High-speed precise gluing method and related system

Abstract

The invention provides a high-speed precise gluing method and related system.The method comprises the steps that glass and an automobile frame are shot through a visual system, and a first image is obtained; determining a first gluing track between the glass and the automobile frame through the first image; dividing the first gluing track into a first track and a second track; a first gluing parameter of the target first track and a first control parameter of the mechanical arm are determined, the mechanical arm is controlled to work according to the first control parameter, a gluing gun is controlled to conduct gluing operation according to the first gluing parameter, and the target first track is any one of the multiple first tracks; and a second gluing parameter of the target second track and a second control parameter of the mechanical arm are determined, the mechanical arm is controlled to work according to the second control parameter, the gluing gun is controlled to conduct gluing operation according to the second gluing parameter, and the target second track is any second track in the multiple second tracks. According to the embodiment of the invention, the gluing efficiency can be improved.

Description

Technical Field

[0001] The present application relates to the technical field of motor vehicles and robots, and in particular to a high-speed precision gluing method and related systems. Background Art

[0002] In life, automotive glass, as one of the design elements of a car, not only provides users with a driving experience with a wide field of view, but also increases the appearance appeal of the vehicle.

[0003] Currently, automotive glass is also a critical safety component of vehicles, requiring higher shock resistance and strength. As the surface area of ​​automotive glass increases, this poses a challenge to the adhesive coating process equipment for complex curved glass. Therefore, improving adhesive coating efficiency is an urgent issue to be addressed. Summary of the Invention

[0004] The embodiments of the present application provide a high-speed precision gluing method and related system, which can improve the gluing efficiency.

[0005] In a first aspect, an embodiment of the present application provides a high-speed precision gluing method, which is applied to a gluing robot. The gluing robot includes: a robot body, a gluing gun, a first fixing component, a second fixing component, and a visual system. The robot body is connected to the gluing gun via a robotic arm. The method includes: Fix the vehicle frame by the first fixing member and fix the glass by the second fixing member; Acquiring first attribute information of the glass and second attribute information of the automobile frame; determining a target area in the vehicle frame using the visual system based on the first attribute information and the second attribute information, and adjusting the second fixing member based on the target area to fix the glass in the target area so that the positional relationship between the glass and the vehicle frame is within a preset positional relationship range; the target area is used for configuring the glass; photographing the glass and the car frame through the visual system to obtain a first image; determining a first gluing trajectory between the glass and the automobile frame using the first image; Dividing the first gluing track into a first type of track and a second type of track, wherein the first type of track includes a plurality of first tracks, and the second type of track includes a plurality of second tracks, and the first tracks and the second tracks are spaced apart from each other; a curvature of the first track is greater than or equal to a preset threshold, and a curvature of the second track is less than the preset threshold; Determining a first gluing parameter of a target first trajectory and a first control parameter of the robotic arm, controlling the robotic arm to operate according to the first control parameter, and controlling the gluing gun to perform a gluing operation with the first gluing parameter, wherein the target first trajectory is any first trajectory among the multiple first trajectories; Determine the second gluing parameters of the target second trajectory and the second control parameters of the robotic arm, control the robotic arm to work according to the second control parameters, and control the gluing gun to perform gluing operations with the second gluing parameters, wherein the target second trajectory is any second trajectory among the multiple second trajectories.

[0006] In the second aspect, the embodiment of the present application provides a high-speed precision gluing system, which is applied to a gluing robot. The gluing robot includes: a robot body, a gluing gun, a first fixing component, a second fixing component and a visual system. The robot body is connected to the gluing gun through a robotic arm. The high-speed precision gluing system includes: a fixing unit, an acquisition unit, a determination unit, a shooting unit, a division unit and a control unit, wherein, The fixing unit is used to fix the vehicle frame through the first fixing component and to fix the glass through the second fixing component; The acquiring unit is configured to acquire first attribute information of the glass and second attribute information of the automobile frame; The determining unit is configured to determine a target area in the vehicle frame using the visual system based on the first attribute information and the second attribute information, and to adjust the second fixing component based on the target area to fix the glass in the target area so that the positional relationship between the glass and the vehicle frame is within a preset positional relationship range; the target area is used for configuring the glass; The photographing unit is configured to photograph the glass and the vehicle frame through the visual system to obtain a first image; The determining unit is further configured to determine a first gluing track between the glass and the automobile frame using the first image; The dividing unit is configured to divide the first gluing track into a first type of track and a second type of track, wherein the first type of track includes a plurality of first tracks, and the second type of track includes a plurality of second tracks, and the first tracks are spaced apart from the second tracks; the curvature of the first tracks is greater than or equal to a preset threshold, and the curvature of the second tracks is less than the preset threshold; The control unit is used to determine the first gluing parameter of the target first trajectory and the first control parameter of the robotic arm, control the robotic arm to work according to the first control parameter, and control the gluing gun to perform gluing operations with the first gluing parameter, and the target first trajectory is any first trajectory among the multiple first trajectories; and determine the second gluing parameter of the target second trajectory and the second control parameter of the robotic arm, control the robotic arm to work according to the second control parameter, and control the gluing gun to perform gluing operations with the second gluing parameter, and the target second trajectory is any second trajectory among the multiple second trajectories.

[0007] In the third aspect, an embodiment of the present application provides a gluing 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 includes instructions for executing the steps in the first aspect of the embodiment of the present application.

[0008] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the above-mentioned computer-readable storage medium stores a computer program for electronic data exchange, wherein the above-mentioned computer program enables a computer to execute some or all of the steps described in the first aspect of the embodiment of the present application.

[0009] In a fifth aspect, embodiments of the present application provide a computer program product, wherein the computer program product includes a non-transitory computer-readable storage medium storing a computer program, wherein the computer program is operable to cause a computer to perform some or all of the steps described in the first aspect of the embodiments of the present application. The computer program product may be a software installation package.

[0010] The implementation of the embodiments of this application has the following beneficial effects: It can be seen that the high-speed precision gluing method and related system described in the embodiments of the present application are applied to a gluing robot, which includes: a robot body, a gluing gun, a first fixing component, a second fixing component and a visual system. The robot body is connected to the gluing gun via a robotic arm, the car frame is fixed via the first fixing component, and the glass is fixed via the second fixing component; first attribute information of the glass and second attribute information of the car frame are obtained; a target area in the car frame is determined by the visual system according to the first attribute information and the second attribute information, and the second fixing component is adjusted based on the target area to fix the glass in the target area so that the glass is aligned with the The positional relationship between the car frames is within a preset positional relationship range; the target area is used to configure the glass; the glass and the car frame are photographed by the visual system to obtain a first image; the first gluing trajectory between the glass and the car frame is determined by the first image; the first gluing trajectory is divided into a first type of trajectory and a second type of trajectory, the first type of trajectory includes a plurality of first trajectories, the second type of trajectory includes a plurality of second trajectories, and the first trajectory and the second trajectory are spaced apart; the curvature of the first trajectory is greater than or equal to a preset threshold, and the curvature of the second trajectory is less than the preset threshold; the first gluing parameter of the target first trajectory and the first control parameter of the robotic arm are determined, based on The robot arm is controlled to work according to the first control parameter, and the glue gun is controlled to perform glue application with the first glue application parameter, and the target first trajectory is any first trajectory among the multiple first trajectories; the second glue application parameter of the target second trajectory and the second control parameter of the robot arm are determined, and the robot arm is controlled to work according to the second control parameter, and the glue gun is controlled to perform glue application with the second glue application parameter, and the target second trajectory is any second trajectory among the multiple second trajectories. Firstly, the car frame can be fixed by the first fixing component, and the glass can be fixed by the second fixing component, which can reduce the gap change caused by mechanical vibration or instability and improve the overall stability during the glue application process. Since the first attribute information of the glass reflects the characteristics of the glass to a certain extent, and the second attribute information of the car frame reflects the relevant characteristics of the car to a certain extent, the target area in the car frame can be determined by the visual system according to the first attribute information and the second attribute information, so that the positional relationship between the glass and the car frame is within the preset positional relationship range, and preliminary guarantee is given for subsequent gluing work. Secondly, the trajectory turning sections of the glass corners and the trajectory turning sections of the non-glass corners can be distinguished, and corresponding gluing can be achieved based on specific structural characteristics. Thus, the probability of gluing defects can be reduced, targeted gluing can be achieved to ensure the gluing effect, and the gluing efficiency and intelligence, as well as the intelligence of the gluing robot, can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. 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 any creative work.

