Dispensing calibration method, device and equipment based on machine vision algorithm compensation

Abstract

The embodiment of the invention provides a dispensing calibration method, device and equipment based on machine vision algorithm compensation, and the dispensing calibration method comprises the steps: continuously obtaining a dispensing finished product diagram on the surface of a module device after calibration processing is completed, and determining a dispensing reference measurement point and an actual dispensing offset position on the dispensing finished product diagram; the actual dispensing distance of the current dispensing finished product diagram is determined according to the dispensing reference measurement points and the actual dispensing offset positions which belong to the same dispensing finished product diagram, and the average dispensing distance is determined according to the actual dispensing distances of all the dispensing finished product diagrams; when the average dispensing distance meets a preset calibration condition, determining a calibration displacement stroke according to the average dispensing distance, and performing calibration treatment again based on the calibration displacement stroke; according to the method provided by the embodiment of the invention, the dispensing yield can be improved.

Description

Technical Field

[0001] This application relates to, but is not limited to, the field of dispensing technology, and in particular to a dispensing calibration method, device and equipment based on machine vision algorithm compensation. Background Art

[0002] The glue coating process is mostly used in the semiconductor packaging process. Different module devices are matched according to the designed tolerances and glued together using glue curing. The glue is extruded in a fixed quantity by controlling the air pressure of the equipment and coated on the product surface. In normal production, the glue drawing deviation occurs frequently, resulting in a decrease in the packaging yield and product defects. Summary of the Invention

[0003] The following is an overview of the subject matter described in detail in this document. This overview is not intended to limit the scope of protection of the claims.

[0004] Embodiments of this application provide a dispensing calibration method, device and equipment based on machine vision algorithm compensation, which can improve the yield of dispensing.

[0005] To achieve the above object, a first aspect of the embodiments of this application proposes a dispensing calibration method based on machine vision algorithm compensation, which is applied to a dispensing device. The dispensing device includes a calibration measuring tool, a camera module and a dispensing actuator. The dispensing actuator is used to perform dispensing on the surface of the module device. The camera module is used to take pictures of the surface of the module device after dispensing. The calibration measuring tool is used to calibrate the dispensing actuator. The dispensing calibration method includes: after completing the preset dispensing center calibration process, the dispensing actuator continuously performs the dispensing process and obtains a dispensing finished product image of the surface of the module device through the camera module. Determine the dispensing reference measurement point and the actual dispensing offset position on the dispensing finished product image. The standard measuring tool obtains the correlation result between the standard distance parameter and the visual distance parameter, determines the pixel-to-actual distance coefficient and enters it into the software preset conditions; determine the actual dispensing distance of the current dispensing finished product image according to the dispensing reference measurement point and the actual dispensing offset position belonging to the same dispensing finished product image, and determine the average dispensing distance through the preset adjustment coefficient, software preset conditions and the actual dispensing distance of all the dispensing finished product images; when the average dispensing distance meets the preset calibration update condition, determine the calibration displacement stroke according to the average dispensing distance, and perform calibration again based on the calibration displacement stroke.

[0006] In some embodiments, determining the actual dispensing distance of the current dispensing finished drawing according to the dispensing reference measurement points and the actual dispensing offset positions belonging to the same dispensing finished drawing includes: determining the positions of the dispensing reference measurement points on the dispensing finished drawing, identifying the actual dispensing offset positions, and determining the first number of pixels in the horizontal direction and the second number of pixels in the vertical direction between the actual dispensing offset positions and the dispensing reference measurement points; determining the actual number of pixels on the line connecting the actual dispensing offset position and the dispensing reference measurement based on the first number of pixels and the second number of pixels, determining the pixel-to-actual distance coefficient preset by the camera module, and determining the actual dispensing distance based on the pixel-to-actual distance coefficient and the actual number of pixels.

[0007] In some embodiments, determining the positions of the dispensing reference measurement points on the dispensing finished drawing includes: obtaining a dispensing template drawing, respectively determining the positions of the reference frame and the reference center point on the dispensing template drawing, and determining the measurement margins between the reference center point and each of the reference frames; determining the corresponding positions of each of the reference frames on the dispensing finished drawing, and determining the dispensing reference measurement points within the corresponding positions of the reference frames according to the measurement margins.

[0008] In some embodiments, determining the calibration displacement travel according to the average dispensing distance includes: obtaining a target dispensing position in the dispensing template drawing, and determining the standard dispensing distance between the target dispensing position and the dispensing reference measurement point; determining an offset ratio according to the average dispensing distance and the standard dispensing distance, and determining the calibration displacement travel based on the offset ratio and the pixel-to-actual distance coefficient.

[0009] In some embodiments, the formula for determining the calibration displacement travel is: ; ; Wherein, represents the calibration displacement travel, represents the pixel-to-actual distance coefficient, represents the standard dispensing distance, represents the actual dispensing distance of the i-th dispensing finished drawing, represents the average dispensing distance of n dispensing finished drawings since the last calibration was completed, and f represents a preset calibration coefficient.

