Robot-based method, device and medium for filling non-closed grooves on object surfaces

Abstract

The present application discloses a robot-based method, device, electronic device and storage medium for filling non-closed grooves on the surface of an object. The non-closed groove filling method includes: extracting the contour of a non-closed groove on the surface of an object; generating a circumscribed rectangle of the contour; determining the two open endpoints of the contour based on the generated circumscribed rectangle; and performing groove filling using the two open endpoints as the starting point and the end point, respectively. The filling accuracy of non-closed grooves can be improved, and a filling method dedicated to the groove can be implemented for different grooves. Even if the groove to be filled is shallow, it can be accurately identified and extracted, and grooves of different widths can be accurately filled, thereby improving the filling accuracy. It can be seen that the present invention solves all aspects of the problems that arise in the scenario of using robots for groove filling.

Description

Technical Field

[0001] The present application relates to the field of B25 intelligent robots, and more specifically, to a robot-based method for filling non-closed grooves on the surface of an object, a robot-based device for filling non-closed grooves on the surface of an object, an electronic device and a storage medium. Background Art

[0002] At present, with the widespread popularity of intelligent program-controlled robots, it has become possible to use intelligent program-controlled robots to fill the grooves on the surface of objects. However, conventional intelligent robots can only fill fixed models of objects and fixed scenes. In this case, the robot must fill along a fixed trajectory at a fixed moving speed and discharge speed. This method cannot be applied to industrial scenes other than fixed objects and fixed scenes. Even with the help of existing robot vision technology, it is difficult to achieve accurate filling without lack of material or piling. On the one hand, the difficulty lies in the inability to accurately identify all grooves. On the other hand, the difficulty lies in the fact that if the same filling rules are used to fill grooves with different characteristics, it is easy to have inconsistent filling degrees of fillers in the grooves. Summary of the invention

[0003] In view of the above problems, the present invention is proposed to overcome the above problems or at least partially solve the above problems. Specifically, one of the innovations of the present invention is that the applicant found that one of the reasons for the above-mentioned problem of inconsistent filling degree is that the prior art does not set different filling methods for different grooves. For example, when the groove is in the shape of a line, the robot must fill while moving, and when the groove is a point, the robot must accurately identify the position of the point and fill at that position. Therefore, the present invention proposes a method of first identifying the groove type and then allowing the robot to fill using the filling scheme corresponding to the type, thereby greatly improving the accuracy of groove filling.

[0004] The second innovation of the present invention is that the applicant found that it is difficult to accurately identify all grooves because the existing robot vision technology uses the three-dimensional point cloud information of the object, that is, the three-dimensional image information for identification. However, if the groove is shallow, the groove cannot be identified based on the three-dimensional point cloud information. Therefore, the present invention obtains a two-dimensional image of the surface of the object and performs equalization and segmentation operations on the two-dimensional image, so that it can accurately identify and extract shallow grooves in combination with the two-dimensional image, greatly improving the ability to identify grooves.

[0005] The third innovation of the present invention is that the applicant found that another reason for the above-mentioned inconsistent filling degree problem is that the moving speed of the robot in the prior art is fixed, and the discharging speed is also fixed. In this way, when a groove is wide or narrow, the robot performs filling at an average moving speed and discharging speed, and thus cannot fill the wide groove, and will form a pile of filler in the shallow groove. Therefore, the present invention adjusts the moving speed of the robot for different groove widths without changing the discharging speed, thereby greatly improving the accuracy of groove filling.

[0006] The fourth innovation of the present invention is that the applicant found that although both are linear grooves, the characteristics of closed grooves and non-closed grooves are completely different, and the same filling scheme cannot be used. In particular, for non-closed grooves, there is a definite open end, and the starting point of filling cannot be selected as for closed grooves. Therefore, it is necessary to develop a special filling method for non-closed grooves. Therefore, the present invention proposes a filling method specifically for non-closed grooves on the surface of an object based on the characteristics of non-closed grooves, thereby greatly improving the accuracy of filling non-closed grooves.

[0007] All the solutions disclosed in the claims and the specification of this application have one or more of the above-mentioned innovations, and accordingly, can solve one or more of the above-mentioned technical problems. Specifically, this application provides a robot-based non-closed groove filling method on the surface of an object, a robot-based non-closed groove filling device on the surface of an object, an electronic device and a storage medium.

[0008] The robot-based non-closed groove filling method of the object surface of the embodiment of the present application includes:

[0009] Extract the contour of non-closed grooves on the surface of the object;

[0010] Generate the circumscribed rectangle of the contour;

[0011] Determine two open endpoints of the contour based on the generated circumscribed rectangle;

[0012] Perform groove filling using the two open endpoints as the start and end points respectively.

[0013] In some embodiments, the method further includes: disconnecting the groove contour at the starting point and the ending point to form separate inner contour and outer contour.

[0014] In some embodiments, points on the inner contour or the outer contour are traversed from the starting point to the ending point according to a preset trajectory point interval.

[0015] In some embodiments, at each traversed point, a point on the corresponding outer contour or inner contour along the local normal direction of the point is obtained.

[0016] In some implementations, at each traversed point, a point between the point and a point on the corresponding outer contour or inner contour is selected as a trajectory point.

[0017] In some embodiments, the trajectory point is a midpoint between the traversed point and a point on the corresponding outer contour or inner contour.

[0018] In certain embodiments, the moving speed Vk of the filling tool at a trajectory point is determined according to the groove width Wk at the trajectory point.

[0019] In some embodiments, a movement speed V0 corresponding to a specific width W0 is preset, and the movement speed Vk at the trajectory point is a linear ratio or a nonlinear ratio of V0 to Rk, wherein Rk=Wk / W0.

[0020] The robot-based non-closed groove filling device of the object surface of the embodiment of the present application includes:

[0021] Contour extraction module, used to extract the groove contour on the surface of the object;

[0022] A circumscribed rectangle generation module generates a circumscribed rectangle of a contour;

[0023] An opening determination module, used for determining two opening endpoints of the contour based on the generated circumscribed rectangle;

[0024] The filling module is used to perform groove filling by taking two open end points as the starting point and the end point respectively.

