CN113996457B - Glue spraying track information determining method and device - Google Patents
Glue spraying track information determining method and device Download PDFInfo
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- CN113996457B CN113996457B CN202111329091.XA CN202111329091A CN113996457B CN 113996457 B CN113996457 B CN 113996457B CN 202111329091 A CN202111329091 A CN 202111329091A CN 113996457 B CN113996457 B CN 113996457B
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
- B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
- B05B12/12—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus
- B05B12/122—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus responsive to presence or shape of target
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
- B05B13/0431—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to 3D-surfaces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
- B05B15/70—Arrangements for moving spray heads automatically to or from the working position
Abstract
The application provides a method and a device for determining glue spraying track information, wherein the method comprises the following steps: treat through industrial robot and spout when gluing the object and carry out the full coverage and spout glue, combine the play of spouting gluey head glue size and spout the preset moving reference point on gluey head, generate in the object profile and wait to spout gluey track information of spouting of gluing the object to will spout gluey track information and provide industrial robot, so that the moving reference point moves along spouting gluey track information, and then realize treating and spout gluey object surface's full coverage and no repetition and spout gluey. From this, accurate the glue track information of spouting of waiting to spout the gluey object has been determined to realized that the robot treats the full coverage of spouting gluey object surface and does not have the repetition and spout gluey based on this glue track information that spouts, fine satisfying in the gummed demand of industrial object surface.
Description
Description of the cases
The application is a divisional application of a Chinese invention patent CN 202010153516.5, which is filed 3, 6 and 2020 and is named as a method and a device for determining glue spraying track information.
Technical Field
The application relates to the technical field of computers, in particular to a glue spraying track information determining method and device.
Background
With the development of the computer technology industry, machine automation has become the production standard of many factories, and the machine automation means higher production efficiency, compared with the traditional manual glue spraying, the machine glue spraying frees manual labor force, and avoids the harm of chemical elements released by glue stock solution and leather and cloth to human bodies.
In the correlation technique, the surface of the object is sprayed with glue by a machine, and the unreasonable path planning often easily occurs, so that the problem of 'glue spraying blank' or 'glue spraying over-thickness' caused by the fact that the surface of the object is sprayed with glue comprehensively by the machine is easily caused. Therefore, how to accurately determine the glue spraying track information is very important for realizing the glue spraying control with high coverage rate and low repetition rate.
Disclosure of Invention
The present application is directed to solving, at least to some extent, one of the technical problems in the related art.
To this end, a first object of the present application is to provide a method for determining glue-spraying trajectory information.
A second object of the present application is to provide a glue-spraying trajectory information determining apparatus.
A third object of the present application is to provide a glue-spraying trajectory information determining apparatus.
A fourth object of the present application is to propose a computer readable storage medium.
In order to achieve the above object, an embodiment of a first aspect of the present application provides a method for determining glue spraying trajectory information, where the method includes: identifying an object outline of an object to be sprayed with glue; generating glue spraying track information of the object to be sprayed with glue in the object outline according to the glue discharging size of the glue spraying head and a preset moving reference point on the glue spraying head, wherein the glue spraying head is arranged at the operation tail end of an industrial robot which is in communication connection with the operation tail end in advance; and sending the glue spraying track information to the industrial robot so that the moving reference point moves along the glue spraying track information, and further realizing the full coverage of the surface of the object to be sprayed with glue without repeated glue spraying.
In an embodiment of the application, the generating glue spraying track information of the object to be glue sprayed in the object contour according to the glue discharging size of the glue spraying head and the preset moving reference point of the glue spraying head includes: performing retraction processing on the object outline according to the glue outlet size and the moving reference point to form a moving path; and generating a track point set on the moving path according to the glue outlet size, and determining the passing sequence of the robot of each track point in the track point set, wherein the glue spraying track information comprises the passing sequence of the robot of each track point.
In an embodiment of the present application, the method further includes: and acquiring the surface fluctuation degree of the object to be sprayed with the glue, determining the height of each track point in the track point set according to the surface fluctuation degree, and enabling the glue spraying track information to further comprise the height corresponding to each track point.
In an embodiment of the present application, the method further includes:
acquiring the plane normal information of each trace point in the trace point set and/or the path tangential information of each trace point on the moving path;
and calculating normal information of each track point according to the plane normal information of each track point, and/or calculating tangential information of each track point according to the path tangential information of each track point, wherein the glue spraying track information further comprises the normal information and/or the tangential information of each track point.
In an embodiment of the application, the forming a moving path by performing an inner contraction process on the object contour according to the glue discharging size and the moving reference point includes: according to the distance between the moving reference point and a preset reference end on the glue spraying head, the contour of the object is retracted to form an outermost layer moving path; if the outermost layer moving path meets the retraction condition, retracting the outermost layer moving path according to the distance between the reference end and the other end of the glue spraying head to form an intermediate layer moving path; if the moving path of the middle layer meets the retraction condition, retracting the moving path of the middle layer according to the distance between the reference end and the other end of the glue spraying head; and if the moving path of the middle layer does not meet the retraction condition, determining the moving path of the innermost layer.
In an embodiment of the present application, generating a set of locus points according to the glue dispensing size on the moving path includes: setting a plurality of track points on each layer of moving path; and determining a starting track point and an ending track point of each layer of moving path according to the glue outlet size.
