Dispensing positioning method and device and dispensing system

Abstract

The embodiment of the invention provides a dispensing positioning method and device and a dispensing system.The dispensing positioning method is applied to the dispensing system.The method comprises the steps that current pose information of a dispensing groove relative to a lens cone is determined, and the dispensing groove is formed in the lens cone; according to the current pose information and preset pose information, pose deviation information of the dispensing groove relative to the lens barrel is determined; determining current first coordinate information of the dispensing groove in a coordinate system of the dispensing system according to the pose deviation information and preset first coordinate information of the dispensing groove in the coordinate system of the dispensing system; wherein the pose deviation information is matched with the current first coordinate information; the current first coordinate information is suitable for the dispensing system to determine the position of the dispensing groove. By adopting the technical scheme, a basis can be provided for improving the positioning accuracy of the dispensing system and the dispensing groove.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of radar technology, and in particular to a glue dispensing positioning method, device and glue dispensing system. Background Art

[0002] Radar is an electronic device used to detect and track targets. The working principle of radar is to emit a detection beam to the target, compare the received echo beam reflected from the target with the detection beam to obtain the target's position information, thereby detecting and tracking the target.

[0003] The lens module is an important component of the radar, which is used to shape the detection beam or echo beam passing through the lens module. The lens module includes a lens barrel and a lens, wherein the lens barrel is provided with a glue dispensing groove corresponding to the lens. After determining the position of the glue dispensing groove, the glue dispensing positioning device performs a glue dispensing operation on the glue dispensing groove to fix the lens in the lens barrel. In order to ensure the stability of the optical performance of the lens module, the glue dispensing station needs to be accurately positioned with the glue dispensing groove. Therefore, how to provide an improved technical solution to provide a basis for improving the positioning accuracy of the glue dispensing station and the glue dispensing groove has become an urgent problem to be solved. Summary of the invention

[0004] In view of this, the embodiments of the present invention provide a glue dispensing positioning method, device and glue dispensing system, which can provide a basis for improving the positioning accuracy of the glue dispensing system and the glue dispensing slot.

[0005] First, an embodiment of the present invention provides a dispensing positioning method, which is applied to a dispensing system. The method includes:

[0006] Determine current position information of the glue dispensing slot relative to the lens barrel, wherein the glue dispensing slot is arranged on the lens barrel;

[0007] Determining the posture deviation information of the dispensing groove relative to the lens barrel according to the current posture information and the preset posture information;

[0008] Determine the current first coordinate information of the glue dispensing slot in the coordinate system of the glue dispensing system according to the posture deviation information and the preset first coordinate information of the glue dispensing slot in the coordinate system of the glue dispensing system;

[0009] Among them, the posture deviation information is compatible with the current first coordinate information; the current first coordinate information is suitable for the dispensing system to determine the position of the dispensing slot.

[0010] Optionally, determining the current position information of the dispensing slot relative to the lens barrel includes:

[0011] According to the current first information of the lens barrel, the current position information of the glue dispensing slot relative to the lens barrel is determined.

[0012] Optionally, there are multiple glue dispensing slots, and the glue dispensing system includes multiple glue dispensing stations, each glue dispensing station corresponds to each glue dispensing slot one by one;

[0013] The step of determining the current position information of the dispensing slot relative to the lens barrel according to the current first information of the lens barrel includes:

[0014] According to the current first information of the lens barrel, a plurality of current position information corresponding to the plurality of dispensing grooves relative to the lens barrel is determined.

[0015] Optionally, the current first information of the lens barrel includes at least one of the following:

[0016] Current first information of the lens barrel acquired along a third direction of the coordinate system of the dispensing system;

[0017] The current first information of the lens barrel is obtained from a first preset position, wherein the first preset position is located at a glue dispensing station corresponding to a first glue dispensing slot for glue dispensing.

[0018] Optionally, the lens barrel is configured to include a first reference plane, a second reference plane and a third reference plane, wherein the lens barrel is fixed to the glue dispensing station of the glue dispensing system through at least two of the first reference plane, the second reference plane and the third reference plane;

[0019] The step of determining the current position information of the dispensing slot relative to the lens barrel includes:

[0020] Determine a first distance between the glue dispensing slot and the first reference plane, and a second distance between the glue dispensing slot and the second reference plane.

[0021] Optionally, the dispensing slot is configured to include one or more first characteristic points;

[0022] The first distance of the dispensing groove relative to the first reference plane includes: the first distance of the first characteristic point relative to the first reference plane;

[0023] The second distance between the dispensing groove and the second reference plane includes: the second distance between the first feature point and the second reference plane.

[0024] Optionally, the first reference plane is perpendicular to a first direction of a coordinate system of the dispensing system;

[0025] The second reference plane is perpendicular to a second direction of a coordinate system of the dispensing system.

[0026] Optionally, the first characteristic point is arranged at two ends of the glue dispensing groove along the length direction.

[0027] Optionally, the method further comprises:

[0028] Determine the current second coordinate information of the lens barrel in the coordinate system of the dispensing system;

[0029] According to the current second coordinate information of the lens barrel and the preset second coordinate information, the coordinate deviation information of the lens barrel in the coordinate system of the dispensing system is determined.

[0030] Optionally, determining the current first coordinate information of the glue dispensing slot in the coordinate system of the glue dispensing system according to the posture deviation information and the preset first coordinate information of the glue dispensing slot in the coordinate system of the glue dispensing system includes:

[0031] According to the posture deviation information, the preset first coordinate information of the glue dispensing slot in the coordinate system of the glue dispensing system, and the coordinate deviation information of the lens barrel, the current first coordinate information of the glue dispensing slot in the coordinate system of the glue dispensing system is determined.

[0032] Optionally, the determining of the current second coordinate information of the lens barrel in the coordinate system of the dispensing system includes at least one of the following:

[0033] Determine the current second coordinate information of the lens barrel in the second direction of the coordinate system of the dispensing system according to the current second information of the lens barrel;

[0034] According to the current third information of the lens barrel, the current second coordinate information of the lens barrel in the third direction of the coordinate system of the dispensing system is determined.

[0035] Optionally, determining the coordinate deviation information of the lens barrel in the coordinate system of the dispensing system according to the current second coordinate information of the lens barrel and the preset second coordinate information includes at least one of the following:

[0036] Determine coordinate deviation information of the lens barrel in the second direction of the coordinate system of the dispensing system according to current second coordinate information of the lens barrel in the second direction and preset second coordinate information;

[0037] According to the current second coordinate information of the lens barrel in the third direction and the preset second coordinate information, the coordinate deviation information of the lens barrel in the third direction of the coordinate system of the dispensing system is determined.

[0038] Optionally, the lens barrel is configured to include one or more second characteristic points; the lens barrel is configured to include one or more third characteristic points;

[0039] Determining the coordinate deviation information of the lens barrel in the coordinate system of the dispensing system according to the current second coordinate information of the lens barrel and the preset second coordinate information includes at least one of the following:

[0040] Determine coordinate deviation information of the lens barrel in the second direction of the coordinate system of the dispensing system according to current second coordinate information of the second feature point in the second direction and preset second coordinate information;

[0041] According to the current second coordinate information of the third feature point in the third direction and the preset second coordinate information, the coordinate deviation information of the lens barrel in the third direction of the coordinate system of the dispensing system is determined.

[0042] Optionally, the second feature point is arranged on a second reference plane of the lens barrel, wherein the second reference plane of the lens barrel intersects with the optical axis of the lens barrel.

[0043] Optionally, the third feature point is arranged on a second reference plane of the lens barrel, wherein the second reference plane of the lens barrel intersects with the optical axis of the lens barrel.

[0044] Optionally, the current second information of the lens barrel includes at least one of the following:

[0045] current second information of the lens barrel acquired along the second direction;

[0046] The current second information of the lens barrel is obtained from a second preset position, wherein the second preset position is located at a glue dispensing station corresponding to a glue dispensing slot for performing glue dispensing.

[0047] Optionally, the current third information of the lens barrel includes:

[0048] Current third information of the lens barrel acquired along the second direction;

[0049] The current third information of the lens barrel is obtained from a third preset position, wherein the third preset position is located at a glue dispensing station corresponding to a glue dispensing slot for performing glue dispensing.

[0050] Correspondingly, an embodiment of the present invention further provides a glue dispensing positioning device, wherein the glue dispensing positioning device is arranged in a glue dispensing system;

[0051] The glue dispensing positioning device is suitable for determining the current position information of the glue dispensing slot relative to the lens barrel, wherein the glue dispensing slot is arranged on the lens barrel;

[0052] Determining the posture deviation information of the dispensing groove relative to the lens barrel according to the current posture information and the preset posture information;

[0053] Determine the current first coordinate information of the glue dispensing slot in the coordinate system of the glue dispensing system according to the posture deviation information and the preset first coordinate information of the glue dispensing slot in the coordinate system of the glue dispensing system;

[0054] Among them, the posture deviation information is compatible with the current first coordinate information; the current first coordinate information is suitable for the dispensing system to determine the position of the dispensing slot.

[0055] Accordingly, an embodiment of the present invention further provides a dispensing system, comprising:

[0056] A dispensing positioning device as described in any of the preceding embodiments.

[0057] Optionally, the system further comprises:

[0058] A first information acquisition device, adapted to acquire current first information of the lens barrel;

[0059] The glue dispensing positioning device is suitable for determining the current position information of the glue dispensing groove relative to the lens barrel according to the current first information.

[0060] Optionally, the system further comprises:

[0061] The glue dispensing station is suitable for dispensing glue on the glue dispensing slot according to the current first coordinate information of the glue dispensing slot output by the glue dispensing positioning device.

[0062] Optionally, there are multiple glue dispensing slots, and there are multiple glue dispensing stations, and each glue dispensing station corresponds to each glue dispensing slot one by one.

