Automatic installation method and device of sound insulation cotton and computer program product

Abstract

The invention discloses an automatic installation method and device for sound insulation cotton and a computer program product. The method comprises the following steps: acquiring current position information of the compressor and a component three-dimensional shape of a to-be-mounted component in the compressor; under the condition that the sound insulation cotton installation instruction is received, a material taking robot is controlled to execute material taking operation, so that sound insulation cotton to be rolled is placed on a sound insulation cotton processing platform; according to the three-dimensional shape, the sound insulation cotton processing platform is controlled to perform rolling operation on the to-be-rolled sound insulation cotton, and the to-be-installed sound insulation cotton is obtained; and a discharging robot is controlled to execute discharging operation according to the current position information, so that the to-be-mounted sound insulation cotton is mounted on a to-be-mounted assembly of the compressor, and sound insulation cotton mounting operation is completed. The technical problems that in the prior art, sound insulation cotton of a compressor usually needs to be manually installed, the installation efficiency is low, the error rate is high, and the health of operators is easily affected are solved.

Description

Technical Field

[0001] The present invention relates to the field of automation control technology, and in particular to an automated installation method and device for sound insulation cotton, and a computer program product. Background Art

[0002] In the prior art, the installation of sound insulation cotton for compressors usually requires manual operation, which is not only inefficient, but also may affect the health of operators due to the characteristics of sound insulation cotton materials. Manual installation of sound insulation cotton for compressors also has the following shortcomings: 1) Inefficiency: Manual installation of sound insulation cotton is a labor-intensive process. The operator needs to accurately measure the size of the compressor, select the appropriate sound insulation material, and then manually wrap it around the compressor. This process is time-consuming and error-prone, especially when facing mass production, the efficiency problem is particularly prominent; 2) Health risks: Sound insulation cotton materials usually contain small fibers. Long-term contact or inhalation of these fibers may cause damage to the respiratory system of operators. In addition, long-term repetitive manual operation may also cause musculoskeletal problems; 3) Cost factors: Manual installation of sound insulation cotton requires a lot of manpower costs, including training, wages and insurance. At the same time, the error rate and scrap rate of manual operation are high, which increases production costs; 4) Inconsistent quality: Due to the subjectivity and variability of manual operation, the quality of sound insulation cotton installed by different operators may vary greatly, which directly affects the noise control performance and service life of the compressor.

[0003] Regarding the problem that the installation of sound insulation cotton for compressors in the above-mentioned related technologies usually requires manual operation, which not only has low installation efficiency and high error rate, but also easily affects the health of operators. No effective solution has been proposed so far. Summary of the invention

[0004] The embodiments of the present invention provide an automated installation method and device for sound insulation cotton, and a computer program product, so as to at least solve the technical problem in the related art that the installation of sound insulation cotton for compressors usually requires manual operation, which not only has low installation efficiency and high error rate, but also easily affects the health of operators.

[0005] According to one aspect of an embodiment of the present invention, there is provided an automated installation method for sound insulation cotton, comprising: obtaining current position information of a compressor and a three-dimensional shape of a component to be installed in the compressor, wherein the component to be installed refers to a component in the compressor on which sound insulation cotton needs to be installed; upon receiving a sound insulation cotton installation instruction, controlling a material picking robot to perform a material picking operation to place the sound insulation cotton to be rolled on a sound insulation cotton processing platform, wherein the sound insulation cotton to be rolled refers to the sound insulation cotton having a preset initial shape, and the sound insulation cotton processing platform is used to roll the sound insulation cotton to be rolled into a shape that matches the three-dimensional shape of the component; controlling the sound insulation cotton processing platform to perform a material rolling operation on the sound insulation cotton to be rolled according to the three-dimensional shape to obtain the sound insulation cotton to be installed, wherein the sound insulation cotton to be installed refers to the sound insulation cotton having a shape that matches the three-dimensional shape of the component; controlling a material discharging robot to perform a material discharging operation according to the current position information to install the sound insulation cotton to be installed on the component to be installed of the compressor to complete the sound insulation cotton installation operation, wherein the sound insulation cotton installation operation is the operation that needs to be completed as indicated by the sound insulation cotton installation instruction.

[0006] Optionally, obtaining the current position information of the compressor and the three-dimensional shape of the component to be installed in the compressor includes: using a three-dimensional vision program to obtain the current position information and a three-dimensional image of the compressor; performing feature extraction on the three-dimensional image to obtain feature point cloud data of the component to be installed; and determining that the three-dimensional shape constructed according to the feature point cloud data is the three-dimensional shape of the component to be installed.

[0007] Optionally, before performing feature extraction on the three-dimensional image to obtain feature point cloud data of the component to be installed, the automated installation method of the sound insulation cotton also includes at least one of the following: performing image enhancement processing and binarization processing on the three-dimensional image until the image clarity of the three-dimensional image reaches a clarity threshold; performing image filtering processing on the three-dimensional image until the image smoothness of the three-dimensional image reaches a smoothness threshold; performing image shadow elimination on the three-dimensional image until the image shadow degree of the three-dimensional image is lower than the shadow degree threshold.

[0008] Optionally, feature extraction is performed on the three-dimensional image to obtain feature point cloud data of the component to be installed, including: determining that a partial image of the three-dimensional image containing the component to be installed is a three-dimensional sub-image; feature extraction is performed on the three-dimensional sub-image to obtain a plurality of feature points, wherein the feature points are used to determine size information of the component to be installed; and coordinate conversion is performed on the plurality of feature points to obtain the feature point cloud data, wherein the coordinate conversion refers to converting the two-dimensional image coordinates into three-dimensional space coordinates.

[0009] Optionally, determining that the three-dimensional shape constructed according to the feature point cloud data is the three-dimensional shape of the component to be installed includes: calculating size information of the component to be installed using a three-dimensional geometric calculation method according to the feature point cloud data; determining the three-dimensional shape according to the size information when the size information meets preset size specifications of the compressor; and determining that the three-dimensional shape is the three-dimensional shape of the component to be installed.

[0010] Optionally, the sound insulation cotton processing platform includes: a first sound insulation cotton processing platform and a second sound insulation cotton processing platform, and the sound insulation cotton processing platform is controlled to perform a rolling operation on the sound insulation cotton to be rolled according to the three-dimensional shape to obtain the sound insulation cotton to be installed, including: when it is determined that the material picking robot places the sound insulation cotton to be rolled on the first sound insulation cotton processing platform, the flattening component of the first sound insulation cotton processing platform is controlled to perform a flattening operation on the sound insulation cotton to be rolled, wherein the first sound insulation cotton processing platform is used to adjust the flatness of the sound insulation cotton to be rolled until a flatness threshold is reached, and the flatness refers to the flatness of the sound insulation cotton to be rolled. The degree to which there is no abnormal form in the current form of the cotton, and the abnormal form includes at least one of the following: curling, overlapping; when the flatness of the sound insulation cotton to be rolled reaches the flatness threshold, the material picking robot is controlled to transfer the flattened sound insulation cotton to be rolled from the first sound insulation cotton processing platform to the second sound insulation cotton processing platform, wherein the second sound insulation cotton processing platform is used to roll the sound insulation cotton to be rolled into a shape that is compatible with the three-dimensional shape; the material rolling component of the second sound insulation cotton processing platform is controlled to perform the material rolling operation on the sound insulation cotton to be rolled according to the three-dimensional shape to obtain the sound insulation cotton to be installed.

[0011] Optionally, the automated installation method of sound insulation cotton also includes: in the process of controlling the laying component of the first sound insulation cotton processing platform to perform the laying operation on the sound insulation cotton to be rolled, separating the Velcro velvet surface from the Velcro hook surface in the sound insulation cotton to be rolled; after the rolling component of the second sound insulation cotton processing platform performs the rolling operation on the sound insulation cotton to be rolled according to the three-dimensional shape, the Velcro velvet surface in the sound insulation cotton to be rolled is fitted with the Velcro hook surface to fix the sound insulation cotton to be rolled into the shape of the sound insulation cotton to be installed.

