Dispensing positioning method and device and dispensing system

Abstract

The embodiment of the present application provides a dispensing positioning method, a device and a dispensing system, wherein the dispensing positioning method is applied to the dispensing system, and the method comprises the following steps: determining current pose information of a dispensing groove relative to a lens barrel, wherein the dispensing groove is arranged on the lens barrel; determining pose deviation information of the dispensing groove relative to the lens barrel according to the current pose information and preset pose information; 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; and the current first coordinate information is suitable for the dispensing system to determine the position of the dispensing groove. The above technical solution can provide a basis for improving the positioning accuracy of the dispensing system and the dispensing groove.

Description

TECHNICAL FIELD

[0001] Embodiments of the present application relate to the technical field of radar, in particular to a dispensing positioning method and device and dispensing system. BACKGROUND

[0002] Radar is an electronic device for detecting and tracking targets. The working principle of radar is to emit a detection beam to a target, compare the echo beam reflected from the target with the detection beam to obtain the pose information of the target, and thus detect and track the target.

[0003] The lens module is an important component of the radar and is used for shaping 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 dispensing groove corresponding to the lens. After determining the position of the dispensing groove, the dispensing positioning device performs a dispensing operation on the 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 dispensing work station needs to be accurately positioned with the dispensing groove. Therefore, how to provide an improved technical solution to improve the positioning accuracy of the dispensing work station and the dispensing groove has become a problem to be solved. SUMMARY

[0004] Therefore, embodiments of the present application provide a dispensing positioning method, device and system, which can provide a basis for improving the positioning accuracy of the dispensing system and the dispensing groove.

[0005] Firstly, the present application provides a dispensing positioning method applied to a dispensing system, which comprises:

[0006] determining the current pose information of the dispensing groove relative to the lens barrel, wherein the dispensing groove is arranged on the lens barrel;

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

[0008] determining the current first coordinate information of the dispensing groove in the coordinate system of the dispensing system according to the pose deviation information and the preset first coordinate information of the dispensing groove in the coordinate system of the dispensing system;

[0009] wherein the pose deviation information is adapted to the current first coordinate information; and the current first coordinate information is adapted to the dispensing system to determine the position of the dispensing groove.

[0010] Optionally, the determination of the current pose information of the dispensing groove relative to the lens barrel comprises:

[0011] determining the current pose information of the dispensing groove relative to the lens barrel according to the current first information of the lens barrel.

[0012] Optionally, the number of the glue dispensing grooves is plural, and the glue dispensing system comprises a plurality of glue dispensing workstations, each of which corresponds to one of the glue dispensing grooves;

[0013] The current pose information of the glue dispensing groove relative to the lens barrel is determined according to the current first information of the lens barrel, and the current pose information of the glue dispensing groove relative to the lens barrel is determined according to the current first information of the lens barrel.

[0014] The current pose information of the glue dispensing groove relative to the lens barrel is determined according to the current first information of the lens barrel, and the current pose information of the glue dispensing groove relative to the lens barrel is determined according to the current first information of the lens barrel.

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

[0016] The current first information of the lens barrel is obtained along a third direction of a coordinate system of the glue 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 workstation corresponding to a first glue dispensing groove.

[0018] Optionally, the lens barrel is configured to comprise a first reference surface, a second reference surface and a third reference surface, wherein the lens barrel is fixed to the glue dispensing workstation of the glue dispensing system through at least two of the first reference surface, the second reference surface and the third reference surface.

[0019] The current pose information of the glue dispensing groove relative to the lens barrel is determined according to the current first information of the lens barrel, and the current pose information of the glue dispensing groove relative to the lens barrel is determined according to the current first information of the lens barrel.

[0020] The first distance of the glue dispensing groove relative to the first reference surface and the second distance of the glue dispensing groove relative to the second reference surface are determined.

[0021] Optionally, the glue dispensing groove is configured to comprise one or more first feature points.

[0022] The first distance of the glue dispensing groove relative to the first reference surface comprises a first distance of the first feature point relative to the first reference surface.

[0023] The second distance of the glue dispensing groove relative to the second reference surface comprises a second distance of the first feature point relative to the second reference surface.

[0024] Optionally, the first reference surface is perpendicular to a first direction of a coordinate system of the glue dispensing system.

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

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

[0027] Optionally, the method further comprises:

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

[0029] determine 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 preset second coordinate information.

[0030] Optionally, the determining the current first coordinate information of the dispensing groove in the 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 comprises:

[0031] determining the current first coordinate information of the dispensing groove in the coordinate system of the dispensing system according to the pose deviation information, the preset first coordinate information of the dispensing groove in the coordinate system of the dispensing system and the coordinate deviation information of the lens barrel.

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

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

[0034] determining the current second coordinate information of the lens barrel in a third direction of the coordinate system of the dispensing system according to current third information of the lens barrel.

[0035] Optionally, the 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 preset second coordinate information comprises at least one of:

[0036] determining 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 preset second coordinate information;

[0037] determining 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 preset second coordinate information.

[0038] Optionally, the lens barrel is configured to comprise one or more second feature points; and the lens barrel is configured to comprise one or more third feature points.

[0039] the 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 preset second coordinate information comprises at least one of:

[0040] determine 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 second feature point in the second direction and preset second coordinate information;

[0041] determine 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 third feature point in the third direction and preset second coordinate information.

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

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

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

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

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

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

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

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

[0050] Correspondingly, the embodiment of the application further provides a dispensing positioning device, which is arranged in a dispensing system.

[0051] The dispensing positioning device is adapted to determine current pose information of a dispensing slot relative to a lens barrel, wherein the dispensing slot is arranged in the lens barrel.

[0052] determine pose deviation information of the dispensing slot relative to the lens barrel according to the current pose information and preset pose information;

[0053] determine current first coordinate information of the dispensing slot in the coordinate system of the dispensing system according to the pose deviation information and preset first coordinate information of the dispensing slot in the coordinate system of the dispensing system;

[0054] The pose deviation information is matched with the current first coordinate information, and the current first coordinate information is matched with the position of the dispensing slot determined by the dispensing system.

[0055] Correspondingly, the embodiment of the application further provides a dispensing system, comprising:

[0056] The dispensing positioning device is as described in any of the foregoing embodiments.

[0057] Optionally, the system further comprises:

[0058] The first information acquisition device is adapted to acquire the current first information of the lens barrel.

[0059] The dispensing positioning device is adapted to determine the current pose information of the dispensing slot relative to the lens barrel according to the current first information.

[0060] Optionally, the system further comprises:

[0061] The dispensing work station is adapted to dispense the dispensing slot according to the current first coordinate information of the dispensing slot output by the dispensing positioning device.