In an embodiment of the application, the retracting condition is that a maximum diameter of a moving path obtained by the previous retracting is greater than a preset distance, and the determining the innermost moving path includes: matching a corresponding preset shape according to the shape of the innermost layer moving path; and determining track points of the innermost layer moving path according to the positions of the corner points of the preset shape.
In an embodiment of the application, the determining a passing order of the robot for the track points in the track point set includes: determining the passing sequence of the robot with each track point on the outermost layer moving path; and determining the robot passing sequence of each track point on the moving path of other layers according to the robot passing sequence of each track point on the outermost layer moving path.
In an embodiment of the application, the robot determining the track points on the outermost moving path sequentially includes: acquiring the angle value change trend of the operation tail end when the operation tail end rotates clockwise; acquiring a first angle value of the operation tail end when the moving reference point is positioned on a starting track point of the outermost layer moving path; determining a second angle value according to the first angle value, wherein the absolute value of the angle difference between the second angle value and the first angle value is 360 degrees; determining the moving direction of the moving reference point on the outermost layer moving path according to the angle value variation trend, the second angle value and the rotating angle range of the operation terminal; and determining the robot passing sequence of each track point on the outermost layer moving path according to the starting track point and the moving direction.
The glue spraying track information determining method provided by the embodiment of the application is characterized in that when the glue object to be sprayed is required to be sprayed to be in full-coverage glue spraying through the industrial robot, glue spraying track information of the glue object to be sprayed is generated in the object outline by combining the glue outlet size of the glue spraying head and the preset moving reference point on the glue spraying head, and the glue spraying track information is provided for the industrial robot, so that the moving reference point moves along the glue spraying track information, and the full coverage of the surface of the glue object to be sprayed is realized without repeated glue spraying. From this, accurate the glue track information of spouting of waiting to spout the gluey object has been determined to realized that the robot treats the full coverage of spouting gluey object surface and does not have the repetition and spout gluey based on this glue track information that spouts, fine satisfying in the gummed demand of industrial object surface.
In order to achieve the above object, a second embodiment of the present application provides a glue spraying trajectory information determining apparatus, where the apparatus includes: the recognition module is used for recognizing the object outline of the object to be sprayed with glue; the generating module is used for generating glue spraying track information of the object to be sprayed with glue in the object outline according to the glue discharging size of the glue spraying head and a preset moving reference point on the glue spraying head, wherein the glue spraying head is installed at the operation tail end of an industrial robot with communication connection established in advance; and the sending module is used for sending the glue spraying track information to the industrial robot so that the moving reference point moves along the glue spraying track information, and further the full coverage of the surface of the object to be sprayed with glue is realized without repeated glue spraying.
In an embodiment of the application, the generating module includes:
the first retraction submodule is specifically used for carrying out retraction processing on the object outline according to the glue outlet size and the moving reference point to form a moving path;
and the generating submodule is specifically used for generating a track point set on the moving path according to the glue outlet size and determining the passing sequence of the robot of each track point in the track point set, and the glue spraying track information comprises the passing sequence of the robot of each track point.
In one embodiment of the present application, the apparatus further includes: the determining module is used for acquiring the surface fluctuation degree of the object to be sprayed with the glue, determining the height of each track point in the track point set according to the surface fluctuation degree, and the glue spraying track information further comprises the height corresponding to each track point.
In one embodiment of the present application, the apparatus further includes:
the acquisition module is used for acquiring the plane normal information of each track point in the track point set and/or the path tangential information of each track point on the moving path;
and the calculation module is used for calculating the normal information of each track point according to the planar phase information of each track point and/or calculating the tangential information of each track point according to the path tangential information of each track point, and the glue spraying track information further comprises the normal information and/or the tangential information of each track point.
In an embodiment of the application, the first retraction module includes:
the second retraction submodule is specifically used for retracting the outline of the object according to the distance between the moving reference point and a preset reference end on the glue spraying head to form an outermost layer moving path;
a first judgment sub-module: the second judging submodule is specifically used for judging whether the outermost layer moving path meets the inward contraction condition, if so, the third inward contraction submodule is triggered, and otherwise, the second judging submodule is triggered;
the third retraction submodule is specifically configured to retract the outermost layer movement path according to a distance between the reference end and the other end of the glue spraying head, so as to form an intermediate layer movement path;
the second judgment submodule is specifically used for judging whether the moving path of the middle layer meets the retraction condition, if so, the fourth retraction submodule is triggered, and otherwise, the first determination submodule is triggered;
the fourth retraction sub-module is specifically configured to retract the moving path of the intermediate layer according to a distance between the reference end and the other end of the glue spraying head;
the first determining submodule is specifically configured to determine an innermost movement path.
In an embodiment of the application, the generating sub-module includes:
the setting submodule is specifically used for setting a plurality of track points on each layer of moving paths;
and the second determining submodule is specifically used for determining a starting track point and an ending track point of each layer of moving path according to the glue outlet size.
In an embodiment of the application, the retraction condition is that a maximum diameter of a moving path obtained by a previous retraction is greater than a preset distance, and the first determining sub-module includes:
the matching sub-module is specifically used for matching a corresponding preset shape according to the shape of the innermost layer moving path;
and the third determining submodule is specifically used for determining the track point of the innermost layer moving path according to the position of the corner point of the preset shape.
In an embodiment of the application, the generating sub-module further includes:
a fourth determining submodule, specifically configured to determine a passing order of the robot for each track point on the outermost layer moving path;
and the fifth determining submodule is specifically used for determining the robot passing sequence of each track point on the moving path of other layers according to the robot passing sequence of each track point on the outermost layer moving path.