[0025] The electronic device of an embodiment of the present application includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the robot-based non-closed groove filling method on the surface of an object of any of the above embodiments is implemented.

[0026] The computer-readable storage medium of the embodiment of the present application stores a computer program thereon, and when the computer program is executed by a processor, the robot-based non-closed groove filling method of the object surface of any of the above embodiments is implemented.

[0027] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0029] Figure 1is a schematic flow chart of a groove filling method based on groove recognition in certain embodiments of the present application;

[0030] Figure 2 It is a schematic flow chart of a method for extracting a shallow groove contour on an object surface according to certain embodiments of the present application;

[0031] Figure 3 and Figure 4 is a schematic diagram of groove contour recognition and extraction in certain embodiments of the present application;

[0032] Figure 5 is a schematic flow chart of a groove filling method based on robot movement speed control in certain embodiments of the present application;

[0033] Figure 6 is a schematic flow chart of a non-closed groove filling method according to certain embodiments of the present application;

[0034] Figure 7 is a schematic diagram of a non-closed groove filling method according to certain embodiments of the present application;

[0035] Figure 8 is a schematic structural diagram of a groove filling device based on groove recognition in certain embodiments of the present application;

[0036] Fig. 9 It is a schematic structural diagram of a device for extracting a shallow groove profile on an object surface according to some embodiments of the present application;

[0037] Fig.10 is a schematic structural diagram of a groove filling device based on robot movement speed control in certain embodiments of the present application;

[0038] Fig.11 is a schematic structural diagram of a non-closed groove filling device according to certain embodiments of the present application;

[0039] Fig.12 It is a schematic diagram of the structure of an electronic device of certain embodiments of the present application. DETAILED DESCRIPTION

[0040] The exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0041] Figure 1 A groove filling method according to an embodiment of the present invention is shown, comprising:

[0042] Step S100, extracting the groove profile on the surface of the object;

[0043] Step S200, identifying the type of groove profile;

[0044] Step S300, determining a corresponding groove filling solution according to the type of the groove profile;

[0045] Step S400: filling the groove based on the groove filling solution.

[0046] In step S100, the 3D point cloud information of the object can be obtained, for example, the point cloud information can be obtained through a 3D industrial camera. The 3D industrial camera is generally equipped with two lenses, which capture the group of objects to be grasped from different angles. After processing, the three-dimensional image of the object can be displayed. The group of objects to be grasped is placed under the visual sensor, and the two lenses are photographed at the same time. According to the relative posture parameters of the two images obtained, the X, Y, and Z coordinate values ​​of each point of the object to be filled and the coordinate orientation of each point are calculated using a general binocular stereo vision algorithm, and then converted into point cloud data of the group of objects to be grasped. In specific implementation, laser detectors, visible light detectors such as LEDs, infrared detectors, and radar detectors can also be used to generate point clouds. The present invention does not limit the specific implementation method.

[0047] The point cloud data obtained in the above manner is three-dimensional data. In order to facilitate data processing and improve efficiency, the obtained three-dimensional point cloud data can be orthographically projected onto a two-dimensional plane.

[0048] As an example, a depth map corresponding to the orthographic projection may also be generated. A two-dimensional color map corresponding to the three-dimensional object area and a depth map corresponding to the two-dimensional color map may be obtained along the depth direction perpendicular to the object. The two-dimensional color map corresponds to an image of a plane area perpendicular to a preset depth direction; each pixel in the depth map corresponding to the two-dimensional color map corresponds one-to-one to each pixel in the two-dimensional color map, and the value of each pixel is the depth value of the pixel.

[0049] The present invention can be used in various groove filling scenarios in industry, such as the scenario of applying glue to the grooves on the surface of table tops. In some scenarios, the grooves on the surface of the object are shallow, and in the 3D point cloud or depth map, the point cloud of the inner and outer contours of the groove cannot be distinguished, so the contour of the groove cannot be identified based on the 3D point cloud or depth map. In order to be able to extract the contour of such shallow grooves, the applicant has developed a shallow groove contour extraction method. In this method, the two-dimensional image obtained is combined with the two-dimensional image to obtain a two-dimensional image that can clearly display the groove, thereby accurately identifying and extracting the groove contour, which is one of the key points of the present invention.

[0050] Figure 2A shallow groove contour extraction method according to an embodiment of the present invention is shown, comprising:

[0051] Step S110, obtaining a two-dimensional image of the object surface;

[0052] Step S120, performing an image equalization operation on the image;

[0053] Step S130, performing image segmentation operation on the equalized image;

[0054] Step S140, determining the shallow grooves according to the segmented image and extracting the outlines of the shallow grooves.

[0055] In step S110, a two-dimensional image of the surface of the object is obtained. A three-dimensional image of the object, such as 3D point cloud information, can be obtained according to the method of S100 and then mapped into a two-dimensional image.

[0056] In step S120, an image equalization operation is performed on the acquired two-dimensional image. Due to the image equalization operation, the grayscale of the original relatively few pixels will be allocated to other grayscales, the pixels are relatively concentrated, the grayscale range of the processed image becomes larger, the contrast becomes larger, and the clarity becomes larger, so the image details that were originally invisible can be recognized. In the original two-dimensional image, the contrast between the object surface and the shallow groove is close and cannot be effectively recognized. In order to solve this problem, an image equalization operation can be performed while ensuring a certain lighting. After such processing, the shallow groove can be more clearly recognized.

[0057] In step S130, the image segmentation operation is further performed on the two-dimensional image after the image equalization operation. When the contrast between the surface of the object and the shallow groove is close to a certain degree, even after image equalization, the groove may not be clearly identified. At this time, the two-dimensional image after the image equalization operation can be segmented. Specifically, the graphics with similar properties to the shallow groove in the image can be segmented and extracted. In one embodiment, the segmentation and extraction form the following Figure 3 In the two-dimensional image shown, multiple shallow grooves are clearly visible.

