A machine vision-based barrier application method

Abstract

The application relates to the dispensing technical field, in particular to a barrier-avoiding dispensing method based on machine vision, which comprises the following steps: step 1, visual identification generates a dispensing model, an analysis unit determines the angle of a workpiece, and the dispensing model is corrected; step 2, dispensing parameters are determined according to the measured value of a balancing machine; step 3, single-process conditions of a dispensing mechanism are determined, a new dispensing process is generated, and dispensing is carried out; step 4, the dispensing mechanism is adjusted to enter the next dispensing process; step 5, the dispensing mechanism is controlled to carry out dispensing of the quality-minimal dispersion correction point, and the dispensing process of the dispensing mechanism is determined again; step 6, the dispensing mechanism is corrected according to the deviation quality condition of any dispensing process; and step 7, all dispensing processes are completed, the dispensing cylinder is reset, and the workpiece generates a dispensing finished product after a certain curing time. The application improves the qualified rate of dispensing finished products by carrying out barrier-avoiding algorithm processing on the dispensing process.

Description

Technical Field

[0001] This invention relates to the field of dispensing technology, and more particularly to an obstacle avoidance dispensing method based on machine vision. Background Technology

[0002] A dispensing machine is an automated machine that drips or coats fluids onto the surface or interior of a product. It can achieve three-dimensional and four-dimensional path dispensing, precise positioning, accurate glue control, and prevents stringing, leakage, and dripping. Dispensing machines are mainly used in product manufacturing processes to precisely dispense, inject, coat, or drip adhesives, paints, and other liquids onto precise locations on each product. They can be used to create dots, lines, circles, or arcs.

[0003] Chinese Patent Publication No. CN114904718A discloses a dispensing device, including a Y-axis conveying assembly, a Z-axis lifting mechanism, a clamping mechanism, a flipping mechanism, an X-axis sliding mechanism, and a dispensing machine. The Y-axis conveying assembly includes a Y-axis conveying bracket and a conveyor belt mounted thereon, on which products are transported. The Y-axis conveying bracket also has stops to limit the movement of the transported products. The Z-axis lifting mechanism has a tooling plate that can rotate horizontally and tilt at a certain angle in the vertical plane. The clamping mechanism presses the limited product into the tooling plate. The flipping mechanism flips the entire product over. The X-axis sliding mechanism includes the Z-axis sliding mechanism; both work together to control the dispensing machine to dispense adhesive onto the product. Therefore, the dispensing device has the following problems: it cannot perform obstacle avoidance correction and dispensing volume analysis during the dispensing process, resulting in a low dispensing yield. Summary of the Invention

[0004] To address this issue, the present invention provides a machine vision-based obstacle avoidance dispensing method to overcome the problem in the prior art that the dispensing process cannot be corrected for obstacle avoidance and the amount of dispensing can be analyzed, resulting in a low dispensing yield.

[0005] To achieve the above objectives, the present invention provides a machine vision-based obstacle avoidance adhesive application method, comprising:

[0006] The workpiece is identified based on its reference points to generate a dispensing model. The workpiece is then moved to the shooting position to capture an image.

[0007] The angle of the dispensing model is corrected based on the angle of the workpiece analyzed from the image.

[0008] The unbalance amount and degree of unbalance of the workpiece measured by the balancing machine are input into the dispensing algorithm module to determine the dispensing parameters;

[0009] In determining the dispensing parameters,

[0010] Based on the maximum amount of glue replenishment and the amount of imbalance in any dispensing process, determine the single process situation in several dispensing processes of the dispensing mechanism, identify the single dispensing segment that did not avoid the obstacle, and generate a new dispensing process to be input into the dispensing mechanism for dispensing.

[0011] After any dispensing process is completed, the single dispensing segment of the next dispensing process is determined based on the secondary unbalance amount and degree of secondary unbalance measured by the balancing machine. For single dispensing segments located on obstacles or with a mass greater than the maximum amount of glue added, the mass dispersion correction model is used to disperse the dispensing segment and the dispensing mechanism is adjusted to enter the next dispensing process.

[0012] Identify the dispersion correction point with the smallest correction quality among several dispersion correction points, control the dispensing mechanism to dispense at this dispersion correction point, and determine the dispensing mechanism's process based on the correction imbalance amount and correction imbalance degree remeasured by the balancing machine, and control the dispensing mechanism to dispense.

[0013] For any completed dispensing process, adjust the single dispensing amount of the dispensing mechanism according to the deviation quality of any dispensing process, and correct the correction points according to the dispensing capacity of each dispensing slot and the actual single dispensing segment of the dispensing completion diagram.

