CN112871587A - Gluing path planning method and gluing system based on 3D visual guidance - Google Patents
Gluing path planning method and gluing system based on 3D visual guidance Download PDFInfo
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- CN112871587A CN112871587A CN202110023286.5A CN202110023286A CN112871587A CN 112871587 A CN112871587 A CN 112871587A CN 202110023286 A CN202110023286 A CN 202110023286A CN 112871587 A CN112871587 A CN 112871587A
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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
- B05C11/1002—Means for controlling supply, i.e. flow or pressure, of liquid or other fluent material to the applying apparatus, e.g. valves
- B05C11/1015—Means for controlling supply, i.e. flow or pressure, of liquid or other fluent material to the applying apparatus, e.g. valves responsive to a conditions of ambient medium or target, e.g. humidity, temperature ; responsive to position or movement of the coating head relative to the target
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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
- B05C11/1002—Means for controlling supply, i.e. flow or pressure, of liquid or other fluent material to the applying apparatus, e.g. valves
- B05C11/1015—Means for controlling supply, i.e. flow or pressure, of liquid or other fluent material to the applying apparatus, e.g. valves responsive to a conditions of ambient medium or target, e.g. humidity, temperature ; responsive to position or movement of the coating head relative to the target
- B05C11/1021—Means for controlling supply, i.e. flow or pressure, of liquid or other fluent material to the applying apparatus, e.g. valves responsive to a conditions of ambient medium or target, e.g. humidity, temperature ; responsive to position or movement of the coating head relative to the target responsive to presence or shape of target
Abstract
The invention relates to a gluing path planning method and a gluing system based on 3D visual guidance, which comprises the following steps: acquiring a first measurement diagram of a workpiece to be glued; judging whether the first measurement diagram covers all areas to be glued of the workpiece to be glued; if so, acquiring image information of a first template drawing of the workpiece to be glued; matching and correcting the first measurement diagram based on the first template diagram to obtain a gluing path of the workpiece to be glued; if not, acquiring second measurement drawings of the workpiece to be glued under multiple visual angles and image information of a second template drawing corresponding to the second measurement drawings; and matching and correcting the first measurement drawing and the second measurement drawing under multiple visual angles based on the image information of the first template drawing and the second template drawing to obtain a gluing path of the workpiece to be glued. The invention can collect the workpiece images from a single or multiple visual angles according to the gluing area of the workpiece, and respectively extract the path of each gluing area, thereby meeting the requirement of gluing guidance of various product characteristics.
Description
Technical Field
The invention relates to the field of intelligent gluing, in particular to a gluing path planning method and a gluing system based on 3D visual guidance.
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. With the rapid development of industrial technology, the glue path size of the product glue coating is more and more fine, the space track is more and more complex (the height fall changes obviously), and the requirement on the glue coating precision is higher and higher. The manual gluing mode has the problems of poor gluing quality, low efficiency and the like, and needs to be accurately positioned and guided by vision,
however, the glue guiding method based on 2D vision cannot completely identify the spatial variation path coordinates. For example, patent CN106179885B discloses a method capable of extracting a gluing path of a complex spatial curved surface curve, which can adjust the gluing amount and the gluing speed in real time according to the coordinate difference and the inclination relation of the path point height. However, for the glue path track with a large inclination (such as near vertical), the method cannot accurately extract. However, some methods are limited to special workpieces and industries, for example, patents CN111067197A, CN111035115A and CN107808415A disclose several methods for planning gluing tracks based on 3D, but these methods all rely on input point cloud characteristics for extracting gluing paths, and are only limited to gluing in shoe manufacturing industry, and cannot be applied to other fields. These solutions all have a certain lack, and therefore, a better-performing glue-spreading guiding method that can satisfy various product characteristics is lacking.
Disclosure of Invention
The invention provides a gluing path planning method and a gluing system based on 3D visual guidance, aiming at the above-mentioned defects of the prior art.
The technical scheme adopted by the invention for solving the technical problems is as follows: a gluing path planning method based on 3D visual guidance is constructed, and comprises the following steps:
acquiring a first measurement diagram of a workpiece to be glued;
judging whether the first measuring image covers all areas to be glued of the workpiece to be glued;
if the first measurement drawing covers all areas to be glued of the workpiece to be glued, acquiring a first template drawing of the workpiece to be glued, and processing the first template drawing to acquire image information of the first template drawing;
matching, correcting and analyzing the first measuring image based on the image information of the first template image to obtain a gluing path of the workpiece to be glued;
if the first measuring diagram does not cover all areas to be glued of the workpiece to be glued, acquiring second measuring diagrams of the workpiece to be glued under multiple visual angles and second template diagrams corresponding to the second measuring diagrams under the multiple visual angles, and processing the second template diagrams to acquire image information of the second template diagrams;
and respectively carrying out matching correction and analysis processing on the first measuring diagram and the second measuring diagrams under the multiple visual angles based on the image information of the first template diagram and the image information of the second template diagram to obtain the gluing path of the workpiece to be glued.
In the method for planning a gluing path based on 3D visual guidance according to the present invention, the obtaining a template drawing of a workpiece to be glued includes:
scanning the workpiece to be coated with the glue by using a 3D line laser profiler to obtain a depth map of the workpiece to be coated with the glue; and the depth map of the workpiece to be glued is a template map of the workpiece to be glued.
In the 3D visual guidance-based gluing path planning method of the present invention, the processing the first template drawing to obtain the image information of the first template drawing includes:
acquiring a position point to be glued of the workpiece to be glued;
connecting the position points to be glued by adopting a preset method to obtain a space curve track of the workpiece to be glued;
performing discrete processing on the space curve track to obtain discrete track points;
calculating each discrete track point to obtain the coordinate of each discrete track point and a corresponding normal vector;
storing the coordinates and the corresponding normal vectors of each discrete track point; and the coordinates of each discrete track point and the corresponding normal vector are the image information of the first template picture.
In the 3D vision-guided based gluing path planning method of the present invention, the obtaining a spatial curve trajectory of the workpiece to be glued by connecting the position points to be glued by a preset method includes:
and connecting the position points to be glued by adopting various bar equations to obtain a space curve track of the workpiece to be glued.
In the method for planning a gluing path based on 3D visual guidance according to the present invention, if the first measurement diagram covers all areas to be glued of the workpiece to be glued, performing matching, correction, and analysis processing on the first measurement diagram based on the image information of the first template diagram to obtain the gluing path of the workpiece to be glued includes:
if the first measurement diagram covers all the areas to be glued of the workpiece to be glued, then:
matching and correcting the first measurement diagram relative to the first template diagram;
after the matching and correction are completed, performing local cross-section analysis on the corrected first measurement diagram based on each discrete locus point to obtain a sectional line profile diagram corresponding to the first measurement diagram;
extracting characteristic points of the sectional line profile graph to obtain the characteristic points of the sectional line profile graph;
shifting the characteristic points according to the gluing position requirement of the workpiece to be glued to obtain gluing path points of the workpiece to be glued;
and carrying out smooth processing on each gluing path point of the workpiece to be glued to obtain a gluing path of the workpiece to be glued.
