Real-time online detection method and system for glue coating on dispensing needle

Abstract

The present invention relates to the field of glue dispensing detection technology, and in particular to a real-time online detection method and detection system for glue hanging on a glue dispensing needle. The method includes: obtaining a step image and an end face image of a glue dispensing needle collected by a visual device; processing the step image based on an image processing algorithm to obtain the center coordinates of the needle step; mapping the center coordinates of the needle step to the needle end face image, and using the center coordinates of the needle step as the glue hanging detection positioning coordinates; calculating the outer circle radius of the needle end face, and then dividing the needle end face area on the needle end face image in combination with the glue hanging detection positioning coordinates; obtaining the width W of the glue hanging detection area, and obtaining the glue hanging detection area in combination with the center coordinates of the needle step and the outer circle radius of the needle end face; calculating the area of ​​the glue area in the glue hanging detection area, and comparing it with a preset value, and performing real-time online detection of glue hanging on the glue dispensing needle according to the comparison result, thereby simplifying the detection steps, improving the detection efficiency and accuracy, and achieving a high yield rate of glue dispensing products.

Description

Technical Field

[0001] The invention relates to the technical field of glue dispensing detection, and in particular to a real-time online detection method for glue hanging on a glue dispensing needle and a detection system thereof. Background Art

[0002] In the glue dispensing industry, due to the combined influence of factors such as the material of the glue dispensing needle and the roughness of the inner wall, the glue concentration and glue fluidity, the temperature and humidity of the production environment, and the long-term operation of the glue dispensing equipment, there is often excessive glue accumulation on the needle end face, which extends to the side wall of the needle, resulting in abnormal glue shape after the product is dispensed, reducing the production yield. At present, the industry relies on the visual inspection results after dispensing to assist the manual glue erasing method, and the steps are as follows:

[0003] If the visual inspection result after dispensing is bad, the machine will be shut down with an alarm;

[0004] Manually wipe the needle with a dust-free cloth;

[0005] Perform consistency test before dispensing. If the glue is qualified, continue dispensing. If the glue is unqualified, replace the needle.

[0006] The above solution has the following disadvantages:

[0007] The glue sticking on the dispensing needle is not detected in real time, and the visual inspection module after dispensing in the back-end process is used to monitor whether the needle is glued. This method seriously affects the production yield of dispensing products.

[0008] If the dispensing product is found to be defective by visual inspection after dispensing, it may not be caused by glue hanging. If the glue is rubbed on the needle, it may cause wear to the needle and affect the service life of the dispensing needle. Summary of the invention

[0009] The present invention aims to solve at least one of the technical problems existing in the prior art.

[0010] To this end, the present invention provides a real-time online detection method for glue hanging on a glue dispensing needle, which can perform glue hanging detection on the glue dispensing needle in real time, simplifies the detection steps, improves the detection efficiency and detection accuracy, and has a high yield rate of glue dispensing products.

[0011] According to the real-time online detection method for glue hanging on a dispensing needle according to an embodiment of the present invention, the method comprises the following steps:

[0012] S1, acquiring a step image and an end face image of a dispensing needle collected by a visual device;

[0013] S2, processing the step image based on an image processing algorithm to obtain the center coordinates of the needle step;

[0014] S3, mapping the center coordinates of the needle step onto the needle end surface image, and using the center coordinates of the needle step as the glue hanging detection positioning coordinates ;

[0015] S4, calculate the outer radius of the needle end face , combined with the above-mentioned glue detection positioning coordinates Segmenting a needle end surface area on the needle end surface image;

[0016] S5, obtaining the width W of the glue detection area, and combining the center coordinates of the needle step and the outer radius of the needle end face to obtain the glue detection area;

[0017] S6, calculating the area of ​​the glue region in the glue-hanging detection region and comparing it with a preset value, and realizing real-time online detection of glue hanging on the glue dispensing needle according to the comparison result.

