Gluing method, storage medium, controller and gluing system

Abstract

The invention relates to a gluing method, a storage medium, a controller and a gluing system, and relates to the technical field of automation, the method comprises the following steps: obtaining gluing deviation information of a gluing mechanism aiming at a target workpiece, based on the gluing deviation information, executing a correction operation on the gluing mechanism, and responding to the completion of the execution of the correction operation. And the gluing mechanism is controlled to execute gluing operation according to a preset track. By means of the method, the gluing effect can be improved.

Description

Technical Field

[0001] The present disclosure relates to the field of automation technology, and in particular to a gluing method, a storage medium, a controller and a gluing system. Background Art

[0002] As an important part of the process production, the gluing process plays a vital role in whether the workpiece can be sealed and directly affects the quality of the workpiece.

[0003] With the development of automation technology, robot-automatic gluing is increasingly widely used. However, robot-automatic gluing in related technologies has the problem of poor gluing effect. Summary of the invention

[0004] The purpose of the present disclosure is to provide a gluing method, a storage medium, a controller and a gluing system, by performing a correction operation on the gluing mechanism based on the gluing deviation information, so that the gluing mechanism and the target workpiece can be adjusted to a reference working state. In this way, when the gluing mechanism is controlled to perform the gluing operation according to a preset trajectory, the gluing trajectory will not be offset, thereby improving the accuracy of the gluing trajectory and further improving the gluing effect.

[0005] According to a first aspect of an embodiment of the present disclosure, a method for coating glue is provided, the method comprising: Obtaining glue coating deviation information of the glue coating mechanism for the target workpiece; Based on the glue coating deviation information, performing a correction operation on the glue coating mechanism; In response to the completion of the correction operation, the gluing mechanism is controlled to perform the gluing operation according to a preset trajectory.

[0006] Optionally, the gluing deviation information includes a first position deviation of the target workpiece relative to a workpiece reference position, and performing a correction operation on the gluing mechanism based on the gluing deviation information includes: Based on the first position deviation, determining an offset of a coordinate system; Based on the offset of the coordinate system, the reference coordinate system used to control the movement of the glue coating mechanism is offset to obtain the offset reference coordinate system. The reference coordinate system before the offset is the coordinate system corresponding to the workpiece when it is in the workpiece reference position.

[0007] Optionally, the gluing deviation information includes a second position deviation of a gluing reference point in the target workpiece and a standard workpiece, and performing a correction operation on the gluing mechanism based on the gluing deviation information includes: Based on the second position deviation, determining an offset of the glue coating mechanism; Based on the offset of the glue coating mechanism, the glue coating mechanism is controlled to move.

[0008] Optionally, the glue coating mechanism includes a glue discharging component, the glue coating deviation information includes a third position deviation of the position of the glue discharging component relative to a reference position of the glue discharging component, and performing a correction operation on the glue coating mechanism based on the glue coating deviation information includes: Based on the third position deviation, determining an offset of the glue discharging assembly; Based on the offset of the glue discharging component, the glue discharging component is controlled to move.

[0009] Optionally, the method further comprises: In response to the completion of the gluing operation, acquiring an image corresponding to the target workpiece, the image including a gluing track; When it is determined according to the image that glue breakage occurs on the glue coating track, the glue coating mechanism is controlled to perform a glue filling operation at the position where glue breakage occurs.

[0010] Optionally, the method further comprises: In response to the completion of the gluing operation, acquiring an image corresponding to the target workpiece, the image including a gluing track; When it is determined according to the image that the gluing track is offset, information indicating that the gluing has failed is output.

[0011] Optionally, the gluing mechanism includes a motion component and a glue discharging component, and the step of controlling the gluing mechanism to perform the gluing operation according to a preset trajectory includes: Obtaining a target motion speed corresponding to the motion component in the gluing operation; Based on the correlation between the glue discharging speed and the movement speed, determining a target glue discharging speed corresponding to the target movement speed; The motion component is controlled to move along the preset trajectory at the target motion speed, and the glue discharging component is controlled to discharge glue at the target glue discharging speed.