[0058] In step S140, the shallow groove is determined based on the segmented image and the outline of the shallow groove is extracted. Figure 3As shown, although all the grooves are obtained, many of them are only concave points on the surface of the object. These concave points may be caused by collisions, for example, and do not need to be filled. In order to eliminate these grooves that do not need to be filled, a minimum pixel threshold can be set in advance, and the grooves with a number of pixels less than the threshold are regarded as concave points and do not need to be filled. In this way, when extracting the groove contour, for each groove, it can be determined first whether the number of pixels in the groove part is greater than the minimum pixel threshold. If it is greater, the groove is considered to be a groove that needs to be filled, otherwise it is a concave point that does not need to be filled. In addition, a maximum pixel threshold can also be set in advance to screen out specific concave structures on the surface of the object. For example, some objects may have packaging compartments for placing items on the surface. In this way, only when the number of pixels in the groove part is less than the threshold, the groove is identified as a groove that needs to be filled. In addition, after image equalization, image segmentation and other processing, the image formed is as follows Figure 3 In the two-dimensional image shown, multiple layers of grooves can be identified from the outside to the inside. For grooves located within the outermost groove, they can be defined as inner grooves. These inner grooves have clear contours and are easy to identify and extract. However, for the outermost groove, only the inner contour can be clearly identified, and the outer contour is integrated with the black background, and the position of the outer contour cannot be accurately identified. In order to determine the outer contour, the position of the outer edge of the outermost groove, that is, the position of the outer contour, can be determined based on the previously acquired three-dimensional image, and then combined with the two-dimensional image to obtain the outer contour of the outermost groove.

[0059] In step S200, based on the extracted groove contour, the type of groove contour is identified. In order to accurately fill the groove in the present invention, a plurality of filling methods are designed, each of which corresponds to a specific contour type. This is one of the key points of the present invention. The grooves can be classified according to the groove types that can be filled by the groove filling method used. Figure 4 In the embodiment shown, the grooves are divided into closed grooves, open grooves and single-point grooves. Generally speaking, the single-point groove has a single-point outline, and the closed groove and the open groove are line-shaped. Among them, the closed groove is a closed line-shaped, without a clear starting point and end point. The open groove is a non-closed line-shaped, with a clear starting point and end point.

[0060] In step S300, the corresponding groove filling scheme is determined according to the type of groove profile. In a preferred embodiment of the present invention, the groove type corresponds to the filling method one by one. In other implementations, multiple filling methods may correspond to one type of groove, or multiple types of grooves may correspond to one filling method, and the present invention is not limited to this. The focus of the present invention is to call different filling schemes for different grooves, so any filling scheme can be used, and the present invention is not limited to this. However, in a preferred embodiment, three different filling schemes are designed, namely a closed groove filling method, an open groove filling method and a point groove filling scheme, which are respectively used for filling closed grooves, open grooves and point grooves.

[0061] In step S400, the groove is filled based on the groove filling scheme. In the present invention, a robot can be used to fill the groove, and for this purpose, the robot's moving trajectory, moving speed, and filling speed need to be planned first. The robot moves on the surface of the object according to the planned path and speed, and fills the groove with filler according to the planned filling speed. The following describes three different filling schemes: a closed groove filling method, an open groove filling method, and a point groove filling scheme.

[0062] Single point groove

[0063] The acquired two-dimensional contour of the single-point groove can be mapped into a three-dimensional point cloud, and then the posture information of the three-dimensional point cloud can be obtained. According to the posture information, the robot can be moved to the position of the single-point groove for filling.

[0064] Closed groove

[0065] When the robot fills the groove, it will control the discharge head to fill based on a certain discharge rate. The discharge rate, as an inherent property of the robot, affects the filling effect in this embodiment. Since the discharge rate of the robot is usually fixed, if the width of the groove to be filled is inconsistent along the entire path, and the robot moves at the same speed at each trajectory point, it may cause a lack of glue in the wide groove and glue accumulation in the narrow groove. In order to solve this problem, the present invention proposes a solution for controlling the discharge rate at the groove by controlling the movement speed of the robot according to the width of the groove, which is also one of the key points of the present invention.

[0066] Figure 5 The present invention shows a groove filling method by controlling the moving speed of a robot, which can be used for filling closed grooves and open grooves in the present invention, and the method comprises:

[0067] Step 411, extracting the groove profile on the surface of the object;

[0068] Step 412, traversing points on the contour according to a preset trajectory point interval, and determining a trajectory point for the robot to move at each traversed point;

[0069] Step 413, determining the robot moving speed Vk at the trajectory point based on the groove width Wk at the trajectory point;

[0070] Step 414 , instructing the robot to perform groove filling according to the determined trajectory points and the moving speeds at the trajectory points.

[0071] For step 411, a method similar to step S100 may be used to extract the groove profile on the surface of the object, which will not be described in detail here.

[0072] For step 412, the closed groove contour is composed of two inner and outer contours. In one embodiment, in order to obtain the trajectory of the robot movement, the trajectory point interval can be pre-set, and then the inner contour or outer contour is used as the reference, and the points on the reference contour are traversed according to the trajectory point interval. The trajectory point interval can be a distance, that is, a trajectory point can be generated at a certain distance. In other words, a point on the contour is traversed at a certain distance, and the entire contour is traversed in this way. For each point P1 traversed, the current point P1 is obtained along the local normal direction to the point P2 corresponding to another contour. If the traversal is performed on the inner contour, P1 is on the inner contour, and P2 is on the outer contour. The distance from P1 to P2 is the groove width W at this point. A point P3 can be selected between P1 and P2, and the point is used as a filling trajectory point. Preferably, the filling trajectory point can be the midpoint of the groove width W, that is, the point is a position on the width W where the distance ratio to the inner and outer contours is 1:1. According to the actual filling needs, positions with different distance ratios can also be selected as trajectory points. For example, if one side of a groove is deeper and the other side is shallower, if the groove is filled at the midpoint of the groove with a width of W, the cross-sectional area from this point to the inner contour is larger than the cross-sectional area from the point to the outer contour, so the filler may accumulate outside the outer contour. At this time, in order to accurately fill the groove, the trajectory point can be set at a position close to the inner contour, for example, the distance between the trajectory point and the inner and outer contours can be set to 2:3. In other embodiments, the position of the trajectory point can be adjusted by distance instead of ratio, for example, the trajectory point is set to 1mm from the inner contour. After all the trajectory points of the robot on the two-dimensional plane are obtained in the above manner and a complete moving trajectory is formed, these two-dimensional trajectory points are used to obtain three-dimensional trajectory points through a 2D to 3D mapping relationship to form a three-dimensional moving trajectory.