In the 3D vision-guidance-based gluing path planning method of the present invention, smoothing each gluing path point of the workpiece to be glued to obtain the gluing path of the workpiece to be glued includes:
connecting the gluing path points by adopting various curves to obtain a continuous space track;
performing discrete processing on the continuous space trajectory to obtain discrete points;
calculating the curvature of each discrete point to obtain the curvature of each discrete point;
judging whether the curvature of each discrete point is larger than a threshold value;
and if so, eliminating the discrete points with the curvatures larger than the threshold value, and carrying out cubic spline interpolation on adjacent discrete points of the discrete points with the curvatures larger than the threshold value to obtain the gluing path of the workpiece to be glued.
In the method for planning a gluing path based on 3D visual guidance according to the present invention, the obtaining a gluing path of the workpiece to be glued by performing matching, correction, and analysis on the first measurement drawing and the second measurement drawing at the plurality of viewing angles based on the image information of the first template drawing and the image information of the second template drawing, respectively, includes:
matching and correcting the first measurement diagram and the second measurement diagram relative to the first template diagram and the corresponding second template diagram;
after the matching and correction are completed, performing local cross-section analysis on the corrected first measurement diagram and the corrected second measurement diagram based on each discrete track point to obtain a first cross-section contour diagram corresponding to the first measurement diagram and a second cross-section contour diagram corresponding to the second measurement diagram;
extracting characteristic points of the first section line profile diagram and the second section line profile diagram to obtain the characteristic points of the first section line profile diagram and the second section line profile diagram;
shifting the characteristic points of the first section line profile diagram and the characteristic points of the second section line profile diagram according to the gluing position requirement of the workpiece to be glued to obtain a first group of gluing path points and a second group of gluing path points of the workpiece to be glued; the first group of gluing path points are a group of gluing path points corresponding to the first measuring graph; the second group of gluing path points are a plurality of groups of gluing path points corresponding to the second measuring graph;
and carrying out smooth processing on each gluing path point in the first group of gluing path points and each gluing path point in the second group of gluing path points to obtain a first gluing path corresponding to the first measurement diagram and a second gluing path corresponding to the second measurement diagram.
In the 3D vision-guidance-based gluing path planning method of the present invention, smoothing each gluing path point of the first group of gluing path points and each gluing path point of the second group of gluing path points to obtain a first gluing path corresponding to the first measurement diagram and a second gluing path corresponding to the second measurement diagram includes:
connecting each gluing path point in the first group of gluing path points by adopting a diversified curve to obtain a continuous first space track;
performing discrete processing on the continuous first space track to obtain a first discrete point;
calculating a curve at each first discrete point to obtain the curvature of each first discrete point;
judging whether the curvature of each first discrete point is larger than a threshold value;
if so, eliminating the first discrete points with the curvatures larger than the threshold value, and carrying out cubic spline interpolation on adjacent first discrete points of the first discrete points with the curvatures larger than the threshold value to obtain a first gluing path of the workpiece to be glued; the first gluing path is a gluing path corresponding to the first measuring diagram.
In the 3D vision-guidance-based gluing path planning method of the present invention, smoothing each gluing path point of the first group of gluing path points and each gluing path point of the second group of gluing path points to obtain a first gluing path corresponding to the first measurement diagram and a second gluing path corresponding to the second measurement diagram further includes:
connecting each gluing path point in the second group of gluing path points by adopting a diversified curve to obtain a continuous second space track;
performing discrete processing on the continuous second space trajectory to obtain a second discrete point;
calculating a curve at each second discrete point to obtain the curvature of each second discrete point;
judging whether the curvature of each second discrete point is larger than a threshold value;
if so, eliminating second discrete points with the curvatures larger than the threshold value, and carrying out cubic spline interpolation on adjacent second discrete points of the second discrete points with the curvatures larger than the threshold value to obtain a second gluing path of the workpiece to be glued; the second gluing path is a plurality of gluing paths corresponding to the plurality of second measuring drawings.
In the gluing path planning method based on 3D visual guidance according to the present invention, the method further includes:
and splicing the first gluing path and the second gluing path to obtain a spliced gluing path of the workpiece to be glued.
In the gluing path planning method based on 3D visual guidance according to the present invention, the method further includes:
and carrying out smooth processing on the splicing gluing path of the workpiece to be glued to obtain the gluing path of the workpiece to be glued.
In the 3D vision-guidance-based gluing path planning method of the present invention, smoothing the splicing gluing path of the workpiece to be glued to obtain the gluing path of the workpiece to be glued comprises:
calculating the overlapping area of every two adjacent gluing paths in the splicing gluing paths of the workpiece to be glued;
if the two adjacent gluing paths are not overlapped, synthesizing the two adjacent gluing paths by adopting a first synthesis method;
and if the two adjacent gluing paths are overlapped, combining the two adjacent gluing paths by adopting a second combining method.
In the method for planning a gluing path based on 3D visual guidance according to the present invention, if two adjacent gluing paths do not overlap, synthesizing the two adjacent gluing paths by using a first synthesis method includes:
if two adjacent gluing paths do not overlap, then:
and connecting the two adjacent gluing paths end to end, and performing cubic spline interpolation between the last point of the previous gluing path and the first point of the next gluing path in the two adjacent gluing paths to complete the synthesis of the two adjacent gluing paths.
In the method for planning a gluing path based on 3D visual guidance according to the present invention, if two adjacent gluing paths overlap, synthesizing the two adjacent gluing paths by using a second synthesis method includes:
if two adjacent gluing paths are overlapped, then:
acquiring an overlapping area of the two adjacent gluing paths;
according to the overlapping area, obtaining a first point set and a second point set of the two adjacent gluing paths; the first point set is a point set of any one of the two adjacent gluing paths in an overlapping area; the second point set is a point set of the other gluing path in the overlapping area;
searching a nearest point according to the first point set and the second point set to obtain a nearest point pair;
and synthesizing the two adjacent gluing paths according to the number of the nearest point pairs.
