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

Abstract

The embodiment of the application provides a wall gluing system, method, equipment and medium based on thermal imaging and 3D printing, aiming at giving consideration to the performance of structural adhesive and the prefabrication efficiency of a wall module. The wall gluing system comprises a thermal imaging device, a control device and a gluing device. The thermal imaging device is used to shoot 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 an ungluable position on the target wall skeleton according to the thermal image, and the ungluable position is a position with a temperature exceeding a preset threshold. The control device is also used to generate control information according to the ungluable position and a 3D model of the target wall skeleton. The control device is also used to control the gluing device to glue the target wall skeleton according to the control information.

Description

Technical Field

[0001] This application relates to the field of prefabricated buildings, specifically to a wall adhesive application system based on thermal imaging and 3D printing, a control information generation method, an electronic device, and a readable storage medium. Background Technology

[0002] To improve the standardization and efficiency of building construction, modular prefabricated building technology is becoming increasingly popular. This technology requires prefabricating wall or house modules in a factory, and then stacking and assembling these modules one by one on the construction site using lifting equipment. This not only significantly shortens the construction cycle, but also improves the building quality because most of the work is completed on a factory assembly line.

[0003] Taking the prefabrication process of wall modules as an example, during the prefabrication of wall modules, steel structural materials such as trusses and square tube columns are first welded into a wall frame, and then wall panels are laid on the wall frame. To improve the connection between the wall panels and the wall frame, adhesive can be applied to the wall frame first, and the wall panels and the wall frame are bonded together using structural adhesive. However, because the wall frame is at a very high temperature after high-temperature welding, the excessively high temperature will affect the performance of the structural adhesive. But if the temperature of the wall frame is allowed to cool down to an acceptable range before applying the adhesive, it will affect the prefabrication efficiency of the wall modules. Therefore, how to balance the performance of the structural adhesive and the prefabrication efficiency of the wall modules is a problem that needs to be solved.

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

[0005] To address the aforementioned issues, this invention provides a wall adhesive application system based on thermal imaging and 3D printing, a control information generation method, an electronic device, and a readable storage medium, aiming to balance the performance of the structural adhesive with the prefabrication efficiency of the wall modules.

[0006] In a first aspect, embodiments of the present invention provide a wall adhesive application system based on thermal imaging and 3D printing, the system comprising a thermal imaging device, a control device, and an adhesive application device;

[0007] The thermal imaging device is used to capture thermal images of the target wall frame, which is a wall frame that has undergone a welding process.

[0008] The control device is used to identify, based on the thermal image, locations on the target wall frame where adhesive cannot be applied, and these locations are those where the temperature exceeds a preset threshold.

[0009] The control device is also used to generate control information based on the non-adhesive-applied location and the 3D model of the target wall frame;

[0010] The control device is also used to control the glue-applying device to apply glue to the target wall frame according to the control information.

[0011] Optionally, the system further includes a transmission device for transferring the target wall frame from the welding station to the glue application station, wherein the glue application device is located within the glue application station; and the thermal imaging device is disposed between the welding station and the glue application device.

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

[0013] Optionally, the target wall frame includes multiple parallel trusses, the length direction of which is parallel to the transmission direction of the target wall frame; the glue application device includes multiple glue application heads, with each truss corresponding to one glue application head;

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

[0015] Each truss corresponds to one set of control information, and each set of control information includes at least one set of time points, each set of time points including a start time point and a stop time point for glue application; the control device is specifically used to control the corresponding glue application head to start and stop glue application according to the control information corresponding to each truss.

[0016] Optionally, when the control device identifies non-adhesive-resistant locations on the target wall frame based on the thermal image, it is specifically used for:

[0017] The target wall skeleton is identified from the thermal image, and a first mask of the target wall skeleton is generated;

[0018] Based on the thermal image, high-temperature regions in the thermal image whose temperature exceeds the preset threshold are identified, and a second mask for the high-temperature regions is generated.

