A robot gluing method, device, storage medium and electronic equipment

Abstract

Embodiments of the present application disclose a robot gluing method and device, a storage medium and an electronic device, and relate to the technical field of part coating. The method comprises: constructing a virtual plane perpendicular to a normal vector of a gluing point relative to a gluing surface; sequentially projecting to obtain a projection point; obtaining a motion direction vector of a robot end effector at different gluing points according to the projection point and the gluing point on the same virtual plane; and obtaining a motion posture of the robot end effector according to the motion direction vector and the normal vector. The present application decomposes a complex part gluing surface into several parts for processing respectively, and ensures that the effector is perpendicular to the gluing surface. Since the motion vector formed between the projection point and the gluing point on the same virtual plane is also perpendicular to the normal vector, the direction of the effector movement during gluing is ensured, which is beneficial to improving the stability and uniformity of gluing, and the gluing quality is significantly improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of part coating, in particular to a robot gluing method and device, a storage medium and an electronic device. BACKGROUND

[0002] With the development of industrial robot technology, the application of robot automatic spraying system in the field of aircraft large part coating has been more and more widely. Automatic spraying means controlling the end effector of the robot to move according to a predetermined program and complete spraying. In order to ensure the uniformity of spraying, it is necessary to ensure the uniformity of the height of the end effector relative to the spraying surface of the part. At present, the general method is to use a sensor to identify the distance and make adjustments, or to plan the path in advance according to the spraying surface of the part. The above-mentioned methods can meet the requirements of spraying quality for simple parts, but when facing complex parts, the uneven spraying surface makes it difficult to ensure high spraying quality. SUMMARY

[0003] The main purpose of the present application is to provide a robot gluing method and device, a storage medium and an electronic device, which aims to solve the problem of poor quality of robot gluing in the prior art.

[0004] To achieve the above-mentioned purpose, the technical solutions adopted by the embodiments of the present application are as follows:

[0005] In a first aspect, the embodiments of the present application provide a robot gluing method, comprising the following steps:

[0006] According to the normal vector of a plurality of gluing points relative to the gluing surface, a virtual plane perpendicular to the normal vector is constructed respectively; wherein the gluing points are obtained based on the gluing trajectory line, and the gluing trajectory line is obtained based on the gluing surface;

[0007] Along the extension direction of the gluing trajectory line, the first gluing point is projected to the virtual plane corresponding to the second gluing point in sequence to obtain a projection point; wherein the first gluing point and the second gluing point are adjacent gluing points, and the second gluing point is the gluing point in front in the extension direction;

[0008] According to the projection point and the gluing point on the same virtual plane, the motion direction vector of the robot end effector at different gluing points is obtained;

[0009] According to the motion direction vector and the normal vector, the motion posture of the robot end effector at different gluing points is obtained;

[0010] According to the motion posture, the robot end effector is controlled to glue.

[0011] In a possible implementation manner of the first aspect, the motion posture of the robot end effector at different glue applying points is obtained according to the motion direction vector and the normal vector, and the obtaining includes:

[0012] The rotation matrix of the robot end effector at different glue applying points is obtained according to the Y-axis vector of the robot end effector, the motion direction vector and the normal vector.

[0013] The three-axis attitude angles are solved according to the predetermined relationship between the attitude angles and the rotation matrix.

[0014] The motion posture of the robot end effector at different glue applying points is obtained according to the three-axis attitude angles.

[0015] In a possible implementation manner of the first aspect, before the rotation matrix of the robot end effector at different glue applying points is obtained according to the Y-axis vector of the robot end effector, the motion direction vector and the normal vector, the robot glue applying method further includes:

[0016] The Y-axis vector of the robot end effector is obtained according to the three-axis orthogonal relationship, the motion direction vector and the normal vector.

[0017] In a possible implementation manner of the first aspect, when the second glue applying point is the last glue applying point in the extension direction of the glue applying trajectory line, the first glue applying point is sequentially projected onto the virtual plane corresponding to the second glue applying point along the extension direction of the glue applying trajectory line to obtain a projection point, and the obtaining includes:

[0018] The first glue applying point is sequentially projected onto the virtual plane corresponding to the second glue applying point along the extension direction of the glue applying trajectory line to obtain a first projection point, and when the second glue applying point is the last glue applying point in the extension direction of the glue applying trajectory line, the last glue applying point of the second glue applying point is projected onto the virtual plane corresponding to the second glue applying point to obtain a second projection point.

[0019] The projection point is obtained according to the first projection point and the second projection point.

[0020] In a possible implementation manner of the first aspect, before the virtual plane perpendicular to the normal vector is constructed according to the normal vector of the glue applying surface of the plurality of glue applying points, the robot glue applying method further includes:

[0021] The glue applying trajectory line is obtained according to the extension direction of the glue applying surface of the target part.

