Adaptive glue coating method and related system for automotive panoramic sunroof

Abstract

The present application provides an adaptive gluing method and a related system for a panoramic sunroof of an automobile, the method comprising: taking a picture by a visual module when the panoramic sunroof frame and the sunroof glass are in a preset relative position range to obtain a first image, the panoramic sunroof frame is fixed by a first fixing component, and the sunroof glass is fixed by a second fixing component; recognizing the first image to obtain a gluing area between the panoramic sunroof frame and the sunroof glass; determining first attribute information of the gluing area; obtaining second attribute information of the panoramic sunroof frame; obtaining third attribute information of the sunroof glass; determining a first gluing parameter corresponding to the gluing area according to the first attribute information, the second attribute information, and the third attribute information; obtaining a first environmental parameter by an environmental sensor; and determining a second gluing parameter according to the first environmental parameter and the first gluing parameter. The use of the embodiments of the present application can improve the intelligence of gluing of the panoramic sunroof.

Description

Technical Field

[0001] The present application relates to the field of motor vehicle technology, and in particular to an adaptive gluing method and a related system for a panoramic sunroof of an automobile. Background Art

[0002] In real life, the panoramic sunroof is an important design element of a car. It not only provides a driving experience with a wide field of vision, but also increases the appearance appeal of the vehicle.

[0003] Sunroof glass plays an important role in automobile manufacturing and is crucial to vehicle performance, safety and quality. Of course, it also involves the vehicle's sealing, waterproof performance, noise reduction, vibration reduction, structural strength, corrosion resistance and other aspects. Therefore, the problem of how to improve the intelligence of panoramic sunroof gluing needs to be solved urgently. Summary of the invention

[0004] The embodiments of the present application provide an adaptive gluing method and related system for a panoramic sunroof of an automobile, which can improve the intelligence of gluing of the panoramic sunroof.

[0005] In a first aspect, an embodiment of the present application provides an adaptive gluing method for a panoramic sunroof of an automobile, which is applied to a robot, wherein the robot comprises: a robot body, a gluing gun, a visual module, and an environmental sensor, wherein the robot body is connected to the gluing gun via a mechanical arm, and the method comprises:

[0006] When the panoramic sunroof frame and the sunroof glass are in a preset relative position range, the visual module is used to shoot and obtain a first image, wherein the panoramic sunroof frame is fixed by a first fixing component and the sunroof glass is fixed by a second fixing component;

[0007] Recognize the first image to obtain a glue coating area between the panoramic sunroof frame and the sunroof glass;

[0008] Determining first attribute information of the glue-coated area;

[0009] Acquiring second attribute information of the panoramic sunroof frame;

[0010] Acquiring third attribute information of the sunroof glass;

[0011] Determine a first gluing parameter corresponding to the gluing area according to the first attribute information, the second attribute information, and the third attribute information;

[0012] Acquiring a first environmental parameter through the environmental sensor;

[0013] Determine a second gluing parameter according to the first environmental parameter and the first gluing parameter;

[0014] Determining a first control parameter of the robotic arm according to the second gluing parameter;

[0015] The robot arm is controlled to work according to the first control parameter, and the glue gun is controlled to perform glue coating operation according to the second glue coating parameter.

[0016] In a second aspect, an embodiment of the present application provides an adaptive gluing system for a panoramic sunroof of an automobile, which is applied to a robot, wherein the robot comprises: a robot body, a gluing gun, a visual module, and an environmental sensor, wherein the robot body is connected to the gluing gun via a mechanical arm, and the system comprises: a shooting unit, a recognition unit, a determination unit, an acquisition unit, and a control unit, wherein:

[0017] The shooting unit is used to shoot through the visual module when the panoramic sunroof frame and the sunroof glass are in a preset relative position range to obtain a first image, the panoramic sunroof frame is fixed by a first fixing component, and the sunroof glass is fixed by a second fixing component;

[0018] The recognition unit is used to recognize the first image to obtain a glue coating area between the panoramic sunroof frame and the sunroof glass;

[0019] The determining unit is used to determine the first attribute information of the glue-coated area;

[0020] The acquisition unit is used to acquire the second attribute information of the panoramic sunroof frame; and acquire the third attribute information of the sunroof glass;

[0021] The determining unit is further used to determine a first gluing parameter corresponding to the gluing area according to the first attribute information, the second attribute information, and the third attribute information;

[0022] The acquisition unit is further used to acquire the first environmental parameter through the environmental sensor;

[0023] The determining unit is further used to determine a second gluing parameter according to the first environmental parameter and the first gluing parameter; and determine a first control parameter of the robotic arm according to the second gluing parameter;

[0024] The control unit is used to control the robot arm to work according to the first control parameter, and control the gluing gun to perform gluing operation according to the second gluing parameter.

[0025] In a third aspect, an embodiment of the present application provides a robot comprising a processor, a memory, a communication interface, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the processor, and the program comprises instructions for executing the steps in the first aspect of the embodiment of the present application.

[0026] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program for electronic data exchange, wherein the computer program enables a computer to execute part or all of the steps described in the first aspect of the embodiment of the present application.

[0027] In a fifth aspect, an embodiment of the present application provides a computer program product, wherein the computer program product includes a non-transitory computer-readable storage medium storing a computer program, and the computer program is operable to cause a computer to execute some or all of the steps described in the first aspect of the embodiment of the present application. The computer program product may be a software installation package.

[0028] The implementation of the embodiments of the present application has the following beneficial effects:

[0029] It can be seen that the adaptive gluing method and related system for a panoramic sunroof of a car described in the embodiment of the present application are applied to a robot, the robot comprising: a robot body, a gluing gun, a vision module, and an environmental sensor, the robot body is connected to the gluing gun through a mechanical arm, and the visual module is used to shoot when the panoramic sunroof frame and the sunroof glass are in a preset relative position range to obtain a first image, the panoramic sunroof frame is fixed by a first fixing component, and the sunroof glass is fixed by a second fixing component; the first image is identified to obtain a gluing area between the panoramic sunroof frame and the sunroof glass; first attribute information of the gluing area is determined; second attribute information of the panoramic sunroof frame is obtained; third attribute information of the sunroof glass is obtained; first gluing parameters corresponding to the gluing area are determined according to the first attribute information, the second attribute information, and the third attribute information; first environmental parameters are obtained through the environmental sensor; second gluing parameters are determined according to the first environmental parameters and the first gluing parameters; first control parameters of the mechanical arm are determined according to the second gluing parameters;The robotic arm is controlled to work according to the first control parameter, and the glue gun is controlled to perform glue coating operation with the second glue coating parameter. First, the panoramic sunroof frame can be fixed by the first fixing component, and the sunroof glass is fixed by the second fixing component. The panoramic sunroof frame and the sunroof glass are fixed to ensure that their relative positions are within a preset relative position range, thereby ensuring subsequent sealing and waterproofing. Second, the first image can be identified to obtain the glue coating area between the panoramic sunroof frame and the sunroof glass. Since the first image shows the relative position relationship between the panoramic sunroof frame and the sunroof glass, the relative position relationship between the panoramic sunroof frame and the sunroof glass is known, and the glue coating area between the panoramic sunroof frame and the sunroof glass can be accurately determined. Third, the first attribute information reflects the characteristics of the glue coating area to a certain extent, the second attribute information reflects the characteristics of the panoramic sunroof frame to a certain extent, and the third attribute information It reflects the characteristics of the sunroof glass to a certain extent. In this way, the first gluing parameter corresponding to the gluing area can be determined according to the first attribute information, the second attribute information, and the third attribute information, so that the final gluing parameter depth can be made to conform to the spatial characteristics (gluing area), material and position characteristics (characteristics of the panoramic sunroof frame, characteristics of the sunroof glass). Fourthly, the first gluing parameter can be dynamically adjusted by the first environmental parameter to obtain the second gluing parameter, so that the final gluing parameter depth further conforms to the actual physical scene. Fifthly, the robot arm can be controlled to work according to the first control parameter, so as to drive the control of the gluing gun to perform the gluing operation with the second gluing parameter. The robot can be adaptively controlled to implement adaptation, and adjustments can be made according to the real-time feedback during the coating process. Sensors and feedback mechanisms can be used to timely correct the gap changes between the gluing gun and the glass, which is helpful for targeted depth gluing to ensure the gluing effect, and can also improve the intelligence of the panoramic sunroof gluing and the intelligence of the robot. ; BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0031] Figure 1 It is a flow chart of an adaptive gluing method for a panoramic sunroof of an automobile provided in an embodiment of the present application;