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

[0020] Optionally, when generating control information based on the non-adhesive-applied location and the 3D model of the target wall frame, the control device is specifically used for:

[0021] Based on the 3D model of the target wall frame, locate the break point of each truss;

[0022] For each truss, obtain the non-adhesive positions and break positions of the truss, and merge the non-adhesive positions and / or break positions that are connected to each other to obtain the merged positions;

[0023] For each truss, for each merged position, each unmerged non-adhesive position, and each unmerged break position of the truss, the stop adhesive injection time point is calculated based on the transmission speed and the distance between the front edge of the position and the front edge of the truss. The start adhesive injection time point is calculated based on the transmission speed and the distance between the rear edge of the position and the front edge of the truss. Here, the front edge refers to the position point where the adhesive is first transmitted to the area below the adhesive nozzle, and the rear edge refers to the position point where the adhesive is last transmitted to the area below the adhesive nozzle.

[0024] Optionally, the control device is also used to render the non-adhesive-resistant area in the 3D model and display the rendered 3D model.

[0025] Secondly, embodiments of the present invention provide a method for generating control information, the method comprising:

[0026] Obtain a thermal image of the target wall frame;

[0027] Based on the thermal image, identify the locations on the target wall frame where glue cannot be applied; these locations are those where the temperature exceeds a preset threshold.

[0028] Based on the non-adhesive-applied locations and the 3D model of the target wall frame, control information is generated. This control information is used to control the adhesive applicator to apply adhesive to the target wall frame.

[0029] Thirdly, embodiments of the present invention provide an electronic device, the electronic device including 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-described control information generation method.

[0032] Fourthly, embodiments of the present invention provide a computer-readable storage medium storing an application program, which, when executed by a processor, is used to implement the above-described control information generation method.

[0033] This application has the following beneficial effects:

[0034] In the wall adhesive application system provided in this embodiment of the invention, after the target wall frame undergoes the welding process, a thermal imaging device captures a thermal image of the target wall frame. Based on the thermal image, a control device identifies locations on the target wall frame where the temperature exceeds a preset threshold, designating these locations as areas where adhesive cannot be applied. Furthermore, the control device generates control information based on these unapplied locations and the 3D model of the target wall frame, controlling the adhesive application equipment accordingly. This achieves precise adhesive application to the target wall frame, preventing the structural adhesive from being applied to excessively hot areas and thus preserving its performance. After the adhesive application process, the heat from the excessively hot areas is further dissipated, requiring only minor touch-ups later, thereby ensuring the prefabrication efficiency of the wall modules. In summary, the wall adhesive application system provided in this embodiment of the invention balances structural adhesive performance and wall module prefabrication efficiency. Attached Figure Description

[0035] The accompanying drawings, which are provided to further understand this application and constitute a part of this application, illustrate exemplary embodiments of this application and are used to explain this application, but do not constitute an undue limitation of this application.

[0036] Figure 1 This is a schematic diagram of the wall adhesive application system according to one embodiment of the present invention;

[0037] Figure 2 This is a schematic diagram of the target wall frame structure in one embodiment of the present invention;

[0038] Figure 3(a) is a schematic diagram of the location before merging according to an embodiment of the present invention;

[0039] Figure 3(b) is a schematic diagram of the merged positions provided in an embodiment of the present invention;

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

[0041] Figure 5 This is a flowchart illustrating a control information generation method according to an embodiment of the present invention;

[0042] Figure 6 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0043] To make the technical solutions and advantages of the embodiments of this application clearer, the exemplary embodiments of this application will be described in further detail below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not an exhaustive list of all embodiments. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of this application can be combined with each other.

[0044] In the description of this invention, it should be understood that the terms "vertical," "horizontal," "inner," "outer," "upper," "lower," "front," "rear," "left," "right," "center," "longitudinal," "transverse," "length," "width," and "thickness," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0045] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0046] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0047] During the prefabrication of wall modules, steel structural materials such as trusses and square tube columns are first welded into a wall frame, and then wall panels are laid on the wall frame. To improve the connection between the wall panels and the wall frame, adhesive can be applied to the wall frame first, and the wall panels and wall frame are bonded together using structural adhesive. However, because the wall frame is at a very high temperature after high-temperature welding, the excessively high temperature will affect the performance of the structural adhesive. But if the wall frame is allowed to cool down to an acceptable temperature before applying the adhesive, it will affect the prefabrication efficiency of the wall modules. Therefore, how to balance the performance of the structural adhesive and the prefabrication efficiency of the wall modules is a problem that needs to be solved.