[0010] In some embodiments, when the average dispensing distance meets the preset calibration update condition, determining a calibration displacement travel according to the average dispensing distance and performing a calibration process again based on the calibration displacement travel includes: when the offset ratio is less than a preset lower deviation limit or greater than a preset upper deviation limit, determining the calibration displacement travel according to the average dispensing distance; if the calibration displacement travel is greater than zero, performing calibration in the direction approaching the dispensing reference measurement point, and if the calibration displacement travel is less than zero, performing calibration in the direction away from the dispensing reference measurement point.

[0011] In some embodiments, determining a standard dispensing distance between the target dispensing position and the dispensing reference measurement point includes: in the dispensing template diagram, respectively determining the target dispensing position and the dispensing reference measurement point, and determining a third number of pixels in the horizontal direction and a fourth number of pixels in the vertical direction between the target dispensing position and the dispensing reference measurement point; determining a standard number of pixels on the line connecting the target dispensing position and the dispensing reference measurement point according to the third number of pixels and the fourth number of pixels, and determining the standard dispensing distance between the target dispensing position and the dispensing reference measurement point according to the pixel-to-actual distance coefficient and the standard number of pixels.

[0012] To achieve the above object, a second aspect of the present application provides a dispensing calibration device, including: an image acquisition module, configured to continuously acquire a dispensing finished product image on the surface of a module device after completing the calibration process, and determine a dispensing reference measurement point and an actual dispensing offset position on the dispensing finished product image; a visual information conversion module, configured to determine an actual dispensing distance of the current dispensing finished product image according to the dispensing reference measurement point and the actual dispensing offset position belonging to the same dispensing finished product image, and determine an average dispensing distance through a preset adjustment coefficient, software preset conditions, and the actual dispensing distances of all the dispensing finished product images; a calibration module, configured to when the average dispensing distance meets the preset calibration condition, determine a calibration displacement travel according to the average dispensing distance, and perform a calibration process again based on the calibration displacement travel.

[0013] To achieve the above object, a third aspect of the embodiments of the present application provides an electronic device, where the electronic device includes a memory and a processor, the memory stores a computer program, and when the processor executes the computer program, the method for dispensing calibration based on machine vision algorithm compensation described in the first aspect above is implemented.

[0014] To achieve the above object, a fifth aspect of the embodiments of the present application provides a storage medium, which is a computer-readable storage medium. The storage medium stores a computer program, and when the computer program is executed by a processor, it implements the dispensing calibration method based on machine vision algorithm compensation described in the first aspect above.

[0015] The embodiments of the present application at least include the following beneficial effects: After the first dispensing calibration is completed, during the process of dispensing the subsequent module devices one by one, by obtaining the dispensing finished product diagram of the dispensed module device, determining the dispensing reference measurement point and the actual dispensing offset position on the dispensing finished product diagram, the dispensing reference measurement point is used to determine the position and direction of the module device on the dispensing finished product diagram. By determining the actual dispensing distance between the actual dispensing offset position and the dispensing reference measurement point on the dispensing finished product diagram, the position where dispensing is actually performed on the module device can be determined; determining the average value of the actual dispensing distances on all the dispensing finished product diagrams to obtain the average dispensing distance. The average dispensing distance can reflect the overall degree of deviation of the dispensing module during successive dispensing after the previous dispensing calibration process. If the average dispensing distance does not meet the preset calibration condition, it means that the degree of deviation of the dispensing module is not large and no calibration is required. When the average dispensing distance meets the calibration condition, it means that the degree of deviation of the dispensing module is relatively large. Then, the calibration displacement stroke is determined based on the actually deviated average dispensing distance, and calibration is performed based on the calibration displacement stroke, so that the dispensing module can be aligned with the correct dispensing position again, improving the yield rate of dispensing.

[0016] Other features and advantages of the present application will be described in the subsequent specification, and part of them will become obvious from the specification or be understood by implementing the present application. The objectives and other advantages of the present application can be realized and obtained through the structures specifically pointed out in the specification, claims, and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings are used to provide a further understanding of the technical solutions of the present application, and constitute a part of the specification. They are used together with the embodiments of the present application to explain the technical solutions of the present application, and do not constitute a limitation to the technical solutions of the present application.

[0018] Figure 1 It is an optional flowchart of the dispensing calibration method based on machine vision algorithm compensation provided by the embodiments of the present application; Figure 2 It is an optional flowchart of determining the actual dispensing distance provided by the embodiments of the present application; Figure 3 It is an optional flowchart of determining the dispensing reference measurement point provided by the embodiments of the present application; Figure 4An optional process schematic diagram for determining the calibration displacement stroke provided by an embodiment of the present application; Figure 5 An optional system block diagram of a dispensing device provided by an embodiment of the present application; Figure 6 An optional structural schematic diagram of a dispensing device provided by an embodiment of the present application; Figure 7 An optional structural schematic diagram of a dispensing actuator provided by an embodiment of the present application; Figure 8 An optional structural schematic diagram of a dispensing finished product drawing provided by an embodiment of the present application; Figure 9 An optional structural schematic diagram of a dispensing template drawing provided by an embodiment of the present application; Figure 10 An optional structural schematic diagram of a dispensing calibration device provided by an embodiment of the present application; Figure 11 An optional hardware structural schematic diagram of an electronic device provided by an embodiment of the present application. Detailed implementation manners

[0019] In order to make the objectives, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0020] In the description of the present application, the meaning of "several" is one or more, the meaning of "multiple" is more than two, understandings such as "greater than", "less than", "exceeding" do not include the present number, and understandings such as "above", "below", "within" include the present number.

