Control method and equipment of flat curtain wall glue injection robot

Abstract

The invention relates to a control method and equipment for a plane curtain wall glue injection robot, and belongs to the technical field of curtain wall glue injection. The method comprises the following steps: obtaining a curtain wall image; obtaining a gap position where glue injection is required and setting a robot to walk along the gap where glue injection is required; controlling the robot to insert a foam rod into the gap and fill glue strips along both sides of the gap; and controlling the robot to inject glue into the gap. The invention can control the robot to obtain a curtain wall image, analyze and process the gap position, automatically inject glue along the gap position and detect glue coating defects, and has a high degree of automation, without the need for manual on-site control of glue injection.

Description

Technical Field

[0001] The invention relates to the technical field of curtain wall glue injection, in particular to a control method and equipment of a plane curtain wall glue injection robot. Background Art

[0002] Glass curtain wall is a beautiful and novel method of building wall decoration. It refers to the building's external protective structure or decorative structure that has a certain displacement ability relative to the main structure and does not share the effects on the main structure.

[0003] At present, most of the grouting operations for high-altitude curtain wall gaps are done manually. However, the construction industry has a high mobility of workers and a prominent aging problem. In addition, workers in the construction industry generally lack skills training and are short of labor. They face problems such as high costs, high risks, and casualties. This is extremely inconsistent with the current development trend of the construction industry towards intelligence, mechanization, and automation.

[0004] Application number CN202110861703.3 discloses an invention patent named Curtain Wall Gap Injection Robot, which can realize the injection of glue into the curtain wall through the robot, but requires manual on-site control and cannot accurately control the injection position. Summary of the invention

[0005] In order to solve the problems raised in the above background technology, the present invention provides a control method and equipment for a flat curtain wall glue injection robot.

[0006] In the first aspect, the control method of the flat curtain wall glue injection robot adopts the following technical solutions:

[0007] The control method of the flat curtain wall glue injection robot comprises the following steps:

[0008] Get the curtain wall image;

[0009] Obtaining the position of the gap where glue needs to be injected and setting the robot to walk along the gap where glue needs to be injected;

[0010] Controlling the robot to insert a foam stick into the gap and fill adhesive strips along both sides of the gap;

[0011] The robot is controlled to inject glue into the gap.

[0012] Preferably, the setting robot walks along the gap where glue injection is required by combining video processing and infrared detection.

[0013] By combining video processing and infrared detection, comprehensive judgment can be made to improve accuracy.

[0014] Preferably, the specific steps of video processing are as follows:

[0015] Binarization is performed on the curtain wall image using an adaptive threshold method to obtain pixel points at different positions of the curtain wall image;

[0016] Linear fitting operation is performed on pixel points at different positions to obtain the trajectory line. Specifically, the image after binarization is regarded as a coordinate system, the horizontal coordinate of the point is used as the independent variable, and the vertical coordinate is used as the dependent variable. The functional relationship between the independent variable and the dependent variable is obtained by the least squares method. A straight line is determined through the functional relationship to minimize the sum of squares of errors, and the straight line is used as the trajectory line;

[0017] The PID algorithm is used to adjust the robot according to the angle and distance offset between the trajectory line and the center of the image. Specifically, the robot's actual position is compared with the trajectory line, and the PID algorithm is used to fit the speed, angle and distance parameters to determine the fastest convergence equation, thereby obtaining the robot's speed, adjustment angle and adjustment distance parameters.

[0018] The adjusted parameters are used as walking speed parameters to achieve tracking. If the robot deviates far, it quickly approaches the trajectory line. If the distance is close, the robot slows down. If the robot is on the trajectory line, it moves along the trajectory line.

[0019] Preferably, the infrared detection uses an infrared reflective diode to detect a gap that is different in color from the surrounding area.

[0020] Preferably, the specific steps of controlling the robot to inject glue into the gap are as follows:

[0021] Segmenting the curtain wall image by adaptive thresholding;

[0022] Glue injection;

[0023] Detect glue coating defects by projection.