[0018] The beneficial effect of the present invention is that the real-time online detection method for glue hanging on the glue dispensing needle of the present invention can monitor the glue hanging state of the glue dispensing needle in real time during normal operation, and provide a basis for the glue wiping device or manual glue wiping action; in addition, by presetting the width W of the glue hanging detection area, combining the center coordinates of the needle step and the outer circle radius of the needle end face, the glue hanging detection area is obtained, and there is no need to use a complex algorithm to capture the outer edge contour of the glue dispensing needle end face. At the same time, it is well avoided that the glue dispensing needle is covered by glue and the edge contour information is lost, resulting in inaccurate area segmentation, or the edge contour cannot be captured due to complete coverage, thereby improving the detection accuracy, and the detection steps are simple, thereby improving the detection efficiency, and the yield rate of the glue dispensing product is high.

[0019] According to one embodiment of the present invention, step S2 specifically includes the following steps:

[0020] Performing filtering on the step image to obtain a filtered image;

[0021] The coordinates of the outer contour points of the needle step are obtained by the difference method, and the coordinates of all the outer contour points are expressed as ;

[0022] Eliminate all abnormal points in the outer contour points, and use the geometric fitting method to fit the outer contour line of the needle step to obtain the center coordinates .

[0023] According to one embodiment of the present invention, in step S4, the outer radius of the needle end surface is The calculation formula is:

[0024]

[0025] in, is the physical size of the outer diameter of the needle end face, and S is the camera scale factor.

[0026] According to one embodiment of the present invention, step S5 specifically includes the following steps:

[0027] Set the width W of the glue detection area;

[0028] Acquire the needle end surface area;

[0029] Positioning coordinates according to glue detection , the outer radius of the needle end face The width W of the glue detection area generates an area of ​​interest, and the radius of the area of ​​interest is ;

[0030] Subtract the needle end surface area from the area of ​​interest to obtain an annular area;

[0031] A cutout process is performed on the needle end surface image according to the annular area, and the cutout image is the glue hanging detection area.

[0032] According to one embodiment of the present invention, step S6 specifically includes the following steps:

[0033] Processing the glue detection area by threshold segmentation method to obtain the glue area;

[0034] Calculate the number of pixels in the glue area to obtain the area of ​​the glue area;

[0035] The area of ​​the glue region is compared with a preset value. If the area of ​​the glue region is greater than the preset value, the glue dispensing needle is coated with glue, otherwise, no glue is coated.

[0036] According to one embodiment of the present invention, in step S1, before dispensing glue, the glue dispensing needle is first moved to a glue hanging detection and photographing position, and then the needle device moves up and down to a pre-adjusted first focusing height, and the visual device takes a photo to collect a step image of the glue dispensing needle. Then, the needle device moves up and down to a pre-adjusted second focusing height, and the camera takes a photo to collect an end face image of the glue dispensing needle.

[0037] According to one embodiment of the present invention, the first focusing height and the second focusing height are pre-adjusted and set based on the model of the dispensing needle, and the first focusing height is smaller than the second focusing height.

[0038] According to one embodiment of the present invention, when it is detected that the dispensing needle is covered with glue, a glue covering alarm message is sent to prompt manual glue erasing or control the glue erasing unit to perform glue erasing.

[0039] A real-time online detection system for glue coating on a glue dispensing needle according to an embodiment of the present invention comprises:

[0040] A visual device configured to collect a step image of the dispensing needle and an end face image of the dispensing needle;

[0041] A host computer is connected to the visual device, and the host computer is configured to execute the real-time online detection method for glue hanging on the glue dispensing needle as described above.

[0042] According to one embodiment of the present invention, the visual device comprises: an industrial camera, an industrial lens, a corner prism and a ring-shaped combined light source.

[0043] The industrial camera, the industrial lens and the corner prism are coaxially arranged in sequence;

[0044] The corner prism and the annular combined light source are arranged opposite to each other;

[0045] When the glue dispensing needle is inspected online in real time, the axis of the glue dispensing needle is aligned with the axis of the annular combined light source;

[0046] The annular combined light source comprises a high-angle annular light source and an annular shadowless light source, the annular shadowless light source is located above the high-angle annular light source, and the high-angle annular light source and the annular shadowless light source are coaxially arranged.

[0047] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention are realized and obtained by the structures particularly pointed out in the description, claims and drawings.

[0048] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0050] Figure 1 It is a flowchart of the first embodiment of the present invention.

[0051] Figure 2 It is a schematic diagram of a filtered image according to the first embodiment of the present invention.