[0012] According to a second aspect of an embodiment of the present disclosure, a non-volatile storage medium is provided, on which a computer program is stored, and when the program is executed by a processor, the steps of the gluing method provided in the first aspect of the present disclosure are implemented.

[0013] According to a third aspect of an embodiment of the present disclosure, a controller is provided, including: a memory having a computer program stored thereon; A processor is used to execute the computer program in the memory so that the processor performs the steps of the gluing method provided in the first aspect of the present disclosure.

[0014] According to a fourth aspect of an embodiment of the present disclosure, a gluing system is provided, comprising a gluing mechanism and the controller provided by the third aspect of the present disclosure.

[0015] Through the above technical solution, the gluing deviation information of the gluing mechanism for the target workpiece is first obtained, and then based on the gluing deviation information, the gluing mechanism is corrected. After the correction operation is completed, the gluing mechanism can be controlled to perform the gluing operation according to the preset trajectory. By performing the correction operation on the gluing mechanism based on the gluing deviation information, the gluing mechanism and the target workpiece can be adjusted to a reference working state. In this way, when the gluing mechanism is controlled to perform the gluing operation according to the preset trajectory, the gluing trajectory will not be offset, thereby improving the accuracy of the gluing trajectory and further improving the gluing effect.

[0016] Other features and advantages of the present disclosure will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The accompanying drawings are used to provide a further understanding of the present disclosure and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the present disclosure but do not constitute a limitation of the present disclosure. In the accompanying drawings: Figure 1 It is a schematic structural diagram of a glue coating system according to an exemplary embodiment.

[0018] Figure 2 The figure is a flow chart of a gluing method according to an exemplary embodiment.

[0019] Figure 3 is a schematic diagram showing a reference coordinate system offset according to an exemplary embodiment.

[0020] Figure 4 The figure is a schematic diagram showing a gluing reference point offset according to an exemplary embodiment.

[0021] Figure 5 It is a schematic diagram showing the offset of a glue discharging component according to an exemplary embodiment.

[0022] Figure 6 The figure is a flow chart of a gluing method according to an exemplary embodiment.

[0023] Figure 7 is a block diagram of a controller according to an exemplary embodiment. DETAILED DESCRIPTION

[0024] The specific implementation of the present disclosure is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described herein is only used to illustrate and explain the present disclosure, and is not used to limit the present disclosure.

[0025] It should be understood that the various steps described in the method embodiments of the present disclosure may be performed in different orders and / or in parallel. In addition, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present disclosure is not limited in this respect.

[0026] The term "including" and its variations used herein are open inclusions, i.e., "including but not limited to". The term "based on" means "based at least in part on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments". The relevant definitions of other terms will be given in the following description.

[0027] It should be noted that the concepts such as "first" and "second" mentioned in the present disclosure are only used to distinguish different devices, modules or units, and are not used to limit the order or interdependence of the functions performed by these devices, modules or units.

[0028] It should be noted that the modifications of "one" and "plurality" mentioned in the present disclosure are illustrative rather than restrictive, and those skilled in the art should understand that unless otherwise clearly indicated in the context, it should be understood as "one or more".

[0029] Before describing the embodiment of the present disclosure in detail, a gluing system applied to the gluing method of the embodiment of the present disclosure is described first.

[0030] like Figure 1 As shown, the glue coating system may include a glue coating mechanism 110 , a controller 120 , and an image acquisition device 130 . The glue coating mechanism 110 may include a motion component 111 and a glue discharging component 112 .

[0031] The motion component 111 may be a robot in a broad sense, which is used to drive the glue discharging component 112 to move, and can realize movement along a set trajectory.

[0032] The glue discharging component 112 is used to discharge glue at a set speed, and the glue discharging component 112 may be a glue discharging head, for example.