[0062] Optionally, the number of the dispensing slots is multiple, and the number of the dispensing work stations is multiple, each dispensing work station corresponding to each dispensing slot.

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

[0064] The first information acquisition device acquires the current first information of the lens barrel along a 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 the dispensing work station corresponding to the first dispensing slot.

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

[0067] Optionally, the system further comprises:

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

[0069] And / or,

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

[0071] Optionally, the dispensing positioning device is adapted to determine, according to the current second information of the lens barrel, current second coordinate information of the lens barrel in a second direction of a coordinate system of the dispensing system; determine, according to the current second coordinate information and preset second coordinate information of the lens barrel in the second direction, coordinate deviation information of the lens barrel in the second direction of the coordinate system of the dispensing system; and determine, according to the pose deviation information, the preset first coordinate information of the dispensing groove in the coordinate system of the dispensing system, and the coordinate deviation information of the lens barrel in the second direction, current first coordinate information of the dispensing groove in the coordinate system of the dispensing system.

[0072] Optionally, the dispensing positioning device is further adapted to determine, according to the current third information of the lens barrel, current second coordinate information of the lens barrel in a third direction of a coordinate system of the dispensing system; determine, according to the current second coordinate information and preset second coordinate information of the lens barrel in the third direction, coordinate deviation information of the lens barrel in the third direction of the coordinate system of the dispensing system; and determine, according to the pose deviation information, the preset first coordinate information of the dispensing groove in the coordinate system of the dispensing system, and the coordinate deviation information of the lens barrel in the third direction, current first coordinate information of the dispensing groove in the coordinate system of the dispensing system.

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

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

[0075] The second information acquisition device is adapted to acquire the current second information of the lens barrel from a second preset position, wherein the second preset position is located at a dispensing work station corresponding to a dispensing groove for 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 the 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 adapted to acquire the current third information of the lens barrel from a third preset position, wherein the third preset position is located at a dispensing work station corresponding to a dispensing groove for 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 further adapted to assist assembly between the auxiliary lens and the lens barrel.

[0082] By using the above dispensing positioning scheme, the preset first coordinate information is compensated by the pose deviation information, 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 groove in the coordinate system of the dispensing system, the error between the current first coordinate information and the real coordinate information can be reduced, thereby providing a basis for improving the positioning accuracy of the dispensing system and the dispensing groove.

[0083] Further, the pose information of the dispensing groove relative to the lens barrel is a set of pose information of any point on the dispensing groove relative to the lens barrel, by selecting a point on the dispensing groove as a first feature point, and using the current pose information and the preset pose information of the first feature point relative to the lens barrel to represent the current pose information and the preset pose information of the corresponding dispensing groove relative to the lens barrel, the amount of data to be processed and stored can be reduced, and the difficulty of feature point recognition can be reduced, thereby improving processing efficiency, reducing storage cost, and improving pose measurement accuracy.

[0084] Further, when the number of dispensing grooves on the lens barrel is multiple, compared with acquiring the current first information of different dispensing grooves at different preset positions, the current first information for determining the current pose information of multiple dispensing grooves on the lens barrel relative to the lens barrel can be acquired at only the first preset position, which can simplify the acquisition step of the current first information, omit the conversion process of the current pose information of the lens barrel in different reference systems, and avoid differences in the same current first information caused by changing the preset position.

[0085] Further, when the number of dispensing grooves on the lens barrel is multiple, compared with acquiring the current first information of different dispensing grooves at different preset positions using multiple first information acquisition devices, all the current first information and the preset first information can be acquired at only the first preset position, which can simplify the acquisition step of the current first information, and also reduce the number of image acquisition devices, the occupied space, and the use cost.

[0086] Further, compared with the error between the preset first coordinate information and the real coordinate information of the dispensing groove in the coordinate system of the dispensing system, by compensating the preset first coordinate information in the second direction by the second information acquisition device and the dispensing positioning device, the error between the current first coordinate information and the real coordinate information in the second direction can be reduced, thereby providing a basis for improving the positioning accuracy of the dispensing system and the dispensing groove.

[0087] Further, compared with the error between the preset first coordinate information and the real coordinate information of the dispensing groove in the coordinate system of the dispensing system, the preset first coordinate information is compensated in the third direction by the third information acquisition device and the dispensing positioning device, which can reduce the error between the current first coordinate information and the real coordinate information in the third direction, thereby providing a basis for improving the positioning accuracy of the dispensing system and the dispensing groove. BRIEF DESCRIPTION OF DRAWINGS

[0088] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the description of the embodiments of the present application or the prior art. Obviously, the drawings described below are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor on the basis of these drawings.

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

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

[0091] Figure 3 A flowchart of a dispensing positioning method in an embodiment of the present application is shown.

[0092] Figure 4 A flowchart of another dispensing positioning method in an embodiment of the present application is shown.

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

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

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

[0096] As an optional implementation manner, in combination with the description of Figure 1A and Figure 1B , Figure 1A A structural schematic diagram of a lens barrel is shown, Figure 1B A top view of the lens barrel in Figure 1A 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 matched with a plurality of lenses, wherein the transverse direction of the dispensing groove 1e in Figure 1A The transverse direction of the dispensing groove 1e in Figure 1AThe height direction of the midpoint glue groove 1e is set as the y direction in the coordinate system, Figure 1A The depth direction of the midpoint glue groove 1e is set as the z direction (a direction perpendicular to the paper surface) in the coordinate system.

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

[0098] As an optional implementation, referring to Figure 2 , Figure 2 A glue dispensing method is shown, which can be dispensed by the following steps:

[0099] Step M: obtaining preset first coordinate information of the glue 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 head to dispense glue at the glue groove on the current lens barrel according to the preset first coordinate information through the glue dispensing system.

[0101] Based on the influence of factors such as material properties, temperature changes, processing equipment, the size of the current lens barrel, and the pose information of the glue groove on the current lens barrel compared to the lens barrel, compared to the standard part, there may be errors. In order to ensure the stability of the optical performance of the lens module, the glue dispensing system needs to obtain the accurate positioning of the glue 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 glue dispensing system and the glue groove has become a problem to be solved.

[0102] To solve the above problems, first, the embodiment of the present application provides a dispensing positioning method, which can be applied to a dispensing system. The dispensing positioning method can include: determining current pose information of a dispensing slot arranged on a lens barrel relative to the lens barrel, so as to determine pose deviation information of the dispensing slot relative to the lens barrel according to the current pose information and preset pose information; and then determining current first coordinate information of the dispensing slot in a coordinate system of the dispensing system according to the pose deviation information and preset first coordinate information of the dispensing slot in the coordinate system of the dispensing system.

