3D intelligent visual gluing method and device and computer equipment

Abstract

The invention discloses a 3D intelligent visual gluing method and device and computer equipment. The method comprises the following steps of: dividing a region, which needs to be glued, of the automobile into uniform grids, arranging a gluing working point at the center of each grid, configuring a minimum coverage working point set of the gluing region according to the gluing working points, and configuring a minimum coverage working point set of the gluing region according to the configured minimum coverage working point set of the gluing region, planning an optimal path for gluing a to-be-glued area of the automobile, and acquiring three-dimensional space coordinate information of a gluing area covered by each working point set on the optimal gluing path by taking a three-dimensional gluing template graphic representation of the to-be-glued area of the automobile as a standard; and gluing the automobile gluing area on the optimal gluing path according to the three-dimensional space coordinate information. In this way, the automobile gluing efficiency and quality can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of automobile gluing, and in particular to a 3D intelligent visual gluing method, device and computer equipment. Background Art

[0002] Automobile gluing is a process widely used on automobile bodies. It is a process that mainly uses the mechanical bonding force, physical adsorption force and chemical bonding force generated by the adhesive on the connection surface to connect two adhesive parts. After the glue pattern is formed, the glue coating quality test is required to determine whether the glue coating quality meets the requirements.

[0003] However, the existing automobile gluing scheme generally adopts a manual method to apply glue to the automobile, resulting in average efficiency and quality of automobile gluing. Summary of the invention

[0004] In view of this, the purpose of the present invention is to provide a 3D intelligent visual gluing method, device and computer equipment, which can improve the efficiency and quality of automobile gluing.

[0005] According to one aspect of the present invention, a 3D intelligent visual gluing method is provided, comprising: dividing the area of ​​a car that needs to be glued into a uniform grid, and arranging a gluing work point at the center of each grid, and configuring a minimum coverage work point set for the gluing area according to the gluing work point; planning an optimal path for gluing the area of ​​the car that needs to be glued according to the configured minimum coverage work point set for the gluing area; obtaining three-dimensional spatial coordinate information of the gluing area covered by each work point set on the optimal gluing path based on a three-dimensional gluing template diagram of the gluing area of ​​the car; and gluing the gluing area of ​​the car according to the three-dimensional spatial coordinate information on the optimal gluing path.

[0006] Among them, the area of ​​the car that needs to be glued is divided into a uniform grid, and a glue coating work point is arranged in the center of each grid, and the minimum coverage work point set of the glue coating area is configured according to the glue coating work point, including: the area of ​​the car that needs to be glued is divided into a uniform grid, and a glue coating work point is arranged in the center of each grid, and according to the glue coating work point, a square area with the same side length is formed with the center of each glue coating work point, and the redundant glue coating work points covered in the square area are removed, and the minimum coverage work point set of the glue coating area is configured.

[0007] Among them, the planning of the optimal path for gluing the area of ​​the car that needs gluing according to the configured minimum coverage working point set of the gluing area includes: according to the configured minimum coverage working point set of the gluing area, connecting every two working points that are closest to the glue-covered area of ​​two adjacent working points to form a complete path including the glue-covered area of ​​each working point, and planning the complete path as the optimal path for gluing the area of ​​the car that needs gluing.

[0008] Among them, the three-dimensional space coordinate information of the gluing area covered by each working point set on the optimal gluing path is obtained based on the three-dimensional gluing template diagram of the automobile gluing area, including: scanning the gluing area based on the three-dimensional gluing template diagram of the automobile gluing area to generate point cloud data of the gluing area, using a point cloud data processing algorithm to obtain the key working point set on the optimal gluing path, and determining the boundary of the gluing area covered by the key working point set, and obtaining the three-dimensional space coordinate information of the key working point set and the gluing area covered by the key working point set through a three-dimensional coordinate conversion method.

[0009] Wherein, after gluing the gluing area of ​​the automobile on the optimal gluing path according to the three-dimensional space coordinate information, the method further includes: matching and correcting the gluing area after gluing with the three-dimensional gluing template diagram.