In the method for planning a gluing path based on 3D visual guidance according to the present invention, the synthesizing of the two adjacent gluing paths according to the number of nearest point searches includes:
if the number of the nearest point pairs is 0, performing cubic spline interpolation between a first point of the first point set and a last point of the second point set to complete the synthesis of the two adjacent gluing paths;
if the number of the nearest point pairs is 1, performing cubic spline interpolation on two nearest points of the nearest point pairs to complete the synthesis of the two adjacent gluing paths;
if the number of the nearest point pairs is greater than or equal to 2, extracting a first nearest point pair, a middle nearest point pair and a last nearest point pair in the nearest point pairs;
calculating the central point of each pair of nearest point pairs in the middle nearest point pair to obtain a central point set;
and connecting the first nearest point pair, the central point set and the last nearest point pair by cubic spline interpolation in sequence to complete the synthesis of the two adjacent gluing paths.
The invention also provides a gluing system based on 3D visual guidance, which comprises: the device comprises a scanning device, a driving working device, a gluing device, a clamp and a control system;
the clamp is used for clamping a workpiece during gluing operation;
the driving working device is used for driving the scanning device to work and executing gluing operation;
the scanning device is used for scanning the image of the workpiece according to the driving of the driving working device;
the gluing device is used for gluing the workpiece during gluing operation;
the control system is used for controlling the driving working device, the scanning device and the gluing device to work, and is used for:
acquiring a first measurement diagram of a workpiece to be glued;
judging whether the first measuring image covers all areas to be glued of the workpiece to be glued;
if the first measurement drawing covers all areas to be glued of the workpiece to be glued, acquiring a first template drawing of the workpiece to be glued, and processing the first template drawing to acquire image information of the first template drawing;
matching, correcting and analyzing the first measuring image based on the image information of the first template image to obtain a gluing path of the workpiece to be glued;
if the first measuring diagram does not cover all areas to be glued of the workpiece to be glued, acquiring second measuring diagrams of the workpiece to be glued under multiple visual angles and second template diagrams corresponding to the second measuring diagrams under the multiple visual angles, and processing the second template diagrams to acquire image information of the second template diagrams;
and respectively carrying out matching correction and analysis processing on the first measuring diagram and the second measuring diagrams under the multiple visual angles based on the image information of the first template diagram and the image information of the second template diagram to obtain the gluing path of the workpiece to be glued.
In the gluing system based on 3D visual guidance according to the present invention, the scanning device includes:
any one of a 3D line laser profiler, a 3D camera, a binocular camera, a coded structured light camera, and a depth camera.
In the gluing system based on 3D visual guidance according to the present invention, the driving work means includes: a multi-axis manipulator or a multi-axis motion platform.
The gluing path planning method and the gluing system based on 3D visual guidance have the following beneficial effects that: the method comprises the following steps: acquiring a first measurement diagram of a workpiece to be glued; judging whether the first measuring image covers all areas to be glued of the workpiece to be glued; if the first measurement drawing covers all areas to be glued of the workpiece to be glued, acquiring a first template drawing of the workpiece to be glued, and processing the first template drawing to acquire image information of the first template drawing; matching, correcting and analyzing the first measuring image based on the image information of the first template image to obtain a gluing path of the workpiece to be glued; if the first measuring diagram does not cover all areas to be glued of the workpiece to be glued, acquiring second measuring diagrams of the workpiece to be glued under multiple visual angles and second template diagrams corresponding to the second measuring diagrams under the multiple visual angles, and processing the second template diagrams to acquire image information of the second template diagrams; and respectively carrying out matching correction and analysis processing on the first measuring diagram and the second measuring diagrams under the multiple visual angles based on the image information of the first template diagram and the image information of the second template diagram to obtain the gluing path of the workpiece to be glued. The invention can collect the workpiece images from a single or multiple visual angles according to the gluing area of the workpiece, and respectively extract the path of each gluing area, thereby meeting the requirement of gluing guidance of various product characteristics.
Drawings
The invention will be further described with reference to the accompanying drawings and examples, in which:
FIG. 1 is a schematic structural diagram of a 3D visual guidance-based gluing system provided by an embodiment of the invention;
fig. 2 is a schematic flow chart of a 3D visual guidance-based gluing path planning method provided by an embodiment of the present invention;
FIG. 3 is a schematic cross-sectional cut-away view of a trace point provided by an embodiment of the present invention;
FIG. 4 is a partial cross-sectional view of discrete trace points provided by an embodiment of the present invention;
fig. 5 is a schematic diagram of path connection provided by an embodiment of the present invention.
Detailed Description
For a more clear understanding of the technical features, objects and effects of the present invention, embodiments of the present invention will now be described in detail with reference to the accompanying drawings.
Referring to fig. 1, fig. 1 is a 3D visual guidance-based gluing system provided by an embodiment of the present invention, where the 3D visual guidance-based gluing system may include: a scanning device 3, a driving working device 5, a gluing device 4, a clamp 1 and a control system 6.
The clamp is used for clamping a workpiece (shown as 2 in figure 1) when gluing is carried out. In the embodiment of the present invention, the workpiece to be glued may include, but is not limited to, glasses, notebook computers, mobile phones, and the like.
The driving working device 5 is used for driving the scanning device 3 to work and executing gluing operation. Alternatively, the driving working device 5 may drive the working device 5 including, but not limited to: a multi-axis manipulator or a multi-axis motion platform.
The scanning device 3 is used for image scanning of the workpiece in accordance with the driving of the driving work device 5. Alternatively, the scanning device 3 may include, but is not limited to, any one of a 3D line laser profiler, a 3D camera, a binocular camera, a coded structured light camera, and a depth camera.
The gluing device 4 is used for gluing on the workpiece during gluing operation.
The control system 6 is used for controlling the operation of the driving working device 5, the scanning device 3 and the gluing device 4, and is used for: acquiring a template drawing of a workpiece to be glued, and processing the template drawing to obtain image information of the template drawing; acquiring a first measurement diagram of a workpiece to be glued; judging whether the first measurement diagram covers all areas to be glued of the workpiece to be glued; if the first measurement drawing covers all areas to be glued of the workpiece to be glued, acquiring a first template drawing of the workpiece to be glued, and processing the first template drawing to acquire image information of the first template drawing; matching, correcting and analyzing the first measuring image based on the image information of the first template image to obtain a gluing path of the workpiece to be glued; if the first measuring drawing does not cover all areas to be glued of the workpiece to be glued, acquiring second measuring drawings of the workpiece to be glued under multiple visual angles and second template drawings corresponding to the second measuring drawings under the multiple visual angles, and processing the second template drawings to acquire image information of the second template drawings; and respectively carrying out matching correction and analysis processing on the first measurement drawing and the second measurement drawing under multiple visual angles based on the image information of the first template drawing and the image information of the second template drawing to obtain a gluing path of the workpiece to be glued. Optionally, the control system 6 may comprise an industrial control computer.
