CN114798321A

CN114798321A - Three-dimensional calibration method, device, equipment and medium for needle head of dispenser

Info

Publication number: CN114798321A
Application number: CN202210324314.1A
Authority: CN
Inventors: 段徽庆; 韩鹏; 康亚钧; 张兵
Original assignee: Nantong Kerian Intelligent Equipment Co ltd
Current assignee: Nantong Kerian Intelligent Equipment Co ltd
Priority date: 2022-03-29
Filing date: 2022-03-29
Publication date: 2022-07-29

Abstract

The embodiment of the invention discloses a three-dimensional calibration method, a three-dimensional calibration device, three-dimensional calibration equipment and a three-dimensional calibration medium for a needle head of a dispenser. The method is executed by a calibration system, the calibration system is connected with a dispenser, and the calibration system comprises a horizontal position calibration assembly and a vertical position calibration assembly; the calibration system also comprises calibration initial point positions; the method comprises the following steps: controlling the needle head of the dispenser to move to the initial calibration point position; controlling the needle head to move from the calibration initial point position to the datum point position determined by the horizontal position calibration assembly and the vertical position calibration assembly at least twice, and successively recording the horizontal coordinate and the vertical coordinate which are recognized to move to the datum point position by the horizontal position calibration assembly and the vertical position calibration assembly; determining a deviation value of the needle head in the space position according to the recognized horizontal coordinate, the recognized vertical coordinate and the recognized coordinate of the datum point; and calibrating the needle head of the dispenser based on the deviation value. According to the technical scheme, the three-dimensional calibration precision and efficiency of the needle head of the dispenser can be improved.

Description

Three-dimensional calibration method, device, equipment and medium for needle head of dispenser

Technical Field

The invention relates to the technical field of dispensing control, in particular to a three-dimensional calibration method, a three-dimensional calibration device, three-dimensional calibration equipment and a three-dimensional calibration medium for a needle head of a dispenser.

Background

The dispensing technology is widely applied to the industries of electronics, illumination, automobiles and the like, and can be used for bonding, pouring, coating, sealing or filling and the like in the product process. In actual production, the requirement of products on dispensing precision is often higher, however, different products have great differences in various aspects such as size, shape, surface material and the like, so that the needle of the dispensing machine needs to be calibrated, maintained or replaced at regular time. The precision of the needle head of the dispensing machine not only affects the precision and quality of dispensing in the product process, but also affects the design and selection of a dispensing path.

At present, the needle precision of the dispensing machine is calibrated by manual assistance, the automation degree is low, the reliability is poor, the efficiency is low, and the influence of ambient light is great, so that the dispensing precision is reduced, and the difficulty in developing a dispensing path is increased.

Disclosure of Invention

The invention provides a three-dimensional calibration method, a three-dimensional calibration device, three-dimensional calibration equipment and a three-dimensional calibration medium for a needle head of a dispenser, which are used for determining the deviation value of the needle head of the dispenser in a spatial position through multiple times of calibration, can improve the three-dimensional calibration precision and efficiency of the needle head of the dispenser, further improve the dispensing precision and are beneficial to selecting an applicable dispensing path according to different product characteristics by the dispenser.

According to an aspect of the present invention, there is provided a three-dimensional calibration method for a dispenser needle, the method comprising:

controlling the needle head of the dispenser to move to the initial calibration point position;

controlling the needle head to move from the calibration initial point position to the datum point position determined by the horizontal position calibration assembly and the vertical position calibration assembly at least twice, and successively recording the horizontal coordinate recognized by the horizontal position calibration assembly to move to the datum point position and the vertical coordinate recognized by the vertical position calibration assembly to move to the datum point position;

determining a deviation value of the needle head in the space position according to the recognized horizontal coordinate, the recognized vertical coordinate and the coordinate of the datum point position;

and calibrating the needle head of the dispenser based on the deviation value.

According to another aspect of the present invention, there is provided a three-dimensional calibration device for a dispenser needle, comprising:

the point location initialization module is used for controlling the needle head of the dispenser to move to the initial calibration point location;

the needle head coordinate determination module is used for controlling the needle head to move from the calibration initial point position to the datum point position determined by the horizontal position calibration assembly and the vertical position calibration assembly at least twice, and successively recording the horizontal coordinate recognized by the horizontal position calibration assembly to move to the datum point position and the vertical coordinate recognized by the vertical position calibration assembly to move to the datum point position;

the deviation value determining module is used for determining the deviation value of the needle head in the space position according to the recognized horizontal coordinate, the recognized vertical coordinate and the recognized coordinate of the datum point;

and the three-dimensional calibration module is used for calibrating the needle head of the dispenser based on the deviation value.

According to another aspect of the present invention, there is provided an electronic apparatus including:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,

the memory stores a computer program executable by the at least one processor, the computer program being executable by the at least one processor to enable the at least one processor to perform a method of three-dimensional calibration of a dispenser needle according to any embodiment of the present invention.

According to another aspect of the present invention, there is provided a computer readable storage medium storing computer instructions for causing a processor to implement a method for three-dimensional calibration of a dispenser needle according to any one of the embodiments of the present invention when executed.

According to the technical scheme of the embodiment of the invention, the needle head of the dispenser is controlled to move to the initial calibration point position; controlling the needle head to move from the calibration initial point position to the datum point position determined by the horizontal position calibration assembly and the vertical position calibration assembly at least twice, and successively recording the horizontal coordinate recognized by the horizontal position calibration assembly to move to the datum point position and the vertical coordinate recognized by the vertical position calibration assembly to move to the datum point position; determining a deviation value of the needle head in the space position according to the recognized horizontal coordinate, the recognized vertical coordinate and the coordinate of the datum point position; and calibrating the needle head of the dispenser based on the deviation value. According to the technical scheme, the deviation value of the needle head of the dispensing machine in the space position is determined through multiple times of calibration, the three-dimensional calibration precision and efficiency of the needle head of the dispensing machine can be improved, the dispensing precision is improved, and the dispensing machine is favorable for selecting a suitable dispensing path according to different product characteristics.

It should be understood that the statements in this section do not necessarily identify key or critical features of the embodiments of the present invention, nor do they necessarily limit the scope of the invention. Other features of the present invention will become apparent from the following description.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Fig. 1 is a flowchart of a three-dimensional calibration method for a needle of a dispenser according to an embodiment of the present invention;

fig. 2 is a flowchart of a three-dimensional calibration method for a needle of a dispenser according to a second embodiment of the present invention;

fig. 3 is a flowchart of a three-dimensional calibration method for a needle of a dispenser according to a third embodiment of the present invention;

fig. 4 is a flowchart of a three-dimensional calibration method for a needle of a dispenser according to a fourth embodiment of the present invention;

fig. 5 is a schematic diagram of path adjustment in the three-dimensional calibration method for a needle of a dispenser according to the fourth embodiment of the present invention;

fig. 6 is a schematic structural diagram of a three-dimensional calibration device for a needle of a dispenser according to a fifth embodiment of the present invention;

fig. 7 is a schematic view of an electronic device according to a sixth embodiment of the present invention.