[0010] According to another aspect of the present invention, a 3D intelligent visual gluing device is provided, comprising: a configuration module, a planning module, an acquisition module and a gluing module; the configuration module is used to divide the area of ​​the automobile that needs gluing into a uniform grid, and arrange a gluing work point at the center of each grid, and configure the minimum coverage work point set of the gluing area according to the gluing work point; the planning module is used to plan the optimal path for gluing the area of ​​the automobile that needs gluing according to the configured minimum coverage work point set of the gluing area; the acquisition module is used to acquire the three-dimensional space coordinate information of the gluing area covered by each work point set on the optimal gluing path based on the three-dimensional gluing template diagram of the automobile gluing area; the gluing module is used to glue the gluing area of ​​the automobile according to the three-dimensional space coordinate information on the optimal gluing path.

[0011] Among them, the configuration module is specifically used to: divide the area of ​​the car that needs to be glued into a uniform grid, and arrange the gluing work points in the center of each grid, according to the gluing work points, form a square area with the same side length with the center of each gluing work point, remove the redundant gluing work points covered in the square area, and configure the minimum coverage work point set of the gluing area.

[0012] Among them, the planning module is specifically used to: according to the configured minimum coverage working point set of the gluing area, connect every two working points that are closest to the gluing area covered by two adjacent working points to form a complete path including the gluing area covered by each working point, and plan the complete path as the optimal path for gluing the area of ​​the car that needs gluing.

[0013] Among them, the acquisition module is specifically used to: scan the glue coating area based on the three-dimensional glue coating template diagram of the automobile glue coating area, generate point cloud data of the glue coating area, use point cloud data processing algorithm to obtain the key working point set on the optimal glue coating path, and determine the boundary of the glue coating area covered by the key working point set, and obtain the three-dimensional space coordinate information of the key working point set and the glue coating area covered by it through three-dimensional coordinate conversion.

[0014] Among them, the 3D intelligent visual gluing device also includes a correction module, which is used to match and correct the gluing area after gluing with the three-dimensional gluing template illustration.

[0015] According to another aspect of the present invention, a computer device is provided, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the 3D intelligent visual gluing method as described in any one of the above.

[0016] According to another aspect of the present invention, a computer-readable storage medium is provided, storing a computer program, wherein when the computer program is executed by a processor, the 3D intelligent visual gluing method as described in any one of the above is implemented.

[0017] It can be found that the above scheme can divide the area of ​​the car that needs to be glued into a uniform grid, and arrange the gluing work point in the center of each grid, and configure the minimum coverage work point set of the gluing area according to the gluing work point, and plan the optimal path for gluing the area of ​​the car that needs to be glued according to the configured minimum coverage work point set of the gluing area, and use the three-dimensional gluing template diagram of the gluing area of ​​the car as a standard to obtain the three-dimensional space coordinate information of the gluing area covered by each work point set on the optimal gluing path, and glue the gluing area of ​​the car according to the three-dimensional space coordinate information on the optimal gluing path, so as to improve the efficiency and quality of automobile gluing.

[0018] Furthermore, the above scheme can divide the area of ​​the car that needs to be glued into a uniform grid, and arrange a gluing work point at the center of each grid. According to the gluing work point, a square area with the same side length is formed with each gluing work point as the center, and the redundant gluing work points covered in the square area are removed, and the minimum coverage work point set configuration of the gluing area is performed. The advantage of this is that by configuring the minimum coverage work point set of the gluing area, the number of gluing work points can be minimized while meeting the demand for the gluing area of ​​the car, thereby reducing the complexity and cost of the gluing process of the gluing area of ​​the car. At the same time, the uniform grid division and the setting of the square area help to achieve uniformity and consistency of the gluing effect of the gluing area of ​​the car, and improve the gluing quality of the gluing area of ​​the car.