[0073] For step 413, when the robot fills the groove, it will control the discharge head to fill based on a certain filling rate. The discharge rate, as an inherent property of the robot, affects the filling effect in this embodiment. Since the discharge rate of the robot is usually fixed, if the width of the groove to be filled is inconsistent along the entire path, and the robot moves at the same movement speed at each track point, it may cause a shortage of material at the wide groove and an overflow at the narrow groove. When the discharge rate is fixed, different robot movement speeds will lead to different discharge amounts. Generally speaking, when the discharge rate is fixed, the faster the robot moves, the less material is discharged, and vice versa. Generally speaking, the wider the groove, the larger the amount of material that needs to be filled, so the robot needs to move relatively slowly at the groove. In one embodiment, a suitable robot speed V0 corresponding to a specific width W0 can be predetermined. In this way, for each track point, the width Wk of the groove at the track point can be obtained first. If Wk>V0, the robot movement speed Vk at the track point should be less than V0, and vice versa.

[0074] For step 414, the ratio of the groove width Wk to the specific width W0 can be calculated first, Rk=Wk / W0, and the moving speed Vk at the current trajectory point can be a linear ratio or a nonlinear ratio of V0 and Rk. In one embodiment, the robot moving speed at each trajectory point can be calculated by the following formula:

[0075] Vk=V0 / Rk.

[0076] Opening groove

[0077] The closed groove is two contours. When setting the trajectory points, you can start from any point on the inner contour or the outer contour and traverse all the points on the contour according to the preset trajectory point interval. Unlike the closed groove, the open groove has specific opening endpoints in morphology. Therefore, one of the opening endpoints must be used as the starting point and the other opening endpoint as the ending point. Only in this way can the contour be traversed from the opening point to the ending point according to the preset trajectory point interval. Therefore, unlike the closed groove, the open groove also needs to determine the correct trajectory starting point and ending point in order to accurately form the movement trajectory of the robot. The inventor has put in a lot of work to design a groove filling scheme that can be used for any groove with a certain starting point and ending point, that is, a non-closed groove, which is also one of the key points of the present invention.

[0078] Figure 6 The non-closed groove filling method of the present invention is shown, comprising:

[0079] Step 421, extracting the contour of the non-closed groove on the surface of the object;

[0080] Step 422, generating a circumscribed rectangle of the outline;

[0081] Step 423, determining two open end points of the contour based on the generated circumscribed rectangle;

[0082] Step 424 , using the two open endpoints as the starting point and the ending point respectively to perform groove filling.

[0083] Figure 7 A schematic diagram of analyzing the opening and contour of a non-closed groove by a circumscribed rectangle according to an embodiment of the present invention is shown below. Figure 7 The non-closed groove filling method of the present invention is described.

[0084] For step 421 , a method similar to step S100 may be used to extract the groove profile on the surface of the object, which will not be described in detail here.

[0085] In step 422, the minimum circumscribed rectangle is obtained for the contour of the opening groove. Any feasible method may be used to obtain the minimum circumscribed rectangle, and the present invention does not limit this.

[0086] For step 423, the opening endpoint is determined according to the minimum circumscribed rectangle. For example, the opening point is determined to be located on a certain side of the circumscribed rectangle according to the groove contour, and then the point on the contour closest to the side is determined as the opening endpoint. In a preferred embodiment, two opening endpoints P1 and P2 can be determined.

[0087] For step 424, the entire groove profile is broken at P1 and P2 to form two separate profile segments S1 and S2. Figure 7In the embodiment shown, S1 is the outer contour, and S2 is the inner contour. In this way, the starting point P1 and the end point P2 of the traversal are obtained, as well as the outer contour S1 where P1 and P2 are located and the inner contour S2 opposite to the outer contour. S1 is traversed and sampled from P1 to P2 according to the preset trajectory point interval. The trajectory point interval can be a distance, that is, it can be set to generate a trajectory point at a certain distance. In other words, the contour points are traversed at a certain distance. For each traversed point P1, the point P3 corresponding to the other contour along the local normal direction of the current point P1 is obtained. The distance from P1 to P3 is the groove width W at this location. A point P4 is selected between P1 and P3, and this point is used as a filling trajectory point. Preferably, the filling trajectory point can be the midpoint of the groove width W, that is, the point is a position on the width W that is 1:1 away from the inner and outer contours. According to the actual filling needs, different distance ratios can also be selected as trajectory points. For example, if the cross-sectional area from the midpoint of the width W to the inner contour is larger than the cross-sectional area from the midpoint of the width W to the outer contour, then for accurate filling, the trajectory point can be set closer to the inner contour, for example, the distance between the trajectory point and the inner and outer contours can be set to 2:3. In other embodiments, the position of the trajectory point can be adjusted by distance instead of ratio, for example, the trajectory point is set to 1 mm from the inner contour. After obtaining the complete movement trajectory of the robot on the two-dimensional plane in this way, these two-dimensional trajectory points are used to obtain three-dimensional trajectory points through the 2D to 3D mapping relationship.

[0088] When the robot fills the groove, it controls the discharging head to fill based on a certain filling rate. The discharging rate, as an inherent property of the robot, affects the filling effect in this embodiment. Since the discharging rate of the robot is usually fixed, if the width of the groove to be filled is inconsistent along the entire path, and the robot moves at the same speed at each trajectory point, it may cause a shortage of material in the wide groove and an overflow in the narrow groove.