[0012] Optionally, a discharging robot is controlled to perform a discharging operation according to the current position information, so as to install the sound insulation cotton to be installed on the component to be installed of the compressor, thereby completing the sound insulation cotton installation operation, including: determining the position coordinate information of the component to be installed in the compressor according to the three-dimensional image of the compressor; using a posture path generation model to process the current position information and the position coordinate information to obtain the posture path of the discharging robot, wherein the posture path generation model is trained by machine learning using multiple sets of training data, and each of the multiple sets of training data includes: sample current position information, sample position coordinate information, and a sample posture path corresponding to the sample current position information and the sample position coordinate information; controlling the discharging robot to perform the discharging operation according to the posture path, so as to install the sound insulation cotton to be installed on the component to be installed, thereby completing the sound insulation cotton installation operation.

[0013] According to another aspect of an embodiment of the present invention, there is also provided an automated installation device for sound insulation cotton, comprising: a first acquisition unit, for acquiring current position information of a compressor and a three-dimensional shape of a component to be installed in the compressor, wherein the component to be installed refers to a component in the compressor on which sound insulation cotton needs to be installed; a first control unit, for, upon receiving a sound insulation cotton installation instruction, controlling a material picking robot to perform a material picking operation so as to place the sound insulation cotton to be rolled on a sound insulation cotton processing platform, wherein the sound insulation cotton to be rolled refers to the sound insulation cotton in a preset initial shape, and the sound insulation cotton processing platform is used to place the sound insulation cotton to be rolled The sound insulation cotton is rolled into a shape that matches the three-dimensional shape of the component; a second acquisition unit is used to control the sound insulation cotton processing platform to perform a rolling operation on the sound insulation cotton to be rolled according to the three-dimensional shape, so as to obtain the sound insulation cotton to be installed, wherein the sound insulation cotton to be installed refers to the sound insulation cotton whose shape matches the three-dimensional shape of the component; a second control unit is used to control the unloading robot to perform a unloading operation according to the current position information, so as to install the sound insulation cotton to be installed on the component to be installed of the compressor, and complete the sound insulation cotton installation operation, wherein the sound insulation cotton installation operation is the operation that needs to be completed as indicated by the sound insulation cotton installation instruction.

[0014] Optionally, the first acquisition unit includes: a first acquisition module, used to use a three-dimensional vision program to acquire the current position information and three-dimensional image of the compressor; a second acquisition module, used to extract features from the three-dimensional image to obtain feature point cloud data of the component to be installed; and a first determination module, used to determine that the three-dimensional shape constructed according to the feature point cloud data is the three-dimensional shape of the component to be installed.

[0015] Optionally, the automated installation device for sound insulation cotton further includes at least one of the following: a first processing module, for performing image enhancement and binarization processing on the three-dimensional image before extracting features from the three-dimensional image to obtain feature point cloud data of the component to be installed, until the image clarity of the three-dimensional image reaches a clarity threshold; a second processing module, for performing image filtering processing on the three-dimensional image until the image smoothness of the three-dimensional image reaches a smoothness threshold; a third processing module, for performing image shadow elimination on the three-dimensional image until the image shadow degree of the three-dimensional image is lower than a shadow degree threshold.

[0016] Optionally, the second acquisition module includes: a first determination submodule, used to determine that the partial image of the three-dimensional image containing the component to be installed is a three-dimensional sub-image; a first acquisition submodule, used to extract features from the three-dimensional sub-image to obtain multiple feature points, wherein the feature points are used to determine the size information of the component to be installed; a second acquisition submodule, used to perform coordinate conversion on the multiple feature points to obtain the feature point cloud data, wherein the coordinate conversion refers to converting the two-dimensional image coordinates into three-dimensional space coordinates.

[0017] Optionally, the first determination module includes: a calculation submodule, used to calculate the size information of the component to be installed using a three-dimensional geometric calculation method based on the feature point cloud data; a third acquisition submodule, used to determine the three-dimensional shape based on the size information when the size information meets the preset size specifications of the compressor; and a fourth acquisition submodule, used to determine that the three-dimensional shape is the three-dimensional shape of the component to be installed.

[0018] Optionally, the sound insulation cotton processing platform includes: a first sound insulation cotton processing platform and a second sound insulation cotton processing platform, and the second acquisition unit includes: a first control module, which is used to control the flattening component of the first sound insulation cotton processing platform to perform a flattening operation on the sound insulation cotton to be rolled when it is determined that the material picking robot places the sound insulation cotton to be rolled on the first sound insulation cotton processing platform, wherein the first sound insulation cotton processing platform is used to adjust the flatness of the sound insulation cotton to be rolled until a flatness threshold is reached, and the flatness refers to the degree to which there is no abnormal shape in the current shape of the sound insulation cotton to be rolled, and the abnormal shape The normal form includes at least one of the following: curling, overlapping; a transfer module, which is used to control the material picking robot to transfer the flattened sound insulation cotton to be rolled from the first sound insulation cotton processing platform to the second sound insulation cotton processing platform when the flatness of the sound insulation cotton to be rolled reaches the flatness threshold, wherein the second sound insulation cotton processing platform is used to roll the sound insulation cotton to be rolled into a shape that is compatible with the three-dimensional shape; a third acquisition module, which is used to control the rolling component of the second sound insulation cotton processing platform to perform the rolling operation on the sound insulation cotton to be rolled according to the three-dimensional shape to obtain the sound insulation cotton to be installed.

[0019] Optionally, the automated installation device for sound insulation cotton also includes: a separation module, used to separate the Velcro velvet surface from the Velcro hook surface in the sound insulation cotton to be rolled during the process of controlling the laying component of the first sound insulation cotton processing platform to perform the laying operation on the sound insulation cotton to be rolled; a bonding module, used to bond the Velcro velvet surface and the Velcro hook surface in the sound insulation cotton to be rolled after the rolling component of the second sound insulation cotton processing platform performs the rolling operation on the sound insulation cotton to be rolled according to the three-dimensional shape, so as to fix the sound insulation cotton to be rolled into the shape of the sound insulation cotton to be installed.

[0020] Optionally, the second control unit includes: a second determination module, used to determine the position coordinate information of the component to be installed in the compressor according to the three-dimensional image of the compressor; a fourth acquisition module, used to use a posture path generation model to process the current position information and the position coordinate information to obtain the posture path of the discharge robot, wherein the posture path generation model is trained by machine learning using multiple groups of training data, and each of the multiple groups of training data includes: sample current position information, sample position coordinate information, and a sample posture path corresponding to the sample current position information and the sample position coordinate information; a second control module, used to control the discharge robot to perform the discharge operation according to the posture path, so as to install the sound insulation cotton to be installed on the component to be installed and complete the sound insulation cotton installation operation.

[0021] According to another aspect of an embodiment of the present invention, there is further provided an automated installation system for sound insulation cotton, wherein the automated installation system for sound insulation cotton uses any of the automated installation methods for sound insulation cotton described above.

[0022] According to another aspect of an embodiment of the present invention, a computer-readable storage medium is further provided, wherein the computer-readable storage medium includes a stored program, wherein the program executes any one of the above-mentioned automated installation methods of sound insulation cotton.

[0023] According to another aspect of an embodiment of the present invention, a processor is further provided, wherein the processor is used to run a program, wherein when the program is run, any one of the above-mentioned automated installation methods for sound insulation cotton is executed.

[0024] According to another aspect of an embodiment of the present invention, a computer program product is also provided, comprising computer instructions, which, when executed by a processor, execute any one of the above-mentioned automated installation methods for sound insulation cotton.