[0019] Furthermore, the above scheme can, according to the configured minimum coverage working point set of the gluing area, connect every two working points that are closest to the gluing area covered by two adjacent working points to form a complete path including the gluing area covered by each working point, and plan the complete path as the optimal path for gluing the area of ​​the car that needs gluing. The advantage of this is that by planning the complete path as the optimal path for gluing the area of ​​the car that needs gluing, it can ensure that the gluing work on the gluing area of ​​the car can be completed with the shortest path without duplication or omission, and the entire gluing area can be covered. This not only reduces the movement and waiting time during the gluing process, improves the work efficiency of gluing, but also makes the gluing more uniform, thereby ensuring the quality of gluing.

[0020] Furthermore, the above scheme can use the three-dimensional gluing template diagram of the automobile gluing area as a standard to scan the gluing area, generate point cloud data of the gluing area, and use a point cloud data processing algorithm to obtain the key working point set on the optimal gluing path, and determine the boundary of the gluing area covered by the key working point set. Through a three-dimensional coordinate conversion method, the three-dimensional spatial coordinate information of the key working point set and the gluing area covered by it is obtained. The advantage of this is that by obtaining the three-dimensional spatial coordinate information of the key working point set and the gluing area covered by it, precise control of the gluing work can be achieved, thereby improving the efficiency and quality of automobile gluing and reducing the waste of gluing materials and uneven gluing.

[0021] Furthermore, the above scheme can match and correct the glue coating area after gluing with the three-dimensional glue coating template diagram. The advantage of this is that it can ensure that the glue coating accuracy is consistent with the expected design, improve the glue coating efficiency and quality, and at the same time reduce the waste of glue coating materials, ensuring the uniformity and reliability of glue coating. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0023] Figure 1 It is a schematic diagram of a flow chart of an embodiment of a 3D intelligent visual gluing method of the present invention;

[0024] Figure 2 It is a flow chart of another embodiment of the 3D intelligent visual gluing method of the present invention;

[0025] Figure 3 It is a structural schematic diagram of an embodiment of a 3D intelligent visual gluing device of the present invention;

[0026] Figure 4 It is a structural schematic diagram of another embodiment of the 3D intelligent visual gluing device of the present invention;

[0027] Figure 5 It is a structural schematic diagram of an embodiment of a computer device of the present invention. DETAILED DESCRIPTION

[0028] The present invention will be further described in detail below in conjunction with the accompanying drawings and examples. It is particularly noted that the following examples are only used to illustrate the present invention, but are not intended to limit the scope of the present invention. Similarly, the following examples are only partial embodiments of the present invention rather than all embodiments, and all other embodiments obtained by those of ordinary skill in the art without creative work are within the scope of protection of the present invention.

[0029] The invention provides a 3D intelligent visual gluing method, which can improve the efficiency and quality of gluing on automobiles.

[0030] See also Figure 1 , Figure 1 3D intelligent visual glue coating method of the present invention is a flow chart of an embodiment of the present invention. It should be noted that if there is substantially the same result, the method of the present invention is not limited to Figure 1 The process sequence shown is limited. Figure 1 As shown, the method comprises the following steps:

[0031] S101: Divide the area of ​​the automobile that needs to be glued into uniform grids, and arrange glue application working points at the center of each grid, and configure the minimum coverage working point set of the glue application area according to the glue application working points.

[0032] The area of ​​the car that needs to be glued is divided into uniform grids, and a glue application work point is arranged at the center of each grid. According to the glue application work point, the minimum coverage work point set configuration of the glue application area may include:

[0033] The area of ​​the car that needs to be glued is divided into a uniform grid, and a gluing work point is arranged in the center of each grid. According to the gluing work point, a square area with the same side length is formed with each gluing work point in the center, and the redundant gluing work points covered in the square area are removed, and the minimum coverage work point set of the gluing area is configured. The advantage of this is that by configuring the minimum coverage work point set of the gluing area, the number of gluing work points can be minimized while meeting the demand for the car's gluing area, thereby reducing the complexity and cost of the gluing process of the car's gluing area. At the same time, the uniform grid division and the setting of the square area help to achieve uniformity and consistency in the gluing effect of the car's gluing area, and improve the gluing quality of the car's gluing area.