In some embodiments, when the first measurement map cannot completely cover all the areas to be glued of the workpiece to be glued, it is necessary to scan the image of the workpiece to be glued from multiple viewing angles. The workpiece is scanned under a plurality of visual angles, and the selection of the visual angles and the scanning sequence can be determined through imaging optimization according to the acquired track template data. Specifically, for the same workpiece, the selection (number and orientation) of the view angles and the scanning sequence (the sequence of scanning and acquiring the depth map at each view angle) are determined according to whether the acquired template map and the imaging effect are good enough or not, and whether the extracted template track can cover all the areas to be coated with glue of the workpiece or not.
The invention also provides a gluing path planning method based on 3D visual guidance, which is characterized in that the gluing area is matched and corrected, the local section of each path point is analyzed, and then the gluing path points obtained by analysis are connected and smoothed, so that the gluing path can be accurately and robustly extracted. Furthermore, the method can acquire the depth map of the workpiece through a plurality of visual angles to respectively extract each gluing area path, and then integrally splicing and connecting each path, so that the extraction of various complex space shape paths can be met.
Specifically, referring to fig. 2, fig. 2 is a schematic flow chart of a gluing path planning method based on 3D visual guidance according to an embodiment of the present invention.
As shown in fig. 2, the 3D visual guidance-based gluing path planning method may include:
step S201, a first measuring diagram of a workpiece to be glued is obtained.
Step S202, judging whether the first measuring image covers all areas to be glued of the workpiece to be glued.
Step S203, if the first measurement diagram covers all areas to be glued of the workpiece to be glued, a first template diagram of the workpiece to be glued is obtained, and the first template diagram is processed to obtain image information of the first template diagram.
In some embodiments, obtaining the first template map of the workpiece to be glued comprises: scanning a workpiece to be glued by using a 3D line laser profiler to obtain a depth map of the workpiece to be glued; the depth map of the workpiece to be glued is a first template map of the workpiece to be glued.
In some embodiments, processing the first template map, and obtaining the image information of the first template map comprises: acquiring a position point to be glued of a workpiece to be glued; connecting the position points to be glued by adopting a preset method to obtain a space curve track of the workpiece to be glued; carrying out discrete processing on the space curve track to obtain discrete track points; calculating each discrete track point to obtain the coordinate of each discrete track point and a corresponding normal vector; storing the coordinates and the corresponding normal vectors of each discrete track point; and the coordinates and the corresponding normal vector of each discrete track point are image information of the first template picture. Alternatively, the position point to be glued of the workpiece to be glued can be input by the user.
In some embodiments, the step of connecting the positions to be glued by a preset method to obtain a spatial curve track of the workpiece to be glued comprises: and connecting the position points to be glued by adopting a multi-spline equation to obtain a space curve track of the workpiece to be glued. Optionally, the multiple protocols include, but are not limited to, bezier curves, B-spline curves, and the like.
In some embodiments, the discrete processing is performed on the spatial curve trajectory to obtain discrete trajectory points, and the discrete trajectory points can be obtained by performing the discrete processing on the spatial curve trajectory with a fixed step length. Alternatively, the fixed step size may be determined according to the size of the workpiece. Wherein different workpieces adopt different fixed step lengths. For example, the glasses may be 0.1 mm (not limited to 0.1 mm, which is determined according to actual products), while the notebook computer cannot be fixed in the same step length as the glasses, since the product size of the notebook computer is different from that of the glasses.
And S204, performing matching correction and analysis processing on the first measurement diagram based on the image information of the first template diagram to obtain a gluing path of the workpiece to be glued.
In some embodiments, if the first measurement map covers all the areas to be glued of the workpiece to be glued, performing matching correction and analysis processing on the first measurement map based on the image information of the first template map, and obtaining the gluing path of the workpiece to be glued includes: if the first measurement diagram covers all the areas to be glued of the workpiece to be glued, then:
matching and correcting the first measurement diagram relative to the first template diagram; after the matching and correction are completed, performing local cross-section analysis on the corrected first measurement diagram based on each discrete locus point to obtain a sectional line profile diagram corresponding to the first measurement diagram; extracting characteristic points of the sectional line profile graph to obtain the characteristic points of the sectional line profile graph; shifting the characteristic points according to the gluing position requirement of the workpiece to be glued to obtain gluing path points of the workpiece to be glued; and carrying out smooth processing on each gluing path point of the workpiece to be glued to obtain a gluing path of the workpiece to be glued. And after the matching correction is completed, the gluing area of the first measuring graph is aligned with the gluing area of the template graph based on the stored track points and normal vectors.
Specifically, the corrected first measurement diagram is subjected to local cross-section analysis through the stored discrete track points, and for each discrete track point, a region of the first measurement diagram is cut out within a certain range along the normal direction (as shown in fig. 3), so that a sectional line profile (as shown in fig. 4) corresponding to the first measurement diagram is obtained. Wherein the x-axis is the distance to this discrete track point in the normal direction and the y-axis is the height of the corresponding location. And analyzing each section line contour diagram, extracting characteristic points on each section line contour diagram, and offsetting the characteristic points according to the gluing position requirement of the workpiece to be glued to obtain gluing path points of the workpiece to be glued. Optionally, the feature points may be the highest point, the lowest point, the contour line intersection point, the curve maximum point, and the like.
In some embodiments, smoothing each gluing path point of the workpiece to be glued to obtain a gluing path of the workpiece to be glued includes: connecting the gluing path points by adopting various curves to obtain a continuous space track; carrying out discrete processing on the continuous space trajectory to obtain discrete points; calculating the curvature of each discrete point to obtain the curvature of each discrete point; judging whether the curvature of each discrete point is larger than a threshold value; if so, eliminating the discrete points with the curvatures larger than the threshold value, and carrying out cubic spline interpolation on adjacent discrete points of the discrete points with the curvatures larger than the threshold value to obtain the gluing path of the workpiece to be glued.
Specifically, when each gluing path point is subjected to smooth processing, the obtained gluing path points are connected by using various curves to form a continuous space track, and then the space track is discretized by a fixed step length to obtain a series of equidistant discrete points. And then, calculating the curvature of the space trajectory at each discrete point, if the curvature is greater than a threshold value, removing the point, and performing cubic spline interpolation on the front point and the rear point connected with the point to obtain a smooth gluing path.
Step S205, if the first measurement drawing does not cover all areas to be glued of the workpiece to be glued, acquiring second measurement drawings of the workpiece to be glued at multiple viewing angles and second template drawings corresponding to the second measurement drawings at multiple viewing angles, and processing the second template drawings to obtain image information of the second template drawings.