[0021] It should be noted that although functional module division is performed in the device schematic diagram and the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a different module division in the device or a different order in the flowchart. Terms such as "first" and "second" in the description, claims or the above-mentioned drawings are used to distinguish similar objects and do not have to be used to describe a specific order or sequence.

[0022] In related technologies, the glue coating process is mostly used in the semiconductor packaging process. Different module devices are matched according to the designed tolerances and glued together using glue curing. The glue is extruded in a fixed quantity by controlling the air pressure of the device and coated on the surface of the product. In normal production, glue drawing deviation anomalies occur frequently, resulting in a decrease in the packaging yield and product defects.

[0023] Based on this, the embodiments of the present application provide a dispensing calibration method, device, and equipment based on machine vision algorithm compensation, which can improve the yield rate of dispensing.

[0024] The dispensing calibration method, device, and equipment based on machine vision algorithm compensation provided by the embodiments of the present application will be specifically described through the following embodiments. First, the dispensing calibration method based on machine vision algorithm compensation in the embodiments of the present application will be described.

[0025] The dispensing calibration method based on machine vision algorithm compensation provided by the embodiments of the present application relates to the field of computer technology. The dispensing calibration method based on machine vision algorithm compensation provided by the embodiments of the present application can be applied to a terminal, a server, or software running on a terminal or a server. In some embodiments, the terminal can be a smart phone, a tablet computer, a laptop computer, a desktop computer, etc.; the server can be configured as an independent physical server, a server cluster or a distributed system composed of multiple physical servers, or a cloud server providing basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, CDN, and big data and artificial intelligence platforms; the software can be an application that implements the dispensing calibration method based on machine vision algorithm compensation, etc., but is not limited to the above forms.

[0026] The present application can be used in many general or special computer system environments or configurations. For example: personal computers, server computers, handheld or portable devices, tablet devices, multi-processor systems, microprocessor-based systems, set-top boxes, programmable consumer electronic devices, network PCs, minicomputers, mainframe computers, distributed computing environments including any of the above systems or devices, and so on. The present application can be described in the general context of computer-executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform specific tasks or implement specific abstract data types. The present application can also be practiced in a distributed computing environment where tasks are performed by remote processing devices connected through a communication network. In a distributed computing environment, program modules can be located in local and remote computer storage media including storage devices.

[0027] The following further elaborates on the embodiments of the present application with reference to the accompanying drawings.

[0028] As Figure 1 shown, Figure 1FIG. 0 is an alternative process schematic diagram of the dispensing calibration method based on machine vision algorithm compensation provided by an embodiment of the present application. The dispensing calibration method based on machine vision algorithm compensation can be executed by a server, or can also be executed by a terminal, or can also be executed by the server in cooperation with the terminal. The dispensing calibration method based on machine vision algorithm compensation includes, but is not limited to, the following steps S110 to S140: Step S110: After completing the preset dispensing center calibration process, the dispensing actuator continuously performs the dispensing process and obtains a dispensing finished product image of the surface of the module device through the camera module. Determine the dispensing reference measurement point and the actual dispensing offset position on the dispensing finished product image. The standard measuring tool obtains the correlation result between the standard distance parameter and the visual distance parameter, determines the pixel-to-actual distance coefficient, and inputs it into the software preset conditions. Step S120: Determine the actual dispensing distance of the current dispensing finished product image according to the dispensing reference measurement point and the actual dispensing offset position belonging to the same dispensing finished product image. Determine the average dispensing distance through the preset adjustment coefficient, software preset conditions, and the actual dispensing distances of all dispensing finished product images. Step S130: When the average dispensing distance meets the preset calibration update condition, determine the calibration displacement stroke according to the average dispensing distance, and perform the calibration process again based on the calibration displacement stroke.

[0029] It can be understood that after one dispensing calibration is completed, during the process of dispensing the module devices one by one, by obtaining the dispensing finished product images of the dispensed module devices, determining the dispensing reference measurement point and the actual dispensing offset position on the dispensing finished product images, the dispensing reference measurement point is used to determine the position and orientation of the module device on the dispensing finished product image. By determining the actual dispensing distance between the actual dispensing offset position and the dispensing reference measurement point on the dispensing finished product image, the actual dispensing position on the module device can be determined; determine the average value of the actual dispensing distances on all dispensing finished product images to obtain the average dispensing distance. The average dispensing distance can reflect the overall degree of deviation of the module used for dispensing during the successive dispensing process after the previous dispensing calibration process is completed. If the average dispensing distance does not meet the preset calibration conditions, it means that the degree of deviation of the module used for dispensing is not large and no calibration is required. When the average dispensing distance meets the calibration conditions, it means that the degree of deviation of the module used for dispensing is relatively large. Then, determine the calibration displacement stroke according to the actually deviated average dispensing distance, and perform calibration based on the calibration displacement stroke, so that the module used for dispensing can be aligned with the correct dispensing position again, improving the yield rate of dispensing.