[0025] In an embodiment of the present invention, the current position information of the compressor and the three-dimensional shape of the component to be installed in the compressor can be obtained, wherein the component to be installed refers to the component in the compressor that needs to be installed with sound insulation cotton; when a sound insulation cotton installation instruction is received, the material picking robot is controlled to perform a material picking operation to place the sound insulation cotton to be rolled on the sound insulation cotton processing platform, wherein the sound insulation cotton to be rolled refers to sound insulation cotton with a preset initial shape, and the sound insulation cotton processing platform is used to roll the sound insulation cotton to be rolled into a shape that matches the three-dimensional shape of the component; the sound insulation cotton processing platform is controlled to perform a material rolling operation on the sound insulation cotton to be rolled according to the three-dimensional shape to obtain the sound insulation cotton to be installed, wherein the sound insulation cotton to be installed refers to sound insulation cotton with a shape that matches the three-dimensional shape of the component; the material discharging robot is controlled to perform a material discharging operation according to the current position information to install the sound insulation cotton to be installed on the component to be installed of the compressor, thereby completing the sound insulation cotton installation operation, wherein the sound insulation cotton installation operation is the operation that needs to be completed as indicated by the sound insulation cotton installation instruction. Through the above technical scheme, the purpose of first controlling the material picking robot to pick up materials, then controlling the sound insulation cotton processing platform to roll the sound insulation cotton, and finally controlling the material unloading robot to put the sound insulation cotton on the compressor is achieved. The technical effect of automatically putting sound insulation cotton on the compressor through the coordinated cooperation of the robot and the sound insulation cotton processing platform is achieved, which improves the efficiency and accuracy of the sound insulation cotton on the compressor and avoids affecting the health of the operators. It further solves the technical problem that the installation of sound insulation cotton for the compressor in the related technology usually requires manual operation, which not only has low installation efficiency and high error rate, but also easily affects the health of the operators. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0027] Figure 1 It is a hardware structure block diagram of a mobile terminal of an automatic installation method of sound insulation cotton according to an embodiment of the present invention;

[0028] Figure 2 is a flow chart of an automated installation method of sound insulation cotton according to an embodiment of the present invention;

[0029] Figure 3 is a flow chart of an optional automated installation method of sound insulation cotton according to an embodiment of the present invention;

[0030] Figure 4 2 is a schematic diagram of an automated installation device for sound insulation cotton according to an embodiment of the present invention. DETAILED DESCRIPTION

[0031] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0032] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0033] As introduced in the background technology, the installation of sound insulation cotton for compressors in the related art usually requires manual operation, which not only has low installation efficiency and high error rate, but also easily affects the health of operators. In view of the above defects, an automatic installation method and device for sound insulation cotton, and a computer program product are provided in the embodiments of the present invention.

[0034] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0035] The method embodiments provided in the embodiments of the present invention can be executed in a mobile terminal, a computer terminal or a similar computing device. Taking running on a mobile terminal as an example, Figure 1 1 is a hardware structure block diagram of a mobile terminal of an automatic installation method of sound insulation cotton according to an embodiment of the present invention. Figure 1 As shown, the mobile terminal may include one or more ( Figure 1 Only one is shown in the figure) a processor 102 (the processor 102 may include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA) and a memory 104 for storing data, wherein the mobile terminal may also include a transmission device 106 and an input / output device 108 for communication functions. It can be understood by those skilled in the art that Figure 1 The structure shown is only for illustration and does not limit the structure of the mobile terminal. Figure 1 More or fewer components as shown, or with Figure 1 Different configurations are shown.

[0036] The memory 104 can be used to store computer programs, for example, software programs and modules of application software, such as the computer program corresponding to the automatic installation method of the sound insulation cotton in the embodiment of the present invention. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, that is, the above method is implemented. The memory 104 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include a memory remotely arranged relative to the processor 102, and these remote memories can be connected to the mobile terminal via a network. Examples of the above-mentioned network include but are not limited to the Internet, corporate intranets, local area networks, mobile communication networks and combinations thereof. The transmission device 106 is used to receive or send data via a network. The above-mentioned specific examples of the network may include a wireless network provided by a communication provider of the mobile terminal. In one example, the transmission device 106 includes a network adapter (Network Interface Control, referred to as NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the transmission device 106 may be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0037] According to an embodiment of the present invention, a method embodiment of an automated installation method for sound insulation cotton is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0038] Figure 2 : is a flow chart of an automated installation method of sound insulation cotton according to an embodiment of the present invention. Figure 2 As shown, the method comprises the following steps:

[0039] Step S202, obtaining the current position information of the compressor and the three-dimensional shape of the component to be installed in the compressor, wherein the component to be installed refers to the component in the compressor that needs to be installed with sound insulation cotton.

[0040] In this embodiment, the current position information of the compressor and the three-dimensional shape of the compressor (including each component in the compressor that needs to be covered with sound insulation cotton, that is, the three-dimensional shape of each component to be installed) can be obtained first to provide a data basis for the subsequent analysis of the rolling operation of the sound insulation cotton and the posture path of controlling the robot to cover the sound insulation cotton on the compressor (including but not limited to the robot's movement path and the robot's posture change path).

[0041] Combine the following Figure 3 The above embodiments of the present invention are described in detail. Figure 3 It is a flow chart of an optional automated installation method of sound insulation cotton according to an embodiment of the present invention.

[0042] According to the above embodiment of the present invention, in the above step S202, the current position information of the compressor and the three-dimensional shape of the component to be installed in the compressor are obtained, including: using a three-dimensional vision program to obtain the current position information and a three-dimensional image of the compressor; performing feature extraction on the three-dimensional image to obtain feature point cloud data of the component to be installed; and determining that the three-dimensional shape constructed according to the feature point cloud data is the three-dimensional shape of the component to be installed.

[0043] Specifically, Figure 3 As shown, a 3D vision recognition system can be used for data collection. Here, a 3D camera can be set on the robot's manipulator (of course, the 3D camera can also be set at other positions for image collection based on actual conditions, and there is no specific restriction here) to quickly and accurately obtain the current position information and three-dimensional image of the compressor, and then perform feature extraction on the three-dimensional image, and compose the extracted feature points into point cloud data. The three-dimensional shape of the compressor can be determined based on the point cloud data, and the three-dimensional shape of the components to be installed in the compressor is also obtained, which provides a reference for the specific shape of the sound insulation cotton roll in the future.

[0044] It should be noted that, in the process of covering the compressor with sound insulation cotton, in order to improve the operation speed and accuracy, two different robots can be used (including a material-picking robot that places the initial sound insulation cotton on the sound insulation cotton processing platform and a material-discharging robot that covers the rolled sound insulation cotton on the compressor). When there are two robots, a 3D camera can be set on the material-discharging robot for data collection; of course, in order to save costs, a multifunctional robot can also be used to complete the entire process of picking and discharging materials. At this time, when there is only one robot, the 3D camera can be set on the robot for data collection.

[0045] In an optional embodiment of the present invention, before performing feature extraction on the three-dimensional image to obtain feature point cloud data of the component to be installed, the automated installation method of the sound insulation cotton also includes at least one of the following: performing image enhancement processing and binarization processing on the three-dimensional image until the image clarity of the three-dimensional image reaches a clarity threshold; performing image filtering processing on the three-dimensional image until the image smoothness of the three-dimensional image reaches a smoothness threshold; performing image shadow elimination on the three-dimensional image until the image shadow degree of the three-dimensional image is lower than the shadow degree threshold.

[0046] like Figure 3 As shown, computer vision software can be used to pre-process the collected three-dimensional images, including but not limited to image enhancement, image filtering, binarization and other operations to improve image quality and reduce the interference of ambient light on the measurement system.