[0022] The glue applying trajectory line is discretized into points to obtain the plurality of glue applying points.

[0023] In a possible implementation manner of the first aspect, the glue applying trajectory line is obtained according to the extension direction of the glue applying surface of the target part, and the obtaining includes:

[0024] According to the extension direction of the glue applying surface of the target part, a center line of the glue applying surface is obtained as the glue applying track line.

[0025] In a possible implementation manner of the first aspect, before the glue applying track line is obtained according to the extension direction of the glue applying surface of the target part, the robot glue applying method further includes:

[0026] performing curved surface fairing processing on the glue applying surface of the target part to obtain the glue applying surface of the target part.

[0027] In the second aspect, the embodiments of the present application provide a robot glue applying device, including:

[0028] The construction module is configured to construct a virtual plane perpendicular to the normal vector of each glue applying point based on the normal vector of the glue applying surface, wherein the glue applying point is obtained based on the glue applying track line, and the glue applying track line is obtained based on the glue applying surface.

[0029] The projection module is configured to project the first glue applying point to the virtual plane corresponding to the second glue applying point in sequence along the extension direction of the glue applying track line to obtain a projection point, wherein the first glue applying point and the second glue applying point are adjacent glue applying points, and the second glue applying point is a glue applying point located in front in the extension direction.

[0030] The first obtaining module is configured to obtain a motion direction vector of the robot end effector at different glue applying points based on the projection point and the glue applying point on the same virtual plane.

[0031] The second obtaining module is configured to obtain a motion posture of the robot end effector at different glue applying points based on the motion direction vector and the normal vector.

[0032] The execution module is configured to control the robot end effector to perform glue applying based on the motion posture.

[0033] In the third aspect, the embodiments of the present application provide a computer readable storage medium storing a computer program, and the computer program is loaded and executed by a processor to implement the robot glue applying method provided in any one of the above first aspect.

[0034] In the fourth aspect, the embodiments of the present application provide an electronic device including a processor and a memory, wherein

[0035] The memory is configured to store a computer program.

[0036] The processor is configured to load and execute the computer program to enable the electronic device to perform the robot glue applying method provided in any one of the above first aspect.

[0037] Compared with the prior art, the present application has the following beneficial effects:

[0038] The robot gluing method, device, storage medium and electronic equipment provided by the embodiment of the application, the method comprises the following steps: constructing a virtual plane perpendicular to a normal vector of a gluing surface according to a plurality of gluing points based on a gluing trajectory line, wherein the gluing points are obtained based on the gluing trajectory line, and the gluing trajectory line is obtained based on the gluing surface; sequentially projecting a first gluing point to a virtual plane corresponding to a second gluing point in an extension direction of the gluing trajectory line to obtain a projection point, wherein the first gluing point and the second gluing point are adjacent gluing points, and the second gluing point is a gluing point in front in the extension direction; obtaining a motion direction vector of a robot end effector at different gluing points according to the projection point and the gluing point on the same virtual plane; obtaining a motion posture of the robot end effector at the different gluing points according to the motion direction vector and the normal vector; and controlling the robot end effector to glue according to the motion posture. The method provided by the application constructs a virtual plane according to the normal vector of the gluing surface based on the gluing points discretized from the gluing trajectory line, that is, the complex part gluing surface is decomposed into a plurality of parts for separate processing, and the virtual plane is also parallel to the gluing surface, and the normal vector is exactly the Z-axis vector of the end effector, so that the verticality between the effector and the gluing surface is ensured, and the stability and uniformity of gluing are improved. Then, the projection is sequentially performed in the extension direction to obtain the motion direction vector of the effector, that is, the X-axis vector of the effector. Since the projection of the latter gluing point is performed on the virtual plane of the former point, the motion vector formed between the projection point and the gluing point on the same virtual plane is also perpendicular to the normal vector, so that the motion of the effector according to the gluing trajectory line is ensured without deviation. Then, the specific motion posture of the end effector is obtained according to the motion direction vector and the normal vector, and the gluing quality according to the motion posture is significantly improved. BRIEF DESCRIPTION OF DRAWINGS

[0039] Figure 1 The electronic device structure schematic diagram of the hardware running environment related to the embodiment of the application;

[0040] Figure 2 The flowchart schematic diagram of the robot gluing method provided by the embodiment of the application;

[0041] Figure 3 The structure schematic diagram of the target part in the robot gluing method provided by the embodiment of the application;

[0042] Figure 4 The schematic diagram of the gluing surface in the robot gluing method provided by the embodiment of the application;

[0043] Figure 5 The schematic diagram of the gluing trajectory line in the robot gluing method provided by the embodiment of the application;

[0044] Figure 6A schematic diagram of a plurality of glue application points obtained by discretizing a glue application trajectory is provided in the robot glue application method according to the embodiments of the present application.