[0030] Refer to Figures 5 to 7As shown in the figure, the dispensing calibration method proposed in the embodiment of the present application is applied to a dispensing device. The dispensing device includes a carrying module 510, a dispensing actuator 520, a camera module 530, a calibration measuring tool 540, and a control module 550. The carrying module 510 is used to place module devices. The dispensing actuator 520 is used to perform dispensing on the surface of the module devices. The camera module 530 is used to take pictures of the surface of the module devices after dispensing. The calibration measuring tool 540 is used to calibrate the dispensing actuator. The calibration measuring tool 540 is connected to the dispensing actuator 520. The dispensing actuator 520 includes a piston 521, a glue storage container 522, and an air supply valve 523. The piston 521 is communicated with the glue storage container 522. The glue storage container 522 is used to store glue and supply the glue into the piston 521. The air supply valve 523 is communicated with the piston 521 through a rubber tube. The air supply valve 523 is used to supply air to the piston 521, so that the piston 521 extrudes glue downward. The camera module 530 is fixed outside the piston 521. The control module 550 is based on the dispensing finished product drawing and executes the above-mentioned dispensing calibration method, and calibrates the dispensing actuator 520 and the carrying module 510 through the calibration measuring tool 540.

[0031] Referring to Figure 2 As shown in the figure, in some embodiments of the present application, Figure 1 step S120 in includes, but is not limited to, the following steps S210 to S220: Step S210, determine the position of the dispensing reference measurement point on the dispensing finished product drawing, identify the actual dispensing offset position, and determine the first pixel number in the horizontal direction and the second pixel number in the vertical direction between the actual dispensing offset position and the dispensing reference measurement point; Step S220, determine the actual pixel number on the line connecting the actual dispensing offset position and the dispensing reference measurement according to the first pixel number and the second pixel number, determine the pixel-to-actual distance coefficient based on the preset camera parameters of the camera module, and determine the actual dispensing distance according to the pixel-to-actual distance coefficient and the actual pixel number.

[0032] In Figures 5 to 7 In the dispensing device shown in the figure, the camera module 530 is fixed on the dispensing actuator 520. When the carrying module 510 or the dispensing actuator 520 is offset, in the dispensing finished product drawing taken by the camera module 530, the position of the module device also changes accordingly. Therefore, determine the position of the dispensing reference measurement point in the dispensing finished product drawing through the image information of the module device. The reference measurement point is a preset reference point, which is used to compare with the actual dispensing offset position to ensure the accuracy and consistency of dispensing.

[0033] In addition, referring to Figure 8As shown, within the dispensing finished product diagram, calculate respectively the first number of pixels in the horizontal direction and the second number of pixels in the vertical direction between the dispensing reference measurement point and the actual dispensing offset position. Convert the first number of pixels and the second number of pixels to the actual number of pixels. It can be understood that the actual number of pixels refers to the total number of pixel points passed on the straight-line path from the reference measurement point to the actual dispensing offset position. Determine the pixel-to-actual distance coefficient through shooting parameters such as the focal length, the distance between the camera and the module device, and the pixel length in the dispensing finished product diagram. The pixel-to-actual distance coefficient represents the physical length represented by the length of one pixel point in the dispensing finished product diagram, and is used to convert the number of pixels to the actual physical distance, with its unit being micrometers / pixel. Based on the number of pixels and the pixel-to-actual distance coefficient, the actual dispensing distance between the dispensing reference measurement point and the actual dispensing offset position can be determined.

[0034] Referring to Figure 3 As shown in some embodiments of the present application, Figure 2 step S210 in includes, but is not limited to, the following steps S310 to S320: Step S310, obtain the dispensing template diagram. On the dispensing template diagram, determine respectively the positions of the reference border and the reference center point, and determine the measurement margins between the reference center point and each reference border; Step S320, on the dispensing finished product diagram, determine the corresponding positions of each reference border, and determine the dispensing reference measurement point within the corresponding positions of the reference border according to the measurement margins.

[0035] Specifically, in the embodiments of the present application, the center point of the module device is used as the dispensing reference measurement point. First, it is necessary to obtain a pre-designed dispensing template diagram, which contains all necessary information for the dispensing operation, such as the dispensing path, the dispensing position, the position of the module device, etc. Clearly mark the positions of the reference border and the reference center point on the dispensing template diagram. The reference border usually refers to the bounding box used for positioning and alignment in the dispensing template diagram, and can also represent the border of the module device itself. There is an obvious distinguishability between the reference border and its background, while the reference center point is the reference point within the reference border, which can be the center point of the module device and is used to ensure the accurate alignment of the dispensing. Measure and record the measurement margins from the reference center point to each reference border, and this distance information will be used for subsequent dispensing position calibration.

