Three-dimensional space gluing guiding method and corresponding three-dimensional space gluing system

Abstract

The invention provides a three-dimensional space gluing guiding method and a corresponding three-dimensional space gluing system. The three-dimensional space gluing system uses a control terminal, a visual image assembly, a dispensing device assembly and a dispensing platform assembly to conduct gluing work. The dispensing platform assembly moves in the X direction, the Y direction and the Z direction which are perpendicular to one another relative to the visual image assembly and the dispensing device assembly, and rotates in a Q-axis with a rotating shaft perpendicular to an XY-direction plane and rotates in a U-axis with a rotating shaft parallel to the XY-direction plane. The visual image assembly is used for shooting the posture of the electronic product in the two-dimensional plane, the actual gluing track of the electronic product under three-dimensional space coordinate transformation is calculated, the two-dimensional image information is converted into the three-dimensional space track, the gluing precision is guaranteed, the dispensing device assembly is guided to conduct coating, expensive 3D scanning equipment is avoided, and the production cost is reduced. The hardware cost is greatly reduced, and the system response speed and the overall production efficiency are improved.

Description

Technical Field

[0001] This invention relates to the field of adhesive coating equipment, and in particular to a three-dimensional spatial adhesive coating guidance method and a corresponding three-dimensional spatial adhesive coating system. Background Technology

[0002] In the field of electronic product dispensing, the dispensing equipment needs to be guided according to the different postures of the product during the dispensing process. The conventional three-dimensional space dispensing guidance method in existing technology uses a 3D line scan camera to scan the product's coordinates in three-dimensional space and then calculates the dispensing path. However, 3D line scan cameras are relatively expensive, and the large amount of data they collect results in slow scanning speeds. Furthermore, electronic products require multiple planar rotations and spatial flips at different angles during dispensing; to meet the dispensing process requirements, the 3D line scan camera also needs to scan and photograph the electronic product multiple times, further reducing work efficiency. This dispensing guidance method suffers from high cost and low efficiency.

[0003] Therefore, it is necessary to provide a three-dimensional spatial adhesive application guidance method and a corresponding three-dimensional spatial adhesive application system to solve the above-mentioned technical problems. Summary of the Invention

[0004] This invention provides a three-dimensional spatial adhesive coating guidance method and a corresponding three-dimensional spatial adhesive coating system to solve the problems of high cost and low efficiency in existing three-dimensional spatial adhesive coating guidance methods.

[0005] To solve the above-mentioned technical problems, the technical solution of the present invention is as follows: a three-dimensional space adhesive application guidance method, which uses a control terminal, a visual imaging component, an adhesive dispensing device component, and an adhesive dispensing platform component to perform adhesive application work. The adhesive dispensing platform component has mutually perpendicular X-axis, Y-axis, and Z-axis movements relative to the visual imaging component and the adhesive dispensing device component, and a Q-axis rotation perpendicular to the XY-axis plane and a U-axis rotation parallel to the XY-axis plane. The visual imaging component has a pixel coordinate system based on its field of view, and the adhesive dispensing platform component has a mechanical coordinate system based on its pose. The three-dimensional space adhesive application guidance method includes the following steps: Step S11: A marker point is set on the product. The marker point and the glue application path have a set relative positional relationship. The product is positioned and fixed on the glue dispensing platform assembly. The control terminal controls the glue dispensing platform assembly to move so that the marker point is located at the center of the shooting field of the visual imaging assembly. The position coordinates of the marker point in the pixel coordinate system at this time are taken as the pixel origin coordinates, and the position coordinates of the marker point in the machine coordinate system at this time are taken as the machine origin coordinates. Step S12: The control terminal controls the dispensing platform assembly to translate a set length in the XY plane, and calculates the translation relationship matrix of the pixel coordinate system relative to the mechanical coordinate system based on the translation amount of the marker point in the pixel coordinate system and the translation amount of the dispensing platform assembly in the mechanical coordinate system. The control terminal controls the dispensing platform assembly to rotate around the Q axis by a set angle. Based on the translation of the marker point in the pixel coordinate system and the rotation of the dispensing platform assembly in the machine coordinate system, the control terminal calculates the rotation center coordinates of the pixel coordinate system and the rotation relationship matrix of the pixel coordinate system relative to the machine coordinate system. The control terminal controls the dispensing platform assembly to rotate around the U-axis by a set angle in order to calculate the rotation center line coordinates of the pixel coordinate system and the rotation relationship matrix of the pixel coordinate system relative to the machine coordinate system. Step S13: The control terminal controls the dispensing platform assembly and the dispensing device assembly to cooperate in the dispensing operation based on the image containing the marker point captured by the visual imaging component, the relative positional relationship between the marker point and the glue application path, and the translation relationship matrix, the rotation center coordinates, the rotation relationship matrix, the flip center line coordinates and the flip relationship matrix calculated in step S12. Step S14: After completing the glue application, proceed to step S11.