[0063] Optionally, the current first information of the lens barrel includes at least one of the following:

[0064] The first information of the lens barrel acquired by the first information acquisition device along the third direction of the coordinate system of the dispensing system;

[0065] The first information acquisition device acquires the current first information of the lens barrel from a first preset position, wherein the first preset position is located at a glue dispensing station corresponding to a first glue dispensing slot for glue dispensing.

[0066] Optionally, the current first information is image information, and the first information acquiring device is an image acquiring device.

[0067] Optionally, the system further comprises:

[0068] A second information acquisition device, adapted to acquire current second information of the lens barrel, wherein the current second information is adapted to second coordinate information of the lens barrel in a second direction of a coordinate system of the dispensing system;

[0069] and / or,

[0070] The third information acquisition device is adapted to acquire current third information of the lens barrel, wherein the current third information is adapted to second coordinate information of the lens barrel in a third direction of the coordinate system of the dispensing system.

[0071] Optionally, the glue dispensing positioning device is suitable for determining the current second coordinate information of the lens barrel in the second direction of the coordinate system of the glue dispensing system based on the current second information of the lens barrel; determining the coordinate deviation information of the lens barrel in the second direction of the coordinate system of the glue dispensing system based on the current second coordinate information of the lens barrel in the second direction and preset second coordinate information; and determining the current first coordinate information of the glue dispensing slot in the coordinate system of the glue dispensing system based on the posture deviation information, the preset first coordinate information of the glue dispensing slot in the coordinate system of the glue dispensing system, and the coordinate deviation information of the lens barrel in the second direction.

[0072] Optionally, the glue dispensing positioning device is also suitable for determining the current second coordinate information of the lens barrel in the third direction of the coordinate system of the glue dispensing system according to the current third information of the lens barrel; determining the coordinate deviation information of the lens barrel in the third direction of the coordinate system of the glue dispensing system according to the current second coordinate information of the lens barrel in the third direction and the preset second coordinate information; and determining the current first coordinate information of the glue dispensing slot in the coordinate system of the glue dispensing system according to the posture deviation information, the preset first coordinate information of the glue dispensing slot in the coordinate system of the glue dispensing system, and the coordinate deviation information of the lens barrel in the third direction.

[0073] Optionally, the second information acquisition device is adapted to acquire current second information of the lens barrel, including at least one of the following:

[0074] The second information acquisition device is adapted to acquire current second information of the lens barrel along the second direction;

[0075] The second information acquisition device is suitable for acquiring the current second information of the lens barrel from a second preset position, wherein the second preset position is located at a glue dispensing station corresponding to a glue dispensing slot for glue dispensing.

[0076] Optionally, the current second information is distance information, and the second information acquisition device is a distance measuring device.

[0077] Optionally, the third information acquisition device is adapted to acquire current third information of the lens barrel, including at least one of the following:

[0078] The third information acquisition device is adapted to acquire the current third information of the lens barrel along the second direction;

[0079] The third information acquisition device is suitable for acquiring the current third information of the lens barrel from a third preset position, wherein the third preset position is located at a glue dispensing station corresponding to a glue dispensing slot for performing glue dispensing.

[0080] Optionally, the current third information is image information, and the third information acquisition device is an image acquisition device.

[0081] Optionally, the third information acquisition device is also suitable for assisting the assembly between the lens and the lens barrel.

[0082] By adopting the above-mentioned dispensing positioning scheme, the preset first coordinate information is compensated by the posture deviation information to obtain the current first coordinate information. Compared with the error between the preset first coordinate information and the actual coordinate information of the dispensing slot in the coordinate system of the dispensing system, the current first coordinate information can reduce the error between the actual coordinate information, thereby providing a basis for improving the positioning accuracy of the dispensing system and the dispensing slot.

[0083] Furthermore, the posture information of the glue dispensing slot relative to the lens barrel is a collection of posture information of any point on the glue dispensing slot relative to the lens barrel. By selecting a point on the glue dispensing slot as a first feature point, and using the current posture information of the first feature point relative to the lens barrel and the preset posture information to represent the current posture information and preset posture information of the corresponding glue dispensing slot relative to the lens barrel, the amount of data that needs to be processed and stored, as well as the difficulty of feature point identification, can be reduced, thereby improving processing efficiency, reducing storage costs, and improving posture measurement accuracy.

[0084] Furthermore, when there are multiple glue dispensing slots on the lens barrel, compared with respectively obtaining the current first information corresponding to different glue dispensing slots at different preset positions, the current first information used to determine the current posture information of the multiple glue dispensing slots on the lens barrel relative to the lens barrel can be obtained only at the first preset position. This can simplify the steps of obtaining the current first information, and at the same time omit the conversion process of the current posture information of the lens barrel under different reference systems, and can also avoid the difference in the same current first information caused by changing the preset position.

[0085] Furthermore, when there are multiple glue dispensing slots on the lens barrel, compared with using multiple first information acquisition devices at different preset positions to obtain the current first information and preset first information corresponding to different glue dispensing slots, all the current first information and preset first information can be obtained only at the first preset position, which can simplify the steps of obtaining the current first information and can also reduce the number of image acquisition devices, the space occupied and the use cost.

[0086] Furthermore, compared with the error between the preset first coordinate information and the actual coordinate information of the glue dispensing slot in the coordinate system of the glue dispensing system, the preset first coordinate information is compensated in the second direction by the second information acquisition device and the glue dispensing positioning device. This can reduce the error between the current first coordinate information and the actual coordinate information in the second direction, thereby providing a basis for improving the positioning accuracy of the glue dispensing system and the glue dispensing slot.

[0087] Furthermore, compared with the error between the preset first coordinate information and the actual coordinate information of the glue dispensing slot in the coordinate system of the glue dispensing system, the preset first coordinate information is compensated in the third direction by the third information acquisition device and the glue dispensing positioning device. The error between the current first coordinate information and the actual coordinate information in the third direction can be reduced, thereby providing a basis for improving the positioning accuracy of the glue dispensing system and the glue dispensing slot. BRIEF DESCRIPTION OF THE DRAWINGS

[0088] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments of the present invention or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this specification. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0089] Figure 1A-1B A schematic structural diagram of a lens barrel is shown.

[0090] Figure 2 A flow chart of a dispensing method is shown.

[0091] Figure 3 A flow chart of a dispensing positioning method in an embodiment of the present invention is shown.

[0092] Figure 4 A flow chart of another dispensing positioning method in an embodiment of the present invention is shown.

[0093] Figure 5 A specific flow chart of a dispensing positioning method in an embodiment of the present invention is shown.

[0094] Figure 6 A structural schematic diagram of a dispensing system in an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0095] As described in the background technology, the lens module in the radar includes a lens barrel and a lens, wherein the lens barrel is provided with a glue dispensing groove corresponding to the lens, and the lens is fixed in the glue dispensing groove.

[0096] As an optional implementation, refer to Figure 1A and Figure 1B , Figure 1A 1 shows a schematic diagram of the structure of a lens barrel. Figure 1B Shows Figure 1A The top view of the lens barrel G includes: a plurality of dispensing grooves 1e, which are arranged in sequence along the optical axis direction of the lens barrel G and can be adapted to a plurality of lenses, wherein the Figure 1A The lateral direction of the middle dispensing groove 1e is set as the x direction in the coordinate system of the dispensing system. Figure 1AThe height direction of the middle glue dispensing groove 1e is set as the y direction in the coordinate system. Figure 1A The depth direction of the center glue dispensing groove 1e is set as the z direction (the direction perpendicular to the paper surface) in the coordinate system.

[0097] In practical applications, the dispensing method can be determined according to specific circumstances. For example, during dispensing, the dispensing system can control the first end position of the dispensing slot along the x direction to be close to the dispensing head, and control the dispensing head to dispense glue at the first end position; after dispensing glue at the first end position, the dispensing system controls the second end position of the dispensing slot along the x direction to be close to the dispensing head, and controls the dispensing head to dispense glue at the second end position; wherein the glue in the dispensing head is transported to the first end face position and the second end position along the z direction. For another example, during dispensing, the dispensing system can control the dispensing head to be close to the first end position of the dispensing slot along the x direction, and control the dispensing head to dispense glue at the first end position; after dispensing glue at the first end position, the dispensing system controls the dispensing head to be close to the second end position of the dispensing slot along the x direction, and controls the dispensing head to dispense glue at the second end position; wherein the glue in the dispensing head is transported to the first end face position and the second end position along the z direction.

[0098] As an optional implementation, refer to Figure 2 , Figure 2 A dispensing method is shown, and the dispensing can be performed using the following steps:

[0099] Step M, obtaining preset first coordinate information of the glue dispensing groove on the lens barrel in the coordinate system of the glue dispensing system through the standard part of the lens barrel;

[0100] Step N, controlling the glue dispensing needle through the glue dispensing system to dispense glue to the glue dispensing groove on the current lens barrel according to the preset first coordinate information.

[0101] Due to the influence of factors such as material properties, temperature changes, and processing equipment, the current size of the lens barrel and the position information of the dispensing groove on the current lens barrel compared to the lens barrel may have errors compared to standard parts. In order to ensure the stability of the optical performance of the lens module, the dispensing system needs to obtain the accurate positioning of the dispensing groove on the current lens barrel. Therefore, how to provide an improved technical solution to provide a basis for improving the positioning accuracy of the dispensing system and the dispensing groove has become an urgent problem to be solved.

