Wall gluing system, method and equipment based on thermal imaging and 3D printing and medium

Abstract

The embodiment of the invention provides a wall gluing system, method and equipment based on thermal imaging and 3D printing and a medium, and aims to give consideration to the performance of structural adhesive and the prefabricating efficiency of a wall module. The wall gluing system comprises thermal imaging equipment, control equipment and gluing equipment, the thermal imaging equipment is used for shooting a thermal image of a target wall framework, and the target wall framework is a wall framework subjected to a welding procedure; the control equipment is used for recognizing a position where glue cannot be applied on the target wall framework according to the thermogram, and the position where the glue cannot be applied is the position where the temperature exceeds a preset threshold value; the control equipment is further used for generating control information according to the position where glue cannot be applied and the 3D model of the target wall framework; the control device is further used for controlling the gluing device to conduct gluing on the target wall framework according to the control information.

Description

Technical Field

[0001] The present application relates to the field of prefabricated buildings, and in particular, to a wall gluing system based on thermal imaging and 3D printing, a control information generating method, an electronic device and a readable storage medium. Background Art

[0002] In order to improve the standardization and efficiency of construction, modular prefabricated construction technology has become increasingly popular. This technology requires prefabricating wall modules or house modules in the factory, and then stacking and splicing these modules one by one through lifting equipment at the construction site. This not only greatly shortens the construction period, but also improves the quality of the building because most of the work is completed through the factory assembly line.

[0003] Taking the prefabrication process of wall modules as an example, during the prefabrication of wall modules, it is first necessary to weld steel structural materials such as trusses and square columns into a wall skeleton, and then lay the wall panels on the wall skeleton. In order to improve the connection firmness between the wall panel and the wall skeleton, glue can be applied to the wall skeleton first, and the wall panel and the wall skeleton can be bonded by structural glue. However, since the temperature of the wall skeleton is too high after high-temperature welding, the excessively high temperature will affect the performance of the structural glue. However, if the glue is applied after waiting for the temperature of the wall skeleton to cool to an acceptable range, it will affect the prefabrication efficiency of the wall module. Therefore, how to balance the performance of the structural glue and the prefabrication efficiency of the wall module is a problem that needs to be solved.

[0004] It should be noted that the above content is only used to introduce background technology that may be related to the present invention to help readers better understand the present invention, but does not constitute an admission of the prior art. Summary of the invention

[0005] To solve the above problems, an embodiment of the present invention provides a wall gluing system based on thermal imaging and 3D printing, a control information generation method, an electronic device and a readable storage medium, aiming to take into account both the performance of structural adhesive and the prefabrication efficiency of wall modules.

[0006] In a first aspect, an embodiment of the present invention provides a wall gluing system based on thermal imaging and 3D printing, the system comprising a thermal imaging device, a control device and a gluing device;

[0007] The thermal imaging device is used to take a thermal image of a target wall skeleton, and the target wall skeleton is a wall skeleton after a welding process;

[0008] The control device is used to identify the non-glue-applying position on the target wall skeleton according to the thermal image, and the non-glue-applying position is the position where the temperature exceeds a preset threshold;

[0009] The control device is also used to generate control information according to the non-glue-applying position and the 3D model of the target wall skeleton;

[0010] The control device is also used to control the gluing device to apply glue to the target wall skeleton according to the control information.

[0011] Optionally, the system further includes a transmission device, which is used to transmit the target wall skeleton from a welding station to a gluing station, and the gluing device is located in the gluing station; the thermal imaging device is arranged between the welding station and the gluing device.

[0012] Optionally, the system also includes a position sensor, which is used to detect whether the target wall skeleton is transmitted to the preset position and send a detection signal to the control device. The control device is also used to control the thermal imaging device at the preset position to take a thermal image of the target wall skeleton when the target wall skeleton is transmitted to the preset position.

[0013] Optionally, the target wall skeleton includes a plurality of mutually parallel trusses, and the length direction of the trusses is parallel to the transmission direction of the target wall skeleton; the gluing device includes a plurality of gluing heads, and each truss corresponds to a gluing head;

[0014] The transmission device is also used to transmit the target wall frame from the gluing station to the next station. When the transmission device carries the target wall frame and passes under the gluing device, each truss is glued by the gluing head corresponding to the truss;

[0015] Each truss corresponds to a piece of control information, and each piece of control information corresponding to the truss includes at least one group of time points, and each group of time points includes a time point for starting glue injection and a time point for stopping glue injection; the control device is specifically used to control the corresponding glue head to start and stop gluing according to the piece of control information corresponding to each truss.