Detailed Description

In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that the terms "first," "second," "target," and the like in the description and claims of the present invention and in the above-described drawings are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

Example one

Fig. 1 is a flowchart of a three-dimensional calibration method for a needle of a dispenser according to an embodiment of the present invention, where the method is applicable to a case of three-dimensional calibration of a needle of a dispenser, and the method may be performed by a calibration system, where the calibration system is connected to a dispenser, and the calibration system includes a horizontal position calibration component and a vertical position calibration component; the calibration system also includes calibrating the initial point locations. The three-dimensional calibration device of the dispenser needle can be realized in the form of hardware and/or software, and can be configured in an electronic device with data processing capability.

It should be noted that the calibration system may include an application program for executing the three-dimensional calibration method for the needle of the dispenser, a calibration platform, and a horizontal position calibration assembly and a vertical position calibration assembly; the dispenser may be a fully automatic dispensing device. The horizontal position calibration assembly and the vertical position calibration assembly are arranged on the calibration platform in a threaded connection or clamping manner; the calibration component can be a correlation optical fiber sensor, a pressure sensor and a CCD camera. In addition, the calibration initial point position can be a position determined through visual observation or a position set by a calibration system, the specific position of the calibration initial point position is not limited, the calibration initial point position can be determined according to actual needs, and only the fact that the needle of the dispenser does not hit the needle when the initial point position is calibrated is required to be ensured.

As shown in fig. 1, the method includes:

and S110, controlling the needle head of the dispenser to move to the initial calibration point position.

In the embodiment of the invention, the needle head of the dispenser is controlled to move to the initial calibration point position, and the needle head of the dispenser can be controlled by a manipulator on the dispenser so as to move to the initial calibration point position. Specifically, the dispenser can obtain a calibration initial point location and a current point location of a needle of the dispenser through the calibration system, determine a movement track of the needle of the dispenser according to the calibration initial point location and the current point location of the needle of the dispenser, and control the needle of the dispenser according to the determined movement track by the manipulator, so that the needle of the dispenser moves from the current point location to the calibration initial point location.

The point location may include first horizontal coordinates, second horizontal coordinates, and vertical coordinates in a first horizontal direction, a second horizontal direction, and a vertical direction. For example, a CCD (Charge Coupled Device) camera may be calibrated by a nine-point calibration method, and a mapping relationship between a pixel coordinate system and a world coordinate system, that is, a mapping relationship between an image coordinate system and a manipulator coordinate system, may be established. Specifically, 9 point photos are shot through a CCD camera; determining the current point location coordinate and the calibration initial point location coordinate of the needle of the dispenser under the world coordinate system according to the established mapping relation between the pixel coordinate system and the world coordinate system; and further determining a moving track of the needle head of the glue dispensing machine from the current point location to the calibration initial point location. It should be noted that the same feature point must be displayed in the 9-point photo, and if the feature point is lacked, the 9-point photo needs to be re-photographed to ensure the calibration accuracy.

And S120, controlling the needle head to move from the initial calibration point position to the datum point position determined by the horizontal position calibration assembly and the vertical position calibration assembly at least twice, and gradually recording the horizontal coordinate recognized by the horizontal position calibration assembly to move to the datum point position and the vertical coordinate recognized by the vertical position calibration assembly to move to the datum point position.

It can be understood that the precision of the glue dispensing position of the manipulator of the glue dispenser is influenced by various aspects during the process of controlling the movement of the needle and dispensing, for example, the needle is deformed by being touched by a product, or the manipulator is subjected to position errors caused by vibration of a motor during the control movement. Therefore, the accuracy of the needle needs to be calibrated.

The datum point position can be the position of a calibration test of the needle head of the dispenser and can be determined according to actual needs. Specifically, according to the selection method of the three-dimensional coordinate system, the datum points may include two horizontal datum points and one vertical datum point. In the embodiment of the invention, the dispenser can acquire the coordinate information of the datum point position through the calibration system, and control the mechanical arm to move the needle head of the dispenser from the initial calibration point position to the datum point position. It should be noted that, in order to ensure the calibration accuracy of the needle, the needle needs to be controlled to move to the datum position at least twice.

In addition, the recognition condition for ensuring that the needle moves to the datum position can be determined according to the types of the horizontal position calibration assembly and the vertical position calibration assembly. The calibration component can be a correlation optical fiber sensor, a pressure sensor or a CCD camera. For example, if the calibration component is a correlation optical fiber sensor, the condition for ensuring that the needle moves to the reference point position is that the needle moves to an effective signal position of the correlation optical fiber sensor until the correlation optical fiber sensor cannot receive the emission signal; if the calibration assembly is a pressure sensor, ensuring that the condition that the needle head moves to the datum point position is that the needle head moves to the pressure sensor module until the signal of the pressure sensor module is disconnected; if the calibration component is a CCD camera, the condition that the needle head moves to the datum point position is that after the needle head shot by the CCD camera moves to the datum point position, the deviation of the pixel coordinate of the glue point position in the glue dispensing image and the pixel coordinate of the glue point position in the preset calibration image is within the preset deviation threshold value range.

The embodiment of the invention does not specifically limit the types of the horizontal position calibration component and the vertical position calibration component, for example, the horizontal position calibration component is a correlation optical fiber sensor, and the vertical position calibration component is also a correlation optical fiber sensor; or the horizontal position calibration component is a correlation optical fiber sensor, and the vertical position calibration component is a pressure sensor; or the horizontal position calibration component is a CCD camera, and the vertical position calibration component is a pressure sensor; or the horizontal position calibration component is a correlation optical fiber sensor, and the vertical position calibration component is a CCD camera. The types of the horizontal position calibration assembly and the vertical position calibration assembly can be determined according to actual needs.

In addition, the trajectory of the control needle moving from the calibration initial point to the reference point may be a straight line or a curved line. However, in order to reduce the error of the coordinates recorded for multiple times and ensure the accuracy of needle calibration, the selection principle of multiple trajectories from the same calibration initial point position to the same reference point position should be the same. For example, the trajectories moving from the same calibration origin point position to the same horizontal fiducial point position may each be the shortest straight-line trajectories from the calibration origin point position to the horizontal fiducial point position.

S130, determining a deviation value of the needle head in the space position according to the recognized horizontal coordinate, the recognized vertical coordinate and the recognized coordinate of the datum point position.

The horizontal coordinate and the vertical coordinate are actual coordinate values after the needle head is recognized to move to the datum point position, and the coordinate of the datum point position can be a preset theoretical coordinate value. In the embodiment of the invention, the deviation value of the needle head in the space position can be determined by comparing the actual coordinate value with the theoretical coordinate value.