[0014] Once all dispensing processes are completed, the dispensing cylinder in the dispensing mechanism is reset, and the workpiece is sent to the curing position. After a certain curing time, the dispensing finished product is generated.

[0015] Furthermore, determining the single-step details of several dispensing processes within the dispensing mechanism includes:

[0016] Pre-set the maximum amount of adhesive to be added for any dispensing process;

[0017] The dispensing start point, dispensing end point, and dispensing amount per dispensing step in a single dispensing process of the dispensing mechanism are determined based on the imbalance and the maximum amount of glue added.

[0018] Furthermore, the single-application segments that failed to avoid the obstacle were identified as including:

[0019] Pre-set obstacle avoidance model;

[0020] The complete single dispensing segment is input into the obstacle avoidance model to determine the single dispensing segments that do not avoid obstacles, and the positions of the obstacles that are not avoided are identified and marked, and the dispensing process is redefined.

[0021] The obstacle avoidance model is generated based on the dispensing model, and the obstacles that need to be avoided are marked.

[0022] The single dispensing segment will be dispersed within the dispensing tank during the analysis process.

[0023] Furthermore, based on the location of the obstacle to be avoided identified in the obstacle avoidance model, the single-dispensing segments located on the obstacle are ignored, and the single-dispensing segments that avoid the obstacle are integrated with the original unmarked single-dispensing segments and changed into a new dispensing process, which is then input into the dispensing mechanism for dispensing.

[0024] Furthermore, after any dispensing process is completed, the single dispensing segment of the next dispensing process is determined to include:

[0025] A pre-set mass dispersion correction model is used to measure the secondary imbalance amount and degree of the workpiece after the dispensing process is completed by the balancing machine.

[0026] Based on the secondary imbalance amount and secondary imbalance degree, the single dispensing segment of the next dispensing process is determined, and the single dispensing segment located on the obstacle or with a mass greater than the maximum glue replenishment amount is dispersed in the mass dispersion correction model. Several dispersion correction points are determined and integrated with the subsequent single dispensing segments that avoid the obstacle, and changed into a new dispensing process, which is then input into the dispensing mechanism for the next dispensing.

[0027] The quality dispersion correction model determines several dispersion correction points and the corresponding correction quality based on the dispensing situation, secondary imbalance amount, secondary imbalance degree, and the position of obstacles in the obstacle avoidance model for any dispensing process.

[0028] Furthermore, after any dispensing process is completed, the single dispensing amount of the dispensing mechanism is adjusted based on the deviation quality of that dispensing process, including:

[0029] The maximum parameter for the change in imbalance after any completed dispensing step is preset.

[0030] The quality deviation value of this dispensing process is calculated based on the single dispensing amount and the secondary imbalance amount. The deviation quality of this dispensing process is determined by comparing it with the parameter with the largest change in the imbalance amount, and the single dispensing amount of the dispensing mechanism is adjusted accordingly.

[0031] Furthermore, the dispersion correction point with the minimum correction quality in the quality dispersion correction model is determined, and the process steps of the dispensing mechanism are determined to include:

[0032] The maximum number of dispersion points in the preset quality dispersion correction model is set.

[0033] The total number of correction points within the quality dispersion correction model is summarized, and after it is greater than the maximum number of dispersion points, the correction points are sorted by quality. The dispersion correction point with the smallest correction quality is determined, and the dispensing mechanism is controlled to dispense the dispensing at this dispersion correction point. Then, based on the correction imbalance amount and correction imbalance degree re-measured by the balancing machine, the data is input into the quality dispersion correction model for the next dispensing process.

[0034] The determination of the next dispensing process includes determining the single dispensing segment and single dispensing amount of the dispensing mechanism based on the amount and degree of imbalance correction, and determining the dispensing process again based on the maximum amount of glue replenishment, and using it as the new dispensing process to control the dispensing mechanism to perform dispensing.

[0035] Furthermore, for any completed dispensing process, the correction of the correction point based on the amount of dispensable adhesive includes:

[0036] Preset the tank full mass.

[0037] Based on the dispensing amount of each dispensing tank after this dispensing process and the full mass of the tank, the dispensable amount of each dispensing tank is calculated, and the correction points in each dispensing tank are corrected according to the dispensable amount.

[0038] Furthermore, after any dispensing process is completed, the CCD device takes a picture of the dispensing situation to obtain a dispensing completion image, analyzes the dispensing completion image to determine the actual single dispensing segment, and corrects the corresponding correction point in the dispensing groove according to the actual single dispensing segment.

[0039] Furthermore, all dispensing processes include:

[0040] Pre-set the dispensing process counting module.