[0089] When the discharge rate is fixed, different robot movement speeds will result in different discharge amounts. Generally speaking, when the discharge rate is fixed, the faster the robot moves, the less material is discharged, and vice versa. Generally speaking, wider grooves require a larger amount of material to be filled, so the robot needs to move relatively slowly at the groove. In one embodiment, a suitable robot speed V0 corresponding to a specific width W0 can be predetermined. In this way, for each trajectory point, the width Wk of the groove at the trajectory point can be obtained first. If Wk>V0, the robot movement speed Vk at the trajectory point should be less than V0, and vice versa.

[0090] The ratio of the groove width Wk to the specific width W0 can be calculated first, Rk=Wk / W0, and the moving speed Vk at the current trajectory point can be a linear ratio or a nonlinear ratio of V0 and Rk. In one embodiment, the robot moving speed at each trajectory point can be calculated by the following formula:

[0091] Vk=V0 / Rk.

[0092] According to the above embodiments, firstly, the present invention can implement a filling method dedicated to different grooves, thereby greatly improving the filling accuracy; secondly, the present invention can accurately identify and extract even when the groove to be filled is shallow; thirdly, the present invention controls the movement rate of the robot according to the groove width, and can accurately fill grooves of different widths, thereby improving the filling accuracy; fourthly, for special open grooves, the present invention has also developed a dedicated method, which can improve the filling accuracy of such grooves. It can be seen that the present invention solves all aspects of the problems that arise in the process of using robots to fill grooves.

[0093] In addition, those skilled in the art can also make various modifications and variations to the above embodiments:

[0094] The robots in various embodiments of the present invention may be industrial robot arms, which may be general-purpose or dedicated for groove filling. The present invention may fill grooves on the surface of any object, such as glass, table tops, steel plates, etc. The present invention may use any filler for filling, such as glue, various chemical fillers, etc. The present invention does not limit the specific application field. As a preferred embodiment, the present invention is particularly suitable for applying glue in the grooves of table tops.

[0095] In order to make the robot walk less redundant tracks, the initial point of the track point can be set at the position closest to the initial posture of the robot on the track path, for example, the initial point can be set in the middle of the side close to the robot. That is to say, after determining the initial posture of the robot, the middle point on the track path of the side closest to the initial posture of the robot can be used as the initial point of the track point, and then other track points can be set on the track path according to the inherent properties of the robot, and then the track point information can be obtained. It is worth mentioning that the track point information may include but is not limited to the coordinates of the track point, the initial track point of the track point, and the direction of the track point (i.e., the order of the track point movement). After obtaining the track point information, the track point information can be sent to the robot by communication. When the robot receives the track point information, it can control its own spray nozzle to fill the groove based on the track point information.

[0096] In some embodiments, generating trajectory point information on the trajectory path according to the inherent properties of the robot and the initial posture of the robot includes:

[0097] Determine the corners and straight lines in the trajectory path;

[0098] According to the robot's discharge rate and movement speed, trajectory points are set at corresponding densities at the bends and straight lines;

[0099] The movement order of the trajectory points is determined according to the initial position of the robot to obtain the trajectory point information.

[0100] Specifically, the corners and straight lines in the trajectory path can be determined based on the relationship between the coordinate values ​​of each point on the trajectory path. The X coordinates and Y coordinates of adjacent points at the corners will be different, while the adjacent points at the straight line may have the same X coordinates or the same Y coordinates. For example: assuming that the shape of the item to be filled is a rectangle, then in the trajectory path of the item to be filled, the X coordinates and Y coordinates of the adjacent points at the corners of the four corners will be different, while the Y coordinates of the adjacent points at the upper straight line will be the same and the X coordinates will be different, the Y coordinates of the adjacent points at the lower straight line will be the same and the X coordinates will be different and the Y coordinates will be smaller than the upper straight line, the X coordinates of the adjacent points at the left straight line will be the same and the Y coordinates will be different, and the X coordinates of the adjacent points at the right straight line will be the same and the Y coordinates will be different and the X coordinates will be smaller than the left straight line.

[0101] When the robot is filling, it will control the discharging head to fill based on a certain discharging rate. The discharging rate, as an inherent property of the robot, affects the filling effect in this embodiment. In order to conveniently set track points on the track path with reference to the discharging rate of the robot to avoid pile-up, the discharging rate of the robot can be determined.

[0102] The inherent properties of robot movement are also reflected in that if the robot sets the same motion speed parameters at the corners and the straight lines, the motion speeds at the corners and the straight lines will be different, and the motion speed at the corners will be slower than the motion speed at the straight lines. In actual situations, another inherent property of the robot, the discharge rate, is constant. Therefore, for the discharge rate and motion speed parameters of the appropriate straight line, stacking will occur at the corners. In some embodiments, under the premise of ensuring that the robot moves along the determined trajectory path, the spacing of the trajectory points set at the corners on the trajectory path can be larger than the spacing of the trajectory points set at the straight line, so as to achieve a balance between the motion speed at the straight line and the motion speed at the corners, thereby solving the stacking phenomenon that may be caused by the corners. A minimum spacing can be set at the straight line to limit the spacing of the trajectory points at the straight line to prevent the robot from getting stuck and stacking due to the excessive number of trajectory points at the straight line. Different motion speed parameters can also be set at the straight line and the corners to achieve a balance between the motion speed at the straight line and the motion speed at the corners, solving the stacking problem caused by the inherent properties.

[0103] The order of moving the trajectory points is determined according to the initial posture of the robot to obtain the trajectory point information. It can be understood that in order to make the robot walk fewer redundant trajectories, the initial point of the trajectory point is set to a point close to the initial posture of the robot, for example, it can be the trajectory point corresponding to the middle part of the side of the item to be filled close to the robot. That is to say, after determining the initial posture of the robot, the trajectory point corresponding to the middle point on the trajectory path of the side closest to the initial posture of the robot (or the trajectory point closest to this point) can be used as the initial trajectory point of the trajectory point, and then other trajectory points can be moved clockwise or counterclockwise.

[0104] In some implementations, the trajectory point information may specifically include trajectory point coordinates, initial trajectory point coordinates, the movement order of the trajectory points, movement speed parameters of the trajectory points, and the like.

[0105] In some implementations, the trajectory point information also includes: normal information corresponding to the contour point.