And S206, matching, correcting and analyzing the first measuring diagram and the second measuring diagram under multiple visual angles based on the image information of the first template diagram and the image information of the second template diagram to obtain a gluing path of the workpiece to be glued. The second measurement diagram under the multiple viewing angles is the measurement diagram of the other multiple viewing angles except the viewing angle of the first measurement diagram. The second template graph is one-to-one corresponding to the measurement graphs of multiple visual angles. For example, the remaining multiple view angle measurement diagrams except the view angle of the first measurement diagram are respectively: the first sub-measurement diagram, the second sub-measurement diagram, the third sub-measurement diagram, … …, and the Nth sub-measurement diagram, the second template diagram includes: a first sub-template map corresponding to the first sub-measurement map, a second sub-template map corresponding to the second sub-measurement map, a third sub-template map corresponding to the third sub-measurement map, … …, and an Nth sub-template map corresponding to the Nth sub-measurement map. That is, when the first measurement diagram cannot cover all the areas to be glued of the workpiece to be glued, a plurality of sub-measurement diagrams are respectively obtained under a plurality of viewing angles, and the corresponding template diagram is required to be respectively obtained under the viewing angle of each sub-measurement diagram. Wherein, the number of the visual angles is used for covering all the gluing areas as a reference.
Wherein the image information of the second template graph comprises: image information of the first sub-template drawing, image information of the second sub-template drawing, image information of the third sub-template drawing, … …, and image information of the Nth sub-template drawing.
In some embodiments, the processing method of each sub-template map may refer to the processing method of the first template map, and is not described herein again.
In some embodiments, the matching, correcting and analyzing the first measurement drawing and the second measurement drawing under multiple viewing angles based on the image information of the first template drawing and the image information of the second template drawing, and obtaining the gluing path of the workpiece to be glued includes: matching and correcting the first measurement diagram and the second measurement diagram relative to the first template diagram and the corresponding second template diagram; after the matching and correction are completed, performing local cross-section analysis on the corrected first measurement diagram and the corrected second measurement diagram based on each discrete track point to obtain a first cross-section contour diagram corresponding to the first measurement diagram and a second cross-section contour diagram corresponding to the second measurement diagram; extracting characteristic points of the first section line outline drawing and the second section line outline drawing to obtain the characteristic points of the first section line outline drawing and the characteristic points of the second section line outline drawing; shifting the characteristic points of the first section line profile diagram and the characteristic points of the second section line profile diagram according to the gluing position requirement of the workpiece to be glued to obtain a first group of gluing path points and a second group of gluing path points of the workpiece to be glued; the first group of gluing path points are a group of gluing path points corresponding to the first measuring graph; the second group of gluing path points are a plurality of groups of gluing path points corresponding to the second measuring graph; and carrying out smooth processing on each gluing path point in the first group of gluing path points and each gluing path point in the second group of gluing path points to obtain a first gluing path corresponding to the first measurement diagram and a second gluing path corresponding to the second measurement diagram.
Specifically, the matching and correction of the second measurement map with respect to the corresponding second template map are as follows: the first sub-measurement diagram is matched and corrected with respect to the first sub-template diagram, the second sub-measurement diagram is matched and corrected with respect to the second sub-template diagram, the third sub-measurement diagram is matched and corrected with respect to the third sub-template diagram, … …, and the nth sub-measurement diagram is matched and corrected with respect to the nth sub-template diagram, so that the corrected first sub-measurement diagram, the corrected second sub-measurement diagram, the corrected third sub-measurement diagram, … … and the corrected nth sub-measurement diagram can be obtained. The second sectional outline includes: a first sub-sectional profile corresponding to the first sub-measurement pattern, a second sub-sectional profile corresponding to the second sub-measurement pattern, a third sub-sectional profile corresponding to the third sub-measurement pattern, … …, and an Nth sub-sectional profile corresponding to the Nth sub-measurement pattern. In some embodiments, smoothing each glue application path point of the first group of glue application path points and each glue application path point of the second group of glue application path points to obtain a first glue application path corresponding to the first measurement map and a second glue application path corresponding to the second measurement map comprises: connecting each gluing path point in the first group of gluing path points by adopting a diversified curve to obtain a continuous first space track; discrete processing is carried out on the continuous first space track to obtain a first discrete point; calculating a curve at each first discrete point to obtain the curvature of each first discrete point; judging whether the curvature of each first discrete point is larger than a threshold value; if so, eliminating the first discrete points with the curvatures larger than the threshold value, and carrying out cubic spline interpolation on adjacent first discrete points of the first discrete points with the curvatures larger than the threshold value to obtain a first gluing path of the workpiece to be glued; the first gluing path is a gluing path corresponding to the first measuring diagram.
In some embodiments, smoothing each of the first and second groups of glue application waypoints to obtain a first glue application path corresponding to the first measurement map and a second glue application path corresponding to the second measurement map further comprises: connecting each gluing path point in the second group of gluing path points by adopting a diversified curve to obtain a continuous second space track; performing discrete processing on the continuous second space trajectory to obtain a second discrete point; calculating a curve at each second discrete point to obtain the curvature of each second discrete point; judging whether the curvature of each second discrete point is larger than a threshold value; if so, eliminating the second discrete points with the curvatures larger than the threshold value, and carrying out cubic spline interpolation on adjacent second discrete points of the second discrete points with the curvatures larger than the threshold value to obtain a second gluing path of the workpiece to be glued; the second gluing path is a plurality of gluing paths corresponding to the plurality of second measuring drawings.
In the embodiment of the invention, under the condition that the first measurement diagram can not completely cover all the areas to be glued of the workpiece to be glued, the matching correction, the local section analysis and the smooth processing method of the first measurement diagram obtained under the condition and the second measurement diagrams under multiple visual angles are the same.
In this step, when the first measurement diagram cannot cover all the regions to be glued of the workpiece to be glued, the first sub-template diagram, the second sub-template diagram, the third sub-template diagram, … …, the nth sub-template diagram, and the corresponding first sub-measurement diagram, the second sub-measurement diagram, the third sub-measurement diagram, … …, and the nth sub-measurement diagram need to be obtained at multiple viewing angles, and then the first measurement diagram, the first sub-measurement diagram, the second sub-measurement diagram, the third sub-measurement diagram, the image information of the second sub-template diagram, the image information of the third sub-template diagram, … …, and the image information of the nth sub-template diagram are respectively matched, corrected, and analyzed by the method in step S204, so as to obtain the first gluing path corresponding to the first measurement diagram, the first sub-measurement diagram, the second sub-measurement diagram, the third sub-measurement diagram, … …, and the nth sub-measurement diagram, A first sub-gluing path, a second sub-gluing path, a third sub-gluing path, … …, an Nth sub-gluing path. Wherein, the second rubber coating route includes: a first sub-gluing path, a second sub-gluing path, a third sub-gluing path, … …, an Nth sub-gluing path.