[0102] In order to solve the above problems, firstly, an embodiment of the present invention provides a glue dispensing positioning method, which is applied to a glue dispensing system. The glue dispensing positioning method may include: determining the current posture information of a glue dispensing slot arranged on the lens barrel relative to the lens barrel, so that the posture deviation information of the glue dispensing slot relative to the lens barrel can be determined according to the current posture information and the preset posture information; and then the current first coordinate information of the glue dispensing slot in the coordinate system of the glue dispensing system can be determined according to the posture deviation information and the preset first coordinate information of the glue dispensing slot in the coordinate system of the glue dispensing system.

[0103] By adopting the above-mentioned dispensing positioning method, the preset first coordinate information is compensated by the posture deviation information, and the current first coordinate information can be obtained. Compared with the error between the preset first coordinate information and the real coordinate information of the dispensing slot in the coordinate system of the dispensing system, the current first coordinate information can reduce the error between the real coordinate information, thereby providing a basis for improving the positioning accuracy of the dispensing system and the dispensing slot.

[0104] In order to enable those skilled in the art to better understand the inventive concept, working principle and advantages of the embodiments of the present invention, the dispensing positioning method in the embodiments of the present invention is described in detail below.

[0105] First, an embodiment of the present invention provides a dispensing positioning method, which can be applied to a dispensing system. Figure 3 The flowchart of a method for positioning glue dispensing in an embodiment of the present invention is shown. In some embodiments of the present invention, the following steps can be used to position glue dispensing in a glue dispensing slot:

[0106] Step A, determining the current position information of the dispensing slot relative to the lens barrel.

[0107] Wherein, the glue dispensing groove is arranged on the lens barrel.

[0108] Specifically, the current posture information may be the posture information of the glue dispensing groove on the current lens barrel relative to the current lens barrel.

[0109] As an optional implementation method, the current position information of the glue dispensing groove relative to the lens barrel can be determined according to specific circumstances.

[0110] For example, the current position information of the glue dispensing slot relative to the lens barrel may include: relative position information of the glue dispensing slot relative to one or more reference points, reference lines, reference planes or other reference features configured on the lens barrel.

[0111] For another example, the current posture information of the glue dispensing slot relative to the lens barrel may include: relative position information of one or more reference points, reference lines, reference planes or other reference features configured on the glue dispensing slot relative to the lens barrel.

[0112] For example, the current posture information of the glue dispensing slot relative to the lens barrel may include: the relative position information of one or more of the reference points, reference lines, reference planes or other reference features configured on the glue dispensing slot relative to one or more of the reference points, reference lines, reference planes or other reference features configured on the lens barrel.

[0113] Step B: determining the posture deviation information of the dispensing groove relative to the lens barrel according to the current posture information and the preset posture information.

[0114] Specifically, the preset posture information may be posture information of the glue dispensing groove on the standard part of the lens barrel relative to the standard part of the lens barrel.

[0115] In a specific implementation, the dispensing system may be configured to include a coordinate system to facilitate positioning of the dispensing position on the dispensing tank. For example, the coordinate system of the dispensing system may be a world coordinate system. For another example, the coordinate system of the dispensing system may be a barrel coordinate system.

[0116] Step C, determining the current first coordinate information of the glue dispensing slot in the coordinate system of the glue dispensing system according to the posture deviation information and the preset first coordinate information of the glue dispensing slot in the coordinate system of the glue dispensing system.

[0117] Among them, the posture deviation information is compatible with the current first coordinate information; the current first coordinate information is suitable for the dispensing system to determine the position of the dispensing slot.

[0118] Specifically, the preset first coordinate information may be the coordinate information of the glue dispensing slot on the standard part of the lens barrel in the coordinate system of the glue dispensing system; the current first coordinate information may be the coordinate information of the glue dispensing slot on the current lens barrel in the coordinate system of the glue dispensing system.

[0119] By adopting the above-mentioned dispensing positioning method, the preset first coordinate information is compensated by the posture deviation information, and the current first coordinate information can be obtained. Compared with the error between the preset first coordinate information and the actual coordinate information of the dispensing slot in the coordinate system of the dispensing system, the current first coordinate information can reduce the error between the actual coordinate information, thereby providing a basis for improving the positioning accuracy of the dispensing system and the dispensing slot.

[0120] It should be noted that glue dispensing refers to the operation of applying glue or adhesive to the target surface (e.g., glue dispensing slot), and the glue dispensing positioning method in the embodiment of the present invention can be applied to a variety of glue dispensing processes. For example, the glue dispensing positioning method can be applied to a syringe-type glue dispensing process; for another example, the glue dispensing positioning method can be applied to a jet-type glue dispensing process.

[0121] In order to enable those skilled in the art to better understand and implement, the above-mentioned dispensing positioning method is described in detail below through specific examples.

[0122] In a specific implementation, the lens barrel may be configured to include a first reference plane, a second reference plane, and a third reference plane, and the lens barrel is fixed to the dispensing system via at least two of the first reference plane, the second reference plane, and the third reference plane.

[0123] As an optional implementation, refer to Figure 1A and 1B The first reference plane J1 may be a section of the side of the lens barrel G, the second reference plane J2 may be an end plane perpendicular to the optical axis of the lens barrel G, and the third reference plane J3 may be a section of the side of the lens barrel G. The lens barrel G may be fixed to the dispensing system via the first reference plane J1 and the third reference plane J3.

[0124] In a specific implementation, the posture information of the glue dispensing groove relative to the lens barrel may include: relative position information of the glue dispensing groove on the lens barrel relative to one or more of the first reference plane, the second reference plane and the third reference plane of the lens barrel.

[0125] As an optional implementation, refer to Figure 1A The posture information of the glue dispensing groove 1e relative to the lens barrel G may include: a first distance between the glue dispensing groove 1e on the lens barrel G and a first reference plane J1 of the lens barrel G, and a second distance between the glue dispensing groove 1e and a second reference plane J2 of the lens barrel G.

[0126] Correspondingly, the current position information of the glue dispensing groove relative to the lens barrel may include: the current first distance of the glue dispensing groove on the current lens barrel relative to the first reference plane of the current lens barrel, and the current second distance of the glue dispensing groove relative to the second reference plane of the current lens barrel.

[0127] The preset position information of the glue dispensing groove relative to the lens barrel may include: a preset first distance of the glue dispensing groove on the standard part of the lens barrel relative to a first reference plane of the standard part of the lens barrel, and a preset second distance of the glue dispensing groove relative to a second reference plane of the standard part of the lens barrel.

[0128] In a specific implementation, determining the current position information of the glue dispensing slot relative to the lens barrel may include: determining the current position information of the glue dispensing slot relative to the lens barrel according to the current first information of the lens barrel.

[0129] Specifically, the current first information of the lens barrel may be the current first information of the lens barrel.

[0130] In a specific implementation, the method for acquiring the preset position information of the glue dispensing slot relative to the lens barrel may include: acquiring the preset position information of the glue dispensing slot relative to the lens barrel according to preset first information of a standard part of the lens barrel.

[0131] Specifically, the preset first information of the lens barrel may be first information of a standard part of the lens barrel.

[0132] In a specific implementation, the first information may be multimedia data information, for example, one or more of image information, video information or other multimedia data information.

[0133] Accordingly, the first information may be acquired by using one or more of the following devices: For example, one or more of a camera, a video camera, a rangefinder, etc. may be used.

[0134] As an optional implementation manner, the current first information and the preset first information may be image information, and a camera may be used to obtain the current first information and the preset first information.

[0135] Specifically, the image information can present static information. By selecting the image information as the type of the current first information and the preset first information, the acquisition of the current first information and the preset first information can be facilitated, thereby reducing the time required to determine the current position information and preset position information of the dispensing slot relative to the lens barrel, thereby reducing the performance requirements, usage costs and occupied space of the dispensing system; at the same time, using image acquisition devices such as cameras for contactless measurement can avoid affecting the lens barrel position during the measurement process, improve measurement accuracy, and realize automated real-time measurement.

[0136] As an optional implementation manner, the current first information and the preset first information may be video information, and a camera may be used to obtain the current first information and the preset first information.

[0137] Specifically, the video information can present dynamic information composed of multiple frames of image information. By selecting image information as the type of current first information and preset first information, the current posture information and preset posture information of multiple frames of image information can be obtained. By correcting the current posture information of multiple frames of image information and correcting the preset posture information, the accuracy of the current posture information and preset posture information outputted in the end can be improved. At the same time, non-contact measurement using a video acquisition device such as a camera can avoid the influence on the posture of the lens barrel during the measurement process, improve the measurement accuracy, and realize automated real-time measurement.

[0138] It should be noted that the above embodiment does not limit the method for obtaining the current first information and the preset first information. The current first information may also be obtained in a method different from that of the preset first information.

[0139] In a specific implementation, the coordinate system of the dispensing system may have a first direction, a second direction, and a third direction.

[0140] As an optional implementation manner, the first direction, the second direction and the third direction are perpendicular to each other.

[0141] In a specific implementation, the first reference plane is perpendicular to a first direction of a coordinate system of the dispensing system; and the second reference plane is perpendicular to a second direction of a coordinate system of the dispensing system.

[0142] By adopting the above technical scheme, the current first distance is parallel to the preset first distance, so that the two can be directly numerically calculated, and the calculation result can be directly applied to the calculation of the coordinates in the first direction in the coordinate system of the dispensing system; the current second distance is parallel to the preset second distance, so that the two can be directly numerically calculated, and the calculation result can be directly applied to the calculation of the coordinates in the second direction in the coordinate system of the dispensing system.

[0143] As an optional implementation method, the posture deviation information of the glue dispensing slot relative to the lens barrel may include: the difference between the current first distance and the preset first distance along the first direction, and the difference between the current second distance and the preset second distance along the second direction; accordingly, the current first coordinate information of the glue dispensing slot in the coordinate system of the glue dispensing system may include: the posture deviation information of the glue dispensing slot relative to the lens barrel, and the sum of the coordinates of the corresponding direction of the glue dispensing slot in the preset first coordinate information in the coordinate system of the glue dispensing system.