[0052] Figure 3 Schematic diagram of the center image of the needle step in the first embodiment of the present invention.

[0053] Figure 4 It is a schematic diagram of an annular region image according to the first embodiment of the present invention.

[0054] Figure 5 It is a schematic diagram of a glue area image according to the first embodiment of the present invention.

[0055] Figure 6 It is a schematic diagram of the system structure of the second embodiment of the present invention.

[0056] Figure 7 It is a schematic diagram of the structure of a visual device according to the second embodiment of the present invention.

[0057] Figure 8 It is a schematic diagram of the computer device structure of the third embodiment of the present invention.

[0058] In the figure, 1, visual device; 2, host computer; 3, dispensing needle; 11, industrial camera; 12, industrial lens; 13, corner prism; 14, annular combination light source; 141, high-angle annular light source; 142, annular shadowless light source; 10, computer equipment; 1002, processor; 1004 memory; 1006, transmission device. DETAILED DESCRIPTION

[0059] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, which only illustrate the basic structure of the present invention in a schematic manner, and therefore only show the components related to the present invention.

[0060] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In addition, features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0061] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0062] Example 1

[0063] The present application embodiment provides a real-time online detection method for glue sticking on a glue dispensing needle, such as Figure 1 As shown, the method comprises the following steps:

[0064] S1, obtaining the step image and the end face image of the glue dispensing needle collected by the visual device 1.

[0065] S2, processing the step image based on an image processing algorithm to obtain the center coordinates of the needle step.

[0066] S3, map the center coordinates of the needle step onto the needle end face image, and use the center coordinates of the needle step as the positioning coordinates for glue detection .

[0067] S4, calculate the outer radius of the needle end face , combined with the glue detection positioning coordinates The needle end surface area is segmented from the needle end surface image.

[0068] S5, obtaining the width W of the glue-hanging detection area, and combining the center coordinates of the needle step and the outer circle radius of the needle end face to obtain the glue-hanging detection area.

[0069] S6, calculating the area of ​​the glue area in the glue detection area and comparing it with a preset value, and realizing real-time online detection of glue hanging on the glue dispensing needle according to the comparison result.

[0070] In this embodiment, see Figure 2-Figure 3 Step S2 specifically includes the following steps:

[0071] Filter the step image to obtain the filtered image, see Figure 2 As shown, the filter kernel uses a 3×3 template median filter algorithm for filtering.

[0072] The coordinates of the outer contour points of the needle step are obtained by the difference method. The coordinates of all outer contour points are expressed as .

[0073] Eliminate all abnormal points in the outer contour points, and use the geometric fitting method to fit the outer contour line of the needle step to obtain the coordinates of the center of the circle. ; For example, the Huber function is used to weight all the outer contour points to reduce the influence of outliers and achieve the purpose of eliminating outliers from all the outer contour points. Figure 3 shown.

[0074] In step S3, the glue detection positioning coordinates , .

[0075] In this embodiment, in step S4, the outer radius of the needle end surface is The calculation formula is:

[0076]

[0077] in, is the physical size of the outer diameter of the needle end face, S is the camera scale factor. Specifically, the physical size of the outer diameter of the needle end face is the standard size of the needle, and the camera scale factor is calculated through the camera parameters. The calculation formula is: camera scale factor = focal length / pixel size.

[0078] In this embodiment, step S5 specifically includes the following steps:

[0079] Set the glue detection area width W. The glue detection area width W will be set according to the step width of the glue dispensing needle.

[0080] Acquire the needle tip area.

[0081] Positioning coordinates according to glue detection , the outer radius of the needle end face And the width W of the glue detection area generates the region of interest, and the radius of the region of interest is .

[0082] Subtract the needle end surface area from the area of ​​interest to obtain the annular area, see Figure 4 shown.

[0083] The image of the needle end face is cut out according to the annular area, and the cut-out image is the glue detection area.

[0084] By presetting the width W of the glue detection area, combining the center coordinates of the needle step and the outer radius of the needle end face, the glue detection area is obtained. Compared with the existing method of using complex algorithms to capture the outer edge contour of the glue dispensing needle end face, this embodiment can effectively avoid the problem of inaccurate area segmentation caused by the glue dispensing needle being covered by glue, resulting in loss of edge contour information, or complete coverage and inability to capture the edge contour. The glue detection area can be quickly positioned, effectively improving the detection accuracy, and the processing method is simple, thereby improving the detection efficiency.

