CN111617933A

CN111617933A - Method for acquiring gluing track, gluing method and device and gluing track generation system

Info

Publication number: CN111617933A
Application number: CN202010443097.9A
Authority: CN
Inventors: 杨立丽; 魏海永; 李辉; 张帅; 丁有爽; 邵天兰
Original assignee: Mech Mind Robotics Technologies Co Ltd
Current assignee: Mech Mind Robotics Technologies Co Ltd
Priority date: 2020-05-22
Filing date: 2020-05-22
Publication date: 2020-09-04
Anticipated expiration: 2040-05-22
Also published as: WO2021232592A1; CN111617933B

Abstract

The embodiment provides a gluing track acquisition method, a gluing method and device and a gluing track generation system, and belongs to the field of industrial intelligent manufacturing. The method comprises the following steps: identifying a required path of each object template to be glued by an image; generating corresponding track information based on each required path, wherein the track information comprises glue opening gun points, glue line track points, glue closing gun points, gun opening advance points and ending extension points, the glue line track points are located between the glue opening gun points and the glue closing gun points in the corresponding tracks, the gun opening advance points are located before the glue opening gun points, and the ending extension points are located after the glue closing gun points; and correspondingly storing each object template to be glued and corresponding track information into a path-object mapping set. Therefore, based on the path-object mapping set, the requirements of various gluing processes of various objects are met. In addition, the state of gluing the rifle and the accurate matching of moving the process along the demand route are realized, the precision, the degree of accuracy of rubber coating operation are effectively improved, production efficiency is improved and then intelligent, the batch rubber coating of robot is realized.

Description

Method for acquiring gluing track, gluing method and device and gluing track generation system

Technical Field

The disclosure relates to the field of industrial intelligent manufacturing, in particular to a method for acquiring a gluing track, a gluing method, a device and a gluing track generation system.

Background

In the field of automobile manufacturing, door gluing is an important link. Under the conditions of various types, random placement of supplied materials and complex gluing path, most of the industry adopts a mode of manually combining gluing tool equipment to glue.

For the requirements of various specifications and models of cabin doors, indefinite feeding positions, complex gluing paths and high requirement on gluing precision, the prior gluing technology is low in precision and efficiency, for example, for places with wrong or insufficient precision, the glue needs to be cleaned and glued again, so that the waste of the glue is caused, and the production efficiency is greatly reduced.

Therefore, the existing gluing scheme has the technical problems of low efficiency, automation and low gluing precision.

Disclosure of Invention

In view of this, the embodiments of the present disclosure provide a method for acquiring a gluing track, a gluing method, a gluing device, and a gluing track generation system, which at least partially solve the problems in the prior art.

In a first aspect, an embodiment of the present disclosure provides a method for acquiring a gluing track, including:

identifying a required path of each object template to be glued by an image;

generating corresponding track information based on each required path, wherein the track information comprises glue opening gun points, glue line track points, glue closing gun points, gun opening advance points and ending extension points, the glue line track points are located between the glue opening gun points and the glue closing gun points in the corresponding tracks, the gun opening advance points are located before the glue opening gun points, and the ending extension points are located after the glue closing gun points;

and correspondingly storing each object template to be glued and corresponding track information into a path-object mapping set.

According to a specific implementation manner of the embodiment of the present disclosure, the generating the corresponding trajectory information based on each demand path includes:

generating target track information for a target demand path in each demand path:

generating a glue line track point on the target demand path;

generating a glue gun closing point at the end of the target demand path, or generating an end extending point at the end of the target demand path;

generating a glue gun opening point at the initial end of the target demand path, or generating a glue gun opening point at the advanced end of the target demand path;

until trajectory information for all demand paths is generated.

According to a specific implementation manner of the embodiment of the disclosure, a glue gun passes through a gun opening advance point, a glue opening gun point, a glue line track point, a glue closing gun point and an extension ending point according to the position sequence;

the glue gun returns after passing through the extension ending point, and then passes through the extension ending point again, or;

the track information further comprises a drawing point, and the drawing point is positioned behind the extension ending point.

According to a specific implementation manner of the embodiment of the disclosure, aiming at an object template to be glued,

the distance between the gun opening advance point and the template of the object to be glued is larger than the distance between the object to be glued and the track point of the glue line; and/or

The moving speed of the glue gun at the gun opening advance point is different from the moving speed at the glue line track point.

According to a specific implementation manner of the embodiment of the present disclosure, the demand path includes:

a straight line segment path and a broken line segment path;

generating glue line track points on the target demand path, including:

generating a glue line track point at the folding point; and/or

And generating corresponding glue line track points at the non-break points by preset distances.

According to a specific implementation manner of the embodiment of the present disclosure, the method further includes:

if a certain folding angle degree of the folding line section path is larger than a preset value, the turning radius of the glue gun is reduced.

According to a specific implementation manner of the embodiment of the disclosure, the demand path includes multiple segments of sub-paths, and the track information includes sub-path track information of each segment of sub-path and an arrangement sequence of each sub-path track information in the track information, wherein the head and the tail of different sub-paths in the arrangement sequence are close to each other, so that the comprehensive distance spanning different sub-paths is shortest.

According to a specific implementation manner of the embodiment of the present disclosure, the generating of the glue line track points on the target demand path includes:

if any glue line track point deviates from the target demand path within a preset numerical value, adjusting the glue line track point to the target demand path; or

And if the requirement for equidistant correction is detected, adjusting the glue line track points with different distances between the two corresponding reference positions on the corresponding glue object template.

In a second aspect, an embodiment of the present disclosure provides a glue spreading method, including:

identifying an object to be coated with glue by using an image;

and based on the track information matched with the object to be glued in the preset path-object mapping set, the robot drives the glue gun to execute gluing operation as required.

According to a specific implementation manner of the embodiment of the present disclosure, the track information includes: a glue opening gun point, a glue line track point, a glue closing gun point, a gun opening advance point and an ending extension point;

the robot drives the rubber coating operation that gluey rifle carried out, includes:

descending and/or speed-regulating to move from the gun opening advance point to the glue gun opening point;

when the glue gun point is reached, the glue gun is started, and the glue gun moves to the glue gun point along the glue line track point;

when the glue gun point is reached, the glue gun is closed and passes through the ending extension point, and then the glue gun returns to pass through the ending extension point again; or the like, or, alternatively,

the trajectory information further comprises a drawing point:

and lifting along the extension ending point, and drawing along the drawing point.