[0024] Preferably, the specific steps of segmenting the image by adaptive thresholding are as follows:

[0025] Performing grayscale processing on the curtain wall image to obtain a grayscale image;

[0026] The grayscale image is converted into a matrix image, an initial threshold of the curtain wall image is obtained according to a maximum grayscale value and a minimum grayscale value, and an optimal threshold is obtained by an iterative method.

[0027] By adopting this technical solution, the grayscale image can represent most of the features of the image with less data, improving the efficiency of subsequent algorithms. Converting the grayscale image into a matrix image means storing the value of each grayscale pixel in a matrix.

[0028] Preferably, the detection of glue coating defects is performed by a projection method, and the specific steps are as follows:

[0029] Binarization is performed on the curtain wall image, the curtain wall image is used as a rectangular coordinate system, and the difference in pixel values ​​of black and white pixels is used for software design;

[0030] For the number of rows, the part with missing glue has no black pixels relative to the rest of the positions, and the part with excessive glue has too many black pixels relative to the rest of the positions. The double for loop is used to take the number of black pixels as the judgment condition to get the row value;

[0031] For the column number, the part where glue is missing and the part where glue is over-applied have black pixels relative to the rest of the positions. The double for loop is used to take the number of black pixels as the judgment condition to get the column value;

[0032] The position of uneven glue coating is determined by row and column values.

[0033] In a second aspect, an electronic device based on controlling a robot to inject glue comprises:

[0034] A readable storage medium storing software instructions for controlling the robot to inject glue, including a computer program designed to implement the control robot to inject glue;

[0035] A processor is used to execute the computer program stored in the readable storage medium.

[0036] In summary, the present invention has the following beneficial technical effects:

[0037] 1. The present invention realizes the automatic walking of the robot on the curtain wall surface and the completion of the work such as pasting and glue injection in a combination of on-site and remote methods, which improves the real-time, accuracy and reliability of curtain wall glue injection construction and saves a lot of human resource investment costs;

[0038] 2. The present invention is also applicable to a curtain wall cleaning robot for cleaning curtain walls. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 It is a flow chart of the present invention. DETAILED DESCRIPTION

[0040] The following is combined with Figure 1 The present invention is described in further detail.

[0041] The embodiment of the invention discloses a control method and equipment for a plane curtain wall glue injection robot.

[0042] Example 1

[0043] Reference Figure 1 , the control method of the flat curtain wall glue injection robot includes the following steps:

[0044] S1, obtaining curtain wall image;

[0045] Specifically, the curtain wall image can be obtained through a camera.

[0046] S2, obtaining the position of the gap where glue needs to be injected and setting the robot to walk along the gap where glue needs to be injected;

[0047] Specifically, video processing and infrared detection are combined to make comprehensive judgments to improve accuracy;

[0048] S21. The specific steps of video processing are as follows:

[0049] S21a, using an adaptive threshold method to perform binarization processing on the curtain wall image to obtain pixel points at different positions of the curtain wall image;

[0050] Specifically, the mean, median, and Gaussian weighted average (Gaussian filtering) of the neighborhood (local) of the curtain wall image pixel are calculated to determine the threshold. If it is greater than the threshold, the pixel at that position is set to 255. If it is less than the threshold, the pixel at that position is set to 0 to achieve local threshold segmentation.

[0051] S21b, performing linear fitting operation on pixel points at different positions to obtain trajectory lines;

[0052] The linear fitting operation is to find a most suitable line in a two-dimensional plane to fit all given points, which can be obtained by the least squares method;

[0053] Specifically, the image after binarization is regarded as a coordinate system, the horizontal coordinate of the point is taken as the independent variable, and the vertical coordinate is taken as the dependent variable. The functional relationship between the independent variable and the dependent variable is obtained by the least square method. A straight line is determined through the functional relationship to minimize the sum of squares of the error. The straight line is taken as the trajectory line, and the trajectory line is the travel route of the robot.