[0016] Optionally, when the control device identifies the non-gluing position on the target wall skeleton according to the thermal image, it is specifically used to:

[0017] Identifying the target wall skeleton from the thermal image and generating a first mask of the target wall skeleton;

[0018] According to the thermal image, determining a high temperature area in the thermal image whose temperature exceeds the preset threshold, and generating a second mask of the high temperature area;

[0019] The overlapping position of the first mask and the second mask is determined as the non-gluing position on the target wall skeleton.

[0020] Optionally, when the control device generates the control information according to the non-glueable position and the 3D model of the target wall skeleton, it is specifically used to:

[0021] Find the fracture position of each truss according to the 3D model of the target wall skeleton;

[0022] For each truss, obtain the non-glue-applying position and the fracture position of the truss, merge the non-glue-applying positions and / or fracture positions that are connected to each other in position, and obtain a merged position;

[0023] For each truss, for each merged position of the truss, each unmerged non-glueable position and each unmerged fracture position, the time point for stopping the glue injection is calculated according to the transmission speed and the distance between the front edge of the position and the front edge of the truss, and the time point for starting the glue injection is calculated according to the transmission speed and the distance between the rear edge of the position and the front edge of the truss; wherein the front edge refers to the position point that is first transmitted to the bottom of the gluing head at the position, and the rear edge refers to the position point that is last transmitted to the bottom of the gluing head at the position.

[0024] Optionally, the control device is further used to render the non-glueable position in the 3D model and display the rendered 3D model.

[0025] In a second aspect, an embodiment of the present invention provides a method for generating control information, the method comprising:

[0026] Obtain thermal images of the target wall skeleton;

[0027] According to the thermal image, identifying a non-glue-applying position on the target wall skeleton, wherein the non-glue-applying position is a position where the temperature exceeds a preset threshold;

[0028] Control information is generated according to the non-glue-applying position and the 3D model of the target wall skeleton, and the control information is used to control the gluing equipment to apply glue to the target wall skeleton.

[0029] In a third aspect, an embodiment of the present invention provides an electronic device, the electronic device comprising a memory and a processor;

[0030] The memory is used to store application programs;

[0031] The processor is used to run the application stored in the memory to implement the above control information generating method.

[0032] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, wherein an application is stored in the computer-readable storage medium, and when the application is executed by a processor, it is used to implement the above-mentioned control information generation method.

[0033] This application has the following beneficial effects:

[0034] In the wall gluing system provided by the embodiment of the present invention, after the target wall skeleton has gone through the welding process, the thermal imaging device takes a thermal image of the target wall skeleton, and the control device identifies the positions on the target wall skeleton where the temperature exceeds the preset threshold value based on the thermal image, and regards these positions as non-gluing positions. The control device also generates control information based on the non-gluing positions and the 3D model of the target wall skeleton, and controls the gluing device according to the control information, thereby achieving accurate gluing of the target wall skeleton, which can avoid applying the structural glue to a position where the temperature is too high and will not affect the performance of the structural glue; and after the gluing process, the heat of the excessively high temperature position is further dissipated, and only a small amount of glue needs to be added to these positions later, so the prefabrication efficiency of the wall module can be guaranteed. In summary, the wall gluing system provided by the embodiment of the present invention can take into account both the performance of the structural glue and the prefabrication efficiency of the wall module. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The drawings described herein are used to provide further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute improper limitations on the present application.

[0036] Figure 1 is a structural schematic diagram of a wall glue application system in one embodiment of the present invention;

[0037] Figure 2 is a schematic structural diagram of a target wall skeleton in one embodiment of the present invention;

[0038] FIG3( a ) is a schematic diagram of positions before merging provided by an embodiment of the present invention;

[0039] FIG3( b ) is a schematic diagram of the positions after merging provided by an embodiment of the present invention;

[0040] Figure 4 is a schematic diagram of time point calculation provided by an embodiment of the present invention;

[0041] Figure 5 is a flow chart of a control information generating method provided by an embodiment of the present invention;

[0042] Figure 6 It is a schematic diagram of the structure of an electronic device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0043] In order to make the technical solutions and advantages in the embodiments of the present application more clearly understood, the exemplary embodiments of the present application are further described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present application, rather than an exhaustive list of all the embodiments. It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict.