For example, the encoder determines position coordinates of the calibration initial point position and the datum point position when the needle of the dispenser is identified to reach the calibration initial point position under the world coordinate system according to the established mapping relation between the pixel coordinate system and the world coordinate system when each movement is performed; the method comprises the following steps of (1) carrying out difference on position coordinates of a needle head of a dispenser in each direction of a calibration initial point position and a reference point position under a world coordinate system to obtain the actual moving distance of the needle head in each direction of a spatial position; acquiring position coordinates of the reference point location and the calibration initial point location under a world coordinate system through a calibration system, and performing difference to obtain theoretical moving distance of the needle head in each direction of the spatial position; and finally, the actual distance of the needle head in each direction of the space position is different from the theoretical moving distance, so that a deviation value of the group of needle heads in the space position is obtained. Specifically, when the dispensing machine needle is vertically positioned, in a world coordinate system, the position coordinate of the dispensing machine needle reaching the calibration initial point position is (20,6,8), and the position coordinate of the dispensing machine needle reaching the datum point position is (20,4, 2.3); the calibration initial point location coordinates obtained by the calibration system are (20,6,8), and the reference point location coordinates are (20,4, 2); thus, a vertical offset of 0.3 for the dispenser needle in this movement calibration can be determined. Similarly, the horizontal deviation value can also be obtained through a horizontal calibration test.

As another example, the horizontal coordinate and the vertical coordinate of the datum point may be obtained through a calibration system; and respectively carrying out difference on the identified horizontal coordinate of the needle head and the horizontal coordinate of the datum point position, and the identified vertical coordinate of the needle head and the vertical coordinate of the datum point position, and determining the deviation value of the needle head in the horizontal direction and the vertical direction.

It should be noted that, in order to ensure the calibration accuracy, multiple calibration tests may be performed in the same direction to obtain the deviation values of the multiple groups of needles in the spatial positions, in the embodiment of the present invention, the deviation values may be an average value of the deviation values of the multiple groups of needles in the spatial positions in the same calibration direction, may also be a median value of the deviation values of the multiple groups of needles in the spatial positions in the same calibration direction, and may also be determined according to the deviation values of the multiple groups of needles in the spatial positions and an empirical coefficient. The determining method of the deviation value in the embodiment of the present invention is not limited.

S140, calibrating the needle head of the dispenser based on the deviation value.

It can be understood that the calibration of the needle of the dispensing machine is performed based on the deviation value, and the calibration of the needle of the dispensing machine can be realized by taking the coordinate value of the preset dispensing feature point in each direction and the deviation value as the position coordinate of the target dispensing feature point when the dispensing machine performs actual operation.

The position coordinates of the target dispensing feature point are determined, the horizontal position coordinates of the target dispensing feature point on the dispensing plane can be determined by using the CCD camera, and the vertical position coordinates of the target dispensing feature point can be determined by using the laser sensor.

In the embodiment of the invention, the horizontal position coordinates of the target dispensing feature points are determined by the deviation value of the world coordinates of a plurality of preset dispensing feature points in the horizontal plane and the spatial position of the needle head. Specifically, the CCD camera is controlled to move to a shooting point position for shooting, and pixel coordinates of a plurality of preset dispensing feature points in a horizontal plane are obtained; determining and recording world coordinates of a plurality of preset dispensing feature points in a horizontal plane by utilizing a mapping relation between a pixel coordinate system and a world coordinate system established by a nine-point calibration method in the step S110; and taking the world coordinate of the preset dispensing characteristic point on the horizontal plane and the deviation value of the needle head in the horizontal direction as the position coordinate of the target dispensing characteristic point on the horizontal plane. For example, the world coordinates of the preset dispensing feature points on the horizontal plane are respectively (X) _a ，Y _a )、 (X _b ，Y _b ) And (X) _c ，Y _c ) The deviation values of the needle head in the horizontal direction are respectively delta X ₀ And Δ Y ₀ Then target dispensing characteristicThe position coordinates of the points on the horizontal plane are respectively (X) _a +ΔX ₀ ，Y _a +ΔY ₀ )、 (X _b +ΔX ₀ ，Y _b +ΔY ₀ ) And (X) _c +ΔX ₀ ，Y _c +ΔY ₀ )。

In the embodiment of the invention, the vertical position coordinates of the target dispensing feature points are determined, and the height ranging can be carried out by guiding the mobile laser range finder to the point positions to obtain the vertical coordinate values of a plurality of preset dispensing feature points; and taking the world coordinate of the preset dispensing characteristic point in the vertical direction and the deviation value of the needle head in the vertical direction as the position coordinate of the target dispensing characteristic point in the vertical direction. For example, the world coordinates of the preset dispensing feature points in the vertical direction are respectively Z _a 、Z _b And Z _c The vertical deviation value of the needle is delta Z ₀ Then the position coordinates of the target dispensing feature point in the vertical direction are respectively Z _a +ΔZ ₀ 、Z _b +ΔZ ₀ And Z _c +ΔZ ₀ 。

According to the technical scheme of the embodiment of the invention, the needle head of the dispenser is controlled to move to the initial calibration point position; controlling the needle head to move from the calibration initial point position to the datum point position determined by the horizontal position calibration assembly and the vertical position calibration assembly at least twice, and successively recording the horizontal coordinate recognized by the horizontal position calibration assembly to move to the datum point position and the vertical coordinate recognized by the vertical position calibration assembly to move to the datum point position; determining a deviation value of the needle head in the space position according to the identified horizontal coordinate, the identified vertical coordinate and the coordinate of the datum point; and calibrating the needle head of the dispenser based on the deviation value. This technical scheme, through mark many times with the deviation value of confirming point gum machine syringe needle at spatial position, can improve the three-dimensional calibration precision and the efficiency of point gum machine syringe needle, and then improve the precision of gluing.

Example two

Fig. 2 is a flowchart of a three-dimensional calibration method for a needle of a dispenser according to a second embodiment of the present invention, which is optimized based on the second embodiment. The concrete optimization is as follows: the horizontal position calibration assembly comprises: a cross line formed by the first direction correlation optical fiber sensor and the second direction correlation optical fiber sensor; wherein the first direction and the second direction are in the same horizontal plane and are perpendicular to each other.

As shown in fig. 2, the method of the present embodiment specifically includes the following steps:

s210, controlling the needle head of the dispenser to move to the initial calibration point position.

S220, controlling the needle head to move from the calibration initial point position along the second direction at least twice until the first direction correlation optical fiber sensor cannot receive the emission signal, and obtaining and recording at least two first direction identification coordinates; and controlling the needle head to move from the calibration initial point position along the first direction at least twice until the second direction correlation optical fiber sensor cannot receive the emission signal, and obtaining and recording at least two second direction identification coordinates.