[0032] Figure 2 is a schematic diagram of the structure of a robot provided in an embodiment of the present application;

[0033] Figure 3This is a block diagram of the functional units of an adaptive gluing system for a panoramic sunroof of a car provided in an embodiment of the present application. DETAILED DESCRIPTION

[0034] The terms "first", "second", etc. in the specification and claims of this application and the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but in a possible example also includes steps or units that are not listed, or in a possible example also includes other steps or units inherent to these processes, methods, products or devices.

[0035] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0036] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0037] In the embodiments of the present application, the robot may be understood as an industrial robot, an automobile processing robot or a gluing workbench with a gluing function.

[0038] See also Figure 1 , Figure 1 The present invention is a flowchart of an adaptive gluing method for a panoramic sunroof of an automobile provided in an embodiment of the present invention, which is applied to a robot. The robot includes: a robot body, a gluing gun, a visual module, and an environmental sensor. The robot body is connected to the gluing gun via a mechanical arm. The adaptive gluing method for a panoramic sunroof of an automobile includes:

[0039] 101. When the panoramic sunroof frame and the sunroof glass are in a preset relative position range, the visual module performs photography to obtain a first image, wherein the panoramic sunroof frame is fixed by a first fixing component, and the sunroof glass is fixed by a second fixing component.

[0040] In an embodiment of the present application, the preset relative position range can be pre-set or system default, and the visual module can include at least one of the following: a camera, an ultrasonic sensor, a radar sensor, a laser sensor, an infrared imager, etc., which are not limited here. For example, a laser 3D vision system is used to monitor the relative position of the glue gun and the glass during the glue coating process in real time. For example, the glue coating system is adjusted through high-speed visual feedback to maintain a constant gap between the glue gun and the glass. The constant gap can be understood as a gap within a certain range. Different processes and different quality requirements have different corresponding range accuracy.

[0041] The first fixing component may be a part of the robot or may not be a part of the robot. The second fixing component may be a part of the robot or may not be a part of the robot. The mechanical structure of the first fixing component and the second fixing component may adopt a rigid support and transmission system to reduce the gap change caused by mechanical vibration or instability and improve the overall stability.

[0042] In a specific implementation, the panoramic sunroof frame can be fixed by a first fixing component, and the sunroof glass can be fixed by a second fixing component. The panoramic sunroof frame and the sunroof glass are fixed to ensure that their relative positions are within a preset relative position range, thereby ensuring subsequent sealing and waterproofing. For example, a high-precision servo support and positioning system is used for the gluing workbench to ensure accurate and stable positioning of the glass, that is, a high-precision servo support and positioning system is used to ensure that the curved surface support is evenly loaded, thereby reducing the vibration and curved surface deformation of the sunroof glass during the gluing process.

[0043] In the embodiment of the present application, when the panoramic sunroof frame and the sunroof glass are in a preset relative position range, it means that the positional relationship between the panoramic sunroof frame and the sunroof glass meets the requirements, and the subsequent gluing work can be carried out. Then, it can be photographed to obtain a first image, and the first image can be used to identify which positions need to be glued and where the gluing positions are, so as to carry out targeted gluing to ensure the gluing effect, and also improve the intelligence of the panoramic sunroof gluing and the intelligence of the robot. In the specific implementation, a high-precision visual system can be used to monitor the relative position of the glue gun and the glass in real time during the gluing process.

[0044] 102. Recognize the first image to obtain a glue coating area between the panoramic sunroof frame and the sunroof glass.

[0045] In a specific implementation, the first image can be identified to obtain the glue coating area between the panoramic sunroof frame and the sunroof glass. Since the first image shows the relative position relationship between the panoramic sunroof frame and the sunroof glass, and the relative position relationship between the panoramic sunroof frame and the sunroof glass is known, the glue coating area between the panoramic sunroof frame and the sunroof glass can be accurately determined.

[0046] 103. Determine first attribute information of the glue-coated area.

[0047] Among them, the glue coating area can be composed of multiple position points, each position point can correspond to a first attribute information, and the first attribute information may include at least one of the following: glue coating position, position coordinates, position number, gap width between the panoramic sunroof frame and the sunroof glass at each position point, etc., which is not limited here.

[0048] 104. Obtain second attribute information of the panoramic sunroof frame.

[0049] Among them, the second attribute information of the panoramic sunroof frame may include at least one of the following: position coordinates, material of the panoramic sunroof frame, craftsmanship of the panoramic sunroof frame, curvature of the panoramic sunroof frame, waterproof requirements of the panoramic sunroof frame, sealing requirements of the panoramic sunroof frame, etc., which are not limited here.

[0050] In a specific implementation, different positions of the panoramic sunroof frame may correspond to different second attribute information. Each position point may correspond to a second attribute information. Specifically, the second attribute information of the panoramic sunroof frame may be obtained.

[0051] 105. Obtain third attribute information of the skylight glass.

[0052] Among them, the third attribute information of the sunroof glass includes at least one of the following: location coordinates, material of the sunroof glass, craftsmanship of the sunroof glass, waterproof requirements of the sunroof glass, sealing requirements of the sunroof glass, glass thickness, glass curvature, etc., which are not limited here.

[0053] In a specific implementation, different positions of the sunroof glass may correspond to different third attribute information. Each position point may correspond to a piece of third attribute information. Specifically, the third attribute information of the sunroof glass may be obtained.

[0054] 106. Determine a first gluing parameter corresponding to the gluing area according to the first attribute information, the second attribute information, and the third attribute information.

[0055] Among them, the first attribute information reflects the characteristics of the glue coating area to a certain extent, the second attribute information reflects the characteristics of the panoramic sunroof frame to a certain extent, and the third attribute information reflects the characteristics of the sunroof glass to a certain extent. In this way, the first glue coating parameter corresponding to the glue coating area can be determined according to the first attribute information, the second attribute information, and the third attribute information. Therefore, the final glue coating parameter depth can be made to conform to the spatial characteristics (glue coating area), material and position characteristics (characteristics of the panoramic sunroof frame, characteristics of the sunroof glass), and then, targeted glue coating can be performed to ensure the gluing effect, and the intelligence of the panoramic sunroof gluing and the intelligence of the robot can also be improved.

[0056] Among them, the first gluing parameter may include at least one of the following: gluing position, gluing angle, gluing speed, gluing strength, gluing height, gluing color, gluing temperature, etc., which are not limited here.

[0057] 107. Acquire a first environmental parameter through the environmental sensor.

[0058] In the embodiment of the present application, the first environmental parameter may include at least one of the following: weather, temperature, humidity, wind speed, PM2.5, magnetic field interference intensity, etc., which are not limited here.

[0059] In a specific implementation, the first environmental parameter may be acquired through an environmental sensor.

[0060] 108. Determine a second gluing parameter according to the first environmental parameter and the first gluing parameter.