[0045] Figure 7 A schematic diagram of a normal vector of a glue application point relative to a glue application surface is provided in the robot glue application method according to the embodiments of the present application.

[0046] Figure 8 A schematic diagram of a virtual plane is provided in the robot glue application method according to the embodiments of the present application.

[0047] Figure 9 A schematic diagram of projecting a first glue application point to a virtual plane corresponding to a second glue application point is provided in the robot glue application method according to the embodiments of the present application.

[0048] Figure 10 A schematic diagram of a Y-axis vector, a motion direction vector, and a normal vector is provided in the robot glue application method according to the embodiments of the present application.

[0049] Figure 11 A schematic diagram of a module of the robot glue application device according to the embodiments of the present application is provided.

[0050] In the figure, the labels are: 101 - processor, 102 - communication bus, 103 - network interface, 104 - user interface, 105 - memory. DETAILED DESCRIPTION

[0051] It should be understood that the specific embodiments described herein are merely intended to explain the present application and are not intended to limit the present application.

[0052] The main solution of the embodiments of the present application is to provide a robot glue application method, device, storage medium, and electronic equipment. The method comprises: constructing a virtual plane perpendicular to a normal vector of a plurality of glue application points relative to a glue application surface; wherein the glue application points are obtained based on a glue application trajectory, and the glue application trajectory is obtained based on the glue application surface; sequentially projecting a first glue application point to a virtual plane corresponding to a second glue application point along an extension direction of the glue application trajectory to obtain a projection point; wherein the first glue application point and the second glue application point are adjacent glue application points, and the second glue application point is a glue application point in front in the extension direction; obtaining a motion direction vector of a robot end effector at different glue application points according to the projection point and the glue application point on the same virtual plane; obtaining a motion attitude of the robot end effector at different glue application points according to the motion direction vector and the normal vector; and controlling the robot end effector to perform glue application according to the motion attitude.

[0053] With the development of industrial robot technology, the application of robot automatic spraying system in the field of aircraft large component coating has been more and more widely. Automatic spraying is to control the end effector of the robot to move according to the established program and complete the spraying. In order to ensure the uniformity of spraying, it is necessary to ensure the uniformity of the height of the end effector relative to the spraying surface of the part. At present, the general method is to use sensors to identify the distance to make adjustment, or to plan the path in advance according to the spraying surface of the part. The above-mentioned methods can meet the requirements of spraying quality for simple parts, but when facing complex parts, the uneven spraying surface makes it difficult to ensure high spraying quality by the above-mentioned methods.

[0054] In the aircraft large component, there are many beam ribs, and most of them are long and narrow. The identification accuracy of the sensor is limited, and in order to ensure the quality of the glue coating on the long working surface, it is very important to calculate the attitude of the end effector. The attitude of the end effector reflects the working state of the glue coating robot. Precise acquisition of the attitude of the end effector at each station can not only make the glue coating normal meet the vertical of the glue coating contour surface, but also ensure the movement along the glue coating contour surface, which is a powerful guarantee for the uniformity and stability of the beam rib surface glue coating.

[0055] Therefore, the application provides a solution. A virtual plane is constructed by the normal vector of the glue coating point position discrete from the glue coating trajectory line relative to the glue coating surface, that is, the complex part glue coating surface is decomposed into several parts for separate processing. The virtual plane is also parallel to the glue coating surface, and the normal vector is exactly the Z-axis vector of the end effector, which ensures the verticality of the end effector and the glue coating surface, and improves the stability and uniformity of the glue coating. Then, the projection is made in the extension direction in turn to obtain the movement direction vector of the end effector, that is, the X-axis vector of the end effector. Since the projection of the latter glue coating point position is made on the virtual plane of the former point position, the movement vector formed between the projection point position and the glue coating point position on the same virtual plane is also perpendicular to the normal vector, which can ensure that the end effector moves according to the glue coating trajectory line without deviation. Then, the specific movement attitude of the end effector is obtained according to the movement direction vector and the normal vector, and the glue coating quality according to the movement attitude is significantly improved.