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

[0049] To balance the performance of structural adhesive and the prefabrication efficiency of wall modules during the prefabrication process, this invention provides a wall adhesive application system based on thermal imaging and 3D printing. (Refer to...) Figure 1 , Figure 1 This is a structural schematic diagram (top view) of a wall adhesive application system according to an embodiment of the present invention. Figure 1 As shown, the wall caulking system includes a thermal imaging device 100, a control device (not shown), and a caulking device 200.

[0050] The thermal imaging device 100 is used to capture thermal images of the target wall frame 50, which is the wall frame after a welding process. For example, after welding multiple steel structural materials such as trusses 51 and square tube columns 52 into a wall frame, the thermal imaging device 100 needs to capture a thermal image of the wall frame. Since the thermal image is captured by the thermal imaging device 100 pointed at the target wall frame 50, it includes an image of the target wall frame 50, and may also include images of other objects (such as the transmission equipment 300, operators, etc.). Each pixel in the thermal image corresponds to a temperature value, which represents the temperature at the corresponding actual location of that pixel.

[0051] The control device is used to identify, based on the thermal image, locations on the target wall frame 50 where adhesive cannot be applied. These locations are those where the temperature exceeds a preset threshold. The preset threshold refers to the critical temperature value that affects the performance of the structural adhesive. This threshold can be determined by looking up the critical temperature value of the selected structural adhesive. The control device can be a computer with graphics processing capabilities and a display screen, or a processor with computing and image processing capabilities. This invention does not limit the specific form of the control device. The control device can locate target pixels in the image of the target wall frame 50 whose temperature exceeds the preset threshold based on the temperature value corresponding to each pixel in the thermal image. The control device then converts the coordinate positions of the target pixels into actual coordinate positions on the target wall frame 50 using a pre-established coordinate transformation matrix, thereby determining these actual coordinate positions as the locations where adhesive cannot be applied. The coordinate transformation matrix is ​​generated after pre-calibrating the thermal imaging device 100.

[0052] The control device is also used to generate control information based on the non-adhesive application location and the 3D model of the target wall frame 50, and to control the adhesive application device 200 to apply adhesive to the target wall frame 50 based on the control information.

[0053] The 3D model of the target wall frame 50 records other locations of the target wall frame 50 that do not require adhesive application, such as... Figure 2 As shown, Figure 2 This is a schematic diagram of the target wall frame 50 in one embodiment of the present invention. The target wall frame 50 has window openings 53 and 54, which are locations within the target wall frame 50 where adhesive is not required. The target wall frame 50 also includes square tubular columns 52, and the sections of the truss 51 that are interrupted by the square tubular columns 52 are also locations within the target wall frame 50 where adhesive is not required. It should be noted that there are various models of wall frames, and multiple different models of wall frames work together to construct a complete house structure. Different models of wall frames have different window opening sizes, window opening positions, door opening sizes, and door opening positions. Therefore, the control device needs to generate control information based on both the non-adhesive-required locations and the 3D model of the target wall frame 50.

[0054] In this invention, after the welding process, the thermal imaging device 100 captures a thermal image of the target wall frame 50. Based on the thermal image, the control device identifies locations on the target wall frame 50 where the temperature exceeds a preset threshold, designating these locations as areas where adhesive cannot be applied. Furthermore, the control device generates control information based on these unapplied locations and the 3D model of the target wall frame 50, controlling the adhesive application device 200 accordingly. This achieves precise adhesive application to the target wall frame 50, preventing the structural adhesive from being applied to excessively hot areas and thus preserving its performance. After the adhesive application process, the heat from the excessively hot areas is further dissipated, requiring only minor touch-ups later, thereby ensuring the prefabrication efficiency of the wall modules. In summary, the wall adhesive application system provided by this embodiment of the invention balances structural adhesive performance and wall module prefabrication efficiency.