[0054] S21c, adjusting the angle and distance between the trajectory line and the center of the image using the PID algorithm, specifically, comparing the actual position of the robot with the trajectory line, fitting the travel speed, angle and distance parameters using the PID algorithm, determining the fastest convergence equation, and obtaining the robot's travel speed, adjustment angle and adjustment distance parameters;

[0055] S21d, adjusting the walking speed parameters according to the adjusted parameters to achieve tracking. If the robot deviates far, it quickly approaches the track line. If the distance is close, the robot slows down. If the robot is on the track line, it moves along the track line.

[0056] S22, the infrared detection uses an infrared reflective diode to detect a gap with a different color from the surrounding area;

[0057] Compare the gap obtained by infrared detection with the trajectory obtained by video processing, and the overlapping position is the trajectory that the robot needs to move for glue injection;

[0058] S3, controlling the robot to insert the foam stick into the gap and fill the adhesive strips along both sides of the gap;

[0059] S4, controlling the robot to inject glue into the gap, with the width not exceeding the glue strips on both sides;

[0060] The specific steps are as follows:

[0061] S41, segmenting the curtain wall image by adaptive thresholding;

[0062] The specific steps are as follows:

[0063] S41a, graying the curtain wall image to obtain a grayscale image;

[0064] Specifically, each frame of the image acquired by the camera needs to be grayscaled. Grayscale images can represent most of the features of the image with less data. Grayscale color images in the preprocessing stage can improve the efficiency of subsequent algorithms.

[0065] Grayscale processing methods include maximum grayscale, average grayscale and weighted average grayscale. Maximum grayscale is to use the maximum value of the three values ​​of the R component, G component and B component of the pixel in the color image as the grayscale value of the grayscale image. Average grayscale is to use the average value of the three values ​​of the R component, G component and B component of the pixel in the color image as the grayscale value of the grayscale image.

[0066] S41b, converting the grayscale image into a matrix image, calculating the initial threshold of the curtain wall image according to the maximum grayscale value and the minimum grayscale value, and calculating the optimal threshold by an iterative method;

[0067] Converting a grayscale image into a matrix means storing the value of each grayscale pixel in a matrix. The initial threshold is to set an initial value at the beginning, and the algorithm iterates to find the optimal threshold, so as to select a suitable threshold for the subsequent image binarization.

[0068] S42, glue injection;

[0069] The glue injection amount is controlled by the speed of the walking stepper motor and the up and down moving speed of the mobile platform x-axis lifting stepper motor. The speed of the stepper motor of the glue injection machine is sensed to control the glue output. The faster the speed, the greater the glue output.

[0070] S43, detecting glue coating defects;

[0071] The specific projection method is adopted, and the specific steps are as follows:

[0072] S43a, binarizing the curtain wall image, using the curtain wall image as a rectangular coordinate system, and performing software design using the difference in pixel values ​​of black and white pixels;

[0073] Software design refers to the method of determining the location of uneven glue application;

[0074] S43b, for the number of rows, the portion where glue is missing has no black pixels relative to the rest of the positions, and the portion where glue is excessive has too many black pixels relative to the rest of the positions, and a double for loop is used to take the number of black pixels as a judgment condition to obtain the row value;

[0075] For the column number, the part where glue is missing and the part where glue is over-applied have black pixels relative to the rest of the positions. The double for loop is used to take the number of black pixels as the judgment condition to get the column value;

[0076] Specifically,

[0077] The number of rows and columns refers to the position of the part with too much or too little glue in each frame. In the binary image, the glued part is black pixel, and the un-glueed part is white pixel.

[0078] S43c, determine the uneven glue coating position through the row value and column value.

[0079] Example 2

[0080] The robot's walking trajectory and walking speed are controlled by the remote control, as well as the robot's injection of glue to the curtain wall.

[0081] Example 3

[0082] The embodiment of the present invention further discloses an electronic device based on controlling the glue injection of a robot, comprising:

[0083] A readable storage medium storing software instructions for controlling the robot to inject glue, including a computer program designed to implement the control of the robot to inject glue;

[0084] A processor is used to execute the computer program stored in the readable storage medium.