[0012] Figure 1 This is a flow chart of a high-speed precision gluing method provided in an embodiment of the present application; Figure 2 This is a structural diagram of a glue-spreading robot provided in an embodiment of the present application; Figure 3 This is a block diagram of the functional units of a high-speed precision gluing system provided in an embodiment of the present application. DETAILED DESCRIPTION

[0013] The terms "first," "second," and the like in the specification and claims of this application and the accompanying drawings are used to distinguish between different objects, not to describe a particular order. Furthermore, the terms "including," "having," and any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or apparatus comprising a series of steps or elements is not limited to the listed steps or elements, but may also include steps or elements not listed, or may include other steps or elements inherent to the process, method, product, or apparatus.

[0014] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute an independent or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0015] In order to enable those skilled in the art to better understand the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0016] In the embodiment of the present application, the gluing robot can be understood as an industrial robot, an automobile processing robot or a gluing workbench with a gluing function.

[0017] See also Figure 1 , Figure 1 This is a flow chart of a high-speed precision gluing method provided in an embodiment of the present application, which is applied to a gluing robot. The gluing robot includes: a robot body, a gluing gun, a first fixing component, a second fixing component, and a visual system. The robot body is connected to the gluing gun via a robotic arm. The high-speed precision gluing method includes: 101. Fix the automobile frame using the first fixing component, and fix the glass using the second fixing component.

[0018] In the embodiment of the present application, the visual system may include at least one of the following: a laser sensor, a radar sensor, a camera, an ultrasonic sensor, an infrared imager, etc., which are not limited here.

[0019] The first fixing component can be part of the gluing robot, and the second fixing component can be part of the gluing robot. The mechanical structure of the first fixing component and the second fixing component can also adopt a rigid support and transmission system, which can reduce the gap variation caused by mechanical vibration or instability, thereby improving the overall stability.

[0020] In a specific implementation, the automobile frame can be fixed by the first fixing component, and the glass can be fixed by the second fixing component, thereby reducing the gap variation caused by mechanical vibration or instability, and further improving the overall stability during the gluing process.

[0021] In a specific implementation, the vision system may include a laser 3D vision system. Specifically, the laser 3D vision system may be used to monitor the relative position of the glue gun and the glass in real time during the glue coating process.

[0022] 102. Obtain first attribute information of the glass and second attribute information of the automobile frame.

[0023] The first attribute information of the glass may include at least one of the following: glass material, location coordinates, glass surface area ratio, glass sealing requirements, glass craftsmanship, glass waterproof requirements, glass thickness, glass curvature, glass color, etc., without limitation. Different locations of the glass correspond to different first attribute information.

[0024] The second attribute information of the vehicle frame may include at least one of the following: the material of the vehicle frame, the position coordinates, the curvature of the vehicle frame, the process of the vehicle frame, the position coordinates, the waterproofness requirements of the vehicle frame, the sealing requirements of the vehicle frame, etc., without limitation. Different positions of the vehicle frame correspond to different second attribute information.

[0025] In a specific implementation, the first attribute information of the glass and the second attribute information of the car frame can be obtained. The first attribute information of the glass reflects the characteristics of the glass to a certain extent, and the second attribute information of the car frame reflects the relevant characteristics of the car to a certain extent.

[0026] 103. Determine a target area in the vehicle frame through the visual system according to the first attribute information and the second attribute information, and adjust the second fixing component based on the target area to fix the glass in the target area so that the positional relationship between the glass and the vehicle frame is within a preset positional relationship range; the target area is used to configure the glass.

[0027] The preset position relationship range may be preset or set by system default.

[0028] In a specific implementation, since the first attribute information of the glass reflects the characteristics of the glass to a certain extent, for example, the first attribute information determines the installation position of the glass and the related installation process, and the second attribute information of the car frame reflects the relevant characteristics of the car to a certain extent, it reflects that different areas of the car frame can be installed with corresponding glass. The target area in the car frame can be determined by the visual system based on the first attribute information and the second attribute information, and the target area is used to configure the glass.

[0029] Furthermore, the position of the second fixing component can be adjusted based on the target area, and then the glass can be fixed in the target area so that the positional relationship between the glass and the car frame is within a preset positional relationship range. When the positional relationship between the glass and the car frame is within the preset positional relationship range, it means that the positional relationship between the glass and the car frame meets the gluing requirements, and subsequent gluing work can be carried out.

[0030] 104. Photograph the glass and the car frame through the visual system to obtain a first image.

[0031] In an embodiment of the present application, the glass and the car frame can be photographed by a visual system to obtain a first image, and then the first image can be used to identify which positions need to be glued, thereby enabling targeted gluing to ensure the gluing effect, and also improving the gluing efficiency and intelligence, as well as the intelligence of the gluing robot.

[0032] 105. Determine a first gluing trajectory between the glass and the automobile frame using the first image.

[0033] In an embodiment of the present application, since the first image reflects the relative positional relationship between the glass and the car frame, the first gluing trajectory between the glass and the car frame can be determined based on the first image, that is, the outline of the glass is extracted, and the first gluing trajectory between the glass and the car frame can be generated based on the outline.

[0034] 106. Divide the first gluing track into a first type of track and a second type of track, where the first type of track includes multiple first tracks, and the second type of track includes multiple second tracks, and the first tracks and the second tracks are spaced apart from each other; a curvature of the first track is greater than or equal to a preset threshold, and a curvature of the second track is less than the preset threshold.

[0035] The preset threshold value may be pre-set or set by the system by default.

[0036] In practical applications, since the curved trajectory of the trajectory turning section at the glass corner is prone to glue defects, the defect may include at least one of the following: deviation, glue overflow, glue collapse, glue breakage, etc., which are not limited here. Furthermore, the first gluing trajectory can be divided into a first type of trajectory and a second type of trajectory. The first type of trajectory may include multiple first trajectories, and the second type of trajectory may include multiple second trajectories. The first trajectory and the second trajectory are spaced apart, the curvature of the first trajectory is greater than or equal to a preset threshold, and the curvature of the second trajectory is less than the preset threshold. In this way, the trajectory turning section of the glass corner and the trajectory turning section of the non-glass corner can be distinguished, and the corresponding gluing can be achieved based on the specific structural characteristics. Thus, the probability of gluing defects can be reduced, targeted gluing can be achieved to ensure the gluing effect, and the gluing efficiency and intelligence, as well as the intelligence of the gluing robot, can be improved.