[0061] In the specific implementation, the first gluing parameter can be dynamically adjusted by the first environmental parameter to obtain the second gluing parameter, so as to further make the final gluing parameter depth conform to the actual physical scene, and further targeted gluing can be performed to ensure the gluing effect, and also to enhance the intelligence of the panoramic sunroof gluing and the intelligence of the robot.

[0062] 109. Determine a first control parameter of the robotic arm according to the second gluing parameter.

[0063] Among them, the first control parameter of the robotic arm may include at least one of the following: the angle of the robotic arm, the strength of the robotic arm, the movement of the robotic arm, the posture of the robotic arm, the moving speed of the robotic arm, etc., which are not limited here.

[0064] In the specific implementation, since the second gluing parameter includes the gluing position, the corresponding posture of the gluing gun is different at different positions. Therefore, the mapping relationship between the preset gluing parameters and the control parameters can be pre-stored. Then, the first control parameter corresponding to the second gluing parameter can be determined based on the mapping relationship. In this way, the robotic arm can be ensured to move synchronously with the gluing gun, that is, the robotic arm and the gluing gun can be regarded as an integrated unit, and further targeted deep gluing can be performed to ensure the gluing effect. The intelligence of the panoramic sunroof gluing and the intelligence of the robot can also be improved.

[0065] 110. Control the robot arm to work according to the first control parameter, and control the gluing gun to perform gluing operation according to the second gluing parameter.

[0066] In the embodiment of the present application, the robotic arm can be controlled to work according to the first control parameter, thereby driving the glue gun to perform gluing operations with the second gluing parameter. The robot can be adaptively controlled to implement adaptation and make adjustments based on real-time feedback during the coating process. Sensors and feedback mechanisms can be used to promptly correct changes in the gap between the glue gun and the glass, which helps to achieve targeted depth gluing to ensure the gluing effect. It can also enhance the intelligence of the panoramic sunroof gluing and the intelligence of the robot.

[0067] In a specific implementation, the robot may be equipped with an adaptive glue gun system. The glue gun is installed on a servo system. According to detection signals related to the relative positions of the glue gun and the glass, a feedback mechanism is established to correct the gap changes between the glue gun and the glass in a timely manner.

[0068] Optionally, the glue coating area includes a plurality of position points, and the first attribute information includes a gap width between the panoramic sunroof frame and the sunroof glass at each position point in the glue coating area, and each gap width corresponds to a position coordinate; the above step 106, determining the first glue coating parameter corresponding to the glue coating area according to the first attribute information, the second attribute information, and the third attribute information, may include the following steps:

[0069] Acquire all gap widths in the first attribute information to obtain multiple gap widths;

[0070] Dividing the glue coating area into a plurality of areas according to the plurality of gap widths;

[0071] Acquire a plurality of first gap widths of a first region, where the first region is any region among the plurality of regions;

[0072] Determine a first standard deviation and a first mean of the plurality of first gap widths;

[0073] Determining a reference gluing parameter corresponding to the first mean value;

[0074] determining a first adjustment parameter corresponding to the first standard deviation;

[0075] Determine a first reference gluing parameter according to the first adjustment parameter and the reference gluing parameter;

[0076] Determining a first influence coefficient corresponding to the second attribute information;

[0077] Determining a second influence coefficient corresponding to the third attribute information;

[0078] The first gluing parameter corresponding to the first area is determined according to the first influence coefficient, the second influence coefficient and the first reference gluing parameter.

[0079] In an embodiment of the present application, the glue-coated area may include multiple position points, and the first attribute information includes the gap width between the panoramic sunroof frame and the sunroof glass at each position point in the glue-coated area, and each gap width corresponds to a position coordinate.

[0080] In a specific implementation, all the gap widths in the first attribute information may be acquired to obtain a plurality of gap widths, and then the glue coating area may be divided into a plurality of areas according to the plurality of gap widths.

[0081] Taking the first area as an example, the first area is any area in the multiple areas. Then, multiple first gap widths of the first area can be obtained, and the multiple first gap widths can be subjected to standard deviation calculation to obtain a first standard deviation, and the multiple first gap widths can be subjected to mean calculation to obtain a first mean, the first standard deviation reflects the stability of the relative position relationship between the panoramic sunroof frame and the sunroof glass, and the first mean reflects the approximate standard of glue coating.

[0082] In a specific implementation, a mapping relationship between a preset mean and a glue coating parameter can be pre-stored, and then, a reference glue coating parameter corresponding to the first mean can be determined based on the mapping relationship. In this way, a glue coating parameter suitable for the actual gap environment can be obtained. Furthermore, a mapping relationship between a preset standard deviation and an adjustment parameter can be pre-stored, and then, a first adjustment parameter corresponding to the first standard deviation can be determined based on the mapping relationship, and then the first reference glue coating parameter is determined according to the first adjustment parameter and the reference glue coating parameter, that is, the first reference glue coating parameter = (1 + first adjustment parameter) * reference glue coating parameter. In this way, the reference glue coating parameter can be dynamically adjusted based on the stability of the relative position relationship between the panoramic sunroof frame and the sunroof glass, so that the gap difference between different positions in the area can be overcome, thereby ensuring the stability of the glue coating effect between areas.

[0083] Next, a first mapping relationship between preset attribute information and influence coefficient can be pre-stored, and then, a first influence coefficient corresponding to the second attribute information can be determined based on the first mapping relationship, and a second mapping relationship between preset attribute information and influence coefficient can be pre-stored, and then, a second influence coefficient corresponding to the third attribute information can be determined based on the second mapping relationship. Then, the first gluing parameter corresponding to the first area can be determined according to the first influence coefficient, the second influence coefficient and the first reference gluing parameter, that is, the first gluing parameter = (1 + first influence coefficient) / (1 + second influence coefficient) * first reference gluing parameter. Since the panoramic sunroof frame and the sunroof glass are in a relative position relationship, the material influence between the two is also mutually restrained. Therefore, the gluing parameters can be further optimized in depth based on the characteristics of the panoramic sunroof frame and the characteristics of the sunroof glass, so as to achieve targeted deep gluing to ensure the gluing effect, and also to improve the intelligence of the panoramic sunroof gluing and the intelligence of the robot.

[0084] The value range of the first adjustment parameter may be -0.1 to 0.1, the value range of the first influence coefficient may be -0.03 to 0.03, and the value range of the second influence coefficient may be -0.03 to 0.03.

[0085] Optionally, the above step of dividing the glue coating area into multiple areas according to the multiple gap widths may include the following steps:

[0086] Determining a second mean value of the plurality of gap widths;

[0087] Select a second gap width from among the plurality of gap widths, the absolute value of the difference between the gap width and the second mean value being smaller than a preset threshold, to obtain a plurality of second gap widths;

[0088] Screening the plurality of second gap widths to obtain a plurality of third gap widths, so as to ensure that the distance between the position coordinates corresponding to any two of the third gap widths is within a preset distance range;

[0089] Determine the position points corresponding to the plurality of third gap widths to obtain a plurality of position points;

[0090] The glue coating area is divided into the multiple areas according to the multiple position points.

[0091] The preset threshold can be preset or set by the system default. The preset threshold can be different for different process requirements. The preset distance range can be preset or set by the system default.

[0092] In a specific implementation, the mean of multiple gap widths can be calculated to obtain a second mean, and then a second gap width whose absolute value of the difference between the gap width and the second mean is less than a preset threshold is selected from the multiple gap widths to obtain multiple second gap widths. Thus, appropriate area division position points can be selected, which helps to constrain the gap width differences between areas within a reasonable range.