[0055] In some specific embodiments, the wall caulking system further includes a conveyor 300, which is used to transfer the target wall frame 50 from the welding station to the caulking station. The conveyor 300 can be a tracked conveyor, a roller conveyor, or a trolley conveyor; the present invention does not limit the specific type of the conveyor 300. The welding station, the caulking station, and the conveyor 300 can be components of a prefabricated wall module production line. After the wall frame is welded manually or automatically at the welding station, the conveyor 300 transfers the wall frame to the caulking station.

[0056] The glue application equipment 200 is located within the glue application station, and the thermal imaging equipment 100 is positioned between the welding station and the glue application equipment 200. During the transmission of the target wall frame 50 from the welding station to the glue application equipment 200 via the transmission equipment 300, the thermal imaging equipment 100, located in front of the glue application equipment 200, acquires a thermal image of the target wall frame 50 and sends the acquired thermal image to the control equipment.

[0057] The wall sealant application system may also include a position sensor, which detects whether the target wall frame 50 has been transmitted to a preset position and sends the detection signal to the control device. The position sensor can be a photoelectric sensor, an inductive proximity sensor, an ultrasonic sensor, etc., and this invention does not limit the specific type of position sensor. When the target wall frame 50 is transmitted to the preset position, the control device controls the thermal imaging device 100 at the preset position to capture a thermal image of the target wall frame 50, so that the thermal imaging device 100 can capture a thermal image of the target wall frame 50 at the same time each time, that is, whenever the target wall frame 50 is transmitted to the preset position, a thermal image of the target wall frame 50 is captured.

[0058] To ensure that the thermal imaging device 100 can capture thermal images each time the target wall frame 50 is transferred to a preset position, a timing function in the control device can be used. Specifically, based on the distance between the welding station and the thermal imaging device 100, and the transmission speed of the transmission device 300, a target transmission time for transferring the target wall frame 50 from the welding station to the thermal imaging device 100 is calculated. When the target wall frame 50 begins to transfer backward from the welding station, the timing function of the control device starts timing. When the time reaches the target transmission time, the control device controls the thermal imaging device 100 to capture a thermal image.

[0059] like Figure 2 As shown, the target wall frame 50 includes multiple parallel trusses 51, the length direction of which is parallel to the transmission direction of the target wall frame 50. It should be noted that, in this invention, multiple sub-trusses located on the same straight line in the target wall frame 50 are considered as one truss 51, for example... Figure 2 Subtrusions a1, a2, a3, and a4 together form truss A. For example... Figure 1 As shown, the adhesive application device 200 includes multiple adhesive application heads 210, with one adhesive application head 210 corresponding to each truss 51. In some scenarios, the target wall frame 50 has a small number of trusses 51, which is less than the number of adhesive application heads 210. During adhesive application, the extra adhesive application heads 210 do not work. In other scenarios, the number of trusses 51 in the target wall frame 50 is exactly equal to the number of adhesive application heads 210, and each adhesive application head 210 needs to work during adhesive application.

[0060] The transmission device 300 is used not only to transport the target wall frame 50 from the welding station to the glue application station, but also to transport the target wall frame 50 from the glue application station to the next station, such as the wall panel installation station. When the transmission device 300 carrying the target wall frame 50 passes under the glue application device 200, each truss 51 is glued by its corresponding glue application head 210. Specifically, the target wall frame 50 can pass under the glue application head 210 of the glue application station without deceleration, and as it passes under the glue application head 210, the glue application head 210 applies glue to the corresponding truss 51 under the control of the control device. Alternatively, the target wall frame 50 can also pass under the glue application head 210 of the glue application station with appropriate deceleration, and as it passes under the glue application head 210, the glue application head 210 applies glue to the corresponding truss 51 under the control of the control device.

[0061] The control equipment generates multiple control messages, with one message corresponding to each truss 51. Each control message for each truss 51 includes at least one set of time points, each set including a start time point and a stop time point for glue application. Specifically, the control equipment controls the corresponding glue applicator 210 to start and stop glue application based on the control message for each truss 51. Specifically, for each control message, when the control equipment detects that the current time point has reached a start time point of that control message, it controls the corresponding glue applicator 210 to start applying glue; when it detects that the current time point has reached a stop time point of that control message, it controls the corresponding glue applicator 210 to stop applying glue.