[0085] In this embodiment, step S6 specifically includes the following steps:

[0086] The glue detection area is processed by threshold segmentation method to obtain the glue area. Figure 5 shown.

[0087] Calculate the number of pixels in the glue area and get the area of ​​the glue area.

[0088] The area of ​​the glue area is compared with the preset value. If the area of ​​the glue area is larger than the preset value, the glue dispensing needle will be glued, otherwise, no glue will be applied.

[0089] In this embodiment, in step S1, before dispensing glue, the glue dispensing needle is first moved to the glue hanging detection photo position, and then the needle device moves up and down to the pre-adjusted first focusing height, and the visual device 1 takes a photo to collect the step image of the glue dispensing needle. Then the needle device moves up and down to the pre-adjusted second focusing height, and the camera takes a photo to collect the end face image of the glue dispensing needle.

[0090] In this embodiment, the first focusing height and the second focusing height are pre-adjusted and set based on the model of the dispensing needle, and the first focusing height is smaller than the second focusing height.

[0091] In this embodiment, when it is detected that the glue dispensing needle is stuck with glue, a glue sticking alarm message is sent to prompt manual glue erasing or control the glue erasing unit to perform glue erasing.

[0092] To sum up, the real-time online detection method for glue hanging on the glue dispensing needle of the present invention can monitor the glue hanging state of the glue dispensing needle in real time during normal operation, and provide a basis for the glue wiping device or manual glue wiping action; in addition, by presetting the width W of the glue hanging detection area, combining the center coordinates of the needle step and the outer circle radius of the needle end face, the glue hanging detection area is obtained, and there is no need to use a complex algorithm to capture the outer edge contour of the glue dispensing needle end face. At the same time, it is well avoided that the glue dispensing needle is covered by glue and the edge contour information is lost, resulting in inaccurate area segmentation, or the edge contour cannot be captured due to complete coverage, thereby improving the detection accuracy, and the detection steps are simple, thereby improving the detection efficiency, and the yield rate of the glue dispensing product is high.

[0093] Example 2

[0094] The present application also provides a real-time online detection system for glue sticking on a glue dispensing needle. Figure 6-7 As shown, the system includes:

[0095] A visual device 1 is configured to collect a step image of a dispensing needle and an end face image of the dispensing needle;

[0096] The host computer 2 is connected to the visual device 1, and the host computer 2 is configured to execute the above-mentioned real-time online detection method for glue hanging on the glue dispensing needle.

[0097] In this embodiment, the visual device 1 includes: an industrial camera 11, an industrial lens 12, a corner prism 13 and an annular combined light source 14;

[0098] The industrial camera 11, the industrial lens 12 and the corner prism 13 are coaxially arranged in sequence;

[0099] The corner prism 13 and the annular combined light source 14 are arranged opposite to each other;

[0100] When the glue dispensing needle is inspected online in real time, the axis of the glue dispensing needle 3 is aligned with the axis of the annular combined light source 14. The visual device 1 of the imaging of the camera and the superimposed light source ensures the quality of the collected image and further improves the detection accuracy.

[0101] In an embodiment, the annular combination light source 14 includes a high-angle annular light source 141 and an annular shadowless light source 142. The annular shadowless light source 142 is located above the high-angle annular light source 141. The high-angle annular light source 141 and the annular shadowless light source 142 are coaxially arranged, which improves the image imaging effect and has high image quality.

[0102] The foregoing Figure 1 The various variations and specific examples of the real-time online detection method for glue hanging on a dispensing needle in Example 1 are also applicable to a real-time online detection system for glue hanging on a dispensing needle in this embodiment. Through the above detailed description of the real-time online detection method for glue hanging on a dispensing needle, those skilled in the art can clearly know the implementation method of the real-time online detection system for glue hanging on a dispensing needle in this embodiment, so for the sake of brevity of the specification, it will not be described in detail here.