[0006] In this invention, step S13 further includes: The control terminal acquires the relative position data between the camera center of the visual imaging component and the dispensing center of the dispensing device component, and acquires the dispensing reference height of the dispensing center of the dispensing device component from the product.

[0007] In this invention, step S12 further includes: The control terminal controls the dispensing platform assembly to translate multiple times along the XY plane by different set lengths. The calibration data of the multiple translations are fitted using a nonlinear least squares method to calculate the translation relationship matrix of the pixel coordinate system relative to the machine coordinate system.

[0008] In this invention, step S12 further includes: The control terminal controls the dispensing platform assembly to rotate 90° clockwise around the U-axis, and controls the camera center of the visual imaging assembly to move above the product, calculating the pixel coordinates of one side edge of the product in the pixel coordinate system; Then the control terminal controls the dispensing platform assembly to rotate counterclockwise by 180° around the U-axis, and calculates the pixel coordinates of the same edge of the product in the pixel coordinate system; Based on the translation of one edge of the product in the pixel coordinate system under the two flipped states, and the flipping amount of the dispensing platform assembly in the machine coordinate system, the flipping center line coordinates of the pixel coordinate system and the flipping relationship matrix of the pixel coordinate system relative to the machine coordinate system are calculated.

[0009] In this invention, step S13 further includes: The visual imaging component periodically tracks the marker point, dynamically updates its pixel coordinates, and corrects the motion trajectory of the dispensing platform component and the dispensing device component in real time based on the updated coordinates.

[0010] In this invention, step S13 specifically includes: Step S131: The control terminal establishes a complete spatial mapping model between the pixel coordinate system and the machine coordinate system based on the translation relationship matrix, the rotation center coordinates, the rotation relationship matrix, the flip center line coordinates, and the flip relationship matrix; Step S132: Based on the pixel coordinates of the marker points in the currently captured image by the visual imaging component, calculate the actual three-dimensional position and posture of the product in the mechanical coordinate system under the current pose using the spatial mapping model; Step S133: Based on the actual three-dimensional position and posture, and the relative positional relationship between the marker point and the adhesive application path, perform spatial transformation on the preset three-dimensional adhesive application path to generate a real-time adhesive application trajectory instruction that adapts to the current product posture. Step S134: Control the dispensing platform assembly and the dispensing device assembly to move in coordination to perform the dispensing operation according to the real-time dispensing trajectory command.

[0011] In this invention, step S14 further includes: After the glue application is completed, the control terminal controls the vision imaging component to take pictures of the applied glue lines, extract the actual shape features of the glue lines, and compare them with the preset standard glue line features. If the deviation value is greater than the set value, an alarm is triggered or the product is marked as unqualified.

[0012] In this invention, the control terminal is equipped with a database, which is used to store and retrieve the relative positional relationship between the marker points and the glue application path corresponding to different product models, the preset standard glue line features, and the data of the translation relationship matrix, the rotation center coordinates, the rotation relationship matrix, the flip center line coordinates and the flip relationship matrix obtained in step S12.

[0013] The present invention also includes a three-dimensional spatial adhesive application system for performing the above-described three-dimensional spatial adhesive application guidance method, comprising: The control terminal; The visual imaging component is communicatively connected to the control terminal; The dispensing device assembly is communicatively connected to the control terminal; The dispensing platform assembly is communicatively connected to the control terminal. The dispensing platform assembly has mutually perpendicular X, Y, and Z-axis movements relative to the visual imaging assembly and the dispensing device assembly, as well as Q-axis rotation perpendicular to the XY-plane and U-axis rotation parallel to the XY-plane.

[0014] Optionally, the visual imaging component may include two cameras, one of which has its optical axis perpendicular to the XY plane of the dispensing platform component, and the other camera has its optical axis forming an acute angle with the XY plane.