[0037] 107. Determine a first gluing parameter of a target first trajectory and a first control parameter of the robotic arm, control the robotic arm to work according to the first control parameter, and control the gluing gun to perform a gluing operation with the first gluing parameter, wherein the target first trajectory is any first trajectory among the multiple first trajectories.

[0038] Among them, the first gluing parameter may include at least one of the following: gluing speed, gluing position, gluing angle, gluing height, gluing nozzle opening size, gluing pressure, gluing gun nozzle opening posture, gluing color, gluing temperature, glue amount, etc., which are not limited here.

[0039] 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.

[0040] In a specific implementation, the target first trajectory can be taken as an example. The target first trajectory is any first trajectory among multiple first trajectories, and the first gluing parameter of the target first trajectory can be determined. Then, the first mapping relationship between the preset gluing parameters and the control parameters can be pre-stored. Then, the first control parameter of the robotic arm corresponding to the first gluing parameter can be determined based on the first mapping relationship. Next, the robotic arm is controlled to work according to the first control parameter, and the gluing gun is controlled to perform gluing operations with the first gluing parameter. The corresponding gluing can be achieved according to the specific structural characteristics of the trajectory turning section of the glass corner, thereby reducing the probability of gluing defects and achieving targeted gluing to ensure the gluing effect. It can also improve the gluing efficiency and intelligence, as well as the intelligence of the gluing robot.

[0041] 108. Determine the second gluing parameters of the target second trajectory and the second control parameters of the robotic arm, control the robotic arm to work according to the second control parameters, and control the gluing gun to perform gluing operations with the second gluing parameters, wherein the target second trajectory is any second trajectory among the multiple second trajectories.

[0042] Among them, the second gluing parameter may include at least one of the following: gluing speed, gluing position, gluing angle, gluing height, gluing nozzle opening size, gluing pressure, gluing gun nozzle opening posture, gluing color, gluing temperature, glue amount, etc., which are not limited here.

[0043] Among them, the second 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.

[0044] In a specific implementation, the target second trajectory can be taken as an example, and the target second trajectory can be any second trajectory among multiple second trajectories. Then, the second gluing parameter of the target second trajectory can be determined, and then the second mapping relationship between the preset gluing parameter and the control parameter can be pre-stored. Then, the second control parameter of the robotic arm corresponding to the second gluing parameter can be determined based on the second mapping relationship. Next, the robotic arm is controlled to work according to the second control parameter, and the gluing gun is controlled to perform the gluing operation with the second gluing parameter. Then, the corresponding gluing can be achieved for the specific structural characteristics of the turning section of the trajectory of the non-glass corner, thereby reducing the probability of gluing defects, achieving targeted gluing to ensure the gluing effect, and improving the gluing efficiency and intelligence, as well as the intelligence of the gluing robot.

[0045] Optionally, the above step 107, determining the first gluing parameter of the target first trajectory and the first control parameter of the robotic arm, may include the following steps: Dividing the first trajectory of the target into multiple segments to obtain multiple trajectories; Acquire first attribute information of a target corresponding to a third trajectory according to the first attribute information, and acquire second attribute information of a target corresponding to the third trajectory according to the second attribute information; the third trajectory is any one of the multiple trajectories; Acquire a first reference gluing parameter corresponding to the first target attribute information and the second target attribute information; determining a first eccentricity corresponding to the third trajectory; determining a first adjustment parameter corresponding to the first eccentricity; Adjusting the first reference gluing parameter according to the first adjustment parameter to obtain the first gluing parameter; The first control parameter of the robotic arm is determined according to the first gluing parameter.

[0046] In the embodiment of the present application, since the target first trajectory is the turning segment of the glass corner, its corresponding curvature is in a dynamically changing state. Therefore, the target first trajectory can be divided into multiple segments to obtain multiple trajectories. Glue is applied specifically according to the specific situation of each segment, thereby making the gluing process smooth and achieving flexible gluing to reduce the probability of gluing defects.

[0047] The first attribute information may be an attribute set, which may include multiple attribute information, each attribute information corresponds to a position; and correspondingly, the second attribute information may be an attribute set, which may include multiple attribute information, each attribute information corresponds to a position.

[0048] In a specific implementation, different trajectories correspond to different positions, and different positions correspond to different glass characteristics and vehicle frame characteristics. Therefore, taking the third trajectory as an example, the third trajectory is any trajectory among the multiple trajectories. The first attribute information of the target corresponding to the third trajectory can be obtained based on the first attribute information, and the second attribute information of the target corresponding to the third trajectory can be obtained based on the second attribute information.

[0049] Next, the first reference gluing parameters corresponding to the target first attribute information and the target second attribute information can be obtained. Since the first attribute information of the glass reflects the characteristics of the glass to a certain extent, the second attribute information of the car frame reflects the relevant characteristics of the car to a certain extent, the gluing parameters corresponding to the target first attribute information and the target second attribute information can be realized, so that the corresponding gluing can be achieved based on the specific structural characteristics, thereby reducing the probability of gluing defects and achieving targeted gluing to ensure the gluing effect. It can also improve the gluing efficiency and intelligence, as well as the intelligence of the gluing robot.

[0050] Then, due to different trajectories, the eccentricities are different. In the specific implementation, since the size of the glass is known, the position of the third trajectory can be obtained. Based on the correspondence between the position and the eccentricity, the first eccentricity corresponding to the third trajectory can be determined. The mapping relationship between the preset eccentricity and the adjustment parameter can also be pre-stored. Then, the first adjustment parameter corresponding to the first eccentricity can be determined based on the mapping relationship, and the first reference gluing parameter is adjusted according to the first adjustment parameter to obtain the first gluing parameter, that is, the first gluing parameter = (1 + first adjustment parameter) * first reference gluing parameter. The eccentricity reflects the posture adjustment trend of the gluing gun to a certain extent, and also reflects the gluing process. The influence of the turning amplitude of the gun on the gluing effect, therefore, the gluing parameters can be dynamically adjusted based on the eccentricity of the trajectory, so that the final gluing parameter depth conforms to the actual situation, which helps to further reduce the probability of gluing defects. Then, the first mapping relationship between the preset gluing parameters and the control parameters can be pre-stored, and then, the first control parameter of the robotic arm corresponding to the first gluing parameter can be determined based on the first mapping relationship. In this way, the corresponding gluing can be achieved according to the specific structural characteristics of the trajectory turning section of the glass corner, thereby reducing the probability of gluing defects, achieving targeted gluing to ensure the gluing effect, and improving the gluing efficiency and intelligence, as well as the intelligence of the gluing robot.

[0051] Optionally, the above step of dividing the first target trajectory into multiple segments to obtain multiple trajectories may include the following steps: Obtaining a maximum curvature and a minimum curvature of the first trajectory of the target, and obtaining a first position corresponding to the maximum curvature and a second position corresponding to the minimum curvature; determining a trajectory length between the first position and the second position, and determining a curvature difference between the maximum curvature and the minimum curvature; determining a first ratio between the curvature difference and the trajectory length; The target first trajectory is divided into multiple segments according to the first ratio to obtain the multiple segments of the trajectory, wherein the larger the first ratio is, the more segments there are, and the length of each segment of the trajectory is proportional to the average curvature corresponding to the segment of the trajectory.