In an embodiment of the application, the fourth determining sub-module includes:
the first obtaining submodule is specifically used for obtaining the angle value change trend of the operation tail end when the operation tail end rotates clockwise;
a second obtaining sub-module, configured to obtain a first angle value of the operation end when the moving reference point is located on the starting track point of the outermost layer moving path;
a sixth determining submodule, configured to determine a second angle value according to the first angle value, where an absolute value of an angle difference between the second angle value and the first angle value is 360 degrees;
a seventh determining submodule, configured to determine a moving direction of the moving reference point in the outermost layer moving path according to the angle value variation trend, the second angle value, and the rotation angle range of the operation terminal;
and the eighth determining submodule is specifically configured to determine, according to the start track point and the moving direction, a robot passing order of each track point on the outermost layer moving path.
The utility model provides a spout gluey orbit information determination device, treat to spout gluey object through industrial robot and carry out the full coverage and spout when gluing, combine the play size of gluing of spouting gluey head and the above-mentioned moving reference point of predetermineeing that spouts on the gluey head, generate the above-mentioned gluey orbit information of spouting of waiting to spout gluey object in above-mentioned object profile, and will spout gluey orbit information and provide industrial robot, so that the above-mentioned moving reference point moves along the above-mentioned orbit information of spouting gluey, and then realize waiting to spout gluey object surface's full coverage and no repetition to the above-mentioned glue that spouts. From this, accurate the glue track information of spouting of waiting to spout the gluey object has been determined to realized that the robot treats the full coverage of spouting gluey object surface and does not have the repetition and spout gluey based on this glue track information that spouts, fine satisfying in the gummed demand of industrial object surface.
In order to achieve the above object, a third aspect of the present application provides a glue spraying trajectory information determining apparatus, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor implements the glue spraying trajectory information determining method as described above when executing the computer program.
In order to achieve the above object, a fourth aspect of the present application provides a computer-readable storage medium, where instructions in the storage medium are executed by a processor to implement the method for determining glue spraying trajectory information as described above.
Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.
Drawings
The foregoing and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a schematic flow chart of a method for determining glue spraying trajectory information according to an embodiment of the present disclosure;
FIG. 2 is a first exemplary view of an object profile of a planar object to be sprayed with glue;
FIG. 3-a is a schematic view of a detailed flow chart of step 102;
3-b are exemplary diagrams one of a movement path;
FIG. 3-c is an exemplary second view of a path of movement;
3-d are exemplary diagrams of a movement path three;
3-e are exemplary diagrams of a movement path four;
FIG. 3-f is a schematic view showing relatively extreme fluctuations in the plane of the object to be sprayed with glue;
FIG. 4 is a schematic diagram illustrating a detailed process of forming a moving path by performing an inner contraction process on an object contour according to a glue discharging size and a moving reference point;
FIG. 5 is a schematic view of a sequential refinement flow of a robot for determining a set of track points;
FIG. 6 is a schematic diagram of a detailed process of determining the sequence of robot passing through track points on the outermost layer moving path;
fig. 7 is a schematic structural diagram of a glue spraying trajectory information determining apparatus according to an embodiment of the present application;
fig. 8 is a schematic structural diagram of another device for determining glue spraying track information according to an embodiment of the present disclosure;
fig. 9 is a schematic structural diagram of another device for determining glue spraying trajectory information according to an embodiment of the present application.
Detailed Description
Reference will now be made in detail to the embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present application and should not be construed as limiting the present application.
The method and apparatus for determining the glue spraying trajectory information according to the embodiments of the present application are described below with reference to the accompanying drawings.
Fig. 1 is a schematic flow chart of a method for determining glue spraying trajectory information according to an embodiment of the present application. It should be noted that the execution main body of the glue spraying track information determining method is a glue spraying track information determining device, and the glue spraying track information determining device is used for communicating with an industrial robot to enable the industrial robot to drive a glue spraying head so as to realize glue spraying.
As shown in fig. 1, the method for determining the glue spraying trajectory information may include:
In this embodiment, one possible implementation manner of identifying the object outline of the object to be sprayed with glue may be as follows: the camera can be used for collecting images of the object to be sprayed with glue, and the object outline of the object to be sprayed with glue is determined according to the collected image information. The present embodiment does not specifically limit the form of the image information and the acquisition manner thereof, and optionally may be point cloud information generated by a certain image processing algorithm.
Specifically, the object contour analysis can be performed on the acquired image information to obtain the object contour of the object to be sprayed with glue.
It should be noted that the object contour analysis can obtain the object contour of the object to be sprayed with glue. The specific implementation process can be implemented by the existing traditional edge detection technology, the deep learning algorithm and other technologies, and details are not repeated in this embodiment.
It should be understood that the outline of the object to be sprayed with glue may be any shape, and may be a regular shape such as a circle, a rectangle, etc., or an irregular shape such as a seat cushion, etc., in various shapes, and may specifically be the shape shown in fig. 2. The surface of the object to be sprayed with the glue can be a plane, can also be a similar plane, and specifically can be a relatively smooth concave surface and convex surface, such as a flat arc surface and a flat concave surface, or can also be a similar plane with concave-convex fluctuation.