According to a specific implementation manner of the embodiment of the present disclosure, the robot drives the glue gun to perform a gluing operation based on track information matched with the object to be glued in the preset path-object mapping set, including:

and adjusting the track information according to the position and the posture of the object to be glued, and sending a result to the robot to drive the glue gun to perform gluing operation.

In a third aspect, an embodiment of the present invention further provides an apparatus for acquiring a gluing track, including:

the recognition device is used for recognizing the required path of each object template to be glued by an image;

the processing module is used for generating corresponding track information based on each required path, wherein the track information comprises glue opening gun points, glue line track points, glue closing gun points, gun opening advance points and ending extension points;

and the storage module is used for correspondingly storing each object template to be glued and corresponding track information into the path-object mapping set.

According to a specific implementation manner of the embodiment of the present disclosure, optionally, the processing module may be configured to:

generating a glue line track point on the target demand path;

until trajectory information for all demand paths is generated.

According to a specific implementation manner of the embodiment of the disclosure, the glue gun passes through a gun opening advance point, a glue opening gun point, a glue line track point, a glue closing gun point and an ending extension point according to the position sequence;

a straight line segment path and a broken line segment path;

the processing module is specifically configured to:

generating a glue line track point at the folding point; and/or

According to a specific implementation manner of the embodiment of the present disclosure, the processing module is further configured to:

if any glue line track point deviates from the target demand path and reaches a preset value, adjusting the glue line track point to the target demand path; or

In a fourth aspect, an embodiment of the present invention further provides a glue spreading apparatus, including:

the recognition module is used for recognizing the object to be coated with glue by an image;

and the execution module is used for driving the glue gun to execute the gluing operation as required by the robot based on the track information matched with the object to be glued in the preset path-object mapping set.

the execution module is specifically configured to:

the trajectory information further comprises a drawing point:

According to a specific implementation manner of the embodiment of the present disclosure, the executing module 702 is further configured to:

based on track information matched with the object to be glued in the preset path-object mapping set, the robot drives the glue gun to execute gluing operation, and the method comprises the following steps:

In a fifth aspect, an embodiment of the present invention further provides a glue track generation system, including a marking template and an electronic device;

the surface of the marking template is covered with a difference strengthening paper strip, and the surface of the difference strengthening paper strip is marked with marking lines matched with the required path;

the electronic device is configured to generate a set of path-object mappings;

wherein: the path-object mapping set comprises track information of each object template to be glued, which applies the marking template; each track information respectively comprises a glue opening gun point, a glue line track point, a glue closing gun point, a gun opening advance point and an extension ending point, the glue line track point is positioned between the glue opening gun point and the glue closing gun point in the corresponding track, the gun opening advance point is positioned before the glue opening gun point, and the extension ending point is positioned after the glue closing gun point; and each track information is used for enabling the robot to drive the glue gun to automatically glue the object to be glued corresponding to the corresponding object template to be glued according to the corresponding track information.

The embodiment of the disclosure provides a gluing track acquisition method, a gluing track acquisition device and a gluing track generation system, wherein the gluing track acquisition method comprises the steps of identifying the required paths of a plurality of object templates to be glued through images, generating track information which comprises track points and corresponds to the object templates to be glued based on the required paths, and correspondingly storing the track information, so that a path-object mapping set can be obtained, and thus, based on the path-object mapping set of the embodiment of the disclosure, the various gluing process requirements of various objects can be met. In addition, the state of gluing the rifle can be realized and the accurate matching of moving the process along the demand route, the precision, the degree of accuracy of rubber coating operation have effectively been improved, production efficiency is improved and then realize that the robot is intelligent, the rubber coating of batch.

The embodiment of the disclosure provides a gluing method and a gluing device, which are used for identifying an object to be glued and gluing the object based on track information of a corresponding object in a preset path-object mapping set, wherein the track information comprises various track points, so that various gluing process requirements of various objects can be met, an automatic gluing operation scheme is effectively realized, and the labor cost is saved. In addition, the state of gluing the rifle and the accurate matching between the route demand are realized, and the precision, the degree of accuracy of rubber coating operation have effectively been improved, improve production efficiency.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings needed to be used in the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present disclosure, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is a schematic flow chart of a method for acquiring a gluing track according to an embodiment of the present disclosure;

fig. 2a to fig. 2e are schematic diagrams of a template of an object to be glued according to the method for acquiring a gluing track provided by the embodiment of the present disclosure;

fig. 3 is a schematic diagram of a required path of an object template to be glued according to the method for acquiring a gluing track provided by the embodiment of the present disclosure;

fig. 4 is a schematic diagram of a gluing track involved in the method for acquiring a gluing track provided by the embodiment of the present disclosure;

fig. 5a to 5g, and fig. 6 and 7 are schematic diagrams of a demand path involved in the method for acquiring a gluing track provided by the embodiment of the present disclosure;

fig. 8a is a schematic flow chart of a gluing method according to an embodiment of the present disclosure;

8b-8d are schematic diagrams illustrating the gluing effect of a gluing method provided by the embodiment of the disclosure;

fig. 9 is a schematic structural diagram of an apparatus for acquiring a glue spreading track according to an embodiment of the present disclosure;

fig. 10 is a schematic structural diagram of a gluing device provided in the embodiment of the present disclosure.

Detailed Description

The embodiments of the present disclosure are described in detail below with reference to the accompanying drawings.

The embodiments of the present disclosure are described below with specific examples, and other advantages and effects of the present disclosure will be readily apparent to those skilled in the art from the disclosure in the specification. It is to be understood that the described embodiments are merely illustrative of some, and not restrictive, of the embodiments of the disclosure. The disclosure may be embodied or carried out in various other specific embodiments, and various modifications and changes may be made in the details within the description without departing from the spirit of the disclosure. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict. All other embodiments, which can be derived by a person skilled in the art from the embodiments disclosed herein without making any creative effort, shall fall within the protection scope of the present disclosure.

It is noted that various aspects of the embodiments are described below within the scope of the appended claims. It should be apparent that the aspects described herein may be embodied in a wide variety of forms and that any specific structure and/or function described herein is merely illustrative. Based on the disclosure, one skilled in the art should appreciate that one aspect described herein may be implemented independently of any other aspects and that two or more of these aspects may be combined in various ways. For example, an apparatus may be implemented and/or a method practiced using any number of the aspects set forth herein. Additionally, such an apparatus may be implemented and/or such a method may be practiced using other structure and/or functionality in addition to one or more of the aspects set forth herein.

