CN112289131A - Track path teaching method based on 2D picture and dispensing equipment - Google Patents
Track path teaching method based on 2D picture and dispensing equipment Download PDFInfo
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- CN112289131A CN112289131A CN202011009704.7A CN202011009704A CN112289131A CN 112289131 A CN112289131 A CN 112289131A CN 202011009704 A CN202011009704 A CN 202011009704A CN 112289131 A CN112289131 A CN 112289131A
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- 238000000034 method Methods 0.000 title claims abstract description 30
- 230000000007 visual effect Effects 0.000 claims abstract description 30
- 238000006243 chemical reaction Methods 0.000 claims description 6
- 230000001960 triggered effect Effects 0.000 claims description 3
- 239000003292 glue Substances 0.000 description 4
- 238000012986 modification Methods 0.000 description 4
- 230000004048 modification Effects 0.000 description 4
- 230000007547 defect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000005457 optimization Methods 0.000 description 3
- ATJFFYVFTNAWJD-UHFFFAOYSA-N Tin Chemical compound [Sn] ATJFFYVFTNAWJD-UHFFFAOYSA-N 0.000 description 2
- 239000000853 adhesive Substances 0.000 description 2
- 230000001070 adhesive effect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B19/00—Teaching not covered by other main groups of this subclass
- G09B19/0053—Computers, e.g. programming
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C11/00—Component parts, details or accessories not specifically provided for in groups B05C1/00 - B05C9/00
- B05C11/10—Storage, supply or control of liquid or other fluent material; Recovery of excess liquid or other fluent material
- B05C11/1002—Means for controlling supply, i.e. flow or pressure, of liquid or other fluent material to the applying apparatus, e.g. valves
- B05C11/1015—Means for controlling supply, i.e. flow or pressure, of liquid or other fluent material to the applying apparatus, e.g. valves responsive to a conditions of ambient medium or target, e.g. humidity, temperature ; responsive to position or movement of the coating head relative to the target
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C5/00—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work
- B05C5/02—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work
- B05C5/0208—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work for applying liquid or other fluent material to separate articles
- B05C5/0212—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work for applying liquid or other fluent material to separate articles only at particular parts of the articles
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- Engineering & Computer Science (AREA)
- Business, Economics & Management (AREA)
- Computer Hardware Design (AREA)
- Entrepreneurship & Innovation (AREA)
- Physics & Mathematics (AREA)
- Educational Administration (AREA)
- Educational Technology (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Image Analysis (AREA)
Abstract
The invention discloses a track path teaching method based on a 2D picture and dispensing equipment, which comprises the following steps: s1, the vision module takes a picture of the whole or part of the product to form a product picture and transmits the product picture to the control terminal; s2, programming operation is carried out on the product picture through the control terminal, and the dispensing path is drawn on the product picture; s3, the control terminal generates pixel coordinates of the dispensing path; s4, the control terminal converts the pixel coordinates of the dispensing path into motion coordinates and transmits the motion coordinates to the motion controller module, and the motion controller module controls the dispensing valve nozzle to perform dispensing operation; the method and the system for planning, editing and optimizing the dispensing path are more visual and convenient, improve the programming efficiency and reduce the programming difficulty.
Description
Technical Field
The invention relates to the field of dispensing and tin dispensing, in particular to a track path teaching method based on a 2D picture and dispensing equipment.
Background
With the development of science and technology, the dispensing technology is applied more and more in industries and wider in field; meanwhile, the requirements of users on the quality and efficiency of dispensing are higher and higher. The programming mode, the programming efficiency and the like of the dispensing equipment are one of the factors influencing the dispensing process, so the optimization and the improvement of the dispensing programming method are also one way to improve the dispensing process capability.
The existing programming method of the dispensing equipment is basically online programming through visual measurement or camera teaching, and has defects in the aspects of programming efficiency, programming difficulty, convenience for editing instructions, path planning and the like; according to the track path teaching method based on the 2D picture, the intuition and convenience of dispensing programming are improved, the dispensing programming difficulty is reduced, and the programming efficiency is improved.
The prior art has defects and needs to be improved.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention provides the track path teaching method based on the 2D picture and the dispensing equipment, which enable the dispensing programming process to be more visual, improve the programming efficiency, reduce the programming difficulty and realize off-line operation.
The technical scheme provided by the invention is a track path teaching method based on a 2D picture, which comprises the following steps:
s1, the vision module takes a picture of the whole or part of the product to form a product picture and transmits the product picture to the control terminal;
s2, programming operation is carried out on the product picture through the control terminal, and the dispensing path is drawn on the product picture;
s3, the control terminal generates pixel coordinates of the dispensing path;
and S4, converting the pixel coordinates of the dispensing path into motion coordinates by the control terminal, transmitting the motion coordinates to the motion controller module, and controlling the dispensing valve nozzle to perform dispensing operation by the motion controller module.