[0056] Reference is made to the accompanying drawings Figure 1 , the accompanying drawings Figure 1This is a schematic diagram of the electronic device structure of the hardware operating environment involved in the embodiments of this application. The electronic device may include: a processor 101, such as a central processing unit (CPU), a communication bus 102, a user interface 104, a network interface 103, and a memory 105. The communication bus 102 is used to realize the connection and communication between these components. The user interface 104 may include a display screen and an input unit such as a keyboard. Optionally, the user interface 104 may also include a standard wired interface and a wireless interface. The network interface 103 may optionally include a standard wired interface and a wireless interface (such as a Wi-Fi interface). The memory 105 may be a storage device independent of the aforementioned processor 101. The memory 105 may be a high-speed random access memory (RAM) or a stable non-volatile memory (NVM), such as at least one disk storage device. The processor 101 may be a general-purpose processor, including a central processing unit, a network processor, etc., or it may be a digital signal processor, an application-specific integrated circuit, a field-programmable gate array or other programmable logic device, discrete gate or transistor logic device, or discrete hardware component.

[0057] Those skilled in the art will understand that the appendix Figure 1 The structure shown does not constitute a limitation on the electronic device and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0058] As attached Figure 1 As shown, the memory 105, which serves as a storage medium, may include an operating system, a data storage module, a network communication module, a user interface module, and electronic programs.

[0059] In the appendix Figure 1 In the electronic device shown, the network interface 103 is mainly used for data communication with the network server; the user interface 104 is mainly used for data interaction with the user; the processor 101 and the memory 105 in this application can be set in the electronic device, and the electronic device calls the robot glue application device stored in the memory 105 through the processor 101 and executes the robot glue application method provided in the embodiment of this application.

[0060] See attached document Figure 2 Based on the hardware device of the foregoing embodiments, embodiments of this application provide a robotic adhesive application method, including the following steps:

[0061] S00: Obtain the glue application points on the target part.

[0062] In the implementation process, the target part is a part to be glued, such as the target part shown in FIG. 1. Figure 3 FIG. 2 shows a schematic diagram of a structure of a target part, which is a typical beam rib part, and the gluing surface is the surface along the side edge. The surface to be glued of the target part is approximated as a plurality of point positions arranged along the extension direction of the surface, i.e., gluing point positions, in detail:

[0063] S001: performing a curved surface fairing process on the surface to be glued of the target part to obtain a gluing surface of the target part.

[0064] In the implementation process, since the surface of the target part has a joint and has a large change in surface curvature, the joint thereon is ignored through the curved surface fairing process, and the change in curvature is minimized while maintaining the overall shape of the curved surface through geometric processing.

[0065] S002: obtaining a gluing trajectory line according to the extension direction of the gluing surface of the target part.

[0066] In the implementation process, the surface to be glued is extracted as the gluing surface, such as the target part shown in FIG. 1. For example, the upper surface in the illustrated state is the surface to be glued, and the extracted gluing surface is shown in FIG. 2. Figure 3 Figure 4 Since the gluing surface is long and narrow, the length direction is taken as the extension direction, and the gluing trajectory line is a representation of the gluing surface. In order to ensure that the gluing is performed along the extension direction without deviation, the center line of the gluing surface is taken as the gluing trajectory line, as shown in FIG. 3, i.e., obtaining a gluing trajectory line according to the extension direction of the gluing surface of the target part, including: Figure 5

[0067] Obtaining a center line of the gluing surface as the gluing trajectory line according to the extension direction of the gluing surface of the target part.

[0068] Performing a curved surface fairing process on the surface to be glued of the target part to obtain a gluing surface of the target part.

[0069] S003: discretizing the gluing trajectory line into point positions to obtain a plurality of gluing point positions.

[0070] In the implementation process, the gluing work is regarded as work at a plurality of point positions, and the action is decomposed to each point position, which is more conducive to grasping the posture of the executor during gluing. The gluing trajectory line is discretized into point positions to obtain a plurality of gluing point positions. Discretizing the line into point positions can be regarded as an inverse solution of fitting the point positions into a line, i.e., the discretized point positions are actually on a straight line, and connecting the point positions can obtain the gluing trajectory line, as shown in FIG. 4, which is the discretized point positions. Figure 6

[0071] ​​​S10: Construct a virtual plane perpendicular to the normal vector of the glue applying point relative to the glue applying surface according to the normal vectors of the glue applying points relative to the glue applying surface, wherein the glue applying points are obtained based on the glue applying trajectory, and the glue applying trajectory is obtained based on the glue applying surface.

[0072] In the specific implementation process, the normal vector of each glue applying point relative to the glue applying surface is shown, as shown in FIG. 1. Figure 7 As shown, along the extension direction of the glue applying surface, the glue applying points can be sequentially recorded as P1, P2, P3... Pn, and the normal vectors of the glue applying points relative to the glue applying surface are respectively recorded as N1, N2, N3... Nn. i The normal vector of the glue applying point relative to the glue applying surface at the current position is Nn. After obtaining the normal vector, a virtual plane can be established based on the normal vector, that is, a plane is constructed with the normal vector as the normal vector of the plane, and the corresponding glue applying point is also on the plane, as shown in FIG. 2. As shown, the normal vector of the plane is Nn, and the corresponding glue applying point is Pn. Figure 8

[0073] S20: Project the first glue applying point to the virtual plane corresponding to the second glue applying point in the extension direction of the glue applying trajectory to obtain a projection point, wherein the first glue applying point and the second glue applying point are adjacent glue applying points, and the second glue applying point is the last glue applying point in the extension direction.