It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present disclosure, and the drawings only show the components related to the present disclosure rather than the number, shape and size of the components in actual implementation, and the type, amount and ratio of the components in actual implementation may be changed arbitrarily, and the layout of the components may be more complicated.

In addition, in the following description, specific details are provided to facilitate a thorough understanding of the examples. However, it will be understood by those skilled in the art that the aspects may be practiced without these specific details.

In a first aspect, the present disclosure provides a method for acquiring a gluing track.

Referring to fig. 1, a flow chart of a method for acquiring a gluing track according to an embodiment of the present disclosure is schematically shown. As shown in fig. 1, the method mainly comprises the following steps:

s101, identifying a required path of each object template to be coated with glue by using an image;

the embodiment of the disclosure provides a method for acquiring a gluing track, which is used for an on-demand gluing scene of an object surface, and acquires gluing track information when gluing is carried out on the object surface as required through related embodiments. The method for acquiring the gluing track can also be used for the early pre-configuration process of the intelligent gluing method, namely the gluing track information corresponding to different object templates is pre-configured, and the robot intelligent gluing can be realized by selecting the corresponding gluing track information according to different objects to be glued in the later stage.

In some embodiments, the corresponding object is defined as an object template to be glued, and the method provided is to acquire gluing track information corresponding to each object template to be glued for a plurality of object templates to be glued, and further store the gluing track information.

The method for acquiring the gluing track provided by some embodiments may be executed by a computing device, which may be implemented as software or as a combination of software and hardware, and may be integrated in an electronic device or the like. In addition, the electronic device can also be connected with other peripheral devices, such as an image acquisition device, a positioning device, an operation robot and the like, so as to assist in realizing the functions of image acquisition, positioning and the like. In some embodiments, the operation robot may be a four-axis robot arm or a six-axis robot arm.

The surface of the template of the object to be glued can be divided into a region needing to be glued and a blank region, the region needing to be glued is the region needing to be glued, the blank region is the region not needing to be glued, the gluing track is the sum of all paths of the robot glue holding gun moving in the region needing to be glued, and the path on the region needing to be glued is defined as a required path. For the demand path, the relevant highlighting mark can be performed in advance by an application operator, and then the demand path is identified. In some embodiments, the marking line can be sketched at the position of the area needing to be coated with glue to prominently mark the required path, so as to help clearly identify the required path.

The template of the object to be glued can be made of any material, and can be made of metal, wood, plastic products and the like as an example; the object template to be glued may be of any shape, and may exemplarily comprise an irregular rectangle, an irregular frame, etc. A simple schematic embodiment of the template of the object to be glued is shown in fig. 2a to 2 e.

In some embodiments, the image recognition may be performed based on image information of the object template to be gummed, which is acquired by an industrial camera. In further embodiments, the image recognition may be based on information required for modeling of the object to be rubberized, acquired by the 3D camera.

In some embodiments, a paper strip may be pasted on the surface of the template of the object to be glued, and then the object to be glued is marked with the difference between the plane on which the object to be glued is placed, the paper strip may be a white paper strip, and a black line is drawn on the white paper strip at a position corresponding to the gluing demand path, so as to highlight the marking demand path.

In some embodiments, when image recognition is performed, edge contour information of the object template to be glued can be recognized in an object edge extraction manner to serve as a corresponding identifier between the object template to be glued and the subsequently generated track information, and then the corresponding track information is searched according to the identifier. In some embodiments, a planar edge profile of an object from a certain viewing angle is identified, and in some alternative embodiments, the planar edge profile and depth information of the object are identified simultaneously to obtain a three-dimensional edge profile of the object. In other embodiments, when image recognition is performed, other forms of information, such as a predefined label and a code, of the object template to be glued can be recognized to serve as a corresponding identifier between the object template to be glued and the track information generated subsequently, and then the corresponding track information is searched according to the identifier.

In some embodiments, the demand path comprises a continuous path of arbitrary shape; in other embodiments, the demand path may be embodied as a discontinuous path as indicated by the partial line segment in FIG. 3; in some embodiments, the demand path is embodied as a straight line, in other embodiments, the demand path is embodied as a polyline, and in still other embodiments, the demand path may be embodied as an arc, etc.

S102, generating corresponding track information based on each required path, wherein the track information comprises glue opening gun points, glue line track points, glue closing gun points, gun opening advance points and extension ending points;

in some embodiments, the glue gun point, the glue line track point, the glue gun closing point, the gun opening advance point, and the end extension point mentioned in the above embodiments: the method is embodied in some embodiments as a track point obtained by discretizing a path which is passed by a robot in the moving process of carrying the glue gun; some points are represented as the state of a glue gun switch when the robot moves to the corresponding track point in other embodiments; in other embodiments, some of the dots are represented by a glue spreading effect formed by spreading glue in a corresponding state by a corresponding track glue spreading gun. For example, in an actual gluing process, as shown in fig. 4, a glue gun starts to accelerate and descend at a point a to approach an object to be glued under the drive of a robot, keeps a state of approaching the object to be glued and starts the glue gun at a point B, reaches a point F after C, D, E, closes the glue gun, lifts away from the object to be glued, and then passes through a point G, H, I, J, the point a is a point of advance for opening the gun, the point B is a point of opening the glue gun, the point C, D, E is a point of a track of a glue line, the point F is a point of closing the glue gun, and the point G is a point of extension for ending. Those skilled in the art can appreciate the various points in the related embodiments from different perspectives in light of the teachings of the present disclosure. It should be emphasized, however, that the scope of the present disclosure does not necessarily include all of the points listed above, and does not necessarily include all of the features that correspond to the points listed above. The case of including the above partial point and the case of including the partial feature corresponding to the above partial point are also listed as the protection scope of the present disclosure.

For the arrangement of each point, in some embodiments, according to the glue amount requirement, corresponding density arrangement can be performed on the corresponding required path according to the corresponding quantity and the corresponding point spacing. In some embodiments, the dots of different types may be separately arranged according to different numbers and spacing requirements, or may be uniformly arranged according to the same numbers and spacing.

In some embodiments, the trajectory information includes information provided by the present disclosure, which is sent to the robot to cause the robot to move according to the corresponding path requirements with default or non-default robot kinematics parameters. See the following related examples. And the track information in some embodiments is used for gluing operation, namely gluing track information.

