CN114833038A - Gluing path planning method and system - Google Patents
Gluing path planning method and system Download PDFInfo
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- CN114833038A CN114833038A CN202210395440.6A CN202210395440A CN114833038A CN 114833038 A CN114833038 A CN 114833038A CN 202210395440 A CN202210395440 A CN 202210395440A CN 114833038 A CN114833038 A CN 114833038A
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- 238000004026 adhesive bonding Methods 0.000 title claims abstract description 29
- 238000000034 method Methods 0.000 title claims abstract description 24
- 239000003292 glue Substances 0.000 claims abstract description 22
- 238000012545 processing Methods 0.000 claims description 17
- 230000008569 process Effects 0.000 claims description 10
- 238000005516 engineering process Methods 0.000 claims description 6
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- 238000004519 manufacturing process Methods 0.000 description 5
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- 238000012549 training Methods 0.000 description 3
- 230000000007 visual effect Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000010073 coating (rubber) Methods 0.000 description 2
- 238000003384 imaging method Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000007480 spreading Effects 0.000 description 2
- 238000003892 spreading Methods 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
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- 239000011248 coating agent Substances 0.000 description 1
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- 238000012790 confirmation Methods 0.000 description 1
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- 230000037430 deletion Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005538 encapsulation Methods 0.000 description 1
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Classifications
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- 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
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- 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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The invention relates to a gluing path planning method and a system thereof, which comprises a machine vision system and a robot glue dispensing system, wherein the machine vision system acquires images of an object to be glued by using a camera, generates coordinate information of the object to be glued from the processed images, and finally sends the coordinate information to the robot glue dispensing system. According to the system scheme, the machine vision system is added to guide gluing on the basis of the traditional technical scheme, a software platform is developed by combining Vision Pro with C #, a function library and a tool library in Vision Pro are packaged in a software framework, a user can call corresponding functions only by clicking corresponding buttons, inconvenience caused by manual operation is reduced, and working efficiency is improved.
Description
Technical Field
The invention relates to the technical field of gluing equipment, in particular to a gluing path planning method and a gluing path planning system.
Background
The gluing is a key process for producing, processing and manufacturing products, and aims to closely adhere all parts of the products through glue. The glue spreading path planning is to plan a reasonable path according to the size of the object to be glued and the position of the component to assist the glue dispenser to finish glue spreading.
Gluing is mainly applied to processes requiring close adhesion between product parts, such as: various components are distributed on the PCB, secondary fastening needs to be carried out by gluing aiming at screws and inductors, and the application is widely applied to the production fields of automobiles, electronics, military industry and the like. Because products are various in types and different paths are required to be used according to different products, a lot of gluing track planning systems are required in the market.
The traditional gluing path planning needs concrete implementation steps of firstly placing a product on a carrier, secondly, determining the position of each object to be glued on the product by an operator, thirdly, planning a reasonable path in advance, thirdly, inputting the coordinates of each point position on the path into a glue dispenser according to the previously planned sequence, fourthly, testing after the input is finished, slightly adjusting the coordinates by the operator according to the testing result, and starting batch glue dispensing after the confirmation is correct.
The whole system of the traditional scheme is input point by point in a mode of manually operating a handle. Due to the fact that the products are various in types and are fast to update. The field needs to be operated manually frequently, the traditional operation mode is complex, professional personnel are needed, and a large amount of time is consumed for maintaining a new product path. Secondly, when the position of the carrier of the same kind of product is changed, the positions of the left gluing point and the right gluing point need to be reset manually, a large amount of time is consumed, and the production efficiency is influenced.
Disclosure of Invention
The invention aims to provide a gluing path planning method and a system thereof, which are used for solving the problems in the background technology.
In order to achieve the purpose, the technical scheme of the invention is as follows:
a gluing path planning method comprises the following steps:
s1, building a machine vision system and a robot dispensing system;
s2, calibrating the camera by using a machine vision system to establish a corresponding relation between a pixel coordinate system and a mechanical coordinate system;
s3, acquiring images by using a machine vision system, and processing the acquired images to obtain the coordinates of the object to be coated with the glue;
and S4, importing the coordinate information into the robot dispensing system, and performing dispensing action by the robot dispensing system according to the coordinate point information.
Preferably, in the above scheme, a manual recheck process is provided between steps S3 and S4, and the obtained coordinates of the object to be glued are checked manually to determine whether the coordinates are correct, so that incorrect coordinate information is modified and perfected, and then the obtained coordinate information is imported into the robot dispensing system.