[0044] In the description of the present invention, it is to be understood that the terms “vertical”, “horizontal”, “inside”, “outside”, “up”, “down”, “front”, “back”, “left”, “right”, “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, etc., indicating orientations or positional relationships are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0045] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0046] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0047] During the prefabrication of wall modules, it is first necessary to weld trusses, square columns and other steel structural materials into a wall frame, and then lay the wall panels on the wall frame. In order to improve the connection strength between the wall panel and the wall frame, glue can be applied to the wall frame first, and the wall panel and the wall frame can be bonded with structural glue. However, since the temperature of the wall frame is too high after high-temperature welding, the excessively high temperature will affect the performance of the structural glue. However, if the glue is applied after waiting for the temperature of the wall frame to cool to an acceptable range, the prefabrication efficiency of the wall module will be affected. Therefore, how to balance the performance of the structural glue and the prefabrication efficiency of the wall module is a problem that needs to be solved.

[0048] It should be noted that the above content is only used to introduce background technology that may be related to the present invention, which helps readers better understand the present invention. The technical solutions recorded in the above content are technical solutions used internally by the applicant and cannot be understood as recognition of the prior art.

[0049] In order to take into account both the performance of structural adhesive and the prefabrication efficiency of wall modules during the prefabrication process of wall modules, the present invention provides a wall glue system based on thermal imaging and 3D printing. Figure 1 , Figure 1 FIG. 1 is a schematic diagram (top view) of the structure of a wall glue application system in one embodiment of the present invention. Figure 1 As shown, the wall gluing system includes a thermal imaging device 100 , a control device (not shown) and a gluing device 200 .

[0050] Among them, the thermal imaging device 100 is used to take a thermal image of the target wall skeleton 50, and the target wall skeleton 50 is a wall skeleton after a welding process. For example, after a plurality of trusses 51 and square columns 52 and other steel structural materials are welded into a wall skeleton through a welding process, it is necessary to use the thermal imaging device 100 to take a thermal image of the wall skeleton. Since the thermal image is taken by the thermal imaging device 100 aiming at the target wall skeleton 50, the thermal image includes an image of the target wall skeleton 50 and may also include images of other objects (such as the transmission equipment 300, operators, etc.). Each pixel point of the thermal image corresponds to a temperature value, which is used to represent the temperature value at the corresponding real position of the pixel point.

[0051] The control device is used to identify the non-glue-applying position on the target wall skeleton 50 according to the thermal image, and the non-glue-applying position is the position where the temperature exceeds the preset threshold. The preset threshold refers to the critical temperature value that affects the performance of the structural adhesive. The critical temperature value of the structural adhesive can be queried according to the type of structural adhesive selected, and the critical temperature value of the structural adhesive can be used as the preset threshold. The control device can use a computer with graphics processing capabilities and a display screen, or a processor with computing capabilities and image processing capabilities. The present invention does not limit the specific form of the control device. The control device can find the target pixel point in the image of the target wall skeleton 50 whose temperature exceeds the preset threshold according to the temperature value corresponding to each pixel point in the thermal image. The control device converts the coordinate position of the target pixel point into the actual coordinate position on the target wall skeleton 50 according to the pre-established coordinate conversion matrix, thereby determining the actual coordinate position as the non-glue-applying position. Among them, the coordinate conversion matrix is ​​a matrix generated by pre-calibrating the thermal imaging device 100.

[0052] The control device is also used to generate control information according to the non-gluing position and the 3D model of the target wall skeleton 50, and control the gluing device 200 to glue the target wall skeleton 50 according to the control information.

[0053] The 3D model of the target wall skeleton 50 records other position information of the target wall skeleton 50 that does not need to be glued, such as Figure 2 As shown, Figure 2 : is a schematic diagram of the structure of the target wall skeleton 50 in an embodiment of the present invention. The target wall skeleton 50 is provided with window holes 53 and 54. The window holes 53 and 54 belong to the positions in the target wall skeleton 50 where no gluing is required. The target wall skeleton 50 also includes square columns 52. The position where the truss 51 is separated by the square columns 52 also belongs to the position in the target wall skeleton 50 where no gluing is required. It should be noted that there are many types of wall skeletons. A complete house structure is constructed together with many different types of wall skeletons. Different types of wall skeletons have different window hole sizes, window hole positions, door hole sizes and door hole positions. Therefore, the control device needs to generate control information according to the non-gluing position and the 3D model of the target wall skeleton 50 at the same time.

[0054] In the present invention, after the target wall skeleton 50 has gone through the welding process, the thermal imaging device 100 takes a thermal image of the target wall skeleton 50, and the control device identifies the positions on the target wall skeleton 50 where the temperature exceeds the preset threshold value based on the thermal image, and uses these positions as non-gluing positions, and the control device also generates control information based on the non-gluing positions and the 3D model of the target wall skeleton 50, and controls the gluing device 200 according to the control information, thereby achieving accurate gluing of the target wall skeleton 50, which can avoid applying the structural glue to a position where the temperature is too high and will not affect the performance of the structural glue; and after the gluing process, the heat of the excessively high temperature position is further dissipated, and only a small amount of glue needs to be added to these positions later, so the prefabrication efficiency of the wall module can be guaranteed. In summary, the wall gluing system provided by the embodiment of the present invention can take into account both the performance of the structural glue and the prefabrication efficiency of the wall module.