[0015] Compared with the prior art, the beneficial effects of this invention are as follows: The three-dimensional spatial adhesive coating guidance method of this invention captures the posture of electronic products on a two-dimensional plane using a visual imaging component, calculates the actual adhesive coating trajectory of the electronic products under three-dimensional spatial coordinate transformation, converts the two-dimensional image information into a three-dimensional spatial trajectory, ensures adhesive coating accuracy and guides the dispensing device component to perform coating, avoids expensive 3D scanning equipment, significantly reduces hardware costs, and improves system response speed and overall production efficiency. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments are briefly introduced below. The drawings described below are only the corresponding drawings of some embodiments of the present invention.

[0017] Figure 1 This is a flowchart of a preferred embodiment of the three-dimensional spatial adhesive application guidance method of the present invention. Detailed Implementation

[0018] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0019] The directional terms mentioned in this invention, such as "up", "down", "front", "back", "left", "right", "inner", "outer", "side", "top" and "bottom", are only for reference to the orientation of the accompanying drawings. The directional terms used are for the purpose of explaining and understanding this invention, and are not intended to limit this invention.

[0020] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, a connection can be a detachable connection or a connection of an integral structure; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be a connection within two components or an interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0021] The existing technology that uses a 3D line scan camera to scan the product's coordinates in three-dimensional space and then applies adhesive has the problems of high cost and low efficiency.

[0022] The following is a preferred embodiment of a three-dimensional spatial adhesive coating guidance method and a corresponding three-dimensional spatial adhesive coating system provided by the present invention, which can solve the above technical problems.

[0023] Please refer to Figure 1 ,in Figure 1 This is a flowchart of a preferred embodiment of the three-dimensional spatial adhesive application guidance method of the present invention.

[0024] This embodiment provides a three-dimensional spatial adhesive application system, comprising: a control terminal, a vision imaging component, a dispensing device component, and a dispensing platform component. The vision imaging component, the dispensing device component, and the dispensing platform component are all communicatively connected to the control terminal. The dispensing platform component has mutually perpendicular X, Y, and Z-axis movements relative to the vision imaging component and the dispensing device component, as well as Q-axis rotation perpendicular to the XY-plane and U-axis rotation parallel to the XY-plane. The vision imaging component has a pixel coordinate system based on its field of view, and the dispensing platform component has a mechanical coordinate system based on its pose.

[0025] The visual imaging component includes a camera, lens, and light source. A single camera can be used depending on the application requirements. Alternatively, the component can consist of two cameras: one with its optical axis perpendicular to the XY plane of the dispensing platform, used to identify marker points and calculate offsets within the XY plane; and the other with its optical axis at an acute angle to the XY plane, used to assist in detecting height or side features at different locations on the product, thus handling situations involving height variations or side adhesive application.

[0026] The control terminal can be an industrial computer, PLC, or embedded control system, possessing real-time motion control and image processing capabilities. The dispensing device components may include a dispensing valve, pressure controller, and dispensing system; the center position of the dispensing outlet needs to be precisely measured during system installation and recorded in the control terminal.

[0027] The three-dimensional spatial adhesive coating guidance method for adhesive coating work using the above-mentioned three-dimensional spatial adhesive coating system includes the following steps: Step S11: Marker points are set on the product. The marker points and the glue application path have a set relative positional relationship. The product is positioned and fixed on the glue dispensing platform assembly. The control terminal controls the movement of the glue dispensing platform assembly so that the marker points are located at the center of the shooting field of the visual imaging assembly (the camera with the optical axis perpendicular). The position coordinates of the marker points in the pixel coordinate system at this time are taken as the pixel origin coordinates, and the position coordinates of the marker points in the mechanical coordinate system at this time are taken as the mechanical origin coordinates.

[0028] Step S12: The control terminal controls the dispensing platform assembly to translate a set length in the XY plane. Based on the translation amount of the marker point in the pixel coordinate system and the translation amount of the dispensing platform assembly in the machine coordinate system, the translation relationship matrix of the pixel coordinate system relative to the machine coordinate system is calculated.

[0029] The control terminal controls the dispensing platform assembly to rotate around the Q-axis by a set angle. Based on the translation of the marker point in the pixel coordinate system and the rotation of the dispensing platform assembly in the machine coordinate system, the rotation center coordinates of the pixel coordinate system and the rotation relationship matrix of the pixel coordinate system relative to the machine coordinate system are calculated.