It can be understood that the operation principle of the correlation optical fiber sensor is that one end emits light and the other end receives light, but when the needle of the dispenser reaches the datum point of the correlation optical fiber sensor, namely the light path is blocked, the detection circuit corresponding to the correlation optical fiber sensor outputs a group of effective signals. For ease of understanding, the first direction is an X-axis direction and the second direction is a Y-axis direction. In addition, in order to calibrate the accuracy of the needle heads in two different horizontal directions, the datum point position cannot be selected at the intersection of a cross line formed by the first direction correlation optical fiber sensor and the second direction correlation optical fiber sensor.

Specifically, the coordinate of the calibration initial point in the world coordinate system may be assumed to be (X) ₀ ，Y ₀ ， Z ₀ ) And repeatedly controlling the needle head to move from the calibration initial point position along the second direction for multiple times until the first-direction correlation optical fiber sensor cannot receive the emission signal, and recording coordinate values Y of the needle head in multiple first directions at effective signal positions _t (wherein t is the number of times of calibration, t is not less than 2), and the position coordinate corresponding to the needle at this time, that is, the first direction identification coordinate is (X) ₀ ，Y _t ，Z ₀ ). And similarly, controlling the needle head to start from the calibration initial point positionMoving along the first direction at least twice until the second direction opposite emission optical fiber sensor can not receive the emission signal, and recording coordinate values X of the needle head in multiple first directions at effective signal positions _t (wherein t is the calibration times, t is more than or equal to 2), the position coordinate corresponding to the needle at the moment, namely the second direction identification coordinate is (X) _t ，Y ₀ ，Z ₀ )。

Here, in order to accurately acquire an effective signal output from a detection circuit corresponding to the correlation optical fiber sensor, the moving speed of the needle needs to be reduced when the needle is horizontally calibrated. Preferably, the moving speed may be 1 to 4 mm/s.

S230, moving the calibration initial point location to a position of the first direction correlation optical fiber sensor, where the first direction correlation optical fiber sensor cannot receive the emission signal, or a position of the second direction correlation optical fiber sensor, where the second direction correlation optical fiber sensor cannot receive the emission signal, lifting to a first preset height, descending until the first direction correlation optical fiber sensor cannot receive the emission signal, or the second direction correlation optical fiber sensor cannot receive the emission signal, obtaining a first vertical identification coordinate, lifting to a first preset height again, descending to obtain a preset number of vertical identification coordinates, or obtaining a final vertical identification coordinate; wherein the preset multiple is less than 1.

In the embodiment of the invention, when the position of the first direction opposite emission optical fiber sensor which can not receive the emission signal or the position of the second direction opposite emission optical fiber sensor which can not receive the emission signal, namely the position coordinate corresponding to the needle head at the moment is (X) ₀ ，Y _t ，Z ₀ ) Or (X) _t ，Y ₀ ，Z ₀ )。

The explanation will be given taking as an example a position of the opposite optical fiber sensor in the first direction at which the transmission signal cannot be received. When the position of the first direction opposite emission optical fiber sensor which can not receive the emission signal is in the first direction, the coordinate of the position of the needle head is (X) ₀ ，Y _t ，Z ₀ ) Meaning that the needle lies in a plane perpendicular to the fiber optic sensor that is aligned from the first direction to the second directionThe plane formed by the emitted light path. Illustratively, the control needle head is lifted from the vertical height of the current position to a first preset height H and then is descended until the second direction opposite emission optical fiber sensor cannot receive the emission signal, and the first vertical coordinate value (X) of the needle head at the effective signal position is recorded ₀ ，Y _t ，Z _t ) To obtain the first vertical identification coordinate Z _t (ii) a And the vertical recognition coordinates are obtained by lifting to a first preset height and descending by preset times to obtain a preset number of vertical recognition coordinates. The preset height and the preset number can be set according to actual needs.

Also illustratively, the vertical height Z of the needle from the current position is controlled ₀ The first vertical coordinate value Z of the needle head at the effective signal position is recorded until the first direction correlation optical fiber sensor can not receive the emission signal after being lifted to the first preset height H and then is descended _t And obtaining the first vertical identification coordinate X ₀ ，Y _t ，Z _t ) Wherein, t is 1; and lifting the vertical coordinate to the first preset height again to descend by preset times to obtain the final vertical identification coordinate (X) ₀ ，Y _t ，Z _t ) Wherein t > 1. For example, the needle is at the position of the first direction opposite emission optical fiber sensor, which can not receive the emission signal, and the coordinate of the position corresponding to the needle is recorded as (X) ₀ ，Y _t ，Z ₀ ) (ii) a Controlling the vertical height Z of the needle from the current position ₀ Lifting to a first preset height H, and recording the coordinate of the corresponding position of the needle head as (X) ₀ ，Y _t ，Z ₀ + H); controlling the pinhead to descend vertically until the first direction correlation optical fiber sensor can not receive the emission signal, and recording the corresponding position coordinate of the pinhead, namely the first vertical identification coordinate is (X) ₀ ，Y _t ，Z _t1 ) And determining a vertical distance h by which the needle head descends, wherein the vertical distance h can be determined by the following formula: h ═ Z ₀ +H-Z _t1 (ii) a Controlling the vertical height Z of the needle from the current position _t1 Lifting to half of the first preset height, namely h/2, and recording the coordinate of the corresponding position of the needle at the moment as (X) ₀ ，Y _t ，Z _t1 + h/2); controlling the needle head to be verticalDescending until the first direction correlation optical fiber sensor can not receive the emission signal, recording the coordinate of the corresponding position of the needle at the moment, namely the second vertical identification coordinate is (X) ₀ ，Y _t ，Z _t2 ) (ii) a The needle head is repeatedly controlled to move for N times to obtain the final vertical identification coordinate (X) ₀ ，Y _t ，Z _tN )。

It will be appreciated that the predetermined multiple is less than 1, so that the accuracy of the vertical calibration of the needle may be increased progressively by progressively decreasing the predetermined height at which the needle is raised. For example, it may be half the previous preset height.

S240, obtaining a first direction identification coordinate mean value according to the at least two first direction identification coordinates, obtaining a second direction identification coordinate mean value according to the at least two second direction identification coordinates, and obtaining a vertical identification coordinate mean value according to a preset number of vertical identification coordinates.

The first direction identification coordinate mean value can be determined by the following formula:

the second direction recognition coordinate mean value may be determined by the following formula:

the vertical recognition coordinate mean can be determined by the following formula:

s250, obtaining a first direction deviation value according to the first direction recognition coordinate mean value and a first direction coordinate of the reference point location, obtaining a second direction deviation value according to the second direction recognition coordinate mean value and a second direction coordinate of the reference point location, obtaining a vertical deviation value according to the vertical recognition coordinate mean value and a vertical coordinate of the reference point location, or obtaining a vertical deviation value according to the final vertical recognition coordinate and the vertical coordinate of the reference point location.