[0055] In some specific embodiments, the wall gluing system further includes a transmission device 300, which is used to transmit the target wall skeleton 50 from the welding station to the gluing station. The transmission device 300 can be a crawler transmission device, a roller transmission device, or a trolley transmission device, and the present invention does not limit the specific type of the transmission device 300. The welding station, the gluing station, and the transmission device 300 can be used as components of the wall module prefabrication line. After the wall skeleton is welded manually or automatically at the welding station, the wall skeleton is transmitted to the gluing station by the transmission device 300.

[0056] The gluing device 200 is located in the gluing station, and the thermal imaging device 100 is arranged between the welding station and the gluing device 200. While the target wall skeleton 50 at the welding station is transmitted to the gluing device 200 at the gluing station by the transmission device 300, the thermal imaging device 100 located in front of the gluing device 200 collects a thermal image of the target wall skeleton 50 and sends the collected thermal image to the control device.

[0057] The wall gluing system may also include a position sensor, which is used to detect whether the target wall skeleton 50 is transmitted to the preset position and send a detection signal to the control device. The position sensor may be a photoelectric sensor, an inductive proximity sensor, an ultrasonic sensor, etc., and the present invention does not limit the specific type of the position sensor. When the target wall skeleton 50 is transmitted to the preset position, the control device controls the thermal imaging device 100 at the preset position to take a thermal image of the target wall skeleton 50, so that the thermal imaging device 100 can take a thermal image of the target wall skeleton 50 at the same time each time, that is, whenever the target wall skeleton 50 is transmitted to the preset position, the thermal image of the target wall skeleton 50 is taken.

[0058] In order to enable the thermal imaging device 100 to take a thermal image every time the target wall skeleton 50 is transmitted to the preset position, it can also be achieved through the timing function in the control device. Specifically, according to the distance between the welding station and the thermal imaging device 100 and the transmission speed of the transmission device 300, the target transmission time for transmitting the target wall skeleton 50 from the welding station to the thermal imaging device 100 is calculated. When the target wall skeleton 50 starts to be transmitted backward from the welding station, the timing function of the control device starts timing. When the timing reaches the target transmission time, the control device controls the thermal imaging device 100 to take a thermal image.

[0059] like Figure 2 As shown, the target wall skeleton 50 includes a plurality of mutually parallel trusses 51, and the length direction of the trusses 51 is parallel to the transmission direction of the target wall skeleton 50. It should be noted that in the present invention, a plurality of sub-trusses located on the same straight line in the target wall skeleton 50 are regarded as one truss 51, for example Figure 2 The sub-trusses a1, a2, a3 and a4 in the figure together form truss A. Figure 1 As shown, the gluing device 200 includes a plurality of gluing heads 210, and each truss 51 corresponds to a gluing head 210. In some scenarios, the number of trusses 51 of the target wall skeleton 50 is small, and the number of trusses 51 is lower than the number of gluing heads 210. During the gluing process, the redundant gluing heads 210 do not work. In other scenarios, the number of trusses 51 of the target wall skeleton 50 is exactly equal to the number of gluing heads 210. During the gluing process, each gluing head 210 needs to work.

[0060] The transmission device 300 is not only used to transmit the target wall skeleton 50 from the welding station to the gluing station, but also used to transmit the target wall skeleton 50 from the gluing station to the next station, such as the wall panel paving station. When the transmission device 300 carries the target wall skeleton 50 and passes through the bottom of the gluing device 200, each truss 51 is glued by the gluing head 210 corresponding to the truss 51. Specifically, the target wall skeleton 50 can pass under the gluing head 210 of the gluing station without deceleration, and when the target wall skeleton 50 passes under the gluing head 210, the gluing head 210 glues the corresponding truss 51 under the control of the control device. Alternatively, the target wall skeleton 50 can also pass under the gluing head 210 of the gluing station with appropriate deceleration, and when the target wall skeleton 50 passes under the gluing head 210, the gluing head 210 glues the corresponding truss 51 under the control of the control device.