And 102, generating glue spraying track information of the object to be sprayed with glue in the object outline according to the glue discharging size of the glue spraying head and a preset moving reference point on the glue spraying head, wherein the glue spraying head is arranged at the operation tail end of the industrial robot which is established with communication connection in advance.
It can be understood that the moving reference point is used for positioning the position of the glue spraying head when the glue spraying head moves, and the position of the glue spraying head is referred to the point when the glue spraying head is positioned in the moving process, but the position of the glue spraying head is not positioned except the moving reference point. The position of the specific moving reference point on the glue spraying head can be preset according to specific requirements, and the embodiment is not limited.
The shape of the glue spraying head in the embodiment can be any shape, for example, the shape can be rectangular, circular, or the like. Optionally, the moving reference point of the glue spraying head may be set at one end of the glue spraying head according to a requirement, or may be set at a central position of the glue spraying head, for example, if the glue spraying head is rectangular, the moving reference point may be set at a midpoint or an angular point of one end of the glue spraying head, or at a diagonal intersection, i.e., a central point, of the glue spraying head. In another alternative embodiment, the glue spraying head can also be circular, and the moving reference point can be the center of the glue spraying head or can be located on the circumference of the circular glue spraying head.
It should be noted that the glue discharging size in this embodiment may be an actual size of the glue spraying head, for example, when the glue spraying head of the glue spraying head is rectangular, the glue discharging size of the glue spraying head may include a glue discharging width and a glue discharging length; when the glue spraying head of the glue spraying head is circular, the glue discharging size of the glue spraying head can be the glue discharging diameter. Optionally, the glue outlet size may also be a size corresponding to a shadow projected by the glue spraying head on the object to be glued.
And 103, sending the glue spraying track information to the industrial robot so that the moving reference point moves along the glue spraying track information, and further realizing full coverage of the surface of the object to be sprayed with glue without repeated glue spraying.
Optionally, in this embodiment, the glue spraying trajectory information may be sent by communicating with the industrial robot based on a TCP Protocol, an HTTP Protocol, and a GRPC Protocol (Google Remote Procedure Call Protocol).
The glue spraying track information determining method provided by the embodiment of the application is used for generating glue spraying track information of a to-be-sprayed glue object in an object outline by combining the glue outlet size of the glue spraying head and a preset moving reference point on the glue spraying head when the to-be-sprayed glue object is required to be subjected to full-coverage glue spraying through the industrial robot, and providing the glue spraying track information for the industrial robot, so that the moving reference point moves along the glue spraying track information, and further the full coverage of the to-be-sprayed glue object surface is realized without repeated glue spraying. From this, accurate the glue track information of spouting of waiting to spout the gluey object has been determined to realized that the robot treats the full coverage of spouting gluey object surface and does not have the repetition and spout gluey based on this glue track information that spouts, fine satisfying in the gummed demand of industrial object surface.
In an embodiment of the present application, as shown in fig. 3-a, the specific implementation process of step 102 may be:
and 301, performing retraction processing on the object outline according to the glue outlet size and the moving reference point to form a moving path.
Alternatively, for the retraction process, this may be achieved by means of an etching operation. The moving path may be formed by one or more retraction processes, and the number of retraction processes may be determined schematically according to the size of the glue dispensing size and the contour of the object.
Optionally, if the retraction processing is performed for a plurality of times, the result obtained by one retraction processing in the process can be used as the input of the next retraction processing, and the retraction degree is the same for each time; of course, the multiple retraction processes may be based on the same input, that is, the input of each retraction process is the object contour, and the retraction degree needs to be increased at the same speed. A finally obtained moving path, for example, if the glue-spraying head is rectangular as shown in fig. 3-b, the glue discharging size may correspond to the glue discharging length L of the glue-spraying head, and the moving path is schematically shown in fig. 3-b; if the glue-ejecting head is circular as in fig. 3-c, the size of the glue-ejecting head may correspond to the glue-discharging diameter R of the glue-ejecting head, and the moving path is schematically shown in fig. 3-c. Of course, the corresponding embodiments in fig. 3-b and 3-c are the case that the moving reference point is at one end of the glue spraying head or at the circumference of the glue spraying head, alternatively, the position of the moving reference point may also be as shown in fig. 3-d and 3-e, and the moving path is schematically shown in fig. 3-d and 3-e.
And 302, generating a track point set on the moving path according to the glue outlet size, and determining the robot passing sequence of each track point in the track point set.
In different application scenes, the robot for determining the concentrated track points of the track points has different passing order modes, for example, the passing order of the robot for determining the concentrated track points of the track points can be determined by combining the rotatable angle range information of the operation tail end in the clockwise direction and the anticlockwise direction and the object outline of an object to be sprayed with glue. For another example, the object contour of the object to be glue-sprayed and the track point set can be combined to determine the passing sequence of a plurality of candidate robots in the track point set, and the glue-spraying effect corresponding to the passing sequence of the plurality of candidate robots is predicted, and then the passing sequence of the candidate robot with the best glue-spraying effect is selected as the passing sequence of the robot with each track point in the track point set.
Specifically, after determining that the track point concentrates the robot of each track point through the order, can send the robot of each track point for industrial robot through the order to make the robot of moving reference point along each track point remove through the order, and then realize treating the full coverage and the no repetition of spouting gluey object surface and glue.