[0052] In a specific implementation, since the curvature of each position point of the target first trajectory is different, the maximum curvature and the minimum curvature of the target first trajectory can be obtained, as well as the first position corresponding to the maximum curvature and the second position corresponding to the minimum curvature can be obtained. Then, the trajectory length between the first position and the second position can be determined, and the curvature difference between the maximum curvature and the minimum curvature can be determined. The curvature difference = maximum curvature - minimum curvature. Then, the first ratio between the curvature difference and the trajectory length can be determined, that is, the first ratio = curvature difference / trajectory length. The first ratio reflects the slope of the trajectory change, that is, the smoothness of the turn, to a certain extent.

[0053] Furthermore, the target first trajectory can be divided into multiple segments according to the first ratio to obtain multiple trajectories, wherein the larger the first ratio is, the more segments there are, and the length of each trajectory segment is proportional to the average curvature corresponding to the trajectory segment. Therefore, the depth of the segmentation is consistent with the specific structure of the trajectory turning section of the glass corner. Based on the appropriate number of segments, the degree of change of the gluing parameters can be reasonably reduced, so that the gluing process proceeds smoothly, thereby reducing the probability of gluing defects in the trajectory turning section of the glass corner.

[0054] Optionally, the above step of obtaining the first reference gluing parameter corresponding to the first target attribute information and the second target attribute information may include the following steps: Acquire reference first attribute information corresponding to a fourth trajectory based on the first attribute information, and acquire reference second attribute information corresponding to the fourth trajectory based on the second attribute information; the fourth trajectory is a previous segment of the third trajectory; Obtaining actual gluing parameters corresponding to the fourth track; determining a first relative deviation between the target first attribute information and the reference first attribute information; determining a second relative deviation between the target second attribute information and the reference second attribute information; determining a first optimization parameter corresponding to the first relative deviation; determining a second optimization parameter corresponding to the second relative deviation; The first reference gluing parameter is determined according to the first optimization parameter, the second optimization parameter and the actual gluing parameter.

[0055] Among them, the actual gluing parameters may include at least one of the following: gluing speed, gluing position, gluing angle, gluing height, gluing nozzle opening size, gluing pressure, gluing gun nozzle opening posture, gluing color, gluing temperature, glue amount, etc., which are not limited here.

[0056] In a specific implementation, taking the fourth track as an example, the fourth track is the previous track of the third track. The reference first attribute information corresponding to the fourth track can be obtained according to the first attribute information, and the reference second attribute information corresponding to the fourth track can be obtained according to the second attribute information.

[0057] Specifically, the actual gluing parameters corresponding to the fourth trajectory can be obtained, and then the first relative deviation between the target first attribute information and the reference first attribute information can be determined. The first relative deviation = (target first attribute information - reference first attribute information) / (target first attribute information + reference first attribute information). The first relative deviation reflects the change in glass properties to a certain extent. Correspondingly, the second relative deviation between the target second attribute information and the reference second attribute information can be determined. The second relative deviation = (target second attribute information - reference second attribute information) / (target second attribute information + reference second attribute information). The second relative deviation reflects the change in vehicle frame properties to a certain extent.

[0058] In a specific implementation, a first mapping relationship between a preset relative deviation and an optimization parameter can be pre-stored, and then, a first optimization parameter corresponding to the first relative deviation can be determined based on the first mapping relationship. A second mapping relationship between a preset relative deviation and an optimization parameter can also be pre-stored, and then, a second optimization parameter corresponding to the second relative deviation can be determined based on the second mapping relationship. Then, a first reference gluing parameter can be determined based on the first optimization parameter, the second optimization parameter and the actual gluing parameter. The first reference gluing parameter = (1 + first optimization parameter) / (1 + first optimization parameter) * actual gluing parameter. Since the car frame and the glass are in a relative position relationship, the material influence between the two is also mutually restrained. The gluing parameters can be further deeply optimized based on the characteristics of the car frame and the characteristics of the glass, so that the optimized gluing parameters are deeply adapted to the characteristics of the two and the relative position relationship, which helps to ensure the gluing effect.

[0059] Optionally, the target second trajectory includes multiple position points, and the above step 108 of determining the second gluing parameter of the target second trajectory and the second control parameter of the robotic arm may include the following steps: Determining a gap width at each of the plurality of position points to obtain a plurality of gap widths; Determine a first standard deviation of the plurality of gap widths, and determine a first relative mean corresponding to the plurality of gap widths; determining a second reference gluing parameter corresponding to the first relative mean value; determining a first feedback adjustment parameter corresponding to the first standard deviation; feedback-adjusting the second reference gluing parameter according to the first feedback adjustment parameter to obtain the second gluing parameter; The second control parameter of the robotic arm is determined according to the second gluing parameter.

[0060] In a specific implementation, the target second trajectory includes multiple position points, and the gap width of each of the multiple position points can be determined to obtain multiple gap widths. The multiple gap widths can then be subjected to standard deviation calculation to obtain a first standard deviation. The multiple gap widths can also be subjected to mean calculation to obtain a first relative mean. The first relative mean square deviation is combined with the fit between the glass and the car frame to dynamically optimize the gap width so that the final gap width depth conforms to the actual structure of the target second trajectory. In turn, the gap width evaluation result is suppressed to a certain extent, which helps to avoid the probability of local gluing anomalies.

[0061] Then, the mapping relationship between the preset relative mean and the gluing parameter can be pre-stored, and then, the second reference gluing parameter corresponding to the first relative mean can be determined based on the mapping relationship. Then, the mapping relationship between the preset standard deviation and the feedback adjustment parameter can be pre-stored, and then, the first feedback adjustment parameter corresponding to the first standard deviation can be determined based on the mapping relationship. Then, the second reference gluing parameter can be adjusted according to the first feedback adjustment parameter to obtain the second gluing parameter, that is, the second gluing parameter = (1 + first feedback adjustment parameter) * second reference gluing parameter. Since the standard deviation reflects the stability between the glass and the car frame to a certain extent, the gluing parameter can be adjusted based on the stability dynamic feedback, so that the final gluing parameter depth conforms to the actual situation.

[0062] Finally, the second control parameter of the robotic arm can be determined according to the second gluing parameter, that is, the second mapping relationship between the preset gluing parameter and the control parameter can be pre-stored, and then, the second control parameter of the robotic arm corresponding to the second gluing parameter can be determined based on the second mapping relationship. Next, the robotic arm is controlled to work according to the second control parameter, and the gluing gun is controlled to perform gluing operations with the second gluing parameter. Then, the corresponding gluing can be achieved according to the specific structural characteristics of the trajectory turning section of the non-glass corner, thereby reducing the probability of gluing defects, achieving targeted gluing to ensure the gluing effect, and improving the gluing efficiency and intelligence, as well as the intelligence of the gluing robot.

[0063] Optionally, the above step of determining the first relative mean values ​​corresponding to the plurality of gap widths may include the following steps: performing an average calculation on the plurality of gap widths to obtain a second average value; Dividing the plurality of slit widths into two slit width sets according to the second mean, to obtain a first slit width set and a second slit width set, wherein the first slit width set includes m first slit widths, and the second slit width set includes n second slit widths, the first slit widths are greater than or equal to the second mean, and the second slit widths are less than the second mean; m and n are both positive integers; Determine the mean of the first gap width set to obtain a first average gap width; Determining a mean of the second gap width set to obtain a second average gap width; Determine a first weight and a second weight according to m and n; The first relative mean is determined according to the first weight, the second weight, the first average gap width, and the second average gap width.