That is, in the embodiment of the present invention, when the first measurement map can cover the area to be glued of the workpiece to be glued, the method in step S204 may be adopted to obtain the gluing path of the workpiece to be glued. When the first measurement drawing cannot cover the area to be glued of the workpiece to be glued, the template drawings (the first sub-template drawing, the second sub-template drawing, … … and the Nth sub-template drawing) are respectively obtained under a plurality of visual angles, the image information of the first template drawing, the image information of the first sub-template drawing, the image information of the second sub-template drawing, the image information of the third sub-template drawing, … … and the image information of the Nth sub-template drawing are respectively obtained through calculation processing, and then the first measurement drawing, the first sub-measurement drawing, the second sub-measurement drawing, the third sub-measurement drawing, … … and the Nth sub-measurement drawing are subjected to matching and analysis processing by adopting the same method as the step S104, so that the first gluing path, the first sub-gluing path, the second sub-gluing path, the third sub-gluing path, … … and the Nth sub-gluing path are obtained. Further, when splicing is needed, the first gluing path, the first sub-gluing path, the second sub-gluing path, the third sub-gluing path, … … and the Nth sub-gluing path are spliced, and finally a complete gluing path is obtained. The specific splicing method comprises the following steps:
further, in some embodiments, after obtaining the first gluing path and the second gluing path (the first sub-gluing path, the second sub-gluing path, the third sub-gluing path, … …, and the nth sub-gluing path), the first gluing path and the second gluing path are further required to be spliced to obtain a spliced gluing path of the workpiece to be glued. Specifically, the gluing area of the workpiece to be glued is scanned at each visual angle, each gluing area is processed by the method, a plurality of gluing paths are extracted, and then the plurality of gluing paths acquired at different visual angles are subjected to space transformation and splicing according to the space pose relationship among the visual angles to form a complete gluing path.
After splicing is completed, in order to solve the error problem, the embodiment of the invention also needs to perform smooth processing on the splicing gluing path of the workpiece to be glued so as to obtain the gluing path of the workpiece to be glued.
In some embodiments, the step of smoothly processing the splicing gluing path of the workpiece to be glued to obtain the gluing path of the workpiece to be glued includes: calculating the overlapping area of every two adjacent gluing paths in the splicing gluing path of the workpiece to be glued; if the two adjacent gluing paths are not overlapped, synthesizing the two adjacent gluing paths by adopting a first synthesis method; and if the two adjacent gluing paths are overlapped, combining the two adjacent gluing paths by adopting a second combining method.
In some embodiments, if two adjacent gluing paths do not overlap, combining the two adjacent gluing paths by using the first combining method includes: if two adjacent gluing paths do not overlap, then: and connecting the two adjacent gluing paths end to end, and performing cubic spline interpolation between the last point of the previous gluing path and the first point of the next gluing path in the two adjacent gluing paths to complete the synthesis of the two adjacent gluing paths.
Specifically, if the two gluing paths do not overlap, the two gluing paths are connected end to end, that is, the last point of the previous gluing path and the first point of the next gluing path are taken respectively, cubic spline interpolation is performed between the two points, and the two curves are merged into a smoothly-transitional gluing path, as shown in fig. 5 (1).
In some embodiments, if two adjacent gluing paths overlap, combining the two adjacent gluing paths by using the second combining method includes: if two adjacent gluing paths are overlapped, then: acquiring an overlapping area of two adjacent gluing paths; according to the overlapping area, obtaining a first point set and a second point set of two adjacent gluing paths; the first point set is a point set of any one of two adjacent gluing paths in an overlapping area; the second point set is a point set of the other gluing path in the overlapping area in the two adjacent gluing paths; searching the nearest point according to the first point set and the second point set to obtain a nearest point pair; and synthesizing two adjacent gluing paths according to the number of the nearest point pairs.
In some embodiments, synthesizing two adjacent gluing paths according to the number of nearest point searches includes: if the number of the nearest point pairs is 0, performing cubic spline interpolation between a first point of the first point set and a last point of the second point set to complete the synthesis of two adjacent gluing paths; if the number of the nearest point pairs is 1, performing cubic spline interpolation on two nearest points of the nearest point pairs to complete the synthesis of two adjacent gluing paths; if the number of the nearest point pairs is greater than or equal to 2, extracting a first nearest point pair, a middle nearest point pair and a last nearest point pair in the nearest point pairs; calculating the central point of each pair of nearest point pairs in the middle nearest point pair to obtain a central point set; and connecting the first nearest point pair, the central point set and the last nearest point pair by cubic spline interpolation in sequence to complete the synthesis of two adjacent gluing paths.
Specifically, if two adjacent gluing paths have an overlapping area, the point sets of the two gluing paths in the overlapping area are respectively extracted, assuming that the first point set is Pts1 and the second point set is Pts2, then, for each point in Pts1, the point closest to it is found in Pts2, and similarly, for each point in Pts2, the point closest to it is found in Pts 1. If there is a point P1 in Pts1 whose closest point in Pts2 is P2, if the closest point in Pts1 of P2 is P1, the P1 and P2 point pair is defined as the stable closest point pair. Counting the number of stable nearest point pairs in Pts1 and Pts2, and if the number of stable nearest point pairs is 0, connecting the first point of Pts1 and the last point of Pts2 in a cubic spline interpolation manner (as shown in fig. 5 (2)); if the number of the stable nearest point pairs is 1, connecting the stable nearest point pairs in a cubic spline interpolation mode (figure 5 (3)); if the number of stable nearest point pairs is greater than or equal to 2 (greater than 1), taking the intermediate stable corresponding point pairs except the first pair and the last pair, calculating the center point of each pair of intermediate stable corresponding point pairs to obtain a center point set, and then connecting the first stable corresponding point pair of Pts1, the center point set and the last stable corresponding point pair of Pts2 in sequence in a cubic spline interpolation manner (fig. 5 (4)).
By the method, the joints of all spliced gluing paths can be connected pairwise. And finally, carrying out smooth processing on the complete gluing paths after two-two connection, calculating the space gradient variation of each point on the path, if the space gradient variation is larger than a certain threshold, removing the point, and carrying out cubic spline interpolation on two adjacent front and rear points again. And obtaining a complete and smooth gluing path after smooth processing.
Optionally, the gluing path coordinates extracted in the embodiment of the present invention are based on a 3D line laser profiler coordinate system. The conversion relation between the coordinate system of the 3D line laser profilometer and the coordinate system of the manipulator is established through hand-eye calibration, namely the coordinate of the gluing path is converted to the coordinate system of the multi-axis manipulator, and the multi-axis manipulator finishes the gluing operation of the workpiece to be glued under the guidance of the coordinate of the gluing path.