[0144] Specifically, the preset first coordinate information may be the first coordinate information of the glue dispensing groove on the standard part of the lens barrel in the coordinate system of the glue dispensing system.

[0145] In a specific implementation, the glue dispensing system may include a glue dispensing station, which is suitable for fixing the lens barrel and dispensing glue on the corresponding glue dispensing groove on the lens barrel.

[0146] In a specific implementation, there may be multiple glue dispensing slots on the lens barrel, and accordingly, there may be multiple glue dispensing stations, and each of the glue dispensing stations may correspond one-to-one to each of the glue dispensing slots.

[0147] Correspondingly, determining the current position information of the glue dispensing slot relative to the lens barrel according to the current first information of the lens barrel may include: determining multiple current position information corresponding to multiple glue dispensing slots relative to the lens barrel according to the current first information of the lens barrel.

[0148] Correspondingly, the number of preset first coordinate information of the glue dispensing slot in the coordinate system of the glue dispensing system can be multiple, and the multiple preset first coordinate information is adapted to the position information of multiple glue dispensing slots on the standard parts of the lens barrel at the corresponding glue dispensing stations; the number of current first coordinate information of the glue dispensing slot in the coordinate system of the glue dispensing system can be multiple, and the multiple current first coordinate information is adapted to the position information of multiple glue dispensing slots on the current lens barrel at the corresponding glue dispensing stations.

[0149] It should be noted that the number of the glue dispensing groove on the lens barrel can also be one, and accordingly, the glue dispensing station can be one and corresponds to the glue dispensing groove.

[0150] In a specific implementation, the current first information of the lens barrel can be obtained according to the specific situation by one or more of the following methods. For example, the current first information of the lens barrel can be obtained along the third direction of the coordinate system of the dispensing system; for example, the current first information of the lens barrel can be obtained from the first preset position.

[0151] As an optional implementation manner, the current first information of the lens barrel may be acquired from the first preset position along the third direction.

[0152] It should be noted that the embodiment of the present invention does not impose any specific restrictions on the direction of obtaining the first information, as long as it can have a component along the third direction. For example, the first information can be obtained along a direction that is 15 degrees from the third direction; for another example, the first information can be obtained along a direction that is 30 degrees from the third direction.

[0153] In a specific implementation, the first preset position may be located at some of the glue dispensing stations among the multiple glue dispensing stations corresponding to the multiple glue dispensing slots.

[0154] By adopting the above technical solution, when there are multiple glue dispensing slots on the lens barrel, compared with respectively obtaining the current first information corresponding to different glue dispensing slots at different preset positions, all the current first information used to determine the current posture information of the multiple glue dispensing slots on the lens barrel relative to the lens barrel can be obtained only at the first preset positions corresponding to some glue dispensing stations, thereby simplifying the steps of obtaining the current first information, omitting the conversion process of the current posture information of the lens barrel under different reference systems, and avoiding the difference in the same current first information caused by changing the preset position.

[0155] As an optional implementation, the first preset position is located at a glue dispensing station corresponding to a first glue dispensing slot for glue dispensing.

[0156] Specifically, when there are multiple dispensing slots on the lens barrel, compared with obtaining the current first information corresponding to different dispensing slots at different preset positions, all the current first information used to determine the current posture information of the multiple dispensing slots on the lens barrel relative to the lens barrel can be obtained only at the first preset position on the dispensing station corresponding to the first dispensing slot for dispensing. This can simplify the steps of obtaining the current first information, and at the same time omit the conversion process of the current posture information of the lens barrel under different reference systems, and can also avoid the difference in the same current first information caused by changing the preset position.

[0157] In a specific implementation, the method for obtaining the preset first information of the lens barrel can refer to the method for obtaining the current first information of the lens barrel or other methods, which will not be described in detail here.

[0158] In a specific implementation, the glue dispensing slot may include: a first feature point; the position information of the glue dispensing slot relative to the lens barrel may include: the position information of the first feature point on the glue dispensing slot relative to the lens barrel.

[0159] Correspondingly, the current posture information of the glue dispensing slot relative to the lens barrel may include: the current posture information of the first feature point on the glue dispensing slot relative to the lens barrel; the preset posture information of the glue dispensing slot relative to the lens barrel may include: the preset posture information of the first feature point on the glue dispensing slot relative to the lens barrel.

[0160] By adopting the above technical scheme, the posture information of the glue dispensing slot relative to the lens barrel can be a collection of posture information of any point on the glue dispensing slot relative to the lens barrel. By selecting a point on the glue dispensing slot as the first feature point, and using the current posture information of the first feature point relative to the lens barrel and the preset posture information to represent the current posture information and preset posture information of the corresponding glue dispensing slot relative to the lens barrel, the amount of data that needs to be processed and stored, as well as the difficulty of feature point identification can be reduced, thereby improving processing efficiency, reducing storage costs, and improving posture measurement accuracy.

[0161] In a specific implementation, the current position information of the first feature point on the dispensing groove relative to the lens barrel may include: a current first distance of the first feature point on the dispensing groove on the current lens barrel relative to a first reference plane of the current lens barrel, and a current second distance relative to a second reference plane of the current lens barrel;

[0162] Correspondingly, the preset posture information of the first feature point on the glue dispensing groove relative to the lens barrel may include: the current first distance of the first feature point on the glue dispensing groove on the standard part of the lens barrel relative to the first reference plane of the standard part of the lens barrel, and the current second distance relative to the second reference plane of the standard part of the lens barrel.

[0163] In a specific implementation, the number of the first characteristic points on the glue dispensing groove may be one or more.

[0164] Specifically, increasing the number of the first feature points can improve the accuracy of the determined current position information of the dispensing groove relative to the lens barrel.

[0165] In a specific implementation, the setting position of the first characteristic point on the glue dispensing groove can be determined according to specific circumstances.

[0166] For example, the first characteristic point may be set at one or more positions of the middle, end or other positions of the dispensing slot along the length direction. For another example, the first characteristic point may be set at one or more positions of the middle, end or other positions of the dispensing slot along the width direction.

[0167] As an optional implementation, the number of first feature points on the glue dispensing groove may include at least two groups, wherein the two groups of first feature points may be respectively arranged at the two ends of the glue dispensing groove along the length direction, and each group of first feature points may include one or more of the first feature points.

[0168] In a specific implementation, the first coordinate information of the glue dispensing slot in the coordinate system of the glue dispensing system may include: the coordinate information of the first feature point on the glue dispensing slot in the coordinate system of the glue dispensing system.

[0169] Specifically, the current first coordinate information of the glue dispensing slot in the coordinate system of the glue dispensing system may be the coordinate information of the first characteristic point on the glue dispensing slot on the current lens barrel in the coordinate system of the glue dispensing system; the preset first coordinate information of the glue dispensing slot in the coordinate system of the glue dispensing system may be the coordinate information of the first characteristic point on the glue dispensing slot on the standard part of the lens barrel in the coordinate system of the glue dispensing system.

[0170] In other embodiments of the present invention, referring to Figure 4 , Figure 4 Another method for positioning glue dispensing in an embodiment of the present invention is shown, and the method for positioning glue dispensing may further include the following steps:

[0171] Step D, determining the current second coordinate information of the lens barrel in the coordinate system of the dispensing system.

[0172] Specifically, the current second coordinate information of the lens barrel may be the coordinate information of the current lens barrel in the coordinate system of the dispensing system.

[0173] Step E: determining the coordinate deviation information of the lens barrel in the coordinate system of the dispensing system according to the current second coordinate information of the lens barrel and the preset second coordinate information.

[0174] Specifically, the preset second coordinate information of the lens barrel may be coordinate information of a standard part of the lens barrel in a coordinate system of the dispensing system.

[0175] Step C1, step C1 can be Figure 3 An optional implementation method of the shown step C may include: determining the current first coordinate information of the glue dispensing slot in the coordinate system of the glue dispensing system based on the posture deviation information of the glue dispensing slot relative to the lens barrel, the preset first coordinate information of the glue dispensing slot in the coordinate system of the glue dispensing system, and the coordinate deviation information of the lens barrel.

[0176] By adopting the above technical solution, the preset first coordinate information is compensated through the posture deviation information of the glue dispensing slot relative to the lens barrel and the coordinate deviation information of the lens barrel, and the current first coordinate information can be obtained. Compared with the error between the preset first coordinate information and the real coordinate information of the glue dispensing slot in the coordinate system of the glue dispensing system, the current first coordinate information can reduce the error between the real coordinate information, thereby providing a basis for improving the positioning accuracy of the glue dispensing system and the glue dispensing slot.

[0177] In a specific implementation, the coordinate information of the lens barrel in the coordinate system of the dispensing system may include: coordinate information of the lens barrel in a first direction, coordinate information in a second direction, and coordinate information in a third direction of the coordinate system of the dispensing system.

[0178] As an optional implementation, the current second coordinate information of the lens barrel may include one of the following: preset second coordinate information of the lens barrel in the second direction of the coordinate system of the dispensing system; preset second coordinate information of the lens barrel in the third direction of the coordinate system of the dispensing system;

[0179] The preset second coordinate information of the lens barrel is adapted to the current second coordinate information, and the preset second coordinate information of the lens barrel may include at least one of the following: the preset second coordinate information of the lens barrel in the second direction of the coordinate system of the dispensing system; the preset second coordinate information of the lens barrel in the third direction of the coordinate system of the dispensing system.

[0180] As a specific example, the current second coordinate information of the lens barrel may include: the current second coordinate information of the lens barrel in the second direction of the coordinate system of the dispensing system; and the current second coordinate information of the lens barrel in the third direction of the coordinate system of the dispensing system;

[0181] The preset second coordinate information of the lens barrel may include: the preset second coordinate information of the lens barrel in a second direction of the coordinate system of the dispensing system; and the preset second coordinate information of the lens barrel in a third direction of the coordinate system of the dispensing system.