[0034] S102: planning an optimal path for gluing the area of ​​the vehicle that needs gluing according to the configured minimum coverage working point set of the gluing area.

[0035] Among them, planning the optimal path for gluing the area of ​​the car that needs gluing according to the configured minimum coverage working point set of the gluing area may include:

[0036] According to the configured minimum coverage work point set of the gluing area, every two work points that are closest to the gluing areas covered by two adjacent work points are connected to form a complete path that includes the gluing areas covered by each work point, and the complete path is planned as the optimal path for gluing the area of ​​the car that needs gluing. The advantage of this is that by planning the complete path as the optimal path for gluing the area of ​​the car that needs gluing, it can ensure that the gluing work on the gluing area of ​​the car can be completed with the shortest path without duplication or omission, and the entire gluing area can be covered. This not only reduces the movement and waiting time during the gluing process, improves the work efficiency of gluing, but also makes the gluing more uniform, ensuring the quality of gluing.

[0037] S103: Taking the three-dimensional gluing template diagram of the gluing area of ​​the automobile as a standard, obtaining the three-dimensional space coordinate information of the gluing area covered by each working point set on the optimal gluing path.

[0038] Wherein, taking the three-dimensional gluing template diagram of the gluing area of ​​the automobile as a standard, obtaining the three-dimensional spatial coordinate information of the gluing area covered by each working point set on the optimal gluing path may include:

[0039] Taking the three-dimensional gluing template diagram of the car's gluing area as a standard, the gluing area is scanned to generate point cloud data of the gluing area, and a point cloud data processing algorithm is used to obtain the key working point set on the optimal gluing path and determine the boundary of the gluing area covered by the key working point set. The three-dimensional spatial coordinate information of the key working point set and the gluing area covered by it is obtained through three-dimensional coordinate conversion. The advantage of this is that by obtaining the three-dimensional spatial coordinate information of the key working point set and the gluing area covered by it, precise control of the gluing work can be achieved, thereby improving the efficiency and quality of car gluing and reducing the waste of gluing materials and uneven gluing.

[0040] S104: Gluing the glue coating area of ​​the automobile on the optimal gluing path according to the three-dimensional space coordinate information.

[0041] After gluing the gluing area of ​​the automobile on the optimal gluing path according to the three-dimensional space coordinate information, the method may further include:

[0042] The glue coating area after glue coating is matched and corrected with the three-dimensional glue coating template diagram. The advantage of this is that it can ensure that the glue coating accuracy is consistent with the expected design, improve the glue coating efficiency and quality, and at the same time reduce the waste of glue coating materials and ensure the uniformity and reliability of glue coating.

[0043] It can be found that in this embodiment, the area of ​​the car that needs to be glued can be divided into a uniform grid, and a gluing work point is arranged at the center of each grid. According to the gluing work point, the minimum coverage work point set of the gluing area is configured, and according to the configured minimum coverage work point set of the gluing area, the optimal path for gluing the area of ​​the car that needs to be glued can be planned, and the three-dimensional gluing template diagram of the gluing area of ​​the car can be used as a standard to obtain the three-dimensional space coordinate information of the gluing area covered by each work point set on the optimal gluing path, and the gluing area of ​​the car can be glued according to the three-dimensional space coordinate information on the optimal gluing path, which can improve the efficiency and quality of automobile gluing.