[0103] By using the above dispensing positioning method, the preset first coordinate information can be compensated by the pose deviation information to obtain the current first coordinate information. 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 with the real coordinate information, thereby providing a basis for improving the positioning accuracy of the dispensing system and the dispensing slot.

[0104] To enable those skilled in the art to better understand the inventive concept, working principle and advantages of the embodiments of the present application, the dispensing positioning method in the embodiments of the present application is described in detail as follows.

[0105] First, the embodiment of the present application provides a dispensing positioning method, which can be applied to a dispensing system. Referring to the flowchart of a dispensing positioning method in the embodiment of the present application shown in Figure 3 In some embodiments of the present application, the dispensing slot can be positioned by the following steps:

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

[0107] The dispensing slot is arranged on the lens barrel.

[0108] Specifically, the current pose information can be the pose information of the dispensing slot on the current lens barrel relative to the current lens barrel.

[0109] As an optional implementation manner, the current pose information of the dispensing slot relative to the lens barrel can be determined according to specific conditions.

[0110] For example, the current pose information of the dispensing slot relative to the lens barrel can include relative position information of the dispensing slot relative to one or more of the reference points, reference lines, reference surfaces or other reference features arranged on the lens barrel.

[0111] For example, the current pose information of the dispensing groove relative to the lens barrel may include: the relative position information of one or more of the reference points, reference lines, reference surfaces or other reference features configured on the dispensing groove relative to the lens barrel.

[0112] For example, the current pose information of the dispensing groove relative to the lens barrel may include: one or more of the reference points, reference lines, reference surfaces or other reference features configured on the dispensing groove, and their relative position information relative to one or more of the reference points, reference lines, reference surfaces or other reference features configured on the lens barrel.

[0113] Step B: Based on the current pose information and the preset pose information, determine the pose deviation information of the adhesive groove relative to the lens barrel.

[0114] Specifically, the preset pose information can be the pose information of the glue 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 can be configured to include a coordinate system to facilitate the positioning of the dispensing location on the dispensing groove. For example, the coordinate system of the dispensing system can be a world coordinate system. Another example is that the coordinate system of the dispensing system can be a lens barrel coordinate system.

[0116] Step C: Based on the pose deviation information and the preset first coordinate information of the dispensing groove in the coordinate system of the dispensing system, determine the current first coordinate information of the dispensing groove in the coordinate system of the dispensing system.

[0117] The pose deviation information is adapted to the current first coordinate information; the current first coordinate information is suitable for the dispensing system to determine the position of the dispensing groove.

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

[0119] By using the above-described dispensing positioning method, the preset first coordinate information can be compensated by the pose 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 groove in the coordinate system of the dispensing system, the current first coordinate information can reduce the error between the current and actual coordinate information, thereby providing a basis for improving the positioning accuracy of the dispensing system and the dispensing groove.

[0120] It should be noted that dispensing refers to an operation of applying glue or adhesive to the surface of a target (e.g., a dispensing groove), and the dispensing positioning method in the embodiments of the present application can be applied to various dispensing processes. For example, the dispensing positioning method can be applied to a needle cylinder dispensing process; for another example, the dispensing positioning method can be applied to a jet dispensing process.

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

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

[0123] As an optional implementation, with reference to Figure 1A and 1B , the first reference surface J1 can be a tangent surface of the side surface of the lens barrel G, the second reference surface J2 can be an end surface perpendicular to the optical axis of the lens barrel G, and the third reference surface J3 can be a tangent surface of the side surface of the lens barrel G. The lens barrel G can be fixed to the dispensing system through the first reference surface J1 and the third reference surface J3.

[0124] In a specific implementation, the pose information of the dispensing groove relative to the lens barrel can include relative position information of the dispensing groove on the lens barrel relative to one or more of the first reference surface, the second reference surface, and the third reference surface of the lens barrel.

[0125] As an optional implementation, with reference to Figure 1A , the pose information of the dispensing groove 1e relative to the lens barrel G can include a first distance of the dispensing groove 1e on the lens barrel G relative to the first reference surface J1 of the lens barrel G, and a second distance of the dispensing groove 1e relative to the second reference surface J2 of the lens barrel G.

[0126] Correspondingly, the current pose information of the dispensing groove relative to the lens barrel can include a current first distance of the dispensing groove on the current lens barrel relative to the first reference surface of the current lens barrel, and a current second distance of the dispensing groove relative to the second reference surface of the current lens barrel.

[0127] The preset pose information of the dispensing groove relative to the lens barrel can include a preset first distance of the dispensing groove on the standard part of the lens barrel relative to the first reference surface of the standard part of the lens barrel, and a preset second distance of the dispensing groove relative to the second reference surface of the standard part of the lens barrel.

[0128] In a specific implementation, the determination of the current pose information of the dispensing groove relative to the lens barrel can include determining the current pose information of the dispensing groove 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 can be the first information of the current lens barrel.

[0130] In specific implementations, the method for obtaining the preset pose information of the dispensing slot relative to the lens barrel can include: obtaining the preset pose information of the dispensing slot relative to the lens barrel according to the preset first information of the standard part of the lens barrel.

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

[0132] In specific implementations, the first information can be multimedia data information, such as one or more of image information, video information, or other multimedia data information.

[0133] Correspondingly, the first information can be obtained by using one or more of the following devices. For example, one or more of a camera, a video camera, a range finder, and the like can be used.

[0134] As an optional implementation, the current first information and the preset first information can be image information, and the current first information and the preset first information can be obtained by using a camera.

[0135] Specifically, the image information can present static information. By selecting 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 requirement for the time required to determine the current pose information and the preset pose information of the dispensing slot relative to the lens barrel, and further reducing the performance requirement, the use cost, and the occupied space of the dispensing system. Meanwhile, contactless measurement by using a camera or other image acquisition device can avoid affecting the pose of the lens barrel during the measurement process, improve the measurement accuracy, and realize automatic real-time measurement.

[0136] As an optional implementation, the current first information and the preset first information can be video information, and the current first information and the preset first information can be obtained by using a video camera.

[0137] Specifically, the video information can present dynamic information composed of multiple frames of image information. By selecting image information as the type of the current first information and the preset first information, the current pose information between multiple frames of image information and the preset pose information can be obtained, and the accuracy of the finally output current pose information and preset pose information can be improved through correction between the current pose information of multiple frames of image information and mutual correction between the preset pose information. Meanwhile, contactless measurement by using a video camera or other video acquisition device can avoid affecting the pose of the lens barrel during the measurement process, improve the measurement accuracy, and realize automatic real-time measurement.