[0182] In a specific implementation, determining the second coordinate information of the lens barrel in the coordinate system of the dispensing system may include at least one of the following: determining the second coordinate information of the lens barrel in the second direction of the coordinate system of the dispensing system based on the second information of the lens barrel; determining the second coordinate information of the lens barrel in the third direction of the coordinate system of the dispensing system based on the third information of the lens barrel.

[0183] As an optional implementation, the determining of the current second coordinate information of the lens barrel in the coordinate system of the dispensing system may include at least one of the following: determining the current second coordinate information of the lens barrel in the second direction of the coordinate system of the dispensing system according to the current second information of the lens barrel; determining the current second coordinate information of the lens barrel in the third direction of the coordinate system of the dispensing system according to the current third information of the lens barrel;

[0184] The preset second coordinate information of the lens barrel is adapted to the current second coordinate information, and determining the preset second coordinate information of the lens barrel in the coordinate system of the dispensing system may include at least one of the following: determining the preset second coordinate information of the lens barrel in the second direction of the coordinate system of the dispensing system according to the preset second information of the lens barrel; determining the preset second coordinate information of the lens barrel in the third direction of the coordinate system of the dispensing system according to the preset third information of the lens barrel.

[0185] As a specific example, determining the current second coordinate information of the lens barrel in the coordinate system of the dispensing system may include: determining the current second coordinate information of the lens barrel in the second direction of the coordinate system of the dispensing system according to the current second information of the lens barrel; and determining the current second coordinate information of the lens barrel in the third direction of the coordinate system of the dispensing system according to the current third information of the lens barrel;

[0186] Determining the preset second coordinate information of the lens barrel in the coordinate system of the dispensing system may include: determining the current second coordinate information of the lens barrel in the second direction of the coordinate system of the dispensing system based on the current second information of the lens barrel; and determining the current second coordinate information of the lens barrel in the third direction of the coordinate system of the dispensing system based on the current third information of the lens barrel.

[0187] Specifically, the current second information of the lens barrel may be the current second information of the lens barrel, and the preset second information of the lens barrel may be the second information of the standard parts of the lens barrel; the current third information of the lens barrel may be the current third information of the lens barrel, and the preset third information of the lens barrel may be the third information of the standard parts of the lens barrel.

[0188] In a specific implementation, the second information may be distance information. According to specific circumstances, the second information may be obtained by using one or more of the following devices, for example, one or more of a rangefinder, a radar, etc. may be used to obtain the second information; and the second information may be obtained by using one or more of the following methods, for example, the second information may be obtained along a second direction of the coordinate system of the dispensing system; and for example, the second information of the lens barrel may be obtained from a second preset position, wherein the second preset position may be located at a dispensing station corresponding to a dispensing tank for dispensing.

[0189] As a specific example, the second information may be distance information, and a rangefinder may be used to acquire the current second information and the preset second information from the second preset position along the second direction.

[0190] In a specific implementation, the third information may be multimedia data information, for example, one or more of image information, video information or other multimedia data information. According to specific circumstances, the third information may be obtained by using one or more of the following devices, for example, one or more of a camera, a video camera, etc.; and the third information may be obtained by using one or more of the following methods, for example, the third information may be obtained along the second direction of the coordinate system of the dispensing system; for example, the third information of the lens barrel may be obtained from a third preset position, wherein the third preset position may be located at a dispensing station corresponding to a dispensing tank for dispensing.

[0191] As a specific example, the third information may be image information, and a camera may be used to acquire the current third information and the preset third information from the third preset position along the second direction.

[0192] It should be noted that the embodiment of the present invention does not impose any specific restrictions on the direction of obtaining the third information, as long as it can have a component along the second direction. For example, the third information can be obtained along a direction that is 15 degrees from the second direction; for another example, the third information can be obtained along a direction that is 30 degrees from the second direction.

[0193] It should be noted that the above-mentioned embodiment does not limit the method for obtaining the current second information and the preset second information, and the current second information can be obtained in a method different from the preset second information; similarly, the above-mentioned embodiment does not limit the method for obtaining the current third information and the preset third information, and the current third information can be obtained in a method different from the preset third information.

[0194] In a specific implementation, the coordinate deviation information of the lens barrel in the coordinate system of the dispensing system is determined based on the current second coordinate information of the lens barrel and the preset second coordinate information, which may include at least one of the following: determining the coordinate deviation information of the lens barrel in the second direction of the coordinate system of the dispensing system based on the current second coordinate information of the lens barrel in the second direction and the preset second coordinate information; determining the coordinate deviation information of the lens barrel in the third direction of the coordinate system of the dispensing system based on the current second coordinate information of the lens barrel in the third direction and the preset second coordinate information.

[0195] By adopting the above technical scheme, if the lens barrel is positioned with the first reference plane and the third reference plane in the dispensing system, the lens barrel can be fixed in the plane corresponding to the first direction and the third direction, and the position of the lens barrel in the second direction is not completely fixed. The preset first coordinate information can be compensated in the second direction through the coordinate deviation information of the lens barrel in the second direction of the coordinate system of the dispensing system; at the same time, if the shape, size or installation position of the current lens barrel on the dispensing station deviates from the shape, size or installation position of the standard part of the lens barrel on the dispensing station in the second direction or the third direction, the preset first coordinate information can be compensated in the second direction through the coordinate deviation information of the lens barrel in the second direction of the coordinate system of the dispensing system, and the preset first coordinate information can be compensated in the third direction through the coordinate deviation information of the lens barrel in the third direction of the coordinate system of the dispensing system.

[0196] As an optional implementation method, determining the coordinate deviation information of the lens barrel in the coordinate system of the dispensing system based on the current second coordinate information of the lens barrel and the preset second coordinate information may include: determining the coordinate deviation information of the lens barrel in the second direction of the coordinate system of the dispensing system based on the current second coordinate information of the lens barrel in the second direction and the preset second coordinate information; and determining the coordinate deviation information of the lens barrel in the third direction of the coordinate system of the dispensing system based on the current second coordinate information of the lens barrel in the third direction and the preset second coordinate information.

[0197] By adopting the above technical solution, by acquiring the current second coordinate information and preset second coordinate information of the lens barrel in the second direction, as well as the current second coordinate information and preset second coordinate information in the third direction, the coordinate deviation information of the lens barrel in the second direction and the third direction can be determined, so that the preset first coordinate information can be compensated in the second direction and the third direction.

[0198] In a specific implementation, the lens barrel is configured to include at least one of the second feature point and the third feature point.

[0199] Correspondingly, the coordinate deviation information of the lens barrel in the coordinate system of the dispensing system is determined based on the current second coordinate information of the lens barrel and the preset second coordinate information, which may include at least one of the following: determining the coordinate deviation information of the lens barrel in the second direction of the coordinate system of the dispensing system based on the current second coordinate information of the second feature point in the second direction and the preset second coordinate information; determining the coordinate deviation information of the lens barrel in the third direction of the coordinate system of the dispensing system based on the current second coordinate information of the third feature point in the third direction and the preset second coordinate information.

[0200] By adopting the above technical scheme, the current second coordinate information and preset second coordinate information of the lens barrel can be a collection of the current second coordinate information and preset second coordinate information of any point on the lens barrel. Therefore, by setting a second feature point, the current second coordinate information and preset second coordinate information of the lens barrel in the second direction can be used to represent the current second coordinate information and preset second coordinate information of the lens barrel; and by setting a third feature point, the current second coordinate information and preset second coordinate information of the lens barrel in the third direction can be used to represent the current second coordinate information and preset second coordinate information of the lens barrel in the third direction. The above scheme can reduce the amount of data that needs to be processed and stored, as well as the difficulty of feature point recognition, thereby improving processing efficiency, reducing storage costs, and improving posture measurement accuracy.

[0201] In a specific implementation, the number of the second feature points may be one or more; the number of the third feature points may be one or more.

[0202] Specifically, increasing the number of the second feature points can improve the accuracy of the coordinate deviation information of the lens barrel in the second direction; increasing the number of the third feature points can improve the accuracy of the coordinate deviation information of the lens barrel in the third direction.

[0203] In a specific implementation, the location of the second characteristic point on the lens barrel can be determined according to specific circumstances. For example, the second characteristic point can be set on the second reference plane of the lens barrel.

[0204] As an optional implementation, the setting position of the second feature point may include at least one of the following: set at a position where the outer diameter of the barrel along the first direction intersects with the barrel in the second reference plane of the barrel; set at a position where the outer diameter of the barrel along the third direction intersects with the barrel in the second reference plane of the barrel.

[0205] As a specific example, the second feature point may be a projection point of a second preset position on a second reference plane of the lens barrel along a second direction.

[0206] In a specific implementation, the location of the third characteristic point on the lens barrel can be determined according to specific circumstances. For example, the third characteristic point can be set on the second reference plane of the lens barrel.

[0207] As an optional implementation, the setting position of the third feature point may include at least one of the following: set at a position where the outer diameter of the barrel along the first direction intersects with the barrel in the second reference plane of the barrel; set at a position where the outer diameter of the barrel along the third direction intersects with the barrel in the second reference plane of the barrel.

[0208] As a specific example, the third feature point is set at a position where the outer diameter of the lens barrel along the third direction intersects the lens barrel in the second reference plane of the lens barrel.