[0041] Based on the counting status of the dispensing process counting module, all dispensing processes are completed until the counting module reaches the final number of processes.

[0042] Compared with the prior art, the beneficial effects of the present invention are as follows: the present invention divides the dispensing process of the workpiece into several dispensing steps, determines the single dispensing segment and dispensing quality in each dispensing step, and corrects the position deviation and dispensing quality to ensure that the amount of dispensing in the dispensing tank meets the requirements. At the same time, it can ensure that the actual movement of the dispensing mechanism meets the requirements, ensure that the amount of dispensing in a dispensing tank meets the standard, and avoid obstacles and dispensing positions during the dispensing process to ensure that the amount of dispensing meets the requirements, reduce the scrap rate of dispensing products, and improve the quality pass rate of the cured products after dispensing.

[0043] Furthermore, this invention determines the dispensing process and divides the dispensing segments for any given dispensing process to ensure that the dispensing quality meets the standard requirements of the workpiece and to prevent workpiece defects caused by untimely glue replenishment during the dispensing process.

[0044] Furthermore, the present invention judges the position of the dispensing segment in the already determined dispensing process, identifies the single dispensing segment that did not avoid the obstacle, marks it, and re-determines it to ensure that the dispensing process will not touch the obstacle, thereby ensuring the original structural strength of the workpiece and ensuring that the workpiece can be used normally.

[0045] Furthermore, the present invention cuts the adhesive segments that do not avoid the obstacle, controls the dispensing mechanism to dispense adhesive at the obstacle-avoidance position of the divided adhesive segments, and ignores the adhesive segments located on the obstacle during the dispensing process, thereby achieving the purpose of obstacle-avoidance adhesive application.

[0046] Furthermore, this invention disperses the overall mass of the adhesive segment on the barrier after any dispensing process is completed, so as to avoid the barrier on the workpiece while dispensing the adhesive, thereby reducing the suddenness of the change in the workpiece balance after dispensing and increasing the stability of the dispensing process.

[0047] Furthermore, this invention adjusts and judges the amount of glue dispensed per dispensing step by step, so as to adjust the state of the dispensing mechanism in case of large errors during the dispensing process, thereby preventing larger imbalances in subsequent dispensing processes and directly causing the dispensed product to be defective.

[0048] Furthermore, this invention addresses the issue of large imbalance values ​​requiring multiple dispensing steps by correcting from the smallest, dispersed correction points, ensuring the stability of the dispensing process and reducing the likelihood of large corrections leading to unchangeable imbalances and rendering the workpiece unusable.

[0049] Furthermore, the present invention determines the actual dispensing position through a visual analysis unit and corrects the correction points in the glue tank through a dispensing analysis unit, preventing the dispensing position from overlapping and causing the workpiece to become a defective product due to the same amount of glue being dispensed at the same position.

[0050] Furthermore, the present invention statistically analyzes the amount of adhesive dispensed in the dispensing tank after each dispensing process to prevent adhesive overflow from the dispensing tank during the dispensing process and improve the pass rate of the workpiece. Attached Figure Description

[0051] Figure 1 This is a flowchart of the obstacle avoidance adhesive application method based on machine vision described in the embodiment;

[0052] Figure 2 This is a schematic diagram of the dispensing head for the machine vision-based obstacle avoidance dispensing method described in the embodiment.

[0053] Figure 3 This is a logic diagram showing the change of the initial dispensing process in the obstacle avoidance dispensing method based on machine vision described in the embodiment.

[0054] Figure 4 is a logic diagram of the subsequent dispensing process after the completion of any dispensing process in the obstacle avoidance dispensing method based on machine vision described in the embodiment.

[0055] Figure 5 This is a logic diagram of the corrected quality dispersion correction model for the obstacle avoidance adhesive application method based on machine vision described in the embodiment.

[0056] In the diagram, workpiece 1, dispensing groove 2, reference point 3, dispensing head 4, UV adhesive 5, barrier 6. Implementation

[0057] To make the objectives and advantages of the present invention clearer, the present invention will be further described below with reference to embodiments; it should be understood that the specific embodiments described herein are merely for explaining the present invention and are not intended to limit the present invention.

[0058] Preferred embodiments of the present invention will now be described with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are merely illustrative of the technical principles of the present invention and are not intended to limit the scope of protection of the present invention.

[0059] It should be noted that in the description of this invention, the terms "upper", "lower", "left", "right", "inner", "outer", etc., which indicate directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings. This is only for the convenience of description and is not intended to indicate or imply that the device or element must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation of this invention.