[0093] Furthermore, multiple second gap widths can be screened to obtain multiple third gap widths to ensure that the distance between the position coordinates corresponding to any two third gap widths is within a preset distance range, thereby ensuring that the length of the area will not be too long or too short. Then, the position points corresponding to the multiple third gap widths can be determined to obtain multiple position points, and the gluing area can be divided into multiple areas according to the multiple position points, that is, an area is between two adjacent position points. On the one hand, appropriate area division position points can be selected to help constrain the gap width differences between areas within a reasonable range. On the other hand, it can ensure that the length of the area will not be too long or too short, thereby helping to achieve targeted deep gluing to ensure the gluing effect, and also improving the intelligence of the panoramic sunroof gluing and the intelligence of the robot.

[0094] Optionally, the above step of determining the second gluing parameter according to the first environmental parameter and the first gluing parameter may include the following steps:

[0095] Obtaining reference environment parameters corresponding to the first gluing parameters;

[0096] determining a first normalized deviation parameter between the first environmental parameter and the reference environmental parameter;

[0097] determining a first feedback adjustment parameter corresponding to the first normalized deviation parameter;

[0098] The first gluing parameter is feedback-adjusted according to the first feedback adjustment parameter to obtain the second gluing parameter.

[0099] In the embodiment of the present application, different glue coating parameters are adapted to different optimal environments, and thus, their environmental parameters are also different. Thus, a mapping relationship between preset glue coating parameters and environmental parameters can be pre-stored, and then, a reference environmental parameter corresponding to the first glue coating parameter can be determined based on the mapping relationship, and a first normalized deviation parameter between the first environmental parameter and the reference environmental parameter can also be determined, that is, the first normalized deviation parameter = (first environmental parameter - reference environmental parameter) / (first environmental parameter + reference environmental parameter). Then, a mapping relationship between a preset normalized deviation parameter and a feedback adjustment parameter can also be pre-stored, and then, based on the mapping relationship, a first normalized deviation parameter can be determined. The first feedback adjustment parameter corresponding to the first normalized deviation parameter is determined based on the mapping relationship. Finally, the first gluing parameter can be adjusted according to the first feedback adjustment parameter to obtain the second gluing parameter. The second gluing parameter = the first gluing parameter * (1 + the first feedback adjustment parameter). The normalized deviation parameter reflects the degree of environmental difference to a certain extent. In addition, the use of the normalized deviation parameter can also make the feedback adjustment softer, so that the final gluing parameter depth conforms to the actual physical environment, which helps to achieve targeted depth gluing to ensure the gluing effect, and can also enhance the intelligence of the panoramic sunroof gluing and the intelligence of the robot.

[0100] Optionally, the above step of determining the first gluing parameter corresponding to the first area according to the first influence coefficient, the second influence coefficient and the first reference gluing parameter may include the following steps:

[0101] Determine a second reference glue coating parameter according to the first influence coefficient, the second influence coefficient and the first reference glue coating parameter;

[0102] Acquiring a first vibration parameter of the panoramic sunroof frame;

[0103] Acquiring a second vibration parameter of the sunroof glass;

[0104] determining a second feedback adjustment parameter corresponding to the first vibration parameter;

[0105] determining a third feedback adjustment parameter corresponding to the second vibration parameter;

[0106] Feedback adjustment is performed on the second reference gluing parameter according to the second feedback adjustment parameter and the third feedback adjustment parameter to obtain the first gluing parameter.

[0107] In the specific implementation, the second reference gluing parameter can be determined according to the first influence coefficient, the second influence coefficient and the first reference gluing parameter. Specifically, the second reference gluing parameter = (1 + first influence coefficient) / (1 + second influence coefficient) * first reference gluing parameter. Since the panoramic sunroof frame and the sunroof glass are in a relative position relationship, the material influence between the two is also mutually restrained. Therefore, the gluing parameters can be preliminarily optimized in depth based on the characteristics of the panoramic sunroof frame and the characteristics of the sunroof glass.

[0108] Furthermore, since both the panoramic sunroof frame and the sunroof glass vibrate to a certain extent during the gluing process, sensors can be set on the panoramic sunroof frame and the sunroof glass, and vibration parameters of the two can be collected based on the sensors. Specifically, a first vibration parameter of the panoramic sunroof frame can be obtained, and a second vibration parameter of the sunroof glass can be obtained. Then, a third mapping relationship between the preset vibration parameter and the feedback adjustment parameter can be pre-stored, and then, a second feedback adjustment parameter corresponding to the first vibration parameter can be determined based on the third mapping relationship. Accordingly, a fourth mapping relationship between the preset vibration parameter and the feedback adjustment parameter can also be pre-stored, and a third feedback adjustment parameter corresponding to the second vibration parameter can be determined based on the fourth mapping relationship. Finally, the first feedback adjustment parameter can be adjusted based on the second feedback adjustment parameter and the third feedback adjustment parameter. The second reference gluing parameter is feedback-adjusted to obtain the first gluing parameter. In the specific implementation, the first gluing parameter = (1 + the second feedback adjustment parameter) * (1 + the third feedback adjustment parameter) * the second reference gluing parameter. The specific value ranges of the first feedback adjustment parameter and the second feedback adjustment parameter are determined based on the actual situation. For example, if gluing is applied to the panoramic sunroof frame and the sunroof glass, the specific value ranges of the first feedback adjustment parameter and the second feedback adjustment parameter are different. In this way, not only can the gluing parameters be further optimized based on the characteristics of the panoramic sunroof frame and the characteristics of the sunroof glass, but also the gluing parameters can be deeply feedback-adjusted based on the vibration conditions in the actual gluing process. Thus, targeted deep gluing is performed to ensure the gluing effect and the intelligence of the panoramic sunroof gluing and the intelligence of the robot can be improved.

[0109] Optionally, the above step of determining the reference gluing parameter corresponding to the first mean value may include the following steps:

[0110] Acquire actual gluing parameters of a previous area adjacent to the first area;

[0111] Acquire the gap width of the previous area to obtain a plurality of fourth gap widths;

[0112] Determine a second standard deviation and a third mean of the plurality of fourth gap widths;

[0113] determining a second normalized deviation parameter between the first standard deviation and the second standard deviation;

[0114] determining a third normalized deviation parameter from the first mean and the third mean;

[0115] determining a first adjustment parameter corresponding to the second normalized deviation parameter;

[0116] determining a first fine-tuning parameter corresponding to the third normalized deviation parameter;

[0117] The actual gluing parameter is adjusted according to the first adjustment parameter and the first fine-tuning parameter to obtain the reference gluing parameter.

[0118] In the specific implementation, the actual gluing parameters of the previous area adjacent to the first area can be obtained, and the gap width of the previous area can also be obtained to obtain multiple fourth gap widths, and the multiple fourth gap widths can be subjected to standard deviation calculation to obtain the second standard deviation, and the multiple fourth gap widths can be subjected to mean calculation to obtain the third mean.

[0119] Next, the second normalized deviation parameter between the first standard deviation and the second standard deviation can be determined, the second normalized deviation parameter = (first standard deviation - second standard deviation) / (first standard deviation + second standard deviation), and the third normalized deviation parameter between the first mean and the third mean can also be determined, that is, the third normalized deviation parameter = (first mean - third mean) / (first mean + third mean).