[0074] In the specific implementation process, since the glue applying surface is not a flat surface, the virtual planes are not all coincident. For example, when the glue applying surface is horizontal, the virtual planes corresponding to the glue applying points on the surface are coincident, and the points can be regarded as being on the same virtual plane. In the position with ups and downs, the virtual planes can be parallel or intersected. However, it can be determined that the glue applying points corresponding to different virtual planes are on different virtual planes, and therefore, the glue applying points can be projected to the planes other than the virtual planes on which the glue applying points are located.

[0075] In this embodiment, the two adjacent glue applying points are regarded as a projection point group, wherein the last one in the extension direction is the first glue applying point, and the first one is the second glue applying point. For example, when P1 and P2 are regarded as the projection point group, P2 is projected to the virtual plane of P1. When P2 and P3 are regarded as the projection point group, P3 is projected to the virtual plane of P2. In this way, the projection is sequentially performed. Since the last point does not exist, in order to ensure the integrity of the posture acquisition, the last point is used as the first glue applying point. Specifically:

[0076] When the second glue applying point is the last glue applying point in the extension direction of the glue applying trajectory, the first glue applying point is projected to the virtual plane corresponding to the second glue applying point in the extension direction of the glue applying trajectory to obtain a projection point, including:

[0077] ​The first glue application point is projected to the virtual plane corresponding to the second glue application point in sequence along the extension direction of the glue application track line to obtain a first projection point until the second glue application point is the last glue application point in the extension direction of the glue application track line, and the last glue application point of the second glue application point is projected to the virtual plane corresponding to the second glue application point to obtain a second projection point.

[0078] The projection point is obtained according to the first projection point and the second projection point.

[0079] In the specific implementation process, in other words, the last group of projection points is projected to obtain the second projection point, and the point obtained by projection except the last group of projection points is the first projection point, and the two constitute the projection of all points, that is, the projection point. As shown in the accompanying Figure 9 P i is the current processing glue application point, P i+1 is the next point, P i+1 is projected to obtain P i+1 ', P i points to P i+1 ', and the vector points to P Figure 10 as shown in the accompanying

[0080] S30: According to the projection point and the glue application point on the same virtual plane, the motion direction vector of the robot end effector at different glue application points is obtained.

[0081] In the specific implementation process, according to the characteristic that the line is perpendicular to the plane, the normal vector is perpendicular to the virtual plane, and thus perpendicular to all lines on the virtual plane. Therefore, after projecting the next glue application point onto the virtual plane of the previous glue application point, the projection point and the glue application point on the same virtual plane can form a vector, and the projection point is obtained based on the projection of the next glue application point. Therefore, the projection point and the glue application point on the same virtual plane constitute a motion direction vector, that is, when the end effector moves along the direction vector, it is essentially moving according to the glue application point, ensuring that the next movement is along the track line.

[0082] S40: According to the motion direction vector and the normal vector, the motion posture of the robot end effector at different glue application points is obtained.

[0083] In the specific implementation process, the motion posture of the end robot can be decomposed into three-axis posture, that is, three moving axes X, Y, Z, and the aforementioned normal vector is the Z-axis direction, and the motion direction vector is the X-axis vector. According to the orthogonal relationship between the three-axis vectors, two known quantities are known, and the third unknown quantity, that is, the Y-axis vector, can be obtained. Specifically:

[0084] S401: Obtain a Y-axis vector of the robot end effector according to the three-axis orthogonal relationship, the motion direction vector, and the normal vector.

[0085] In the specific implementation process, the pairwise orthogonal relationship of the three axes can be understood as that the vectors of the three-axis directions are zero at any two points, so that The Y-axis vector is represented as Y, and the orthogonal relationship can be represented as:

[0086]

[0087] S402: Obtain a rotation matrix of the robot end effector at different glue application points according to the Y-axis vector of the robot end effector, the motion direction vector, and the normal vector.

[0088] S403: Solve the three-axis attitude angle according to the predetermined relationship between the attitude angle and the rotation matrix.

[0089] S404: Obtain the motion attitude of the robot end effector at different glue application points according to the three-axis attitude angle.

[0090] In the specific implementation process, the rotation matrix R is obtained by calculation After that, are obtained, as shown in the accompanying drawings Figure 10 Finally, the rotation matrix R representing the rotation matrix of the robot end effector at the glue application point is obtained, and the matrix has a predetermined relationship with the attitude angle:

[0091] The three-axis attitude angles a, b, and g of the robot end effector at the glue application point are calculated, and the motion attitude of the end effector can be obtained according to the three-axis attitude angles.