[0138] It should be noted that the above embodiments do not limit the manner of obtaining the current first information and the preset first information, and the current first information can be obtained in a manner different from the preset first information.

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

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

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

[0142] With the above technical solution, the current first distance is parallel to the preset first distance, so that the numerical calculation of the two can be directly performed, and the calculation result can be directly applied to the calculation of the coordinate of 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 numerical calculation of the two can be directly performed, and the calculation result can be directly applied to the calculation of the coordinate of the second direction in the coordinate system of the dispensing system.

[0143] As an optional implementation, the pose deviation information of the dispensing groove relative to the lens barrel can include a difference between the current first distance and the preset first distance along the first direction, and a difference between the current second distance and the preset second distance along the second direction; accordingly, the current first coordinate information of the dispensing groove in the coordinate system of the dispensing system can include the pose deviation information of the dispensing groove relative to the lens barrel, and a sum of the coordinates of the corresponding direction in the preset first coordinate information of the dispensing groove in the coordinate system of the dispensing system.

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

[0145] In specific implementation, the dispensing system can include a dispensing work station, the dispensing work station is adapted to fix the lens barrel, and to dispense the dispensing groove adapted on the lens barrel.

[0146] In specific implementation, the number of dispensing grooves on the lens barrel can be multiple, and accordingly, the dispensing work station can also be multiple, and each dispensing work station can correspond to each dispensing groove.

[0147] Correspondingly, the determining the current pose information of the dispensing groove relative to the lens barrel according to the current first information of the lens barrel can include determining a plurality of current pose information of a plurality of dispensing grooves relative to the lens barrel according to the current first information of the lens barrel.

[0148] Correspondingly, the number of the preset first coordinate information of the dispensing groove in the coordinate system of the dispensing system can be a plurality, and the plurality of preset first coordinate information is adapted to the position information of a plurality of dispensing grooves on the corresponding dispensing work station on the standard part of the lens barrel. The current first coordinate information of the dispensing groove in the coordinate system of the dispensing system can be a plurality, and the plurality of current first coordinate information is adapted to the position information of a plurality of dispensing grooves on the corresponding dispensing work station on the current lens barrel.

[0149] It should be noted that the number of dispensing grooves on the lens barrel can also be one, and correspondingly, the dispensing work station can be one and correspond to the dispensing groove.

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

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

[0152] It should be noted that the embodiment of the application does not make specific limitation on the direction of obtaining the first information, as long as it has a component along the third direction. For example, the first information can be obtained along a direction that forms a 15-degree angle with the third direction; for another example, the first information can be obtained along a direction that forms a 30-degree angle with the third direction.

[0153] In specific implementation, the first preset position can be located in part of the dispensing work stations corresponding to a plurality of dispensing grooves.

[0154] With the above technical solution, when the number of dispensing grooves on the lens barrel is a plurality, compared with obtaining the current first information corresponding to different dispensing grooves at different preset positions, the current first information used to determine the current pose information of a plurality of dispensing grooves on the lens barrel relative to the lens barrel can be obtained only at the first preset positions corresponding to part of the dispensing work stations, thereby simplifying the obtaining step of the current first information, omitting the conversion process of the current pose information of the lens barrel under different reference systems, and avoiding the difference caused by changing the preset position for the same current first information.

[0155] As an optional implementation, the first preset position is located at the dispensing work station corresponding to the first dispensing groove.

[0156] Specifically, when the number of the dispensing grooves on the lens barrel is multiple, compared with acquiring the current first information corresponding to different dispensing grooves respectively at different preset positions, the current first information for determining the current pose information of the multiple dispensing grooves on the lens barrel relative to the lens barrel can be acquired only at the first preset position on the dispensing work station corresponding to the first dispensing groove, which can simplify the acquisition step of the current first information, omit the conversion process of the current pose information of the lens barrel in different reference systems, and avoid the difference caused by changing the preset position for the same current first information.

[0157] In specific implementation, the preset first information of the lens barrel can be acquired in the manner of the aforementioned current first information of the lens barrel or other manners, which will not be described herein.

[0158] In specific implementation, the dispensing groove can include a first feature point, and the pose information of the dispensing groove relative to the lens barrel can include the pose information of the first feature point on the dispensing groove relative to the lens barrel.

[0159] Correspondingly, the current pose information of the dispensing groove relative to the lens barrel can include the current pose information of the first feature point on the dispensing groove relative to the lens barrel, and the preset pose information of the dispensing groove relative to the lens barrel can include the preset pose information of the first feature point on the dispensing groove relative to the lens barrel.

[0160] By using the above technical solution, the pose information of the dispensing groove relative to the lens barrel can be a set of pose information of any point on the dispensing groove relative to the lens barrel, by selecting a point on the dispensing groove as the first feature point, and using the current pose information and the preset pose information of the first feature point relative to the lens barrel to represent the current pose information and the preset pose information of the corresponding dispensing groove relative to the lens barrel, the amount of data to be processed and stored can be reduced, and the difficulty of feature point recognition can be reduced, so that the processing efficiency can be improved, the storage cost can be reduced, and the pose measurement accuracy can be improved.

[0161] In specific implementation, the current pose information of the first feature point on the dispensing groove relative to the lens barrel can include a current first distance of the first feature point on the dispensing groove relative to a first reference surface of a current lens barrel, and a current second distance relative to a second reference surface of the current lens barrel.

[0162] Correspondingly, the preset pose information of the first feature point on the dispensing groove relative to the lens barrel can include a current first distance of the first feature point on the dispensing groove relative to a first reference surface of a standard part of the lens barrel, and a current second distance relative to a second reference surface of the standard part of the lens barrel.

[0163] In specific implementations, the number of the first feature points on the dispensing slot can be one or more.

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

[0165] In specific implementations, the arrangement positions of the first feature points on the dispensing slot can be determined according to specific conditions.

[0166] For example, the first feature points can be arranged at one or more of the following positions: the middle, the end, or other positions along the length direction of the dispensing slot. For another example, the first feature points can be arranged at one or more of the following positions: the middle, the end, or other positions along the width direction of the dispensing slot.

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

[0168] In specific implementations, the first coordinate information of the dispensing slot in the coordinate system of the dispensing system can include coordinate information of the first feature points on the dispensing slot in the coordinate system of the dispensing system.

[0169] Specifically, the current first coordinate information of the dispensing slot in the coordinate system of the dispensing system can be the coordinate information of the first feature points on the dispensing slot on the current lens barrel in the coordinate system of the dispensing system; and the preset first coordinate information of the dispensing slot in the coordinate system of the dispensing system can be the coordinate information of the first feature points on the dispensing slot on the standard part of the lens barrel in the coordinate system of the dispensing system.