[0120] Furthermore, a fifth mapping relationship between a preset normalized deviation parameter and an adjustment parameter can be pre-stored, and a first adjustment parameter corresponding to the second normalized deviation parameter can be determined based on the fifth mapping relationship. A sixth mapping relationship between a preset normalized deviation parameter and an adjustment parameter can be pre-stored, and a first fine-tuning parameter corresponding to the third normalized deviation parameter can be determined based on the sixth mapping relationship. Then, the actual gluing parameter is adjusted according to the first adjustment parameter and the first fine-tuning parameter to obtain a reference gluing parameter, where the reference gluing parameter = (1 + first adjustment parameter) * (1 + first fine-tuning parameter) * actual gluing parameter. In this way, the characteristics and correlation between different areas can be considered, and the gluing parameter of the previous area can be used as a reference. The gluing parameters can be dynamically adjusted using the differences between adjacent areas, which not only makes the gluing effect smooth, but also makes the gluing effect continuous. Thus, targeted deep gluing can be performed to ensure the gluing effect, and the intelligence of the panoramic sunroof gluing and the intelligence of the robot can also be improved.

[0121] In a specific implementation, based on the embodiment of the present application, a high-precision glue coating system can be used to ensure that the glue is evenly distributed on the entire surface; ensuring that the fluidity and viscosity of the glue are suitable for the current process conditions.

[0122] It can be seen that the adaptive gluing method for a panoramic sunroof of a car described in the embodiment of the present application is applied to a robot, the robot comprising: a robot body, a gluing gun, a vision module, and an environmental sensor, the robot body is connected to the gluing gun through a mechanical arm, and the visual module is used to shoot when the panoramic sunroof frame and the sunroof glass are in a preset relative position range to obtain a first image, the panoramic sunroof frame is fixed by a first fixing component, and the sunroof glass is fixed by a second fixing component; the first image is identified to obtain a gluing area between the panoramic sunroof frame and the sunroof glass; first attribute information of the gluing area is determined; second attribute information of the panoramic sunroof frame is obtained; third attribute information of the sunroof glass is obtained; first gluing parameters corresponding to the gluing area are determined according to the first attribute information, the second attribute information, and the third attribute information; first environmental parameters are obtained through the environmental sensor; second gluing parameters are determined according to the first environmental parameters and the first gluing parameters; first control parameters of the mechanical arm are determined according to the second gluing parameters;The robotic arm is controlled to work according to the first control parameter, and the glue gun is controlled to perform glue coating operation with the second glue coating parameter. First, the panoramic sunroof frame can be fixed by the first fixing component, and the sunroof glass is fixed by the second fixing component. The panoramic sunroof frame and the sunroof glass are fixed to ensure that their relative positions are within a preset relative position range, thereby ensuring subsequent sealing and waterproofing. Second, the first image can be identified to obtain the glue coating area between the panoramic sunroof frame and the sunroof glass. Since the first image shows the relative position relationship between the panoramic sunroof frame and the sunroof glass, the relative position relationship between the panoramic sunroof frame and the sunroof glass is known, and the glue coating area between the panoramic sunroof frame and the sunroof glass can be accurately determined. Third, the first attribute information reflects the characteristics of the glue coating area to a certain extent, the second attribute information reflects the characteristics of the panoramic sunroof frame to a certain extent, and the third attribute information It reflects the characteristics of the sunroof glass to a certain extent. In this way, the first gluing parameter corresponding to the gluing area can be determined according to the first attribute information, the second attribute information, and the third attribute information, so that the final gluing parameter depth can be made to conform to the spatial characteristics (gluing area), material and position characteristics (characteristics of the panoramic sunroof frame, characteristics of the sunroof glass). Fourthly, the first gluing parameter can be dynamically adjusted by the first environmental parameter to obtain the second gluing parameter, so that the final gluing parameter depth further conforms to the actual physical scene. Fifthly, the robot arm can be controlled to work according to the first control parameter, so as to drive the control of the gluing gun to perform the gluing operation with the second gluing parameter. The robot can be adaptively controlled to implement adaptation, and adjustments can be made according to the real-time feedback during the coating process. Sensors and feedback mechanisms can be used to timely correct the gap changes between the gluing gun and the glass, which is helpful for targeted depth gluing to ensure the gluing effect, and can also improve the intelligence of the panoramic sunroof gluing and the intelligence of the robot. ;

[0123] In accordance with the above embodiment, please refer to Figure 2 , Figure 2 : is a schematic diagram of the structure of a robot provided in an embodiment of the present application, the robot includes a processor, a memory, a communication interface and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the processor. In the embodiment of the present application, the robot also includes: a robot body, a glue gun, a vision module, and an environmental sensor, the robot body is connected to the glue gun through a mechanical arm, and the program includes instructions for executing the following steps:

[0124] When the panoramic sunroof frame and the sunroof glass are in a preset relative position range, the visual module is used to shoot and obtain a first image, wherein the panoramic sunroof frame is fixed by a first fixing component and the sunroof glass is fixed by a second fixing component;

[0125] Recognize the first image to obtain a glue coating area between the panoramic sunroof frame and the sunroof glass;

[0126] Determining first attribute information of the glue-coated area;

[0127] Acquiring second attribute information of the panoramic sunroof frame;

[0128] Acquiring third attribute information of the sunroof glass;

[0129] Determine a first gluing parameter corresponding to the gluing area according to the first attribute information, the second attribute information, and the third attribute information;

[0130] Acquiring a first environmental parameter through the environmental sensor;

[0131] Determine a second gluing parameter according to the first environmental parameter and the first gluing parameter;

[0132] Determining a first control parameter of the robotic arm according to the second gluing parameter;

[0133] The robot arm is controlled to work according to the first control parameter, and the glue gun is controlled to perform glue coating operation according to the second glue coating parameter.

[0134] Optionally, the glue coating area includes a plurality of position points, and the first attribute information includes a gap width between the panoramic sunroof frame and the sunroof glass at each position point in the glue coating area, and each gap width corresponds to a position coordinate;

[0135] In terms of determining the first gluing parameter corresponding to the gluing area according to the first attribute information, the second attribute information, and the third attribute information, the program includes instructions for executing the following steps:

[0136] Acquire all gap widths in the first attribute information to obtain multiple gap widths;

[0137] Dividing the glue coating area into a plurality of areas according to the plurality of gap widths;

[0138] Acquire a plurality of first gap widths of a first region, where the first region is any region among the plurality of regions;

[0139] Determine a first standard deviation and a first mean of the plurality of first gap widths;

[0140] Determining a reference gluing parameter corresponding to the first mean value;

[0141] determining a first adjustment parameter corresponding to the first standard deviation;

[0142] Determine a first reference gluing parameter according to the first adjustment parameter and the reference gluing parameter;

[0143] Determining a first influence coefficient corresponding to the second attribute information;

[0144] Determining a second influence coefficient corresponding to the third attribute information;

[0145] The first gluing parameter corresponding to the first area is determined according to the first influence coefficient, the second influence coefficient and the first reference gluing parameter.

[0146] Optionally, in the aspect of dividing the glue coating area into a plurality of areas according to the plurality of gap widths, the program includes instructions for executing the following steps:

[0147] Determining a second mean value of the plurality of gap widths;

[0148] Select a second gap width from among the plurality of gap widths, the absolute value of the difference between the gap width and the second mean value being smaller than a preset threshold, to obtain a plurality of second gap widths;

[0149] Screening the plurality of second gap widths to obtain a plurality of third gap widths, so as to ensure that the distance between the position coordinates corresponding to any two of the third gap widths is within a preset distance range;

[0150] Determine the position points corresponding to the plurality of third gap widths to obtain a plurality of position points;

[0151] The glue coating area is divided into the multiple areas according to the multiple position points.

[0152] Optionally, in the aspect of determining the second gluing parameter according to the first environmental parameter and the first gluing parameter, the program includes instructions for executing the following steps:

[0153] Obtaining reference environment parameters corresponding to the first gluing parameters;

[0154] determining a first normalized deviation parameter between the first environmental parameter and the reference environmental parameter;

[0155] determining a first feedback adjustment parameter corresponding to the first normalized deviation parameter;

[0156] The first gluing parameter is feedback-adjusted according to the first feedback adjustment parameter to obtain the second gluing parameter.