A gluing path planning system comprises a machine vision system and a robot glue dispensing system, wherein the machine vision system acquires images of an object to be glued by using a camera, generates coordinate information of the object to be glued from the processed images, and finally sends the coordinate information to the robot glue dispensing system.
Preferably, in the above scheme, the coordinate information needs to be manually rechecked when being sent to the robot dispensing system.
Preferably, in the above scheme, the machine vision system is composed of a hardware part composed of six cameras and a software platform developed secondarily by combining VisionPro with C #, and processes the image by adopting a splicing technology, and the robot dispensing system is composed of a manipulator and a carried dispenser system.
Preferably, in the above scheme, the machine vision system is equipped with a laser ranging sensor, which detects the height of the camera from the surface of the carrier in real time and is used as a basis for adjusting the height of the camera from the surface of the carrier.
Compared with the prior art, the invention has the beneficial effects that: according to the system scheme, the machine vision system is added to guide gluing on the basis of the traditional technical scheme, a software platform is developed by combining Vision Pro with C #, a function library and a tool library in Vision Pro are packaged in a software framework, a user can call corresponding functions only by clicking corresponding buttons, inconvenience caused by manual operation is reduced, and working efficiency is improved. And this system scheme has carried on laser range finding sensor on machine vision system, can detect the change of camera apart from carrier surface height in real time, promotes or reduces the height of camera according to the height, keeps camera apart from carrier surface height unchangeable all the time, never reaches the clearest imaging effect, when carrier horizontal position changes simultaneously, as long as do not exceed the field of vision scope of camera, the camera still can detect the characteristic of taking the rubber coating thing and generate coordinate information.
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The disclosure of the present invention is illustrated with reference to the accompanying drawings. It is to be understood that the drawings are designed solely for the purposes of illustration and not as a definition of the limits of the invention. In the drawings, like reference numerals are used to refer to like parts. Wherein:
FIG. 1 is a schematic view of the working process of the present invention.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further explained in detail with the attached drawings. These drawings are simplified schematic views illustrating only the basic structure of the present invention in a schematic manner, and thus show only the constitution to which the present invention relates.
According to the technical scheme of the invention, a plurality of alternative structural modes and implementation modes can be provided by a person with ordinary skill in the art without changing the essential spirit of the invention. Therefore, the following detailed description and the accompanying drawings are merely illustrative of the technical aspects of the present invention, and should not be construed as all of the present invention or as limitations or limitations on the technical aspects of the present invention.
The technical solution of the present invention is further described in detail with reference to the accompanying drawings and examples.
Embodiment 1, as shown in fig. 1, a method for planning a gluing path includes the following steps:
s1, a machine vision system and a robot dispensing system are set up, compared with the traditional technical scheme that the machine vision system is added on the basis of the robot dispensing system, the technical scheme of the system can more intuitively present the result of path planning to a user;
s2, calibrating the camera by using the machine vision system to establish the corresponding relation between the pixel coordinate system and the mechanical coordinate system: in the visual system of the machine, a nine-point calibration method is used when the camera is calibrated. In the calibration stage, a robot is used for placing an object at 9 positions under the visual field of a camera, the camera is used for photographing respectively to obtain mechanical coordinates and pixel coordinates of 9 points, then best-fit 2D linear transformation between the pixel coordinates and the mechanical coordinates is calculated through CogCalibNPointToNPointTool in VisionPro, the calculated 2D conversion result is stored in the tool, and then the corresponding mechanical coordinates can be automatically obtained through the coordinates photographed by the camera. After the pixel coordinates are converted into the mechanical coordinates, the robot dispensing system can directly use the coordinates sent by the camera to dispense, and the production efficiency is greatly improved.
And S3, acquiring images by using the machine vision system. In the scheme of the system, objects to be glued, such as screws and inductors, are used as feature points, a CogPMAlignTool tool in VisionPro is used for training the feature points, the CogPMAlignTool tool is used for calculating feature quantities in images in image processing, and if the obtained fraction exceeds a certain threshold value, the feature points can be regarded as being found. After the camera is matched with the feature points, the features to be found are positioned, and then the circle centers of the feature points and the centers of the line segments are positioned through the CogCreateCleveleTool and the CogCreateSegmentTool tools, so that the mechanical coordinates of the point positions are obtained.