On the basis of above-mentioned embodiment, because the plane that each track point was located in track point concentration may be different, in order to prevent to spout gluey head and wait to spout gluey object and collide with each other spouting gluey in-process spouting gluey, in an embodiment of this application, acquire the surface fluctuation degree of waiting to spout gluey object, confirm the height that each track point was concentrated in track point according to above-mentioned surface fluctuation degree, and then spout gluey orbit information and still include the height that each track point corresponds. So as to dynamically adjust the height of the glue spraying head according to the fluctuation degree of the surface in the actual glue spraying process.
Optionally, in a preferred embodiment, path tangential information of each trace point in the trace point set on the moving path is obtained; and calculating the tangential information of each track point according to the path tangential information of each track point. And then the glue spraying head can rotate according to the tangential direction of the path of a certain track point when passing through the track point, so that the glue spraying head is perpendicular to the moving path as shown in figure 3-b.
Optionally, when there is relatively extreme fluctuation in the plane of the object to be sprayed with glue, as shown in fig. 3-f, the present alternative embodiment includes: acquiring plane normal information of each trace point in the trace point set; and calculating normal information of each track point according to the plane method information of each track point, wherein the glue spraying track information also comprises the normal information of each track point. So that the glue spraying head can spray glue in a right-facing state when moving to the corresponding track point.
The specific normal information may be a direction of the normal, which may be an angle value. The method for acquiring the normal information is the prior art, and is not limited in this embodiment.
In an embodiment of the present application, when the glue-spraying head is rectangular, performing an inward contraction process on the contour of the object according to the glue outlet size and the moving reference point to form a moving path, as shown in fig. 4, may include:
And 402, if the outermost layer moving path meets the inward shrinkage condition, performing inward shrinkage on the outermost layer moving path according to the distance between the reference end and the other end of the glue spraying head to form an intermediate layer moving path.
And step 404, retracting the moving path of the middle layer according to the distance between the reference end and the other end of the glue spraying head.
In step 404, an innermost movement path is determined.
It should be noted that the reference end in this embodiment and the other end of the glue spraying head opposite to the reference end are intended to provide a reference for the posture of the glue spraying head, and the direction from the reference end to the other end of the glue spraying head is the forward direction of the glue spraying head. If the glue spraying head is rectangular, the forward direction of the glue spraying head is perpendicular to one side.
In the following embodiments, the moving reference point is taken as the center point of the glue spraying head for example to schematically describe.
If the shape of the glue spraying head is assumed to be rectangular, the moving direction of the glue spraying head refers to the tangential information in the glue spraying process, and then is parallel to the width direction of the glue discharging width, the central point of the rectangular glue spraying head is taken as a moving reference point, at the moment, the distance between the moving reference point and the preset reference end is equal to half of the glue discharging length L, the contour of an object is retracted according to the half of the glue discharging length of the glue spraying head, an outermost layer moving path is formed, and then the distance between the moving paths of other adjacent interlayers is taken as the glue discharging length. It will be appreciated that the distance from the contour of the object to the path of travel of the outermost layer is equal to L/2.
In an embodiment of the application, after the moving path is obtained, a plurality of track points can be set on each layer of moving path, and according to the glue outlet size, the starting track point and the ending track point of each layer of moving path are determined.
Wherein, it should be noted that, the distance between the initial track point and the ending track point of the same layer of moving path in each layer of moving path is equal to the glue outlet width of the glue spraying head, wherein, the width direction of the glue outlet width is the same as the moving direction of the glue spraying head.
In order to avoid the problem of serious overlapping caused by glue spraying in the inner area of the innermost layer moving path, the retraction condition can be set to be that the maximum diameter of the moving path obtained by previous retraction is larger than a preset distance, and after the innermost layer moving path is determined, the corresponding preset shape can be matched according to the shape of the innermost layer moving path; and determining track points of the innermost layer moving path according to the positions of the corner points of the preset shape.
The preset shape in this embodiment may include, but is not limited to, a straight line, a triangle, and a custom polygon, and the custom polygon may be a rectangle, a pentagon, a hexagon, and the like.
In an embodiment of the present application, as shown in fig. 5, a specific implementation manner of determining a passing order of a robot for each trace point in a trace point set may be:
and step 501, determining the robot passing sequence of each track point on the outermost layer moving path.
In this embodiment, in different application fields, the robot passing order of each track point on the outermost layer moving path may be determined based on different manners, for example, the robot passing order of each track point on the outermost layer moving path may be determined according to the shape of the outermost layer moving path and the corresponding rotation angle of the industrial robot operation end moving to each of the outermost layer start track point and the outermost layer end track point.
And 502, determining the robot passing sequence of each track point on the moving path of other layers according to the robot passing sequence of each track point on the outermost layer moving path.
In this embodiment, as shown in fig. 6, one possible implementation manner of determining the passing order of the robot for each track point on the outermost layer moving path may be:
Wherein, the angle value change trend can be that the rotation angle value is increased or decreased.
Specifically, the first angle value may be added to 360 degrees to obtain a second angle value; and 360 degrees may be subtracted from the first angle value to obtain a second angle value.
And step 604, determining the moving direction of the moving reference point in the outermost layer moving path according to the angle value change trend, the second angle value and the rotating angle range of the operation tail end.
And step 605, determining the robot passing sequence of each track point on the outermost layer moving path according to the starting track point and the moving direction.