In some embodiments, the track information includes coordinate information of each track point on the track; the coordinate information of the track points in some embodiments includes two-dimensional coordinates, and then gluing is performed in a two-dimensional plane strictly according to corresponding required paths.

In other embodiments, the coordinate information of the track points comprises three-dimensional coordinates, and the gluing operation is enabled to move up and down according to the fluctuation of the surface of the object to be glued on the basis of gluing according to the corresponding required path. In some embodiments, the fluctuation degree of the surface of the template of the object to be glued can be specifically identified according to the depth information of the template, and corresponding quantity or corresponding spaced track points are generated at the fluctuation position, such as an arc surface and a step-shaped surface, by integrating the required gluing amount.

In some embodiments, the track information includes pose information of each track point, and the pose information in the specific embodiment may be embodied as an orientation of a tool of a certain track point relative to the surface of the object, for example, an orientation of a glue gun relative to the surface of a template of the object to be glued in a pre-generation process, or an orientation of the glue gun relative to the surface of the object to be glued in an actual gluing operation process. Optionally, the orientation may be embodied as an angle between a plane of the glue outlet of the glue gun and the surface, an angle between an axial direction of the glue outlet of the glue gun and a normal direction of the surface, or any other information that may embody a posture of the glue gun and an orientation of the glue gun.

In some embodiments, the pose information may be determined based on the fluctuations exhibited by the surface of the object. For example, if the surface of the object is recessed downward during the forward movement of the glue gun during the actual glue application process, the orientation of the glue gun facing the surface of the object is properly adjusted at a corresponding point in the recessed portion, and optionally, the included angle between the glue gun and the tangential direction (or the normal direction) of the surface of the object is adjusted to ensure the glue gun is perpendicular to the surface, or to ensure a desired angle between the glue gun and the surface.

In some embodiments, the trajectory information includes robot trajectory movement kinematics parameter information. In some preferred embodiments, in order to improve the intelligence of the robot and make the robot comply with various gluing requirements, the robot kinematics parameters are set and adjusted in a relevant point of the track information, for example, the moving speed of the robot is adjusted at a certain track point, or the turning radius of the robot is adjusted at a certain track point; or the acceleration of the robot is indirectly adjusted by adjusting and setting the interval and the number of the corresponding track points.

S103, correspondingly storing each object template to be glued and corresponding track information into a path-object mapping set.

In some embodiments, a mapping set is stored for recording a related mapping relationship, where the mapping set may be embodied as an association between a certain storage area for storing the identifier and another storage area for storing the track, for example, an association between an area for storing related information of each template of the object to be glued and an area for storing corresponding track information, and the association may be embodied as a mapping table.

It should be noted that, in the above-mentioned related embodiment, the set name "path-object mapping set" is not necessarily used to store the mapping relationship between the path and the object, and this name is intended to indicate that the mapping set is used for the related gluing operation performed in compliance with the requirement path after the related requirement path of the corresponding object is determined.

In some embodiments, the identifier in the mapping set may be embodied as related information of the template of the object to be glued, and the track may be determined corresponding track information. In some embodiments, the information related to the template of the object to be gummed may be a predefined code, label, or edge profile of the template.

After determining the corresponding track information of each object template to be glued according to the relevant embodiment, the relevant information of all the object templates to be glued and the corresponding track information thereof are correspondingly stored in the path-object mapping set, so that the corresponding track information containing different object templates to be glued can be obtained. In this way, in the subsequent actual gluing operation process, if a certain object to be glued needs to be glued, the corresponding track information is searched in the path-object mapping set according to the relevant information of the object.

According to an alternative implementation manner of the embodiment of the present disclosure, generating the corresponding trajectory information based on each demand path may include the steps shown in fig. 5 a. Generating target track information for a target demand path in each demand path: s501: generating a glue line track point on a target demand path; s502: generating a glue gun closing point at the end of the target demand path, or S503: generating a finishing extension point at the finishing end of the target demand path; s504: generating a glue gun opening point at the starting end of the target demand path, or S505: and generating a gun opening advance point at the advance end of the target demand path. Until trajectory information for all demand paths is generated.

The target required path in the related embodiment is a required path of a template which does not generate track information in each template of the object to be glued, target track information is correspondingly generated based on the target required path in the track information generation process for one template, and track information generation of all the templates is completed for related embodiments in the cyclic reciprocating related generation process of a plurality of templates. The specific process can be as shown in fig. 5 a.

In some embodiments of the related embodiment of fig. 5a, the steps S501, S502 (or step S503), and S504 (or step S505) are not necessarily performed in the order shown in the figure. In addition, the related embodiment of fig. 5a generates results corresponding to different track information, and the related results are shown in fig. 5 b-5 e, and different embodiments in fig. 5a can realize different shapes of the starting end and the ending end of the glue line, thereby meeting different glue coating process requirements.

It should be noted that fig. 5b to 5e are intended to illustrate the positional relationship between the required path and each point included in the trajectory information, the related diagram content does not limit the required path, the related diagram content does not limit the size relationship between the required path and the amount of the glue applied to each point, and the relationship between the length of the required path and the number of each point is not limited. Specifically, fig. 5b corresponds to the execution result of the leftmost branch step embodiment in fig. 5a, which realizes the synchronous operation of opening and closing the glue gun; FIG. 5c is a diagram showing the result of executing the second left branch step in FIG. 5a, which realizes the operation of turning on the glue gun in advance and turning off the glue gun synchronously; FIG. 5d is a diagram showing the result of executing the second branch step in FIG. 5a, which realizes the synchronous operation of opening the glue gun and closing the glue gun in advance; fig. 5e corresponds to the execution result of the rightmost branch step embodiment in fig. 5a, which realizes the operation of turning on the glue gun in advance and turning off the glue gun in advance. Different embodiments are matched with different robots to drive the robot motion parameters in the moving process of the glue gun, so that the requirements of different shapes at two ends of the glue line can be met. For example, the glue line can be gradually thickened by opening the glue gun in advance and accelerating, the width of the glue line can be equal by synchronously opening the glue gun at a constant speed, and a similar mode can be adopted for closing the glue gun.