[0033] The controller 120 controls and drives the entire gluing system, and is used to transfer interaction signals between various parts, process data and control logic.

[0034] Among them, the image acquisition device 130 is used to acquire images, for example, an image of a workpiece, an image of a gluing reference point in the workpiece, an image of a gluing track in the workpiece, and an image of a gluing component 112, etc. The acquired images can be used to process and obtain the position of the workpiece, the gluing track, the position of the gluing reference point in the workpiece, the position of the gluing component 112, etc.

[0035] It should be noted that, in some gluing scenarios, the glue discharging component 112 may share a coordinate system with the motion component 111 , and in other gluing scenarios, the glue discharging component 112 may use different coordinate systems with the motion component 111 .

[0036] Figure 2 is a flow chart of a method for applying glue according to an exemplary embodiment, which method can be applied to a controller such as Figure 2 As shown, the method may include the following steps: In step S201, the gluing deviation information of the gluing mechanism for the target workpiece is obtained.

[0037] In step S202, based on the glue coating deviation information, a correction operation is performed on the glue coating mechanism.

[0038] In step S203, in response to the completion of the correction operation, the gluing mechanism is controlled to perform the gluing operation according to a preset trajectory.

[0039] By adopting the above method, the gluing deviation information of the gluing mechanism for the target workpiece is first obtained, and then the gluing mechanism is corrected based on the gluing deviation information. After the correction operation is completed, the gluing mechanism can be controlled to perform the gluing operation according to the preset trajectory. By performing the correction operation on the gluing mechanism based on the gluing deviation information, the gluing mechanism and the target workpiece can be adjusted to a reference working state. In this way, when the gluing mechanism is controlled to perform the gluing operation according to the preset trajectory, the gluing trajectory will not be offset, thereby improving the accuracy of the gluing trajectory and further improving the gluing effect.

[0040] In the disclosed embodiment, the glue coating deviation information may be understood as information corresponding to matters causing a difference between an actual glue coating trajectory on a target workpiece and a preset trajectory.

[0041] There are many factors that may cause a difference between the actual gluing track on the target workpiece and the preset track. For example, when the target workpiece is offset, or when the gluing component in the gluing mechanism is offset due to replacement, or when the gluing reference point in the workpiece is offset due to individual differences in the workpiece, continuing to control the gluing mechanism to perform the gluing operation according to the saved preset track will result in track differences.

[0042] In the disclosed embodiment, a reference state of gluing can be selected, for example, a reference position for placing a workpiece, a reference position for a glue discharging assembly, and a reference point for gluing in the workpiece. After determining the reference state of gluing, the reference gluing trajectory is taught to the gluing mechanism according to the desired gluing trajectory, thereby enabling the gluing mechanism to automatically apply glue according to a preset trajectory.

[0043] It can be understood that when the gluing mechanism and the workpiece meet the benchmark working state of gluing, the gluing mechanism is controlled to perform the gluing operation according to the preset trajectory, and there will be no difference between the actual gluing trajectory and the preset trajectory, or the difference is within an acceptable range. However, when the gluing mechanism and the workpiece do not meet the benchmark working state of gluing, that is, there are matters that cause the difference between the actual gluing trajectory and the preset trajectory, continuing to control the gluing mechanism to perform the gluing operation according to the preset trajectory may cause an unacceptable difference between the actual gluing trajectory and the preset trajectory.

[0044] Therefore, in some embodiments, the glue coating deviation information may include one or more of a first position deviation, a second position deviation, and a third position deviation. The first position deviation may be a position deviation of the target workpiece relative to the workpiece reference position, the second position deviation may be a position deviation of the glue coating reference point in the target workpiece and the standard workpiece, and the third position deviation may be a position deviation of the glue dispensing component relative to the glue dispensing component reference position.