[0060] Furthermore, it should be noted that, in the description of this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0061] Please see Figures 1-5 As shown, Figure 1 This is a flowchart of the obstacle avoidance adhesive application method based on machine vision described in the embodiment. Figure 2 This is a schematic diagram of the dispensing head for the machine vision-based obstacle avoidance dispensing method described in the embodiment. Figure 3 Figure 4 is a logic diagram showing the initial dispensing process change of the obstacle avoidance dispensing method based on machine vision described in the embodiment. Figure 5 is a logic diagram showing the subsequent dispensing process processing logic after completing any dispensing process of the obstacle avoidance dispensing method based on machine vision described in the embodiment. Figure 5This is a logic diagram of the corrected quality dispersion correction model for the obstacle avoidance sizing method based on machine vision described in the embodiment.

[0062] Figure 2 In the middle, the dispensing head 4 is the dispensing part of the dispensing mechanism. The dispensing head 4 will dispense UV glue 5 into several dispensing grooves 2. The dispensing process needs to avoid obstacles 6. The reference point 3 is the point that the dispensing mechanism needs to determine as a reference.

[0063] This invention provides a machine vision-based obstacle avoidance adhesive application method, comprising:

[0064] The workpiece is identified based on its reference points to generate a dispensing model. The workpiece is then moved to the shooting position to capture an image.

[0065] The angle of the dispensing model is corrected based on the angle of the workpiece analyzed from the image.

[0066] The unbalance amount and degree of unbalance of the workpiece measured by the balancing machine are input into the dispensing algorithm module to determine the dispensing parameters;

[0067] In determining the dispensing parameters,

[0068] Based on the maximum amount of glue replenishment and the amount of imbalance in any dispensing process, determine the single process situation in several dispensing processes of the dispensing mechanism, identify the single dispensing segment that did not avoid the obstacle, and generate a new dispensing process to be input into the dispensing mechanism for dispensing.

[0069] After any dispensing process is completed, the single dispensing segment of the next dispensing process is determined based on the secondary unbalance amount and degree of secondary unbalance measured by the balancing machine. For single dispensing segments located on obstacles or with a mass greater than the maximum amount of glue added, the mass dispersion correction model is used to disperse the dispensing segment and the dispensing mechanism is adjusted to enter the next dispensing process.

[0070] Identify the dispersion correction point with the smallest correction quality among several dispersion correction points, control the dispensing mechanism to dispense at this dispersion correction point, and determine the dispensing mechanism's process based on the correction imbalance amount and correction imbalance degree remeasured by the balancing machine, and control the dispensing mechanism to dispense.

[0071] For any completed dispensing process, adjust the single dispensing amount of the dispensing mechanism according to the deviation quality of any dispensing process, and correct the correction points according to the dispensing capacity of each dispensing slot and the actual single dispensing segment of the dispensing completion diagram.

[0072] Once all dispensing processes are completed, the dispensing cylinder in the dispensing mechanism is reset, and the workpiece is sent to the curing position. After a certain curing time, the dispensing finished product is generated.

[0073] This embodiment presents a machine vision-based obstacle avoidance adhesive application method, including:

[0074] Step S1: The visual recognition device identifies the workpiece based on the workpiece's reference point and generates a dispensing model. The workpiece is moved to the shooting position, and the angle of the workpiece is determined in the visual analysis unit based on the image captured by the CCD device. The angle of the dispensing model is then corrected.

[0075] Step S2: Input the unbalance amount and unbalance degree measured by the balancing machine into the dispensing analysis unit of the dispensing algorithm module to determine the dispensing parameters;

[0076] Step S3: In the dispensing analysis unit, based on the maximum amount of glue replenishment and the amount of imbalance in any dispensing process, determine the single process situation in several dispensing processes of the dispensing mechanism, identify the single dispensing segment that did not avoid the obstacle, and generate a new dispensing process to be input into the dispensing mechanism for dispensing.

[0077] Step S4: Determine the single dispensing segment of the next dispensing process by measuring the secondary unbalance amount and degree of secondary unbalance using a balancing machine, and disperse the single dispensing segment and adjust the dispensing mechanism to enter the next dispensing process.

[0078] Step S5: Determine the dispersion correction point with the smallest mass among several dispersion correction points, control the dispensing mechanism to dispense at this dispersion correction point, and determine the new dispensing process of the dispensing mechanism based on the amount and degree of correction imbalance measured again by the balancing machine.

[0079] Step S6: Adjust the single dispensing amount of the dispensing mechanism according to the deviation quality of any dispensing process, and correct the correction point according to the dispensing amount of each dispensing slot and the actual single dispensing segment.

[0080] Step S7 continues until all dispensing processes are completed. The dispensing cylinder in the dispensing mechanism is reset, and the workpiece is sent to the curing position. After a certain curing time, the dispensing finished product is generated.