[0036] On the dispensing finished product image, i.e., the image of the product after actual dispensing, it is necessary to identify the position of the reference border corresponding to that in the dispensing template image. This step involves image processing and pattern recognition technologies to ensure the accuracy of identification. There are usually obvious texture and color differences between the reference border and its background, and during the shooting process, the shooting parameters remain unchanged. In the dispensing finished product image, the color, shape of the reference border, and the relative position between the reference border and the reference center point are exactly the same. By analyzing the dispensing finished product image, the actual positions of each reference border can be determined. Then, based on the reference edge distance determined in step S310 and combined with the position of the reference border on the dispensing finished product image, the dispensing reference measurement points can be accurately determined according to all the reference borders. The dispensing reference measurement points serve as key references in actual dispensing operations to ensure the accuracy and consistency of dispensing position measurement.

[0037] In addition, referring to Figure 4 as shown, in some embodiments of the present application, Figure 1 step S130 in includes but is not limited to the following steps S410 to S420: Step S410, in the dispensing template image, obtain the target dispensing position and determine the standard dispensing distance between the target dispensing position and the dispensing reference measurement point;

[0038] In the dispensing template image, first, it is necessary to accurately obtain the target dispensing position, which is preset according to product design and process requirements; calculate the standard dispensing distance between the target dispensing position and the dispensing reference measurement point, and the standard dispensing distance is the reference standard to be followed during dispensing.

[0039] Specifically, referring to Figure 9 as shown, similar to the specific embodiments shown in Figure 2 and Figure 8 first determine the number of third pixels in the horizontal direction and the number of fourth pixels in the vertical direction between the target dispensing position and the dispensing reference measurement point, and determine the standard pixel number of the line connecting the third pixel number and the fourth pixel number as the standard pixel number between the target dispensing position and the dispensing reference measurement point. Similarly, obtain the pixel-to-actual distance coefficient according to the preset shooting parameters, and determine the standard dispensing distance between the target dispensing position and the dispensing reference measurement point according to the pixel-to-actual distance coefficient and the standard pixel number.

[0040] The offset ratio is a parameter that measures the deviation between the actual dispensing offset position and the standard dispensing position. It directly represents the accuracy and quality of the dispensing process. The offset ratio is calculated based on the determined average dispensing distance and the standard dispensing distance obtained in step S410. The formula for calculating the offset ratio is , where represents the standard dispensing distance,[[]] represents the average dispensing distance. When the offset ratio is less than 0, it means that the actual dispensing offset position is closer to the dispensing reference measurement point than expected. When the offset ratio is greater than 0, it means that the actual dispensing offset position is farther from the dispensing reference measurement point than expected; , which represents the average dispensing distance of a total of n of the said dispensing finished product diagrams since the last calibration was completed, represents the actual dispensing distance of the i-th dispensing finished product diagram, represents the adjustment coefficient of the actual dispensing distance within the i-th dispensing finished product diagram. The adjustment coefficient is used to adjust the weight of the influence of the actual dispensing distances in each dispensing finished product diagram obtained successively during the dispensing process on the calibration displacement stroke. After each new dispensing finished product diagram is obtained, the adjustment coefficient corresponding to the actual dispensing distance in each dispensing finished product diagram will change. For example, when only the first dispensing finished product diagram is obtained, the adjustment coefficient corresponding to the actual dispensing distance of the first dispensing finished product diagram takes a value of 1. After the second dispensing finished product diagram is obtained, the adjustment coefficient corresponding to the first dispensing finished product diagram can take a value of 0.7, and the adjustment coefficient corresponding to the second dispensing finished product diagram can take a value of 1. After the third dispensing finished product diagram is obtained, the adjustment coefficient corresponding to the first dispensing finished product diagram can take a value of 0.6, the adjustment coefficient corresponding to the second dispensing finished product diagram can take a value of 0.8, and the adjustment coefficient corresponding to the third dispensing finished product diagram can take a value of 1; In some embodiments, the value of the adjustment coefficient can be set with an upper limit and a lower limit. After a certain number of dispensing finished product diagrams are obtained, the adjustment coefficient of the first dispensing finished product diagram is fixed at the lower limit, and the adjustment coefficients of the subsequent certain number of dispensing finished product diagrams are fixed at the upper limit. For example, assuming that 20 dispensing finished product diagrams are continuously obtained after the preset calibration is completed, the adjustment coefficient of the first dispensing finished product diagram is 0.6. From the first dispensing finished product diagram to the 10th dispensing finished product diagram, the set of its adjustment coefficients forms a geometric sequence or an arithmetic sequence from 0.6 to 1, while the adjustment coefficients corresponding to the 11th to 20th dispensing finished product diagrams are fixed at a value of 1.

[0041] It can be understood that after the preset calibration process is completed, the dispensing deviation in the initially obtained dispensing finished product diagram is usually small and often cannot be fully used as a basis for judging whether the dispensing actuator has a large deviation. Therefore, by setting an adjustment coefficient that changes gradually, a smaller adjustment coefficient is set for the initially obtained dispensing finished product diagram, and a larger adjustment coefficient is set for the newly obtained dispensing finished product diagram, making the judgment process of whether the dispensing actuator has a deviation more objective and robust; after the preset calibration process is completed, the dispensing deviation in the initially obtained dispensing finished product diagram can also reflect the effect of the previous calibration process. When calculating the average dispensing distance, by including the actual dispensing distance in the initially obtained dispensing finished product diagram, the effect of the previous calibration process can be known. When the effect of the previous calibration process is poor, a new round of calibration process can be carried out in a timely manner to reduce the generation of defective dispensing products.