[0157] Optionally, in the aspect of determining the first gluing parameter corresponding to the first area according to the first influence coefficient, the second influence coefficient and the first reference gluing parameter, the program includes instructions for executing the following steps:

[0158] Determine a second reference glue coating parameter according to the first influence coefficient, the second influence coefficient and the first reference glue coating parameter;

[0159] Acquiring a first vibration parameter of the panoramic sunroof frame;

[0160] Acquiring a second vibration parameter of the sunroof glass;

[0161] determining a second feedback adjustment parameter corresponding to the first vibration parameter;

[0162] determining a third feedback adjustment parameter corresponding to the second vibration parameter;

[0163] Feedback adjustment is performed on the second reference gluing parameter according to the second feedback adjustment parameter and the third feedback adjustment parameter to obtain the first gluing parameter.

[0164] It can be seen that the robot described in the embodiment of the present application includes: a robot body, a gluing gun, a vision module, and an environmental sensor. The robot body is connected to the gluing gun through a mechanical arm, and the visual module is used to shoot when the panoramic sunroof frame and the sunroof glass are in a preset relative position range to obtain a first image. The panoramic sunroof frame is fixed by a first fixing component, and the sunroof glass is fixed by a second fixing component; the first image is recognized to obtain a gluing area between the panoramic sunroof frame and the sunroof glass; first attribute information of the gluing area is determined; second attribute information of the panoramic sunroof frame is obtained; third attribute information of the sunroof glass is obtained; first gluing parameters corresponding to the gluing area are determined according to the first attribute information, the second attribute information, and the third attribute information; first environmental parameters are obtained through the environmental sensor; second gluing parameters are determined according to the first environmental parameters and the first gluing parameters; first control parameters of the mechanical arm are determined according to the second gluing parameters;The robotic arm is controlled to work according to the first control parameter, and the glue gun is controlled to perform glue coating operation with the second glue coating parameter. First, the panoramic sunroof frame can be fixed by the first fixing component, and the sunroof glass is fixed by the second fixing component. The panoramic sunroof frame and the sunroof glass are fixed to ensure that their relative positions are within a preset relative position range, thereby ensuring subsequent sealing and waterproofing. Second, the first image can be identified to obtain the glue coating area between the panoramic sunroof frame and the sunroof glass. Since the first image shows the relative position relationship between the panoramic sunroof frame and the sunroof glass, the relative position relationship between the panoramic sunroof frame and the sunroof glass is known, and the glue coating area between the panoramic sunroof frame and the sunroof glass can be accurately determined. Third, the first attribute information reflects the characteristics of the glue coating area to a certain extent, the second attribute information reflects the characteristics of the panoramic sunroof frame to a certain extent, and the third attribute information It reflects the characteristics of the sunroof glass to a certain extent. In this way, the first gluing parameter corresponding to the gluing area can be determined according to the first attribute information, the second attribute information, and the third attribute information, so that the final gluing parameter depth can be made to conform to the spatial characteristics (gluing area), material and position characteristics (characteristics of the panoramic sunroof frame, characteristics of the sunroof glass). Fourthly, the first gluing parameter can be dynamically adjusted by the first environmental parameter to obtain the second gluing parameter, so that the final gluing parameter depth further conforms to the actual physical scene. Fifthly, the robot arm can be controlled to work according to the first control parameter, so as to drive the control of the gluing gun to perform the gluing operation with the second gluing parameter. The robot can be adaptively controlled to implement adaptation, and adjustments can be made according to the real-time feedback during the coating process. Sensors and feedback mechanisms can be used to timely correct the gap changes between the gluing gun and the glass, which is helpful for targeted depth gluing to ensure the gluing effect, and can also improve the intelligence of the panoramic sunroof gluing and the intelligence of the robot. ;

[0165] Figure 3 300 is a functional unit composition block diagram of an adaptive gluing system 300 for a panoramic sunroof of an automobile involved in an embodiment of the present application. The adaptive gluing system 300 for a panoramic sunroof of an automobile is applied to a robot, and the robot comprises: a robot body, a gluing gun, a visual module, and an environmental sensor. The robot body is connected to the gluing gun via a mechanical arm. The adaptive gluing system 300 for a panoramic sunroof of an automobile comprises: a shooting unit 301, a recognition unit 302, a determination unit 303, an acquisition unit 304, and a control unit 305, wherein:

[0166] The shooting unit 301 is used to shoot through the visual module when the panoramic sunroof frame and the sunroof glass are in a preset relative position range to obtain a first image, the panoramic sunroof frame is fixed by a first fixing component, and the sunroof glass is fixed by a second fixing component;

[0167] The recognition unit 302 is used to recognize the first image to obtain the glue coating area between the panoramic sunroof frame and the sunroof glass;

[0168] The determining unit 303 is used to determine the first attribute information of the glue-coated area;

[0169] The acquisition unit 304 is used to acquire the second attribute information of the panoramic sunroof frame; and acquire the third attribute information of the sunroof glass;

[0170] The determining unit 303 is further configured to determine a first gluing parameter corresponding to the gluing area according to the first attribute information, the second attribute information, and the third attribute information;

[0171] The acquisition unit 304 is further configured to acquire a first environmental parameter through the environmental sensor;

[0172] The determining unit 303 is further configured to determine a second gluing parameter according to the first environmental parameter and the first gluing parameter; and determine a first control parameter of the robot arm according to the second gluing parameter;

[0173] The control unit 305 is used to control the robot arm to work according to the first control parameter, and control the gluing gun to perform gluing operation according to the second gluing parameter.

[0174] Optionally, the glue coating area includes a plurality of position points, and the first attribute information includes a gap width between the panoramic sunroof frame and the sunroof glass at each position point in the glue coating area, and each gap width corresponds to a position coordinate;

[0175] In determining the first gluing parameter corresponding to the gluing area according to the first attribute information, the second attribute information, and the third attribute information, the determining unit 303 is specifically used to:

[0176] Acquire all gap widths in the first attribute information to obtain multiple gap widths;

[0177] Dividing the glue coating area into a plurality of areas according to the plurality of gap widths;

[0178] Acquire a plurality of first gap widths of a first region, where the first region is any region among the plurality of regions;

[0179] Determine a first standard deviation and a first mean of the plurality of first gap widths;

[0180] Determining a reference gluing parameter corresponding to the first mean value;

[0181] determining a first adjustment parameter corresponding to the first standard deviation;

[0182] Determine a first reference gluing parameter according to the first adjustment parameter and the reference gluing parameter;

[0183] Determining a first influence coefficient corresponding to the second attribute information;

[0184] Determining a second influence coefficient corresponding to the third attribute information;

[0185] The first gluing parameter corresponding to the first area is determined according to the first influence coefficient, the second influence coefficient and the first reference gluing parameter.

[0186] Optionally, in the aspect of dividing the glue coating area into a plurality of areas according to the plurality of gap widths, the determining unit 303 is specifically configured to:

[0187] Determining a second mean value of the plurality of gap widths;

[0188] Select a second gap width from among the plurality of gap widths, the absolute value of the difference between the gap width and the second mean value being smaller than a preset threshold, to obtain a plurality of second gap widths;

[0189] Screening the plurality of second gap widths to obtain a plurality of third gap widths, so as to ensure that the distance between the position coordinates corresponding to any two of the third gap widths is within a preset distance range;

[0190] Determine the position points corresponding to the plurality of third gap widths to obtain a plurality of position points;

[0191] The glue coating area is divided into the multiple areas according to the multiple position points.