[0045] Below, each type of glue coating deviation information is explained separately: In some embodiments, when the gluing deviation information includes a first position deviation of the position of the target workpiece relative to the workpiece reference position, in step S202, performing a correction operation on the gluing mechanism based on the gluing deviation information may include the following steps: Based on the first position deviation, the offset of the coordinate system is determined; based on the offset of the coordinate system, the reference coordinate system used to control the movement of the glue coating mechanism is offset to obtain the offset reference coordinate system.

[0046] The reference coordinate system before the offset is a coordinate system corresponding to when the workpiece is at the workpiece reference position.

[0047] In the disclosed embodiment, since the preset trajectory is obtained by teaching based on the reference coordinate system before the offset, when the position of the target workpiece is offset relative to the workpiece reference position, the glue coating is performed according to the preset trajectory obtained by teaching, the obtained glue coating trajectory will deviate from the expected glue coating trajectory.

[0048] Therefore, in order to avoid deviation of the gluing trajectory, the offset of the coordinate system can be determined based on the first position deviation of the position of the target workpiece relative to the workpiece reference position, and then the reference coordinate system is offset based on the offset of the coordinate system to obtain the offset reference coordinate system. In the offset reference coordinate system, the target workpiece is equivalent to being in the workpiece reference position again, which can offset the deviation caused by the offset of the target workpiece. Therefore, the gluing mechanism can be controlled to perform the gluing operation according to the preset trajectory, and the gluing trajectory will not deviate.

[0049] For example, Figure 3 As shown, the XY coordinate system is a reference coordinate system established based on the standard workpiece (solid rectangle). When the position of the target workpiece is offset, the image acquisition device takes a photo to obtain the position of the target workpiece, and then calculates the offset of the target workpiece in the reference coordinate system (the offset XOffset in the X direction, the offset YOffset in the Y direction, and the offset angle α), that is, the offset of the coordinate system. Then, the reference coordinate system can be offset calculated according to the offset to obtain the offset reference coordinate system, that is, the X1Y1 coordinate system, to achieve the offset of the entire reference coordinate system.

[0050] In some embodiments, when the gluing deviation information includes a second position deviation of the gluing reference point in the target workpiece and the standard workpiece, in step S202, performing a correction operation on the gluing mechanism based on the gluing deviation information may include the following steps: Based on the second position deviation, the offset of the gluing mechanism is determined; based on the offset of the gluing mechanism, the gluing mechanism is controlled to move.

[0051] In the disclosed embodiment, during the teaching process of the preset trajectory, positioning is performed based on the gluing reference point in the standard workpiece. Then, when the gluing reference point is offset in the target workpiece compared to the standard workpiece, gluing is performed according to the preset trajectory obtained through teaching, the obtained gluing trajectory will deviate from the expected gluing trajectory.

[0052] Therefore, in order to avoid deviation of the gluing trajectory, the offset of the gluing mechanism can be determined based on the second position deviation, and then based on the offset of the gluing mechanism, the gluing mechanism is controlled to move first to offset the deviation of the gluing reference point. Thereby, the gluing mechanism is controlled to perform the gluing operation according to the preset trajectory, and no deviation of the gluing trajectory will occur.

[0053] For example, Figure 4As shown, pos1 is the gluing reference point set in the standard workpiece. The actual position pos2 of the gluing reference point in the target workpiece is obtained by taking a picture with an image acquisition device, and then the offset of the two on the XY axis is calculated, that is, the offset of the gluing mechanism. Then, based on the offset of the gluing mechanism, the gluing mechanism is controlled to move so that the motion mechanism is adjusted from the reference position pos1 to the actual position pos2 through the offset.

[0054] It should be noted that the above example is based on the case where the target workpiece has no positional offset. In some cases, the target workpiece may have a positional offset and the gluing reference point may be offset in the target workpiece compared to the standard workpiece. In this case, when obtaining the second positional deviation, it is necessary to convert the gluing reference point in the standard workpiece and the gluing reference point in the target workpiece into the same coordinate system, and then calculate the second positional deviation in the same coordinate system to accurately calculate the second positional deviation of the gluing reference point in the target workpiece and the standard workpiece.

