A robot scraping method based on visual recognition

Abstract

The invention discloses a robot squeegee method based on visual recognition, which belongs to the field of squeegee methods and comprises the following steps: a visual recognition device acquires an image of a pipe to be processed, and processes the image through a visual image processing algorithm to obtain the diameter of the pipe to be processed , the circumference L and the curvature of the pipe to be processed; according to the curvature information, adjust the position of the squeegee mechanism on the mechanical arm in the squeegee system so that the squeegee stick brush is positioned at the top of the pipe to be processed. From here, along the The curvature route of the pipe to be processed is moved down to the lowest point, and the first half-circumference scraping action is completed. The second driving device starts to drive the mechanical arm to move the width of a roller brush, and returns to step 1 to cycle until the pipe to be processed is finished. Squeegeeing is completed on the first half of the surface; rotate the pipe to be processed, and return to step 1 to cycle through to complete the scraping on the second half of the surface of the pipe to be processed. The present invention can adopt the glue scraping system to automatically complete the glue scraping action, which is safe and environment-friendly.

Description

technical field [0001] The invention relates to the field of squeegee methods, in particular to a robot squeegee method based on visual recognition. Background technique [0002] In the manufacturing process of the resin material pipe, during the process of winding the fiberglass fiber filament on the core column, it is necessary to continuously add chemical adhesive to make it solidify into an integrated pipe. In this manufacturing process, every time a layer of fiberglass filament is wound, the excess glue will flow down the cylindrical surface, the chemical glue will pollute the environment, and the glue remaining on the pipe is not uniform; Toxic gas will harm the workers working on site, and also cause the waste of raw materials in the production enterprises. [0003] At this stage, companies that manufacture pipes use manual operations to complete this process. There are several problems: First, the harsh environment brings occupational hazards such as respiratory dis...

AI Technical Summary

Problems solved by technology

In this manufacturing process, every time a layer of fiberglass fiber wire is wound, the excess glue will flow down the cylindrical surface. The chemical glue will pollute the environment, and the glue left on the pipe is uneven; Toxic gas will harm the workers on site, and also cause waste of raw materials for production enterprises

[0003] At present, enterprises that manufacture pipes use manual operations to complete this process. There are several problems: first, the harsh environment brings occupational hazards such as respiratory diseases to workers; create pollution

Third, the manual operation is not standard, resulting in waste of glue, and also causes uneven thickness of glue on the surface of the pipe, which affects the quality of the pipe

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