[0030] The control terminal controls the dispensing platform assembly to rotate around the U-axis by a set angle in order to calculate the rotation centerline coordinates of the pixel coordinate system and the rotation relationship matrix of the pixel coordinate system relative to the mechanical coordinate system.

[0031] Step S13: The control terminal controls the dispensing platform assembly and dispensing device assembly to cooperate in the dispensing work based on the image containing the marker points captured by the visual imaging component, the relative positional relationship between the marker points and the dispensing path, and the translation relationship matrix, rotation center coordinates, rotation relationship matrix, flip center line coordinates and flip relationship matrix calculated in step S12.

[0032] Step S14: After completing the glue application, proceed to step S11.

[0033] In this embodiment, step S13 further includes: The control terminal acquires the relative position data between the camera center of the visual imaging component and the dispensing center of the dispensing device component, as well as the dispensing reference height of the dispensing center of the dispensing device component from the product, so as to control the dispensing device component to descend relative to the product for dispensing.

[0034] It should also be noted that when the control terminal controls the movement of the dispensing device assembly to perform dispensing, the X and Y distance data between the camera center of the vision imaging component and the dispensing center of the dispensing device assembly also need to be calculated.

[0035] In this invention, step S12 further includes: The control terminal controls the dispensing platform component to translate multiple times along the XY plane by different set lengths. The calibration data of the multiple translations are fitted using the nonlinear least squares method to calculate the translation relationship matrix between the pixel coordinate system and the machine coordinate system, so as to optimize and obtain high-precision comprehensive spatial transformation parameters.

[0036] In step S12, the coordinates of the flip center line of the pixel coordinate system and the flip relationship matrix between the pixel coordinate system and the mechanical coordinate system can be calculated based on the translation of the marker point in the pixel coordinate system and the flip of the dispensing platform assembly in the mechanical coordinate system. However, when the flip is large, the recognition deviation of the marker point in the image is large. Therefore, step S12 specifically includes: The control terminal controls the dispensing platform assembly to rotate 90° clockwise around the U-axis and controls the camera center of the vision imaging assembly to move above the product, calculating the pixel coordinates of one side edge of the product in the pixel coordinate system.

[0037] Then, the control terminal controls the dispensing platform assembly to rotate counterclockwise by 180° around the U-axis, and calculates the pixel coordinates of the same edge of the product in the pixel coordinate system.

[0038] Based on the translation of one edge of the product in the pixel coordinate system under the two flipped states, the flipping amount of the dispensing platform assembly in the mechanical coordinate system, the flipping center line coordinates of the pixel coordinate system and the flipping relationship matrix of the pixel coordinate system relative to the mechanical coordinate system are calculated.

[0039] In this invention, step S13 further includes: The visual imaging component periodically tracks the marker points, dynamically updates their pixel coordinates, and corrects the motion trajectory of the dispensing platform component and dispensing device component in real time based on the updated coordinates. This compensates for possible micro-displacement or thermal deformation of the product during the dispensing process, tracks and dynamically corrects in real time, and has an online error correction function, significantly improving the reliability, working accuracy, and applicability of the three-dimensional spatial dispensing guidance method of this embodiment.

[0040] In this embodiment, step S13 specifically includes: Step S131: The control terminal establishes a complete spatial mapping model between the pixel coordinate system and the machine coordinate system based on the translation relationship matrix, rotation center coordinates, rotation relationship matrix, flip center line coordinates and flip relationship matrix.

[0041] Step S132: Based on the pixel coordinates of the marker points in the current captured image of the visual imaging component, calculate the actual three-dimensional position and orientation of the product in the mechanical coordinate system under the current pose using a spatial mapping model.

[0042] Step S133: Based on the actual three-dimensional position and orientation, as well as the relative positional relationship between the marker point and the adhesive application path, perform spatial transformation on the preset three-dimensional adhesive application path to generate a real-time adhesive application trajectory instruction that adapts to the current product orientation.

[0043] Step S134: Control the dispensing platform component and dispensing device component to move in coordination according to the real-time dispensing trajectory command to perform the dispensing work.