[0106] Specifically, the normal information may be the angle value of the normal vector corresponding to each contour point cloud relative to a fixed value, or may be the deviation angle value of the point cloud in the corresponding movement sequence later in each contour point cloud relative to the previous point cloud.

[0107] Figure 8 A schematic structural diagram of a groove filling device based on groove contour recognition according to another embodiment of the present invention is shown, the device comprising:

[0108] The contour extraction module 500 is used to extract the contour of the groove on the surface of the object, that is, to implement step S100;

[0109] A contour recognition module 600, used to identify the type of the groove contour, that is, to implement step S200;

[0110] A filling scheme determining module 700, used to determine a corresponding groove filling scheme according to the type of the groove profile, that is, to implement step S300;

[0111] The filling module 800 is used to fill the groove based on the groove filling solution, that is, to implement step S400.

[0112] Optionally, the contour extraction module 500 is further used to remove non-groove contours, for example, according to the number of pixels.

[0113] Optionally, the type of groove contour that can be identified by the contour recognition module 600 includes at least one of a closed groove, an open groove, and a single-point groove.

[0114] Optionally, when the filling scheme determination module 700 determines to use a single-point groove filling scheme, the filling module 800 obtains the 3D point cloud of the single point and fills the groove according to the pose of the 3D point cloud.

[0115] Optionally, when the filling scheme determination module 700 determines to use the closed groove and / or open groove filling scheme, the filling module 800 traverses the points on the inner contour or outer contour according to the preset trajectory point interval, and at each traversed point, obtains the point along the local normal direction from the point to the corresponding point on the outer contour or inner contour, and selects the point between the point and the corresponding point on the outer contour or inner contour as the trajectory point. The trajectory point can be the midpoint between the traversed point and the corresponding point on the outer contour or inner contour.

[0116] Optionally, the filling module 800 determines the moving speed Vk of the filling tool at the trajectory point according to the groove width Wk at the trajectory point. The moving speed V0 corresponding to a specific width W0 can be preset, and the moving speed Vk at the trajectory point is a linear or nonlinear ratio of V0 to Rk, where Rk=Wk / W0.

[0117] Fig. 9 A schematic diagram of a device for extracting a shallow groove profile on an object surface according to another embodiment of the present invention is shown, the device comprising:

[0118] An image acquisition module 510 is used to acquire a two-dimensional image of the surface of an object, that is, to implement step S110;

[0119] An image equalization module 520, used to perform an image equalization operation on the image, that is, to implement step S120;

[0120] An image segmentation module 530, used to perform an image segmentation operation on the equalized image, that is, to implement step S130;

[0121] The contour extraction module 540 is used to determine the shallow groove and extract the shallow groove contour according to the segmented image, that is, to implement step S140.

[0122] Optionally, the shallow groove contour extraction device further includes a three-dimensional image acquisition module for acquiring a three-dimensional image of the object surface.

[0123] Optionally, the image acquisition module 510 may obtain a two-dimensional image by mapping a three-dimensional image.

[0124] Optionally, the contour extraction module 540 is further used to remove non-groove contours, for example, the non-groove contours may be removed according to the number of pixels.

[0125] Optionally, the shallow groove profile includes an outermost groove profile and an inner groove profile, and the outermost groove profile includes an inner profile and an outer profile.

[0126] Optionally, the inner groove contour and the inner contour of the outermost groove can be extracted based on a two-dimensional image, and the inner contour of the outermost groove can be extracted based on a three-dimensional image.

[0127] Fig.10 A schematic structural diagram of a groove filling device based on robot movement speed control according to another embodiment of the present invention is shown, the device comprising:

[0128] The contour extraction module 811 is used to extract the groove contour on the surface of the object, that is, to implement step S411;

[0129] A trajectory point determination module 812 is used to traverse points on the contour according to a preset trajectory point interval, and determine a trajectory point of the robot movement at each traversed point, that is, to implement step S412;

[0130] A moving speed determining module 813, used to determine the robot moving speed Vk at the trajectory point based on the groove width Wk at the trajectory point, that is, used to implement step S413;

[0131] The filling module 814 is used to enable the robot to perform groove filling according to the determined trajectory points and the moving speeds at the trajectory points, that is, to implement step S414.

[0132] Optionally, the contour extraction module 811 is further used to remove non-groove contours, for example, according to the number of pixels.

[0133] Optionally, the moving speed determining module 814 determines the moving speed Vk of the filling tool at the trajectory point according to the groove width Wk at the trajectory point. The moving speed V0 corresponding to the specific width W0 can be preset, and the moving speed Vk at the trajectory point is a linear or nonlinear ratio of V0 to Rk, where Rk=Wk / W0.

[0134] Optionally, the trajectory point determination module 812 traverses the points on the inner contour or outer contour according to the preset trajectory point interval, and at each traversed point, obtains the point along the local normal direction from the point to the corresponding point on the outer contour or inner contour, and selects the point between the point and the corresponding point on the outer contour or inner contour as the trajectory point. The trajectory point can be the midpoint between the traversed point and the corresponding point on the outer contour or inner contour.

[0135] Fig.11 A schematic structural diagram of a device for filling a non-closed groove on an object surface according to another embodiment of the present invention is shown, the device comprising:

[0136] The contour extraction module 821 is used to extract the groove contour on the surface of the object, that is, to implement step S421;

[0137] A circumscribed rectangle generating module 822 generates a circumscribed rectangle of the outline, i.e., is used to implement step S422;

[0138] An opening determination module 823, used to determine two opening endpoints of the contour based on the generated circumscribed rectangle, that is, used to implement step S423;

[0139] The filling module 824 is used to perform groove filling by taking the two opening endpoints as the starting point and the ending point respectively, that is, to implement step S424.

[0140] Optionally, the filling module 824 disconnects the groove contour at the starting point and the ending point to form separate inner and outer contours.

[0141] Optionally, the filling module 824 determines the moving speed Vk of the filling tool at the trajectory point according to the groove width Wk at the trajectory point. The moving speed V0 corresponding to the specific width W0 can be preset, and the moving speed Vk at the trajectory point is a linear or nonlinear ratio of V0 to Rk, where Rk=Wk / W0.