[0209] By adopting the above technical solution, the position where the outer diameter of the lens barrel along the third direction intersects with the lens barrel in the second reference plane of the lens barrel has the maximum spacing of the lens barrel along the third direction. If the lens barrel has a coordinate deviation in the third direction, for example, the lens barrel is deformed along the third direction, the accuracy of the coordinate deviation information of the lens barrel in the third direction can be improved by analyzing the current second coordinate information of the third feature point in the third direction and the preset second coordinate information.

[0210] It should be noted that the above embodiment does not limit the setting positions of the second feature point and the third feature point, and the second feature point and the third feature point may also be set at other positions of the second reference plane.

[0211] It can be understood that the above describes multiple implementation schemes provided by the embodiments of the present invention. The optional implementation methods and specific examples introduced in each implementation scheme can be combined and cross-referenced with each other without conflict, thereby extending a variety of possible implementation schemes, which can all be considered as the implementation schemes disclosed and open to the public by the present invention.

[0212] In order to enable those skilled in the art to better understand and implement, the present invention is described in detail below through specific examples and in combination with specific application scenarios.

[0213] As a specific example, refer to Figure 1A , Figure 1B as well as Figure 5 , Figure 5A specific flow chart of a method for positioning a dispensing glue in an embodiment of the present invention is shown. The dispensing glue positioning method can be applied to a dispensing glue system, the dispensing glue system is provided with a coordinate system, the coordinate system has a first direction (x-axis direction), a second direction (y-axis direction) and a third direction (z-axis direction) which are mutually perpendicular, the first direction is perpendicular to the first reference plane J1, the second direction is perpendicular to the second reference plane J2, and the third direction is perpendicular to the third reference plane J3. The lens barrel G is positioned in the dispensing glue system with the first reference plane J1 and the third reference plane J3. The dispensing glue positioning method can be used to perform dispensing glue positioning on the position of the dispensing glue slot 1e by using the following steps:

[0214] S01, determining current position information of the glue dispensing slot relative to the lens barrel according to current first information of the lens barrel.

[0215] Specifically, the current position information of the dispensing groove 1e relative to the lens barrel G can be: the distance x between the first feature point a1 (located at the end of the dispensing groove 1e) and the first reference plane J1 on the current lens barrel G a11 , the distance y from the second reference plane J2 a11 ; The distance x between the second characteristic point a2 (located at the other end of the dispensing groove 1e) and the first reference plane J1 on the current lens barrel G a21 , the distance y from the second reference plane J2 a21 .

[0216] S02, determining the posture deviation information of the dispensing groove relative to the lens barrel according to the current posture information and the preset posture information.

[0217] Specifically, the preset position information of the dispensing groove relative to the lens barrel can be: the distance x between the first characteristic point a1 of the dispensing groove 1e on the standard part of the lens barrel G and the first reference plane J1 a12 , the distance y from the second reference plane J2 a12 ; The distance x between the second characteristic point a2 of the dispensing groove 1e of the current lens barrel G and the first reference plane J1 a22 , the distance y from the second reference plane J2 a22 The position deviation information of the dispensing groove 1e relative to the lens barrel G can be: the position deviation information of the first feature point a1 (x a11 -x a12 ,y a11 -y a12 ), the posture deviation information of the second feature point a2 (x a21 -x a22 ,y a21 -y a22 ).

[0218] S03, determining the current second coordinate information of the lens barrel in the second direction of the coordinate system of the dispensing system according to the current second information of the lens barrel.

[0219] Specifically, the current second information of the lens barrel can be: the distance y between the second feature point b on the second reference plane J2 of the current lens barrel G and the second information acquisition device (not shown in the figure) in the second direction of the coordinate system of the dispensing system b1 .

[0220] S04, determining the coordinate deviation information of the lens barrel in the second direction of the dispensing system according to the current second coordinate information in the second direction and the preset second coordinate information.

[0221] Specifically, the preset second information of the lens barrel can be: the distance y between the second characteristic point b on the second reference plane J2 of the standard part of the lens barrel G and the second information acquisition device in the second direction of the coordinate system of the dispensing system b2 ; The coordinate deviation information of the lens barrel G in the second direction of the dispensing system can be y b1 -y b2 .

[0222] S05 , determining current second coordinate information of the lens barrel in a third direction of the coordinate system of the dispensing system according to the current third information of the lens barrel.

[0223] Specifically, the current second coordinate information of the lens barrel in the third direction of the coordinate system of the dispensing system can be: the coordinate component z of the third feature point c on the second reference plane J2 of the current lens barrel G in the third direction of the coordinate system of the dispensing system c1 .

[0224] S06, determining the coordinate deviation information of the lens barrel in the third direction of the dispensing system according to the current second coordinate information in the third direction and the preset second coordinate information.

[0225] Specifically, the preset second coordinate information of the lens barrel in the third direction of the coordinate system of the dispensing system can be: the coordinate component z of the third feature point c on the second reference plane J2 of the standard part of the lens barrel G in the third direction of the coordinate system of the dispensing system c2 ; The coordinate deviation information of the lens barrel G in the third direction of the dispensing system can be z c1 -z c2 .

[0226] S07, determining the current first coordinate information of the glue dispensing slot in the coordinate system of the glue dispensing system based on the posture deviation information of the glue dispensing slot relative to the lens barrel, the coordinate deviation information of the lens barrel in the second direction of the glue dispensing system, the coordinate deviation information of the lens barrel in the third direction of the glue dispensing system, and the preset first coordinate information of the glue dispensing slot in the coordinate system of the glue dispensing system.

[0227] Specifically, the preset first coordinate information of the dispensing slot 1e in the coordinate system of the dispensing system can be: the preset first coordinate information (x1, y1, z1) of the first feature point a1, the preset first coordinate information (x2, y2, z2) of the first feature point a2; the current first coordinate information of the dispensing slot 1e in the coordinate system of the dispensing system can be: the current first coordinate information (x1+x1) of the first feature point a1 in the coordinate system of the dispensing system a11 -x a12 ,y1+y a11 -y a12 +y b1 -y b2 , z1+z c1 -z c2 ), the current first coordinate information of the first feature point a2 in the coordinate system of the dispensing system (x2+x a21 -x a22 ,y2+y a21 -y a22 +y b1 -y b2 , z2+z c1 -z c2 ).

[0228] By adopting the above technical solution, the preset first coordinate information is compensated through the posture deviation information of the glue dispensing slot relative to the lens barrel and the coordinate deviation information of the lens barrel in the second direction and the third direction, and the current first coordinate information can be obtained. Compared with the error between the preset first coordinate information and the real coordinate information of the glue dispensing slot in the coordinate system of the glue dispensing system, the current first coordinate information can reduce the error between the real coordinate information, thereby providing a basis for improving the positioning accuracy of the glue dispensing system and the glue dispensing slot.

[0229] As an optional implementation, combine Figure 1B During dispensing, the glue in the dispensing head can be transported to the surface of the dispensing groove along the z direction.

[0230] Correspondingly, for ease of implementation, an embodiment of the present invention further provides a glue dispensing positioning device, which is arranged in a glue dispensing system. The glue dispensing positioning device can determine the current posture information of the glue dispensing slot relative to the lens barrel, wherein the glue dispensing slot is arranged in the lens barrel; it can also determine the posture deviation information of the glue dispensing slot relative to the lens barrel based on the current posture information and preset posture information; and can determine the current first coordinate information of the glue dispensing slot in the coordinate system of the glue dispensing system based on the posture deviation information and the preset first coordinate information of the glue dispensing slot in the coordinate system of the glue dispensing system; wherein the posture deviation information is adapted to the current first coordinate information; and the current first coordinate information is suitable for the glue dispensing system to determine the position of the glue dispensing slot.

[0231] By adopting the above technical solution, the glue dispensing positioning device compensates the preset first coordinate information through the posture deviation information to determine the current first coordinate information. Compared with the error between the preset first coordinate information and the actual coordinate information of the glue dispensing slot in the coordinate system of the glue dispensing system, the current first coordinate information determined by the glue dispensing positioning device can reduce the error between the actual coordinate information, thereby providing a basis for improving the positioning accuracy of the glue dispensing system and the glue dispensing slot.

[0232] In a specific implementation, the glue dispensing positioning device can use the glue dispensing positioning method in any of the aforementioned embodiments to determine the current first coordinate information of the glue dispensing slot in the coordinate system of the glue dispensing system.

[0233] Accordingly, in order to facilitate implementation, the embodiment of the present invention also provides a dispensing system, referring to Figure 6 , Figure 6 The schematic diagram of the structure of a dispensing system in an embodiment of the present invention is shown. The dispensing system 10 may include:

[0234] The glue dispensing positioning device 11 can determine the current posture information of the glue dispensing slot relative to the lens barrel, wherein the glue dispensing slot is arranged on the lens barrel; the glue dispensing positioning device 11 can also determine the posture deviation information of the glue dispensing slot relative to the lens barrel according to the current posture information and the preset posture information; and can determine the current first coordinate information of the glue dispensing slot in the coordinate system of the glue dispensing system according to the posture deviation information and the preset first coordinate information of the glue dispensing slot in the coordinate system of the glue dispensing system; wherein the posture deviation information is adapted to the current first coordinate information; and the current first coordinate information is suitable for the glue dispensing system to determine the position of the glue dispensing slot.

[0235] By adopting the above technical solution, the glue dispensing positioning device compensates the preset first coordinate information through the posture deviation information to determine the current first coordinate information. Compared with the error between the preset first coordinate information and the actual coordinate information of the glue dispensing slot in the coordinate system of the glue dispensing system, the current first coordinate information determined by the glue dispensing positioning device can reduce the error between the actual coordinate information, thereby providing a basis for improving the positioning accuracy of the glue dispensing system and the glue dispensing slot.

[0236] As an optional implementation, refer to Figure 6 The glue dispensing system 10 may further include: a first information acquisition device 12, which may acquire the current first information of the lens barrel; the glue dispensing positioning device 11 may also determine the current position information of the glue dispensing slot relative to the lens barrel based on the current first information.