[0044] In this embodiment, step S14 further includes: After the adhesive application is completed, the control terminal uses a vision imaging component to photograph the applied adhesive lines, extract their actual morphological characteristics, and compare them with preset standard adhesive line characteristics. If the deviation exceeds the set value, an alarm is triggered or the product is marked as defective. This online quality inspection integrates processing and inspection, forming a closed-loop process and enhancing the overall solution's value and market competitiveness.

[0045] In this embodiment, the control terminal is equipped with a database. This database stores and retrieves the relative positions of marker points and adhesive application paths corresponding to different product models, preset standard adhesive line features, and data obtained in step S12, including translation relationship matrices, rotation center coordinates, rotation relationship matrices, flip center line coordinates, and flip relationship matrices. This enables rapid product changeover production. During changeover, only the corresponding model's file data needs to be retrieved to quickly complete system settings, significantly improving production flexibility and efficiency, and enhancing the level of intelligence.

[0046] The three-dimensional adhesive coating guidance method of this preferred embodiment captures the posture of the electronic product in a two-dimensional plane using a visual imaging component, calculates the actual adhesive coating trajectory of the electronic product under three-dimensional spatial coordinate transformation, converts the two-dimensional image information into a three-dimensional spatial trajectory, ensures adhesive coating accuracy, and guides the dispensing device component to perform coating. This avoids expensive 3D scanning equipment, significantly reduces hardware costs, and improves system response speed and overall production efficiency.

[0047] The following is an application example of the three-dimensional adhesive application guidance method described above.

[0048] Step S11: Marker points are set on the product. The marker points and the glue application path have a set relative positional relationship. The product is positioned and fixed on the glue dispensing platform assembly. The control terminal controls the movement of the glue dispensing platform assembly so that the marker points are located at the center of the field of view of the visual imaging assembly. The position coordinates of the marker points in the pixel coordinate system at this time are taken as the pixel origin coordinates, i.e. (X0, Y0, Z0, Q0, U0). The position coordinates of the marker points in the mechanical coordinate system at this time are taken as the mechanical origin coordinates.

[0049] Step S12: The control terminal controls the dispensing platform assembly to translate a set length in the XY plane. Based on the translation amount of the marker point in the pixel coordinate system and the translation amount of the dispensing platform assembly in the machine coordinate system, the translation relationship matrix of the pixel coordinate system relative to the machine coordinate system is calculated.

[0050] The control terminal controls the dispensing platform assembly to rotate around the Q-axis by a set angle. Based on the translation of the marker point in the pixel coordinate system and the rotation of the dispensing platform assembly in the machine coordinate system, the rotation center coordinates of the pixel coordinate system and the rotation relationship matrix of the pixel coordinate system relative to the machine coordinate system are calculated.

[0051] The control terminal controls the dispensing platform assembly to rotate 90° clockwise around the U-axis and controls the camera center of the vision imaging assembly to move above the product, calculating the pixel coordinates of one side edge of the product in the pixel coordinate system.

[0052] Then, the control terminal controls the dispensing platform assembly to rotate counterclockwise by 180° around the U-axis, and calculates the pixel coordinates of the same edge of the product in the pixel coordinate system.

[0053] Based on the translation of one edge of the product in the pixel coordinate system under the two flipped states, the flipping amount of the dispensing platform assembly in the mechanical coordinate system, the flipping center line coordinates of the pixel coordinate system and the flipping relationship matrix of the pixel coordinate system relative to the mechanical coordinate system are calculated.

[0054] After completing steps S11 and S12, which complete the spatial calibration, the actual dispensing trajectory coordinates can be calculated to guide the dispensing device components to apply adhesive to the product. The specific adhesive application steps include the following: The electronic product, which is fixed on the dispensing platform assembly, is reset to the coordinate position (X0, Y0, Z0, Q0, U0) mentioned in the spatial calibration in step S11. Then, the dispensing platform assembly is controlled to move along the X and Y directions, and the camera center of the visual imaging assembly is moved to the starting point of the dispensing path (X1, Y1, Z0, Q0, U0).

[0055] The control terminal also needs to acquire the X and Y distance data between the camera center of the visual imaging component and the dispensing center of the dispensing device component, namely △X1 and △Y1, as well as the dispensing reference height Z1 between the dispensing center of the dispensing device component and the product.

