direction inside the image acquisition device is in the same direction as the X-axis direction in the actual world coordinate system, the distance X between the rotation center of the dispensing needle and the calibration point of the image acquisition device is... 针头 =X2+X3-X1,Y 针头 =Y2+Y3-Y1.

[0120] The installation direction of the image acquisition device is not specifically limited here; it is merely an example.

[0121] In optional embodiments of the present invention, such as Figure 4 As shown, the rotation radius of the calibrated bent dispensing needle is obtained by determining the rotation radius of the bent needle, including:

[0122] S131. Control the motion device to move the bent dispensing needle to the acquisition area of ​​the image acquisition device.

[0123] During installation, the dispensing needle may not be located within the image acquisition area of ​​the image acquisition device. By using a motion device to move the dispensing needle, it can be easily moved to the image acquisition area of ​​the image acquisition device.

[0124] S132. Control the motion device to drive the dispensing needle to rotate at a preset angle, and control the image acquisition device to acquire the needle image of the bent dispensing needle in real time during the rotation, until the dispensing needle rotates 360 degrees.

[0125] When the motion device includes a W-axis motion component, the dispensing needle can be rotated at a preset angle via the W-axis motion component. The needle image refers to the image including the end of the dispensing needle from which the glue is dispensed. When the dispensing needle rotates 360 degrees, it indicates that the dispensing needle has completed one revolution, which facilitates the calculation of the rotation radius of the dispensing needle.

[0126] S133. Determine the rotation radius of the bent needle based on the needle image when the bent dispensing needle rotates.

[0127] The bending needle rotation radius refers to the radius of the circle formed by the dispensing end of the needle rotating after bending. In other words, assuming no other interference—that is, when only the dispensing needle rotates and dispensing glue, with all other components stationary—the radius of the circle of glue dispensed is determined. Since the image acquisition device captures images of the bent dispensing needle rotating 360 degrees in real time, the bending needle rotation radius can be determined based on these images.

[0128] Based on the above embodiments, determining the rotation radius of the bent needle based on the needle image during rotation of the bent dispensing needle includes:

[0129] The position points traversed by the needle during rotation are determined based on the needle image during the rotation of the bent dispensing needle.

[0130] The points through which the needle rotates are fitted using a circle fitting algorithm to obtain the circle of needle rotation.

[0131] The radius of rotation of the bent needle is determined based on the needle rotation circle.

[0132] The points traversed by the needle during rotation represent the positions of the dispensing end of the needle at different times during its rotation. When the dispensing needle rotates 360 degrees, all the points it passes through during the rotation form a circle. There are different types of circle fitting algorithms, such as algebraic fitting and geometric fitting. Algebraic fitting involves writing an implicit equation for the geometric feature to be fitted, and then substituting the coordinates of the points into this implicit equation yields the distance from the point to the geometric feature. No specific type of circle fitting algorithm is limited here. The circle fitting algorithm can conveniently fit the points traversed by the needle during rotation to form the circle of needle rotation, thereby obtaining the radius of rotation of the bent needle.

[0133] In an optional embodiment of the present invention, the step of controlling the motion device to drive the bent dispensing needle to perform X, Y, Z, W four-axis interpolation dispensing motion based on the glue groove radius, the lens center world coordinates, the bending needle rotation radius, and the spacing information to perform dispensing includes:

[0134] Based on the world coordinates of the lens center and the spacing information, the motion device is controlled to move the rotation center of the dispensing needle to the lens center.

[0135] Based on the radius of the glue groove and the rotation radius of the bent needle, the motion device is controlled to drive the bent dispensing needle to perform X, Y, Z, W four-axis interpolation dispensing motion for dispensing.

[0136] Since the world coordinates of the lens center reflect the relative position of the lens center with respect to the calibration point of the image acquisition device, and the spacing information reflects the relative position of the rotation center of the dispensing needle with respect to the calibration point of the image acquisition device, the relative position of the rotation center of the dispensing needle and the lens center can be determined based on the world coordinates of the lens center and the spacing information. Thus, the rotation center of the dispensing needle can be moved to the lens center by the motion device.

[0137] When the rotation center of the dispensing needle moves to the center of the lens, the center of the dispensing needle and the center of the lens to be dispensed coincide. Therefore, at this time, the motion device can be conveniently controlled to drive the bent dispensing needle to perform X, Y, Z, W four-axis interpolation dispensing motion to dispense glue based on parameters such as the radius of the glue groove and the rotation radius of the bent needle.