[0061] The control device generates multiple control information, each truss 51 corresponds to a control information, each truss 51 corresponds to a control information including at least one group of time points, each group of time points including a start glue injection time point and a stop glue injection time point; the control device is specifically used to control the corresponding glue head 210 to start and stop glue injection according to the control information corresponding to each truss 51. Among them, for each control information, when the control device detects that the current time point reaches a certain start glue injection time point of the control information, the control device controls the corresponding glue head 210 to start glue injection, and when the control device detects that the current time point reaches a certain stop glue injection time point of the control information, the control device controls the corresponding glue head 210 to stop glue injection.

[0062] For ease of understanding, for example, Figure 1The truss C in the figure has the corresponding control information including the following three groups of time points: (0'0"0, 0'36"29), (0'41"12, 0'46"51), (0'51"36, 0'58"55). The first time point in each group of time points is the start time point of glue injection, and the second time point in each group of time points is the stop time point of glue injection. When the control device controls the glue head C to glue according to the above three groups of time points, when the sensor under the glue head 210 (such as a photoelectric sensor, an inductive proximity sensor, an ultrasonic sensor or other position sensor) detects that the front edge of the target wall skeleton 50 has been transmitted to the bottom of the glue head 210, the sensor sends a detection signal to the control device, and the control device starts timing from 0'0"0. Since the current time reaches 0'0"0, the start time point of glue injection, the control device controls the glue head C to start gluing the truss C. When the timing result reaches 0'36"29, the stop time point of glue injection, the control device stops. The control device controls the gluing head C to stop gluing the truss C; when the timing result reaches 0'41"12, the time point for starting glue injection, the control device controls the gluing head C again to start gluing the truss C; when the timing result reaches 0'46"51, the time point for stopping glue injection, the control device controls the gluing head C again to stop gluing the truss C; when the timing result reaches 0'51"36, the time point for starting glue injection, the control device controls the gluing head C again to start gluing the truss C; when the timing result reaches 0'58"55, the time point for stopping glue injection, the control device controls the gluing head C again to stop gluing the truss C.

[0063] In some specific embodiments, the control device can identify non-glue-applying positions from the thermal image in the following manner: identify the target wall skeleton 50 from the thermal image, and generate a first mask of the target wall skeleton 50; determine, based on the thermal image, the high-temperature area in the thermal image whose temperature exceeds a preset threshold, and generate a second mask of the high-temperature area; determine the overlapping position of the first mask and the second mask as the non-glue-applying position on the target wall skeleton 50.

[0064] In the present invention, on the one hand, after acquiring the thermal image, the control device can use an edge detection algorithm to identify the edge of the target wall skeleton 50 from the thermal image, and segment the target wall skeleton 50, and use the segmented target wall skeleton 50 as the first mask. Alternatively, the control device can also use a pre-trained target detection model (such as Faster R-CNN, YOLO model, etc.) to identify the position of the target wall skeleton 50 from the thermal image, and then segment the target wall skeleton 50, and use the segmented target wall skeleton 50 as the first mask. On the other hand, the control device regards the pixel points whose temperature values ​​exceed the preset threshold as the high temperature area according to the temperature value corresponding to each pixel point in the thermal image, and extracts these pixel points as the second mask. After obtaining the first mask and the second mask, the control device selects the target pixel points where the first mask and the second mask overlap with each other. In other words, the pixel points that are located in both the first mask and the second mask are selected as the target pixel points, and then the coordinate position of the target pixel point is converted into the actual coordinate position on the target wall skeleton 50 according to the pre-established coordinate conversion matrix, thereby determining the actual coordinate position as the non-gluing position.

[0065] In other specific embodiments, the control device can also identify the non-glue-applying position from the thermal image in the following manner: input the thermal image into a pre-trained target position detection model to obtain the target pixel point output by the target position detection model, and then convert the coordinate position of the target pixel point into the actual coordinate position on the target wall skeleton 50 according to the pre-established coordinate conversion matrix, so as to determine the actual coordinate position as the non-glue-applying position. Among them, the target position detection model can detect the target pixel point whose temperature value in the image of the target wall skeleton 50 in the thermal image exceeds the preset threshold. The target position detection model can be trained in the following manner: collect multiple thermal images for different models of wall skeletons, manually mark "the target position whose temperature value exceeds the preset threshold and is located in the wall skeleton image" in the thermal image, use the annotated thermal image to train the initial detection model, and use the trained detection model as the target position detection model.