In some embodiments, the demand path shape may include: straight line segment path and broken line segment path. A simple schematic embodiment is shown in fig. 2 and 3. Furthermore, in the single track information generating process shown in fig. 5a, the target required path shape also includes a straight-line segment path and a broken-line segment path. In some embodiments, for a target demand path including a broken line path, the glue line track points may be generated at the broken points, or a corresponding number of glue line track points may be generated at non-broken points at a preset distance. In some embodiments, for a target demand path including a straight-line path, the target demand path does not include a break point, and it can be further understood that a non-break point extends over the whole path, and a corresponding number of glue line trace points need to be generated on the path at a preset distance. Certainly, the target demand path in some embodiments further includes a combination of a straight-line path and a broken-line path, and at this time, the generation of the glue trace point may be performed by combining the related embodiments.

In some embodiments, a corresponding required number of points may be generated for the gun advance point (and/or the end extension point) at a corresponding required distance.

In some embodiments, if a certain folding angle degree of the folding line segment path is greater than a preset value, the turning radius of the glue gun is reduced. Those skilled in the art can understand that after the corresponding trajectory information is planned according to the relevant path, the subsequent robot does not necessarily perform turning movement at the bending position of the broken line strictly according to the corresponding broken line path based on the trajectory information, and the actual situation is explained according to fig. 5 f. For a path with a certain degree of bending as shown by the dashed line in fig. 5f, if the trajectory information as point A, B, C is generated, the robot defaults to the actual movement trajectory from a to C through the arc line shown by the solid line in fig. 5 f. The closeness of this arc to point B is determined by a robot kinematics parameter, i.e. the turning radius. Therefore, in some embodiments, the break angle degree at the break point is judged, and if the break angle degree is greater than the preset value so that the robot turns before reaching the break point, the turning radius at the turn point is reduced, so that the actual moving track of the robot glue holding gun is strictly carried out according to a broken line path, namely, the robot glue holding gun is strictly moved according to the path of A-B-C. In some embodiments, the break angle degree is represented as an included angle of a corresponding line segment on the broken line path, for example, the included angle of the broken line segment ABC in fig. 5f is 90 °, and if the included angle of the broken line segment ABC is reduced to 50 °, the break angle degree is said to be increased; in other embodiments, the folding angle degree is represented by the angle between the folding direction of the path at the folding point and the original direction, such as the folding line segment ABC in fig. 5f, the original direction of which is a → B, and the folding direction at the folding point is B → C, and the folding angle degree is 90 °, and if the folding direction is changed to B → C' in fig. 5g, the folding angle degree is increased. In some embodiments, the radius of the curve may be reduced to a millimeter level, and specifically may be 5 millimeters, 6 millimeters, 7 millimeters, or a non-integer value therebetween.

It should be noted that, in some embodiments of the present disclosure, the adjustment of the turning radius may be applied not only to the bending angle, and the turning included in the required path, but also to other moving related positions of the gluing operation related to the present disclosure. For example, in some embodiments, if B is exactly the glue gun opening point, or B is exactly the glue gun closing point, or B is exactly the end extension point, it can be ensured that the actual glue gun trajectory matches the desired movement trajectory in the same turning radius adjustment manner.

And sequentially generating track information corresponding to each required path according to the steps until track information of all required paths on the object template to be glued is generated, namely generating the track information of the object template to be glued.

In the actual gluing process, the finishing actions of different requirement paths are slightly different, which is related to the gluing application requirement of each requirement path. In some embodiments of the disclosure, according to the track information of each demand path, the robot holds the glue gun to pass through the gun opening advance point, the glue opening gun point, the glue line track point, the glue closing gun point and the end extension point in sequence according to the position order, the moving process is completed, after the end extension point, the glue gun can pass through the end extension point again through retreating, the glue line shrinkage is realized, and the glue line is in a linear shape with the same width.

In other embodiments, the track information may further include a drawing point, the drawing point is located after the end extension point, the glue gun sequentially passes through the gun start advance point, the glue gun start point, the glue line track point, the glue gun close point, and the end extension point according to the position order, and then reaches the drawing point to realize the drawing effect of the glue line. The tail shape requirements of different rubber wires are further met through different embodiments and combinations of the tail shape requirements of the rubber wires. An exemplary embodiment of a draw point may be shown as point H, I, J in FIG. 4.

In some embodiments, the distance between the end extension point and the object template to be glued is greater than the distance between the object template to be glued and the glue line track point, that is, the robot holds the glue gun to lift when passing through the end extension point, so as to prevent the glue gun from colliding with the glue line which is already glued, and the specific lifting distance can be set according to requirements.

In some embodiments, the angle of the included angle of the drawn rubber wire may be set, that is, the angle between the straight line of the drawn rubber wire and the rubber wire on the required path at the corresponding viewing angle is set, so as to determine the straight line of the drawn wire point, and then the drawn wire point is generated according to the corresponding distance and number.

In some embodiments, the distance between the wire drawing point and the object template to be glued is greater than the distance between the object template to be glued and the glue line track point, that is to say, the robot glue holding gun is lifted when passing through the wire drawing point, and then is far away from the object template to be glued.

In some embodiments, the path requirement includes multiple sub-paths, and for an object template to be glued, the distance from the gun-opening advance point to the object template to be glued is greater than the distance from the gun-opening advance point to the glue line track point, so as to ensure that the glue gun is lifted at the gun-opening advance point, and prevent the glue gun from damaging the glue lines of other previously-applied sub-paths when gluing is performed on a certain sub-path.

In some embodiments, the moving speed of the glue gun at the gun opening advance point is different from the moving speed at the glue line track point. Optionally, the moving speed V1 of the glue gun at the gun opening advance point may be greater than the moving speed V2 of the glue gun at the glue line track point; optionally, V1 can be smaller than V2, so that different gluing speed requirements are met, and meanwhile, the robot can change speed in advance at the gun opening advance point, so that the acceleration is not too large, the moving safety of the robot is guaranteed, and the intelligence degree of the robot is further improved. Of course, based on some embodiments of the present disclosure, the case where V1 is equal to V2 should also be included in the scope of the present disclosure. It should be noted that, in some embodiments, the number of the gun firing advance points is unique, and then the robot starts to perform corresponding speed change at the gun firing advance point, so that the robot applies glue along the required path at the corresponding speed. In another embodiment, if the number of the gun firing advance points is large, the first gun firing advance point is actuated to perform the related speed change. In some embodiments, the moving speed of the gun opening advance point comprises the maximum (or minimum) speed of the robot in the process from the first gun opening advance point to the glue gun opening point, or the moving speed of the gun opening advance point comprises the limit value of the speed change of the glue gun when the glue gun is infinitely close to the glue gun opening point. Alternatively, the speed of movement of the glue line trace points may include the average speed of movement of the glue gun between the points.