[0055] In some embodiments, when the glue coating deviation information includes a third position deviation of the position of the glue discharging component relative to the reference position of the glue discharging component, in step S202, performing a correction operation on the glue coating mechanism based on the glue coating deviation information may include the following steps: Based on the third position deviation, the offset of the glue outlet assembly is determined; based on the offset of the glue outlet assembly, the glue outlet assembly is controlled to move.

[0056] In the disclosed embodiment, since the preset trajectory is obtained based on the teaching of the reference position of the glue outlet component, when the position of the glue outlet component is offset relative to the reference position of the glue outlet component, the glue is applied according to the preset trajectory obtained through teaching, and the obtained glue application trajectory deviates from the expected glue application trajectory.

[0057] Therefore, in order to avoid deviation of the gluing trajectory, the offset of the glue output component can be determined based on the third position deviation, and then based on the offset of the glue output component, the glue output component is controlled to move first to offset the deviation of the glue output component. Thereby, the gluing mechanism is controlled to perform the gluing operation according to the preset trajectory, and no deviation of the gluing trajectory will occur.

[0058] In combination with the foregoing content, it can be known that in some embodiments, the glue delivery component and the motion component use different coordinate systems, for example, a tool coordinate system. In this case, the third position deviation can be directly calculated in the coordinate system corresponding to the glue delivery component, and based on the third position deviation, the offset of the glue delivery component can be determined, and further based on the offset of the glue delivery component, the glue delivery component can be controlled to move.

[0059] For example, Figure 5As shown, tcp1 is the reference position of the glue discharge component set in the tool coordinate system X2Y2, and the position tcp2 of the glue discharge component is obtained by taking a picture with an image acquisition device, and then the offset between the two on the X2Y2 axis is calculated, and the actual glue discharge component is compensated in the tool coordinate system, so that the motion component corrects the actual position of the glue discharge component to the reference position of the glue discharge component set in the tool coordinate system.

[0060] It should be noted that the above-mentioned matters that cause the difference between the actual gluing trajectory and the preset trajectory on the target workpiece can exist at the same time or separately. When multiple matters exist at the same time, the gluing mechanism is first corrected based on the gluing deviation information corresponding to various matters. After the correction operations are completed for all matters, the gluing mechanism can be controlled to perform the gluing operation according to the preset trajectory.

[0061] In some implementations, in order to further improve the gluing effect, the method of the embodiment of the present disclosure may further include the following steps: In response to the completion of the gluing operation, an image corresponding to the target workpiece is acquired, the image including the gluing track; when it is determined according to the image that the gluing track is broken, the gluing mechanism is controlled to perform a gluing operation at the position where the glue is broken.

[0062] In the embodiment of the present disclosure, after the gluing mechanism completes the gluing operation, the graphics acquisition device can capture the image of the target workpiece again, so that the controller can obtain the image corresponding to the target workpiece through the image acquisition device. Then the controller can identify the gluing track in the image and determine whether there is a glue break on the gluing track. If there is a glue break, the position where the glue break occurs can be further obtained, and the gluing mechanism can be controlled to perform a glue filling operation at the position where the glue break occurs, so as to fill the glue on the gluing track, improve the integrity of the gluing track, and further improve the gluing effect.

[0063] In some implementations, the method of the embodiment of the present disclosure may further include the following steps: In response to the completion of the gluing operation, an image corresponding to the target workpiece is acquired, the image including the gluing track; when it is determined according to the image that the gluing track is offset, information for characterizing the gluing failure is output.

[0064] In the disclosed embodiment, the controller can identify the gluing track in the image and determine whether the gluing track is offset compared to the preset track. If there is an offset, the surface gluing has failed, and information characterizing the gluing failure can be output to facilitate waste disposal.