That is to say, in the embodiment, for the moving direction of the outermost layer moving path, it needs to be ensured that the moving end position of the outermost layer moving path is within the reach range of the operating end of the industrial robot, and if the robot is increased by 360 ° based on the operating end of the industrial robot, the outermost layer moving path moves along the direction of increasing the angle; and conversely in a decreasing direction, thereby determining whether the direction of movement of the outermost path trace point is clockwise or counterclockwise. The specific correspondence is shown in the following table.
Generally, the rotatable angle of the operation end of an industrial robot is limited, in practical application, if the operation end rotates beyond the limit threshold, the operation end needs to rotate around to continue the next track for gluing, but the glue spraying head may not stop spraying glue during the rotation process, and further the problem of repeated glue spraying is caused.
For example, if the direction of the sequence of the robot passing through the trace points on the outermost layer of the moving path is determined to be clockwise, the direction of the sequence of the robot passing through the trace points on the second layer of the moving path adjacent to the outermost layer of the moving path may be sequentially set to be counterclockwise, however, similarly, the direction of the sequence of the robot passing through the third layer of the moving path corresponding to the second layer of the moving path is determined to be clockwise.
Based on the above embodiment, in order to further avoid repeated glue spraying, in an embodiment of the present application, the glue spraying track information may further include a connection line between an ending track point of the first layer moving path and a starting track point of the second moving path in the adjacent layer moving path, and a track tangent line corresponding to the starting track point of the first layer moving path is not perpendicular.
That is to say, a connecting line between the last track point (end track point) on a certain layer of moving path and the first track point (start track point) on the next layer of moving path should not be perpendicular to the track tangent line corresponding to the first track point.
Fig. 7 is a schematic structural diagram of a glue spraying track information determining device according to an embodiment of the present application.
As shown in fig. 7, the glue spraying track information determining apparatus includes an identifying module 110, a generating module 120, and a sending module 130, where:
and the identification module 110 is used for identifying the object outline of the object to be sprayed with glue.
And the generating module 120 is configured to generate glue spraying track information of the object to be glue sprayed in the object contour according to the glue discharging size of the glue spraying head and a preset moving reference point on the glue spraying head, where the glue spraying head is installed at an operation end of an industrial robot that establishes a communication connection in advance.
And the sending module 130 is configured to send the glue spraying track information to the industrial robot, so that the moving reference point moves along the glue spraying track information, and thus full coverage of the surface of the object to be glue sprayed is achieved without repeated glue spraying.
In one implementation, as shown in fig. 8, the generation module 120 includes: the first retraction submodule 121 is configured to perform retraction processing on an object contour according to the glue outlet size and the moving reference point to form a moving path; and the generation sub-module 122 is used for generating a track point set on the moving path according to the glue outlet size, determining the robot passing sequence of each track point in the track point set, and enabling the glue spraying track information to comprise the robot passing sequence of each track point.
In one implementation of the present application, in order to protect the glue spraying head while achieving accurate glue spraying subsequently, on the basis of the foregoing embodiment, as shown in fig. 8, the apparatus may further include:
the determining module 140 obtains the surface fluctuation degree of the object to be sprayed with glue, determines the height of each track point in the track point set according to the surface fluctuation degree, and the glue spraying track information further comprises the corresponding height of each track point.
In one embodiment, in order to enable accurate glue spraying to be further achieved subsequently, on the basis of the above embodiment, as shown in fig. 8, the apparatus may further include:
the acquisition module 150 is configured to acquire plane normal information of each trace point in the trace point set and/or path tangential information of each trace point on the moving path;
and the calculation module 160 is configured to calculate normal information of each trace point according to the trace point plane normal information, and/or calculate tangential information of each trace point according to the trace point path tangential information, where the glue spraying trace information further includes normal information and/or tangential information of each trace point.
In an embodiment of the present application, the first contracting module 121 includes:
a second retraction submodule 1211, configured to retract the contour of the object according to a distance between the moving reference point and a preset reference end on the glue spraying head, so as to form an outermost layer moving path;
the first determination sub-module 1212: specifically, the third retraction submodule 1213 is triggered if the outermost layer moving path meets the retraction condition, otherwise, the second determination submodule 1214 is triggered;
the third retraction sub-module 1213 is specifically configured to retract the outermost layer moving path according to a distance between the reference end and the other end of the glue spraying head to form an intermediate layer moving path;
a second determining sub-module 1214, specifically configured to determine whether the middle layer moving path meets the retraction condition, if so, trigger a fourth retraction sub-module 1215, otherwise, trigger the first determining sub-module 1216;
the fourth retraction sub-module 1215 is specifically configured to retract the middle layer moving path according to a distance between the reference end and the other end of the glue spraying head;
the first determining sub-module 1216 is specifically configured to determine an innermost moving path.
In an embodiment of the present application, the generating sub-module 122 includes:
the setting sub-module 1221 is specifically configured to set a plurality of trace points on each layer of moving paths;
the second determining submodule 1222 is specifically configured to determine a start track point and an end track point of each layer of the moving path according to the glue discharging size.
In an embodiment of the present application, the retraction condition is that a maximum diameter of the moving path obtained by the previous retraction is greater than a preset distance, and the first determining sub-module 1216 includes:
a matching sub-module 12161, which is specifically configured to match a corresponding preset shape according to the shape of the innermost movement path;
the third determining sub-module 12162 is specifically configured to determine the track point of the innermost moving path according to the corner point position of the preset shape.