It is understood that in other embodiments, the connection between discrete points may also be a straight line or other type of curve.
In other embodiments, the connection interpolation method between two gluing path points is not limited to cubic spline interpolation, and other interpolation methods including but not limited to quadratic spline interpolation may also be used.
In other embodiments, discretization of the spatial trajectory can also be performed in a step-wise manner, e.g., based on the gradient change/curvature of the trajectory, the corresponding step is determined.
The above embodiments are merely illustrative of the technical ideas and features of the present invention, and are intended to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the scope of the present invention. All equivalent changes and modifications made within the scope of the claims of the present invention should be covered by the claims of the present invention.
Claims (19)
1. A gluing path planning method based on 3D visual guidance is characterized by comprising the following steps:
acquiring a first measurement diagram of a workpiece to be glued;
judging whether the first measuring image covers all areas to be glued of the workpiece to be glued;
if the first measurement drawing covers all areas to be glued of the workpiece to be glued, acquiring a first template drawing of the workpiece to be glued, and processing the first template drawing to acquire image information of the first template drawing;
matching, correcting and analyzing the first measuring image based on the image information of the first template image to obtain a gluing path of the workpiece to be glued;
if the first measuring diagram does not cover all areas to be glued of the workpiece to be glued, acquiring second measuring diagrams of the workpiece to be glued under multiple visual angles and second template diagrams corresponding to the second measuring diagrams under the multiple visual angles, and processing the second template diagrams to acquire image information of the second template diagrams;
and respectively carrying out matching correction and analysis processing on the first measuring diagram and the second measuring diagrams under the multiple visual angles based on the image information of the first template diagram and the image information of the second template diagram to obtain the gluing path of the workpiece to be glued.
2. The gluing path planning method based on 3D visual guidance according to claim 1, wherein the obtaining of the first template drawing of the workpiece to be glued comprises:
scanning the workpiece to be coated with the glue by using a 3D line laser profiler to obtain a depth map of the workpiece to be coated with the glue; the depth map of the workpiece to be glued is a first template map of the workpiece to be glued.
3. The gluing path planning method based on 3D visual guidance according to claim 1, wherein the processing the first template drawing to obtain the image information of the first template drawing comprises:
acquiring a position point to be glued of the workpiece to be glued;
connecting the position points to be glued by adopting a preset method to obtain a space curve track of the workpiece to be glued;
performing discrete processing on the space curve track to obtain discrete track points;
calculating each discrete track point to obtain the coordinate of each discrete track point and a corresponding normal vector;
storing the coordinates and the corresponding normal vectors of each discrete track point; and the coordinates of each discrete track point and the corresponding normal vector are the image information of the first template picture.
4. A 3D vision-guided gluing path planning method according to claim 3, wherein the connecting the positions to be glued by a preset method to obtain the spatial curve trajectory of the workpiece to be glued comprises:
and connecting the position points to be glued by adopting various bar equations to obtain a space curve track of the workpiece to be glued.
5. The gluing path planning method based on 3D visual guidance of claim 3, wherein if the first measurement map covers all areas to be glued of the workpiece to be glued, performing matching correction and analysis processing on the first measurement map based on the image information of the first template map to obtain the gluing path of the workpiece to be glued comprises:
if the first measurement diagram covers all the areas to be glued of the workpiece to be glued, then:
matching and correcting the first measurement diagram relative to the first template diagram;
after the matching and correction are completed, performing local cross-section analysis on the corrected first measurement diagram based on each discrete locus point to obtain a sectional line profile diagram corresponding to the first measurement diagram;
extracting characteristic points of the sectional line profile graph to obtain the characteristic points of the sectional line profile graph;
shifting the characteristic points according to the gluing position requirement of the workpiece to be glued to obtain gluing path points of the workpiece to be glued;
and carrying out smooth processing on each gluing path point of the workpiece to be glued to obtain a gluing path of the workpiece to be glued.
6. The gluing path planning method based on 3D visual guidance according to claim 5, wherein the step of smoothly processing each gluing path point of the workpiece to be glued to obtain the gluing path of the workpiece to be glued comprises the following steps:
connecting the gluing path points by adopting various curves to obtain a continuous space track;
performing discrete processing on the continuous space trajectory to obtain discrete points;
calculating the curvature of each discrete point to obtain the curvature of each discrete point;
judging whether the curvature of each discrete point is larger than a threshold value;
and if so, eliminating the discrete points with the curvatures larger than the threshold value, and carrying out cubic spline interpolation on adjacent discrete points of the discrete points with the curvatures larger than the threshold value to obtain the gluing path of the workpiece to be glued.
7. The gluing path planning method based on 3D visual guidance of claim 3, wherein the matching, correction and analysis processing of the first measurement diagram and the second measurement diagram at the multiple viewing angles based on the image information of the first template diagram and the image information of the second template diagram respectively, and obtaining the gluing path of the workpiece to be glued comprises:
matching and correcting the first measurement diagram and the second measurement diagram relative to the first template diagram and the corresponding second template diagram;
after the matching and correction are completed, performing local cross-section analysis on the corrected first measurement diagram and the corrected second measurement diagram based on each discrete track point to obtain a first cross-section contour diagram corresponding to the first measurement diagram and a second cross-section contour diagram corresponding to the second measurement diagram;
extracting characteristic points of the first section line profile diagram and the second section line profile diagram to obtain the characteristic points of the first section line profile diagram and the second section line profile diagram;
shifting the characteristic points of the first section line profile diagram and the characteristic points of the second section line profile diagram according to the gluing position requirement of the workpiece to be glued to obtain a first group of gluing path points and a second group of gluing path points of the workpiece to be glued; the first group of gluing path points are a group of gluing path points corresponding to the first measuring graph; the second group of gluing path points are a plurality of groups of gluing path points corresponding to the second measuring graph;
and carrying out smooth processing on each gluing path point in the first group of gluing path points and each gluing path point in the second group of gluing path points to obtain a first gluing path corresponding to the first measurement diagram and a second gluing path corresponding to the second measurement diagram.
8. The 3D vision guidance-based gluing path planning method according to claim 7, wherein smoothing each gluing path point of the first group of gluing path points and each gluing path point of the second group of gluing path points to obtain a first gluing path corresponding to the first measurement map and a second gluing path corresponding to the second measurement map comprises:
connecting each gluing path point in the first group of gluing path points by adopting a diversified curve to obtain a continuous first space track;
performing discrete processing on the continuous first space track to obtain a first discrete point;
calculating a curve at each first discrete point to obtain the curvature of each first discrete point;
judging whether the curvature of each first discrete point is larger than a threshold value;
if so, eliminating the first discrete points with the curvatures larger than the threshold value, and carrying out cubic spline interpolation on adjacent first discrete points of the first discrete points with the curvatures larger than the threshold value to obtain a first gluing path of the workpiece to be glued; the first gluing path is a gluing path corresponding to the first measuring diagram.