Wherein the first direction deviation value can be determined by the following formula:

the second direction deviation value may be determined by the following formula:

the vertical deviation value may be determined by the following formula:

or obtaining a vertical deviation value according to the final vertical recognition coordinate and the vertical coordinate of the datum point position, and determining by the following formula:

s260, calibrating the needle head of the dispenser based on the deviation value.

Wherein, the target dispensing coordinate of the needle head of the dispensing machine is assumed to be (X) ₁ ，Y ₁ ，Z ₁ ) After correction based on the deviation value, the corrected dispensing coordinate should be (X) ₁ +ΔX，Y ₁ +ΔY，Z ₁ +ΔZ)。

According to the technical scheme provided by the embodiment of the invention, the needle head precision in the first direction, the second direction and the vertical direction is respectively calibrated by utilizing two groups of vertical correlation optical fiber sensors which are positioned on the same horizontal plane, so that the three-dimensional calibration precision of the needle head of the dispenser is improved.

EXAMPLE III

Fig. 3 is a flowchart of a three-dimensional calibration method for a needle of a dispenser according to a third embodiment of the present invention, which is optimized based on the third embodiment. The concrete optimization is as follows: the horizontal position calibration assembly comprises a CCD camera, and the vertical position calibration assembly comprises a pressure sensor module.

As shown in fig. 3, the method of this embodiment specifically includes the following steps:

and S310, controlling the needle head of the dispenser to move to the initial calibration point position.

And S320, controlling the needle head to move downwards along the vertical direction at least twice from the calibration initial point position until the pressure sensor module is disconnected from signals, and obtaining and recording at least two vertical identification coordinates moving to the pressure sensor module.

It can be understood that the working principle of the pressure sensor module is that when the pressure sensor module is subjected to a pressure greater than a certain pressure threshold value, the signal is disconnected, and the detection circuit corresponding to the pressure sensor module outputs a set of valid signals.

In the embodiment of the present invention, the coordinate of the calibration initial point in the world coordinate system may be assumed to be (X) ₀ ，Y ₀ ，Z ₀ ) Repeatedly controlling the needle head to move downwards along the vertical direction from the calibration initial point position until the pressure sensor module where the vertical reference point position is located is disconnected, stopping moving the needle head when an effective signal output by a detection circuit corresponding to the pressure sensor module is identified, and recording the coordinate of the current position of the multiple groups of needle heads, namely the vertical identification coordinate (X) for identifying the coordinate ₀ ，Y ₀ ，Z _s ) And s is the calibration times.

S330, obtaining a vertical identification coordinate mean value and a vertical deviation value according to the at least two vertical identification coordinates and the vertical coordinates of the datum point position, calibrating the needle of the dispenser based on the vertical deviation value, and determining the coordinates of the vertical calibration point position.

The vertical identification coordinate mean value can be determined by the following formula:

the vertical deviation value may be determined by the vertical identification coordinate mean and the vertical coordinate of the reference point location, for example, by the following formula:

calibrating the pinhead of the dispenser based on the vertical deviation value, wherein the coordinate value of the vertical calibration point can be determined by the following formula:

Z′ ₀ ＝Z ₀ +ΔZ′；

thus, the position coordinate of the vertical calibration point location is (X) ₀ ，Y ₀ ，Z ₀ ′)。

And S340, controlling the pinhead to move from the vertical calibration point position to the horizontal datum point position along the horizontal direction at least twice, dispensing, shooting through the CCD camera, and identifying the dispensing pixel point position to obtain at least two horizontal calibration coordinates.

Wherein the horizontal calibration coordinates may include a first horizontal direction calibration coordinate and a second horizontal direction calibration coordinate. It should be noted that the CCD camera is calibrated by a nine-point calibration method to establish a mapping relationship between the pixel coordinate system and the world coordinate system, that is, a mapping relationship between the image coordinate system and the manipulator coordinate system.

In the embodiment of the present invention, it may be assumed that the position coordinate of the horizontal reference point location is (X) ₀ ，Y ₀ ，Z′ ₀ ) Controlling the needle to be aligned with the point location (X) by the vertical direction for a plurality of times ₀ ，Y ₀ ，Z′ ₀ ) Moving to a horizontal datum point and dispensing, and determining coordinates X of a plurality of dispensing positions in two horizontal directions by identifying the positions of dispensing pixel points in an image shot by a CCD camera _s And Y _s 。

And S350, respectively determining a first direction identification coordinate mean value and a second direction identification coordinate mean value according to the at least two horizontal calibration coordinates.

s360, obtaining a first direction deviation value according to the first direction identification coordinate mean value and a first direction coordinate of the datum point, obtaining a second direction deviation value according to the second direction identification coordinate mean value and a second direction coordinate of the datum point, and obtaining a vertical deviation value according to the vertical direction identification coordinate mean value and a vertical coordinate of the datum point.

s370, calibrating the needle head of the dispenser based on the deviation value.

Wherein, the target dispensing coordinate of the needle head of the dispensing machine is assumed to be (X) ₁ ′，Y ₁ ′，Z ₁ ') the corrected coordinate of the dispensing point is (X) after the correction of the deviation value ₁ ′+ΔX′，Y ₁ ′+ΔY′，Z ₁ ′+ΔZ′)。

According to the technical scheme provided by the embodiment of the invention, the pressure sensor module is used for calibrating the vertical precision, and the CCD camera is used for calibrating the horizontal precision, so that the three-dimensional calibration precision of the needle head of the dispenser is improved, various calibration methods are provided for the three-dimensional calibration of the needle head of the dispenser, a proper calibration method can be selected according to actual needs in the actual operation process, and the applicability is improved.

Example four

Fig. 4 is a flowchart of a three-dimensional calibration method for a needle of a dispenser according to a fourth embodiment of the present invention, which is optimized based on the foregoing embodiments. The concrete optimization is as follows: the calibration system also includes a display device.

As shown in fig. 4, the method of this embodiment specifically includes the following steps:

and S410, controlling the needle head of the dispenser to move to the initial calibration point position.

And S420, controlling the needle head to move from the initial calibration point position to the datum point position determined by the horizontal position calibration assembly and the vertical position calibration assembly at least twice, and successively recording the horizontal coordinate recognized by the horizontal position calibration assembly to move to the datum point position and the vertical coordinate recognized by the vertical position calibration assembly to move to the datum point position.

S430, determining a deviation value of the needle head in the space position according to the recognized horizontal coordinate, the recognized vertical coordinate and the recognized coordinate of the datum point position.

S440, calibrating the needle head of the dispenser based on the deviation value.

S450, drawing the received dispensing path into a three-dimensional path according to the dispensing point coordinate.