[0170] In some other embodiments of the present application, referring to Figure 4 , Figure 4 Another dispensing positioning method in the embodiments of the present application is shown, which can 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 can 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 can 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 of the step C shown in the figure can include: determining, according to the pose deviation information of the dispensing groove relative to the lens barrel, the preset first coordinate information of the dispensing groove in the coordinate system of the dispensing system, and the coordinate deviation information of the lens barrel, the current first coordinate information of the dispensing groove in the coordinate system of the dispensing system.

[0176] With the above technical solution, by compensating the preset first coordinate information through the pose deviation information of the dispensing groove relative to the lens barrel and the coordinate deviation information of the lens barrel, 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 groove 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 groove.

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

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

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

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

[0182] In specific implementations, determining the second coordinate information of the lens barrel in the coordinate system of the dispensing system can include at least one of: determining the second coordinate information of the lens barrel in a second direction of the coordinate system of the dispensing system according to the second information of the lens barrel; and determining the second coordinate information of the lens barrel in a third direction of the coordinate system of the dispensing system according to the third information of the lens barrel.

[0183] As an optional implementation, the determining the current second coordinate information of the lens barrel in the coordinate system of the dispensing system can include at least one of: determining the current second coordinate information of the lens barrel in a 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 a 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. The determining the preset second coordinate information of the lens barrel in the coordinate system of the dispensing system can include at least one of: determining the preset second coordinate information of the lens barrel in a second direction of the coordinate system of the dispensing system according to the preset second information of the lens barrel; and determining the preset second coordinate information of the lens barrel in a 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, the determining the current second coordinate information of the lens barrel in the coordinate system of the dispensing system can include: determining the current second coordinate information of the lens barrel in a 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 a third direction of the coordinate system of the dispensing system according to the current third information of the lens barrel.

[0186] The determining the preset second coordinate information of the lens barrel in the coordinate system of the dispensing system can include: determining the current second coordinate information of the lens barrel in a 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 a third direction of the coordinate system of the dispensing system according to the current third information of the lens barrel.

[0187] Specifically, the current second information of the lens barrel can be the second information of the current lens barrel, and the preset second information of the lens barrel can be the second information of the standard part of the lens barrel. The current third information of the lens barrel can be the third information of the current lens barrel, and the preset third information of the lens barrel can be the third information of the standard part of the lens barrel.

[0188] In specific embodiments, the second information can be distance information. The second information can be acquired by one or more of the following devices, such as a distance meter, a radar, etc. The second information can be acquired by one or more of the following manners, such as acquiring the second information along a second direction of a coordinate system of the dispensing system, or acquiring the second information from a second preset position, wherein the second preset position can be located at a dispensing station corresponding to a dispensing slot.

[0189] As a specific example, the second information can be distance information, and the current second information and the preset second information can be acquired by a distance meter from the second preset position along the second direction.

[0190] In specific embodiments, the third information can be multimedia data information, such as one or more of image information, video information, or other multimedia data information. The third information can be acquired by one or more of the following devices, such as a camera, a video camera, etc. The third information can be acquired by one or more of the following manners, such as acquiring the third information along a second direction of a coordinate system of the dispensing system, or acquiring the third information from a third preset position, wherein the third preset position can be located at a dispensing station corresponding to a dispensing slot.

[0191] As a specific example, the third information can be image information, and the current third information and the preset third information can be acquired by a camera from the third preset position along the second direction.

[0192] It should be noted that the embodiments of the present application do not limit the direction of acquiring the third information, as long as the direction has a component along the second direction. For example, the third information can be acquired along a direction that forms an angle of 15 degrees with the second direction. For another example, the third information can be acquired along a direction that forms an angle of 30 degrees with the second direction.

[0193] It should be noted that the above embodiments do not limit the manner of acquiring the current second information and the preset second information, and the current second information can be acquired by a manner different from the preset second information. Similarly, the above embodiments do not limit the manner of acquiring the current third information and the preset third information, and the current third information can be acquired by a manner different from the preset third information.

[0194] In specific implementations, the 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 can include at least one of: determining 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 determining 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.

[0195] With the above technical solution, if the lens barrel is positioned in the dispensing system by the first reference surface and the third reference surface, the lens barrel can be fixed in the planes 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. Meanwhile, if the shape, size or mounting position of the current lens barrel on the dispensing work station deviates from the shape, size or mounting position of the standard lens barrel on the dispensing work 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, the 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 can include: determining 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 determining 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.

[0197] With the above technical solution, the coordinate deviation information of the lens barrel in the second direction and the third direction can be determined through the current second coordinate information and the preset second coordinate information of the lens barrel in the second direction and the third direction, so that the preset first coordinate information can be compensated in the second direction and the third direction.

[0198] In specific implementations, the lens barrel can be configured to include at least one of the second feature point and the third feature point.

[0199] Correspondingly, the 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 can 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 according to the current second coordinate information of the second feature point 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 according to the current second coordinate information of the third feature point in the third direction and the preset second coordinate information.

[0200] By using the above technical solution, the current second coordinate information of the lens barrel and the preset second coordinate information can be a set of current second coordinate information and preset second coordinate information of any point on the lens barrel, so that the second feature point can be set to represent the current second coordinate information and the preset second coordinate information of the lens barrel in the second direction by using the current second coordinate information and the preset second coordinate information of the second feature point in the second direction, and the third feature point can be set to represent the current second coordinate information and the preset second coordinate information of the lens barrel in the third direction by using the current second coordinate information and the preset second coordinate information of the third feature point in the third direction. The above solution can reduce the amount of data to be processed and stored, and the difficulty of feature point recognition, thereby improving the processing efficiency, reducing the storage cost, and improving the pose measurement accuracy.

[0201] In specific implementation, the number of the second feature points can be one or more; and the number of the third feature points can 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; and 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 specific implementation, the setting position of the second feature point on the lens barrel can be determined according to specific conditions. For example, the second feature point can be set on the second reference surface of the lens barrel.

[0204] As an optional implementation, the setting position of the second feature point can include at least one of the following: being set at a position where the outer diameter of the lens barrel in the first direction intersects the lens barrel in the second reference surface of the lens barrel; and being set at a position where the outer diameter of the lens barrel in the third direction intersects the lens barrel in the second reference surface of the lens barrel.

[0205] As a specific example, the second feature point can be a projection point of the second preset position on the second reference surface of the lens barrel in the second direction.

[0206] In a specific implementation, the third feature point can be arranged at the second reference surface of the lens barrel according to specific conditions.