In some embodiments, the required path includes multiple sub-paths, and the trajectory information corresponding to the required path also includes sub-path trajectory information of each sub-path, and an arrangement order of each sub-path trajectory information in the trajectory information, indicating a sequence of sub-paths passed by the glue gun in the moving process. For the sequence of each sub-path, in order to save unnecessary idle walking operation, when determining the arrangement sequence, the scheme with the shortest comprehensive distance needs to be obtained by traversing all sub-path sequencing modes, and preferably, the scheme with the shortest comprehensive distance can be determined by enabling the heads and the tails of different sub-paths to be close, so that the comprehensive distance spanning different sub-paths is shortest. And then make the link between the adjacent sub-route reasonable, the robot is as few as possible to empty and walk, and avoid the repetitive movement as far as possible. The determination of the shortest distance scheme can be solved according to related algorithms in the prior art, and is not described herein again. It should be noted that, in some embodiments, the sub-path track information of each sub-path has the same attribute as the track information described in the related embodiments of the present disclosure, for example, each sub-path track information includes a glue opening gun point, a glue line track point, a glue closing gun point, a gun opening advance point, and an extension ending point, the glue line track point in the corresponding track is located between the glue opening gun point and the glue closing gun point, the gun opening advance point is located before the glue opening gun point, and the extension ending point is located after the glue closing gun point. In addition, the attributes of the sub-path information in other related embodiments are also applied to the sub-path trajectory information accordingly.

For a simple exemplary embodiment of the sub-path ordering, reference may be made to fig. 6, where the lattice filling part in fig. 6 is the template of the object to be rubberized. For example, the demand path in fig. 6 includes a, b, c, d, e, and f sub-paths, and the ordering of the sub-paths may include the following alternatives. According to the first scheme, the robot glue holding gun firstly passes through the sub-path a from left to right, then passes through the sub-path b from right to left, then passes through the sub-path e from top to bottom, then passes through the sub-path d from left to right, then passes through the sub-path c from bottom to top, and finally passes through the sub-path f from right to left. According to the second scheme, the robot glue holding gun firstly passes through the sub-path c from top to bottom, then passes through the sub-path d from right to left, then passes through the sub-path e from bottom to top, then passes through the sub-path a from left to right, then passes through the sub-path b from right to left, and finally passes through the sub-path f from left to right. According to the third scheme, the robot glue holding gun firstly passes through the sub-path d from right to left, then passes through the sub-path e from bottom to top, then passes through the sub-path a from left to right, then passes through the sub-path b from right to left, then passes through the sub-path f from left to right, and finally passes through the sub-path c from bottom to top. In some embodiments, the selection of the same distance scheme may be determined according to an initial position of the glue holding gun of the robot.

In some embodiments, after the order of each sub-path is planned, a transition point may be set at the joint between each sub-path to allow the robot to move between each sub-path, thereby achieving multi-path gluing. It will be appreciated that the transition point is only for the robot to move between sub-paths, during which no glue is applied, and therefore the glue gun is in the off position. In some embodiments, the transition point is set after the end extension point of the previous sub-path and before the gun advance point of the next sub-path. In some embodiments, the transition point is set after the drawing point of the previous sub-path and before the gun advance point of the subsequent sub-path. Preferably, the distance between the transition point and the template of the object to be glued is greater than the distance between the template of the object to be glued and the trace point piece of the glue line, so as to ensure that the glue gun does not collide with the glue line which is already coated when moving between different sub-paths.

In some embodiments, the transition point is determined according to the route of the connection between the sub-paths and according to the distance between the corresponding points (or the number of the corresponding points). For example, if the robot glue gun moves along the sub-path f from left to right and then moves along the sub-path c from top to bottom in fig. 6, a corresponding number (or a corresponding dot pitch) of transition dots can be generated on a connecting line between the right end of the sub-path f and the upper end of the sub-path c.

In some embodiments of the present disclosure, a discrete point adsorption function of the track information is provided, and a specific discrete point may include any form of point in the embodiments related to the present disclosure. After trajectory information is displayed based on a virtual scene, if an operator considers that discrete point adsorption needs to be carried out on a certain straight line, related functions can be started aiming at the related straight line; or the template is not required to be opened, and the adsorption retrieval is directly carried out on each straight line after track information of an object template to be glued is generated. Specifically, if there are discrete points of deviation within a certain range around a straight line, the points within the range are adjusted to the straight line. Or, carrying out discrete point adsorption aiming at a certain corner, and adjusting discrete points in a corresponding numerical range of the corner to the corner.

In a part of application scenarios, the field environment may affect the identification of the demand path, and for the case that the demand path is a straight line segment or a broken line segment, a part of points in the trajectory information may deviate from the demand path. Therefore, in some embodiments, the discrete point adsorption function is applied to the glue line trace points generated on the target demand path: and if any glue line track point deviates from the corresponding target demand path within a preset numerical value, adjusting the glue line track point to the target demand path. Thus, the error of the gluing operation can be effectively reduced.

In some embodiments of the disclosure, if the required path actually required to be located between the two portions of the edge contour deviates due to various reasons, and further the generated trajectory information is not located between the two portions of the edge contour, the equidistant correction function in some embodiments may correct the deviation. After relevant track information is displayed, the requirement for equidistant correction can be waited for starting by instructions of field operators.

In some embodiments, if the requirement for equidistant correction is detected, the glue line track points with unequal distances between the two corresponding reference positions on the corresponding glue object template are adjusted. In some embodiments, the reference location may specifically be an edge of a certain portion of the edge contour of the template of the object to be glued, as may be seen in particular in fig. 7. The dot matrix filling part in fig. 7 is an object template to be glued, the subpath e is not located between the outer contour edge and the inner contour edge shown in the figure at present, if the subpath e needs to be adjusted to the middle position of the outer contour edge and the inner contour edge, the position of the middle line of the two contour edges can be determined first, then the offset between the middle line and the subpath e is determined, and the subpath e is rotated or translated to the middle line according to the offset.

The embodiment of the disclosure provides a gluing path obtaining method, which includes identifying a demand path of an object template to be glued through an image, generating corresponding track information based on the demand path, and storing the track information correspondingly, so that a mapping set of a plurality of object templates to be glued and the corresponding track information can be obtained, and thus, based on the path-object mapping set of the embodiment of the disclosure, various gluing process requirements of various objects can be met. In addition, the state of gluing the rifle can be realized and the accurate matching of moving the process along the demand route, the precision, the degree of accuracy of rubber coating operation have effectively been improved, production efficiency is improved and then realize that the robot is intelligent, the rubber coating of batch.