[0092] S50: Control the robot end effector to apply glue according to the motion attitude.

[0093] In the specific implementation process, after the motion attitude of the end effector at all glue application points is obtained, the state of the end effector during the glue application process can be accurately controlled according to the motion attitude, that is, according to the change of the three-axis attitude angle, the change of the end effector from one point to another point can be accurately obtained, the glue application normal is always perpendicular to the glue application surface, and the glue application operation is always performed along the extension direction of the glue application surface, effectively ensuring the stability and uniformity of the glue application.

[0094]

[0095] ​In the embodiment, a virtual plane is constructed by a normal vector of the glue applying surface relative to the glue applying point position discretized from the glue applying track line, that is, the complex glue applying surface of the part is decomposed into several parts for processing respectively, and thus the virtual plane is also parallel to the glue applying surface, and the normal vector is exactly the Z-axis vector of the end effector, thereby ensuring that the end effector is perpendicular to the glue applying surface, and improving the stability and uniformity of glue applying; then the projection is sequentially made along the extension direction to obtain the movement direction vector of the end effector, that is, the X-axis vector of the end effector, and since the projection of the latter glue applying point position is made on the virtual plane of the former point position, the movement vector formed between the projection point position on the same virtual plane and the glue applying point position is also perpendicular to the normal vector, which can ensure that the end effector moves according to the glue applying track line without deviation, and then the specific movement posture of the end effector is obtained according to the movement direction vector and the normal vector, and the glue applying quality according to the movement posture is significantly improved.

[0096] With reference to the drawings Figure 11 Based on the same inventive concept as in the foregoing embodiments, the embodiment of the application further provides a robot glue applying device, which comprises:

[0097] A construction module is configured to construct a virtual plane perpendicular to a normal vector of a glue applying surface relative to a plurality of glue applying point positions, wherein the glue applying point positions are obtained based on a glue applying track line, and the glue applying track line is obtained based on the glue applying surface;

[0098] A projection module is configured to sequentially project a first glue applying point position to a virtual plane corresponding to a second glue applying point position along an extension direction of the glue applying track line to obtain a projection point position, wherein the first glue applying point position and the second glue applying point position are adjacent glue applying point positions, and the second glue applying point position is a glue applying point position in front in the extension direction;

[0099] A first obtaining module is configured to obtain a movement direction vector of a robot end effector at different glue applying point positions according to a projection point position and a glue applying point position on the same virtual plane;

[0100] A second obtaining module is configured to obtain a movement posture of the robot end effector at the different glue applying point positions according to the movement direction vector and the normal vector;

[0101] An execution module is configured to control the robot end effector to perform glue applying according to the movement posture.

[0102] Those skilled in the art should understand that the division of various modules in the embodiments is only a logical division of functions, and in actual application, all or part of the modules can be integrated into one or more actual carriers, and the modules can all be implemented in the form of software calling a processing unit, or all be implemented in the form of hardware, or be implemented in the form of software and hardware combination. It should be noted that the modules in the robot gluing device in the present embodiment are one-to-one corresponding to the steps in the robot gluing method in the foregoing embodiments, and therefore, the specific embodiments of the present embodiment can refer to the embodiments of the foregoing robot gluing method, which will not be described here again.

[0103] Based on the same inventive concept as in the foregoing embodiments, the embodiments of the present application also provide a computer-readable storage medium storing a computer program, and the computer program is loaded and executed by a processor to implement the robot gluing method provided by the embodiments of the present application.

[0104] Based on the same inventive concept as in the foregoing embodiments, the embodiments of the present application also provide an electronic device including a processor and a memory, wherein,

[0105] The memory is configured to store a computer program;

[0106] The processor is configured to load and execute the computer program to enable the electronic device to perform the robot gluing method provided by the embodiments of the present application.

[0107] In addition, based on the same inventive concept as in the foregoing embodiments, the embodiments of the present application also provide a computer program product including a computer program, and when the computer program is executed, the computer program is configured to perform the robot gluing method provided by the embodiments of the present application.

[0108] In some embodiments, the computer-readable storage medium can be a memory such as FRAM, ROM, PROM, EPROM, EEPROM, flash memory, magnetic surface memory, optical disc, or CD-ROM; or can be various devices including one or any combination of the above memories. The computer can be various computing devices including a smart terminal and a server.

[0109] In some embodiments, the executable instructions can be in the form of programs, software, software modules, scripts or codes, written in any form of programming language (including compiled or interpreted languages, or declarative or procedural languages), and can be deployed in any form, including being deployed as independent programs or being deployed as modules, components, subroutines or other units suitable for use in a computing environment.