[0044] Furthermore, in this embodiment, the area of ​​the car that needs to be glued can be divided into a uniform grid, and a gluing work point is arranged at the center of each grid. According to the gluing work point, a square area with the same side length is formed with each gluing work point as the center, and the redundant gluing work points covered in the square area are removed, and the minimum coverage work point set configuration of the gluing area is performed. The advantage of this is that by configuring the minimum coverage work point set of the gluing area, the number of gluing work points can be minimized while meeting the demand for the gluing area of ​​the car, thereby reducing the complexity and cost of the gluing process of the gluing area of ​​the car. At the same time, the uniform grid division and the setting of the square area help to achieve uniformity and consistency of the gluing effect of the gluing area of ​​the car, and improve the gluing quality of the gluing area of ​​the car.

[0045] Furthermore, in the present embodiment, according to the configured minimum coverage working point set of the gluing area, every two working points that are closest to the gluing areas covered by two adjacent working points can be connected to form a complete path including the gluing areas covered by each working point, and the complete path can be planned as the optimal path for gluing the areas on the car that need gluing. The advantage of this is that by planning the complete path as the optimal path for gluing the areas on the car that need gluing, it can be ensured that the gluing work on the gluing areas of the car can be completed with the shortest path without duplication or omission, and the entire gluing area can be covered. This not only reduces the movement and waiting time during the gluing process and improves the working efficiency of gluing, but also makes the gluing more uniform and ensures the quality of gluing.

[0046] Furthermore, in the present embodiment, the three-dimensional gluing template diagram of the gluing area of ​​the automobile can be used as a standard to scan the gluing area, generate point cloud data of the gluing area, and use a point cloud data processing algorithm to obtain a set of key working points on the optimal gluing path, and determine the boundary of the gluing area covered by the key working point set. The three-dimensional spatial coordinate information of the key working point set and the gluing area covered by it is obtained through a three-dimensional coordinate conversion method. The advantage of this is that by obtaining the three-dimensional spatial coordinate information of the key working point set and the gluing area covered by it, precise control of the gluing work can be achieved, thereby improving the efficiency and quality of automobile gluing and reducing the waste of gluing materials and uneven gluing.

[0047] See also Figure 2 , Figure 2 3D intelligent visual gluing method according to another embodiment of the present invention is shown in FIG. 3D intelligent visual gluing method according to another embodiment of the present invention. In this embodiment, the method comprises the following steps:

[0048] S201: Divide the area of ​​the automobile that needs to be glued into uniform grids, and arrange glue application working points at the center of each grid, and configure the minimum coverage working point set of the glue application area according to the glue application working points.

[0049] This can be as described in S101 above and will not be elaborated here.

[0050] S202: Planning an optimal path for gluing the area of ​​the vehicle that needs gluing according to the configured minimum coverage working point set of the gluing area.

[0051] This can be as described in S102 above, and will not be elaborated here.

[0052] S203: Taking the three-dimensional gluing template diagram of the gluing area of ​​the automobile as a standard, obtaining the three-dimensional space coordinate information of the gluing area covered by each working point set on the optimal gluing path.

[0053] This can be as described in S103 above, and will not be elaborated here.

[0054] S204: Gluing the glue coating area of ​​the automobile on the optimal gluing path according to the three-dimensional space coordinate information.

[0055] This can be as described in S104 above, and will not be elaborated here.

[0056] S205: Match and correct the glued area after glue application with the three-dimensional glued template illustration.

[0057] It can be found that in this embodiment, the glue coating area after gluing can be matched and corrected with the three-dimensional glue coating template diagram. The advantage of this is that it can ensure that the gluing accuracy is consistent with the expected design, improve the gluing efficiency and quality, and at the same time reduce the waste of gluing materials, ensuring the uniformity and reliability of gluing.

[0058] The present invention also provides a 3D intelligent visual gluing method, which can improve the efficiency and quality of automobile gluing.

[0059] See also Figure 3 , Figure 3 3D intelligent visual gluing method and device 30 includes a configuration module 31, a planning module 32, an acquisition module 33 and a gluing module 34.

[0060] The configuration module 31 is used to divide the area of ​​the automobile that needs to be glued into uniform grids, and arrange glue application working points at the center of each grid, and configure the minimum coverage working point set of the glue application area according to the glue application working points.