Preferably, step S4 is preceded by step S401 of calibrating visual pixels, and the size of each pixel in the visual range of the high-definition industrial camera is obtained for conversion between pixel coordinates and position coordinates; s402, calibrating the relative position of the vision center and the dispensing valve nozzle to obtain the relative position coordinate between the vision center of the camera and the dispensing valve nozzle for converting the vision track and the movement track of the dispensing valve nozzle.
Preferably, step S2 specifically includes the following steps:
s21, loading the product picture in the step S1 by the dispensing software on the control terminal;
s22, drawing positions needing dispensing on the product picture through dispensing software on the control terminal, and synchronously displaying dispensing tracks on the product picture;
and S23, setting dispensing parameters of the dispensing track and confirming.
Preferably, step S3 specifically includes the following steps:
s31, the dispensing software on the control terminal compiles and optimizes the set dispensing track;
and S32, the dispensing software compiles and optimizes the set dispensing track to generate pixel coordinates of the dispensing path, and displays the product picture on the dispensing software interface after the dispensing track is superposed.
Preferably, the dispensing track comprises one or more of a point, a line segment, an arc and a curve.
Preferably, the dispensing parameters in step S23 include dispensing amount, dispensing height, dispensing speed, and residence time.
Preferably, in step S1, the vision module is moved to a position above the product by the dispensing software on the control terminal, and the product is automatically or manually focused and then the vision module is triggered by software or hardware to take a picture of the product.
In a preferred scheme, the control terminal is set as an industrial personal computer or an off-line programming computer.
The utility model provides a track path teaching adhesive deposite equipment based on 2D picture, includes vision module, motion controller module, software algorithm module and industrial computer, vision module and industrial computer electric connection, motion controller and software algorithm module are integrated in the industrial computer.
In a preferable scheme, the vision module is used for wholly or locally photographing a product, calibrating vision pixels and calibrating the relative position of a vision center and a dispensing valve nozzle;
the motion controller module is used for motion control when the relative positions of the visual pixels and the visual center and the dispensing valve nozzle are calibrated, and is used for controlling the dispensing valve nozzle to execute dispensing operation according to the motion coordinates of the dispensing path;
the software algorithm module is used for calculating during visual pixel calibration, calculating coordinates during calibration of the relative position of a visual center and a dispensing valve nozzle, calculating during writing of dispensing paths and calculating conversion of pixel coordinates into motion coordinates.
The invention has the following beneficial effects:
(1) the dispensing programming process is more visual, the programming efficiency is improved, and the programming difficulty is reduced.
(2) The visual product picture comprising the dispensing path can be used as a reference template when a customer produces dispensing inspection, so that dispensing missing, program calling errors and the like are avoided.
(3) The planning, editing and optimizing of the dispensing path are more visual and convenient.
(4) The whole dispensing programming process is off-line operation, the operation is simple, fool programming is basically realized, too many steps and instruction selection are not needed, the software can carry out internal instruction optimization processing on the selected graph on the picture, proper trajectory planning is carried out, and the desired dispensing path effect is achieved.
Drawings
FIG. 1 is a schematic overall flow diagram 1 of the present invention;
FIG. 2 is a schematic overall flow diagram of the present invention 2;
FIG. 3 is a schematic diagram of pixel coordinates and motion coordinates according to the present invention.
Detailed Description
The technical features mentioned above are combined with each other to form various embodiments which are not listed above, and all of them are regarded as the scope of the present invention described in the specification; also, modifications and variations may be suggested to those skilled in the art in light of the above teachings, and it is intended to cover all such modifications and variations as fall within the true spirit and scope of the invention as defined by the appended claims.
In order to facilitate an understanding of the invention, the invention is described in more detail below with reference to the accompanying drawings and specific examples. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for descriptive purposes only.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.
The present invention will be described in detail with reference to the accompanying drawings.
As shown in fig. 1, the trajectory path teaching method based on 2D pictures includes the following steps:
s1, the vision module takes a picture of the whole or part of the product to form a product picture and transmits the product picture to the control terminal;
s2, programming operation is carried out on the product picture through the control terminal, and the dispensing path is drawn on the product picture;
s3, the control terminal generates pixel coordinates of the dispensing path;
and S4, converting the pixel coordinates of the dispensing path into motion coordinates by the control terminal, transmitting the motion coordinates to the motion controller module, and controlling the dispensing valve nozzle to perform dispensing operation by the motion controller module.
Wherein the vision module sets up to high definition industry camera, and the point is glued software through on the control terminal and is removed high definition industry camera to directly over the product, shoots the product automatically, perhaps focuses on high definition industry camera through point and shoots the back automation, perhaps adjusts high definition industry camera position manually, and the manual back of focusing on high definition industry camera is triggered to shoot manually.
