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Gluing method and device of gluing robot, storage medium and gluing robot

A robot and camera technology, applied in the field of robotics, can solve the problems of complex gluing scenes where gluing is to be applied, and the glue gluing robot cannot be accurately positioned, so as to avoid gluing errors and improve positioning accuracy.

Active Publication Date: 2020-05-05
GUANGDONG BOZHILIN ROBOT CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] In order to overcome the above technical problems, especially the problem that the prior art gluing robot cannot accurately locate the position to be gluing and adapt to complex gluing scenarios, the following technical solutions are proposed:

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  • Gluing method and device of gluing robot, storage medium and gluing robot

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Embodiment Construction

[0050]Embodiments of the present application are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary only for explaining the present application, and are not construed as limiting the present application.

[0051] Those skilled in the art will understand that unless otherwise stated, the singular forms "a", "an", "said" and "the" used herein may also include plural forms. It should be further understood that the wording "comprising" used in the description of the present application refers to the existence of the stated features, integers, steps, and operations, but does not exclude the existence or addition of one or more other features, integers, steps, and operations.

[0052] Those skilled in the art can understand that, unless otherwise d...

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Abstract

The invention relates to the field of robots, in particular to a gluing method and device of a gluing robot, a storage medium and the gluing robot. The method comprises the steps that a laser emitteris controlled to project laser rays to a gluing area, and an image including the laser rays and the gluing area is acquired in real time, wherein the gluing area is located on the intersecting line oftwo adjacent building components; the first coordinates of the intersection point of the laser rays and the gluing area in a camera coordinate system are calculated according to the image; the firstcoordinates of the intersection point in the camera coordinate system are converted into second coordinates in a mechanical arm coordinate system; and a gluing track is generated according to the second coordinates, and a glue nozzle of a movable gluing head of the mechanical arm is controlled to carrying gluing work along the gluing track, wherein the laser emitter and a camera are located in front of the gluing head. According to the gluing method and device of the gluing robot, the storage medium and the gluing robot, the positioning precision of the gluing robot on the to-be-glued positions on the building components can be improved, and the quality and efficiency of the gluing work of the gluing robot are improved.

Description

technical field [0001] The present application relates to the field of robots, in particular to a gluing method, device, storage medium and gluing robot for a gluing robot. Background technique [0002] At present, the construction industry is equipped with construction parts sealing robot for on-site operations. At present, the positioning of the working arm of the robot mainly includes camera positioning. For example, the positioning method of the six-joint robotic arm is 2D camera, 3D binocular Stereo camera with structured light and 3D monocular structured light camera. Among them, the 2D camera is only suitable for the positioning of a fixed plane, and cannot meet the requirements of the gluing scene for the three-dimensional space positioning of building components; the 3D camera has the defects of complex point cloud algorithm, immature algorithm, and large amount of data, which cannot meet the real-time requirements of gluing . The 3D binocular stereo camera is eas...

Claims

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Application Information

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IPC IPC(8): B05C5/02B05C11/10B25J9/08B25J9/16B25J11/00
CPCB05C5/0212B05C11/1015B25J9/08B25J9/1697B25J11/0075
Inventor 叶志伟陈加添吴海鹏王宏哲张峰
Owner GUANGDONG BOZHILIN ROBOT CO LTD
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