[0062] For ease of understanding, exemplarily, for Figure 1The control information for truss C includes the following three sets of time points: (0'0"0, 0'36"29), (0'41"12, 0'46"51), and (0'51"36, 0'58"55). The first time point in each set is the start time point for adhesive application, and the second time point in each set is the stop time point. When the control device controls the adhesive applicator C to apply adhesive according to the above three sets of time points, when the sensor below the adhesive applicator 210 (such as a photoelectric sensor, inductive proximity sensor, ultrasonic sensor, or other position sensor) detects that the front edge of the target wall frame 50 has been transmitted to the area below the adhesive applicator 210, the sensor sends a detection signal to the control device. The control device starts timing from 0'0"0. Since the current time has reached the start time point of adhesive application (0'0"0), the control device controls the adhesive applicator C to start applying adhesive to truss C. When the timing result reaches the stop time point of adhesive application (0'36"29), the control device... The control equipment stops applying glue to truss C by controlling the glue applicator C. When the timing reaches 0'41"12, the start time for glue application, the control equipment starts applying glue to truss C again. When the timing reaches 0'46"51, the stop time for glue application, the control equipment stops applying glue to truss C again. When the timing reaches 0'51"36, the control equipment starts applying glue to truss C again. When the timing reaches 0'58"55, the control equipment stops applying glue to truss C again.

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

[0064] In this invention, on one hand, after acquiring the thermal image, the control device can use an edge detection algorithm to identify the edges of the target wall skeleton 50 from the thermal image and segment the target wall skeleton 50, using the segmented target wall skeleton 50 as a 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, then segment the target wall skeleton 50, using the segmented target wall skeleton 50 as a first mask. On the other hand, based on the temperature value corresponding to each pixel in the thermal image, the control device identifies pixels with temperature values ​​exceeding a preset threshold as high-temperature regions and extracts these pixels as a second mask. After obtaining the first mask and the second mask, the control device filters out the target pixels that overlap with the first mask and the second mask. In other words, it filters out the pixels that are simultaneously located on the first mask and the second mask as target pixels. Then, according to the pre-established coordinate transformation matrix, the coordinate position of the target pixel is converted into the actual coordinate position on the target wall frame 50, thereby determining the actual coordinate position as the position where glue cannot be applied.

[0065] In other specific embodiments, the control device can also identify non-adhesive-applied locations from thermal images in the following manner: The thermal image is input into a pre-trained target location detection model to obtain the target pixels output by the model. Then, based on a pre-established coordinate transformation matrix, the coordinates of the target pixels are converted into actual coordinates on the target wall frame 50, thereby determining the actual coordinates as the non-adhesive-applied location. The target location detection model can detect target pixels in the thermal image whose temperature exceeds a preset threshold. The target location detection model can be trained as follows: Multiple thermal images are collected for different types of wall frames. Target locations whose temperature exceeds a preset threshold and are located within the wall frame image are manually marked on the thermal images. The marked thermal images are used to train an initial detection model, which is then used as the target location detection model.

[0066] In some implementations, the control device can generate control information in the following manner: based on the 3D model of the target wall frame 50, locate the break position of each truss 51; for each truss 51, obtain the non-adhesive application position and break position of the truss 51, merge the non-adhesive application positions and / or break positions that are connected at the position to obtain the merged position; for each truss 51, for each merged position, each unmerged non-adhesive application position and each unmerged break position of the truss 51, calculate the stop glue application time point based on the transmission speed and the distance between the front edge of the position and the front edge of the truss 51, and calculate the start glue application time point based on 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 where the position is first transmitted to the bottom of the glue application head 210, and the rear edge refers to the position point where the position is last transmitted to the bottom of the glue application head 210.

[0067] Specifically, the control equipment locates the break points of each truss 51 based on the 3D model of the target wall frame 50. The break points of the truss 51 include: locations where the truss 51 breaks due to door openings, window openings, and square column 52. The 3D model of the target wall frame 50 includes information on the locations of door openings, window openings, and square column 52; therefore, the break point location of each truss 51 can be determined based on this information.

[0068] Each truss 51 has a certain position range. For each pre-identified non-adhesive position, the control device determines which truss 51's position range the non-adhesive position belongs to, and thus assigns the non-adhesive position to that truss 51. In this way, the control device can determine the non-adhesive positions of each truss 51.