[0042] Of course, the adjustment coefficient corresponding to the actual dispensing distance in each dispensing finished product diagram can also always take a value of 1, that is, the average dispensing distance is equal to the average of the actual dispensing distances in each dispensing finished product diagram after the initial calibration is completed, that is .

[0043] It can be seen that the offset ratio is equivalent to the distance between the actual dispensing offset position and the target dispensing position. If the offset ratio is greater than zero, it means that the actual dispensing offset position is farther from the dispensing reference measurement point than expected. If the offset ratio is less than zero, it means that the actual dispensing offset position is closer to the dispensing reference measurement point than expected; and when the offset ratio is greater than the preset deviation upper limit or less than the preset deviation lower limit, it means that the distance between the actual dispensing offset position and the target dispensing position is large. At this time, the calibration displacement stroke is determined by the offset ratio, and the calculation formula for the calibration displacement stroke is: ; where represents the calibration displacement stroke, represents the preset pixel-to-actual distance coefficient, and f represents the preset calibration coefficient.

[0044] It can be seen that if the offset ratio is greater than zero, the calibration displacement stroke is greater than zero. At this time, calibration needs to be carried out in the direction of approaching the dispensing reference measurement point. If the offset ratio is less than zero, the calibration displacement stroke is less than zero. At this time, calibration needs to be carried out in the direction of moving away from the dispensing reference measurement point.

[0045] By comparing the actual dispensing offset position with the standard dispensing position, it is possible to determine whether there is a deviation and the magnitude of the deviation. Then, based on the offset ratio and the pixel-to-actual distance coefficient, the calibration displacement travel is determined. The pixel-to-actual distance coefficient is a conversion factor that converts pixels to actual physical distances and depends on the resolution of the camera and the characteristics of the lens. By adjusting the displacement travel of the dispenser, the position of the dispensing head can be finely adjusted to compensate for the deviation and ensure the accuracy of the dispensing operation. This calibration is crucial for improving dispensing quality, reducing defects, and increasing production efficiency.

[0046] Refer again to Figures 5 to 7 , in the dispensing device, if the offset ratio is greater than zero, the calculated calibration displacement travel is greater than zero. At this time, the control module 550 can control the dispensing actuator 520 to move in the direction closer to the dispensing reference measurement point through the calibration measuring tool 540, or control the carrier module 510 to move in the direction closer to the dispensing actuator 520. If the offset ratio is less than zero, the calculated calibration displacement travel is less than zero. At this time, the control module 550 can control the dispensing actuator 520 to move in the direction away from the dispensing reference measurement point through the calibration measuring tool 540, or control the carrier module 510 to move in the direction away from the dispensing actuator 520.

[0047] In a specific embodiment, before identifying the dispensing reference measurement point and the actual dispensing offset position in the dispensing finished product diagram, first identify the reference border in the dispensing finished product diagram. Calculate the size of the reference border in the current dispensing finished product diagram through image recognition technology, and compare it with the information of the reference border in the dispensing template diagram. If the information of the reference border in the current dispensing finished product diagram does not match the dispensing template diagram, upload the current dispensing finished product diagram to the database and notify the operator to check the camera module.

[0048] In addition, referring to Figure 10 , the present application also provides a dispensing calibration device 1000, including: An image acquisition module 1001, configured to continuously acquire the dispensing finished product diagram on the surface of the module device after completing the calibration process, and determine the dispensing reference measurement point and the actual dispensing offset position on the dispensing finished product diagram; A visual information conversion module 1002, configured to determine the actual dispensing distance of the current dispensing finished product diagram according to the dispensing reference measurement point and the actual dispensing offset position within the same dispensing finished product diagram, and determine the average dispensing distance through a preset adjustment coefficient, software preset conditions, and the actual dispensing distances of all dispensing finished product diagrams; A calibration module 1003, configured to determine the calibration displacement travel according to the average dispensing distance when the average dispensing distance meets the preset calibration conditions, and perform calibration processing again based on the calibration displacement travel.

[0049] The above dispensing calibration device 1000 and the dispensing calibration method based on machine vision algorithm compensation are based on the same inventive concept, which will not be elaborated here.