If the product is large, when local dispensing is carried out on the product, shooting the local part of the product needing dispensing, and transmitting the shot local part to the control terminal; if the product is large, when all the glue dispensing operations are needed to be carried out on the product, the product is locally photographed and transmitted to the control terminal to be synthesized by the control terminal, and a complete product picture is formed.
Step S2 specifically includes the following steps:
s21, loading the product picture in the step S1 by the dispensing software on the control terminal; opening the dispensing software on the control terminal, entering a dispensing track editing interface of the dispensing software, loading the product picture in the step S1, and starting to compile a dispensing track; the dispensing software is installed on an industrial personal computer or an off-line programming computer.
S22, drawing positions needing dispensing on the product picture through dispensing software on the control terminal, and synchronously displaying dispensing tracks on the product picture; in the process, the product picture is enlarged or reduced, the dispensing track is accurately set for the drawn track and is superposed with the product picture, and the product picture with the dispensing track is formed. The dispensing track is one of a point, a line segment, an arc line and a curve or is superposed in various forms according to the product requirement.
And S23, setting dispensing parameters of the dispensing track and confirming. The dispensing parameters include dispensing amount, dispensing height, dispensing speed, and residence time, which are related to the dispensing or tin dispensing process.
Step S3 specifically includes the following steps:
s31, the dispensing software on the control terminal compiles and optimizes the set dispensing track;
and S32, the dispensing software compiles and optimizes the set dispensing track to generate pixel coordinates of the dispensing path, and displays the product picture on the dispensing software interface after the dispensing track is superposed.
As shown in fig. 2, step S4 is preceded by S401, calibrating visual pixels, obtaining the size of each pixel in mm/pixel or pixel/mm in the visual range of the high-definition industrial camera, for converting between pixel coordinates and position coordinates; s402, calibrating the relative position of the vision center and the dispensing valve nozzle to obtain the relative position coordinate between the vision center of the camera and the dispensing valve nozzle for converting the vision track and the movement track of the dispensing valve nozzle.
As shown in fig. 3, the working principle is as follows: firstly, the high-definition industrial camera is used for integrally photographing a product, if the product exceeds the visual field of the high-definition industrial camera, the product is subjected to splicing treatment after being photographed at multiple positions, a dispensing path is intuitively increased/edited on a product picture by using a mouse or a touch mode, and each position of the product picture corresponds to an independent pixel coordinate (X)i-pixel，Yi-pixel) Therefore, the whole dispensing path has the corresponding pixel coordinates. Through visual pixel calibration and calibration of the relative position of a visual center and a dispensing valve nozzle, the pixel coordinate (X) of a product picture can be calibratedi-pixel， Yi-pixel) Conversion to motion coordinates (X)i-mm，Yi-mm) And the glue is provided for the motion control module to control the spray head of the glue dispensing valve to dispense along the planned glue dispensing path.
The utility model provides a track path teaching adhesive deposite equipment based on 2D picture, includes vision module, motion controller module, software algorithm module and industrial computer, vision module and industrial computer electric connection, motion controller and software algorithm module are integrated in the industrial computer.
In a preferable scheme, the vision module is used for wholly or locally photographing a product, calibrating vision pixels and calibrating the relative position of a vision center and a dispensing valve nozzle;
the motion controller module is used for motion control when the relative positions of the visual pixels and the visual center and the dispensing valve nozzle are calibrated, and is used for controlling the dispensing valve nozzle to execute dispensing operation according to the motion coordinates of the dispensing path;
the software algorithm module is used for calculating during visual pixel calibration, calculating coordinates during calibration of the relative position of a visual center and a dispensing valve nozzle, calculating during writing of dispensing paths and calculating conversion of pixel coordinates into motion coordinates.
The dispensing operation process comprises:
and (3) the product flows to dispensing equipment, after the high-definition industrial camera positions the Mark, the written dispensing track is matched with the product, dispensing software is calibrated with pixels based on the previous vision module and the relative position between the vision center of the high-definition industrial camera and a dispensing valve nozzle, the track path is converted into a motion path of the dispensing valve nozzle, and dispensing operation is executed.
According to the track path teaching method based on the 2D picture, the dispensing programming process is more visual, the programming efficiency is improved, and the programming difficulty is reduced. Meanwhile, the visual product picture and the dispensing path can also be used as a reference template during the point inspection of the customer production, thereby avoiding dispensing leakage, program calling error and the like; the planning, editing and optimizing of the dispensing path are more visual and convenient; the whole dispensing programming process is off-line operation, the operation is simple, fool programming is basically realized, too many steps and instruction selection are not needed, the software can carry out internal instruction optimization processing on the selected graph on the picture, proper trajectory planning is carried out, and the desired dispensing path effect is achieved.