[0110] By way of example, executable instructions can correspond to a file in a file system, can be stored in a portion of a file that holds other programs or data, e.g., one or more scripts stored in a markup language document, in a single file dedicated to the program in question, or in multiple coordinated files, e.g., files that store one or more modules, subprograms, or portions of code.

[0111] By way of example, executable instructions can be deployed to be executed on one computer, or on multiple computers of a system of computers in one location, or distributed among many locations and computers.

[0112] It has to be noted that, as used herein, the terms "includes" and / or "contains", or any other tautological variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements is not necessarily limited to those elements, but can include other elements not expressly listed or inherent to such process, method, article, or apparatus.

[0113] The above-mentioned sequence numbers of the embodiments of the present application are only for description, and do not represent advantages or disadvantages of the embodiments.

[0114] Those skilled in the art can clearly understand the above-mentioned embodiment methods by the description of the above embodiments, which can be realized by software and necessary general hardware platforms, of course, can also be realized by hardware, but in many cases, the former is a better embodiment. Based on such understanding, the technical solutions of the present application can be embodied in the form of a software product, which is stored in a storage medium (such as a read-only memory / random access memory, a magnetic disk, an optical disk), and includes a plurality of instructions for causing a multimedia terminal device (which can be a mobile phone, a computer, a television receiver, or a network device, etc.) to execute the methods described in the embodiments of the present application.

[0115] In summary, the robot gluing method, device, storage medium and electronic equipment provided by the application comprise the following steps: constructing a virtual plane perpendicular to a normal vector of a gluing surface according to a plurality of gluing point positions relative to the normal vector, wherein the gluing point positions are obtained based on a gluing trajectory line, and the gluing trajectory line is obtained based on the gluing surface; projecting a first gluing point position to a virtual plane corresponding to a second gluing point position in sequence along an extension direction of the gluing trajectory line to obtain a projection point position, wherein the first gluing point position and the second gluing point position are adjacent gluing point positions, and the second gluing point position is a gluing point position in front in the extension direction; obtaining a motion direction vector of a robot end effector at different gluing point positions according to the projection point position and the gluing point position on the same virtual plane; obtaining a motion posture of the robot end effector at the different gluing point positions according to the motion direction vector and the normal vector; and controlling the robot end effector to perform gluing according to the motion posture. The method of the application constructs a virtual plane by the gluing point positions discretized from the gluing trajectory line relative to the normal vector of the gluing surface, that is, the complex part gluing surface is decomposed into a plurality of parts for separate processing, and the virtual plane is also parallel to the gluing surface, and the normal vector is exactly the Z-axis vector of the end effector, thereby ensuring that the effector is perpendicular to the gluing surface, improving the stability and uniformity of gluing. Then, the projection is made in sequence along the extension direction to obtain the motion direction vector of the effector, that is, the X-axis vector of the effector. Since the projection of the latter gluing point position is made to the virtual plane of the former point position, the motion vector formed between the projection point position and the gluing point position on the same virtual plane is also perpendicular to the normal vector, which can ensure that the effector moves according to the gluing trajectory line without deviation. Then, the specific motion posture of the end effector is obtained according to the motion direction vector and the normal vector, and the gluing quality according to the motion posture is significantly improved.

[0116] The above merely describes the preferred embodiments of the application and is not intended to limit the application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the application shall be included in the protection scope of the application.

Claims

1. A method of robotically applying glue, the method comprising: Includes the following steps: Based on the normal vectors of several glue application points relative to the glue application surface, virtual planes perpendicular to the normal vectors are constructed respectively; wherein, the glue application points are obtained by discretizing the glue application trajectory lines, and the glue application trajectory lines are obtained based on the glue application surface; Along the extension direction of the adhesive application trajectory line, the first adhesive application point is sequentially projected onto the virtual plane corresponding to the second adhesive application point to obtain the projected point; wherein, the first adhesive application point and the second adhesive application point are adjacent adhesive application points, and the second adhesive application point is the first adhesive application point in the extension direction; when the second adhesive application point is the last adhesive application point in the extension direction of the adhesive application trajectory line, the step of sequentially projecting the first adhesive application point onto the virtual plane corresponding to the second adhesive application point to obtain the projected point includes: Along the extension direction of the adhesive application trajectory line, the first adhesive application point is sequentially projected onto the virtual plane corresponding to the second adhesive application point to obtain the first projection point. Until the second adhesive application point is the last adhesive application point in the extension direction of the adhesive application trajectory line, the previous adhesive application point of the second adhesive application point is projected onto the virtual plane corresponding to the second adhesive application point to obtain the second projection point. The projection point is obtained based on the first projection point and the second projection point; Based on the projection points and adhesive application points on the same virtual plane, the motion direction vectors of the robot end effector at different adhesive application points are obtained; The motion posture of the robot end effector at different adhesive application points is obtained based on the motion direction vector and the normal vector; the step of obtaining the motion posture of the robot end effector at different adhesive application points based on the motion direction vector and the normal vector includes: Based on the Y-axis vector, the motion direction vector, and the normal vector of the robot end effector, the rotation matrix of the robot end effector at different adhesive application points is obtained; before obtaining the rotation matrix of the robot end effector at different adhesive application points based on the Y-axis vector, the motion direction vector, and the normal vector of the robot end effector, the robot adhesive application method further includes: Based on the orthogonality of the three axes, the motion direction vector, and the normal vector, the Y-axis vector of the robot end effector is obtained; Based on the established relationship between the attitude angles and the rotation matrix, the three-axis attitude angles are solved; Based on the three-axis attitude angles, the motion attitude of the robot end effector at different glue application points is obtained; Based on the stated motion posture, the robot's end effector is controlled to apply adhesive.