S4, before the coordinate information is led into the robot dispensing system, the machine vision system sorts the coordinates of the found characteristic points, the system sorts according to the types of the objects to be glued, the objects to be glued of the same type are divided into a group, then each group sorts according to the X and Y coordinates of the objects to be glued, the upper left corner of the image is used as the origin, the image is divided into five equal parts by the Y axis, then the coordinates are sorted in each equal part in an ascending order of the X, the process is repeated until the coordinates in the five equal parts are all arranged, the CSV file generated by the arranged coordinates is led into the robot dispensing system, and the robot dispensing system carries out dispensing action according to the coordinate point information. Therefore, the arranged coordinates are guided into the robot dispensing system, the path is reasonably planned, the time required by the mechanical arm for dispensing is greatly saved, and the production efficiency is improved.
Embodiment 2, as shown in fig. 1, a method for planning a gluing path includes the following steps:
s1, building a machine vision system and a robot dispensing system. The machine vision system belongs to a control system and consists of a hardware part consisting of six cameras and a software platform developed by VisionPro in combination with C #, wherein the six cameras are 2X 3 and are hung on a module above a machine table, a 600mm X500 mm opening surface light source is arranged below a lens, the cameras and the light source are arranged on the module together to form the hardware part of the machine vision system, the cameras are connected to an industrial personal computer beside the machine table through network cables, the software platform developed by VisionPro in combination with C #, is arranged on the industrial personal computer, and the cameras are controlled to carry out image acquisition and processing. And processing the image by adopting a splicing technology. The robot glue dispensing system belongs to an actuating mechanism and consists of a manipulator and a carried glue dispenser system.
The dispensing machine is carried on the manipulator, the dispensing machine and the manipulator are regarded as a whole, and when the control system guides the coordinate information obtained after the image processing into the dispensing machine system, the manipulator carries the dispensing machine to complete the clicking action.
And S2, calibrating the camera by using the machine vision system to establish the corresponding relation between the pixel coordinate system and the mechanical coordinate system.
In the gluing path planning system, there are 3 coordinate systems: a mechanical coordinate system, a platform coordinate system, and a pixel coordinate system. The pixel coordinate system is a rectangular coordinate system with the upper left corner of the image as the origin and the pixel as the unit, and the x axis and the y axis respectively represent the row number and the column number of the pixel in the digital image. In order to establish a uniform coordinate in a machine vision system and determine the corresponding relationship between a certain contour point on an image and an actual image point, a coordinate conversion relationship between a pixel coordinate system and a mechanical coordinate system and between a platform coordinate system and the mechanical coordinate system needs to be established, and finally the platform coordinate and the pixel coordinate are unified under the mechanical coordinate system. Therefore, before the system performs the extraction of the coordinates with glue, the camera must be calibrated to establish the correspondence between the pixel coordinates and the mechanical coordinates.
And S3, acquiring images by using a machine vision system, and processing the acquired images to obtain the coordinates of the object to be coated with the glue.
The camera starts to shoot images after receiving a shooting instruction, essentially, optical signals are converted into electric signals, the electric signals are converted into digital signals after being processed by an analog-to-digital conversion chip in the camera, the digital signals are finally stored in a computer in a BMP format, a function library carried by a collection card is called to collect a frame of image to a memory, and then the frame of image is displayed back to a screen.
In the image processing, by taking VisionPro as an example, opening the acquired image in the BMP format in VisionPro, calling an image processing tool in VisionPro, learning and matching feature points, selecting a gray threshold, carrying out binarization processing and thinning on the image, calculating feature quantity in the image, and realizing space positioning and output of feature point coordinates.
S4, manually checking whether the coordinates of the object to be glued are correct, modifying and perfecting incorrect coordinate information, and then importing the obtained coordinate information into the robot dispensing system.
And outputting coordinate information of the object to be glued after the image processing is finished, and rechecking whether the point location is correct once by an operator to perform addition, deletion, modification and check so as to ensure the accuracy. After the error is confirmed, the system generates a CSV file, and the coordinate information of the adhesive-carrying object is imported into the dispensing machine system to assist the dispensing machine in dispensing.
And S5, importing the coordinate information into the robot dispensing system, and performing dispensing action by the robot dispensing system according to the coordinate point information.
Compared with the traditional technical scheme, the system is simpler to operate, and can be used skillfully without professional training. In operation, only after the machine vision system is used for photographing, the system waits for the completion of the calculation to generate the CSV file, and the traditional technology can be operated by professional training personnel, so that the system has strong operability.
Embodiment 3, a gluing path planning system, including a machine vision system and a robot dispensing system, the machine vision system utilizes a camera to acquire an image of an object to be glued, and generates coordinate information of the object to be glued from the processed image, and finally sends the coordinate information to the robot dispensing system.
Preferably, in the above scheme, the coordinate information needs to be manually rechecked when being sent to the robot dispensing system, and the coordinate information is ensured to be correct through manual recheck.