The dispensing path can be determined by the initial coordinates of the needle head, the target dispensing coordinates of the plurality of characteristic points and the deviation value. The actual dispensing coordinates of the feature point may be determined based on the target dispensing coordinates of the feature point and the deviation value, for example, the target dispensing coordinates of the feature point is (X) ₁ ”，Y ₁ ”，Z ₁ ") and the deviation value is (Δ X", Δ Y ", Δ Z"), and correction is performed based on the deviation valueThen, the corrected dispensing coordinate should be (X) ₁ ”+ΔX”，Y ₁ ”+ΔY”，Z ₁ ”+ΔZ”)。

It can be understood that, according to the dispensing requirement of the product, when the dispensing path is drawn between two adjacent feature points, the dispensing path between two adjacent feature points may be preferably selected from one of a straight line, an arc, an elliptical arc, a circle center spiral and an involute arc, but is not limited to the above shape, according to the specific product and the picture photographing effect.

In the embodiment of the invention, the three-dimensional path of each section is calculated and obtained according to the plane dispensing path drawn on the image and by combining the height information of each characteristic point; and generating a detailed three-dimensional path point table according to the obtained three-dimensional path. The specific form of the three-dimensional path point table may be: representing a section of the path by a row; each segment of the path contains information that can be: interpolation type of each segment of path; the starting point and the end point of each path; the arc radius and the arc degree of the arc interpolation; the long radius and the short radius of the elliptic arc; the radius of the spiral interpolation, the rotating shaft, the circular arc rotating direction, the number of turns and the like.

And S460, displaying the three-dimensional path through the display equipment.

The display device may be a device capable of outputting image information, and may be, for example, a computer display screen, a television display screen, or the like. The three-dimensional path is displayed in an all-round manner in a three-dimensional space form, so that the method is visual and clear, and is convenient for subsequent further operation on the path.

According to the technical scheme of the embodiment of the invention, after the needle head of the dispensing machine is calibrated based on the deviation value, the received dispensing path is drawn into a three-dimensional path according to the coordinates of the dispensing point; and displaying the three-dimensional path through the display device. According to the technical scheme, the three-dimensional path of the dispensing path can be visually and clearly displayed, the using satisfaction of a user is improved, and the subsequent further operation on the dispensing path is facilitated.

In this embodiment of the present invention, optionally, after the displaying the three-dimensional path through the display device, the method further includes: responding to a modification instruction of a three-dimensional path, and determining a road section to be adjusted of the three-dimensional path; adjusting the road section to be adjusted according to the modification instruction; wherein the modification instruction includes at least one of interpolation processing, deletion processing, radian processing, and rounding processing.

In the embodiment of the invention, the three-dimensional path formed between the characteristic points has corners, and the corners can cause that the needle head cannot smoothly move according to the preset speed, and can cause sudden acceleration or deceleration to impact the dispenser, so that the dispensing efficiency is reduced, and therefore, the required part of the road section is adjusted to enable the needle head to smoothly transit at the corners.

Specifically, the road section to be adjusted is adjusted according to the modification instruction, the servo axis number of the interpolation motion to be participated in can be selected according to the road section to be adjusted, and the specific servo axis number is corresponding to the corresponding coordinate system; the corrected dispensing coordinate obtained in S450 is (X) ₁ ”+ΔX”，Y ₁ ”+ΔY”， Z ₁ "+ Δ Z") is set as the origin of the interpolation motion for each road segment to be adjusted; and the three-dimensional path point table obtained in the step S450 is pressed into the interpolation buffer area in a queue form, and the motion control card sequentially executes modification instructions according to the interpolation data in the buffer area queue until all the instructions are executed. Wherein the buffer instructions are of the FIFO type.

It should be noted that the interpolation motion is a process of determining a motion trajectory according to a certain method, and is a process of data densification performed in real time, and the function of the process is to perform data calculation according to given information, continuously calculate feeding instructions of various coordinate axes participating in the interpolation motion, and then respectively drive corresponding execution components to generate coordinated motion, so that the dispenser needle moves according to an ideal path and speed. In the process of continuous interpolation motion, if the turning of the motion track is not decelerated, when the turning is large, large impact is caused on a machine table, and the dispensing precision is influenced; if the continuous interpolation is closed, the speed of the corner is reduced to 0, and the dispensing machine is protected, but the dispensing efficiency is greatly influenced. Therefore, the interpolation motion needs to be subjected to prospective preprocessing, so that whether the speed is reduced to a reasonable value or not is automatically judged at the corner, the machining precision is not influenced, and the machining speed can be increased.

The look-ahead preprocessing of the interpolation motion trail can automatically calculate a smooth speed plan according to the three-dimensional path so as to reduce the impact on the machine, thereby improving the processing precision; the turning points which will appear on the three-dimensional path track of the interpolation buffer area are automatically analyzed, the movement speed of the corners is automatically calculated according to the corner conditions set by a user, and the speed plan is also calculated according to the set maximum acceleration value, so that the acceleration and the deceleration in any acceleration and deceleration process do not exceed the set maximum acceleration value, and the high-efficiency processing is realized.

Fig. 5 is a schematic diagram illustrating path adjustment in a three-dimensional calibration method for a dispenser head according to a fourth embodiment of the present invention. As shown in fig. 5, the straight line 1 and the straight line 2 are the initial dispensing paths passing through the same characteristic point a, and the curve 3 and the curve 4 are the transition dispensing paths, respectively. The radius of the arc of the curve 3 is larger than that of the arc of the curve 4, and the dispensing precision of the curve 3 is lower than that of the curve 4. It can be understood that when the connection of two interpolation curves is non-tangent, the motion control system constructs a curve to be smoothly connected according to the interpolation motion trajectory look-ahead function, and sets circular arc position optimization, starting different-surface transition enable, corner coefficient and corner precision.

The method has the advantages that the dispensing three-dimensional path is drawn on the picture of the product to be dispensed, which is acquired by the CCD camera, so that the product to be dispensed can be randomly dragged according to the actual situation, the operation is more convenient, and the efficiency is higher; and when the interpolation motion command is executed, the look-ahead preprocessing is carried out, so that the dispensing processing precision and efficiency are improved.

EXAMPLE five

Fig. 6 is a schematic structural diagram of a three-dimensional calibration apparatus for a dispenser needle according to a fifth embodiment of the present invention, which is capable of executing the three-dimensional calibration method for a dispenser needle according to any embodiment of the present invention, and has functional modules and beneficial effects corresponding to the execution method. As shown in fig. 6, the apparatus includes:

the point location initialization module 610 is used for controlling the needle head of the dispenser to move to the initial calibration point location;

a needle coordinate determination module 620, configured to control the needle to move from the calibration initial point location to the reference point location determined by the horizontal position calibration component and the vertical position calibration component at least twice, and successively record the horizontal coordinate recognized by the horizontal position calibration component to move to the reference point location, and the vertical coordinate recognized by the vertical position calibration component to move to the reference point location;

a deviation value determining module 630, configured to determine a deviation value of the needle head in the spatial position according to the identified horizontal coordinate, the identified vertical coordinate, and the coordinate of the reference point location;

and the three-dimensional calibration module 640 is used for calibrating the needle head of the dispenser based on the deviation value.