[0061] The planning module 32 is used to plan the optimal path for gluing the area of ​​the car that needs gluing according to the configured minimum coverage working point set of the gluing area.

[0062] The acquisition module 33 is used to acquire the three-dimensional space coordinate information of the gluing area covered by each working point set on the optimal gluing path based on the three-dimensional gluing template diagram of the automobile gluing area.

[0063] The gluing module 34 is used to apply glue to the gluing area of ​​the automobile on the optimal gluing path according to the three-dimensional space coordinate information.

[0064] Optionally, the configuration module 31 may be specifically used for:

[0065] The area of ​​the car that needs to be glued is divided into uniform grids, and a gluing work point is arranged in the center of each grid. According to the gluing work point, a square area with the same side length is formed with each gluing work point as the center. The redundant gluing work points covered in the square area are removed, and the minimum coverage work point set of the gluing area is configured.

[0066] Optionally, the planning module 32 may be specifically used for:

[0067] According to the configured minimum coverage working point set of the gluing area, every two working points that are closest to the gluing area covered by two adjacent working points are connected to form a complete path including the gluing area covered by each working point, and the complete path is planned as the optimal path for gluing the area of ​​the car that needs gluing.

[0068] Optionally, the acquisition module 33 may be specifically used for:

[0069] Taking the three-dimensional gluing template diagram of the car's gluing area as a standard, the gluing area is scanned to generate point cloud data of the gluing area. The point cloud data processing algorithm is used to obtain the key working point set on the optimal gluing path and determine the boundary of the gluing area covered by the key working point set. The three-dimensional spatial coordinate information of the key working point set and the gluing area covered by it is obtained through three-dimensional coordinate conversion.

[0070] See also Figure 4 , Figure 4 4 is a schematic diagram of the structure of another embodiment of the 3D intelligent visual gluing device of the present invention. Different from the previous embodiment, the 3D intelligent visual gluing device 40 of this embodiment further includes a correction module 41.

[0071] The correction module 41 is used for correcting the glued area after glue application by matching with the three-dimensional glued template diagram.

[0072] The updating module 41 is used to update the glue coating image of the car after glue coating to the constructed car glue coating sample image that meets the quality standards.

[0073] Each unit module of the 3D intelligent visual gluing device 30 / 40 can respectively execute the corresponding steps in the above method embodiment, so each unit module will not be described in detail here. Please refer to the description of the above corresponding steps for details.

[0074] The present invention further provides a computer device, such as Figure 5 As shown, it includes: at least one processor 51; and a memory 52 that is communicatively connected to the at least one processor 51; wherein the memory 52 stores instructions that can be executed by the at least one processor 51, and the instructions are executed by the at least one processor 51 so that the at least one processor 51 can execute the above-mentioned 3D intelligent visual gluing method.

[0075] The memory 52 and the processor 51 are connected in a bus manner, and the bus may include any number of interconnected buses and bridges, and the bus connects various circuits of one or more processors 51 and the memory 52 together. The bus can also connect various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art and are therefore not further described herein. The bus interface provides an interface between the bus and the transceiver. The transceiver can be one element or multiple elements, such as multiple receivers and transmitters, providing a unit for communicating with various other devices on a transmission medium. The data processed by the processor 51 is transmitted on a wireless medium via an antenna, and further, the antenna also receives data and transmits the data to the processor 51.

[0076] The processor 51 is responsible for managing the bus and general processing, and can also provide various functions, including timing, peripheral interfaces, voltage regulation, power management and other control functions. The memory 52 can be used to store data used by the processor 51 when performing operations.

[0077] The present invention further provides a computer-readable storage medium storing a computer program, which implements the above method embodiment when executed by a processor.