[0064] In a specific implementation, the average values ​​of multiple gap widths can be calculated to obtain a second mean value. Then, the multiple gap widths can be divided into two gap width sets according to the second mean value to obtain a first gap width set and a second gap width set. The first gap width set includes m first gap widths, and the second gap width set includes n second gap widths. The first gap width is greater than or equal to the second mean value, and the second gap width is less than the second mean value; m and n are both positive integers.

[0065] Next, the first gap width set can be averaged to obtain the first average gap width, and the second gap width set can be averaged to obtain the second average gap width. Furthermore, the first weight and the second weight can be determined according to m and n, the first weight = n / (m+n), the second weight = m / (m+n), and the two gap width sets reflect the fitting condition (gap width) between the glass corresponding to the second trajectory of the target and the car frame to a certain extent. The greater the difference, the more likely it is that the local gluing effect will be abnormal during the gluing process. Therefore, in the gap width evaluation process, the corresponding weights are determined interactively using the number of gap widths corresponding to the two gap width sets, thereby suppressing the gap width evaluation results and helping to suppress the probability of abnormal local gluing effects.

[0066] Furthermore, the first relative mean can be determined based on the first weight, the second weight, the first average gap width and the second average gap width, that is, the first relative mean = the first weight * the first average gap width + the second weight * the second average gap width. In this way, combined with the fit between the glass and the car frame, the gap width is dynamically optimized to make the final gap width, and then, to a certain extent, suppress the gap width evaluation result, which helps to avoid the probability of local gluing abnormalities.

[0067] It can be seen that the high-speed precision gluing method described in the embodiment of the present application is applied to a gluing robot, and the gluing robot includes: a robot body, a gluing gun, a first fixing component, a second fixing component and a visual system, the robot body is connected to the gluing gun through a robotic arm, the car frame is fixed by the first fixing component, and the glass is fixed by the second fixing component; the first attribute information of the glass and the second attribute information of the car frame are obtained; the target area in the car frame is determined by the visual system according to the first attribute information and the second attribute information, and the second fixing component is adjusted based on the target area to fix the glass in the target area so that the glass is aligned with the car frame. The positional relationship between them is within a preset positional relationship range; the target area is used to configure the glass; the glass and the car frame are photographed by the visual system to obtain a first image; the first gluing trajectory between the glass and the car frame is determined by the first image; the first gluing trajectory is divided into a first type of trajectory and a second type of trajectory, the first type of trajectory includes a plurality of first trajectories, the second type of trajectory includes a plurality of second trajectories, and the first trajectory and the second trajectory are spaced apart; the curvature of the first trajectory is greater than or equal to a preset threshold, and the curvature of the second trajectory is less than the preset threshold; the first gluing parameter of the target first trajectory and the first control parameter of the robotic arm are determined, and according to the The first control parameter controls the robotic arm to work, and controls the gluing gun to perform the gluing operation with the first gluing parameter, and the target first trajectory is any first trajectory among the multiple first trajectories; determines the second gluing parameter of the target second trajectory and the second control parameter of the robotic arm, controls the robotic arm to work according to the second control parameter, and controls the gluing gun to perform the gluing operation with the second gluing parameter, and the target second trajectory is any second trajectory among the multiple second trajectories. Firstly, the automobile frame can be fixed by the first fixing component, and the glass can be fixed by the second fixing component, which can reduce the gap change caused by mechanical vibration or instability and improve the overall stability during the gluing process. Since the first attribute information of the glass reflects the characteristics of the glass to a certain extent, and the second attribute information of the car frame reflects the relevant characteristics of the car to a certain extent, the target area in the car frame can be determined by the visual system based on the first attribute information and the second attribute information, so that the positional relationship between the glass and the car frame is within the preset positional relationship range, and preliminary guarantee is made for subsequent gluing work. Secondly, the trajectory turning sections of the glass corners and the trajectory turning sections of the non-glass corners can be distinguished, and corresponding gluing can be achieved based on specific structural characteristics, thereby reducing the probability of gluing defects, achieving targeted gluing to ensure the gluing effect, and improving the gluing efficiency and intelligence, as well as the intelligence of the gluing robot.

[0068] In accordance with the above embodiment, please refer to Figure 2 , Figure 2 : is a structural schematic diagram of a gluing robot provided in an embodiment of the present application, the gluing 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 gluing robot includes: a robot body, a gluing gun, a first fixing component, a second fixing component, and a visual system, the robot body is connected to the gluing gun via a robotic arm, and the program includes instructions for performing the following steps: Fix the vehicle frame by the first fixing member and fix the glass by the second fixing member; Acquiring first attribute information of the glass and second attribute information of the automobile frame; determining a target area in the vehicle frame using the visual system based on the first attribute information and the second attribute information, and adjusting the second fixing member based on the target area to fix the glass in the target area so that the positional relationship between the glass and the vehicle frame is within a preset positional relationship range; the target area is used for configuring the glass; photographing the glass and the car frame through the visual system to obtain a first image; determining a first gluing trajectory between the glass and the automobile frame using the first image; Dividing the first gluing track into a first type of track and a second type of track, wherein the first type of track includes a plurality of first tracks, and the second type of track includes a plurality of second tracks, and the first tracks and the second tracks are spaced apart from each other; a curvature of the first track is greater than or equal to a preset threshold, and a curvature of the second track is less than the preset threshold; Determining a first gluing parameter of a target first trajectory and a first control parameter of the robotic arm, controlling the robotic arm to operate according to the first control parameter, and controlling the gluing gun to perform a gluing operation with the first gluing parameter, wherein the target first trajectory is any first trajectory among the multiple first trajectories; Determine the second gluing parameters of the target second trajectory and the second control parameters of the robotic arm, control the robotic arm to work according to the second control parameters, and control the gluing gun to perform gluing operations with the second gluing parameters, wherein the target second trajectory is any second trajectory among the multiple second trajectories.

[0069] Optionally, in determining the first gluing parameter of the target first trajectory and the first control parameter of the robotic arm, the program includes instructions for executing the following steps: Dividing the first trajectory of the target into multiple segments to obtain multiple trajectories; Acquire first attribute information of a target corresponding to a third trajectory according to the first attribute information, and acquire second attribute information of a target corresponding to the third trajectory according to the second attribute information; the third trajectory is any one of the multiple trajectories; Acquire a first reference gluing parameter corresponding to the first target attribute information and the second target attribute information; determining a first eccentricity corresponding to the third trajectory; determining a first adjustment parameter corresponding to the first eccentricity; Adjusting the first reference gluing parameter according to the first adjustment parameter to obtain the first gluing parameter; The first control parameter of the robotic arm is determined according to the first gluing parameter.

[0070] Optionally, in the aspect of dividing the first trajectory of the target into multiple segments to obtain multiple trajectories, the program includes instructions for executing the following steps: Obtaining a maximum curvature and a minimum curvature of the first trajectory of the target, and obtaining a first position corresponding to the maximum curvature and a second position corresponding to the minimum curvature; determining a trajectory length between the first position and the second position, and determining a curvature difference between the maximum curvature and the minimum curvature; determining a first ratio between the curvature difference and the trajectory length; The target first trajectory is divided into multiple segments according to the first ratio to obtain the multiple segments of the trajectory, wherein the larger the first ratio is, the more segments there are, and the length of each segment of the trajectory is proportional to the average curvature corresponding to the segment of the trajectory.

