Method and device for automated installation of acoustic insulation, computer program product

Abstract

The application discloses an automatic installation method and device of sound insulation cotton, and a computer program product. The method comprises the following steps: acquiring current position information of a compressor and a three-dimensional shape of a component to be installed in the compressor; in the case that a sound insulation cotton installation instruction is received, a material taking robot is controlled to perform a material taking operation, so that a sound insulation cotton roll is placed on a sound insulation cotton processing platform; the sound insulation cotton processing platform is controlled according to the three-dimensional shape to perform a material rolling operation on the sound insulation cotton roll, so that a sound insulation cotton to be installed is obtained; and a material placing robot is controlled according to the current position information to perform a material placing operation, so that the sound insulation cotton to be installed is installed on the component to be installed of the compressor, and a sound insulation cotton installation operation is completed. The application solves the technical problem that the installation of the sound insulation cotton of the compressor usually needs manual operation in the related art, the installation efficiency is low, the error rate is high, and the health of the operator is easily affected.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automation control, in particular to an automatic installation method and device of sound insulation cotton, and a computer program product. BACKGROUND

[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 the operator due to the characteristics of the sound insulation cotton material. Manual installation of sound insulation cotton for compressors also has the following disadvantages: 1) low efficiency: 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 prone to errors, 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 harm the respiratory system of the operator, 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 labor costs, including training, wages and insurance. At the same time, the error rate and scrap rate of manual operation are high, which increases the production cost; 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] In view of the problems that the installation of sound insulation cotton for compressors usually requires manual operation, which is not only inefficient and has a high error rate, but also easily affects the health of the operator in the related art, no effective solutions have been proposed yet. SUMMARY

[0004] The embodiments of the present application provide an automatic installation method and device of sound insulation cotton, and a computer program product, to at least solve the technical problems that the installation of sound insulation cotton for compressors usually requires manual operation, which is not only inefficient and has a high error rate, but also easily affects the health of the operator in the related art.

[0005] According to an aspect of some embodiments of the present application, there is provided a method for automatically installing sound insulation cotton, comprising: obtaining current position information of a compressor and a component 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; in a case where a sound insulation cotton installation instruction is received, controlling a material taking robot to perform a material taking operation to place a to-be-wound sound insulation cotton on a sound insulation cotton processing platform, wherein the to-be-wound sound insulation cotton refers to the sound insulation cotton in a preset initial shape, and the sound insulation cotton processing platform is configured to wind the to-be-wound sound insulation cotton into a shape that is adapted to the component three-dimensional shape; controlling the sound insulation cotton processing platform to perform a material winding operation on the to-be-wound sound insulation cotton according to the three-dimensional shape to obtain to-be-installed sound insulation cotton, wherein the to-be-installed sound insulation cotton refers to the sound insulation cotton in a shape that is adapted to the component three-dimensional shape; and controlling a material placing robot to perform a material placing operation to install the to-be-installed sound insulation cotton on the component to be installed in the compressor according to the current position information, to complete a sound insulation cotton installation operation, wherein the sound insulation cotton installation operation refers to an 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 component three-dimensional shape of the component to be installed in the compressor comprises: obtaining the current position information of the compressor and a three-dimensional image by using a three-dimensional vision program; performing feature extraction on the three-dimensional image to obtain feature point cloud data of the component to be installed; and determining that a three-dimensional shape formed according to the feature point cloud data is the component three-dimensional shape of the component to be installed.

[0007] Optionally, before performing feature extraction on the three-dimensional image to obtain the feature point cloud data of the component to be installed, the method for automatically installing sound insulation cotton further comprises at least one of the following: performing image enhancement processing and binary processing on the three-dimensional image until image sharpness of the three-dimensional image reaches a sharpness threshold; performing image filtering processing on the three-dimensional image until image smoothness of the three-dimensional image reaches a smoothness threshold; and performing image shadow elimination on the three-dimensional image until image shadow degree of the three-dimensional image is lower than a shadow degree threshold.