[0069] For each truss 51, the control device performs the following operations: It acquires the non-adhesive positions and break positions of the truss 51, and merges the interconnected non-adhesive positions and / or break positions to obtain a merged position. For ease of understanding, as shown in Figure 3(a), which is a schematic diagram of the positions before merging according to an embodiment of the present invention, truss B includes non-adhesive positions X1, X2, and X3, and break positions Y1, Y2, Y3, and Y4. Break positions Y1, Y2, and Y3 are interconnected, therefore they can be merged into a single merged position, resulting in the first merged position Z1. Non-adhesive positions X1, Y4, and X2 are also interconnected, therefore they can be merged into a single merged position, resulting in the second merged position Z2. Non-adhesive position X3 is not connected to any other non-adhesive positions or break positions, therefore it is not merged. As shown in Figure 3(b), Figure 3(b) is a schematic diagram of the merged positions provided in an embodiment of the present invention. It should also be noted that for two positions, if the nearest distance between the two positions is less than a preset distance (e.g., 1 cm), the two positions can be considered as connected to each other.

[0070] The control device performs the following operations for each truss 51: For each merged position, each unmerged non-adhesive position, and each unmerged break position of the truss 51, it calculates the stop adhesive injection time point based on the transmission speed and the distance between the front edge of that position and the front edge of the truss 51; and it calculates the start adhesive injection time point based on the transmission speed and the distance between the rear edge of that position and the front edge of the truss 51. For ease of understanding, as follows... Figure 4 As shown, Figure 4 This is a schematic diagram of time point calculation provided in an embodiment of the present invention. Figure 4In the diagram, truss B includes a first merging position, a second merging position, and three non-adhesive-applied positions. First, 0'0"0 is assumed to be the first start time for adhesive application. Then, for the first merging position, based on the distance d1 between the front edge of the first merging position and the front edge of truss 51, and the transmission speed v of the transmission device 300, the first stop time for adhesive application, d1 / v, is calculated. Based on the distance d2 between the rear edge of the first merging position and the front edge of truss 51, and the transmission speed v, the second start time for adhesive application, d2 / v, is calculated. Then, for the second merging position, based on the distance d2 between the front edge of the second merging position and the front edge of truss 51... Based on d3 and the transmission speed v, the second stop glue injection time point d3 / v is calculated. Based on the distance d4 between the rear edge of the second merging position and the front edge of truss 51, and the transmission speed v, the third start glue injection time point d4 / v is calculated. Then, for the non-glue-applied position X3, based on the distance d5 between the front edge of the non-glue-applied position X3 and the front edge of truss 51, and the transmission speed v, the third stop glue injection time point d5 / v is calculated. Therefore, the control information generated for truss B includes the following three sets of time points: (0'0”0,d1 / v), (d2 / v,d3 / v), and (d4 / v,d5 / v).

[0071] In some specific embodiments, the control device is also used to render the areas that cannot be glued in the 3D model of the target wall frame 50 and display the rendered 3D model. This allows prefabrication personnel to observe the areas on the target wall frame 50 that have not yet been glued, and to apply glue to the remaining areas after the glue application device 200 automatically applies glue to the target wall frame 50. During the implementation of this invention, since the glue application device 200 consumes a certain amount of time when automatically applying glue to the target wall frame 50, the high-temperature areas (i.e., the areas that cannot be glued) in the target wall frame 50 will further lose heat and gradually decrease in temperature during this time. Therefore, after the glue application device 200 automatically applies glue, the operator can manually apply glue to the target wall frame 50 according to the areas that have not been glued as shown in the 3D model.

[0072] The above describes the wall caulking system provided by this invention. This invention also provides a control information generation method, which is based on the same inventive concept as the wall caulking system described above. To avoid repetition, only a brief introduction to the control information generation method is given below. For its specific implementation, please refer to the relevant parts of the wall caulking system described above.