[0081] This invention divides the dispensing process of a workpiece into several dispensing steps, determines the single dispensing segment and dispensing quality within each dispensing step, and corrects for dispensing position deviations and dispensing quality to ensure that the amount of dispensing in the dispensing tank meets the requirements. It also ensures that the actual movement of the dispensing mechanism meets the requirements, guarantees that the amount of dispensing in a dispensing tank meets the standard, and avoids obstacles and already dispensed areas during the dispensing process, ensuring that the amount of dispensing meets the requirements, reducing the scrap rate of dispensing products, and improving the quality pass rate of the cured workpiece after dispensing.

[0082] Specifically, in this embodiment, determining the single-process situation in several dispensing processes of the dispensing mechanism includes:

[0083] Pre-set the maximum amount of adhesive to be added for any dispensing process;

[0084] The dispensing start point, dispensing end point, and dispensing amount per dispensing step in a single dispensing process of the dispensing mechanism are determined based on the imbalance and the maximum amount of glue added.

[0085] The dispensing analysis unit has a maximum glue replenishment B setting. max ,

[0086] When the imbalance measured by the balancing machine is within the dispensing tank 1, the dispensing operation is performed in the dispensing tank 1. At the same time, the imbalance quantity analyzed is mj, j=1,2,...,m, where j is the number of imbalance quantities determined by the dispensing analysis unit.

[0087] In the overall dispensing process, when the imbalance amount m1 is less than or equal to the maximum glue replenishment amount B j max If so, then the dispensing segment and dispensing process at this time are determined to be 1.

[0088] When the imbalance amount m1 is greater than the maximum glue filling amount B max If the time is right, then determine the number of dispensing processes and the single dispensing segment at this time, and match the allocated dispensing segments with the dispensing process to determine the specific dispensing segment in any dispensing process.

[0089] This invention determines the dispensing process and divides the dispensing segments for any given dispensing process to ensure that the dispensing quality meets the standard requirements of the workpiece and to prevent workpiece defects caused by untimely glue replenishment during the dispensing process.

[0090] Specifically, in this embodiment, the segment of single dispensing that did not avoid the obstacle includes:

[0091] Pre-set obstacle avoidance model;

[0092] The complete single dispensing segment is input into the obstacle avoidance model to determine the single dispensing segments that do not avoid obstacles, and the positions of the obstacles that are not avoided are identified and marked, and the dispensing process is redefined.

[0093] The obstacle avoidance model is generated based on the dispensing model, and the obstacles that need to be avoided are marked.

[0094] The single dispensing segment will be dispersed within the dispensing tank during the analysis process.

[0095] The dispensing analysis unit includes an obstacle avoidance model. For any single dispensing segment A1, if its position starts from dispensing slot 1 and ends in dispensing slot 2, and passes through obstacle L12 between dispensing slot 1 and dispensing slot 2, then single dispensing segment A1 is a single dispensing segment that did not avoid the obstacle, and it is marked and the single dispensing segment is redefined.

[0096] This invention determines the position of the dispensing segment in the pre-defined dispensing process, identifies the single dispensing segment that fails to avoid obstacles, marks it, and re-determines it to ensure that the dispensing process will not touch obstacles, thereby preserving the original structural strength of the workpiece and ensuring that the workpiece can be used normally.

[0097] Specifically, in this embodiment, based on the location of the obstacle to be avoided identified in the obstacle avoidance model, the single dispensing segment located on the obstacle is ignored, and the single dispensing segment that avoids the obstacle is integrated with the original unmarked single dispensing segment and changed into a new dispensing process, which is then input into the dispensing mechanism for dispensing.

[0098] For a single dispensing segment A1, the dispensing segment passing through barrier L12 is ignored. Therefore, the single dispensing segment A1 will be divided into a single dispensing segment A11 from dispensing groove 1 to barrier L12 and a single dispensing segment A12 from barrier L12 to dispensing groove 2.

[0099] Ignore the dispensing segment on obstacle L12, integrate single dispensing segments A11 and A12 with other single dispensing segments that avoid the obstacle, and redetermine the dispensing process. At this time, add 2 to the dispensing process and start dispensing by the dispensing mechanism.

[0100] This invention cuts the adhesive segments that do not avoid obstacles and controls the dispensing mechanism to dispense adhesive at the obstacle-avoidance positions during the segmentation process, ignoring the adhesive segments located on the obstacles during dispensing, thereby achieving the purpose of obstacle-avoidance adhesive application.