[0138] Example 2

[0139] Figure 5 This is a flowchart of a lens dispensing method provided in Embodiment 2 of the present invention. Optionally, after obtaining the rotation radius of the bent dispensing needle by calibrating its rotation radius, the method further includes: storing the rotation radius of the bent needle in a needle radius database. Before controlling the motion device to drive the bent dispensing needle to perform X, Y, Z, W four-axis interpolation dispensing motion based on the glue groove radius, the lens center world coordinates, the rotation radius of the bent needle, and the spacing information, the method further includes: secondarily calibrating the rotation radius of the bent dispensing needle to obtain the current rotation radius of the needle; comparing the current rotation radius of the needle with the rotation radius of the bent needle in the needle radius database; when the comparison result is consistent, executing the step of controlling the motion device to drive the bent dispensing needle to perform X, Y, Z, W four-axis interpolation dispensing motion based on the glue groove radius, the lens center world coordinates, the rotation radius of the bent needle, and the spacing information; when the comparison result is inconsistent, issuing an alarm message. Figure 5 As shown, the method includes:

[0140] S200, Calibrate the image acquisition device to obtain the coordinate transformation relationship between pixel coordinates and actual world coordinates.

[0141] S210. Based on the coordinate transformation relationship, the distance between the rotation center of the bent dispensing needle and the calibration point of the image acquisition device is calibrated to obtain the distance information between the rotation center and the calibration point.

[0142] S220. The rotation radius of the bent dispensing needle is obtained by calibrating the rotation radius of the needle.

[0143] S230. Store the rotation radius of the bent needle into the needle radius database.

[0144] The needle radius database refers to a database used to store the rotation radius of bent needles.

[0145] S240. Obtain the lens image of the lens to be coated by the image acquisition device.

[0146] S250. Determine the world coordinates of the center of the lens of the lens to be coated based on the lens image.

[0147] S260, Obtain the radius of the glue groove for the lens to be glued.

[0148] S270. The rotation radius of the dispensing needle after the second calibration is obtained to obtain the current rotation radius of the needle.

[0149] The secondary calibration step is consistent with the aforementioned step of obtaining the rotation radius of the bent dispensing needle by calibrating its rotation radius.

[0150] S280. Compare the current rotation radius of the needle with the rotation radius of the bent needle in the needle radius database.

[0151] If the comparison results are consistent, proceed to step S2100; if the comparison results are inconsistent, proceed to step S290.

[0152] S290, Issue an alarm message.

[0153] S2100: Based on the radius of the glue groove, the world coordinates of the lens center, the rotation radius of the bent needle, and the spacing information, the motion device is controlled to drive the bent dispensing needle to perform X, Y, Z, W four-axis interpolation dispensing motion to dispense glue.

[0154] By comparing the current rotation radius of the needle with the rotation radius of the bent needle in the needle radius database, it can be determined whether the rotation radius of the dispensing needle before processing is consistent with the historically calibrated value. Dispensing is only performed when they are consistent, achieving a mistake-proof detection before dispensing and avoiding a large number of defective products. At the same time, an alarm message is issued when the comparison result is inconsistent, which helps staff to know that the position of the dispensing needle has changed.

[0155] In an optional embodiment of the present invention, before controlling the motion device to drive the bent dispensing needle to perform X, Y, Z, W four-axis interpolation dispensing motion based on the glue groove radius, the lens center world coordinates, the bending needle rotation radius, and the spacing information to perform dispensing, the method further includes:

[0156] Obtain an image of the dispensing needle after it has been bent.

[0157] The presence of foreign matter in the dispensing needle is determined based on the image of the dispensing needle.

[0158] If a foreign object is present in the dispensing needle, an alarm will be issued.

[0159] If there are no foreign objects in the dispensing needle, the following steps are performed: based on the radius of the glue groove, the world coordinates of the lens center, the rotation radius of the bent needle, and the spacing information, the motion device is controlled to drive the bent dispensing needle to perform X, Y, Z, W four-axis interpolation dispensing motion to dispense glue.

[0160] The dispensing needle image refers to an image including the dispensing needle. When a foreign object is present in the dispensing needle, the image will differ from the image without the foreign object. Therefore, the presence of a foreign object can be determined based on the dispensing needle image. For example, a standard image of a dispensing needle without a foreign object can be stored in a database. By comparing the dispensing needle image with the standard image, the presence of a foreign object can be determined.

[0161] By ensuring the dispensing needle is free of foreign objects before dispensing, a foolproof pre-dispensing check is implemented, preventing a large number of defective products. Simultaneously, an alarm is triggered when foreign objects are present in the dispensing needle, facilitating the handling of these contaminants by staff.