[0103] Example 3

[0104] An embodiment of the present application provides a computer device, which includes a processor and a memory, wherein the memory stores at least one instruction or at least one program, and the at least one instruction or the at least one program is loaded and executed by the processor to implement a real-time online detection method for glue hanging on a dispensing needle as provided in the above method embodiment.

[0105] Figure 8 The hardware structure diagram of a device for implementing a real-time online detection method for glue coating on a dispensing needle provided in an embodiment of the present application is shown. The device may participate in or include the device or system provided in an embodiment of the present application. Figure 8 As shown, the computer device 10 may include one or more processors 1002 (the processor may include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA), a memory 1004 for storing data, and a transmission device 1006 for communication functions. In addition, it may also include: a display, an input / output interface (I / O interface), a universal serial bus (USB) port (which may be included as one of the ports of the I / O interface), a network interface, a power supply and / or a camera. It can be understood by those skilled in the art that Figure 8 The structure shown is only for illustration and does not limit the structure of the above electronic device. Figure 8More or fewer components as shown, or with Figure 8 Different configurations shown.

[0106] It should be noted that the one or more processors and / or other data processing circuits described above may generally be referred to herein as "data processing circuits". The data processing circuits may be embodied in whole or in part as software, hardware, firmware, or any other combination thereof. In addition, the data processing circuit may be a single independent processing module, or may be incorporated in whole or in part into any of the other components in the computer device 10 (or mobile device). As described in the embodiments of the present application, the data processing circuit acts as a processor control (e.g., selection of a variable resistor terminal path connected to an interface).

[0107] The memory 1004 can be used to store software programs and modules of application software, such as a program instruction / data storage device corresponding to a real-time online detection method for glue hanging on a dispensing needle in an embodiment of the present application. The processor executes various functional applications and data processing by running the software programs and modules stored in the memory 1004, that is, realizing the above-mentioned method. The memory 1004 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 1004 may further include a memory remotely arranged relative to the processor, and these remote memories may be connected to the computer device 10 via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0108] The transmission device 1006 is used to receive or send data via a network. The specific example of the above network may include a wireless network provided by a communication provider of the computer device 10. In one example, the transmission device 1006 includes a network adapter (Network Interface Controller, NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the transmission device 1006 can be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0109] The display may be, for example, a touch screen liquid crystal display (LCD) that enables a user to interact with a user interface of the computer device 10 (or mobile device).

[0110] Example 4

[0111] An embodiment of the present application also provides a computer-readable storage medium, which can be set in a server to store at least one instruction or at least one program related to a real-time online detection method for glue hanging on a dispensing needle in a method embodiment. The at least one instruction or the at least one program is loaded and executed by the processor to implement a real-time online detection method for glue hanging on a dispensing needle provided in the above method embodiment.

[0112] Optionally, in this embodiment, the storage medium may be located in at least one of the multiple network servers of the computer network. Optionally, in this embodiment, the storage medium may include, but is not limited to, various media that can store program codes, such as a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk, or an optical disk.

[0113] Example 5

[0114] The embodiment of the present invention further provides a computer program product or a computer program, which includes computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes a real-time online detection method for glue coating on a dispensing needle provided in the above various optional embodiments.

[0115] It should be noted that the above-mentioned sequence of the embodiments of the present application is for description only and does not represent the advantages and disadvantages of the embodiments. The above-mentioned specific embodiments of the present application are described. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0116] Each embodiment in this application is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device, equipment and storage medium embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0117] A person skilled in the art will understand that all or part of the steps to implement the above embodiments may be accomplished by hardware or by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a disk or an optical disk, etc.

[0118] Based on the above ideal embodiments of the present invention, the relevant staff can make various changes and modifications without departing from the technical concept of the present invention through the above description. The technical scope of the present invention is not limited to the contents of the specification, and its technical scope must be determined according to the scope of the claims.