[0078] It can be found that the above scheme can divide the area of ​​the car that needs to be glued into a uniform grid, and arrange the gluing work point in the center of each grid, and configure the minimum coverage work point set of the gluing area according to the gluing work point, and plan the optimal path for gluing the area of ​​the car that needs to be glued according to the configured minimum coverage work point set of the gluing area, and use the three-dimensional gluing template diagram of the gluing area of ​​the car as a standard to obtain the three-dimensional space coordinate information of the gluing area covered by each work point set on the optimal gluing path, and glue the gluing area of ​​the car according to the three-dimensional space coordinate information on the optimal gluing path, so as to improve the efficiency and quality of automobile gluing.

[0079] Furthermore, the above scheme can divide the area of ​​the car that needs to be glued into a uniform grid, and arrange a gluing work point at the center of each grid. According to the gluing work point, a square area with the same side length is formed with each gluing work point as the center, and the redundant gluing work points covered in the square area are removed, and the minimum coverage work point set configuration of the gluing area is performed. The advantage of this is that by configuring the minimum coverage work point set of the gluing area, the number of gluing work points can be minimized while meeting the demand for the gluing area of ​​the car, thereby reducing the complexity and cost of the gluing process of the gluing area of ​​the car. At the same time, the uniform grid division and the setting of the square area help to achieve uniformity and consistency of the gluing effect of the gluing area of ​​the car, and improve the gluing quality of the gluing area of ​​the car.

[0080] Furthermore, the above scheme can, according to the configured minimum coverage working point set of the gluing area, connect every two working points that are closest to the gluing area covered by two adjacent working points to form a complete path including the gluing area covered by each working point, and plan the complete path as the optimal path for gluing the area of ​​the car that needs gluing. The advantage of this is that by planning the complete path as the optimal path for gluing the area of ​​the car that needs gluing, it can ensure that the gluing work on the gluing area of ​​the car can be completed with the shortest path without duplication or omission, and the entire gluing area can be covered. This not only reduces the movement and waiting time during the gluing process, improves the work efficiency of gluing, but also makes the gluing more uniform, thereby ensuring the quality of gluing.

[0081] Furthermore, the above scheme can use the three-dimensional gluing template diagram of the automobile gluing area as a standard to scan the gluing area, generate point cloud data of the gluing area, and use a point cloud data processing algorithm to obtain the key working point set on the optimal gluing path, and determine the boundary of the gluing area covered by the key working point set. Through a three-dimensional coordinate conversion method, the three-dimensional spatial coordinate information of the key working point set and the gluing area covered by it is obtained. The advantage of this is that by obtaining the three-dimensional spatial coordinate information of the key working point set and the gluing area covered by it, precise control of the gluing work can be achieved, thereby improving the efficiency and quality of automobile gluing and reducing the waste of gluing materials and uneven gluing.

[0082] Furthermore, the above scheme can match and correct the glue coating area after gluing with the three-dimensional glue coating template diagram. The advantage of this is that it can ensure that the glue coating accuracy is consistent with the expected design, improve the glue coating efficiency and quality, and at the same time reduce the waste of glue coating materials, ensuring the uniformity and reliability of glue coating.

[0083] In the several embodiments provided by the present invention, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device implementation described above is only schematic, for example, the division of modules or units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0084] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0085] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0086] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, server, or network device, etc.) or a processor (processor) to perform all or part of the steps of each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0087] The above descriptions are only some embodiments of the present invention, and are not intended to limit the protection scope of the present invention. Any equivalent device or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A 3D intelligent visual gluing method, characterized in that: include: The area of ​​the car that needs to be glued is divided into uniform grids, and a gluing working point is arranged at the center of each grid, and the minimum coverage working point set of the gluing area is configured according to the gluing working points; According to the configured minimum coverage working point set of the gluing area, planning the optimal path for gluing the area of ​​the automobile that needs gluing; Taking the three-dimensional gluing template diagram of the gluing area of ​​the automobile as a standard, obtaining the three-dimensional space coordinate information of the gluing area covered by each working point set on the optimal gluing path; Gluing is performed on the glue coating area of ​​the automobile according to the three-dimensional space coordinate information on the optimal gluing path.