[0162] In an optional embodiment of the present invention, after controlling the motion device to drive the bent dispensing needle to perform X, Y, Z, W four-axis interpolation dispensing motion based on the glue groove radius, the lens center world coordinates, the bending needle rotation radius, and the spacing information to perform dispensing, the method further includes:

[0163] Obtain the lens coating image after the lens to be coated is coated.

[0164] Determine whether there is a problem with the adhesive application based on the lens adhesive application image.

[0165] If the adhesive application is faulty, an alarm message will be issued.

[0166] The lens dispensing image refers to the image of the lens after dispensing. Dispensing defects can include missed dispensing, broken dispensing, overflowing dispensing, and incorrect dispensing position. The image of a defective lens will differ from the image of a lens with normal dispensing; therefore, the presence of defects can be determined by comparing the image of the lens after dispensing. For example, by storing standard images of normal lens dispensing in a database and comparing the acquired lens dispensing image with these images, the presence of dispensing defects can be determined. By issuing an alarm when dispensing defects occur, post-dispensing error-proofing detection is implemented, preventing the production of large quantities of defective products.

[0167] In summary, the lens dispensing method provided in this application can perform both pre-dispensing and post-dispensing error-proofing checks. Compared to existing dispensing methods that can only identify dispensing faults through product defects or obvious needle damage, this application can promptly identify dispensing faults and issue alarm information to prompt operators to handle them in a timely manner, effectively avoiding the occurrence of a large number of defective products.

[0168] Example 3

[0169] Figure 6 This is a schematic diagram of a lens dispensing device provided in Embodiment 3 of the present invention. Figure 7 This is a schematic diagram of the structure of a lens dispensing device provided in Embodiment 3 of the present invention from another perspective. Figure 8 This is a circuit block diagram of a lens dispensing device provided in Embodiment 3 of the present invention, as shown below. Figures 6-8 As shown, the lens dispensing equipment includes an image acquisition device 1, a motion device 2, a dispensing needle 3, and a processing device 4.

[0170] Image acquisition device 1 is used to acquire images. Image acquisition device 1 is a device that can acquire images, such as a camera.

[0171] The motion device 2 includes an X-axis motion component 21, a Y-axis motion component 22, a Z-axis motion component 23, and a W-axis motion component 24. The W-axis motion component 24 is used to drive the bent dispensing needle 3 to rotate. The X-axis motion component 21, the Y-axis motion component 22, and the Z-axis motion component 23 are used to drive the dispensing needle 3 to move along the X-axis, Y-axis, and Z-axis, respectively.

[0172] Among them, the X-axis motion component 21 is the component that can drive the dispensing needle 3 to move along the X-axis, the Y-axis motion component 22 is the component that can drive the dispensing needle 3 to move along the Y-axis, and the Z-axis motion component 23 is the component that can drive the dispensing needle 3 to move along the Z-axis. The X-axis motion component 21, Y-axis motion component 22, and Z-axis motion component 23 can be one or more common drive components that can drive objects to move in a specific direction, such as electric drive devices, hydraulic drive devices, and pneumatic drive devices. Electric drive devices can be further divided into DC, AC servo motor drives and stepper motor drives, etc. Hydraulic drive devices are accomplished through high-precision cylinders and pistons, and linear motion is achieved through the relative movement of the cylinder and piston rod. Specifically, it can be an XY platform, a motor screw module, an electric cylinder, a pneumatic cylinder, wiring, etc. The W-axis motion component 24 is the component that can drive the dispensing needle 3 to rotate, such as a motor or other drive components, which are not specifically limited here.

[0173] The dispensing needle 3 is used for dispensing adhesive. The dispensing needle 3 is bendable. The dispensing needle 3 can be made of a bendable material and can be manually bent by the operator during dispensing.

[0174] The processing device 4 is electrically connected to the image acquisition device 1, the motion device 2, and the dispensing needle 3. The processing device 4 is used to execute the lens dispensing method of any embodiment of the present invention.

[0175] Among them, the processing device 4 refers to a device capable of performing logical operations, such as a microprocessor, PLC, etc., without specific limitations.