[0047] On the one hand, the collected 3D images can be preprocessed through operations such as image enhancement, image filtering and binarization, as follows: 1) Image enhancement: The purpose of image enhancement is to improve the visual effect of the image and make it easier for subsequent processing, which usually includes brightness adjustment, contrast enhancement, color correction, etc.; for example, if the original image is too dark, the overall brightness of the image can be increased by brightness adjustment to ensure that key features can be clearly identified. Contrast enhancement can highlight the details in the image and make the edges and textures more obvious. Color correction can eliminate the color cast of the image caused by the color difference of the light source, making the image information more accurate; 2) Image filtering: Image filtering is used to remove Noise, enhance the edges and details of the image, and make the image smoother. Common image filtering techniques include Gaussian filtering, median filtering, mean filtering, etc. Gaussian filtering smoothes the image by applying a Gaussian function to reduce the impact of noise while maintaining the edge information of the image as much as possible. Median filtering can effectively remove salt and pepper noise by taking the median of the pixel values ​​in the neighborhood of each pixel. Mean filtering smoothes the image by calculating the average value of the pixel values ​​in the neighborhood to replace the current pixel value; 3) Binarization: Binarization is the process of converting an image into only black and white colors. It is usually used to simplify the image into only two areas, "background" and "foreground", to facilitate subsequent feature extraction and analysis. Binarization can be achieved by setting a threshold, setting all pixel points with values ​​above the threshold to white (foreground) and those below the threshold to black (background). When processing 3D visual images, binarization can be used to highlight the outline of the compressor and its components, making it clearer in the image and facilitating subsequent size calculation and positioning.

[0048] On the other hand, in image preprocessing, the impact of ambient light on the measurement system also needs to be considered; ambient light, especially uneven or changing lighting conditions, may cause shadows or reflections in the image, thereby affecting the measurement accuracy; therefore, in order to reduce the interference of ambient light, the preprocessing steps may also include: 1) Light compensation: by calculating the light intensity distribution, adjusting the brightness and contrast of the image to make the image consistent under different lighting conditions; 2) Shadow elimination: using shadow detection algorithms to identify and eliminate shadow areas in the image to reduce the impact of these areas on the measurement results; 3) Reflection suppression: by image processing or adjusting the lighting method, reduce the reflection phenomenon on the surface of the object to ensure that the outline of the object in the image is clearly visible.

[0049] In a specific embodiment of the present invention, feature extraction is performed on a three-dimensional image to obtain feature point cloud data of the component to be installed, including: determining that a portion of the three-dimensional image that contains the component to be installed is a three-dimensional sub-image; extracting features from the three-dimensional sub-image to obtain a plurality of feature points, wherein the feature points are used to determine size information of the component to be installed; and performing coordinate transformation on the plurality of feature points to obtain feature point cloud data, wherein coordinate transformation refers to transforming two-dimensional image coordinates into three-dimensional space coordinates.

[0050] Specifically, the key feature points in the image (i.e. Figure 3 The feature points are extracted by the point cloud (i.e., edge and corner points). These feature points will be used for subsequent size measurement. Figure 3 Point cloud reconstruction shown in the figure), the extracted feature points are composed into a point cloud (Point Cloud), which helps to restore three-dimensional spatial information from a two-dimensional image.

[0051] In another specific embodiment of the present invention, determining that a three-dimensional shape constructed according to feature point cloud data is a component three-dimensional shape of a component to be installed includes: calculating size information of the component to be installed using a three-dimensional geometric calculation method according to the feature point cloud data; determining the three-dimensional shape according to the size information when the size information meets preset size specifications of the compressor; and determining that the three-dimensional shape is the component three-dimensional shape of the component to be installed.

[0052] Specifically, the point cloud data can be analyzed to calculate the critical dimensions of the compressor (i.e. Figure 3 The dimensions shown in the figure are calculated), such as length, width, height, etc., and the calculated results are compared with the design specifications to verify whether the parts meet the requirements. When the calculated dimensional information meets the design requirements (i.e., the preset dimensional specifications), the 3D shapes of the components to be installed can be obtained by combining the dimensional information and the 3D image of the compressor.

[0053] like Figure 3 As shown, the images, dimensions and other information collected and recognized by the 3D vision system can also be displayed in real time on the display interface of the system (i.e., result output) so that the operator can monitor at any time; at the same time, in order to ensure the accuracy of the measurement, the size calibration is still performed on the display interface of the system to establish the corresponding relationship between the pixel points and the actual size (i.e., system calibration); in addition, the geometric quantities of the extracted image edge contours can be experimentally measured and the experimental data can be analyzed to ensure the accuracy and reliability of the measurement results (experimental measurement and analysis).

[0054] Step S204, upon receiving the sound insulation cotton installation instruction, control the material picking robot to perform the material picking operation to place the sound insulation cotton to be rolled on the sound insulation cotton processing platform, wherein the sound insulation cotton to be rolled refers to the sound insulation cotton with a preset initial shape, and the sound insulation cotton processing platform is used to roll the sound insulation cotton to be rolled into a shape that matches the three-dimensional shape of the component.

[0055] In this embodiment, when it is necessary to cover the compressor with sound insulation cotton, that is, when the sound insulation cotton installation instruction is received, the material picking robot can be controlled to first place the sound insulation cotton in an initial form (that is, the sound insulation cotton to be rolled) on the sound insulation cotton processing platform, so that the sound insulation cotton to be rolled can be rolled into a shape that matches the three-dimensional shape of the component on the platform, so as to facilitate its subsequent covering on the compressor; at the same time, shape adaptation can also better ensure the sound insulation effect.

[0056] Step S206, controlling the sound insulation cotton processing platform to perform a rolling operation on the rolled sound insulation cotton according to the three-dimensional shape to obtain the sound insulation cotton to be installed, wherein the sound insulation cotton to be installed refers to the sound insulation cotton whose shape is adapted to the three-dimensional shape of the component.

[0057] According to the above embodiment of the present invention, in the above step S206, the sound insulation cotton processing platform is controlled to perform a rolling operation on the rolled sound insulation cotton according to the three-dimensional shape to obtain the sound insulation cotton to be installed, including: when it is determined that the material picking robot places the sound insulation cotton to be rolled on the first sound insulation cotton processing platform, the flattening component of the first sound insulation cotton processing platform is controlled to perform a flattening operation on the rolled sound insulation cotton, wherein the first sound insulation cotton processing platform is used to adjust the flatness of the rolled sound insulation cotton until the flatness threshold is reached, and the flatness refers to the degree to which there is no abnormal form in the current form of the sound insulation cotton to be rolled, and the abnormal form includes at least one of the following: curling and overlapping; when the flatness of the sound insulation cotton to be rolled reaches the flatness threshold, the material picking robot is controlled to transfer the flattened sound insulation cotton to be rolled from the first sound insulation cotton processing platform to the second sound insulation cotton processing platform, wherein the second sound insulation cotton processing platform is used to roll the sound insulation cotton to be rolled into a form that matches the three-dimensional shape; the rolling component of the second sound insulation cotton processing platform is controlled to perform a rolling operation on the rolled sound insulation cotton according to the three-dimensional shape to obtain the sound insulation cotton to be installed.

[0058] Optionally, the above-mentioned sound insulation cotton processing platform includes a first sound insulation cotton processing platform and a second sound insulation cotton processing platform, wherein the first sound insulation cotton processing platform is used to flatly and fix the sound insulation cotton to be rolled, and the second sound insulation cotton processing platform is used to roll the sound insulation cotton to be rolled into a shape that is compatible with the three-dimensional shape of the component.