2. The 3D intelligent visual gluing method according to claim 1, characterized in that: The automobile area to be glued is divided into uniform grids, and a glue application working point is arranged at the center of each grid. According to the glue application working points, the minimum coverage working point set of the glue application area is configured, including: The area of ​​the car that needs to be glued is divided into uniform grids, and a gluing work point is arranged at the center of each grid. According to the gluing work point, a square area with the same side length is formed with the center of each gluing work point, and the redundant gluing work points covered in the square area are removed to configure the minimum coverage work point set of the gluing area.

3. The 3D intelligent visual gluing method according to claim 1, characterized in that: The step of planning the optimal path for gluing the area of ​​the automobile that needs gluing according to the configured minimum coverage working point set of the gluing area includes: According to the configured minimum coverage working point set of the glue coating area, every two working points that are closest to the glue coating area covered by two adjacent working points are connected to form a complete path including the glue coating area covered by each working point, and the complete path is planned as the optimal path for gluing the area of ​​the car that needs gluing.

4. The 3D intelligent visual gluing method according to claim 1, characterized in that: The method of obtaining the three-dimensional space coordinate information of the gluing area covered by each set of working points on the optimal gluing path based on the three-dimensional gluing template diagram of the automobile gluing area includes: Taking the three-dimensional gluing template diagram of the automobile gluing area as a standard, the gluing area is scanned to generate point cloud data of the gluing area, and a point cloud data processing algorithm is used to obtain a set of key working points on the optimal gluing path, and determine the boundary of the gluing area covered by the key working point set. Through a three-dimensional coordinate conversion method, the three-dimensional spatial coordinate information of the key working point set and the gluing area covered by it is obtained.

5. The 3D intelligent visual gluing method according to claim 1, characterized in that: After gluing the gluing area of ​​the automobile on the optimal gluing path according to the three-dimensional space coordinate information, the method further includes: The glued area after the gluing is matched and corrected with the three-dimensional glued template illustration.

6. A 3D intelligent visual gluing device, characterized in that: include: Configuration module, planning module, acquisition module and gluing module; The configuration module is used to divide the area of ​​the automobile that needs to be glued into uniform grids, and arrange glue working points at the center of each grid, and configure the minimum coverage working point set of the glued area according to the glue working points; The planning module is used to plan the optimal path for gluing the area of ​​the automobile that needs gluing according to the configured minimum coverage working point set of the gluing area; The acquisition module is used to acquire the three-dimensional space coordinate information of the gluing area covered by each working point set on the optimal gluing path based on the three-dimensional gluing template diagram of the automobile gluing area; The gluing module is used to apply glue to the gluing area of ​​the automobile on the optimal gluing path according to the three-dimensional space coordinate information.

7. The 3D intelligent visual gluing device according to claim 6, characterized in that: The configuration module is specifically used for: The area of ​​the car that needs to be glued is divided into uniform grids, and a gluing work point is arranged at the center of each grid. According to the gluing work point, a square area with the same side length is formed with the center of each gluing work point, and the redundant gluing work points covered in the square area are removed to configure the minimum coverage work point set of the gluing area.

8. The 3D intelligent visual gluing device according to claim 6, characterized in that: The planning module is specifically used for: According to the configured minimum coverage working point set of the glue coating area, every two working points that are closest to the glue coating area covered by two adjacent working points are connected to form a complete path including the glue coating area covered by each working point, and the complete path is planned as the optimal path for gluing the area of ​​the car that needs gluing.

9. A computer device, characterized in that: include: at least one processor; And, a memory communicatively connected to at least one processor; wherein the memory stores instructions executable by at least one processor, and the instructions are executed by at least one processor so that at least one processor can execute the 3D intelligent visual gluing method as described in any one of claims 1 to 5.

10. A computer-readable storage medium, characterized in that: A computer program is stored, and when the computer program is executed by a processor, the 3D intelligent visual gluing method as described in any one of claims 1 to 5 is implemented.

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