[0237] In a specific implementation, the first information may be multimedia data information, for example, one or more of image information, video information or other multimedia data information.

[0238] As an optional implementation, refer to Figure 6 The glue dispensing system 10 may further include: a glue dispensing station 13e, which may dispense glue to the glue dispensing slot according to the current first coordinate information of the glue dispensing slot output by the glue dispensing positioning device.

[0239] In a specific implementation, there may be multiple glue dispensing slots, and there may be multiple glue dispensing stations, and each glue dispensing station corresponds to each glue dispensing slot one by one.

[0240] In a specific implementation, the current first information of the lens barrel may include at least one of the following: the current first information of the lens barrel acquired by the first information acquisition device along the third direction of the coordinate system of the dispensing system; the current first information of the lens barrel acquired by the first information acquisition device from a first preset position, wherein the first preset position is located at a dispensing station corresponding to the first dispensing slot for dispensing.

[0241] As an optional implementation, the first information may be image information, the first information acquisition device may be an image acquisition device, and the first information acquisition device may use a camera to acquire current first information and preset first information from a first preset position along a third direction of the coordinate system of the dispensing system.

[0242] By adopting the above technical solution, when there are multiple glue dispensing slots on the lens barrel, compared with using multiple cameras at different preset positions to obtain the current first information and preset first information corresponding to different glue dispensing slots, only setting the first information acquisition device at the first preset position can obtain all the current first information and preset first information, which can simplify the steps of obtaining the current first information and can also reduce the number of first information acquisition devices, the space occupied and the use cost.

[0243] It should be noted that the above embodiment does not limit the method for obtaining the current first information and the preset first information, and the current first information can be obtained in a method different from that of obtaining the preset first information.

[0244] As an optional implementation, refer to Figure 6 , the dispensing system 10 may further include: a second information acquisition device 14e, the second information acquisition device 14e may acquire current second information of the lens barrel, wherein the current second information is adapted to second coordinate information of the lens barrel in a second direction of a coordinate system of the dispensing system;

[0245] The glue dispensing positioning device 11 can also determine the current second coordinate information of the lens barrel in the second direction of the coordinate system of the glue dispensing system according to the current second information of the lens barrel; and can determine the coordinate deviation information of the lens barrel in the second direction of the coordinate system of the glue dispensing system according to the current second coordinate information of the lens barrel in the second direction and the preset second coordinate information; and can determine the current first coordinate information of the glue dispensing slot in the coordinate system of the glue dispensing system according to the posture deviation information, the preset first coordinate information of the glue dispensing slot in the coordinate system of the glue dispensing system, and the coordinate deviation information of the lens barrel in the second direction.

[0246] By adopting the above technical scheme, compared with the error between the preset first coordinate information and the actual coordinate information of the glue dispensing slot in the coordinate system of the glue dispensing system, the preset first coordinate information is compensated in the second direction by the second information acquisition device and the glue dispensing positioning device, which can reduce the error between the current first coordinate information and the actual coordinate information in the second direction. At the same time, it can also eliminate the error caused by the installation of the lens barrel on each glue dispensing station. Therefore, the above technical scheme can provide a basis for improving the positioning accuracy of the glue dispensing system and the glue dispensing slot.

[0247] In a specific implementation, the second information acquisition device may include at least one of the following: the second information acquisition device is suitable for acquiring the current second information of the lens barrel along the second direction; the second information acquisition device is suitable for acquiring the current second information of the lens barrel from a second preset position, wherein the second preset position is located at a dispensing station corresponding to a dispensing slot for dispensing.

[0248] In a specific implementation, the second information may be distance information. The second information acquisition device may adopt one or more of the following distance measuring devices, for example, one or more of a rangefinder, a radar, etc.; and the second information may be acquired in one or more of the following ways, for example, the second information may be acquired along a second direction of the coordinate system of the dispensing system; for example, the second information of the lens barrel may be acquired from a second preset position, wherein the second preset position may be located at a dispensing station corresponding to a dispensing tank for dispensing.

[0249] As a specific example, the second information may be distance information, and the second information acquisition device may use a rangefinder to acquire the current second information and the preset second information from the second preset position along the second direction.

[0250] In a specific implementation, the number of the second information acquisition devices is adapted to the number of the dispensing stations.

[0251] As an optional implementation, refer to Figure 6 , the dispensing system 10 may further include: a third information acquisition device 15e, the third information acquisition device 15e may acquire current third information of the lens barrel, wherein the current third information is adapted to the second coordinate information of the lens barrel in the third direction of the coordinate system of the dispensing system;

[0252] The glue dispensing positioning device 11 can also determine the current second coordinate information of the lens barrel in the third direction of the coordinate system of the glue dispensing system according to the current third information of the lens barrel; and can determine the coordinate deviation information of the lens barrel in the third direction of the coordinate system of the glue dispensing system according to the current second coordinate information of the lens barrel in the third direction and the preset second coordinate information; and is suitable for determining the current first coordinate information of the glue dispensing slot in the coordinate system of the glue dispensing system according to the posture deviation information, the preset first coordinate information of the glue dispensing slot in the coordinate system of the glue dispensing system, and the coordinate deviation information of the lens barrel in the third direction.

[0253] By adopting the above technical scheme, compared with the error between the preset first coordinate information and the actual coordinate information of the glue dispensing slot in the coordinate system of the glue dispensing system, the preset first coordinate information is compensated in the third direction through the third information acquisition device and the glue dispensing positioning device. This can reduce the error between the current first coordinate information and the actual coordinate information in the third direction. At the same time, it can also eliminate the error caused by the installation of the lens barrel on each glue dispensing station. Therefore, the above technical scheme can provide a basis for improving the positioning accuracy of the glue dispensing system and the glue dispensing slot.

[0254] In a specific implementation, the third information acquisition device may include at least one of the following: the third information acquisition device can acquire the current third information of the lens barrel along the second direction; the third information acquisition device can acquire the current third information of the lens barrel from a third preset position, wherein the third preset position is located at a glue dispensing station corresponding to a glue dispensing slot for glue dispensing.

[0255] In a specific implementation, the third information may be multimedia data information, for example, one or more of image information, video information or other multimedia data information.

[0256] As an optional implementation method, the third information acquisition device can adopt the following image acquisition device, for example, it can adopt one or more of a camera, a video camera, etc.; and the third information can be acquired in one or more of the following ways, for example, the third information can be acquired along the third direction of the coordinate system of the dispensing system; for example, the third information of the lens barrel can be acquired from a third preset position, wherein the third preset position can be located at the dispensing station corresponding to the dispensing slot where dispensing is performed.

[0257] As a specific example, the third information may be image information, and the third information acquisition device may use a camera to acquire the current third information and the preset third information from the third preset position along the third direction.

[0258] In a specific implementation, each dispensing station has a lens image information acquisition device for assisting the assembly between the lens and the lens barrel, and the lens image information acquisition device can be used as the third information acquisition device.

[0259] Specifically, by using the existing lens image information acquisition device in each dispensing station as the third information acquisition device, the number of devices in each dispensing station, the space occupied by the new third information acquisition device and the use cost can be reduced. At the same time, the modification needs and modification costs of each dispensing station can also be reduced, and the adaptability of the dispensing positioning method can be increased.

[0260] It should be noted that the above-mentioned embodiment does not limit the method for obtaining the current second information and the preset second information, and the current second information can be obtained in a method different from the preset second information; similarly, the above-mentioned embodiment does not limit the method for obtaining the current third information and the preset third information, and the current third information can be obtained in a method different from the preset third information.

[0261] It can be understood that the above describes multiple implementation schemes provided by the embodiments of the present invention. The optional implementation methods and specific examples introduced in each implementation scheme can be combined and cross-referenced with each other without conflict, thereby extending a variety of possible implementation schemes, which can all be considered as the implementation schemes disclosed and open to the public by the present invention.

[0262] Although the embodiments of the present invention are disclosed above, the present invention is not limited thereto. Any person skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the scope defined by the claims.

Claims

1. A dispensing positioning method, characterized in that: The dispensing positioning method is applied to a dispensing system, and the method comprises: Determine current position information of the glue dispensing slot relative to the lens barrel, wherein the glue dispensing slot is arranged on the lens barrel; Determining the posture deviation information of the dispensing groove relative to the lens barrel according to the current posture information and the preset posture information; Determine the current first coordinate information of the glue dispensing slot in the coordinate system of the glue dispensing system according to the posture deviation information and the preset first coordinate information of the glue dispensing slot in the coordinate system of the glue dispensing system; Among them, the posture deviation information is compatible with the current first coordinate information; the current first coordinate information is suitable for the dispensing system to determine the position of the dispensing slot.

2. The method for dispensing and positioning according to claim 1, characterized in that: The step of determining the current position information of the dispensing slot relative to the lens barrel includes: According to the current first information of the lens barrel, the current position information of the glue dispensing slot relative to the lens barrel is determined.

3. The method for dispensing and positioning according to claim 2, characterized in that: The number of the dispensing tanks is multiple, and the dispensing system includes multiple dispensing stations, each dispensing station corresponds to each dispensing tank one by one; The step of determining the current position information of the dispensing slot relative to the lens barrel according to the current first information of the lens barrel includes: According to the current first information of the lens barrel, a plurality of current position information corresponding to the plurality of dispensing grooves relative to the lens barrel is determined.

4. The method for dispensing and positioning according to claim 3, characterized in that: The current first information of the lens barrel includes at least one of the following: Current first information of the lens barrel acquired along a third direction of the coordinate system of the dispensing system; The current first information of the lens barrel is obtained from a first preset position, wherein the first preset position is located at a glue dispensing station corresponding to a first glue dispensing slot for glue dispensing.