[0050] In addition, referring to Figure 11 , Figure 11 shows the hardware structure of an electronic device according to another embodiment. The electronic device includes: A processor 1101, which can be implemented in a general-purpose CPU (Central Processing Unit), microprocessor, application-specific integrated circuit (ASIC), or one or more integrated circuits, etc., and is used to execute relevant programs to implement the technical solutions provided in the embodiments of the present application; A memory 1102, which can be implemented in the form of a read-only memory (ROM), a static storage device, a dynamic storage device, or a random access memory (RAM), etc. The memory 1102 can store an operating system and other application programs. When implementing the technical solutions provided in the embodiments of this specification through software or firmware, the relevant program codes are stored in the memory 1102 and are called by the processor 1101 to execute the dispensing calibration method based on machine vision algorithm compensation in the embodiments of the present application. For example, execute the method steps S110 to step S130 described above in Figure 1 , the method steps S210 to step S220 in Figure 2 , the method steps S310 to step S320 in Figure 3 , and the method steps S410 to step S420 in Figure 4 ; An input / output interface 1103, which is used to implement information input and output; A communication interface 1104, which is used to implement communication interaction between this device and other devices. Communication can be achieved through wired means (such as USB, network cable, etc.) or wireless means (such as mobile network, WIFI, Bluetooth, etc.); A bus 1105, which transmits information between various components of the device (such as the processor 1101, the memory 1102, the input / output interface 1103, and the communication interface 1104); Among them, the processor 1101, the memory 1102, the input / output interface 1103, and the communication interface 1104 are communicatively connected to each other inside the device through the bus 1105.

[0051] The embodiments of the present application also provide a storage medium, which is a computer-readable storage medium for computer-readable storage. The storage medium stores one or more programs, and the one or more programs can be executed by one or more processors to implement the above-described dispensing calibration method based on machine vision algorithm compensation. For example, execute the Figure 1 method steps S110 to S130 described above, Figure 2 method steps S210 to S220 described above, Figure 3 method steps S310 to S320 described above, Figure 4 method steps S410 to S420 described above.

[0052] As a non-transitory computer-readable storage medium, the memory can be used to store non-transitory software programs and non-transitory computer-executable programs. In addition, the memory may include high-speed random access memory, and may also include non-transitory memory, such as at least one disk storage device, a flash memory device, or other non-transitory solid-state storage devices. In some embodiments, the memory may optionally include a memory remotely disposed relative to the processor, and these remote memories can be connected to the processor through a network. Examples of the above network include but are not limited to the Internet, an enterprise intranet, a local area network, a mobile communication network, and combinations thereof.

[0053] The embodiments described in the embodiments of the present application are for more clearly illustrating the technical solutions of the embodiments of the present application, and do not constitute a limitation on the technical solutions provided by the embodiments of the present application. Those skilled in the art will know that with the evolution of technology and the emergence of new application scenarios, the technical solutions provided by the embodiments of the present application are equally applicable to similar technical problems.

[0054] Those skilled in the art can understand that Figures 1 to 4 the technical solutions shown above do not constitute a limitation on the embodiments of the present application, and may include more or fewer steps than those shown, or combine certain steps, or different steps.

[0055] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated, that is, they may be located in one place, or may be distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0056] Those of ordinary skill in the art can understand that all or some of the steps in the methods disclosed above, and the functional modules / units in the systems and devices can be implemented as software, firmware, hardware, and appropriate combinations thereof.

[0057] In the description of the present application and the above-mentioned drawings, terms such as "first", "second", "third", "fourth", etc. (if any) are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances so that the embodiments of the present application described herein can be implemented in an order different from those illustrated or described herein. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products, or devices.

[0058] It should be understood that in the present application, "at least one (item)" means one or more, and "a plurality" means two or more. "And / or" is used to describe the association relationship of associated objects and indicates that there can be three relationships. For example, "A and / or B" can mean: only A exists, only B exists, and both A and B exist at the same time. Among them, A and B can be singular or plural. The character " / " generally indicates that the associated objects before and after are in an "or" relationship. "At least one (one) of the following" or its similar expression means any combination of these items, including any combination of single item (one) or plural items (ones). For example, at least one (one) of a, b, or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, c can be single or multiple.

[0059] In several embodiments provided by the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the above-mentioned unit division is only a logical function division, and there can be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed coupling or direct coupling or communication connection to each other can be through some interfaces, and the indirect coupling or communication connection of devices or units can be in electrical, mechanical or other forms.

[0060] The units described above as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they can be located in one place or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0061] In addition, in each embodiment of the present application, the functional units may be integrated into one processing unit, or each unit may exist physically alone, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of a software functional unit.

[0062] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes multiple instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods in the various embodiments of the present application. The foregoing storage medium includes: various media that can store programs, such as USB flash drives, mobile hard disks, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical discs.

[0063] The preferred embodiments of the embodiments of the present application have been described above with reference to the accompanying drawings. However, this does not limit the scope of the rights of the embodiments of the present application. Any modification, equivalent replacement, and improvement made by those skilled in the art without departing from the scope and essence of the embodiments of the present application shall be within the scope of the rights of the embodiments of the present application.

