# Fully Automated Dispensing System Based on Machine Vision
## 1 Introduction  
Increasing production demand promotes the rapid development of microelectronic devices, but many micro-nanodevices and microelectromechanical systems have not been practically used as products. This is because dispensing technology used in micro-nanosize encapsulation and assembly is one of the main obstacles, such as the size of the glue point, the amount of glue, and precision [1]. The traditional dispensing process and production mode have the shortcomings of low efficiency, high labor intensity, many human uncertainty influencing factors, unstable quality, etc. Therefore, traditional dispensing will be gradually eliminated in the progress of technology; the design and development of higher efficiency, higher precision, and lower-cost dispensing equipment are in line with the development of the times of research, with universal practical significance. Machine vision systems have the advantages of high accuracy, speed, efficiency, and better reliability performance than manual vision systems [2; 3; 4]. The small circuit board dispensing system is no longer a simple dispensing module but a fusion and integration of a machine vision module, upper computer processing module and automatic controlmodule, and other functional modules, and it has developed and grown due to its unique features and advantages; it has also become the leading technology for dispensing positioning and packaging of electronic products. Vision system-based dispensing products are applied to 40 to 50% of the objects concentrated in the field of electronic processing and the semiconductor industry, mainly in the United States, Switzerland, Japan, and other countries and regions where image processing technology is more developed [5]. Integrated automatic dispensing equipment is a mainstream direction of the production of dispensing machine apparatus systems. [PERSON] et al. [6] proposed a new method based on a laser distance measurement sensor for high-precision alignment and an efficient dispensing method for millimeter objects, which is converted into increments of the images captured by the side cameras through the image Jacobi matrix. Even if the normal vector surface of the thin component is not perpendicular to the optical axis of the side camera, better measurement accuracy can be obtained. Based on the measurement results, the two components can be oriented and position-aligned with high accuracy. However, there is the drawback of being time-consuming. [PERSON] et al. [7], based on the CycleGAN method for enhancing the dispensing image, effectively improve the problem of UV glue caused by the dispensing image showing low contrast, reduce the difficulty of visual detection, and effectively overcome the problem of blurred edges and low contrast. However, the success rate cannot fully meet the absolute accuracy requirements of product detection in actual industrial automated assembly lines. At the same time, in the actual industrial application environment, a lot of labor and material resources are usually required to obtain sufficient data samples. [PERSON] et al. [8] designed a visual localization system for a dispensing robot based on a digital signal processor (DSP) to locate the position of feature points on the engine cover. The system corrected the original schematic trajectory in real time to maintain the accuracy of the gluing operation, but the dispensing efficiency needed to be improved. [PERSON] et al. [9] addressed that the traditional dispensing machine is usually the manual input of the dispensing path under the circumstances, which leads to the limitation of dispensing accuracy. A vision system was designed to use the path identified by vision instead of manual human input. The precision of the dispensing machine can reach 0.016 mm, thus solving the problem of low precision and poor stability of open-loop control. [PERSON] et al. [10] proposed a Programming by Demonstration (PbD) interface in augmented reality for motion planning of a three-axis CNC dispensing machine.