[0071] Optionally, in terms of obtaining the first reference gluing parameters corresponding to the target first attribute information and the target second attribute information, the program includes instructions for executing the following steps: Acquire reference first attribute information corresponding to a fourth trajectory based on the first attribute information, and acquire reference second attribute information corresponding to the fourth trajectory based on the second attribute information; the fourth trajectory is a previous segment of the third trajectory; Obtaining actual gluing parameters corresponding to the fourth track; determining a first relative deviation between the target first attribute information and the reference first attribute information; determining a second relative deviation between the target second attribute information and the reference second attribute information; determining a first optimization parameter corresponding to the first relative deviation; determining a second optimization parameter corresponding to the second relative deviation; The first reference gluing parameter is determined according to the first optimization parameter, the second optimization parameter and the actual gluing parameter.

[0072] Optionally, the target second trajectory includes a plurality of position points. In determining the second gluing parameter of the target second trajectory and the second control parameter of the robotic arm, the program includes instructions for executing the following steps: Determining a gap width at each of the plurality of position points to obtain a plurality of gap widths; Determine a first standard deviation of the plurality of gap widths, and determine a first relative mean corresponding to the plurality of gap widths; determining a second reference gluing parameter corresponding to the first relative mean value; determining a first feedback adjustment parameter corresponding to the first standard deviation; feedback-adjusting the second reference gluing parameter according to the first feedback adjustment parameter to obtain the second gluing parameter; The second control parameter of the robotic arm is determined according to the second gluing parameter.

[0073] It can be seen that the gluing robot described in the embodiment of the present application includes: a robot body, a gluing gun, a first fixing component, a second fixing component and a visual system, the robot body is connected to the gluing gun through a robotic arm, the car frame is fixed by the first fixing component, and the glass is fixed by the second fixing component; the first attribute information of the glass and the second attribute information of the car frame are obtained; the target area in the car frame is determined by the visual system according to the first attribute information and the second attribute information, and the second fixing component is adjusted based on the target area to fix the glass in the target area, so that the positional relationship between the glass and the car frame is A preset position relationship range; the target area is used to configure the glass; the glass and the car frame are photographed by the visual system to obtain a first image; a first gluing track between the glass and the car frame is determined by the first image; the first gluing track is divided into a first type of track and a second type of track, the first type of track includes a plurality of first tracks, the second type of track includes a plurality of second tracks, and the first track and the second track are spaced apart; the curvature of the first track is greater than or equal to a preset threshold, and the curvature of the second track is less than the preset threshold; a first gluing parameter of the target first track and a first control parameter of the robotic arm are determined, and according to the first control parameter The method comprises the following steps: controlling the robot arm to work, and controlling the gluing gun to perform gluing operation with the first gluing parameter, wherein the target first trajectory is any first trajectory among the multiple first trajectories; determining the second gluing parameter of the target second trajectory and the second control parameter of the robot arm, controlling the robot arm to work according to the second control parameter, and controlling the gluing gun to perform gluing operation with the second gluing parameter, wherein the target second trajectory is any second trajectory among the multiple second trajectories, and firstly, being able to fix the automobile frame by the first fixing component and fix the glass by the second fixing component, thereby reducing the gap change caused by mechanical vibration or instability and improving the overall stability during the gluing process. The first attribute information of the glass reflects the characteristics of the glass to a certain extent, and the second attribute information of the car frame reflects the relevant characteristics of the car to a certain extent. The target area in the car frame can be determined by the visual system based on the first attribute information and the second attribute information, so that the positional relationship between the glass and the car frame is within the preset positional relationship range, and preliminary guarantee is made for subsequent gluing work. Secondly, the trajectory turning segments of the glass corners and the trajectory turning segments of the non-glass corners can be distinguished, and corresponding gluing can be achieved based on the specific structural characteristics, thereby reducing the probability of gluing defects, achieving targeted gluing to ensure the gluing effect, and improving the gluing efficiency and intelligence, as well as the intelligence of the gluing robot.

[0074] Figure 3This is a functional unit block diagram of a high-speed precision gluing system 300 involved in an embodiment of the present application. The high-speed precision gluing system 300 is applied to a gluing robot. The gluing robot includes: a robot body, a gluing gun, a first fixing component, a second fixing component and a visual system. The robot body is connected to the gluing gun through a robotic arm. The high-speed precision gluing system 300 includes: a fixing unit 301, an acquisition unit 302, a determination unit 303, a shooting unit 304, a division unit 305 and a control unit 306, wherein, The fixing unit 301 is used to fix the vehicle frame through the first fixing component and fix the glass through the second fixing component; The acquiring unit 302 is configured to acquire first attribute information of the glass and second attribute information of the vehicle frame; The determining unit 303 is configured to determine a target area in the vehicle frame based on the first attribute information and the second attribute information through the visual system, and adjust the second fixing component based on the target area to fix the glass in the target area so that the positional relationship between the glass and the vehicle frame is within a preset positional relationship range; the target area is used for configuring the glass; The photographing unit 304 is configured to photograph the glass and the vehicle frame through the visual system to obtain a first image; The determining unit 303 is further configured to determine a first gluing trajectory between the glass and the car frame using the first image; The division unit 305 is configured to divide the first gluing track into a first type of track and a second type of track, wherein the first type of track includes a plurality of first tracks, and the second type of track includes a plurality of second tracks, and the first tracks and the second tracks are spaced apart from each other; the curvature of the first tracks is greater than or equal to a preset threshold, and the curvature of the second tracks is less than the preset threshold; The control unit 306 is used to determine the first gluing parameter of the target first trajectory and the first control parameter of the robotic arm, control the robotic arm to work according to the first control parameter, and control the gluing gun to perform gluing operations with the first gluing parameter, and the target first trajectory is any first trajectory among the multiple first trajectories; and determine the second gluing parameter of the target second trajectory and the second control parameter of the robotic arm, control the robotic arm to work according to the second control parameter, and control the gluing gun to perform gluing operations with the second gluing parameter, and the target second trajectory is any second trajectory among the multiple second trajectories.

[0075] Optionally, in determining the first gluing parameter of the target first trajectory and the first control parameter of the robotic arm, the control unit 306 is specifically configured to: Dividing the first trajectory of the target into multiple segments to obtain multiple trajectories; Acquire first attribute information of a target corresponding to a third trajectory according to the first attribute information, and acquire second attribute information of a target corresponding to the third trajectory according to the second attribute information; the third trajectory is any one of the multiple trajectories; Acquire a first reference gluing parameter corresponding to the first target attribute information and the second target attribute information; determining a first eccentricity corresponding to the third trajectory; determining a first adjustment parameter corresponding to the first eccentricity; Adjusting the first reference gluing parameter according to the first adjustment parameter to obtain the first gluing parameter; The first control parameter of the robotic arm is determined according to the first gluing parameter.

[0076] Optionally, in the aspect of dividing the first trajectory of the target into multiple segments to obtain multiple trajectories, the control unit 306 is specifically configured to: Obtaining a maximum curvature and a minimum curvature of the first trajectory of the target, and obtaining a first position corresponding to the maximum curvature and a second position corresponding to the minimum curvature; determining a trajectory length between the first position and the second position, and determining a curvature difference between the maximum curvature and the minimum curvature; determining a first ratio between the curvature difference and the trajectory length; The target first trajectory is divided into multiple segments according to the first ratio to obtain the multiple segments of the trajectory, wherein the larger the first ratio is, the more segments there are, and the length of each segment of the trajectory is proportional to the average curvature corresponding to the segment of the trajectory.