[0065] In combination with the above content, it can be known that in some embodiments, the gluing mechanism includes a motion component and a glue discharging component. In this case, in step S203, controlling the gluing mechanism to perform the gluing operation according to a preset trajectory may include the following steps: Obtain a target movement speed corresponding to the moving component in the gluing operation; determine a target gluing speed corresponding to the target movement speed based on the correlation between the gluing speed and the movement speed; control the moving component to move along a preset trajectory according to the target movement speed, and control the gluing component to discharge glue according to the target gluing speed.

[0066] In the disclosed embodiment, the correlation relationship between the glue discharge speed of the glue discharge component and the movement speed of the motion component can be pre-configured. For example, it can be a pre-calibrated linear relationship. In this way, when the glue coating mechanism performs the glue coating operation, the target glue discharge speed corresponding to the actual movement speed of the motion component (i.e., the target movement speed) can be determined based on the correlation relationship. Then, the glue coating mechanism can be controlled according to the target movement speed and the target glue discharge speed, that is, the motion component is controlled to move along the preset trajectory at the target movement speed, and the glue discharge component is controlled to discharge glue at the target glue discharge speed.

[0067] By matching the glue dispensing speed of the glue coating component with the running speed of the motion component, adaptive glue dispensing speed control based on the motion speed of the motion component can be achieved, which can further improve the glue coating effect.

[0068] Next, combine Figure 6 The gluing method of the present invention is described in detail with reference to a flow chart of the gluing method of the present invention. Figure 6 As shown, the gluing method of the embodiment of the present disclosure includes the following steps: Establish a user coordinate system for robot motion management and a tool coordinate system for glue head management.

[0069] Calibrate the CCD (Charge-Coupled Device) camera to make the camera pixels correspond to the coordinate system positions.

[0070] Select the reference state of gluing and teach the robot the gluing trajectory.

[0071] Through the above steps, the teaching process of the preset trajectory is completed.

[0072] The position of the glue dispensing head, the position of the target workpiece, and the position of the glue coating reference point inside the target workpiece are obtained by taking photos with a CCD camera.

[0073] The acquired position is fed back to the controller, the offset is calculated, and the data is passed to the robot.

[0074] The calculated offset includes the offset of the user coordinate system, the offset of the robot's gluing reference point, and the offset of the glue head.

[0075] The robot makes adjustments on the reference trajectory according to the obtained offset, and at the same time exchanges information with the gluing system through the controller to match the glue discharge speed of the glue head with the operating speed of the robot.

[0076] Through the above steps, the process of preliminary gluing of the target workpiece is completed.

[0077] After the glue coating is completed, the CCD camera takes a photo to obtain the actual glue coating trajectory.

[0078] Determine whether the actual gluing track is offset. If it deviates from the standard, discard it. Otherwise, determine whether the glue is broken. If it is broken, fill the glue at the broken position according to the data obtained by the CCD camera. Otherwise, end the process.

[0079] Figure 7 is a block diagram of a controller according to an exemplary embodiment. Figure 7 The controller 700 includes a processor 722, which may be one or more, and a memory 732 for storing a computer program executable by the processor 722. The computer program stored in the memory 732 may include one or more modules each corresponding to a set of instructions. In addition, the processor 722 may be configured to execute the computer program to perform the above-mentioned gluing method.

[0080] In addition, the controller 700 may further include a power supply component 726 and a communication component 750. The power supply component 726 may be configured to perform power management of the controller 700, and the communication component 750 may be configured to implement communication, such as wired or wireless communication, of the controller 700. In addition, the controller 700 may further include an input / output interface 758.

[0081] In another exemplary embodiment, a gluing system is provided, including a gluing mechanism and the controller described in the above embodiment.

[0082] In another exemplary embodiment, a non-volatile storage medium including program instructions is also provided, and when the program instructions are executed by the processor, the steps of the above-mentioned gluing method are implemented. For example, the non-volatile storage medium can be the above-mentioned memory 732 including program instructions, and the above-mentioned program instructions can be executed by the processor 722 of the controller 700 to complete the above-mentioned gluing method.