The technical features mentioned above are combined with each other to form various embodiments which are not listed above, and all of them are regarded as the scope of the present invention described in the specification; also, modifications and variations may be suggested to those skilled in the art in light of the above teachings, and it is intended to cover all such modifications and variations as fall within the true spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. The track path teaching method based on the 2D picture is characterized by comprising the following steps of:
s1, the vision module takes a picture of the whole or part of the product to form a product picture and transmits the product picture to the control terminal;
s2, programming operation is carried out on the product picture through the control terminal, and the dispensing path is drawn on the product picture;
s3, the control terminal generates pixel coordinates of the dispensing path;
and S4, converting the pixel coordinates of the dispensing path into motion coordinates by the control terminal, transmitting the motion coordinates to the motion controller module, and controlling the dispensing valve nozzle to perform dispensing operation by the motion controller module.
2. The 2D picture-based track path teaching method according to claim 1, wherein the step S4 is preceded by S401, visual pixel calibration, obtaining the size of each pixel in the visual range of the high-definition industrial camera for conversion between pixel coordinates and position coordinates; s402, calibrating the relative position of the vision center and the dispensing valve nozzle to obtain the relative position coordinate between the vision center of the camera and the dispensing valve nozzle for converting the vision track and the movement track of the dispensing valve nozzle.
3. The method for teaching the trajectory path based on the 2D picture according to claim 1, wherein the step S2 specifically includes the following steps:
s21, loading the product picture in the step S1 by the dispensing software on the control terminal;
s22, drawing positions needing dispensing on the product picture through dispensing software on the control terminal, and synchronously displaying dispensing tracks on the product picture;
and S23, setting dispensing parameters of the dispensing track and confirming.
4. The method for teaching the trajectory path based on the 2D picture according to claim 1, wherein the step S3 specifically includes the following steps:
s31, the dispensing software on the control terminal compiles and optimizes the set dispensing track;
and S32, the dispensing software compiles and optimizes the set dispensing track to generate pixel coordinates of the dispensing path, and displays the product picture on the dispensing software interface after the dispensing track is superposed.
5. The 2D picture-based track path teaching method according to claim 4, wherein the dispensing track comprises one or more of a point, a line segment, an arc, and a curve.
6. The method for teaching track paths based on 2D pictures according to claim 3, wherein the dispensing parameters in step S23 include dispensing amount, dispensing height, dispensing speed and dwell time.
7. The 2D picture-based track path teaching method according to claim 1, wherein in step S1, the vision module is moved to a position above the product by a dispensing software on the control terminal, and the product is automatically or manually focused and then photographed by the vision module triggered by software or hardware.
8. The 2D picture-based track path teaching method according to any one of claims 1-7, wherein the control terminal is configured as an industrial personal computer or an off-line programming computer.
9. The utility model provides a track path teaching dispensing equipment based on 2D picture which characterized in that, includes vision module, motion controller module, software algorithm module and industrial computer, vision module and industrial computer electric connection, motion controller and software algorithm module are integrated in the industrial computer.
10. The track path teaching dispensing device based on the 2D picture as claimed in claim 9, wherein the vision module is used for overall or local photographing of a product, for vision pixel calibration, and for calibration of relative positions of a vision center and a dispensing valve nozzle;
the motion controller module is used for motion control when the relative positions of the visual pixels and the visual center and the dispensing valve nozzle are calibrated, and is used for controlling the dispensing valve nozzle to execute dispensing operation according to the motion coordinates of the dispensing path;
the software algorithm module is used for calculating during visual pixel calibration, calculating coordinates during calibration of the relative position of a visual center and a dispensing valve nozzle, calculating during writing of dispensing paths and calculating conversion of pixel coordinates into motion coordinates.
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| CN202011009704.7A CN112289131A (en) | 2020-09-23 | 2020-09-23 | Track path teaching method based on 2D picture and dispensing equipment |
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| CN202011009704.7A CN112289131A (en) | 2020-09-23 | 2020-09-23 | Track path teaching method based on 2D picture and dispensing equipment |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113058825A (en) * | 2021-03-16 | 2021-07-02 | 上海闻泰信息技术有限公司 | Dispensing method, system and device |
| CN113846478A (en) * | 2021-09-28 | 2021-12-28 | 东佑服饰科技(太仓)有限公司 | Seamless glue dispensing process |
| CN114326595A (en) * | 2022-01-04 | 2022-04-12 | 深圳市轴心自控技术有限公司 | Offline programming system and programming method |
| CN118080291A (en) * | 2024-03-29 | 2024-05-28 | 安兴精密(深圳)有限公司 | Multi-target path optimization method and system for dispensing machine based on image processing |
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