[0056] The control terminal takes an image containing marker points captured by the visual imaging component. Based on the image containing marker points captured by the visual imaging component, the relative positional relationship between the marker points and the adhesive application path, and the translation relationship matrix, rotation center coordinates, and rotation relationship matrix calculated in step S12, it transforms the planar adhesive application path coordinates into spatial adhesive path coordinates. This yields the coordinate changes ΔX2 and ΔY2 in the X and Y directions when the Q-axis set in the pixel coordinate system is consistent with the Q-axis of the machine coordinate system. The changes ΔX2 and ΔY2 are added to the reference adhesive path starting point (X1, Y1) to obtain the changed coordinates (X1', Y1') when the adhesive path starting point is in the plane.

[0057] The control terminal obtains the coordinate changes △X3 and △Y3 in the X and Y directions and the height change △Z when the U-axis set in the pixel coordinate system is consistent with the U-axis in the mechanical coordinate system, based on the coordinates of the flip center line and the flip relationship matrix. Then, by adding the changes △X3 and △Y3 to (X1', Y1'), the change coordinates (X1", Y1") when the glue path starting point is on the plane are obtained.

[0058] Finally, based on (X1", Y1", Z0), the X and Y directions are respectively increased by ΔX1 and ΔY1, representing the distance data between the camera center of the visual imaging component and the dispensing center of the dispensing device component. In the Z direction, ΔZ is added to the dispensing reference height Z1. The resulting XYZ coordinate values ​​are the coordinates of the starting point of the dispensing path (X2, Y2, Z2) that the dispensing device actually needs to move to.

[0059] Accordingly, the coordinates of each point on the glue application path are converted into actual glue path coordinates in the manner described above.

[0060] Then, the control terminal controls the dispensing device components to move to each glue path coordinate at a set speed according to the calculated actual glue path coordinates to apply glue to the product until the dispensing operation reaches the actual glue path endpoint coordinates.

[0061] In summary, although the present invention has been disclosed above with reference to preferred embodiments, the above preferred embodiments are not intended to limit the present invention. Those skilled in the art can make various modifications and refinements without departing from the spirit and scope of the present invention. Therefore, the scope of protection of the present invention shall be determined by the scope defined in the claims.

Claims

1. A three-dimensional spatial adhesive application guidance method, characterized in that, The adhesive application process is performed using a control terminal, a vision imaging component, a dispensing device component, and a dispensing platform component. The dispensing platform component has mutually perpendicular X, Y, and Z-axis movements relative to the vision imaging component and the dispensing device component, as well as Q-axis rotation perpendicular to the XY-plane and U-axis rotation parallel to the XY-plane. The vision imaging component has a pixel coordinate system based on its field of view, and the dispensing platform component has a mechanical coordinate system based on its pose. The three-dimensional space adhesive application guidance method includes the following steps: Step S11: A marker point is set on the product. The marker point and the glue application path have a set relative positional relationship. The product is positioned and fixed on the glue dispensing platform assembly. The control terminal controls the glue dispensing platform assembly to move so that the marker point is located at the center of the shooting field of the visual imaging assembly. The position coordinates of the marker point in the pixel coordinate system at this time are taken as the pixel origin coordinates, and the position coordinates of the marker point in the machine coordinate system at this time are taken as the machine origin coordinates. Step S12: The control terminal controls the dispensing platform assembly to translate a set length in the XY plane, and calculates the translation relationship matrix of the pixel coordinate system relative to the mechanical coordinate system based on the translation amount of the marker point in the pixel coordinate system and the translation amount of the dispensing platform assembly in the mechanical coordinate system. The control terminal controls the dispensing platform assembly to rotate around the Q axis by a set angle. Based on the translation of the marker point in the pixel coordinate system and the rotation of the dispensing platform assembly in the machine coordinate system, the control terminal calculates the rotation center coordinates of the pixel coordinate system and the rotation relationship matrix of the pixel coordinate system relative to the machine coordinate system. The control terminal controls the dispensing platform assembly to rotate around the U-axis by a set angle in order to calculate the rotation center line coordinates of the pixel coordinate system and the rotation relationship matrix of the pixel coordinate system relative to the machine coordinate system. Step S13: The control terminal controls the dispensing platform assembly and the dispensing device assembly to cooperate in the dispensing operation based on the image containing the marker point captured by the visual imaging component, the relative positional relationship between the marker point and the glue application path, and the translation relationship matrix, the rotation center coordinates, the rotation relationship matrix, the flip center line coordinates and the flip relationship matrix calculated in step S12. Step S14: After completing the glue application, proceed to step S11.