In an embodiment of the application, the generating sub-module 122 further includes:
a fourth determining submodule 1223, configured to specifically determine a passing order of the robot for each track point on the outermost layer moving path;
the fifth determining submodule 1224 is specifically configured to determine, according to the robot passing order of each track point on the outermost layer moving path, the robot passing order of each track point on the other layer moving paths.
In an embodiment of the application, the fourth determining sub-module 1223 includes:
the first obtaining sub-module 12231, specifically configured to obtain a trend of a change of an angle value of the operation terminal when the operation terminal rotates clockwise;
a second obtaining sub-module 12232, specifically configured to obtain a first angle value of the operation end when the moving reference point is located on the starting track point of the outermost layer moving path;
a sixth determining submodule 12233, configured to determine a second angle value according to the first angle value, where an absolute value of an angle difference between the second angle value and the first angle value is 360 degrees;
a seventh determining sub-module 12234, specifically configured to determine a moving direction of the moving reference point in the outermost layer moving path according to the angle value variation trend, the second angle value, and the rotation angle range of the operation terminal;
the eighth determining submodule 12235 is specifically configured to determine, according to the start track point and the moving direction, a robot passing order of each track point on the outermost layer moving path.
It should be noted that the explanation of the embodiment of the glue spraying track information determining method is also applicable to the glue spraying track information determining apparatus of this embodiment, and is not repeated here.
The utility model provides a spout gluey orbit information determination device, treat to spout gluey object through industrial robot and carry out the full coverage and spout when gluing, combine the play gluey size of spouting gluey head and spout the overhead preset moving reference point of gluing, generate the gluey orbit information of spouting of waiting to spout gluey object in the object profile, and will spout gluey orbit information and provide industrial robot, so that the moving reference point moves along spouting gluey orbit information, and then the realization is treated the full coverage and not have the repetition of spouting gluey object surface and is glued. From this, accurate the glue track information of spouting of waiting to spout the gluey object has been determined to realized that the robot treats the full coverage of spouting gluey object surface and does not have the repetition and spout gluey based on this glue track information that spouts, fine satisfying in the gummed demand of industrial object surface.
Fig. 9 is a schematic structural diagram of another device for determining glue spraying trajectory information according to an embodiment of the present application. This spout gluey track information determining means includes:
The processor 1002 executes the program to implement the glue-spraying trajectory information determination method provided in the above-described embodiment.
Further, the glue spraying track information determining device further comprises:
a communication interface 1003 for communicating between the memory 1001 and the processor 1002.
A memory 1001 for storing computer programs that may be run on the processor 1002.
The processor 1002 is configured to implement the glue spraying track information determining method according to the foregoing embodiment when executing a program.
If the memory 1001, the processor 1002, and the communication interface 1003 are implemented independently, the communication interface 1003, the memory 1001, and the processor 1002 may be connected to each other through a bus and perform communication with each other. The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended ISA (EISA) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown in FIG. 9, but this does not indicate only one bus or one type of bus.
Optionally, in a specific implementation, if the memory 1001, the processor 1002, and the communication interface 1003 are integrated on one chip, the memory 1001, the processor 1002, and the communication interface 1003 may complete communication with each other through an internal interface.
The processor 1002 may be a Central Processing Unit (CPU), an Application Specific Integrated Circuit (ASIC), or one or more Integrated circuits configured to implement embodiments of the present Application.
The present embodiment also provides a computer-readable storage medium, on which a computer program is stored, wherein the program is executed by a processor to implement the method for determining glue-spraying trajectory information as above.
In the description of the present specification, reference to the description of "one embodiment," "some embodiments," "an example," "a specific example," or "some examples" or the like means 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 application. 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.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the 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 application, "plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present application.
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). Further, the computer readable medium could even be paper or another suitable medium upon which the above-described 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 should be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, various steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are well 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.
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 related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is 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 application 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 stand-alone 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 application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present application, and that variations, 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 application.
Claims (11)
1. A method for determining glue spraying track information is characterized by comprising the following steps:
identifying an object outline of an object to be sprayed with glue;
generating glue spraying track information of the object to be sprayed with glue in the object outline according to the glue discharging size of the glue spraying head and a preset moving reference point on the glue spraying head, wherein the glue spraying head is arranged at the operation tail end of an industrial robot which is in communication connection with the object to be sprayed in advance;
sending the glue spraying track information to the industrial robot so that the moving reference point moves along the glue spraying track information, and further realizing full coverage of the surface of the object to be sprayed with glue without repeated glue spraying;
the glue spraying track information of the object to be sprayed is generated in the object outline according to the glue outlet size of the glue spraying head and the preset moving reference point of the glue spraying head, and the glue spraying track information comprises:
performing retraction processing on the object outline according to the glue outlet size and the moving reference point to form a moving path; generating a track point set on the moving path according to the glue outlet size, and determining the robot passing sequence of each track point in the track point set, wherein the glue spraying track information comprises the robot passing sequence of each track point; the robot that confirms each track point is concentrated to track point passes through the order, includes:
according to wait to spout the object profile of glue object with the track point set is confirmed the robot of a plurality of candidates of track point set passes through the order to predict the respective gluey effect of spouting that corresponds of the robot of a plurality of candidates through the order, select the candidate robot that spouts gluey effect best and pass through the order, the robot that concentrates each track point as the track point passes through the order, wherein, according to operation end rotatable angle range information on clockwise and anticlockwise and wait to spout the object profile of glue object, confirm the robot that each track point on the outermost moving path and pass through the order, and the robot that the track point on the adjacent two-layer moving path passes through the opposite direction of order.