In a second aspect, the present disclosure provides a method of gluing.

Referring to fig. 8a, a flow chart of a gluing method provided in the embodiment of the present disclosure is schematically illustrated.

S801, identifying an object to be coated with glue by using an image;

s802, based on the track information matched with the object to be glued in the preset path-object mapping set, the robot drives the glue gun to execute gluing operation as required.

The embodiment of the disclosure provides a gluing method, which is used for identifying an object to be glued and gluing the object based on track information of a corresponding object in a preset path-object mapping set, wherein the track information comprises various track points, so that various gluing process requirements of various objects can be met, an automatic gluing operation scheme is effectively realized, and the labor cost is saved. In addition, the state of gluing the rifle and the accurate matching between the route demand are realized, and the precision, the degree of accuracy of rubber coating operation have effectively been improved, improve production efficiency.

In the related embodiment, the surface of the object to be glued is pre-planned into the area to be glued and the blank area, the area to be glued is the area to be glued, and the blank area is the area not to be glued. The set of preset path-object mappings is described in relation to the first aspect of the present disclosure.

In some embodiments, the image recognition in step S801 may be performed by collecting image information of the object to be glued, and then the image information may be used as identification information of the object to be glued, where the identification information is used to search for track information matched with the object to be glued in the preset path-object mapping set in step S802. The image information may optionally be embodied as an edge profile. Furthermore, in some embodiments, the image recognition process in step S801 is a process of recognizing a planar edge contour image of an object from a certain view angle; or in some alternative embodiments, the image recognition process includes a process of recognizing the plane edge profile and the depth information of the object at the same time, that is, recognizing the three-dimensional edge profile image of the object.

In other embodiments, the edge profile is bound to the model of the object to be glued, and then the model is used as the identification information for searching the matching track information in step S802. In some embodiments, the object model may be embodied as a code, label, or the like. Further, the image recognition process includes an image recognition process for codes and labels.

In some embodiments, the image recognition may be performed based on image information of the object to be rubberized, which is acquired by an industrial camera. In other embodiments, the image recognition may be based on information acquired by the 3D camera that is needed for modeling the object to be rubberized. In still other embodiments, image recognition may be based on the pattern acquired by the code reader.

In some embodiments, the object to be glued may be made of any material, and may be made of metal, wood, plastic products, and the like as examples; in other embodiments, the object to be glued may be of any shape, and may illustratively include an irregular rectangle, an irregular frame, or the like. A simple schematic example of the shape of the object to be glued is shown in fig. 2 a-2 e.

In related embodiments of the present disclosure, the track information includes: a glue opening gun point, a glue line track point, a glue closing gun point, a gun opening advance point and an ending extension point; when the gluing operation is specifically carried out in some embodiments, the robot drives the glue gun to move at a speed regulated manner from a gun opening advance point; when the glue gun point is reached, the glue gun is started and moves to the glue gun point along the glue line track point; and when the glue gun reaches the glue gun closing point, closing the glue gun and passing through the end extending point, and then returning and passing through the end extending point again. In other embodiments, the robot drives the glue gun to descend from the gun opening advance point (or move at the same time by speed regulation); when the glue gun point is reached, the glue gun is started and moves to the glue gun point along the glue line track point; and when the glue gun reaches the glue gun closing point, closing the glue gun, passing through the extension ending point, lifting, keeping the lifting state, retracting, and passing through the extension ending point again.

On the basis of the related embodiment, the trajectory information in some embodiments further includes a wire drawing point: and then the robot carries the gluey rifle along ending the back of extending the point and raising to carry out the wire drawing of corresponding angle along the wire drawing point.

As shown in fig. 4, the glue coating track is as shown by an arrow, the robot starts to regulate speed or descend at a gun opening advance point, moves to a glue opening gun point, starts a glue gun when reaching the glue opening gun point, coats glue along a glue line track point and moves to a glue closing gun point, closes the glue gun of the glue coater when reaching the glue closing gun point, can return to an end extension point when finishing the extension point to enable the glue line to be in a line shape with a consistent width, and can also lift along the end extension point and draw the wire along a wire drawing point.

In some application scenarios, the placement posture and position of the object to be glued are not fixed, so in some embodiments, the trajectory information needs to be adjusted according to the position posture of the object to be glued, and the adjusted result is sent to the robot to drive the glue gun to perform the gluing operation. Specifically, the current position and posture of the object to be glued can be obtained, the current position and posture is compared with the standard position and posture of the corresponding template, and the track information matched in the step S802 is adjusted according to the comparison difference, so that the adjusted track information is matched with the current position and posture. And then the adjusted track information is sent to the robot, so that the robot drives the glue gun to execute the gluing operation matched with the current position posture of the object to be glued, and the gluing effect is further optimized.

In some embodiments, based on the matched trajectory information in the preset path-object mapping set, the robot glue holding gun makes a turn at the turn with a smaller turning radius. It should be noted that, based on the related embodiment of the present disclosure, it is also within the scope of the present disclosure that the robot makes a turn with a large turning radius.

The gluing effect of the embodiment of the present disclosure is explained by fig. 8b-8d below.

The invention can identify an object to be glued with meter-level magnitude, specifically 2.2m × 0.8m as shown in fig. 8b, wherein fig. 8b is an original picture of the object to be glued, and the brighter part is the object to be glued; fig. 8b is enlarged by 200% to obtain fig. 8c, and the glue line at the edge, for example, circled part a, is seen, which is obtained by glue spreading according to the embodiment of the present disclosure. For objects to be glued with a very large meter, the gluing operation with the glue line spacing in millimeter level can be realized by the embodiment of the present disclosure, and the part a of fig. 8b is enlarged by a zoom ratio of 600% to obtain fig. 8d, so that the glue line spacing in millimeter level can be clearly resolved.

The gluing method provided by the embodiment of the disclosure recognizes the object to be glued, and performs gluing operation based on the track information of the corresponding object in the preset path-object mapping set, wherein the track information includes various track points, so that various gluing process requirements of various objects can be met, an automatic gluing operation scheme is effectively realized, and the labor cost is saved. In addition, the state of gluing the rifle and the accurate matching between the route demand are realized, and the precision, the degree of accuracy of rubber coating operation have effectively been improved, improve production efficiency.