[0142] Optionally, the filling module 824 traverses the points on the inner contour or outer contour according to the preset trajectory point interval, and at each traversed point, obtains the point along the local normal direction from the point to the corresponding point on the outer contour or inner contour, and selects the point between the point and the corresponding point on the outer contour or inner contour as the trajectory point. The trajectory point can be the midpoint between the traversed point and the corresponding point on the outer contour or inner contour.

[0143] Above Figure 8-Figure 11 In the device embodiment shown, only the main functions of the modules are described, and all the functions of each module correspond to the corresponding steps in the method embodiment. The working principle of each module can also refer to the description of the corresponding steps in the method embodiment, and will not be repeated here. In addition, although the corresponding relationship between the functions of the functional modules and the methods is defined in the above embodiments, those skilled in the art can understand that the functions of the functional modules are not limited to the above corresponding relationship, that is, a specific functional module can also implement other method steps or part of the method steps. For example, the above embodiments describe that the contour recognition module 600 is used to implement the method of step S200, but according to the needs of the actual situation, the contour recognition module 600 can also be used to implement the method of steps S100, S300 or S400 or part of the method.

[0144] The present application also provides a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, the method of any of the above-mentioned embodiments is implemented. It should be pointed out that the computer program stored in the computer-readable storage medium of the embodiment of the present application can be executed by the processor of the electronic device. In addition, the computer-readable storage medium can be a storage medium built into the electronic device, or a storage medium that can be plugged into the electronic device. Therefore, the computer-readable storage medium of the embodiment of the present application has high flexibility and reliability.

[0145] Fig.12 A schematic diagram of the structure of an electronic device according to an embodiment of the present invention is shown. The specific embodiment of the present invention does not limit the specific implementation of the electronic device.

[0146] like Fig.12 As shown, the electronic device may include: a processor (processor) 902 , a communication interface (Communications Interface) 904 , a memory (memory) 906 , and a communication bus 908 .

[0147] in:

[0148] The processor 902 , the communication interface 904 , and the memory 906 communicate with each other via a communication bus 908 .

[0149] The communication interface 904 is used to communicate with other devices such as clients or other servers.

[0150] The processor 902 is used to execute the program 910, and specifically can execute the relevant steps in the above method embodiment.

[0151] Specifically, the program 910 may include program codes, which include computer operation instructions.

[0152] The processor 902 may be a central processing unit (CPU), or an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present invention. The one or more processors included in the electronic device may be processors of the same type, such as one or more CPUs, or processors of different types, such as one or more CPUs and one or more ASICs.

[0153] The memory 906 is used to store the program 910. The memory 906 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0154] The program 910 may be specifically used to enable the processor 902 to perform various operations in the above method embodiment.

[0155] In summary, the invention content of the present invention includes:

[0156] A groove filling method based on groove contour recognition, comprising:

[0157] Extract the groove profile on the surface of the object;

[0158] Identify the type of groove profile;

[0159] Determine the corresponding groove filling scheme according to the type of groove profile;

[0160] The groove is filled based on the groove filling scheme.

[0161] Optionally, extracting the groove profile of the object surface includes removing the non-groove profile.

[0162] Optionally, removing the non-groove contour includes removing the non-groove contour according to the number of pixel points.

[0163] Optionally, the groove types include closed grooves and / or open grooves.

[0164] Optionally, the groove type includes a single-point groove.

[0165] Optionally, the groove profile includes an inner profile and an outer profile.

[0166] Optionally, points on the inner contour or outer contour are traversed according to preset trajectory point intervals.

[0167] Optionally, at each traversed point, the point on the corresponding outer contour or inner contour along the local normal direction of the point is obtained.

[0168] Optionally, at each traversed point, a point between the point and a point on the corresponding outer contour or inner contour is selected as a trajectory point.

[0169] Optionally, the trajectory point is a midpoint between the traversed point and a point on the corresponding outer contour or inner contour.

[0170] Optionally, the moving speed Vk of the filling tool at the trajectory point is determined according to the groove width Wk at the trajectory point.

[0171] Optionally, a moving speed V0 corresponding to a specific width W0 is preset, and a moving speed Vk at the trajectory point is a linear ratio or a nonlinear ratio of V0 to Rk, wherein Rk=Wk / W0.

[0172] Optionally, a 3D point cloud of the single point is obtained, and the groove is filled according to the pose of the 3D point cloud.

[0173] A method for extracting a shallow groove contour on an object surface, comprising:

[0174] Acquire a two-dimensional image of the object surface;

[0175] Perform image equalization operation on the image;

[0176] Perform image segmentation operation on the equalized image;

[0177] The shallow grooves are determined based on the segmented image and the shallow groove contours are extracted.

[0178] Optionally, the method also includes acquiring a three-dimensional image of the object surface.

[0179] Optionally, the two-dimensional image is obtained by mapping a three-dimensional image.

[0180] Optionally, determining the shallow groove and extracting the shallow groove contour includes removing the non-groove contour.

[0181] Optionally, removing the non-groove contour includes removing the non-groove contour according to the number of pixel points.

[0182] Optionally, the shallow groove profile includes an outermost groove profile and an inner groove profile.

[0183] Optionally, the inner groove contour is extracted based on a two-dimensional image.

[0184] Optionally, the outermost groove profile includes an inner profile and an outer profile.

[0185] Optionally, the inner contour of the outermost groove is extracted based on a two-dimensional image.

[0186] Optionally, the outer contour of the outermost groove is extracted based on a three-dimensional image.

[0187] A groove filling method based on robot movement speed control, comprising:

[0188] Extract the groove profile on the surface of the object;

[0189] Traversing the points on the contour according to the preset trajectory point intervals, and determining the trajectory point of the robot movement at each traversed point;

[0190] Determine the robot moving speed Vk at the trajectory point based on the groove width Wk at the trajectory point;

[0191] The robot is instructed to perform groove filling according to the determined trajectory points and the moving speeds at the trajectory points.

[0192] Optionally, extracting the groove profile of the object surface includes removing the non-groove profile.