[0066] In some embodiments, the control device can generate control information in the following manner: according to the 3D model of the target wall skeleton 50, find the fracture position of each truss 51; for each truss 51, obtain the non-glue position and fracture position of the truss 51, merge the non-glue positions and / or fracture positions that are interconnected in position to obtain a merged position; for each truss 51, for each merged position of the truss 51, each unmerged non-glue position and each unmerged fracture position, calculate the time point to stop the glue injection according to the transmission speed and the distance between the front edge of the position and the front edge of the truss 51, and calculate the time point to start the glue injection according to the transmission speed and the distance between the rear edge of the position and the front edge of the truss 51; wherein the front edge refers to the position point of the position that is first transmitted to the bottom of the glue head 210, and the rear edge refers to the position point of the position that is last transmitted to the bottom of the glue head 210.

[0067] Specifically, the control device searches for the break position of each truss 51 according to the 3D model of the target wall skeleton 50. The break position of the truss 51 includes: the position where the truss 51 is broken due to the door opening, the position where the truss 51 is broken due to the window opening, and the position where the truss 51 is broken due to the square column 52. The 3D model of the target wall skeleton 50 includes the door opening position information, the window opening position information and the square column 52 position information, so the break position of each truss 51 can be determined based on this information.

[0068] Each truss 51 has a certain position range. The control device determines, for each pre-identified non-glueable position, which truss 51 the non-glueable position belongs to, and thus assigns the non-glueable position to the truss 51. In the above manner, the control device can determine the non-glueable position of each truss 51.

[0069] The control device performs the following operations for each truss 51: obtain the non-glue position and the fracture position of the truss 51, merge the non-glue positions and / or fracture positions that are interconnected in position, and obtain the merged position. For ease of understanding, as shown in Figure 3 (a), Figure 3 (a) is a schematic diagram before the position is merged provided by an embodiment of the present invention, and the truss B includes a non-glue position X1, a non-glue position X2, a non-glue position X3, a fracture position Y1, a fracture position Y2, a fracture position Y3, and a fracture position Y4. Among them, the fracture position Y1, the fracture position Y2 and the fracture position Y3 are interconnected, so the three can be merged into a merged position to obtain a first merged position Z1, the non-glue position X1, the fracture position Y4 and the non-glue position X2 are interconnected, so the three can be merged into a merged position to obtain a second merged position Z2, and the non-glue position X3 is not connected to other non-glue positions or fracture positions, so it is not merged. As shown in Figure 3(b), Figure 3(b) is a schematic diagram of the merged positions provided by an embodiment of the present invention. It should also be noted that, for two positions, if the closest distance between the two positions is less than a preset distance (such as 1 cm), the two positions can be regarded as connected to each other.

[0070] The control device performs the following operations for each truss 51: for each merged position of the truss 51, each unmerged non-glueable position and each unmerged fracture position, the glue injection stop time point is calculated according to the transmission speed and the distance between the front edge of the position and the front edge of the truss 51, and the glue injection start time point is calculated according to the transmission speed and the distance between the rear edge of the position and the front edge of the truss 51. For ease of understanding, as shown in FIG. Figure 4 As shown, Figure 4 It is a schematic diagram of time point calculation provided by an embodiment of the present invention. Figure 4In the embodiment, truss B includes a first merged position, a second merged position and a non-glueing position x3. First, 0'0"0 is set as the first glue injection start time point by default; then, for the first merged position, according to the distance d1 between the front edge of the first merged position and the front edge of the truss 51, and the transmission speed v of the transmission device 300, the first glue injection stop time point d1 / v is calculated, and according to the distance d2 between the rear edge of the first merged position and the front edge of the truss 51, and the transmission speed v, the second glue injection start time point d2 / v is calculated; then, for the second merged position, according to the distance d2 between the front edge of the second merged position and the front edge of the truss 51 d3, and the transmission speed v, calculate the second time point d3 / v to stop glue injection, and calculate the third time point d4 / v to start glue injection according to the distance d4 between the rear edge of the second merged position and the front edge of the truss 51, and the transmission speed v; then for the non-glue position X3, calculate the third time point d5 / v to stop glue injection according to the distance d5 between the front edge of the non-glue position X3 and the front edge of the truss 51, and the transmission speed v. Therefore, the control information generated for truss B includes the following three groups of time points: (0'0"0, d1 / v), (d2 / v, d3 / v), (d4 / v, d5 / v).

[0071] In some specific embodiments, the control device is also used to render non-glueable positions in the 3D model of the target wall skeleton 50, and display the rendered 3D model, so that the prefabrication personnel can observe the positions on the target wall skeleton 50 that have not been glued, and then after the target wall skeleton 50 is automatically glued by the gluing device 200, a small amount of non-glueable positions can be glued. During the implementation of the present invention, since the gluing device 200 consumes a certain amount of time when automatically gluing the target wall skeleton 50, and the high-temperature area (i.e., the non-glueable position) in the target wall skeleton 50 will further lose heat during this period, and the temperature will gradually decrease, therefore, after the gluing device 200 automatically glues, the operator can manually glue the target wall skeleton 50 according to the non-glueable positions displayed in the 3D model.