[0073] refer to Figure 5 , Figure 5 This is a schematic flowchart of a control information generation method provided in an embodiment of the present invention. Figure 5 As shown, the method includes the following steps:

[0074] S510: Obtain a thermal image of the target wall frame;

[0075] S520: Based on the thermal image, identify the areas on the target wall frame where glue cannot be applied. These areas are where the temperature exceeds a preset threshold.

[0076] S530: Based on the 3D model of the non-adhesive-applied areas and the target wall frame, control information is generated. This control information is used to control the adhesive applicator to apply adhesive to the target wall frame.

[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 the first mask of the target wall skeleton;

[0079] S522: Based on the thermal image, identify the high-temperature region in the thermal image where the temperature exceeds a preset threshold, and generate a second mask for the high-temperature region;

[0080] S523: The overlapping position of the first mask and the second mask is determined as the non-adhesive position on the target wall frame.

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

[0082] S531: Based on the 3D model of the target wall frame, locate the break point of each truss;

[0083] S532: For each truss, obtain the non-adhesive positions and break positions of the truss, and merge the non-adhesive positions and / or break positions that are connected to each other to obtain the merged positions.

[0084] S533: For each truss, for each merged position, each unmerged non-adhesive position, and each unmerged break position of the truss, calculate the stop glue injection time point based on the transmission speed and the distance between the front edge of the position and the front edge of the truss; calculate the start glue injection time point based on the transmission speed and the distance between the rear edge of the position and the front edge of the truss; where the front edge refers to the position point where the glue is first transmitted to the area below the glue applicator, and the rear edge refers to the position point where the glue is last transmitted to the area below the glue applicator.

[0085] In this invention, locations on the target wall frame whose temperature exceeds a preset threshold are identified based on the thermal image of the target wall frame. These locations are designated as areas where adhesive cannot be applied. Furthermore, control information is generated based on these areas and the 3D model of the target wall frame. This control information controls the adhesive application equipment to apply adhesive to the target wall frame, achieving precise adhesive application and preventing the application of structural adhesive to excessively hot areas, thus preserving the adhesive's performance. After the adhesive application process, the heat from the overheated areas is further dissipated, requiring only minor touch-ups later, thereby ensuring the prefabrication efficiency of the wall modules. In summary, the control information generation method provided by this invention can balance structural adhesive performance and wall module prefabrication efficiency.

[0086] Please see Figure 6 , Figure 6 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. The electronic device 600 includes a processor 610, a memory 620, and one or more application programs. The one or more application programs are stored in the memory 620 and configured to be executed by one or more processors 610. The one or more programs are configured to execute the above-described control information generation method.

[0087] Processor 610 may include one or more processing cores. Processor 610 connects to various parts within the electronic device 600 using various interfaces and lines, and performs various functions and processes data of the electronic device 600 by running or executing instructions, programs, code sets, or instruction sets stored in memory 620, and by calling data stored in memory 620. Optionally, processor 610 may be implemented using at least one hardware form of Digital Signal Processing (DSP), Field-Programmable Gate Array (FPGA), or Programmable Logic Array (PLA). Processor 610 may integrate one or a combination of several of the following: Central Processing Unit (CPU), Graphics Processing Unit (GPU), and modem. The CPU primarily handles the operating system, user interface, and applications; the GPU is responsible for rendering and drawing the displayed content; and the modem handles wireless communication. It is understood that the modem may also not be integrated into processor 610 and may be implemented separately using a communication chip.

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

[0089] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0090] Although preferred embodiments of this application have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of this application.

[0091] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.