[0059] Specifically, at the sound insulation cotton material place, there are two work vehicles loaded with a lot of initial sound insulation cotton, so that the material picking robot can grab the sound insulation cotton from the two work vehicles and place the sound insulation cotton on the sound insulation cotton laying platform (i.e. the first sound insulation cotton processing platform). The sound insulation cotton laying platform is responsible for laying and fixing the sound insulation cotton to be rolled. The main purpose of laying the sound insulation cotton here is to prevent it from curling, overlapping, and folding corners. Then the material picking robot uses its special tools, such as suction cups and clamps, to pick up the sound insulation cotton from the sound insulation cotton flat platform. Grab the sound insulation cotton that has been laid and fixed on the laying platform, and place it on the sound insulation cotton rolling platform (i.e., the second sound insulation cotton processing platform). The sound insulation cotton rolling platform is responsible for rolling up the sound insulation cotton according to the three-dimensional shape of the component to be installed obtained by the above analysis, so as to roll it into a shape that matches the three-dimensional shape of the component. During the rolling process, the roller or reel of the sound insulation cotton rolling platform will roll the sound insulation cotton tightly along a preset path at an appropriate speed and force, ensuring that the rolled sound insulation cotton is tight, wrinkle-free, and maintains a good shape and size.

[0060] In an optional embodiment of the present invention, the automated installation method of sound insulation cotton also includes: in the process of controlling the flattening component of the first sound insulation cotton processing platform to perform a flattening operation on the rolled sound insulation cotton, separating the Velcro velvet surface from the Velcro hook surface in the sound insulation cotton to be rolled; after controlling the rolling component of the second sound insulation cotton processing platform to complete the rolling operation on the rolled sound insulation cotton according to the three-dimensional shape, the Velcro velvet surface in the sound insulation cotton to be rolled is fitted with the Velcro hook surface to fix the rolled sound insulation cotton into the shape of the sound insulation cotton to be installed.

[0061] Specifically, in the process of laying the sound insulation cotton on the sound insulation cotton laying platform, the Velcro part (i.e., the Velcro suede surface and the Velcro hook surface) needs to be unfolded in advance to facilitate the subsequent rolling and fitting operations; of course, after the sound insulation cotton rolling platform rolls up the sound insulation cotton, the mechanical device on the sound insulation cotton rolling platform will fit the pre-unfolded Velcro part to the rolled up sound insulation cotton. This can be accomplished through a special fitting device, such as using adhesive or pressure to fix the Velcro to ensure that the Velcro is accurately positioned during fitting, so that the shape and size of the rolled sound insulation cotton (i.e., the sound insulation cotton to be installed) are fixed, which is convenient for subsequent installation operations.

[0062] Step S208, controlling the unloading robot to perform the unloading operation according to the current position information, so as to install the sound insulation cotton to be installed on the component to be installed of the compressor, and completing the sound insulation cotton installation operation, wherein the sound insulation cotton installation operation is the operation that needs to be completed as indicated by the sound insulation cotton installation instruction.

[0063] In this embodiment, the unloading robot can be controlled according to the position information of the compressor to install the sound insulation cotton on the component to be installed of the compressor according to the planned path to complete the sound insulation cotton installation operation.

[0064] According to the above embodiment of the present invention, in the above step S208, the discharging robot is controlled to perform the discharging operation according to the current position information, so as to install the sound insulation cotton to be installed on the component to be installed of the compressor, and complete the sound insulation cotton installation operation, including: determining the position coordinate information of the component to be installed in the compressor according to the three-dimensional image of the compressor; using the posture path generation model to process the current position information and the position coordinate information to obtain the posture path of the discharging robot, wherein the posture path generation model is trained by machine learning using multiple groups of training data, and each group of the multiple groups of training data includes: sample current position information, sample position coordinate information, and a sample posture path corresponding to the sample current position information and the sample position coordinate information; controlling the discharging robot to perform the discharging operation according to the posture path, so as to install the sound insulation cotton to be installed on the component to be installed, and complete the sound insulation cotton installation operation.

[0065] Specifically, the path generation model can be used to determine the movement path of the discharge robot according to the position information of the compressor. The three-dimensional image of the compressor can also be combined with the specific position information of the component to be installed in the compressor (i.e., position coordinate information) to determine the posture path of the discharge robot when putting the sound insulation cotton to be installed on the corresponding component. Finally, the discharge robot is controlled to move and change posture according to the two obtained paths, so that the sound insulation cotton to be installed can be successfully installed on the component to be installed, thereby completing the sound insulation cotton installation operation.

[0066] From the above, it can be seen that through the technical solution provided by the above embodiment of the present invention, the current position information of the compressor and the three-dimensional shape of the component to be installed in the compressor can be obtained, wherein the component to be installed refers to the component in the compressor that needs to be installed with sound insulation cotton; when the sound insulation cotton installation instruction is received, the material picking robot is controlled to perform the material picking operation to place the sound insulation cotton to be rolled on the sound insulation cotton processing platform, wherein the sound insulation cotton to be rolled refers to the sound insulation cotton with a preset initial shape, and the sound insulation cotton processing platform is used to roll the sound insulation cotton to be rolled into a shape that is compatible with the three-dimensional shape of the component; according to the three-dimensional shape, the sound insulation cotton processing platform is controlled to perform the rolling operation on the sound insulation cotton to be rolled to obtain the sound insulation cotton to be installed, wherein the sound insulation cotton to be installed refers to the sound insulation cotton with a preset initial shape. Sound insulation cotton adapted to the three-dimensional shape of the component; controlling the unloading robot to perform the unloading operation according to the current position information, so as to install the sound insulation cotton to be installed on the component to be installed of the compressor, and completing the sound insulation cotton installation operation, wherein the sound insulation cotton installation operation is the operation that needs to be completed as indicated by the sound insulation cotton installation instruction, and the purpose of first controlling the material picking robot to pick up the material, then controlling the sound insulation cotton processing platform to roll the sound insulation cotton, and finally controlling the unloading robot to put the sound insulation cotton on the compressor is achieved, and the technical effect of automatically putting the sound insulation cotton on the compressor is achieved through the collaborative cooperation of the robot and the sound insulation cotton processing platform, which improves the efficiency and accuracy of the sound insulation cotton on the compressor and avoids affecting the health of the operator.

[0067] Therefore, the technical solution provided by the above-mentioned embodiment of the present invention solves the technical problem in the related art that the installation of sound insulation cotton for the compressor usually requires manual operation, which not only has low installation efficiency and high error rate, but also easily affects the health of the operator.

[0068] The technical solution provided by the above embodiment of the present invention can realize the automatic installation of sound insulation cotton on the compressor, which also has the following benefits: 1) Improve production efficiency: The automatic installation of sound insulation cotton by robots can significantly improve production speed, reduce waiting time, and achieve continuous production, thereby improving overall production efficiency; 2) Reduce health risks: Robots can replace manual work with high repetitiveness and potential harmfulness, avoid direct contact between operators and sound insulation cotton materials, and reduce occupational health risks; 3) Cost savings: Automation can reduce the demand for a large number of operators and reduce labor costs. At the same time, by improving installation accuracy and reducing waste, automation can also reduce material costs and production costs; 4) Improve quality consistency: The robot system can ensure that the sound insulation cotton installed each time meets the design specifications, reduce errors caused by human factors, and improve product consistency and reliability; 5) Enhance flexibility and adaptability: By integrating a visual recognition system, the robot can automatically adapt to compressors of different sizes and shapes without manual intervention, greatly enhancing the flexibility and adaptability of the production line; 6) Data collection and analysis: The automation process can collect a large amount of data, and through data analysis, the production process can be optimized, the design of sound insulation cotton can be improved, and even equipment failures can be predicted and prevented, further improving the intelligence level of the production line.

[0069] It should be noted that, for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the described order of actions, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present application.

[0070] Through the description of the above implementation methods, those skilled in the art can clearly understand that the method according to the above embodiment can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes a number of instructions for a terminal device (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods described in each embodiment of the present application.