[0192] Optionally, in determining the second gluing parameter according to the first environmental parameter and the first gluing parameter, the determining unit 303 is specifically used to:

[0193] Obtaining reference environment parameters corresponding to the first gluing parameters;

[0194] determining a first normalized deviation parameter between the first environmental parameter and the reference environmental parameter;

[0195] determining a first feedback adjustment parameter corresponding to the first normalized deviation parameter;

[0196] The first gluing parameter is feedback-adjusted according to the first feedback adjustment parameter to obtain the second gluing parameter.

[0197] Optionally, in determining the first gluing parameter corresponding to the first area according to the first influence coefficient, the second influence coefficient and the first reference gluing parameter, the determining unit 303 is specifically configured to:

[0198] Determine a second reference glue coating parameter according to the first influence coefficient, the second influence coefficient and the first reference glue coating parameter;

[0199] Acquiring a first vibration parameter of the panoramic sunroof frame;

[0200] Acquiring a second vibration parameter of the sunroof glass;

[0201] determining a second feedback adjustment parameter corresponding to the first vibration parameter;

[0202] determining a third feedback adjustment parameter corresponding to the second vibration parameter;

[0203] Feedback adjustment is performed on the second reference gluing parameter according to the second feedback adjustment parameter and the third feedback adjustment parameter to obtain the first gluing parameter.

[0204] It can be seen that the adaptive gluing system for a panoramic sunroof of a car described in the embodiment of the present application is applied to a robot, the robot comprising: a robot body, a gluing gun, a vision module, and an environmental sensor, the robot body is connected to the gluing gun through a mechanical arm, and the visual module is used to shoot when the panoramic sunroof frame and the sunroof glass are in a preset relative position range to obtain a first image, the panoramic sunroof frame is fixed by a first fixing component, and the sunroof glass is fixed by a second fixing component; the first image is identified to obtain a gluing area between the panoramic sunroof frame and the sunroof glass; first attribute information of the gluing area is determined; second attribute information of the panoramic sunroof frame is obtained; third attribute information of the sunroof glass is obtained; first gluing parameters corresponding to the gluing area are determined according to the first attribute information, the second attribute information, and the third attribute information; first environmental parameters are obtained through the environmental sensor; second gluing parameters are determined according to the first environmental parameters and the first gluing parameters; first control parameters of the mechanical arm are determined according to the second gluing parameters;The robotic arm is controlled to work according to the first control parameter, and the glue gun is controlled to perform glue application with the second glue application parameter. First, the panoramic sunroof frame can be fixed by a first fixing component, and the sunroof glass can be fixed by a second fixing component. The panoramic sunroof frame and the sunroof glass are fixed to ensure that their relative positions are within a preset relative position range, thereby ensuring subsequent sealing and waterproofing. Second, the first image can be identified to obtain a glue application area between the panoramic sunroof frame and the sunroof glass. Since the first image shows the relative position relationship between the panoramic sunroof frame and the sunroof glass, and the relative position relationship between the panoramic sunroof frame and the sunroof glass is known, the glue application area between the panoramic sunroof frame and the sunroof glass can be accurately determined. Third, the first attribute information reflects the characteristics of the glue application area to a certain extent, the second attribute information reflects the characteristics of the panoramic sunroof frame to a certain extent, and the third attribute information reflects the characteristics of the panoramic sunroof frame to a certain extent. It reflects the characteristics of the sunroof glass to a certain extent. In this way, the first gluing parameter corresponding to the gluing area can be determined according to the first attribute information, the second attribute information, and the third attribute information, so that the final gluing parameter depth can be made to conform to the spatial characteristics (gluing area), material and position characteristics (characteristics of the panoramic sunroof frame, characteristics of the sunroof glass). Fourthly, the first gluing parameter can be dynamically adjusted by the first environmental parameter to obtain the second gluing parameter, so that the final gluing parameter depth can further conform to the actual physical scene. Fifthly, the robot arm can be controlled to work according to the first control parameter, so as to drive the control of the gluing gun to perform the gluing operation with the second gluing parameter. The robot can be adaptively controlled to implement adaptation, and adjustments can be made according to the real-time feedback during the coating process. Sensors and feedback mechanisms can be used to timely correct the gap changes between the gluing gun and the glass, which is helpful for targeted depth gluing to ensure the gluing effect, and can also improve the intelligence of the panoramic sunroof gluing and the intelligence of the robot. ;

[0205] An embodiment of the present application also provides a computer storage medium, wherein the computer storage medium stores a computer program for electronic data exchange, wherein the computer program enables a computer to execute part or all of the steps of any method described in the above method embodiments, and the above computer includes a robot.

[0206] The present application also provides a computer program product, which includes a non-transitory computer-readable storage medium storing a computer program, and the computer program is operable to cause a computer to execute some or all of the steps of any method described in the method embodiment. The computer program product may be a software installation package, and the computer includes a robot.

[0207] It should be noted that, for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the described order of actions, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present application.

[0208] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0209] In the several embodiments provided in the present application, it should be understood that the disclosed device can be implemented in other ways. For example, the device embodiments described above are only schematic, such as the division of the above-mentioned units, which is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, and the indirect coupling or communication connection of devices or units can be electrical or other forms.

[0210] The units described above as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0211] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0212] If the above-mentioned integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable memory. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a memory, including a number of instructions to enable a computer device (which can be a personal computer, server or network device, etc.) to execute all or part of the steps of the above-mentioned methods in each embodiment of the present application. The aforementioned memory includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, disk or optical disk and other media that can store program codes.

[0213] Those skilled in the art will appreciate that all or part of the steps in the various methods of the above embodiments may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable memory, which may include a flash drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0214] The embodiments of the present application are introduced in detail above. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method and core idea of ​​the present application. At the same time, for general technical personnel in this field, according to the idea of ​​the present application, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. An adaptive gluing method for a panoramic sunroof of an automobile, characterized in that: Applied to a robot, the robot comprises: a robot body, a glue gun, a visual module, and an environmental sensor, the robot body is connected to the glue gun via a mechanical arm, and the method comprises: When the panoramic sunroof frame and the sunroof glass are in a preset relative position range, the visual module is used to shoot and obtain a first image, wherein the panoramic sunroof frame is fixed by a first fixing component and the sunroof glass is fixed by a second fixing component; Recognize the first image to obtain a glue coating area between the panoramic sunroof frame and the sunroof glass; Determining first attribute information of the glue-coated area; Acquiring second attribute information of the panoramic sunroof frame, the second attribute information of the panoramic sunroof frame comprising at least one of the following: position coordinates, material of the panoramic sunroof frame, process of the panoramic sunroof frame, curvature of the panoramic sunroof frame, waterproofness requirement of the panoramic sunroof frame, and sealing requirement of the panoramic sunroof frame; Acquire the third attribute information of the skylight glass, where the third attribute information of the skylight glass includes at least one of the following: position coordinates, material of the skylight glass, process of the skylight glass, waterproof requirements of the skylight glass, sealing requirements of the skylight glass, glass thickness, and glass curvature; Determine a first gluing parameter corresponding to the gluing area according to the first attribute information, the second attribute information, and the third attribute information; Acquiring a first environmental parameter through the environmental sensor; Determine a second gluing parameter according to the first environmental parameter and the first gluing parameter; Determining a first control parameter of the robotic arm according to the second gluing parameter; Controlling the robot arm to work according to the first control parameter, and controlling the gluing gun to perform a gluing operation according to the second gluing parameter; The glue coating area includes a plurality of position points, the first attribute information includes the gap width between the panoramic sunroof frame and the sunroof glass at each position point in the glue coating area, and each gap width corresponds to a position coordinate; The determining the first gluing parameter corresponding to the gluing area according to the first attribute information, the second attribute information, and the third attribute information includes: Acquire all gap widths in the first attribute information to obtain multiple gap widths; Dividing the glue coating area into a plurality of areas according to the plurality of gap widths; Acquire a plurality of first gap widths of a first region, where the first region is any region among the plurality of regions; Determine a first standard deviation and a first mean of the plurality of first gap widths; Determining a reference gluing parameter corresponding to the first mean value; determining a first adjustment parameter corresponding to the first standard deviation; Determine a first reference gluing parameter according to the first adjustment parameter and the reference gluing parameter; Determining a first influence coefficient corresponding to the second attribute information; Determining a second influence coefficient corresponding to the third attribute information; The first gluing parameter corresponding to the first area is determined according to the first influence coefficient, the second influence coefficient and the first reference gluing parameter.