9. The 3D vision guidance-based gluing path planning method according to claim 8, wherein smoothing each gluing path point of the first group of gluing path points and each gluing path point of the second group of gluing path points to obtain a first gluing path corresponding to the first measurement map and a second gluing path corresponding to the second measurement map further comprises:
connecting each gluing path point in the second group of gluing path points by adopting a diversified curve to obtain a continuous second space track;
performing discrete processing on the continuous second space trajectory to obtain a second discrete point;
calculating a curve at each second discrete point to obtain the curvature of each second discrete point;
judging whether the curvature of each second discrete point is larger than a threshold value;
if so, eliminating second discrete points with the curvatures larger than the threshold value, and carrying out cubic spline interpolation on adjacent second discrete points of the second discrete points with the curvatures larger than the threshold value to obtain a second gluing path of the workpiece to be glued; the second gluing path is a plurality of gluing paths corresponding to the plurality of second measuring drawings.
10. The gluing path planning method based on 3D visual guidance of claim 9, wherein the method further comprises:
and splicing the first gluing path and the second gluing path to obtain a spliced gluing path of the workpiece to be glued.
11. The gluing path planning method based on 3D visual guidance of claim 10, further comprising:
and carrying out smooth processing on the splicing gluing path of the workpiece to be glued to obtain the gluing path of the workpiece to be glued.
12. The gluing path planning method based on 3D visual guidance according to claim 11, wherein the step of smoothly processing the splicing gluing path of the workpiece to be glued to obtain the gluing path of the workpiece to be glued comprises:
calculating the overlapping area of every two adjacent gluing paths in the splicing gluing paths of the workpiece to be glued;
if the two adjacent gluing paths are not overlapped, synthesizing the two adjacent gluing paths by adopting a first synthesis method;
and if the two adjacent gluing paths are overlapped, combining the two adjacent gluing paths by adopting a second combining method.
13. The gluing path planning method based on 3D visual guidance according to claim 12, wherein the step of smoothly processing the splicing gluing path of the workpiece to be glued to obtain the gluing path of the workpiece to be glued further comprises:
after two adjacent gluing paths are synthesized by adopting a first synthesis method or a second synthesis method, calculating the space gradient variable quantity of each path point on the synthesized gluing path in the synthesized gluing path;
if the spatial gradient variation is larger than the gradient threshold, eliminating the path points corresponding to the spatial gradient variation;
acquiring two adjacent path points of the eliminated path points;
and performing cubic spline interpolation on two adjacent path points of the obtained and eliminated path points to obtain the gluing path of the workpiece to be glued.
14. The gluing path planning method based on 3D visual guidance according to claim 12, wherein if two adjacent gluing paths do not overlap, the synthesizing of the two adjacent gluing paths by using the first synthesizing method comprises:
if two adjacent gluing paths do not overlap, then:
and connecting the two adjacent gluing paths end to end, and performing cubic spline interpolation between the last point of the previous gluing path and the first point of the next gluing path in the two adjacent gluing paths to complete the synthesis of the two adjacent gluing paths.
15. The gluing path planning method based on 3D visual guidance according to claim 12, wherein if two adjacent gluing paths are overlapped, the synthesizing of the two adjacent gluing paths by using the second synthesizing method comprises:
if two adjacent gluing paths are overlapped, then:
acquiring an overlapping area of the two adjacent gluing paths;
according to the overlapping area, obtaining a first point set and a second point set of the two adjacent gluing paths; the first point set is a point set of any one of the two adjacent gluing paths in an overlapping area; the second point set is a point set of the other gluing path in the overlapping area;
searching a nearest point according to the first point set and the second point set to obtain a nearest point pair;
and synthesizing the two adjacent gluing paths according to the number of the nearest point pairs.
16. The gluing path planning method based on 3D visual guidance of claim 15, wherein the synthesizing of the two adjacent gluing paths according to the number of nearest point searches comprises:
if the number of the nearest point pairs is 0, performing cubic spline interpolation between a first point of the first point set and a last point of the second point set to complete the synthesis of the two adjacent gluing paths;
if the number of the nearest point pairs is 1, performing cubic spline interpolation on two nearest points of the nearest point pairs to complete the synthesis of the two adjacent gluing paths;
if the number of the nearest point pairs is greater than or equal to 2, extracting a first nearest point pair, a middle nearest point pair and a last nearest point pair in the nearest point pairs;
calculating the central point of each pair of nearest point pairs in the middle nearest point pair to obtain a central point set;
and connecting the first nearest point pair, the central point set and the last nearest point pair by cubic spline interpolation in sequence to complete the synthesis of the two adjacent gluing paths.
17. A gluing system based on 3D visual guidance, characterized by comprising: the device comprises a scanning device, a driving working device, a gluing device, a clamp and a control system;
the clamp is used for clamping a workpiece during gluing operation;
the driving working device is used for driving the scanning device to work and executing gluing operation;
the scanning device is used for scanning the image of the workpiece according to the driving of the driving working device;
the gluing device is used for gluing the workpiece during gluing operation;
the control system is used for controlling the driving working device, the scanning device and the gluing device to work, and is used for:
acquiring a first measurement diagram of a workpiece to be glued;
judging whether the first measuring image covers all areas to be glued of the workpiece to be glued;
if the first measurement drawing covers all areas to be glued of the workpiece to be glued, acquiring a first template drawing of the workpiece to be glued, and processing the first template drawing to acquire image information of the first template drawing;
matching, correcting and analyzing the first measuring image based on the image information of the first template image to obtain a gluing path of the workpiece to be glued;
if the first measuring diagram does not cover all areas to be glued of the workpiece to be glued, acquiring second measuring diagrams of the workpiece to be glued under multiple visual angles and second template diagrams corresponding to the second measuring diagrams under the multiple visual angles, and processing the second template diagrams to acquire image information of the second template diagrams;
and respectively carrying out matching correction and analysis processing on the first measuring diagram and the second measuring diagrams under the multiple visual angles based on the image information of the first template diagram and the image information of the second template diagram to obtain the gluing path of the workpiece to be glued.
18. Gluing system based on 3D visual guidance according to claim 17, characterised in that the scanning means comprise: any one of a 3D line laser profiler, a 3D camera, a binocular camera, a coded structured light camera, and a depth camera.
19. Gluing system based on 3D visual guidance according to claim 17, characterised in that said driving work means comprise: a multi-axis manipulator or a multi-axis motion platform.
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