Claims

1. A dispensing calibration method based on machine vision algorithm compensation, characterized in that, Applied to a dispensing device, the dispensing device includes a calibration gauge, a camera module, and a dispensing actuator. The dispensing actuator is used to perform dispensing on the surface of a module device. The camera module is used to capture the surface of the module device after dispensing. The calibration gauge is used to calibrate the dispensing actuator. The dispensing calibration method includes: After completing the preset dispensing center calibration process, the dispensing actuator continuously performs dispensing and obtains a dispensing finished product image of the surface of the module device through the camera module. On the dispensing finished product image, a dispensing reference measurement point and an actual dispensing offset position are determined. The standard gauge obtains the correlation result between the standard distance parameter and the visual distance parameter, determines the pixel-to-actual distance coefficient, and inputs it into the software preset conditions; According to the dispensing reference measurement point and the actual dispensing offset position within the same dispensing finished product image, determine the actual dispensing distance of the current dispensing finished product image. Determine the average dispensing distance through the preset adjustment coefficient, software preset conditions, and the actual dispensing distances of all the dispensing finished product images; When the average dispensing distance meets the preset calibration update condition, determine the calibration displacement stroke according to the average dispensing distance, and perform calibration again based on the calibration displacement stroke.

2. The dispensing calibration method according to claim 1, wherein The determining the actual dispensing distance of the current dispensing finished product image according to the dispensing reference measurement point and the actual dispensing offset position within the same dispensing finished product image includes: Determine the position of the dispensing reference measurement point on the dispensing finished product image, identify the actual dispensing offset position, and determine the first number of pixels in the horizontal direction and the second number of pixels in the vertical direction between the actual dispensing offset position and the dispensing reference measurement point; According to the first number of pixels and the second number of pixels, determine the actual number of pixels on the line connecting the actual dispensing offset position and the dispensing reference measurement. Based on the camera parameters preset by the camera module, determine the pixel-to-actual distance coefficient, and determine the actual dispensing distance according to the pixel-to-actual distance coefficient and the actual number of pixels.

3. The dispensing calibration method according to claim 2, wherein The determining the position of the dispensing reference measurement point on the dispensing finished product image includes: Obtain a dispensing template image. On the dispensing template image, respectively determine the positions of the reference frame and the reference center point, and determine the measurement margins between the reference center point and each of the reference frames; On the dispensing finished product image, determine the positions corresponding to each of the reference frames, and determine the dispensing reference measurement point within the positions corresponding to the reference frames according to the measurement margins.

4. The dispensing calibration method according to claim 3, wherein The determining the calibration displacement stroke according to the average dispensing distance includes: In the dispensing template image, obtain the target dispensing position, and determine the standard dispensing distance between the target dispensing position and the dispensing reference measurement point; Determine the offset ratio according to the average dispensing distance and the standard dispensing distance, and determine the calibration displacement stroke based on the offset ratio and the pixel-to-actual distance coefficient.

5. The dispensing calibration method according to claim 4, wherein, The formula for determining the calibration displacement stroke is: ； ； Among them, represents the calibration displacement stroke, represents the coefficient of the pixel and the actual distance, represents the standard dispensing distance, represents the actual dispensing distance of the i-th dispensing finished drawing, represents the average dispensing distance of n dispensing finished drawings since the last calibration was completed, and f represents a preset calibration coefficient.

6. The dispensing calibration method according to claim 4, wherein, When the average dispensing distance meets the preset calibration update condition, determining a calibration displacement stroke according to the average dispensing distance, and performing a calibration process again based on the calibration displacement stroke, including: When the offset ratio is less than a preset lower deviation limit or greater than a preset upper deviation limit, determining the calibration displacement stroke according to the average dispensing distance; If the calibration displacement stroke is greater than zero, performing calibration in the direction close to the dispensing reference measurement point, and if the calibration displacement stroke is less than zero, performing calibration in the direction away from the dispensing reference measurement point.

7. The dispensing calibration method according to claim 4, wherein The determining the standard dispensing distance between the target dispensing position and the dispensing reference measurement point includes: In the dispensing template diagram, respectively determining the target dispensing position and the dispensing reference measurement point, and determining the number of third pixels in the horizontal direction and the number of fourth pixels in the vertical direction between the target dispensing position and the dispensing reference measurement point; Determining the number of standard pixels on the line connecting the target dispensing position and the dispensing reference measurement point according to the number of third pixels and the number of fourth pixels, and determining the standard dispensing distance between the target dispensing position and the dispensing reference measurement point according to the pixel-to-actual distance coefficient and the number of standard pixels.

8. A dispensing calibration device, characterized in that, Including: An image acquisition module, configured to continuously acquire a dispensing finished product image on the surface of the module device after the calibration process is completed, and determine a dispensing reference measurement point and an actual dispensing offset position on the dispensing finished product image; A visual information conversion module, configured to determine the actual dispensing distance of the current dispensing finished product image according to the dispensing reference measurement point and the actual dispensing offset position belonging to the same dispensing finished product image, and determine the average dispensing distance through a preset adjustment coefficient, software preset conditions, and the actual dispensing distances of all the dispensing finished product images; A calibration module, configured to determine a calibration displacement stroke according to the average dispensing distance when the average dispensing distance meets the preset calibration condition, and perform a calibration process again based on the calibration displacement stroke.

9. An electronic device, characterized in that, The electronic device includes a memory and a processor, the memory stores a computer program, and when the processor executes the computer program, the dispensing calibration method according to any one of claims 1 to 7 is implemented.

10. A storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, the dispensing calibration method according to any one of claims 1 to 7 is implemented.

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