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Gluing method, device, storage medium and gluing robot for 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 glued, and the inability of gluing robots to accurately locate, etc.

Active Publication Date: 2021-02-26
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:

Method used

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  • Gluing method, device, storage medium and gluing robot for gluing robot
  • Gluing method, device, storage medium and gluing robot for gluing robot
  • Gluing method, device, storage medium and gluing robot for 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 present application relates to the field of robots, and in particular to a gluing robot, a device, a storage medium, and a gluing robot. The method includes: controlling a laser emitter to project a laser line to the gluing area, and obtaining real-time information including the laser line and the gluing robot. The image of the gluing area, the gluing area is located on the intersection line of two adjacent building components; according to the image, calculate the first intersection of the laser line and the gluing area in the camera coordinate system Coordinates; convert the first coordinate of the intersection point in the camera coordinate system to the second coordinate in the mechanical arm coordinate system; generate a glue track according to the second coordinate, and control the mechanical arm to move the glue head The glue nozzle carries out the glue making operation along the glue making track, and the laser transmitter and the camera are located in front of the glue making glue head. The application can improve the positioning accuracy of the gluing robot on the position to be glued on the building accessories, and improve the quality and efficiency of the gluing robot's gluing operation.

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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Patent Type & Authority Patents(China)
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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