[0176] In the above scheme, the processing device 4 pre-calibrates the coordinate transformation relationship between pixel coordinates and actual world coordinates, the distance information between the rotation center and calibration point, and the rotation radius of the bent needle. It then acquires an image of the lens to be glued, determines the world coordinates of the lens center based on the image, and during processing, only the radius of the glue groove of the lens needs to be obtained. Based on the glue groove radius, the world coordinates of the lens center, the rotation radius of the bent needle, and the distance information, the motion device 2 drives the bent dispensing needle 3 to perform X, Y, Z, and W four-axis interpolation dispensing motion. Because the dispensing needle 3 is bendable, it is compatible with both internal and external dispensing. The X, Y, Z, and W four-axis interpolation dispensing motion is compatible with glue grooves of different radii. Since the dispensing needle 3 can be bent at any angle, the image acquisition device 1 acquires the image and then determines the rotation radius of the dispensing needle 3 based on the image processing algorithm. If an anomaly occurs, only the dispensing needle 3 needs to be replaced and recalibrated, which can be completed within minutes without requiring much experience, greatly reducing the difficulty of debugging. Therefore, it achieves the effect of being compatible with internal and external dispensing, compatible with dispensing products of different radii, and convenient for debugging.

[0177] In an optional embodiment of the present invention, the image acquisition device 1 includes an upper camera 11 and a lower camera 12. The upper camera 11 is the camera located above the lens to be glued during dispensing, and the lower camera 12 is the camera located below the lens to be glued during dispensing. Optionally, the coordinate transformation relationship between calibrated pixel coordinates and actual world coordinates can be achieved together by the upper camera 11 and the lower camera 12. The calibration of the rotation center of the dispensing needle 3 and the spacing information of the calibration point can be achieved by the upper camera 11, and the calibration of the rotation radius of the dispensing needle 3 can be achieved by the lower camera 12. By including an upper camera 11 and a lower camera 12 in the image acquisition device 1, various types of images can be easily acquired.

[0178] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0179] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A lens dispensing method, used in a lens dispensing device, the lens dispensing device comprising an image acquisition device, a motion device, a dispensing needle, and a processing device, wherein the image acquisition device is used to acquire images, the motion device comprises an X-axis motion component, a Y-axis motion component, a Z-axis motion component, and a W-axis motion component, the W-axis motion component is used to drive the dispensing needle to rotate, the X-axis motion component, the Y-axis motion component, and the Z-axis motion component are respectively used to drive the dispensing needle to move along the X-axis, Y-axis, and Z-axis, the dispensing needle is used to dispense adhesive, the dispensing needle is bendable, and the processing device is electrically connected to the image acquisition device, the motion device, and the dispensing needle; characterized in that... The lens dispensing method includes: The image acquisition device is calibrated to obtain the coordinate transformation relationship between pixel coordinates and real-world coordinates; Based on the coordinate transformation relationship, the distance between the rotation center of the bent dispensing needle and the calibration point of the image acquisition device is determined to obtain the distance information between the rotation center and the calibration point; The rotation radius of the bent dispensing needle is obtained by calibrating the rotation radius of the dispensing needle after bending. Acquire the lens image of the lens to be coated by the image acquisition device; The world coordinates of the lens center of the lens to be coated are determined based on the lens image. Obtain the radius of the glue groove on the lens to be glued; Based on the radius of the glue groove, the world coordinates of the lens center, the rotation radius of the bent needle, and the spacing information, the motion device is controlled to drive the bent dispensing needle to perform X, Y, Z, W four-axis interpolation dispensing motion for dispensing.

2. The lens dispensing method according to claim 1, characterized in that, The calibration of the image acquisition device to obtain the coordinate transformation relationship between pixel coordinates and actual world coordinates includes: The motion device is controlled to move the image acquisition device sequentially to the nine calibration points in a nine-square grid pattern; The image acquisition device is controlled to move to the calibration point to acquire image information; Based on the image information, an N-point calibration algorithm is used to calculate the transformation relationship between pixel coordinates and real-world coordinates to obtain the coordinate transformation relationship between pixel coordinates and real-world coordinates.

3. The lens dispensing method according to claim 1, characterized in that, The process of determining the distance between the rotation center of the bent dispensing needle and the calibration point of the image acquisition device based on the coordinate transformation relationship to obtain the distance information between the rotation center and the calibration point includes: The motion device is controlled to move the bent dispensing needle to the first world coordinate. The control motion device drives the bent dispensing needle to rotate and dispense adhesive, making the dispensed adhesive round; The motion device is controlled to move the image acquisition device in a second-world coordinate system so that the glue is located in the acquisition area of ​​the image acquisition device. Control the image acquisition device to acquire glue images; The center pixel coordinates of the glue are determined based on the glue image; Based on the coordinate transformation relationship, the center pixel coordinates are converted into center world coordinates; Based on the world coordinates of the center of the circle, the first world coordinates, and the second world coordinates, the distance between the rotation center of the bent dispensing needle and the calibration point of the image acquisition device is determined, thus obtaining the distance information between the rotation center and the calibration point.