[0072] The above is the wall gluing system provided by the present invention. The present invention also provides a control information generating method. The control information generating method and the above wall gluing system are based on the same inventive concept. In order to avoid repetition, only a brief introduction to the control information generating method is given below. For its specific implementation method, please refer to the relevant aspects of the above wall gluing system.

[0073] refer to Figure 5 , Figure 5 FIG. 1 is a flow chart of a control information generation method provided by an embodiment of the present invention. Figure 5 As shown, the method comprises the following steps:

[0074] S510: Acquire a thermal image of the target wall skeleton;

[0075] S520: Identify, based on the thermal image, a non-glue-applying position on the target wall frame, where the non-glue-applying position is a position where the temperature exceeds a preset threshold;

[0076] S530: Generate control information according to the non-glue-applying position and the 3D model of the target wall skeleton, where the control information is used to control the gluing device to apply glue to the target wall skeleton.

[0077] In some specific implementations, step S520 includes the following sub-steps:

[0078] S521: Identify the target wall skeleton from the thermal image and generate a first mask of the target wall skeleton;

[0079] S522: determining, according to the thermal image, a high temperature area in the thermal image whose temperature exceeds a preset threshold, and generating a second mask of the high temperature area;

[0080] S523: Determine the overlapping position of the first mask and the second mask as the non-gluing position on the target wall skeleton.

[0081] In some specific implementations, step S530 includes the following sub-steps:

[0082] S531: Find the fracture position of each truss according to the 3D model of the target wall skeleton;

[0083] S532: for each truss, obtaining the non-gluing position and the fracture position of the truss, merging the non-gluing positions and / or fracture positions that are mutually connected in position to obtain a merged position;

[0084] S533: For each truss, for each merged position of the truss, each unmerged non-glueable position and each unmerged fracture position, the time point for stopping the glue injection is calculated according to the transmission speed and the distance between the front edge of the position and the front edge of the truss, and the time point for starting the glue injection is calculated according to the transmission speed and the distance between the rear edge of the position and the front edge of the truss; wherein the front edge refers to the position point that is first transmitted to the bottom of the glue head, and the rear edge refers to the position point that is last transmitted to the bottom of the glue head.

[0085] In the present invention, based on the thermal image of the target wall skeleton, the positions on the target wall skeleton where the temperature exceeds the preset threshold are identified, and these positions are used as non-glue positions, and control information is generated based on the non-glue positions and the 3D model of the target wall skeleton. The control information is used to control the gluing equipment to glue the target wall skeleton, thereby achieving accurate gluing of the target wall skeleton, which can avoid applying the structural glue to a position where the temperature is too high and will not affect the performance of the structural glue; and after the gluing process, the heat of the excessively high temperature position is further dissipated, and only a small amount of glue needs to be added to these positions later, so the prefabrication efficiency of the wall module can be guaranteed. In summary, the control information generation method provided by the embodiment of the present invention can take into account both the performance of the structural glue and the prefabrication efficiency of the wall module.

[0086] See also Figure 6 , Figure 6 It is a structural diagram of an electronic device provided in an embodiment of the present application, wherein the electronic device 600 includes a processor 610, a memory 620, and one or more applications, wherein the one or more applications are stored in the memory 620 and configured to be executed by one or more processors 610, and the one or more programs are configured to execute the above-mentioned control information generation method.

[0087] The processor 610 may include one or more processing cores. The processor 610 uses various interfaces and lines to connect various parts of the entire electronic device 600, and executes various functions and processes data of the electronic device 600 by running or executing instructions, programs, code sets or instruction sets stored in the memory 620, and calling data stored in the memory 620. Optionally, the processor 610 can be implemented in at least one hardware form of digital signal processing (Digital Signal Processing, DSP), field programmable gate array (Field-Programmable Gate Array, FPGA), and programmable logic array (Programmable Logic Array, PLA). The processor 610 can integrate one or a combination of a central processing unit (Central Processing Unit, CPU), a graphics processing unit (Graphics Processing Unit, GPU) and a modem. Among them, the CPU mainly processes the operating system, user interface and application programs; the GPU is responsible for rendering and drawing display content; and the modem is used to process wireless communications. It can be understood that the above-mentioned modem may not be integrated into the processor 610, but may be implemented separately through a communication chip.