According to the technical scheme of the embodiment of the invention, the needle head of the dispenser is controlled to move to the initial calibration point position; controlling the needle head to move from the calibration initial point position to the datum point position determined by the horizontal position calibration component and the vertical position calibration component at least twice, and successively recording the horizontal coordinate recognized by the horizontal position calibration component to move to the datum point position and the vertical coordinate recognized by the vertical position calibration component to move to the datum point position; determining a deviation value of the needle head in the space position according to the recognized horizontal coordinate, the recognized vertical coordinate and the coordinate of the datum point position; and calibrating the needle head of the dispenser based on the deviation value. This technical scheme, through mark many times with the deviation value of confirming point gum machine syringe needle at spatial position, can improve the three-dimensional calibration precision and the efficiency of point gum machine syringe needle, and then improve the precision of gluing.

Further, the horizontal position calibration assembly includes: a cross line formed by the first direction correlation optical fiber sensor and the second direction correlation optical fiber sensor; the first direction and the second direction are in the same horizontal plane and are vertical to each other;

accordingly, the moving distance determining module 620 includes:

the horizontal direction identification coordinate determination unit is used for controlling the needle head to move from the calibration initial point position along the second direction at least twice until the first direction correlation optical fiber sensor cannot receive the emission signal, and obtaining and recording at least two first direction identification coordinates; controlling the needle head to move from the calibration initial point position along the first direction at least twice until the second direction correlation optical fiber sensor cannot receive the emission signal, and obtaining and recording at least two second direction identification coordinates;

the first vertical identification coordinate determination unit is used for moving from the calibration initial point position to a position of the first direction correlation optical fiber sensor, which cannot receive the emission signal, or a position of the second direction correlation optical fiber sensor, which cannot receive the emission signal, lifting to a first preset height and descending until the first direction correlation optical fiber sensor cannot receive the emission signal or the second direction correlation optical fiber sensor cannot receive the emission signal, so as to obtain a first vertical identification coordinate, lifting to a preset multiple of the first preset height again and descending, so as to obtain a preset number of vertical identification coordinates, or obtain a final vertical identification coordinate; wherein the preset multiple is less than 1.

Further, the deviation value determining module 630 includes:

the first identification coordinate mean value determining unit is used for obtaining a first direction identification coordinate mean value according to the at least two first direction identification coordinates, obtaining a second direction identification coordinate mean value according to the at least two second direction identification coordinates, and obtaining a vertical identification coordinate mean value according to a preset number of vertical identification coordinates;

and the first deviation value determining unit is used for obtaining a first direction deviation value according to the first direction identification coordinate mean value and a first direction coordinate of the reference point location, obtaining a second direction deviation value according to the second direction identification coordinate mean value and a second direction coordinate of the reference point location, obtaining a vertical deviation value according to the vertical direction identification coordinate mean value and a vertical coordinate of the reference point location, or obtaining a vertical deviation value according to the final vertical direction identification coordinate and the vertical coordinate of the reference point location.

Further, the horizontal position calibration assembly comprises a CCD camera, and the vertical position calibration assembly comprises a pressure sensor module;

accordingly, the moving distance determining module 620 includes:

the second vertical identification coordinate determination unit is used for controlling the needle head to move downwards along the vertical direction at least twice from the calibration initial point position until the pressure sensor module is disconnected from signals, and obtaining and recording at least two vertical identification coordinates moving to the pressure sensor module;

the vertical calibration point location determining unit is used for obtaining a vertical identification coordinate mean value and a vertical deviation value according to the at least two vertical identification coordinates and the vertical coordinates of the reference point location, calibrating the needle of the dispenser based on the vertical deviation value and determining a vertical calibration point location;

and the horizontal calibration coordinate determining unit is used for controlling the pinhead to move from the vertical calibration point position to the horizontal datum point position along the horizontal direction at least twice and dispensing, shooting through the CCD camera, and identifying the positions of the dispensing pixel points to obtain at least two horizontal calibration coordinates.

Further, the deviation value determining module 630 includes:

the second calibration coordinate mean value determining unit is used for obtaining a vertical identification coordinate mean value according to the at least two vertical identification coordinates and respectively determining a first direction identification coordinate mean value and a second direction identification coordinate mean value according to the at least two horizontal calibration coordinates;

and the second deviation value determining unit is used for obtaining a first direction deviation value according to the first direction identification coordinate mean value and the first direction coordinate of the reference point location, obtaining a second direction deviation value according to the second direction identification coordinate mean value and the second direction coordinate of the reference point location, and obtaining a vertical deviation value according to the vertical direction identification coordinate mean value and the vertical coordinate of the reference point location.

Further, the calibration system further comprises a display device;

correspondingly, the device further comprises:

the three-dimensional path drawing module is used for drawing the received dispensing path into a three-dimensional path according to dispensing point location coordinates after the needle head of the dispenser is calibrated based on the deviation value;

and the three-dimensional path display module is used for displaying the three-dimensional path through the display equipment.

Further, the apparatus further comprises:

the to-be-adjusted road section determining module is used for responding to a modification instruction of the three-dimensional path after the three-dimensional path is displayed through the display device, and determining the to-be-adjusted road section of the three-dimensional path;

the three-dimensional path adjusting module is used for adjusting the road section to be adjusted according to the modification instruction; wherein the modification instruction includes at least one of interpolation processing, deletion processing, radian processing, and rounding processing.

The three-dimensional calibration device for the pinhead of the dispenser, provided by the embodiment of the invention, can execute the three-dimensional calibration method for the pinhead of the dispenser, provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.

EXAMPLE six

Fig. 7 is a schematic view of an electronic device according to a sixth embodiment of the present invention. As shown in FIG. 7, a schematic diagram of a structure of an electronic device 10 that may be used to implement an embodiment of the invention is shown. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smart phones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.

As shown in fig. 7, the electronic device 10 includes at least one processor 11, and a memory communicatively connected to the at least one processor 11, such as a Read Only Memory (ROM)12, a Random Access Memory (RAM)13, and the like, wherein the memory stores a computer program executable by the at least one processor, and the processor 11 can perform various suitable actions and processes according to the computer program stored in the Read Only Memory (ROM)12 or the computer program loaded from a storage unit 18 into the Random Access Memory (RAM) 13. In the RAM 13, various programs and data necessary for the operation of the electronic apparatus 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other via a bus 14. An input/output (I/O) interface 15 is also connected to bus 14.