[0207] As an optional implementation, the arrangement position of the third feature point can include at least one of the following: a position where the outer diameter of the lens barrel in the first direction intersects the lens barrel in the second reference surface of the lens barrel; and a position where the outer diameter of the lens barrel in the third direction intersects the lens barrel in the second reference surface of the lens barrel.

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

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

[0210] It should be noted that the above embodiments do not limit the arrangement positions of the second feature point and the third feature point, and the second feature point and the third feature point can also be arranged at other positions of the second reference surface.

[0211] It can be understood that the above describes a plurality of embodiment schemes provided by the embodiments of the present application, and each optional implementation and specific example introduced by each embodiment scheme can be combined, cross-referenced in the case of no conflict, thereby extending a plurality of possible embodiment schemes, which can be considered as the disclosed and published embodiment schemes of the present application.

[0212] In order for those skilled in the art to better understand and implement the present application, the following will be described in detail through specific examples and in combination with specific application scenarios.

[0213] As a specific example, in combination with reference to Figure 1A , Figure 1B and Figure 5 , Figure 5A specific flowchart of a dispensing positioning method in an embodiment of the present application is shown. The dispensing positioning method can be applied to a dispensing system provided with a coordinate system having a first direction (x-axis direction), a second direction (y-axis direction) and a third direction (z-axis direction) perpendicular to each other, the first direction being perpendicular to a first reference surface J1, the second direction being perpendicular to a second reference surface J2, and the third direction being perpendicular to a third reference surface J3, and a lens barrel G being positioned in the dispensing system with the first reference surface J1 and the third reference surface J3. The dispensing positioning method can adopt the following steps to position a dispensing slot 1e:

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

[0215] Specifically, the current pose information of the dispensing slot 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 slot 1e) of the dispensing slot 1e on the current lens barrel G and the first reference surface J1 a11 , the distance y between the second feature point a2 (located at the other end of the dispensing slot 1e) of the dispensing slot 1e on the current lens barrel G and the first reference surface J1 a11 , and the distance y between the second feature point a2 (located at the other end of the dispensing slot 1e) of the dispensing slot 1e on the current lens barrel G and the second reference surface J2. a21 a21 .

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

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

[0218] ​​S03, determining 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.

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

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

[0221] Specifically, the preset second information of the lens barrel can be the distance y between the second feature point b on the second reference surface 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 glue dispensing system. b2 ; and the coordinate deviation information of the lens barrel G in the second direction of the glue dispensing system can be y b1 -y b2 .

[0222] S05, determining 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.

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

[0224] S06, determining coordinate deviation information of the lens barrel in the third direction of the glue dispensing system according to the current second coordinate information in the third direction and 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 glue dispensing system can be the coordinate component z of the third feature point c on the second reference surface J2 of the standard part of the lens barrel G in the third direction of the coordinate system of the glue dispensing system. c2 ; and the coordinate deviation information of the lens barrel G in the third direction of the glue dispensing system can be z c1 -z c2 .

[0226] S07, according to the pose deviation information of the glue dispensing groove 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 groove in the coordinate system of the glue dispensing system, determine the current first coordinate information of the glue dispensing groove in the coordinate system of the glue dispensing system.

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

[0228] By using the above technical solution, the preset first coordinate information is compensated through the pose deviation information of the glue dispensing groove relative to the lens barrel and the coordinate deviation information of the lens barrel in the second direction and the third direction, so that 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 groove 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 groove.

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

[0230] Correspondingly, in order to facilitate implementation, the embodiment of the present application also provides a dispensing positioning device, which is arranged in a dispensing system, and can determine current pose information of a dispensing slot relative to a lens barrel, wherein the dispensing slot is arranged in the lens barrel; can also determine pose deviation information of the dispensing slot relative to the lens barrel according to the current pose information and preset pose information; and can determine current first coordinate information of the dispensing slot in a coordinate system of the dispensing system according to the pose deviation information and preset first coordinate information of the dispensing slot in the coordinate system of the dispensing system; wherein the pose deviation information is matched with the current first coordinate information; and the current first coordinate information is suitable for the dispensing system to determine the position of the dispensing slot.

[0231] By using the above technical solution, the dispensing positioning device compensates the preset first coordinate information by using the pose deviation information to determine the current first coordinate information. 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 error between the current first coordinate information determined by the dispensing positioning device and the real coordinate information can be reduced, thereby providing a basis for improving the positioning accuracy of the dispensing system and the dispensing slot.

[0232] In a specific implementation, the dispensing positioning device can determine the current first coordinate information of the dispensing slot in the coordinate system of the dispensing system by using the dispensing positioning method in any of the foregoing embodiments.

[0233] Correspondingly, in order to facilitate implementation, the embodiment of the present application also provides a dispensing system, which is described with reference to Figure 6 , Figure 6 A structure schematic diagram of a dispensing system in the embodiment of the present application is shown. The dispensing system 10 can include:

[0234] A dispensing positioning device 11, which can determine current pose information of a dispensing slot relative to a lens barrel, wherein the dispensing slot is arranged in the lens barrel; the dispensing positioning device 11 can also determine pose deviation information of the dispensing slot relative to the lens barrel according to the current pose information and preset pose information; and can determine current first coordinate information of the dispensing slot in a coordinate system of the dispensing system according to the pose deviation information and preset first coordinate information of the dispensing slot in the coordinate system of the dispensing system; wherein the pose deviation information is matched with the current first coordinate information; and the current first coordinate information is suitable for the dispensing system to determine the position of the dispensing slot.

[0235] By means of the above technical solutions, the dispensing positioning device compensates the preset first coordinate information based on the pose deviation information to determine the current first coordinate information. Compared with the error between the preset first coordinate information and the real coordinate information of the dispensing groove in the coordinate system of the dispensing system, the current first coordinate information determined by the dispensing positioning device can reduce the error between the current first coordinate information and the real coordinate information, thereby providing a basis for improving the positioning accuracy of the dispensing system and the dispensing groove.

[0236] As an optional implementation, referring to Figure 6 , the dispensing system 10 can further include a first information acquisition device 12, which can acquire current first information of the lens barrel; and the dispensing positioning device 11 can further determine the current pose information of the dispensing groove relative to the lens barrel based on the current first information.

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

[0238] As an optional implementation, referring to Figure 6 , the dispensing system 10 can further include a dispensing work station 13e, which can dispense the dispensing groove based on the current first coordinate information of the dispensing groove output by the dispensing positioning device.

[0239] In specific implementation, the number of dispensing grooves can be multiple, and the number of dispensing work stations can be multiple, each dispensing work station corresponding to one dispensing groove.