[0071] According to an embodiment of the present invention, there is also provided an automatic installation device for sound insulation cotton for implementing the automatic installation method of the sound insulation cotton. Figure 4 Schematic diagram of an automatic installation device for sound insulation cotton according to an embodiment of the present invention. Figure 4 As shown, the device includes: a first acquisition unit 41, a first control unit 43, a second acquisition unit 45 and a second control unit 47. The automatic installation device of the sound insulation cotton is described in detail below.

[0072] The first acquisition unit 41 is used to acquire the current position information of the compressor and the three-dimensional shape of the component to be installed in the compressor, wherein the component to be installed refers to the component in the compressor that needs to be installed with sound insulation cotton.

[0073] The first control unit 43 is used to control the material picking robot to perform a material picking operation upon receiving a sound insulation cotton installation instruction, so as to place the sound insulation cotton to be rolled on the sound insulation cotton processing platform, wherein the sound insulation cotton to be rolled refers to the sound insulation cotton in a preset initial shape, and the sound insulation cotton processing platform is used to roll the sound insulation cotton to be rolled into a shape that is compatible with the three-dimensional shape of the component.

[0074] The second acquisition unit 45 is used to control the sound insulation cotton processing platform to perform a rolling operation on the rolled sound insulation cotton according to the three-dimensional shape to obtain the sound insulation cotton to be installed, wherein the sound insulation cotton to be installed refers to the sound insulation cotton whose shape is adapted to the three-dimensional shape of the component.

[0075] The second control unit 47 is used to control the discharging robot to perform the discharging operation according to the current position information, so as to install the sound insulation cotton to be installed on the component to be installed of the compressor, and complete the sound insulation cotton installation operation, wherein the sound insulation cotton installation operation is the operation that needs to be completed as indicated by the sound insulation cotton installation instruction.

[0076] It should be noted here that the above-mentioned first acquisition unit 41, first control unit 43, second acquisition unit 45 and second control unit 47 correspond to steps S202 to S208 in the above-mentioned embodiments, and the four units and the corresponding steps implement the same instances and application scenarios, but are not limited to the contents disclosed in the above-mentioned embodiments.

[0077] From the above, it can be seen that in the scheme recorded in the above-mentioned embodiment of the present invention, the first acquisition unit can be used to acquire the current position information of the compressor and the three-dimensional shape of the component to be installed in the compressor, wherein the component to be installed refers to the component in the compressor that needs to be installed with sound insulation cotton; then the first control unit can be used to control the material picking robot to perform a material picking operation when receiving the sound insulation cotton installation instruction, so as to place the sound insulation cotton to be rolled on the sound insulation cotton processing platform, wherein the sound insulation cotton to be rolled refers to the sound insulation cotton with a preset initial shape, and the sound insulation cotton processing platform is used to roll the sound insulation cotton to be rolled into a shape that is compatible with the three-dimensional shape of the component; then the second acquisition unit can be used to control the sound insulation cotton processing platform to perform a material rolling operation on the sound insulation cotton to be rolled according to the three-dimensional shape to obtain the sound insulation cotton to be installed, wherein the sound insulation cotton to be rolled refers to the sound insulation cotton with a preset initial shape. Installing sound insulation cotton refers to sound insulation cotton whose shape is adapted to the three-dimensional shape of the component; finally, the second control unit can be used to control the unloading robot to perform the unloading operation according to the current position information, so as to install the sound insulation cotton to be installed on the component to be installed of the compressor, and complete the sound insulation cotton installation operation, wherein the sound insulation cotton installation operation is the operation that needs to be completed as indicated by the sound insulation cotton installation instruction, thereby achieving the purpose of first controlling the material picking robot to pick up the material, then controlling the sound insulation cotton processing platform to roll the sound insulation cotton, and finally controlling the unloading robot to put the sound insulation cotton on the compressor, thereby achieving the technical effect of automatically putting the sound insulation cotton on the compressor through the collaborative cooperation of the robot and the sound insulation cotton processing platform, thereby improving the efficiency and accuracy of putting the sound insulation cotton on the compressor, and avoiding affecting the health of the operator.

[0078] Therefore, the technical solution provided by the above-mentioned embodiment of the present invention solves the technical problem in the related art that the installation of sound insulation cotton for the compressor usually requires manual operation, which not only has low installation efficiency and high error rate, but also easily affects the health of the operator.

[0079] In an optional embodiment of the present invention, the first acquisition unit includes: a first acquisition module, used to obtain the current position information and three-dimensional image of the compressor using a three-dimensional vision program; a second acquisition module, used to extract features from the three-dimensional image to obtain feature point cloud data of the component to be installed; and a first determination module, used to determine that the three-dimensional shape constructed according to the feature point cloud data is the three-dimensional shape of the component to be installed.

[0080] In an optional embodiment of the present invention, the automated installation device for sound insulation cotton further includes at least one of the following: a first processing module, for performing image enhancement and binarization processing on the three-dimensional image before extracting features from the three-dimensional image to obtain feature point cloud data of the component to be installed, until the image clarity of the three-dimensional image reaches a clarity threshold; a second processing module, for performing image filtering processing on the three-dimensional image until the image smoothness of the three-dimensional image reaches a smoothness threshold; a third processing module, for eliminating image shadows on the three-dimensional image until the image shadow degree of the three-dimensional image is lower than the shadow degree threshold.

[0081] In an optional embodiment of the present invention, the second acquisition module includes: a first determination submodule, used to determine that a partial image of a three-dimensional image containing a component to be installed is a three-dimensional sub-image; a first acquisition submodule, used to extract features from the three-dimensional sub-image to obtain a plurality of feature points, wherein the feature points are used to determine size information of the component to be installed; a second acquisition submodule, used to perform coordinate conversion on the plurality of feature points to obtain feature point cloud data, wherein the coordinate conversion refers to converting the two-dimensional image coordinates into three-dimensional space coordinates.

[0082] In an optional embodiment of the present invention, the first determination module includes: a calculation submodule, which is used to calculate the size information of the component to be installed according to the feature point cloud data using a three-dimensional geometric calculation method; a third acquisition submodule, which is used to determine the three-dimensional shape according to the size information when the size information meets the preset size specifications of the compressor; and a fourth acquisition submodule, which is used to determine that the three-dimensional shape is the three-dimensional shape of the component to be installed.

[0083] In an optional embodiment of the present invention, the sound insulation cotton processing platform includes: a first sound insulation cotton processing platform and a second sound insulation cotton processing platform, and the second acquisition unit includes: a first control module, which is used to control the flattening component of the first sound insulation cotton processing platform to perform a flattening operation on the sound insulation cotton to be rolled when it is determined that the material picking robot places the sound insulation cotton to be rolled on the first sound insulation cotton processing platform, wherein the first sound insulation cotton processing platform is used to adjust the flatness of the sound insulation cotton to be rolled until a flatness threshold is reached, and the flatness refers to the flatness that does not exist in the current form of the sound insulation cotton to be rolled. The degree of abnormal morphology, the abnormal morphology includes at least one of the following: curling, overlapping; a transfer module, which is used to control the material-picking robot to transfer the flattened sound insulation cotton to be rolled from the first sound insulation cotton processing platform to the second sound insulation cotton processing platform when the flatness of the sound insulation cotton to be rolled reaches the flatness threshold, wherein the second sound insulation cotton processing platform is used to roll the sound insulation cotton to be rolled into a shape that is compatible with the three-dimensional shape; a third acquisition module, which is used to control the rolling component of the second sound insulation cotton processing platform to perform a rolling operation on the sound insulation cotton to be rolled according to the three-dimensional shape to obtain the sound insulation cotton to be installed.