To sum up, the method for acquiring the gluing track and the gluing method provided by the embodiment of the disclosure can be suitable for gluing complex tracks of frame-shaped objects of any model, and for each model of object, high-precision and high-efficiency track gluing can be performed only by generating track points once.

Corresponding to the above method embodiment, the embodiment of the present disclosure further provides a device for acquiring a gluing track. As shown in fig. 9, the device 90 for acquiring the gluing trajectory comprises:

the identification module 901 is used for identifying the required path of each object template to be coated with glue by an image;

the processing module 902 is configured to generate corresponding track information based on each required path, where the track information includes a glue opening gun point, a glue line track point, a glue closing gun point, a gun opening advance point, and an extension ending point, the glue line track point is located between the glue opening gun point and the glue closing gun point in the corresponding track, the gun opening advance point is located before the glue opening gun point, and the extension ending point is located after the glue closing gun point;

and the storage module 903 is configured to correspondingly store each object template to be glued and corresponding track information into a path-object mapping set.

Optionally, the processing module 902 may be configured to:

generating a glue line track point on the target demand path;

until trajectory information for all demand paths is generated.

Optionally, the glue gun passes through a gun opening advance point, a glue opening gun point, a glue line track point, a glue closing gun point and an extension ending point according to the position sequence;

Optionally, for an object template to be glued,

Optionally, the demand path includes:

a straight line segment path and a broken line segment path;

the processing module 902 is specifically configured to:

generating a glue line track point at the folding point; and/or

Optionally, the processing module is further configured to:

Optionally, the demand path includes multiple sub-paths, and the track information includes sub-path track information of each sub-path and an arrangement order of each sub-path track information in the track information, where the head and tail of different sub-paths in the arrangement order are close to each other, so that the total distance spanning between different sub-paths is shortest.

Optionally, the processing module 902 is further configured to:

Further, referring to fig. 10, the present embodiment also provides a glue spreading device 100, including:

the recognition module 1001 is used for recognizing an object to be glued by an image;

the executing module 1002 is configured to, based on track information matched with the object to be glued in the preset path-object mapping set, enable the robot to drive the glue gun to execute a gluing operation as required.

Optionally, the track information includes: a glue opening gun point, a glue line track point, a glue closing gun point, a gun opening advance point and an ending extension point;

the execution module 1002 is specifically configured to:

the trajectory information further comprises a drawing point:

Optionally, the executing module 1002 is further configured to:

In addition, the embodiment of the invention also provides a gluing track generation system, which is characterized by comprising a marking template and electronic equipment;

the electronic device is configured to generate a set of path-object mappings;

The above-mentioned apparatus and system may correspondingly execute the content in the above-mentioned method embodiment, and details of the part not described in detail in this embodiment refer to the content described in the above-mentioned method embodiment, which is not described herein again.

In addition, an embodiment of the present disclosure also provides an electronic device, which includes:

at least one processor; and the number of the first and second groups,

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

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the glue application method of the above method embodiments.

The disclosed embodiments also provide a non-transitory computer-readable storage medium storing computer instructions for causing the computer to perform the glue spreading method in the aforementioned method embodiments.

The disclosed embodiments also provide a computer program product comprising a computer program stored on a non-transitory computer-readable storage medium, the computer program comprising program instructions that, when executed by a computer, cause the computer to perform the glue spreading method in the aforementioned method embodiments.

In the description of the present disclosure, it is to be understood that the terms "first", "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present disclosure, "a plurality" means at least two, e.g., two, three, etc., unless explicitly specifically limited otherwise.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present disclosure. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Computer program code for carrying out operations for aspects of the present disclosure may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + +, and conventional procedural programming languages, such as the "C" programming language or similar programming languages, as will be appreciated by those skilled in the art. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).

The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved, as would be understood by those skilled in the art to which the embodiments of the disclosure pertain. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.

The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.

It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware that is related to instructions of a program, and the program may be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.

In addition, functional units in the embodiments of the present disclosure may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a separate product, may also be stored in a computer readable storage medium.

The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc. Although embodiments of the present disclosure have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present disclosure, and that changes, modifications, substitutions and alterations may be made to the above embodiments by those of ordinary skill in the art within the scope of the present disclosure.

The above description is only for the specific embodiments of the present disclosure, but the scope of the present disclosure is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present disclosure should be covered within the scope of the present disclosure. Therefore, the protection scope of the present disclosure shall be subject to the protection scope of the claims.

Claims

1. A method for acquiring a gluing track is characterized by comprising the following steps:

identifying a required path of each object template to be glued by an image;

2. The method of claim 1, wherein generating respective trajectory information based on each demand path comprises:

generating a glue line track point on the target demand path;

until trajectory information for all demand paths is generated.

3. The method of claim 2, wherein the glue gun passes through a gun opening advance point, a glue opening gun point, a glue line track point, a glue closing gun point, and an end extension point in positional order;

4. A method according to claim 3, characterized in that, for one template of the object to be glued,

5. The method of claim 4, wherein the demand path comprises:

a straight line segment path and a broken line segment path;

generating glue line track points on the target demand path, including:

generating a glue line track point at the folding point; and/or

6. The method of claim 5, further comprising:

7. The method according to claim 6, wherein the demand path comprises a plurality of sub-paths, the track information comprises sub-path track information of each sub-path, and an arrangement sequence of the sub-path track information in the track information, wherein the different sub-paths in the arrangement sequence have close head to tail so that the total distance spanning the different sub-paths is shortest.

8. The method according to any one of claims 2-7, wherein the generating of the glue line track points on the target demand path comprises:

9. A method of gluing, comprising:

identifying an object to be coated with glue by using an image;

10. The method of claim 9, wherein the trajectory information comprises: a glue opening gun point, a glue line track point, a glue closing gun point, a gun opening advance point and an ending extension point;

the trajectory information further comprises a drawing point:

11. The method according to any one of claims 9 or 10, wherein the step of enabling the robot to drive the glue gun to perform the gluing operation based on the track information matched with the object to be glued in the preset path-object mapping set comprises the following steps:

12. An apparatus for obtaining a gluing trajectory, comprising:

13. A gluing device, characterized in that it comprises:

14. A gluing track generation system is characterized by comprising a marking template and electronic equipment;

the electronic device is configured to generate a set of path-object mappings;