[0077] Optionally, in terms of obtaining the first reference gluing parameter corresponding to the first target attribute information and the second target attribute information, the control unit 306 is specifically configured to: Acquire reference first attribute information corresponding to a fourth trajectory based on the first attribute information, and acquire reference second attribute information corresponding to the fourth trajectory based on the second attribute information; the fourth trajectory is a previous segment of the third trajectory; Obtaining actual gluing parameters corresponding to the fourth track; determining a first relative deviation between the target first attribute information and the reference first attribute information; determining a second relative deviation between the target second attribute information and the reference second attribute information; determining a first optimization parameter corresponding to the first relative deviation; determining a second optimization parameter corresponding to the second relative deviation; The first reference gluing parameter is determined according to the first optimization parameter, the second optimization parameter and the actual gluing parameter.

[0078] Optionally, the target second trajectory includes a plurality of position points. In determining the second gluing parameter of the target second trajectory and the second control parameter of the robotic arm, the control unit 306 is specifically configured to: Determining a gap width at each of the plurality of position points to obtain a plurality of gap widths; Determine a first standard deviation of the plurality of gap widths, and determine a first relative mean corresponding to the plurality of gap widths; determining a second reference gluing parameter corresponding to the first relative mean value; determining a first feedback adjustment parameter corresponding to the first standard deviation; feedback-adjusting the second reference gluing parameter according to the first feedback adjustment parameter to obtain the second gluing parameter; The second control parameter of the robotic arm is determined according to the second gluing parameter.

[0079] It can be seen that the high-speed precision gluing system described in the embodiment of the present application is applied to a gluing robot, and the gluing robot includes: a robot body, a gluing gun, a first fixing component, a second fixing component and a visual system, the robot body is connected to the gluing gun through a robotic arm, the car frame is fixed by the first fixing component, and the glass is fixed by the second fixing component; the first attribute information of the glass and the second attribute information of the car frame are obtained; the target area in the car frame is determined by the visual system according to the first attribute information and the second attribute information, and the second fixing component is adjusted based on the target area to fix the glass in the target area so that the glass is aligned with the car frame. The positional relationship between them is within a preset positional relationship range; the target area is used to configure the glass; the glass and the car frame are photographed by the visual system to obtain a first image; the first gluing trajectory between the glass and the car frame is determined by the first image; the first gluing trajectory is divided into a first type of trajectory and a second type of trajectory, the first type of trajectory includes a plurality of first trajectories, the second type of trajectory includes a plurality of second trajectories, and the first trajectory and the second trajectory are spaced apart; the curvature of the first trajectory is greater than or equal to a preset threshold, and the curvature of the second trajectory is less than the preset threshold; the first gluing parameter of the target first trajectory and the first control parameter of the robotic arm are determined, and according to the The first control parameter controls the robotic arm to work, and controls the gluing gun to perform the gluing operation with the first gluing parameter, and the target first trajectory is any first trajectory among the multiple first trajectories; determines the second gluing parameter of the target second trajectory and the second control parameter of the robotic arm, controls the robotic arm to work according to the second control parameter, and controls the gluing gun to perform the gluing operation with the second gluing parameter, and the target second trajectory is any second trajectory among the multiple second trajectories. Firstly, the automobile frame can be fixed by the first fixing component, and the glass can be fixed by the second fixing component, which can reduce the gap change caused by mechanical vibration or instability and improve the overall stability during the gluing process. Since the first attribute information of the glass reflects the characteristics of the glass to a certain extent, and the second attribute information of the car frame reflects the relevant characteristics of the car to a certain extent, the target area in the car frame can be determined by the visual system based on the first attribute information and the second attribute information, so that the positional relationship between the glass and the car frame is within the preset positional relationship range, and preliminary guarantee is made for subsequent gluing work. Secondly, the trajectory turning sections of the glass corners and the trajectory turning sections of the non-glass corners can be distinguished, and corresponding gluing can be achieved based on specific structural characteristics, thereby reducing the probability of gluing defects, achieving targeted gluing to ensure the gluing effect, and improving the gluing efficiency and intelligence, as well as the intelligence of the gluing robot.

[0080] 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, and the computer program enables a computer to execute part or all of the steps of any method described in the above method embodiment, and the above computer includes a gluing robot.

[0081] The present application also provides a computer program product comprising a non-transitory computer-readable storage medium storing a computer program, wherein the computer program is operable to cause a computer to perform some or all of the steps of any of the methods described in the above method embodiments. The computer program product may be a software installation package, and the computer may include a glue-applying robot.

[0082] 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 this application is not limited by the order of the actions described, because according to this 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 this application.

[0083] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0084] In the several embodiments provided in this application, it should be understood that the disclosed devices can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the above-mentioned units is only a logical function division. In actual implementation, there may be other division methods, 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.

[0085] The units described above as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0086] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0087] 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 existing technology, 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 and includes a number of instructions for enabling 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, magnetic disk or optical disk, etc. Various media that can store program code.

[0088] Those skilled in the art will appreciate that all or part of the steps in the various methods of the above embodiments can be completed by a program instructing related hardware. The program can 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.

[0089] The above is a detailed introduction to the embodiments of the present application. Specific examples are used herein 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 those skilled in the art, according to the idea of ​​the present application, there may be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A high-speed precision gluing method, characterized in that: Applied to a gluing robot, the gluing robot comprises: a robot body, a gluing gun, a first fixing component, a second fixing component and a visual system, the robot body is connected to the gluing gun via a mechanical arm, and the method comprises: Fix the automobile frame by the first fixing member, and fix the glass by the second fixing member; Acquire first attribute information of the glass and second attribute information of the automobile frame; determining a target area in the automobile frame by the visual system according to the first attribute information and the second attribute information, and adjusting the second fixing component based on the target area to fix the glass in the target area so that the positional relationship between the glass and the automobile frame is within a preset positional relationship range; the target area is used to configure the glass; The glass and the automobile frame are photographed by the visual system to obtain a first image; determining a first gluing track between the glass and the automobile frame through the first image; The first gluing track is divided into a first track and a second track, wherein the first track includes a plurality of first tracks, the second track includes a plurality of second tracks, and the first track and the second track are spaced apart from each other; the curvature of the first track is greater than or equal to a preset threshold, and the curvature of the second track is less than the preset threshold; Determine a first gluing parameter of a target first trajectory and a first control parameter of the robotic arm, control the robotic arm to work according to the first control parameter, and control the gluing gun to perform a gluing operation with the first gluing parameter, wherein the target first trajectory is any first trajectory among the multiple first trajectories; Determine the second gluing parameter of the target second trajectory and the second control parameter of the robotic arm, control the robotic arm to work according to the second control parameter, and control the gluing gun to perform gluing operation with the second gluing parameter, the target second trajectory being any second trajectory among the multiple second trajectories.

2. The method according to claim 1, characterized in that The first gluing parameter for determining the first trajectory of the target and the first control parameter of the robotic arm include: Dividing the first trajectory of the target into multiple segments to obtain multiple trajectories; Acquire first attribute information of a target corresponding to a third track according to the first attribute information, and acquire second attribute information of a target corresponding to the third track according to the second attribute information; the third track is any track among the multiple tracks; Acquire a first reference gluing parameter corresponding to the first attribute information of the target and the second attribute information of the target; determining a first eccentricity corresponding to the third trajectory; determining a first adjustment parameter corresponding to the first eccentricity; Adjust the first reference gluing parameter according to the first adjustment parameter to obtain the first gluing parameter; The first control parameter of the robotic arm is determined according to the first gluing parameter.