2. The method of claim 1, wherein the method further comprises:
and acquiring the surface fluctuation degree of the object to be sprayed with the glue, determining the heights of the concentrated track points of the track points according to the surface fluctuation degree, and the glue spraying track information further comprises the heights corresponding to the track points.
3. The method of claim 1, wherein the method further comprises:
acquiring plane normal information of each trace point in the trace point set and/or path tangential information of each trace point on the moving path;
and calculating normal information of each track point according to the plane normal information of each track point, and/or calculating tangential information of each track point according to the path tangential information of each track point, wherein the glue spraying track information further comprises the normal information and/or the tangential information of each track point.
4. The method of claim 3, wherein said retracting said object contour based on said glue dispensing size and said moving reference point to form a moving path comprises:
according to the distance between the moving reference point and a preset reference end on the glue spraying head, the contour of the object is retracted to form an outermost layer moving path;
if the outermost layer moving path meets the inward shrinkage condition, the outermost layer moving path is shrunk inwards according to the distance between the reference end and the other end of the glue spraying head to form an intermediate layer moving path;
if the moving path of the middle layer meets the retraction condition, retracting the moving path of the middle layer according to the distance between the reference end and the other end of the glue spraying head;
and if the middle layer moving path does not meet the retraction condition, determining the innermost layer moving path.
5. The method of claim 4, wherein generating a set of trajectory points based on the glue size on the movement path comprises:
a plurality of track points are arranged on each layer of moving path;
and determining a starting track point and an ending track point of each layer of moving path according to the glue outlet size.
6. The method of claim 4, wherein the retraction condition is that a maximum diameter of a moving path obtained by a previous retraction is greater than a preset distance, and the determining the innermost moving path comprises:
matching a corresponding preset shape according to the shape of the innermost layer moving path;
and determining track points of the innermost layer moving path according to the positions of the corner points of the preset shape.
7. A method according to claim 4 or 6, wherein determining a robot traversal order for each of the set of trajectory points comprises:
determining the robot passing sequence of each track point on the outermost layer moving path;
and determining the robot passing sequence of each track point on the moving path of other layers according to the robot passing sequence of each track point on the outermost layer moving path.
8. The method of claim 7, wherein determining the robot traversal sequence of track points on the outermost path of movement comprises:
acquiring the change trend of the angle value of the operation tail end when the operation tail end rotates clockwise;
acquiring a first angle value of the operation tail end when the moving reference point is positioned on a starting track point of the outermost layer moving path;
determining a second angle value according to the first angle value, wherein the absolute value of the angle difference between the second angle value and the first angle value is 360 degrees;
determining the moving direction of the moving reference point on the outermost layer moving path according to the angle value change trend, the second angle value and the rotating angle range of the operation tail end;
and determining the robot passing sequence of each track point on the outermost layer moving path according to the starting track point and the moving direction.
9. A glue-spray trajectory information determination device, characterized by comprising:
the recognition module is used for recognizing the object outline of the object to be sprayed with glue;
the generating module is used for generating glue spraying track information of the object to be sprayed according to the glue discharging size of the glue spraying head and a preset moving reference point on the glue spraying head, wherein the glue spraying head is installed at the operation tail end of an industrial robot which is in communication connection with the object to be sprayed in advance;
the sending module is used for sending the glue spraying track information to the industrial robot so that the moving reference point moves along the glue spraying track information, and therefore the full coverage of the surface of the object to be glued is achieved without repeated glue spraying;
the generation module comprises: a first contraction submodule and a generation submodule, wherein,
the first retraction submodule is used for carrying out retraction processing on the outline of the object according to the glue outlet size and the moving reference point to form a moving path;
the generation submodule is used for generating a track point set on a moving path according to the glue outlet size, determining the passing sequence of the robots of the track points in the track point set, and the glue spraying track information comprises the passing sequence of the robots of the track points; the robot that confirms each track point is concentrated to track point passes through the order, includes: according to wait to spout the object profile of glue object with the track point set is confirmed the robot of a plurality of candidates of track point set passes through the order to predict the respective gluey effect of spouting that corresponds of the robot of a plurality of candidates through the order, select the candidate robot that spouts gluey effect best and pass through the order, the robot that concentrates each track point as the track point passes through the order, wherein, according to operation end rotatable angle range information on clockwise and anticlockwise and wait to spout the object profile of glue object, confirm the robot that each track point on the outermost moving path and pass through the order, and the robot that the track point on the adjacent two-layer moving path passes through the opposite direction of order.
10. A glue-spray trajectory information determination device, characterized by comprising:
memory, processor and computer program stored on the memory and executable on the processor, characterized in that the processor implements the method according to any of claims 1-8 when executing the program.
11. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1-8.
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| WO2022222934A1 (en) * | 2021-04-20 | 2022-10-27 | 梅卡曼德（北京）机器人科技有限公司 | Glass adhesive coating method, glass adhesive coating apparatus, electronic device, and storage medium |
| CN113199480B (en) * | 2021-05-11 | 2023-02-10 | 梅卡曼德（北京）机器人科技有限公司 | Track generation method and device, electronic equipment, storage medium and 3D camera |
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| CN111389613B (en) | 2022-02-25 |
| CN113996457A (en) | 2022-02-01 |
| CN111389613A (en) | 2020-07-10 |
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