[0240] In specific implementation, the current first information of the lens barrel can include at least one of the following: current first information of the lens barrel acquired by the first information acquisition device along a third direction of the coordinate system of the dispensing system; and 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 work station corresponding to a first dispensing groove.

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

[0242] According to the technical scheme, when the number of the glue dispensing grooves on the lens barrel is multiple, compared with using multiple cameras to acquire the current first information and the preset first information corresponding to different glue dispensing grooves at different preset positions, only the first information acquisition device arranged at the first preset position can acquire all the current first information and the preset first information, so that the acquisition step of the current first information can be simplified, and meanwhile, the number, the occupied space and the use cost of the first information acquisition device can be reduced.

[0243] It should be noted that the above embodiments do not limit the acquisition manner of the current first information and the preset first information, and the current first information can be acquired in a different manner from the preset first information.

[0244] As an optional implementation manner, referring to Figure 6 , the glue dispensing system 10 can further include a second information acquisition device 14e, which can acquire current second information of the lens barrel, wherein the current second information is matched with second coordinate information of the lens barrel in a second direction of the coordinate system of the glue dispensing system.

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

[0246] According to the technical scheme, compared with the error between the preset first coordinate information and the real coordinate information of the glue dispensing groove 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, so that the error between the current first coordinate information and the real coordinate information in the second direction can be reduced, and meanwhile, the error generated when the lens barrel is installed on each glue dispensing station can be eliminated, so that the technical scheme can provide a basis for improving the positioning accuracy of the glue dispensing system and the glue dispensing groove.

[0247] In specific implementations, the second information acquisition device can include at least one of: a second information acquisition device adapted to acquire the current second information of the lens barrel along the second direction; and a second information acquisition device adapted to acquire 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 the dispensing slot.

[0248] In specific implementations, the second information can be distance information. The second information acquisition device can employ one or more distance measurement devices, such as one or more of a range finder, a radar, etc. The second information can be acquired in one or more ways, such as along a second direction of a coordinate system of the dispensing system, or from a second preset position, wherein the second preset position can be located at a dispensing station corresponding to the dispensing slot.

[0249] As a specific example, the second information can be distance information, and the second information acquisition device can employ a range finder to acquire the current second information and the preset second information from the second preset position along the second direction.

[0250] In specific implementations, the number of second information acquisition devices can be adapted to the number of dispensing stations.

[0251] As an optional implementation, referring to Figure 6 , the dispensing system 10 can further include a third information acquisition device 15e 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 along a third direction of a coordinate system of the dispensing system.

[0252] The dispensing positioning device 11 can further determine, based on the current third information of the lens barrel, current second coordinate information of the lens barrel along a third direction of a coordinate system of the dispensing system, and determine, based on the current second coordinate information and preset second coordinate information of the lens barrel along the third direction, coordinate deviation information of the lens barrel along the third direction of the coordinate system of the dispensing system. The dispensing positioning device 11 can be adapted to determine, based on the pose deviation information, the preset first coordinate information of the dispensing slot in the coordinate system of the dispensing system, and the coordinate deviation information of the lens barrel along the third direction, the current first coordinate information of the dispensing slot in the coordinate system of the dispensing system.

[0253] Compared with the error between the preset first coordinate information and the real coordinate information of the dispensing groove in the coordinate system of the dispensing system, the third information acquisition device and the dispensing positioning device compensate the preset first coordinate information in the third direction, which can reduce the error between the current first coordinate information and the real coordinate information in the third direction, and eliminate the error generated when the lens barrel is installed on each dispensing work station, thereby providing a basis for improving the positioning accuracy of the dispensing system and the dispensing groove.

[0254] In specific implementation, the third information acquisition device can 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 the dispensing work station corresponding to the dispensing groove for dispensing.

[0255] In specific implementation, the third information can be multimedia data information, such as one or more of image information, video information, or other multimedia data information.

[0256] As an optional implementation, the third information acquisition device can use an image acquisition device, such as one or more of a camera, a video camera, etc., and can acquire the third information in one or more ways, such as acquiring the third information along the third direction of the coordinate system of the dispensing system, or acquiring the third information of the lens barrel from a third preset position, wherein the third preset position can be located at the dispensing work station corresponding to the dispensing groove for dispensing.

[0257] As a specific example, the third information can be image information, the third information acquisition device can 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 specific implementation, each dispensing work station has a lens image information acquisition device for assisting the assembly between the auxiliary 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 of each dispensing work station as the third information acquisition device, the number of devices in each dispensing work station, the space occupied by the new third information acquisition device, and the use cost can be reduced, and the modification demand and cost of each dispensing work station can be reduced, and the adaptability of the dispensing positioning method can be increased.

[0260] It should be noted that the above embodiments do not limit the acquisition manner of the current second information and the preset second information, and the current second information can be acquired in a manner different from the preset second information. Similarly, the above embodiments do not limit the acquisition manner of the current third information and the preset third information, and the current third information can be acquired in a manner different from the preset third information.

[0261] It can be understood that the above describes a plurality of embodiment schemes provided by the embodiments of the present application, and each optional implementation manner and specific example introduced by each embodiment scheme can be combined, cross-referenced in the case of no conflict, thereby extending a plurality of possible embodiment schemes, which can be considered as the disclosed and published embodiment schemes of the present application.

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

Claims

1. A dispensing positioning method, characterized in that, The dispensing positioning method described above is applied to a dispensing system, and the method includes: Based on the current first information of the lens barrel, determine the current pose information of the dispensing groove relative to the lens barrel, wherein the dispensing groove is disposed on the lens barrel and there are multiple dispensing grooves; determining the current pose information of the dispensing groove relative to the lens barrel based on the current first information of the lens barrel includes: determining multiple current pose information corresponding to multiple dispensing grooves relative to the lens barrel based on the current first information of the lens barrel. Based on the current pose information and the preset pose information, determine the pose deviation information of the dispensing groove relative to the lens barrel; Determine the current second coordinate 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, determine the coordinate deviation information of the lens barrel in the coordinate system of the dispensing system; Based on the pose deviation information, the preset first coordinate information of the dispensing groove in the coordinate system of the dispensing system, and the coordinate deviation information of the lens barrel in the coordinate system of the dispensing system, the current first coordinate information of the dispensing groove in the coordinate system of the dispensing system is determined. The dispensing system includes multiple dispensing stations, each corresponding to a dispensing tank. The current first information of the lens barrel includes at least one of the following: the current first information of the lens barrel obtained along a third direction of the coordinate system of the dispensing system; the current first information of the lens barrel obtained from a first preset position, wherein the first preset position is located at the dispensing station corresponding to the first dispensing slot in which dispensing is performed. The pose deviation information is adapted to the current first coordinate information; the current first coordinate information is suitable for the dispensing system to determine the position of the dispensing groove.