A number of components in the electronic device 10 are connected to the I/O interface 15, including: an input unit 16 such as a keyboard, a mouse, or the like; an output unit 17 such as various types of displays, speakers, and the like; a storage unit 18 such as a magnetic disk, an optical disk, or the like; and a communication unit 19 such as a network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information/data with other devices via a computer network such as the internet and/or various telecommunication networks.

The processor 11 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, or the like. The processor 11 performs the various methods and processes described above.

In some embodiments, the method of three-dimensional calibration of a dispenser needle may be implemented as a computer program tangibly embodied in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 10 via the ROM 12 and/or the communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the method for three-dimensional calibration of a dispenser needle described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured by any other suitable means (e.g., by means of firmware) to perform a three-dimensional calibration method of the dispenser needle.

Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuitry, Field Programmable Gate Arrays (FPGAs), Application Specific Integrated Circuits (ASICs), Application Specific Standard Products (ASSPs), system on a chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.

A computer program for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be performed. A computer program can execute entirely on a machine, partly on a machine, as a stand-alone software package partly on a machine and partly on a remote machine or entirely on a remote machine or server.

In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. A computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user can provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic, speech, or tactile input.

The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), Wide Area Networks (WANs), blockchain networks, and the internet.

The computing system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical host and VPS service are overcome.

It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present invention may be executed in parallel, sequentially, or in different orders, and are not limited herein as long as the desired results of the technical solution of the present invention can be achieved.

The above-described embodiments should not be construed as limiting the scope of the invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made, depending on design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A three-dimensional calibration method for a needle head of a dispenser is characterized in that the method is executed by a calibration system, the calibration system is connected with the dispenser, and the calibration system comprises a horizontal position calibration assembly and a vertical position calibration assembly; the calibration system further comprises calibration initial point locations; the method comprises the following steps:

and calibrating the needle head of the dispenser based on the deviation value.

2. The method of claim 1, wherein the horizontal position calibration assembly comprises: a cross line formed by the first direction correlation optical fiber sensor and the second direction correlation optical fiber sensor; the first direction and the second direction are in the same horizontal plane and are vertical to each other;

correspondingly, controlling the needle head to move from the calibration initial point position to the datum point position determined by the horizontal position calibration component and the vertical position calibration component at least twice, and recording successively the horizontal coordinate recognized by the horizontal position calibration component to move to the datum point position and the vertical coordinate recognized by the vertical position calibration component to move to the datum point position, comprising:

controlling the needle head to move from the calibration initial point position along the second direction at least twice until the first direction correlation optical fiber sensor cannot receive the emission signal, and obtaining and recording at least two first direction identification coordinates; controlling the needle head to move from the calibration initial point position along the first direction at least twice until the second direction correlation optical fiber sensor cannot receive the emission signal, and obtaining and recording at least two second direction identification coordinates;

moving the calibration initial point location to a position of the first direction correlation optical fiber sensor, which cannot receive the emission signal, or a position of the second direction correlation optical fiber sensor, which cannot receive the emission signal, lifting to a first preset height and descending until the first direction correlation optical fiber sensor cannot receive the emission signal or the second direction correlation optical fiber sensor cannot receive the emission signal, obtaining a first vertical identification coordinate, lifting to a first preset height again and descending to obtain a preset number of vertical identification coordinates, or obtaining a final vertical identification coordinate; wherein the preset multiple is less than 1.

3. The method of claim 2, wherein determining the deviation value of the needle in the spatial location based on the identified horizontal coordinate, the vertical coordinate, and the coordinate of the fiducial point location comprises:

obtaining a first direction identification coordinate mean value according to the at least two first direction identification coordinates, obtaining a second direction identification coordinate mean value according to the at least two second direction identification coordinates, and obtaining a vertical identification coordinate mean value according to a preset number of vertical identification coordinates;

and obtaining a first direction deviation value according to the first direction recognition coordinate mean value and a first direction coordinate of the reference point location, obtaining a second direction deviation value according to the second direction recognition coordinate mean value and a second direction coordinate of the reference point location, obtaining a vertical deviation value according to the vertical recognition coordinate mean value and a vertical coordinate of the reference point location, or obtaining a vertical deviation value according to the final vertical recognition coordinate and a vertical coordinate of the reference point location.

4. The method of claim 1, wherein the horizontal position calibration assembly comprises a CCD camera and the vertical position calibration assembly comprises a pressure sensor module;

controlling the needle head to move downwards along the vertical direction at least twice from the calibration initial point position until the pressure sensor module is disconnected from signals, and obtaining and recording at least two vertical identification coordinates moving to the pressure sensor module;

obtaining a vertical identification coordinate mean value and a vertical deviation value according to the at least two vertical identification coordinates and the vertical coordinates of the reference point location, calibrating the needle of the dispenser based on the vertical deviation value, and determining a vertical calibration point location;

and controlling the needle head to move from the vertical calibration point position to the horizontal datum point position along the horizontal direction at least twice and dispensing, shooting through the CCD camera, and identifying the positions of the dispensing pixels to obtain at least two horizontal calibration coordinates.

5. The method of claim 4, wherein determining a deviation value for the spatial position of the needle based on the identified horizontal coordinate, the vertical coordinate, and the coordinates of the reference point location comprises:

obtaining a vertical identification coordinate mean value according to the at least two vertical identification coordinates, and respectively determining a first direction identification coordinate mean value and a second direction identification coordinate mean value according to the at least two horizontal calibration coordinates;

and obtaining a first direction deviation value according to the first direction identification coordinate mean value and a first direction coordinate of the datum point, obtaining a second direction deviation value according to the second direction identification coordinate mean value and a second direction coordinate of the datum point, and obtaining a vertical deviation value according to the vertical direction identification coordinate mean value and a vertical coordinate of the datum point.

6. The method of claim 1, wherein the calibration system further comprises a display device;

accordingly, after calibrating the dispenser needle based on the offset value, the method further comprises:

drawing the received dispensing path into a three-dimensional path according to the dispensing point coordinate;

displaying the three-dimensional path through the display device.

7. The method of claim 6, wherein after displaying the three-dimensional path via the display device, the method further comprises:

responding to a modification instruction of a three-dimensional path, and determining a road section to be adjusted of the three-dimensional path;

adjusting the road section to be adjusted according to the modification instruction; wherein the modification instruction includes at least one of interpolation processing, deletion processing, radian processing, and rounding processing.

8. The utility model provides a three-dimensional calibrating device of point gum machine syringe needle which characterized in that, the device includes:

9. An electronic device, characterized in that the electronic device comprises:

at least one processor; and

the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the method of three-dimensional calibration of a dispenser needle of any one of claims 1-7.

10. A computer readable storage medium having stored thereon computer instructions for causing a processor to execute a method of three-dimensional calibration of a dispenser needle according to any of claims 1-7.