[0085] An electronic device based on controlling robot glue injection also includes a software system, which includes a client, a server and a database. The server runs online in the cloud for a long time and receives information and instructions from the robot system or users at all times. The server will parse the data from the robot system and save it in the database. The server can also parse the query and control instructions from the client to meet the user's query of the robot's system data set for real-time control of the robot system.

[0086] The above are all preferred embodiments of the present invention, and are not intended to limit the protection scope of the present invention. Therefore, any equivalent changes made based on the structure, shape, and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A control method for a flat curtain wall glue injection robot, characterized in that: The following steps are involved: Get the curtain wall image; Obtaining the position of the gap where glue needs to be injected and setting the robot to walk along the gap where glue needs to be injected; Controlling the robot to insert a foam stick into the gap and fill adhesive strips along both sides of the gap; Controlling the robot to inject glue into the gap; The method of obtaining the position of the gap that needs to be injected with glue and setting the robot to walk along the gap that needs to be injected with glue adopts a combination of video processing and infrared detection; The specific steps of video processing are as follows: Binarization is performed on the curtain wall image using an adaptive threshold method to obtain pixel points at different positions of the curtain wall image; Linear fitting operation is performed on pixel points at different positions to obtain the trajectory line. Specifically, the image after binarization is regarded as a coordinate system, the horizontal coordinate of the point is used as the independent variable, and the vertical coordinate is used as the dependent variable. The functional relationship between the independent variable and the dependent variable is obtained by the least squares method. A straight line is determined through the functional relationship to minimize the sum of squares of errors, and the straight line is used as the trajectory line; The PID algorithm is used to adjust the robot according to the angle and distance offset between the trajectory line and the center of the image. Specifically, the robot's actual position is compared with the trajectory line, and the PID algorithm is used to fit the speed, angle and distance parameters to determine the fastest convergence equation, thereby obtaining the robot's speed, adjustment angle and adjustment distance parameters. The adjusted parameters are used as walking speed parameters to achieve tracking. If the robot deviates far, it quickly approaches the track line. If the distance is close, the robot slows down. If the robot is on the track line, it moves along the track line. The infrared detection uses an infrared reflective diode to detect gaps that are different in color from the surrounding areas.

2. The control method of the flat curtain wall glue injection robot according to claim 1 is characterized in that: The specific steps of controlling the robot to inject glue into the gap are as follows: Segmenting the curtain wall image by adaptive thresholding; Glue injection; Detect glue coating defects.

3. The control method of the flat curtain wall glue injection robot according to claim 2 is characterized in that: The specific steps of segmenting the image by adaptive threshold are as follows: Performing grayscale processing on the curtain wall image to obtain a grayscale image; The grayscale image is converted into a matrix image, an initial threshold of the curtain wall image is obtained according to a maximum grayscale value and a minimum grayscale value, and an optimal threshold is obtained by an iterative method.

4. The control method of the flat curtain wall glue injection robot according to claim 3 is characterized in that: The method of detecting the gluing defect by projection is as follows: Binarization is performed on the curtain wall image, the curtain wall image is used as a rectangular coordinate system, and the difference in pixel values ​​of black and white pixels is used for software design; For the number of rows, the part with missing glue has no black pixels relative to the rest of the positions, and the part with excessive glue has too many black pixels relative to the rest of the positions. The double for loop is used to take the number of black pixels as the judgment condition to get the row value; For the column number, the part where glue is missing and the part where glue is over-applied have black pixels relative to the rest of the positions. The double for loop is used to take the number of black pixels as the judgment condition to get the column value; The position of uneven glue coating is determined by row and column values.

5. An electronic device based on controlling robot glue injection, characterized in that: include: A readable storage medium storing software instructions for controlling the robot to inject glue in the control method for the flat curtain wall injection robot according to any one of claims 1 to 4, including a computer program designed to implement the control of the robot to inject glue; A processor is used to execute the computer program stored in the readable storage medium.

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