[0084] In an optional embodiment of the present invention, the automated installation device for sound insulation cotton further includes: a separation module for separating the Velcro velvet surface from the Velcro hook surface in the sound insulation cotton to be rolled while the flattening component of the first sound insulation cotton processing platform is controlled to perform a flattening operation on the sound insulation cotton to be rolled; a bonding module for bonding the Velcro velvet surface from the Velcro hook surface in the sound insulation cotton to be rolled after the rolling component of the second sound insulation cotton processing platform is controlled to perform a rolling operation on the sound insulation cotton to be rolled according to a three-dimensional shape, so as to fix the sound insulation cotton to be rolled into the shape of the sound insulation cotton to be installed.

[0085] In an optional embodiment of the present invention, the second control unit includes: a second determination module, used to determine the position coordinate information of the component to be installed in the compressor according to the three-dimensional image of the compressor; a fourth acquisition module, used to use the posture path generation model to process the current position information and the position coordinate information to obtain the posture path of the discharge robot, wherein the posture path generation model is trained by machine learning using multiple sets of training data, and each of the multiple sets of training data includes: sample current position information, sample position coordinate information, and a sample posture path corresponding to the sample current position information and the sample position coordinate information; a second control module, used to control the discharge robot to perform the discharge operation according to the posture path, so as to install the sound insulation cotton to be installed on the component to be installed, and complete the sound insulation cotton installation operation.

[0086] According to another aspect of an embodiment of the present invention, there is also provided an automated installation system for sound insulation cotton, the automated installation system for sound insulation cotton using any of the automated installation methods for sound insulation cotton described above.

[0087] According to another aspect of an embodiment of the present invention, a computer-readable storage medium is further provided, the computer-readable storage medium comprising a stored program, wherein the program executes any one of the above-mentioned automated installation methods of sound insulation cotton.

[0088] Optionally, in this embodiment, the computer-readable storage medium may be located in any one of the computer terminals in a computer terminal group in a computer network, or in any one of the communication devices in a communication device group.

[0089] Optionally, in this embodiment, the computer-readable storage medium is configured to store program codes for executing the following steps: obtaining the current position information of the compressor and the three-dimensional shape of the component to be installed in the compressor, wherein the component to be installed refers to the component in the compressor that needs to be installed with sound insulation cotton; upon receiving a sound insulation cotton installation instruction, controlling the material picking robot to perform a material picking operation to place the sound insulation cotton to be rolled on the sound insulation cotton processing platform, wherein the sound insulation cotton to be rolled refers to sound insulation cotton with a preset initial shape, and the sound insulation cotton processing platform is used to roll the sound insulation cotton to be rolled into a shape that matches the three-dimensional shape of the component; controlling the sound insulation cotton processing platform to perform a material rolling operation on the sound insulation cotton to be rolled according to the three-dimensional shape to obtain the sound insulation cotton to be installed, wherein the sound insulation cotton to be installed refers to sound insulation cotton with a shape that matches the three-dimensional shape of the component; controlling the material discharging robot to perform a material discharging operation according to the current position information to install the sound insulation cotton to be installed on the component to be installed of the compressor, and completing the sound insulation cotton installation operation, wherein the sound insulation cotton installation operation is the operation that needs to be completed as indicated by the sound insulation cotton installation instruction.

[0090] Optionally, in this embodiment, the computer-readable storage medium is configured to store program codes for executing the following steps: using a three-dimensional vision program to obtain the current position information and a three-dimensional image of the compressor; performing feature extraction on the three-dimensional image to obtain feature point cloud data of the component to be installed; and determining that the three-dimensional shape constructed according to the feature point cloud data is the three-dimensional shape of the component to be installed.

[0091] Optionally, in this embodiment, the computer-readable storage medium is configured to store program codes for executing the following steps: performing image enhancement processing and binarization processing on the three-dimensional image until the image clarity of the three-dimensional image reaches a clarity threshold; performing image filtering processing on the three-dimensional image until the image smoothness of the three-dimensional image reaches a smoothness threshold; performing image shadow elimination on the three-dimensional image until the image shadow degree of the three-dimensional image is lower than the shadow degree threshold.

[0092] Optionally, in this embodiment, the computer-readable storage medium is configured to store program codes for executing the following steps: determining that a partial image of a three-dimensional image containing a component to be installed is a three-dimensional sub-image; performing feature extraction on the three-dimensional sub-image to obtain a plurality of feature points, wherein the feature points are used to determine size information of the component to be installed; performing coordinate conversion on the plurality of feature points to obtain feature point cloud data, wherein the coordinate conversion refers to converting the two-dimensional image coordinates into three-dimensional space coordinates.

[0093] Optionally, in this embodiment, the computer-readable storage medium is configured to store program code for performing the following steps: calculating size information of the component to be installed using a three-dimensional geometric calculation method based on feature point cloud data; determining a three-dimensional shape based on the size information when the size information meets preset size specifications of the compressor; and determining the three-dimensional shape to be the three-dimensional shape of the component to be installed.

[0094] Optionally, in this embodiment, the computer-readable storage medium is configured to store program codes for executing the following steps: when it is determined that the material picking robot places the sound insulation cotton to be rolled on the first sound insulation cotton processing platform, controlling the flattening component of the first sound insulation cotton processing platform to perform a flattening operation on the sound insulation cotton to be rolled, wherein the first sound insulation cotton processing platform is used to adjust the flatness of the sound insulation cotton to be rolled until a flatness threshold is reached, and the flatness refers to the degree to which there is no abnormal form in the current form of the sound insulation cotton to be rolled, and the abnormal form includes at least one of the following: curling and overlapping; when the flatness of the sound insulation cotton to be rolled reaches the flatness threshold, controlling the material picking robot to transfer the flattened sound insulation cotton to be rolled from the first sound insulation cotton processing platform to the second sound insulation cotton processing platform, wherein the second sound insulation cotton processing platform is used to roll the sound insulation cotton to be rolled into a form that matches the three-dimensional shape; controlling the rolling component of the second sound insulation cotton processing platform to perform a rolling operation on the sound insulation cotton to be rolled according to the three-dimensional shape to obtain the sound insulation cotton to be installed.

[0095] Optionally, in this embodiment, the computer-readable storage medium is configured to store program codes for executing the following steps: in the process of controlling the flattening component of the first sound insulation cotton processing platform to perform a flattening operation on the sound insulation cotton to be rolled, the Velcro velvet surface from the Velcro hook surface in the sound insulation cotton to be rolled are separated; after the rolling component of the second sound insulation cotton processing platform is controlled to complete the rolling operation on the sound insulation cotton to be rolled according to the three-dimensional shape, the Velcro velvet surface in the sound insulation cotton to be rolled is fitted with the Velcro hook surface to fix the sound insulation cotton to be rolled into the shape of the sound insulation cotton to be installed.

[0096] Optionally, in this embodiment, the computer-readable storage medium is configured to store program codes for executing the following steps: determining the position coordinate information of the component to be installed in the compressor based on the three-dimensional image of the compressor; using a posture path generation model to process the current position information and the position coordinate information to obtain the posture path of the discharge robot, wherein the posture path generation model is trained by machine learning using multiple sets of training data, and each of the multiple sets of training data includes: sample current position information, sample position coordinate information, and a sample posture path corresponding to the sample current position information and the sample position coordinate information; controlling the discharge robot to perform the discharge operation according to the posture path to install the sound insulation cotton to be installed on the component to be installed, thereby completing the sound insulation cotton installation operation.

[0097] According to another aspect of an embodiment of the present invention, a processor is further provided, and the processor is used to run a program, wherein when the program is run, any one of the above-mentioned automatic installation methods of sound insulation cotton is executed.

[0098] According to another aspect of an embodiment of the present invention, a computer program product is also provided, including computer instructions, which, when executed by a processor, execute any one of the above-mentioned automated installation methods for sound insulation cotton.

[0099] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0100] In the above embodiments of the present invention, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0101] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the units can be a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0102] 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 units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0103] 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.

[0104] 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, a server or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk and other media that can store program codes.