Claims

1. A real-time online detection method for glue hanging on a dispensing needle, characterized in that: The method comprises the following steps: S1, obtaining a step image and an end face image of the dispensing needle collected by the visual device (1); S2, processing the step image based on an image processing algorithm to obtain the center coordinates of the needle step; S3, mapping the center coordinates of the needle step onto the needle end surface image, and using the center coordinates of the needle step as the glue hanging detection positioning coordinates ; S4, calculate the outer radius of the needle end face , combined with the above-mentioned glue detection positioning coordinates Segmenting a needle end surface area on the needle end surface image; S5, obtaining the width W of the glue detection area, combining the center coordinates of the needle step and the outer radius of the needle end face to obtain the glue detection area, specifically including: Set the width W of the glue detection area; Acquiring the needle end surface area; Positioning coordinates according to glue detection , the outer radius of the needle end face The width W of the glue detection area generates an area of ​​interest, and the radius of the area of ​​interest is ; Subtract the needle end surface area from the area of ​​interest to obtain an annular area; Performing a cutout process on the needle end surface image according to the annular area, and the cutout image is the glue detection area; S6, calculating the area of ​​the glue region in the glue-hanging detection region and comparing it with a preset value, and realizing real-time online detection of glue hanging on the glue dispensing needle according to the comparison result.

2. The real-time online detection method for glue sticking on a glue dispensing needle as claimed in claim 1, characterized in that: The step S2 specifically includes the following steps: Performing filtering on the step image to obtain a filtered image; The coordinates of the outer contour points of the needle step are obtained by the difference method, and the coordinates of all the outer contour points are expressed as ; Eliminate all abnormal points in the outer contour points, use the geometric fitting method to fit the outer contour line of the needle step, and obtain the center coordinates .

3. The real-time online detection method for glue sticking on a glue dispensing needle as claimed in claim 1, characterized in that: In step S4, the outer radius of the needle end surface is The calculation formula is: in, is the physical size of the outer diameter of the needle end face, and S is the camera scale factor.

4. The real-time online detection method for glue sticking on a glue dispensing needle as claimed in claim 1, characterized in that: The step S6 specifically comprises the following steps: Processing the glue detection area by threshold segmentation method to obtain the glue area; Calculate the number of pixels in the glue area to obtain the area of ​​the glue area; The area of ​​the glue region is compared with the preset value. If the area of ​​the glue region is greater than the preset value, the glue dispensing needle is coated with glue, otherwise, no glue is coated.

5. The real-time online detection method for glue sticking on a glue dispensing needle as claimed in claim 1, characterized in that: In step S1, before dispensing glue, the glue dispensing needle is first moved to a glue detection and photographing position, and then the needle device moves up and down to a pre-adjusted first focusing height, and the visual device (1) takes a photo to collect a step image of the glue dispensing needle. Then, the needle device moves up and down to a pre-adjusted second focusing height, and the camera takes a photo to collect an end face image of the glue dispensing needle.

6. The real-time online detection method for glue coating on a glue dispensing needle as claimed in claim 5, characterized in that: in, The first focusing height and the second focusing height are pre-adjusted and set based on the model of the dispensing needle, and the first focusing height is smaller than the second focusing height.

7. The real-time online detection method for glue hanging on a glue dispensing needle as described in claim 1 or 4, characterized in that: When it is detected that the dispensing needle is glued, a glue-hanging alarm message is sent to prompt manual glue erasing or control the glue erasing unit to perform glue erasing.

8. A real-time online detection system for glue sticking on a glue dispensing needle, characterized in that: The system comprises: A visual device (1) is configured to capture a step image of a dispensing needle and an end face image of the dispensing needle; A host computer (2), the host computer (2) being connected to the visual device (1), and the host computer (2) being configured to execute the real-time online detection method for glue coating on a glue dispensing needle as claimed in any one of claims 1 to 7.

9. The real-time online detection system for glue coating on a glue dispensing needle as claimed in claim 8, characterized in that: The visual device (1) comprises: an industrial camera (11), an industrial lens (12), a corner prism (13) and a ring-shaped combined light source (14); The industrial camera (11), the industrial lens (12), and the corner prism (13) are coaxially arranged in sequence; The corner prism (13) and the annular combined light source (14) are arranged relative to each other; When the glue dispensing needle is detected online in real time, the axis of the glue dispensing needle (3) and the axis of the annular combined light source (14) are aligned in a straight line; The annular combined light source (14) comprises a high-angle annular light source (141) and an annular shadowless light source (142); the annular shadowless light source (142) is located above the high-angle annular light source (141); and the high-angle annular light source (141) and the annular shadowless light source (142) are coaxially arranged.

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