4. The lens dispensing method according to any one of claims 1 to 3, characterized in that, The rotation radius of the calibrated, bent dispensing needle is obtained by determining the rotation radius of the bent needle, including: The motion device is controlled to move the bent dispensing needle to the acquisition area of ​​the image acquisition device; The motion device is controlled to drive the dispensing needle to rotate at a preset angle, and the image acquisition device is controlled to acquire the needle image of the bent dispensing needle in real time during the rotation, until the dispensing needle rotates 360 degrees. The rotation radius of the bent dispensing needle is determined based on the image of the needle as it rotates after bending.

5. The lens dispensing method according to claim 4, characterized in that, Determining the rotation radius of the bent needle based on the image of the needle when it rotates after bending includes: The position points traversed by the needle during rotation are determined based on the needle image when the bent dispensing needle rotates. The points through which the needle rotates are fitted using a circle fitting algorithm to obtain the circle of needle rotation. The radius of rotation of the bent needle is determined based on the needle rotation circle.

6. The lens dispensing method according to any one of claims 1 to 3, characterized in that, The method of controlling the motion device to drive the bent dispensing needle to perform X, Y, Z, W four-axis interpolation dispensing motion based on the radius of the glue groove, the world coordinates of the lens center, the rotation radius of the bent needle, and the spacing information includes: Based on the world coordinates of the lens center and the spacing information, the motion device is controlled to move the rotation center of the dispensing needle to the lens center. Based on the radius of the glue groove and the rotation radius of the bent needle, the motion device is controlled to drive the bent dispensing needle to perform X, Y, Z, W four-axis interpolation dispensing motion for dispensing.

7. The lens dispensing method according to any one of claims 1 to 3, characterized in that, After determining the rotation radius of the calibrated and bent dispensing needle, the process further includes: The rotation radius of the bent needle is stored in the needle radius database; Before controlling the motion device to drive the bent dispensing needle to perform X, Y, Z, W four-axis interpolation dispensing motion based on the glue groove radius, the lens center world coordinates, the bending needle rotation radius, and the spacing information to perform dispensing, the method further includes: The rotation radius of the dispensing needle after the second calibration and bending is used to obtain the current rotation radius of the needle; Compare the current rotation radius of the needle with the rotation radius of the bent needle in the needle radius database; When the comparison results are consistent, the following steps are performed: based on the glue groove radius, the world coordinates of the lens center, the rotation radius of the bent needle, and the spacing information, the motion device is controlled to drive the bent dispensing needle to perform X, Y, Z, W four-axis interpolation dispensing motion to dispensing glue. An alarm message will be issued when the comparison results are inconsistent.

8. The lens dispensing method according to any one of claims 1 to 3, characterized in that, Before controlling the motion device to drive the bent dispensing needle to perform X, Y, Z, W four-axis interpolation dispensing motion based on the glue groove radius, the lens center world coordinates, the bending needle rotation radius, and the spacing information to perform dispensing, the method further includes: Obtain an image of the dispensing needle after it has been bent; Determine whether there are foreign objects in the dispensing needle based on the image of the dispensing needle; If a foreign object is present in the dispensing needle, an alarm message will be issued; If there are no foreign objects in the dispensing needle, the following steps are performed: based on the radius of the glue groove, the world coordinates of the lens center, the rotation radius of the bent needle, and the spacing information, the motion device is controlled to drive the bent dispensing needle to perform X, Y, Z, W four-axis interpolation dispensing motion to dispense glue.

9. The lens dispensing method according to any one of claims 1 to 3, characterized in that, After controlling the motion device to drive the bent dispensing needle to perform X, Y, Z, W four-axis interpolation dispensing motion based on the glue groove radius, the lens center world coordinates, the bending needle rotation radius, and the spacing information to perform dispensing, the method further includes: Obtain an image of the lens after adhesive has been applied to the lens to be coated; Determine whether the adhesive application is defective based on the lens adhesive application image; If the adhesive application is faulty, an alarm message will be issued.

10. A lens dispensing device, characterized in that, The lens dispensing equipment includes an image acquisition device, a motion device, a dispensing needle, and a processing device; The image acquisition device is used to acquire images; The motion device includes an X-axis motion component, a Y-axis motion component, a Z-axis motion component, and a W-axis motion component. The W-axis motion component is used to drive the bent dispensing needle to rotate. The X-axis motion component, Y-axis motion component, and Z-axis motion component are respectively used to drive the dispensing needle to move along the X-axis, Y-axis, and Z-axis. The dispensing needle is used for dispensing adhesive, and the dispensing needle is bendable. The processing device is electrically connected to the image acquisition device, the motion device, and the dispensing needle, and the processing device is used to perform the lens dispensing method according to any one of claims 1-9.

Images