[0105] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. An automated installation method for sound insulation cotton, characterized in that: include: Acquire the current position information of the compressor and the three-dimensional shape of the component to be installed in the compressor, wherein the component to be installed refers to the component in the compressor that needs to be installed with sound insulation cotton; When receiving the sound insulation cotton installation instruction, the material picking robot is controlled to perform the material picking operation to place the sound insulation cotton to be rolled on the sound insulation cotton processing platform, wherein the sound insulation cotton to be rolled refers to the sound insulation cotton in a preset initial shape, and the sound insulation cotton processing platform is used to roll the sound insulation cotton to be rolled into a shape that is compatible with the three-dimensional shape of the component; According to the three-dimensional shape, the sound insulation cotton processing platform is controlled to perform a material rolling operation on the sound insulation cotton to be rolled, so as to obtain the sound insulation cotton to be installed, wherein the sound insulation cotton to be installed refers to the sound insulation cotton whose shape is adapted to the three-dimensional shape of the component; The discharging robot is controlled to perform a discharging operation according to the current position information, so as to install the sound insulation cotton to be installed on the component to be installed of the compressor, thereby completing the sound insulation cotton installation operation, wherein the sound insulation cotton installation operation is the operation that needs to be completed as indicated by the sound insulation cotton installation instruction.

2. The automatic installation method of sound insulation cotton according to claim 1 is characterized in that: Acquiring current position information of a compressor and a three-dimensional shape of a component to be installed in the compressor, including: Using a three-dimensional vision program to obtain the current position information and a three-dimensional image of the compressor; Extracting features from the three-dimensional image to obtain feature point cloud data of the component to be installed; The three-dimensional shape formed according to the characteristic point cloud data is determined to be the component three-dimensional shape of the component to be installed.

3. The automatic installation method of sound insulation cotton according to claim 2 is characterized in that: Before extracting features from the three-dimensional image to obtain feature point cloud data of the component to be installed, at least one of the following is also included: Performing image enhancement processing and binarization processing on the three-dimensional image until the image clarity of the three-dimensional image reaches a clarity threshold; Performing image filtering processing on the three-dimensional image until the image smoothness of the three-dimensional image reaches a smoothness threshold; The image shadow is eliminated from the three-dimensional image until the image shadow degree of the three-dimensional image is lower than a shadow degree threshold.

4. The automatic installation method of sound insulation cotton according to claim 2 is characterized in that: Extracting features from the three-dimensional image to obtain feature point cloud data of the component to be installed includes: Determine that a portion of the three-dimensional image that includes the component to be installed is a three-dimensional sub-image; Performing feature extraction on the three-dimensional sub-image to obtain a plurality of feature points, wherein the feature points are used to determine the size information of the component to be installed; The plurality of feature points are subjected to coordinate transformation to obtain the feature point cloud data, wherein the coordinate transformation refers to transforming the two-dimensional image coordinates into three-dimensional space coordinates.

5. The automatic installation method of sound insulation cotton according to claim 2 is characterized in that: Determining that the three-dimensional shape formed according to the characteristic point cloud data is the component three-dimensional shape of the component to be installed includes: Calculate the size information of the component to be installed by using a three-dimensional geometric calculation method according to the feature point cloud data; In a case where the size information meets the preset size specification of the compressor, determining the three-dimensional shape according to the size information; The three-dimensional shape is determined to be the component three-dimensional shape of the component to be installed.

6. The automatic installation method of sound insulation cotton according to claim 1 is characterized in that: The sound insulation cotton processing platform includes: a first sound insulation cotton processing platform and a second sound insulation cotton processing platform, and the sound insulation cotton processing platform is controlled to perform a rolling operation on the sound insulation cotton to be rolled according to the three-dimensional shape to obtain the sound insulation cotton to be installed, including: When it is determined that the material picking robot places the sound insulation cotton to be rolled on the first sound insulation cotton processing platform, the flattening component of the first sound insulation cotton processing platform is controlled to perform a flattening operation on the sound insulation cotton to be rolled, wherein the first sound insulation cotton processing platform is used to adjust the flatness of the sound insulation cotton to be rolled until a flatness threshold is reached, wherein the flatness refers to the degree to which there is no abnormal shape in the current shape of the sound insulation cotton to be rolled, and the abnormal shape includes at least one of the following: curling and overlapping; When the flatness of the sound insulation cotton to be rolled reaches the flatness threshold, the material picking robot is controlled to transfer the flattened sound insulation cotton to be rolled from the first sound insulation cotton processing platform to the second sound insulation cotton processing platform, wherein the second sound insulation cotton processing platform is used to roll the sound insulation cotton to be rolled into a shape that is compatible with the three-dimensional shape; The coiling component of the second sound insulation cotton processing platform is controlled to perform the coiling operation on the sound insulation cotton to be rolled according to the three-dimensional shape to obtain the sound insulation cotton to be installed.

7. The automatic installation method of sound insulation cotton according to claim 6 is characterized in that: Also includes: In the process of controlling the flattening component of the first sound insulation cotton processing platform to perform the flattening operation on the sound insulation cotton to be rolled, the Velcro suede surface and the Velcro hook surface in the sound insulation cotton to be rolled are separated; After the rolling component controlling the second sound insulation cotton processing platform completes the rolling operation on the sound insulation cotton to be rolled according to the three-dimensional shape, the Velcro suede surface in the sound insulation cotton to be rolled is fitted with the Velcro hook surface to fix the sound insulation cotton to be rolled into the shape of the sound insulation cotton to be installed.

8. The automatic installation method of sound insulation cotton according to claim 1, characterized in that: According to the current position information, the discharging robot is controlled to perform a discharging operation to install the sound insulation cotton to be installed on the component to be installed of the compressor, thereby completing the sound insulation cotton installation operation, including: Determining position coordinate information of the component to be installed in the compressor according to the three-dimensional image of the compressor; The current position information and the position coordinate information are processed by a posture path generation model to obtain the posture path of the unloading robot, wherein the posture path generation model is trained by machine learning using multiple sets of training data, and each of the multiple sets of training data includes: sample current position information, sample position coordinate information, and a sample posture path corresponding to the sample current position information and the sample position coordinate information; The material discharging robot is controlled to perform the material discharging operation according to the posture path, so as to install the sound insulation cotton to be installed on the component to be installed, thereby completing the sound insulation cotton installation operation.

9. An automatic installation device for sound insulation cotton, characterized in that: include: A first acquisition unit is used to acquire current position information of the compressor and a three-dimensional shape of a component to be installed in the compressor, wherein the component to be installed refers to a component in the compressor that needs to be installed with sound insulation cotton; A first control unit is used to control the material picking robot to perform a material picking operation upon receiving a sound insulation cotton installation instruction, so as to place the sound insulation cotton to be rolled on the sound insulation cotton processing platform, wherein the sound insulation cotton to be rolled refers to the sound insulation cotton in a preset initial shape, and the sound insulation cotton processing platform is used to roll the sound insulation cotton to be rolled into a shape that is compatible with the three-dimensional shape of the component; A second acquisition unit is used to control the sound insulation cotton processing platform to perform a material rolling operation on the sound insulation cotton to be rolled according to the three-dimensional shape, so as to obtain the sound insulation cotton to be installed, wherein the sound insulation cotton to be installed refers to the sound insulation cotton whose shape is adapted to the three-dimensional shape of the component; A second control unit is used to control the discharging robot to perform a discharging operation according to the current position information, so as to install the sound insulation cotton to be installed on the component to be installed of the compressor, and complete the sound insulation cotton installation operation, wherein the sound insulation cotton installation operation is the operation that needs to be completed as indicated by the sound insulation cotton installation instruction.

10. A computer program product comprising computer instructions, characterized in that: When the computer instructions are executed by the processor, the automated installation method of the sound insulation cotton described in any one of claims 1 to 8 is performed.

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