[0088] The memory 620 may include a random access memory (RAM) or a read-only memory (ROM). The memory 620 may be used to store instructions, programs, codes, code sets or instruction sets. The memory 620 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for implementing at least one function (such as a touch function, a sound playback function, an image playback function, etc.), instructions for implementing the above-mentioned various method embodiments, etc. The data storage area may also store data created by the electronic device 600 during use, etc.

[0089] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0090] Although the preferred embodiments of the present application have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications falling within the scope of the present application.

[0091] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A wall gluing system based on thermal imaging and 3D printing, characterized in that: The system includes a thermal imaging device, a control device and a glue application device; The thermal imaging device is used to take a thermal image of a target wall skeleton, and the target wall skeleton is a wall skeleton after a welding process; The control device is used to identify the non-glue-applying position on the target wall skeleton according to the thermal image, and the non-glue-applying position is the position where the temperature exceeds a preset threshold; The control device is also used to generate control information according to the non-glue-applying position and the 3D model of the target wall skeleton; The control device is also used to control the gluing device to apply glue to the target wall skeleton according to the control information.

2. The system according to claim 1, characterized in that The system also includes a transmission device, which is used to transmit the target wall frame from the welding station to the gluing station, and the gluing device is located in the gluing station; the thermal imaging device is arranged between the welding station and the gluing device.

3. The system according to claim 2, characterized in that The system also includes a position sensor, which is used to detect whether the target wall skeleton is transmitted to the preset position and send a detection signal to the control device. The control device is also used to control the thermal imaging device at the preset position to take a thermal image of the target wall skeleton when the target wall skeleton is transmitted to the preset position.

4. The system according to claim 2, characterized in that The target wall skeleton includes a plurality of mutually parallel trusses, and the length direction of the trusses is parallel to the transmission direction of the target wall skeleton; the gluing equipment includes a plurality of gluing heads, and each truss corresponds to a gluing head; The transmission device is also used to transmit the target wall frame from the gluing station to the next station. When the transmission device carries the target wall frame and passes under the gluing device, each truss is glued by the gluing head corresponding to the truss; Each truss corresponds to a piece of control information, and each piece of control information corresponding to the truss includes at least one group of time points, and each group of time points includes a time point for starting glue injection and a time point for stopping glue injection; the control device is specifically used to control the corresponding glue head to start and stop gluing according to the piece of control information corresponding to each truss.

5. The system according to claim 4, characterized in that When the control device identifies the non-glue-applying position on the target wall skeleton according to the thermal image, it is specifically used to: Identifying the target wall skeleton from the thermal image and generating a first mask of the target wall skeleton; According to the thermal image, determining a high temperature area in the thermal image whose temperature exceeds the preset threshold, and generating a second mask of the high temperature area; The overlapping position of the first mask and the second mask is determined as the non-gluing position on the target wall skeleton.

6. The system according to claim 4, characterized in that When the control device generates control information according to the non-glueable position and the 3D model of the target wall skeleton, it is specifically used to: Find the fracture position of each truss according to the 3D model of the target wall skeleton; For each truss, obtain the non-glue-applying position and the fracture position of the truss, merge the non-glue-applying positions and / or fracture positions that are connected to each other in position, and obtain a merged position; For each truss, for each merged position of the truss, each unmerged non-glueable position and each unmerged fracture position, the time point for stopping the glue injection is calculated according to the transmission speed and the distance between the front edge of the position and the front edge of the truss, and the time point for starting the glue injection is calculated according to the transmission speed and the distance between the rear edge of the position and the front edge of the truss; wherein the front edge refers to the position point that is first transmitted to the bottom of the gluing head at the position, and the rear edge refers to the position point that is last transmitted to the bottom of the gluing head at the position.

7. The system according to any one of claims 1 to 6, characterized in that: The control device is also used to render the non-glueable position in the 3D model and display the rendered 3D model.

8. A control information generation method, characterized in that: The method comprises: Obtain thermal images of the target wall skeleton; According to the thermal image, identifying a non-glue-applying position on the target wall skeleton, wherein the non-glue-applying position is a position where the temperature exceeds a preset threshold; Control information is generated according to the non-glue-applying position and the 3D model of the target wall skeleton, and the control information is used to control the gluing equipment to apply glue to the target wall skeleton.

9. An electronic device, comprising a memory and a processor; The memory is used to store application programs; The processor is used to run the application stored in the memory to implement the control information generating method according to claim 8.

10. A computer-readable storage medium, wherein an application is stored in the computer-readable storage medium, and when the application is executed by a processor, it is used to implement the control information generating method according to claim 8.

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