Preferably, in the above scheme, the machine vision system belongs to a control system, and comprises a hardware part consisting of six cameras and a software platform formed by VisionPro in combination with C # secondary development. The Vision Pro is mainly responsible for processing images, belongs to a background algorithm and is a part invisible to a user, the C # utilizes the characteristic of self encapsulation to encapsulate tools in the Vision Pro into a series of interfaces or methods for calling, and finally is presented in front of the user in a software interactive interface mode. The robot dispensing system belongs to an actuating mechanism and consists of a manipulator and a carried dispensing machine system.
Carry on laser range finding sensor on machine vision system, perpendicular to board plane is installed in the camera left side, and is in same water flat line with the camera lens, can detect the change of camera distance carrier surface height in real time, according to the height that highly promotes or reduces the camera, keeps camera distance carrier surface height unchangeable all the time to reach the clearest imaging effect, when carrier horizontal position changes simultaneously, as long as do not exceed the field of vision scope of camera, the camera still can detect the characteristic of taking the rubber coating thing and generate coordinate information.
In the aspect of image acquisition, the system uses an image splicing technology of six cameras, images of six 2000 ten thousand pixel cameras are spliced together, pixels are overlapped together to form a 1.2 hundred million pixel picture, and the visual field and the precision are greatly improved. Compare in traditional technique and need rely on people's eye to go the contrast point position, improved the precision greatly, ensure product uniformity, promote product quality.
In the aspect of image processing, the image is subjected to binarization processing to obtain the coordinates of the coated object, and the whole process can be realized only by needing several seconds. The system comprises the learning and matching of the characteristic points in the aspect of image processing, the binarization processing and the thinning of the image are carried out by selecting the gray threshold, the characteristic quantity in the image is calculated, the space positioning and the output of the coordinates of the characteristic points are realized, the whole process only needs several seconds, and the time is greatly saved.
According to the system scheme, a machine vision system is added to guide gluing on the basis of the traditional technical scheme, a software platform is developed by combining Vision Pro with C #, a function library and a tool library in Vision Pro are packaged in a software framework, and a user can call corresponding functions only by clicking corresponding buttons. The system scheme can output the coordinates with the glue coating objects as CSV files, can also send the CSV files to the glue dispenser system in various forms, and is compatible with most glue dispensers in the market.
The above-mentioned embodiments, objects, technical solutions and advantages of the present invention are further described in detail, it should be understood that the above-mentioned embodiments are only specific embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (6)
1. A gluing path planning method is characterized by comprising the following steps:
s1, building a machine vision system and a robot dispensing system;
s2, calibrating the camera by using a machine vision system to establish a corresponding relation between a pixel coordinate system and a mechanical coordinate system;
s3, acquiring images by using a machine vision system, and processing the acquired images to obtain the coordinates of the object to be coated with the glue;
and S4, importing the coordinate information into the robot dispensing system, and performing dispensing action by the robot dispensing system according to the coordinate point information.
2. A gluing path planning method according to claim 1, characterized in that: and a manual rechecking process is arranged between the steps S3 and S4, whether the coordinates of the object to be glued are correct is checked manually, the incorrect coordinate information is modified and perfected, and then the obtained coordinate information is led into the robot dispensing system.
3. A gluing path planning system is characterized in that: the robot glue dispensing system comprises a machine vision system and a robot glue dispensing system, wherein the machine vision system acquires images of an object to be glued by using a camera, generates coordinate information of the object to be glued by using the processed images, and finally sends the coordinate information to the robot glue dispensing system.
4. A gluing path planning system according to claim 3, characterized in that: and manual rechecking is needed when the coordinate information is sent to the robot dispensing system.
5. A gluing path planning system according to claim 3, characterized in that: the robot vision system is composed of a hardware part consisting of six cameras and a software platform developed secondarily by combining VisionPro with C #, and processes images by adopting a splicing technology, and the robot dispensing system is composed of a manipulator and a carried dispenser system.
6. A gluing path planning method according to claim 3, characterized in that: the machine vision system is provided with a laser ranging sensor, the height of the camera from the surface of the carrier is detected in real time, and the height of the camera from the surface of the carrier is adjusted as a basis.
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| CN115311452A (en) * | 2022-09-20 | 2022-11-08 | 深圳市鑫路远电子设备有限公司 | Precise glue filling evaluation method and system based on machine vision |
| CN115388778A (en) * | 2022-10-28 | 2022-11-25 | 深圳市元硕自动化科技有限公司 | Computer screen quality control device |
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