[0101] Specifically, in this embodiment, after any dispensing process is completed, determining the single dispensing segment of the next dispensing process includes:

[0102] A pre-set mass dispersion correction model is used to measure the secondary imbalance amount and degree of the workpiece after the dispensing process is completed by the balancing machine.

[0103] Based on the secondary imbalance amount and secondary imbalance degree, the single dispensing segment of the next dispensing process is determined, and the single dispensing segment located on the obstacle or with a mass greater than the maximum glue replenishment amount is dispersed in the mass dispersion correction model. Several dispersion correction points are determined and integrated with the subsequent single dispensing segments that avoid the obstacle, and changed into a new dispensing process, which is then input into the dispensing mechanism for the next dispensing.

[0104] The quality dispersion correction model determines several dispersion correction points and the corresponding correction quality based on the dispensing situation, secondary imbalance amount, secondary imbalance degree, and the position of obstacles in the obstacle avoidance model for any dispensing process.

[0105] The dispensing analysis unit contains a mass dispersion correction model.

[0106] After the single dispensing segment A11 is completed, the secondary unbalance amount measured by the balancing machine is determined as m2 and the secondary unbalance degree. The single dispensing segment determined based on the secondary unbalance degree is the single dispensing segment A111, and its mass is the secondary unbalance amount m2. The single dispensing segment A111 is located on barrier L87. The dispensing amount at this position is then dispersed and corrected within the mass dispersion correction model to determine the correction points as Z11 and Z12, as well as the correction mass m11 of correction point Z11 and the correction mass m12 of correction point Z12.

[0107] This invention disperses the overall mass of the adhesive segment on the barrier after any dispensing process, so as to avoid the barrier on the workpiece while dispensing the adhesive, thereby reducing the suddenness of the change in the workpiece balance after dispensing and increasing the stability of the dispensing process.

[0108] Specifically, in this embodiment, after any dispensing process is completed, adjusting the single dispensing amount of the dispensing mechanism based on the deviation quality of any dispensing process includes:

[0109] The maximum parameter for the change in imbalance after any completed dispensing step is preset.

[0110] The quality deviation value of this dispensing process is calculated based on the single dispensing amount and the secondary imbalance amount. The deviation quality of this dispensing process is determined by comparing it with the parameter with the largest change in the imbalance amount, and the single dispensing amount of the dispensing mechanism is adjusted accordingly.

[0111] The dispensing analysis unit contains a parameter q that represents the largest change in imbalance.

[0112] When the single dispensing amount in any process is m1 and the secondary imbalance is m2, the quality deviation value of this process is Δm = m1 - m2. If the quality deviation value Δm is greater than or equal to the maximum imbalance parameter q, the single dispensing amount of the dispensing mechanism is reduced; if the quality deviation value Δm is less than the maximum imbalance parameter q, the single dispensing amount of the dispensing mechanism is adjusted again.

[0113] This invention adjusts and judges the amount of glue dispensed in a single dispensing operation by the dispensing mechanism. In order to adjust the state of the dispensing mechanism in case of large errors during the dispensing process, it prevents the dispensing process from having a larger imbalance, which would directly lead to the dispensing product being defective.

[0114] Specifically, in this embodiment, determining the dispersion correction point with the minimum correction quality in the quality dispersion correction model and determining the dispensing mechanism's steps include:

[0115] The maximum number of dispersion points in the preset quality dispersion correction model is set.

[0116] The total number of correction points within the quality dispersion correction model is summarized, and after it is greater than the maximum number of dispersion points, the correction points are sorted by quality. The dispersion correction point with the smallest correction quality is determined, and the dispensing mechanism is controlled to dispense the dispensing at this dispersion correction point. Then, based on the correction imbalance amount and correction imbalance degree re-measured by the balancing machine, the data is input into the quality dispersion correction model for the next dispensing process.

[0117] The determination of the next dispensing process includes determining the single dispensing segment and single dispensing amount of the dispensing mechanism based on the amount and degree of imbalance correction, and determining the dispensing process again based on the maximum amount of glue replenishment, and using it as the new dispensing process to control the dispensing mechanism to perform dispensing.

[0118] This invention addresses the issue of large imbalance values ​​that would otherwise require multiple dispensing steps by correcting them from the smallest, dispersed correction points. This ensures the stability of the dispensing process and reduces the likelihood of large corrections causing workpiece imbalances to become unusable and resulting in scrap.

[0119] like Figure 5 As shown, specifically, in this embodiment, for any completed dispensing process, correcting the correction point based on the amount of dispensable adhesive includes:

[0120] Preset the tank full mass.

[0121] Based on the dispensing amount of each dispensing tank after this dispensing process and the full mass of the tank, the dispensable amount of each dispensing tank is calculated, and the correction points in each dispensing tank are corrected according to the dispensable amount.