[0193] Optionally, removing the non-groove contour includes removing the non-groove contour according to the number of pixel points.

[0194] Optionally, a moving speed V0 corresponding to a specific width W0 is preset, and a moving speed Vk of the robot at the trajectory point is calculated based on W0, V0 and Wk.

[0195] Optionally, the moving speed Vk at the trajectory point is a linear ratio or a nonlinear ratio of V0 and Rk, wherein Rk=Wk / W0.

[0196] Optionally, the groove profile includes an inner profile and an outer profile.

[0197] Optionally, at each traversed point, the point on the corresponding outer contour or inner contour along the local normal direction from the point is obtained, and the point between the point and the point on the corresponding outer contour or inner contour is selected as the trajectory point.

[0198] Optionally, the trajectory point is a midpoint between the traversed point and a point on the corresponding outer contour or inner contour.

[0199] A method for filling non-closed grooves on the surface of an object

[0200] Extract the contour of non-closed grooves on the surface of the object;

[0201] Generate the circumscribed rectangle of the contour;

[0202] Determine two open endpoints of the contour based on the generated circumscribed rectangle;

[0203] Perform groove filling using the two open endpoints as the start and end points respectively.

[0204] Optionally, the groove contour is disconnected at the starting point and the ending point to form separate inner and outer contours.

[0205] Optionally, points on the inner contour or outer contour are traversed from the starting point to the ending point according to a preset trajectory point interval.

[0206] Optionally, at each traversed point, the point on the corresponding outer contour or inner contour along the local normal direction of the point is obtained.

[0207] Optionally, at each traversed point, a point between the point and a point on the corresponding outer contour or inner contour is selected as a trajectory point.

[0208] Optionally, the trajectory point is a midpoint between the traversed point and a point on the corresponding outer contour or inner contour.

[0209] Optionally, the moving speed Vk of the filling tool at the trajectory point is determined according to the groove width Wk at the trajectory point.

[0210] Optionally, a moving speed V0 corresponding to a specific width W0 is preset, and a moving speed Vk at the trajectory point is a linear ratio or a nonlinear ratio of V0 to Rk, wherein Rk=Wk / W0.

[0211] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples" or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0212] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code that includes one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.

[0213] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processing module, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purposes of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection with one or more wires (electronic device), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), a fiber optic device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or processing in other suitable ways if necessary, and then stored in a computer memory.

[0214] The processor may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0215] It should be understood that the various parts of the embodiments of the present application can be implemented by hardware, software, firmware or a combination thereof. In the above embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0216] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

[0217] In addition, each functional unit in each embodiment of the present application may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0218] The storage medium mentioned above can be a read-only memory, a magnetic disk or an optical disk, etc.

[0219] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above implementation methods within the scope of the present application.

Claims

1. A robot-based method for filling a non-closed groove on an object surface, comprising: Extract the contour of non-closed grooves on the surface of the object; The groove is a groove on the surface of the object that can be filled by the robot using a filler; Generate the circumscribed rectangle of the contour; Determine two open endpoints of the contour based on the generated circumscribed rectangle; The groove is filled by taking the two open endpoints as the starting point and the ending point respectively; The groove profile includes an inner profile and an outer profile; Taking the inner contour or the outer contour as a reference, traverse the points on the contour according to the preset trajectory point intervals, and determine the trajectory point of the robot movement at each traversed point; Wherein, the groove includes an outermost groove and an inner groove; the contour of the outermost groove includes an inner contour and an outer contour; The position of the outer edge of the outermost groove is determined according to the three-dimensional image as the position of the outer contour of the outermost groove, and then combined with the two-dimensional image to obtain the outer contour of the outermost groove; Among them, a position where the distance ratio is not 1 is selected as a trajectory point, and the distance ratio is the ratio of the distance of the point from the inner contour to the distance from the outer contour in width.

2. The groove filling method according to claim 1, characterized in that: Also includes: The groove contour is broken at the starting point and the ending point to form separate inner and outer contours.

3. The groove filling method according to claim 2, characterized in that: Traverse points on the inner or outer contour from the starting point to the ending point according to the preset trajectory point interval.

4. The groove filling method according to claim 3, characterized in that: At each traversed point, find the point on the corresponding outer contour or inner contour along the local normal direction of the point.

5. The groove filling method according to claim 1, characterized in that: The moving speed Vk of the filling tool at the trajectory point is determined according to the groove width Wk at the trajectory point.

6. The groove filling method according to claim 5, characterized in that: A moving speed V0 corresponding to a preset specific width W0, and a moving speed Vk at the trajectory point is a linear ratio or a nonlinear ratio of V0 to Rk, wherein Rk=Wk / W0.

7. A robot-based non-closed groove filling device on the surface of an object, characterized in that: include: Contour extraction module, used to extract the groove contour on the surface of the object; The groove is a groove on the surface of the object that can be filled by the robot using a filler; A circumscribed rectangle generation module generates a circumscribed rectangle of a contour; An opening determination module, used for determining two opening endpoints of the contour based on the generated circumscribed rectangle; A filling module, used to perform groove filling by taking two opening endpoints as the starting point and the ending point respectively; The groove profile includes an inner profile and an outer profile; Taking the inner contour or the outer contour as a reference, traverse the points on the contour according to the preset trajectory point intervals, and determine the trajectory point of the robot movement at each traversed point; Wherein, the groove includes an outermost groove and an inner groove; the contour of the outermost groove includes an inner contour and an outer contour; The position of the outer edge of the outermost groove is determined according to the three-dimensional image as the position of the outer contour of the outermost groove, and then combined with the two-dimensional image to obtain the outer contour of the outermost groove; Among them, a position where the distance ratio is not 1 is selected as a trajectory point, and the distance ratio is the ratio of the distance of the point from the inner contour to the distance from the outer contour in width.

8. An electronic device, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the robot-based non-closed groove filling method for an object surface as claimed in any one of claims 1 to 6 when executing the computer program.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the robot-based non-closed groove filling method for an object surface according to any one of claims 1 to 6 is implemented.

Images