2. The method of claim 1, wherein, 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 dispensing station of the dispensing system via at least two of the first reference surface, the second reference surface, and the third reference surface; The determination of the current pose information of the dispensing groove relative to the lens barrel includes: Determine a first distance between the dispensing groove and the first reference surface, and a second distance between the dispensing groove and the second reference surface.

3. The method of claim 2, wherein, The dispensing groove is configured to include one or more first feature points; The first distance between the dispensing groove and the first reference surface includes: the first distance between the first feature point and the first reference surface; The second distance between the dispensing groove and the second reference surface includes: the second distance between the first feature point and the second reference surface.

4. The method of claim 3, wherein, The first reference plane is perpendicular to the first direction of the coordinate system of the dispensing system; The second reference plane is perpendicular to the second direction of the coordinate system of the dispensing system.

5. The method of claim 3, wherein, The first feature point is located at both ends of the dispensing groove along its length.

6. The method of claim 1, wherein, Determining the current second coordinate information of the lens barrel in the coordinate system of the dispensing system includes at least one of the following: Based on the current second information of the lens barrel, 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 third information of the lens barrel, current second coordinate information of the lens barrel in a third direction of a coordinate system of the dispensing system is determined.

7. The method of claim 6, wherein, The determining of 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 comprises at least one of the following: According to the current second coordinate information of the lens barrel in the second direction and the preset second coordinate information, coordinate deviation information of the lens barrel in the second direction of the coordinate system of the dispensing system is determined. According to the current second coordinate information of the lens barrel in the third direction and the preset second coordinate information, coordinate deviation information of the lens barrel in the third direction of the coordinate system of the dispensing system is determined.

8. The method of claim 6, wherein, The lens barrel is configured to comprise one or more second feature points; and the lens barrel is configured to comprise one or more third feature points. The determining of 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 comprises at least one of the following: According to the current second coordinate information of the second feature point in the second direction and the preset second coordinate information, coordinate deviation information of the lens barrel in the second direction of the coordinate system of the dispensing system is determined. According to the current second coordinate information of the third feature point in the third direction and the preset second coordinate information, coordinate deviation information of the lens barrel in the third direction of the coordinate system of the dispensing system is determined.

9. The method of claim 8, wherein, The second feature point is arranged on a second reference surface of the lens barrel, wherein the second reference surface of the lens barrel intersects with an optical axis of the lens barrel.

10. The method of claim 8, wherein, The third feature point is arranged on the second reference surface of the lens barrel, wherein the second reference surface of the lens barrel intersects with the optical axis of the lens barrel.

11. The method of claim 6, wherein, The current second information of the lens barrel comprises at least one of the following: The current second information of the lens barrel obtained along the second direction; The current second information of the lens barrel obtained from a second preset position, wherein the second preset position is located at a dispensing work station corresponding to a dispensing slot for dispensing.

12. The method of claim 6, wherein, The current third information of the lens barrel comprises: The current third information of the lens barrel obtained along the second direction; The current third information of the lens barrel obtained from a third preset position, wherein the third preset position is located at a dispensing work station corresponding to a dispensing slot for dispensing.

13. A dispensing positioning device, comprising: The dispensing positioning device is arranged in a dispensing system and is adapted to be positioned by using the dispensing positioning method according to any one of claims 1-12.

14. A dispensing system, comprising: The dispensing positioning device comprises: The dispensing positioning device of claim 13, wherein the dispensing positioning device is adapted to determine, according to current first information of the lens barrel, current pose information of the dispensing slot relative to the lens barrel, determine, according to the current pose information and preset pose information, pose deviation information of the dispensing slot relative to the lens barrel, determine, according to current second information of the lens barrel, current second coordinate information of the lens barrel in a coordinate system of the dispensing system, determine, according to the current second coordinate information of the lens barrel in the coordinate system of the dispensing system and preset second coordinate information, coordinate deviation information of the lens barrel in the coordinate system of the dispensing system, and determine, according to the pose deviation information, preset first coordinate information of the dispensing slot in the coordinate system of the dispensing system and the coordinate deviation information of the lens barrel in the coordinate system of the dispensing system, current first coordinate information of the dispensing slot in the coordinate system of the dispensing system. The dispensing positioning device is adapted to determine, according to the current first information of the lens barrel, corresponding current pose information of the plurality of dispensing slots relative to the lens barrel. The dispensing work station is adapted to dispense, according to the current first coordinate information of the dispensing slot output by the dispensing positioning device, the dispensing slot, and the number of the dispensing work stations corresponds to the number of the dispensing slots. The first information acquisition device is adapted to acquire the current first information of the lens barrel, including 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, and current first information of the lens barrel acquired from a first preset position, wherein the first preset position is located at a dispensing work station corresponding to a first dispensing slot. The current first information is image information, and the first information acquisition device is an image acquisition device.

15. The system of claim 14, wherein the controller is configured to: The dispensing positioning device further comprises:

16. The system of claim 14 or 15, wherein the system further comprises a controller configured to control the movement of the first and second applicators. The second information acquisition device is 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 the coordinate system of the dispensing system. 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. The dispensing positioning device is further adapted to determine, according to the current third information of the lens barrel, current second coordinate information of the lens barrel in the third direction of the coordinate system of the dispensing system, determine, according to the current second coordinate information of the lens barrel in the third direction and preset second coordinate information, coordinate deviation information of the lens barrel in the third direction of the coordinate system of the dispensing system, and determine, according to the pose deviation information, preset first coordinate information of the dispensing slot in the coordinate system of the dispensing system and the coordinate deviation information of the lens barrel in the third direction, current first coordinate information of the dispensing slot in the coordinate system of the dispensing system. The second information acquisition device is adapted to acquire current second information of the lens barrel, including at least one of the following:

17. The system of claim 14, wherein the controller is configured to: ​ ​ 18. The system of claim 16, wherein, ​ The second information acquisition device is adapted to acquire the current second information of the lens barrel along the second direction. The second information acquisition device is adapted to acquire 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.

19. The system of claim 16, wherein, The current second information is distance information, and the second information acquisition device is a distance measurement device.

20. The system of claim 16, wherein, 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 adapted to acquire the current third information of the lens barrel from a third preset position, wherein the third preset position is located at a dispensing station corresponding to a dispensing slot for dispensing.

21. The system of claim 16, wherein, The current third information is image information, and the third information acquisition device is an image acquisition device.

22. The system of claim 16, wherein, The third information acquisition device is further adapted to assist assembly between the auxiliary lens and the lens barrel.

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