[0122] The dispensing analysis unit has a full-slot mass C0.

[0123] For dispensing tank 1, after 3 dispensing processes, the amount of dispensing in the dispensing tank is C13, and C13 is less than C0. Then, calculate the amount of dispensing in the subsequent dispensing process of dispensing tank 1, ΔC1: ΔC1 = C13 - C0. Based on the amount of dispensing in the dispensing process, ΔC1 is used to determine the corrected quality dispersion correction model. When judging the dispersion correction point, the amount of glue added to dispensing tank 1 is made to be equal to or less than the amount of dispensing ΔC1.

[0124] For dispensing tank 1, after 3 dispensing processes, the amount of dispensing in the dispensing tank is C13, and C13 equals C0. Then, calculate the amount of dispensing in the subsequent dispensing process of dispensing tank 1, ΔC1: ΔC1 = C13 - C0. At this time, the glue in dispensing tank 1 is full. In the mass dispersion correction model, this dispensing tank is avoided, and the dispensing is supplemented to other unfilled dispensing tanks during the analysis process.

[0125] This invention statistically analyzes the amount of adhesive dispensed in the dispensing tank after each dispensing process to prevent adhesive overflow during dispensing and improve the workpiece qualification rate.

[0126] like Figure 5 As shown, specifically, in this embodiment, after any dispensing process is completed, the CCD device takes a picture of the dispensing situation to obtain a dispensing completion image, analyzes the dispensing completion image to determine the actual single dispensing segment, and corrects the corresponding correction point in the dispensing groove according to the actual single dispensing segment.

[0127] The visual analysis unit determines the actual single dispensing segment based on the dispensing completion image captured by the CCD device after any dispensing process is completed, and then transmits the actual single dispensing segment to the dispensing analysis unit.

[0128] Within the dispensing analysis unit, the mass dispersion correction model is corrected based on the actual single dispensing segment in the dispensing completion diagram, corresponding to the correction points in the dispensing groove.

[0129] This invention uses a visual analysis unit to determine the actual dispensing position and a dispensing analysis unit to correct the correction points in the glue tank, preventing the dispensing position from overlapping and causing the same amount of glue to be dispensed at the same location, which would result in the workpiece becoming a defective product.

[0130] Specifically, in this embodiment, all dispensing processes include:

[0131] Pre-set the dispensing process counting module.

[0132] Based on the counting status of the dispensing process counting module, all dispensing processes are completed until the counting module reaches the final number of processes.

[0133] The technical solution of the present invention has been described above with reference to the preferred embodiments shown in the accompanying drawings. However, it will be readily understood by those skilled in the art that the scope of protection of the present invention is obviously not limited to these specific embodiments. Without departing from the principles of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will all fall within the scope of protection of the present invention.

[0134] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A machine vision-based obstacle avoidance adhesive application method, characterized in that, include, The workpiece is identified based on its reference points to generate a dispensing model. The workpiece is then moved to the shooting position to capture an image. The angle of the dispensing model is corrected based on the angle of the workpiece analyzed from the image. The unbalance amount and degree of unbalance of the workpiece measured by the balancing machine are input into the dispensing algorithm module to determine the dispensing parameters; In determining the dispensing parameters, Based on the maximum amount of glue replenishment and the amount of imbalance in any dispensing process, determine the single process situation in several dispensing processes of the dispensing mechanism, identify the single dispensing segment that did not avoid the obstacle, and generate a new dispensing process to be input into the dispensing mechanism for dispensing. After any dispensing process is completed, the single dispensing segment of the next dispensing process is determined based on the secondary unbalance amount and degree of secondary unbalance measured by the balancing machine. For single dispensing segments located on obstacles or with a mass greater than the maximum amount of glue added, the mass dispersion correction model is used to disperse the dispensing segment and the dispensing mechanism is adjusted to enter the next dispensing process. Identify the dispersion correction point with the smallest correction quality among several dispersion correction points, control the dispensing mechanism to dispense at this dispersion correction point, and determine the dispensing mechanism's process based on the correction imbalance amount and correction imbalance degree remeasured by the balancing machine, and control the dispensing mechanism to dispense. For any completed dispensing process, adjust the single dispensing amount of the dispensing mechanism according to the deviation quality of any dispensing process, and correct the correction points according to the dispensing capacity of each dispensing slot and the actual single dispensing segment of the dispensing completion diagram. Once all dispensing processes are completed, the dispensing cylinder in the dispensing mechanism is reset, and the workpiece is sent into the curing position. After a certain curing time, the dispensing finished product is generated. Identifying single-application segments that failed to avoid obstacles includes: pre-setting an obstacle avoidance model; The complete single dispensing segment is input into the obstacle avoidance model to determine the single dispensing segments that do not avoid obstacles, and the positions of the obstacles that are not avoided are identified and marked, and the dispensing process is redefined. The obstacle avoidance model is generated based on the dispensing model, and the obstacles that need to be avoided are marked. The single dispensing segment will be dispersed within the dispensing tank during the analysis process; Based on the location of the obstacle to be avoided identified in the obstacle avoidance model, the single dispensing segments located on the obstacle are ignored, and the single dispensing segments that avoid the obstacle are integrated with the original unmarked single dispensing segments and changed into a new dispensing process, which is then input into the dispensing mechanism for dispensing. After any dispensing process is completed, the determination of the single dispensing segment of the next dispensing process includes: a pre-set mass dispersion correction model, and the secondary unbalance amount and degree of the workpiece after the dispensing process is completed by the balancing machine. Based on the secondary imbalance amount and secondary imbalance degree, the single dispensing segment of the next dispensing process is determined, and the single dispensing segment located on the obstacle or with a mass greater than the maximum glue replenishment amount is dispersed in the mass dispersion correction model. Several dispersion correction points are determined and integrated with the subsequent single dispensing segments that avoid the obstacle, and changed into a new dispensing process, which is then input into the dispensing mechanism for the next dispensing. The quality dispersion correction model determines several dispersion correction points and the corresponding correction quality based on the dispensing situation, secondary imbalance amount, secondary imbalance degree, and the position of obstacles in the obstacle avoidance model for any dispensing process.