3. The method according to claim 2, characterized in that The step of dividing the first trajectory of the target into multiple segments to obtain multiple trajectories includes: Acquire a maximum curvature and a minimum curvature of the first trajectory of the target, and acquire a first position corresponding to the maximum curvature and a second position corresponding to the minimum curvature; determining a trajectory length between the first position and the second position, and determining a curvature difference between the maximum curvature and the minimum curvature; determining a first ratio between the curvature difference and the trajectory length; The target first trajectory is divided into multiple segments according to the first ratio to obtain the multiple segments of the trajectory, wherein the larger the first ratio is, the more segments there are, and the length of each segment of the trajectory is proportional to the average curvature corresponding to the segment of the trajectory.

4. The method according to claim 2 or 3, characterized in that: The obtaining of the first reference gluing parameter corresponding to the first target attribute information and the second target attribute information includes: Acquire reference first attribute information corresponding to a fourth track according to the first attribute information, and acquire reference second attribute information corresponding to the fourth track according to the second attribute information; the fourth track is a previous track of the third track; Obtaining actual gluing parameters corresponding to the fourth track; Determining a first relative deviation between the target first attribute information and the reference first attribute information; Determining a second relative deviation between the target second attribute information and the reference second attribute information; determining a first optimization parameter corresponding to the first relative deviation; determining a second optimization parameter corresponding to the second relative deviation; The first reference gluing parameter is determined according to the first optimization parameter, the second optimization parameter and the actual gluing parameter.

5. The method according to any one of claims 1 to 3, characterized in that: The target second trajectory includes a plurality of position points, and the second gluing parameter for determining the target second trajectory and the second control parameter of the robotic arm include: Determine the gap width of each of the multiple position points to obtain multiple gap widths; Determine a first standard deviation of the plurality of gap widths, and determine a first relative mean corresponding to the plurality of gap widths; determining a second reference gluing parameter corresponding to the first relative mean value; determining a first feedback adjustment parameter corresponding to the first standard deviation; Feedback-adjust the second reference gluing parameter according to the first feedback adjustment parameter to obtain the second gluing parameter; The second control parameter of the robot arm is determined according to the second gluing parameter.

6. A high-speed precision gluing system, characterized in that: Applied to a gluing robot, the gluing robot comprises: a robot body, a gluing gun, a first fixing component, a second fixing component and a visual system, the robot body is connected to the gluing gun via a mechanical arm, the high-speed precision gluing system comprises: a fixing unit, an acquisition unit, a determination unit, a shooting unit, a division unit and a control unit, wherein: The fixing unit is used to fix the automobile frame through the first fixing component and to fix the glass through the second fixing component; The acquisition unit is used to acquire the first attribute information of the glass and the second attribute information of the automobile frame; The determining unit is used to determine a target area in the automobile frame according to the first attribute information and the second attribute information through the visual system, and adjust the second fixing component based on the target area to fix the glass in the target area so that the positional relationship between the glass and the automobile frame is within a preset positional relationship range; the target area is used to configure the glass; The photographing unit is used to photograph the glass and the automobile frame through the visual system to obtain a first image; The determining unit is further used to determine a first gluing track between the glass and the automobile frame through the first image; The division unit is used to divide the first gluing track into a first type of track and a second type of track, the first type of track includes a plurality of first tracks, the second type of track includes a plurality of second tracks, and the first tracks and the second tracks are spaced apart from each other; the curvature of the first track is greater than or equal to a preset threshold, and the curvature of the second track is less than the preset threshold; The control unit is used to determine a first gluing parameter of a target first trajectory and a first control parameter of the robotic arm, control the robotic arm to work according to the first control parameter, and control the gluing gun to perform a gluing operation with the first gluing parameter, wherein the target first trajectory is any first trajectory among the multiple first trajectories; and determine a second gluing parameter of a target second trajectory and a second control parameter of the robotic arm, control the robotic arm to work according to the second control parameter, and control the gluing gun to perform a gluing operation with the second gluing parameter, wherein the target second trajectory is any second trajectory among the multiple second trajectories.

7. The high-speed precision gluing system according to claim 6, characterized in that: In terms of determining the first gluing parameter of the target first trajectory and the first control parameter of the robotic arm, the control unit is specifically used for: Dividing the first trajectory of the target into multiple segments to obtain multiple trajectories; Acquire first attribute information of a target corresponding to a third track according to the first attribute information, and acquire second attribute information of a target corresponding to the third track according to the second attribute information; the third track is any track among the multiple tracks; Acquire a first reference gluing parameter corresponding to the first attribute information of the target and the second attribute information of the target; determining a first eccentricity corresponding to the third trajectory; determining a first adjustment parameter corresponding to the first eccentricity; Adjust the first reference gluing parameter according to the first adjustment parameter to obtain the first gluing parameter; The first control parameter of the robotic arm is determined according to the first gluing parameter.

8. The high-speed precision gluing system according to claim 7, characterized in that: In the aspect of dividing the first trajectory of the target into multiple segments to obtain multiple trajectories, the control unit is specifically used to: Acquire a maximum curvature and a minimum curvature of the first trajectory of the target, and acquire a first position corresponding to the maximum curvature and a second position corresponding to the minimum curvature; determining a trajectory length between the first position and the second position, and determining a curvature difference between the maximum curvature and the minimum curvature; determining a first ratio between the curvature difference and the trajectory length; The target first trajectory is divided into multiple segments according to the first ratio to obtain the multiple segments of the trajectory, wherein the larger the first ratio is, the more segments there are, and the length of each segment of the trajectory is proportional to the average curvature corresponding to the segment of the trajectory.

9. The high-speed precision gluing system according to claim 7 or 8, characterized in that: In the aspect of acquiring the first reference gluing parameter corresponding to the target first attribute information and the target second attribute information, the control unit is specifically used to: Acquire reference first attribute information corresponding to a fourth track according to the first attribute information, and acquire reference second attribute information corresponding to the fourth track according to the second attribute information; the fourth track is a previous track of the third track; Obtaining actual gluing parameters corresponding to the fourth track; Determining a first relative deviation between the target first attribute information and the reference first attribute information; Determining a second relative deviation between the target second attribute information and the reference second attribute information; determining a first optimization parameter corresponding to the first relative deviation; determining a second optimization parameter corresponding to the second relative deviation; The first reference gluing parameter is determined according to the first optimization parameter, the second optimization parameter and the actual gluing parameter.

10. The high-speed precision gluing system according to any one of claims 6 to 8, characterized in that: The target second trajectory includes a plurality of position points. In determining the second gluing parameter of the target second trajectory and the second control parameter of the robotic arm, the control unit is specifically used for: Determine the gap width of each of the multiple position points to obtain multiple gap widths; Determine a first standard deviation of the plurality of gap widths, and determine a first relative mean corresponding to the plurality of gap widths; determining a second reference gluing parameter corresponding to the first relative mean value; determining a first feedback adjustment parameter corresponding to the first standard deviation; Feedback-adjust the second reference gluing parameter according to the first feedback adjustment parameter to obtain the second gluing parameter; The second control parameter of the robot arm is determined according to the second gluing parameter.

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