2. The method according to claim 1, characterized in that The step of dividing the glue coating area into a plurality of areas according to the plurality of gap widths comprises: Determining a second mean value of the plurality of gap widths; Select a second gap width from among the plurality of gap widths, the absolute value of the difference between the gap width and the second mean value being smaller than a preset threshold, to obtain a plurality of second gap widths; Screening the plurality of second gap widths to obtain a plurality of third gap widths, so as to ensure that the distance between the position coordinates corresponding to any two of the third gap widths is within a preset distance range; Determine the position points corresponding to the plurality of third gap widths to obtain a plurality of position points; The glue coating area is divided into the multiple areas according to the multiple position points.

3. The method according to claim 1 or 2, characterized in that: The determining the second gluing parameter according to the first environmental parameter and the first gluing parameter comprises: Obtaining reference environment parameters corresponding to the first gluing parameters; determining a first normalized deviation parameter between the first environmental parameter and the reference environmental parameter; determining a first feedback adjustment parameter corresponding to the first normalized deviation parameter; The first gluing parameter is feedback-adjusted according to the first feedback adjustment parameter to obtain the second gluing parameter.

4. The method according to claim 1 or 2, characterized in that: The determining the first gluing parameter corresponding to the first area according to the first influence coefficient, the second influence coefficient and the first reference gluing parameter includes: Determine a second reference glue coating parameter according to the first influence coefficient, the second influence coefficient and the first reference glue coating parameter; Acquiring a first vibration parameter of the panoramic sunroof frame; Acquiring a second vibration parameter of the sunroof glass; determining a second feedback adjustment parameter corresponding to the first vibration parameter; determining a third feedback adjustment parameter corresponding to the second vibration parameter; Feedback adjustment is performed on the second reference gluing parameter according to the second feedback adjustment parameter and the third feedback adjustment parameter to obtain the first gluing parameter.

5. An adaptive glue coating system for a panoramic sunroof of an automobile, characterized in that: Applied to a robot, the robot comprises: a robot body, a glue gun, a visual module, and an environmental sensor, the robot body is connected to the glue gun via a mechanical arm, the system comprises: a shooting unit, a recognition unit, a determination unit, an acquisition unit, and a control unit, wherein: The shooting unit is used to shoot through the visual module when the panoramic sunroof frame and the sunroof glass are in a preset relative position range to obtain a first image, the panoramic sunroof frame is fixed by a first fixing component, and the sunroof glass is fixed by a second fixing component; The recognition unit is used to recognize the first image to obtain a glue coating area between the panoramic sunroof frame and the sunroof glass; The determining unit is used to determine the first attribute information of the glue-coated area; The acquisition unit is used to acquire second attribute information of the panoramic sunroof frame; acquire third attribute information of the sunroof glass, the second attribute information of the panoramic sunroof frame includes at least one of the following: position coordinates, material of the panoramic sunroof frame, process of the panoramic sunroof frame, curvature of the panoramic sunroof frame, waterproof requirement of the panoramic sunroof frame, and sealing requirement of the panoramic sunroof frame, and the third attribute information of the sunroof glass includes at least one of the following: position coordinates, material of the sunroof glass, process of the sunroof glass, waterproof requirement of the sunroof glass, sealing requirement of the sunroof glass, glass thickness, and glass curvature; The determining unit is further used to determine a first gluing parameter corresponding to the gluing area according to the first attribute information, the second attribute information, and the third attribute information; The acquisition unit is further used to acquire the first environmental parameter through the environmental sensor; The determining unit is further used to determine a second gluing parameter according to the first environmental parameter and the first gluing parameter; and determine a first control parameter of the robotic arm according to the second gluing parameter; The control unit is used to control the robot arm to work according to the first control parameter, and control the glue gun to perform glue coating operation according to the second glue coating parameter; The glue coating area includes a plurality of position points, the first attribute information includes the gap width between the panoramic sunroof frame and the sunroof glass at each position point in the glue coating area, and each gap width corresponds to a position coordinate; In the aspect of determining the first gluing parameter corresponding to the gluing area according to the first attribute information, the second attribute information, and the third attribute information, the determining unit is specifically used for: Acquire all gap widths in the first attribute information to obtain multiple gap widths; Dividing the glue coating area into a plurality of areas according to the plurality of gap widths; Acquire a plurality of first gap widths of a first region, where the first region is any region among the plurality of regions; Determine a first standard deviation and a first mean of the plurality of first gap widths; Determining a reference gluing parameter corresponding to the first mean value; determining a first adjustment parameter corresponding to the first standard deviation; Determine a first reference gluing parameter according to the first adjustment parameter and the reference gluing parameter; Determining a first influence coefficient corresponding to the second attribute information; Determining a second influence coefficient corresponding to the third attribute information; The first gluing parameter corresponding to the first area is determined according to the first influence coefficient, the second influence coefficient and the first reference gluing parameter.

6. The system according to claim 5, characterized in that In the aspect of dividing the glue coating area into a plurality of areas according to the plurality of gap widths, the determining unit is specifically used for: Determining a second mean value of the plurality of gap widths; Select a second gap width from among the plurality of gap widths, the absolute value of the difference between the gap width and the second mean value being smaller than a preset threshold, to obtain a plurality of second gap widths; Screening the plurality of second gap widths to obtain a plurality of third gap widths, so as to ensure that the distance between the position coordinates corresponding to any two of the third gap widths is within a preset distance range; Determine the position points corresponding to the plurality of third gap widths to obtain a plurality of position points; The glue coating area is divided into the multiple areas according to the multiple position points.

7. The system according to claim 5 or 6, characterized in that: In the aspect of determining the second gluing parameter according to the first environmental parameter and the first gluing parameter, the determining unit is specifically used for: Obtaining reference environment parameters corresponding to the first gluing parameters; determining a first normalized deviation parameter between the first environmental parameter and the reference environmental parameter; determining a first feedback adjustment parameter corresponding to the first normalized deviation parameter; The first gluing parameter is feedback-adjusted according to the first feedback adjustment parameter to obtain the second gluing parameter.

8. The system according to claim 5 or 6, characterized in that: In the aspect of determining the first gluing parameter corresponding to the first area according to the first influence coefficient, the second influence coefficient and the first reference gluing parameter, the determining unit is specifically used for: Determine a second reference glue coating parameter according to the first influence coefficient, the second influence coefficient and the first reference glue coating parameter; Acquiring a first vibration parameter of the panoramic sunroof frame; Acquiring a second vibration parameter of the sunroof glass; determining a second feedback adjustment parameter corresponding to the first vibration parameter; determining a third feedback adjustment parameter corresponding to the second vibration parameter; Feedback adjustment is performed on the second reference gluing parameter according to the second feedback adjustment parameter and the third feedback adjustment parameter to obtain the first gluing parameter.

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