2. The three-dimensional spatial adhesive application guidance method according to claim 1, characterized in that, Step S13 further includes: The control terminal acquires the relative position data between the camera center of the visual imaging component and the dispensing center of the dispensing device component, and acquires the dispensing reference height of the dispensing center of the dispensing device component from the product.

3. The three-dimensional spatial adhesive application guidance method according to claim 1, characterized in that, Step S12 further includes: The control terminal controls the dispensing platform assembly to translate multiple times along the XY plane by different set lengths. The calibration data of the multiple translations are fitted using a nonlinear least squares method to calculate the translation relationship matrix of the pixel coordinate system relative to the machine coordinate system.

4. The three-dimensional spatial adhesive application guidance method according to claim 1, characterized in that, Step S12 further includes: The control terminal controls the dispensing platform assembly to rotate 90° clockwise around the U-axis, and controls the camera center of the visual imaging assembly to move above the product, calculating the pixel coordinates of one side edge of the product in the pixel coordinate system; Then the control terminal controls the dispensing platform assembly to rotate counterclockwise by 180° around the U-axis, and calculates the pixel coordinates of the same edge of the product in the pixel coordinate system; Based on the translation of one edge of the product in the pixel coordinate system under the two flipped states, and the flipping amount of the dispensing platform assembly in the machine coordinate system, the flipping center line coordinates of the pixel coordinate system and the flipping relationship matrix of the pixel coordinate system relative to the machine coordinate system are calculated.

5. The three-dimensional spatial adhesive application guidance method according to claim 1, characterized in that, Step S13 further includes: The visual imaging component periodically tracks the marker point, dynamically updates its pixel coordinates, and corrects the motion trajectory of the dispensing platform component and the dispensing device component in real time based on the updated coordinates.

6. The three-dimensional spatial adhesive application guidance method according to claim 1, characterized in that, Step S13 specifically includes: Step S131: The control terminal establishes a complete spatial mapping model between the pixel coordinate system and the machine coordinate system based on the translation relationship matrix, the rotation center coordinates, the rotation relationship matrix, the flip center line coordinates, and the flip relationship matrix; Step S132: Based on the pixel coordinates of the marker points in the currently captured image by the visual imaging component, calculate the actual three-dimensional position and posture of the product in the mechanical coordinate system under the current pose using the spatial mapping model; Step S133: Based on the actual three-dimensional position and posture, and the relative positional relationship between the marker point and the adhesive application path, perform spatial transformation on the preset three-dimensional adhesive application path to generate a real-time adhesive application trajectory instruction that adapts to the current product posture. Step S134: Control the dispensing platform assembly and the dispensing device assembly to move in coordination to perform the dispensing operation according to the real-time dispensing trajectory command.

7. The three-dimensional spatial adhesive application guidance method according to claim 1, characterized in that, Step S14 further includes: After the glue application is completed, the control terminal controls the vision imaging component to take pictures of the applied glue lines, extract the actual shape features of the glue lines, and compare them with the preset standard glue line features. If the deviation value is greater than the set value, an alarm is triggered or the product is marked as unqualified.

8. The three-dimensional spatial adhesive application guidance method according to claim 1, characterized in that, The control terminal is equipped with a database, which is used to store and retrieve the relative positional relationships of the marker points and glue application paths corresponding to different product models, the preset standard glue line features, and the data of the translation relationship matrix, the rotation center coordinates, the rotation relationship matrix, the flip center line coordinates, and the flip relationship matrix obtained in step S12.

9. A three-dimensional spatial adhesive application system for performing the three-dimensional spatial adhesive application guidance method as described in any one of claims 1-8, characterized in that, include: The control terminal; The visual imaging component is communicatively connected to the control terminal; The dispensing device assembly is communicatively connected to the control terminal; The dispensing platform assembly is communicatively connected to the control terminal. The dispensing platform assembly has mutually perpendicular X, Y, and Z-axis movements relative to the visual imaging assembly and the dispensing device assembly, as well as Q-axis rotation perpendicular to the XY-plane and U-axis rotation parallel to the XY-plane.

10. The three-dimensional spatial adhesive coating system according to claim 9, characterized in that, The visual imaging component includes two cameras. The optical axis of one camera is perpendicular to the XY plane of the dispensing platform component, and the optical axis of the other camera forms an acute angle with the XY plane.

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