5. The method according to claim 1, characterized in that: The lens barrel is configured to include a first reference surface, a second reference surface, and a third reference surface, wherein the lens barrel is fixed to the glue dispensing station of the glue dispensing system through at least two of the first reference surface, the second reference surface, and the third reference surface; The step of determining the current position information of the dispensing slot relative to the lens barrel includes: Determine a first distance between the glue dispensing slot and the first reference plane, and a second distance between the glue dispensing slot and the second reference plane.

6. The method for dispensing and positioning according to claim 5, characterized in that: The dispensing slot is configured to include one or more first feature points; The first distance of the dispensing groove relative to the first reference plane includes: the first distance of the first characteristic point relative to the first reference plane; The second distance between the dispensing groove and the second reference plane includes: the second distance between the first feature point and the second reference plane.

7. The method for dispensing and positioning according to claim 6, characterized in that: The first reference plane is perpendicular to a first direction of a coordinate system of the dispensing system; The second reference plane is perpendicular to a second direction of a coordinate system of the dispensing system.

8. The method for dispensing and positioning according to claim 6, characterized in that: The first characteristic point is arranged at two ends of the glue dispensing groove along the length direction.

9. The dispensing positioning method according to any one of claims 1 to 8, characterized in that: Also includes: Determine the current second coordinate information of the lens barrel in the coordinate system of the dispensing system; According to the current second coordinate information of the lens barrel and the preset second coordinate information, the coordinate deviation information of the lens barrel in the coordinate system of the dispensing system is determined.

10. The method for dispensing and positioning according to claim 9, characterized in that: Determining the current first coordinate information of the glue dispensing slot in the coordinate system of the glue dispensing system according to the posture deviation information and the preset first coordinate information of the glue dispensing slot in the coordinate system of the glue dispensing system includes: According to the posture deviation information, the preset first coordinate information of the glue dispensing slot in the coordinate system of the glue dispensing system, and the coordinate deviation information of the lens barrel, the current first coordinate information of the glue dispensing slot in the coordinate system of the glue dispensing system is determined.

11. The method for dispensing and positioning according to claim 10, characterized in that: The determining of the current second coordinate information of the lens barrel in the coordinate system of the dispensing system includes at least one of the following: Determine the current second coordinate information of the lens barrel in the second direction of the coordinate system of the dispensing system according to the current second information of the lens barrel; According to the current third information of the lens barrel, the current second coordinate information of the lens barrel in the third direction of the coordinate system of the dispensing system is determined.

12. The method for dispensing and positioning according to claim 11, characterized in that: Determining the coordinate deviation information of the lens barrel in the coordinate system of the dispensing system according to the current second coordinate information of the lens barrel and the preset second coordinate information includes at least one of the following: Determine coordinate deviation information of the lens barrel in the second direction of the coordinate system of the dispensing system according to current second coordinate information of the lens barrel in the second direction and preset second coordinate information; According to the current second coordinate information of the lens barrel in the third direction and the preset second coordinate information, the coordinate deviation information of the lens barrel in the third direction of the coordinate system of the dispensing system is determined.

13. The method for dispensing and positioning according to claim 11, characterized in that: The lens barrel is configured to include one or more second characteristic points; the lens barrel is configured to include one or more third characteristic points; Determining the coordinate deviation information of the lens barrel in the coordinate system of the dispensing system according to the current second coordinate information of the lens barrel and the preset second coordinate information includes at least one of the following: Determine coordinate deviation information of the lens barrel in the second direction of the coordinate system of the dispensing system according to current second coordinate information of the second feature point in the second direction and preset second coordinate information; According to the current second coordinate information of the third feature point in the third direction and the preset second coordinate information, the coordinate deviation information of the lens barrel in the third direction of the coordinate system of the dispensing system is determined.

14. The method for dispensing and positioning according to claim 13, characterized in that: The second feature point is set on a second reference plane of the lens barrel, wherein the second reference plane of the lens barrel intersects with the optical axis of the lens barrel.

15. The method for dispensing and positioning according to claim 13, characterized in that: The third feature point is set on a second reference plane of the lens barrel, wherein the second reference plane of the lens barrel intersects with the optical axis of the lens barrel.

16. The method for dispensing and positioning according to claim 11, characterized in that: The current second information of the lens barrel includes at least one of the following: current second information of the lens barrel acquired along the second direction; The current second information of the lens barrel is obtained from a second preset position, wherein the second preset position is located at a glue dispensing station corresponding to a glue dispensing slot for performing glue dispensing.

17. The method for dispensing and positioning according to claim 11, characterized in that: The current third information of the lens barrel includes: Current third information of the lens barrel acquired along the second direction; The current third information of the lens barrel is obtained from a third preset position, wherein the third preset position is located at a glue dispensing station corresponding to a glue dispensing slot for performing glue dispensing.

18. A dispensing positioning device, characterized in that: The glue dispensing positioning device is arranged in the glue dispensing system; The glue dispensing positioning device is suitable for determining the current position information of the glue dispensing slot relative to the lens barrel, wherein the glue dispensing slot is arranged on the lens barrel; Determining the posture deviation information of the dispensing groove relative to the lens barrel according to the current posture information and the preset posture information; Determine the current first coordinate information of the glue dispensing slot in the coordinate system of the glue dispensing system according to the posture deviation information and the preset first coordinate information of the glue dispensing slot in the coordinate system of the glue dispensing system; Among them, the posture deviation information is compatible with the current first coordinate information; the current first coordinate information is suitable for the dispensing system to determine the position of the dispensing slot.

19. A dispensing system, characterized in that: include: The glue dispensing positioning device as described in claim 18.

20. The dispensing system according to claim 19, characterized in that: Also includes: A first information acquisition device, adapted to acquire current first information of the lens barrel; The glue dispensing positioning device is suitable for determining the current position information of the glue dispensing groove relative to the lens barrel according to the current first information.

21. The dispensing system according to claim 20, characterized in that: Also includes: The glue dispensing station is suitable for dispensing glue on the glue dispensing slot according to the current first coordinate information of the glue dispensing slot output by the glue dispensing positioning device.

22. The dispensing system according to claim 21, characterized in that: There are multiple glue dispensing slots, and there are multiple glue dispensing stations, and each glue dispensing station corresponds to each glue dispensing slot one by one.

23. The dispensing system according to claim 22, characterized in that: The current first information of the lens barrel includes at least one of the following: The first information of the lens barrel acquired by the first information acquisition device along the third direction of the coordinate system of the dispensing system; The first information acquisition device acquires the current first information of the lens barrel from a first preset position, wherein the first preset position is located at a glue dispensing station corresponding to a first glue dispensing slot for glue dispensing.

24. The dispensing system according to claim 20, characterized in that: The current first information is image information, and the first information acquisition device is an image acquisition device.

25. The dispensing system according to any one of claims 19 to 24, characterized in that: Also includes: A second information acquisition device, adapted to acquire current second information of the lens barrel, wherein the current second information is adapted to second coordinate information of the lens barrel in a second direction of a coordinate system of the dispensing system; and / or, The third information acquisition device is adapted to acquire current third information of the lens barrel, wherein the current third information is adapted to second coordinate information of the lens barrel in a third direction of the coordinate system of the dispensing system.

26. The dispensing system according to claim 25, characterized in that: The dispensing positioning device is adapted to determine the current second coordinate information of the lens barrel in the second direction of the coordinate system of the dispensing system according to the current second information of the lens barrel; and determine the coordinate deviation information of the lens barrel in the second direction of the coordinate system of the dispensing system according to the current second coordinate information of the lens barrel in the second direction and the preset second coordinate information; And based on the posture deviation information, the preset first coordinate information of the glue dispensing slot in the coordinate system of the glue dispensing system, and the coordinate deviation information of the lens barrel in the second direction, the current first coordinate information of the glue dispensing slot in the coordinate system of the glue dispensing system is determined.

27. The dispensing system according to claim 25, characterized in that: The dispensing positioning device is adapted to determine the current second coordinate information of the lens barrel in the third direction of the coordinate system of the dispensing system according to the current third information of the lens barrel; and determine the coordinate deviation information of the lens barrel in the third direction of the coordinate system of the dispensing system according to the current second coordinate information of the lens barrel in the third direction and the preset second coordinate information; And based on the posture deviation information, the preset first coordinate information of the glue dispensing slot in the coordinate system of the glue dispensing system, and the coordinate deviation information of the lens barrel in the third direction, the current first coordinate information of the glue dispensing slot in the coordinate system of the glue dispensing system is determined.

28. The dispensing system according to claim 25, characterized in that: The second information acquisition device is adapted to acquire the current second information of the lens barrel, including at least one of the following: The second information acquisition device is adapted to acquire current second information of the lens barrel along the second direction; The second information acquisition device is suitable for acquiring the current second information of the lens barrel from a second preset position, wherein the second preset position is located at a glue dispensing station corresponding to a glue dispensing slot for glue dispensing.

29. The dispensing system according to claim 25, characterized in that: The current second information is distance information, and the second information acquisition device is a distance measuring device.

30. The dispensing system according to claim 25, characterized in that: The third information acquisition device is adapted to acquire the current third information of the lens barrel, including at least one of the following: The third information acquisition device is adapted to acquire the current third information of the lens barrel along the second direction; The third information acquisition device is suitable for acquiring the current third information of the lens barrel from a third preset position, wherein the third preset position is located at a glue dispensing station corresponding to a glue dispensing slot for performing glue dispensing.

31. The dispensing system according to claim 25, characterized in that: The current third information is image information, and the third information acquisition device is an image acquisition device.

32. The dispensing system according to claim 25, characterized in that: The third information acquisition device is also suitable for assisting the assembly between the lens and the lens barrel.

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