[0083] In another exemplary embodiment, a computer program product is also provided. The computer program product includes a computer program executable by a programmable device, and the computer program has a code portion for executing the above-mentioned gluing method when executed by the programmable device.

[0084] The preferred embodiments of the present disclosure are described in detail above in conjunction with the accompanying drawings; however, the present disclosure is not limited to the specific details in the above embodiments. Within the technical concept of the present disclosure, a variety of simple modifications can be made to the technical solution of the present disclosure, and these simple modifications all fall within the protection scope of the present disclosure.

[0085] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, the present disclosure will not further describe various possible combinations.

[0086] In addition, various embodiments of the present disclosure may be arbitrarily combined, and as long as they do not violate the concept of the present disclosure, they should also be regarded as the contents disclosed by the present disclosure.

Claims

1. A method for coating glue, characterized in that: The method comprises: Obtaining glue coating deviation information of the glue coating mechanism for the target workpiece; Based on the glue coating deviation information, performing a correction operation on the glue coating mechanism; In response to the completion of the correction operation, the gluing mechanism is controlled to perform the gluing operation according to a preset trajectory.

2. The method according to claim 1, characterized in that The gluing deviation information includes a first position deviation of the target workpiece relative to a workpiece reference position, and performing a correction operation on the gluing mechanism based on the gluing deviation information includes: Based on the first position deviation, determining an offset of a coordinate system; Based on the offset of the coordinate system, the reference coordinate system used to control the movement of the glue coating mechanism is offset to obtain the offset reference coordinate system. The reference coordinate system before the offset is the coordinate system corresponding to the workpiece when it is in the workpiece reference position.

3. The method according to claim 1, characterized in that The gluing deviation information includes a second position deviation of the gluing reference point in the target workpiece and the standard workpiece, and performing a correction operation on the gluing mechanism based on the gluing deviation information includes: Based on the second position deviation, determining an offset of the glue coating mechanism; Based on the offset of the glue coating mechanism, the glue coating mechanism is controlled to move.

4. The method according to claim 1, characterized in that The glue coating mechanism includes a glue discharging component, the glue coating deviation information includes a third position deviation of the position of the glue discharging component relative to a reference position of the glue discharging component, and performing a correction operation on the glue coating mechanism based on the glue coating deviation information includes: Based on the third position deviation, determining an offset of the glue discharging assembly; Based on the offset of the glue discharging component, the glue discharging component is controlled to move.

5. The method according to claim 1, characterized in that: The method further comprises: In response to the completion of the gluing operation, acquiring an image corresponding to the target workpiece, the image including a gluing track; When it is determined according to the image that glue breakage occurs on the glue coating track, the glue coating mechanism is controlled to perform a glue filling operation at the position where glue breakage occurs.

6. The method according to claim 1, characterized in that The method further comprises: In response to the completion of the gluing operation, acquiring an image corresponding to the target workpiece, the image including a gluing track; When it is determined according to the image that the gluing track is offset, information indicating that the gluing has failed is output.

7. The method according to any one of claims 1 to 6, characterized in that: The gluing mechanism includes a motion component and a glue discharging component, and the gluing mechanism is controlled to perform a gluing operation according to a preset trajectory, including: Obtaining a target motion speed corresponding to the motion component in the gluing operation; Based on the correlation between the glue discharging speed and the movement speed, determining a target glue discharging speed corresponding to the target movement speed; The motion component is controlled to move along the preset trajectory at the target motion speed, and the glue discharging component is controlled to discharge glue at the target glue discharging speed.

8. A non-volatile storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the steps of the gluing method described in any one of claims 1 to 7 are implemented.

9. A controller, characterized in that: include: a memory having a computer program stored thereon; A processor, used to execute the computer program in the memory so that the processor performs the steps of the gluing method according to any one of claims 1 to 7.

10. A gluing system, characterized in that: It comprises a gluing mechanism and the controller as claimed in claim 9.

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