2. The obstacle avoidance adhesive application method based on machine vision according to claim 1, characterized in that, Determining the single-process situation in several dispensing steps of the dispensing mechanism includes: pre-setting the maximum amount of glue to be added in any dispensing step; The dispensing start point, dispensing end point, and dispensing amount per dispensing step in a single dispensing process of the dispensing mechanism are determined based on the imbalance and the maximum amount of glue added.

3. The obstacle avoidance adhesive application method based on machine vision according to claim 1, characterized in that, After any dispensing process is completed, the dispensing amount per pass of the dispensing mechanism is adjusted based on the deviation quality of that dispensing process. This includes: presetting the maximum parameter for the change in imbalance after any completed dispensing process. The quality deviation value of this dispensing process is calculated based on the single dispensing amount and the secondary imbalance amount. The deviation quality of this dispensing process is determined by comparing it with the parameter with the largest change in the imbalance amount, and the single dispensing amount of the dispensing mechanism is adjusted accordingly.

4. The obstacle avoidance adhesive application method based on machine vision according to claim 1, characterized in that, The process of determining the dispersion correction point with the minimum correction quality in the quality dispersion correction model and determining the dispensing mechanism includes: preset the maximum number of dispersion points in the quality dispersion correction model. The total number of correction points within the quality dispersion correction model is summarized, and after it is greater than the maximum number of dispersion points, the correction points are sorted by quality. The dispersion correction point with the smallest correction quality is determined, and the dispensing mechanism is controlled to dispense the dispensing at this dispersion correction point. Then, based on the correction imbalance amount and correction imbalance degree remeasured by the balancing machine, the data is input into the quality dispersion correction model for the next dispensing process. The determination of the next dispensing process includes determining the single dispensing segment and single dispensing amount of the dispensing mechanism based on the amount and degree of imbalance correction, and determining the dispensing process again based on the maximum amount of glue replenishment, and using it as the new dispensing process to control the dispensing mechanism to perform dispensing.

5. The obstacle avoidance adhesive application method based on machine vision according to claim 3, characterized in that, For any completed dispensing process, the correction points are adjusted based on the amount of dispensable glue, including: pre-setting the tank full weight. Based on the dispensing amount of each dispensing tank after this dispensing process and the full mass of the tank, the dispensable amount of each dispensing tank is calculated, and the correction points in each dispensing tank are corrected according to the dispensable amount.

6. The obstacle avoidance adhesive application method based on machine vision according to claim 5, characterized in that, After any dispensing process is completed, the CCD device takes a picture of the dispensing situation to obtain a dispensing completion image. The dispensing completion image is analyzed to determine the actual single dispensing segment. Based on the actual single dispensing segment, the quality dispersion correction model is corrected for the corresponding correction points in the dispensing groove.

7. The obstacle avoidance adhesive application method based on machine vision according to claim 6, characterized in that, All dispensing processes are completed including: a pre-set dispensing process counting module. Based on the counting status of the dispensing process counting module, all dispensing processes are completed until the counting module reaches the final number of processes.

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