Claims

1. A wall gluing system based on thermal imaging and 3D printing, characterized in that, The system comprises a thermal imaging device, a control device and a glue injection device; The thermal imaging device is configured to capture a thermal image of a target wall skeleton, the target wall skeleton being a wall skeleton after a welding process; The control device is configured to identify, according to the thermal image, a position on the target wall skeleton that cannot be injected with glue, the position being a position with a temperature exceeding a preset threshold; The control device is further configured to generate control information according to the position and a 3D model of the target wall skeleton; The control device is further configured to control the glue injection device to inject glue into the target wall skeleton according to the control information; When identifying the position on the target wall skeleton that cannot be injected with glue according to the thermal image, the control device is specifically configured to: identify the target wall skeleton from the thermal image and generate a first mask of the target wall skeleton; determine a high-temperature region in the thermal image with a temperature exceeding the preset threshold according to the thermal image and generate a second mask of the high-temperature region; determine, as the position on the target wall skeleton that cannot be injected with glue, an overlapping position of the first mask and the second mask; and When generating the control information according to the position and the 3D model of the target wall skeleton, the control device is specifically configured to: find a fracture position of each truss according to the 3D model of the target wall skeleton; for each truss, obtain the position and the fracture position of the truss, and merge the positions and the fracture positions that are connected to each other to obtain merged positions; for each truss, for each merged position, each position that has not been merged and each fracture position that has not been merged, calculate a stop glue injection time point according to a transmission speed and a distance between a front edge of the position and a front edge of the truss, and calculate a start glue injection time point according to the transmission speed and a distance between a rear edge of the position and the front edge of the truss, wherein the front edge refers to a position point that is first transmitted under a glue injection head, and the rear edge refers to a position point that is last transmitted under the glue injection head.

2. The system of claim 1, wherein, The system further comprises a transmission device configured to transmit the target wall skeleton from a welding station to a glue injection station, the glue injection device being located in the glue injection station; and the thermal imaging device is arranged between the welding station and the glue injection device.

3. The system of claim 2, wherein, The system further comprises a position sensor configured to detect whether the target wall skeleton is transmitted to a preset position and send a detection signal to the control device, and the control device is further configured to control the thermal imaging device at the preset position to capture the thermal image of the target wall skeleton when the target wall skeleton is transmitted to the preset position.

4. The system of claim 2, wherein, The target wall skeleton comprises a plurality of trusses that are parallel to each other, the length direction of the trusses being parallel to a transmission direction of the target wall skeleton; and the glue injection device comprises a plurality of glue injection heads, each truss corresponding to a glue injection head. The transmission device is further configured to transmit the target wall skeleton from the glue injection station to a next station, and each truss is glued by the corresponding glue injection head when the target wall skeleton passes below the glue injection device; Each truss corresponds to one piece of control information, and each piece of control information includes 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; and the control device is specifically configured to control the corresponding glue injection head to start glue injection and stop glue injection according to the one piece of control information corresponding to each truss.

5. The system of any one of claims 1 to 4, wherein, The control device is further configured to render the non-glue injection position in the 3D model and display the rendered 3D model.

6. A control information generating method characterized by comprising: The method comprises: obtaining a thermal image of a target wall skeleton; identifying a non-glue injection position on the target wall skeleton according to the thermal image, the non-glue injection position being a position with a temperature exceeding a preset threshold value; generating control information according to the non-glue injection position and a 3D model of the target wall skeleton, the control information being used to control a glue injection device to perform glue injection on the target wall skeleton; The identification of the non-glue injection position on the target wall skeleton according to the thermal image specifically comprises: identifying the target wall skeleton from the thermal image and generating a first mask of the target wall skeleton; determining a high-temperature region with a temperature exceeding the preset threshold value in the thermal image according to the thermal image and generating a second mask of the high-temperature region; determining the overlapping position of the first mask and the second mask as the non-glue injection position on the target wall skeleton; The generation of the control information according to the non-glue injection position and the 3D model of the target wall skeleton specifically comprises: finding a fracture position of each truss according to the 3D model of the target wall skeleton; for each truss, obtaining the non-glue injection position and the fracture position of the truss, and merging the mutually connected non-glue injection positions and / or fracture positions to obtain a merged position; for each truss, for each merged position, each non-merged non-glue injection position, and each non-merged fracture position of the truss, calculating a stop glue injection time point according to a transmission speed and a distance between a front edge of the position and a front edge of the truss, and calculating a start glue injection time point according to the transmission speed and a distance between a rear edge of the position and the front edge of the truss; wherein the front edge refers to the first position point of the position transmitted below the glue injection head, and the rear edge refers to the last position point of the position transmitted below the glue injection head.

7. An electronic device, comprising a memory and a processor; The memory is used to store an application program; The processor is used to run the application program stored in the memory to realize the control information generation method of claim 6.

8. A computer readable storage medium, the computer readable storage medium stores an application program, the application program is executed by a processor to realize the control information generation method of claim 6.

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