2. The method of claim 1, wherein, Before constructing virtual planes perpendicular to the normal vectors of several adhesive application points relative to the adhesive application surface, the robot adhesive application method further includes: The adhesive application trajectory line is obtained based on the extension direction of the adhesive application surface of the target part; The adhesive application trajectory line is discretized into points to obtain a number of adhesive application points.

3. The method of claim 2, wherein, Obtaining the adhesive application trajectory line based on the extension direction of the adhesive application surface of the target part includes: The center line of the gluing surface of the target part is obtained according to the extension direction of the gluing surface of the target part.

4. The method of claim 2, wherein, Before the center line of the gluing trajectory is obtained according to the extension direction of the gluing surface of the target part, the robot gluing method further comprises: The gluing surface of the target part is subjected to curved surface fairing processing to obtain the gluing surface of the target part.

5. A robotic glue application apparatus, characterized by, The robot gluing method comprises: A construction module is configured to construct a virtual plane perpendicular to a normal vector of a gluing surface according to a plurality of gluing point positions, wherein the gluing point positions are obtained based on a gluing trajectory line, and the gluing trajectory line is obtained based on the gluing surface; A projection module is configured to project a first gluing point position to a corresponding virtual plane of a second gluing point position along an extension direction of the gluing trajectory line to obtain a projection point position, wherein the first gluing point position and the second gluing point position are adjacent gluing point positions, and the second gluing point position is a leading gluing point position in the extension direction; when the second gluing point position is the last gluing point position in the extension direction of the gluing trajectory line, the projection module is configured to project the first gluing point position to the corresponding virtual plane of the second gluing point position along the extension direction of the gluing trajectory line to obtain the projection point position, comprising: projecting the first gluing point position to the corresponding virtual plane of the second gluing point position along the extension direction of the gluing trajectory line to obtain a first projection point position, until the second gluing point position is the last gluing point position in the extension direction of the gluing trajectory line, and then projecting a previous gluing point position of the second gluing point position to the corresponding virtual plane of the second gluing point position to obtain a second projection point position; obtaining a projection point position according to the first projection point position and the second projection point position; A first obtaining module is configured to obtain a motion direction vector of a robot end effector at different gluing point positions according to the projection point position and the gluing point position on the same virtual plane; A second obtaining module is configured to obtain a motion posture of the robot end effector at different gluing point positions according to the motion direction vector and the normal vector; the second obtaining module is configured to obtain the motion posture of the robot end effector at different gluing point positions according to the motion direction vector and the normal vector, comprising: obtaining a rotation matrix of the robot end effector at different gluing point positions according to a Y-axis vector of the robot end effector, the motion direction vector, and the normal vector; before the rotation matrix of the robot end effector at different gluing point positions is obtained according to the Y-axis vector of the robot end effector, the motion direction vector, and the normal vector, the method further comprises: obtaining the Y-axis vector of the robot end effector according to a three-axis orthogonal relationship, the motion direction vector, and the normal vector; solving three-axis posture angles according to a predetermined relationship between the posture angles and the rotation matrix; According to the three-axis attitude angle, a motion attitude of the robot end effector at different glue application points is obtained; An execution module is configured to control the robot end effector to apply glue according to the motion attitude.

6. A computer readable storage medium storing a computer program, wherein the computer program comprises the following steps of: The computer program is loaded and executed by the processor to implement the robot glue application method in any one of claims 1-4.

7. An electronic device, comprising: The electronic device comprises a processor and a memory, The memory is configured to store a computer program; The processor is configured to load and execute the computer program to enable the electronic device to perform the robot glue application method in any one of claims 1-4.

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