[0008] Optionally, performing feature extraction on the three-dimensional image to obtain the feature point cloud data of the component to be installed comprises: determining a part of the three-dimensional image that contains the component to be installed as 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; and performing coordinate conversion on the plurality of feature points to obtain the feature point cloud data, wherein the coordinate conversion refers to converting two-dimensional image coordinates into three-dimensional space coordinates.

[0009] Optionally, determining the three-dimensional shape formed according to the feature point cloud data as the component three-dimensional shape of the to-be-installed component comprises: calculating dimension information of the to-be-installed component according to the feature point cloud data by using a three-dimensional geometric calculation method; in a case where the dimension information meets a preset dimension specification of the compressor, determining the three-dimensional shape according to the dimension information; and determining the three-dimensional shape as the component three-dimensional shape of the to-be-installed component.

[0010] Optionally, the sound insulation cotton processing platform comprises 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 coiling operation on the to-be-coiled sound insulation cotton according to the three-dimensional shape to obtain the to-be-installed sound insulation cotton, which comprises: in a case where it is determined that the material taking robot places the to-be-coiled sound insulation cotton on the first sound insulation cotton processing platform, controlling a flattening assembly of the first sound insulation cotton processing platform to perform a flattening operation on the to-be-coiled sound insulation cotton, wherein the first sound insulation cotton processing platform is configured to adjust flatness of the to-be-coiled sound insulation cotton until a flatness threshold is reached, the flatness referring to a degree of absence of an abnormal form in a current form of the to-be-coiled sound insulation cotton, and the abnormal form comprises at least one of a rolled edge and an overlap; in a case where the flatness of the to-be-coiled sound insulation cotton reaches the flatness threshold, controlling the material taking robot to transfer the flattened to-be-coiled sound insulation cotton 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 configured to coil the to-be-coiled sound insulation cotton into a form that is adapted to the three-dimensional shape; and controlling a coiling assembly of the second sound insulation cotton processing platform to perform the coiling operation on the to-be-coiled sound insulation cotton according to the three-dimensional shape to obtain the to-be-installed sound insulation cotton.

[0011] Optionally, the automatic installation method of the sound insulation cotton further comprises: separating a Velcro fluff surface from a Velcro hook surface in the to-be-coiled sound insulation cotton in a process of controlling the flattening assembly of the first sound insulation cotton processing platform to perform the flattening operation on the to-be-coiled sound insulation cotton; and after the coiling assembly of the second sound insulation cotton processing platform performs the coiling operation on the to-be-coiled sound insulation cotton according to the three-dimensional shape, attaching the Velcro fluff surface to the Velcro hook surface in the to-be-coiled sound insulation cotton to fix the to-be-coiled sound insulation cotton into a form of the to-be-installed sound insulation cotton.

[0012] Optionally, the method further comprises: determining position coordinate information of the to-be-installed component in the compressor according to the three-dimensional image of the compressor; processing the current position information and the position coordinate information by using a pose path generation model to obtain a pose path of the dispensing robot, wherein the pose path generation model is obtained by using a plurality of sets of training data through machine learning, and each set of the plurality of sets of training data comprises: sample current position information, sample position coordinate information, and a sample pose path corresponding to the sample current position information and the sample position coordinate information; and controlling the dispensing robot to perform the dispensing operation according to the pose path to install the to-be-installed sound insulation cotton on the to-be-installed component, thereby completing the sound insulation cotton installation operation.

[0013] According to another aspect of the embodiment of the present application, an automatic sound insulation cotton installation device is also provided, which comprises: a first acquisition unit configured to acquire current position information of a compressor and a component three-dimensional shape of a to-be-installed component in the compressor, wherein the to-be-installed component refers to a component in the compressor that needs to be installed with sound insulation cotton; a first control unit configured to, in the case of receiving a sound insulation cotton installation instruction, control a taking robot to perform a taking operation to place a to-be-wound sound insulation cotton on a sound insulation cotton processing platform, wherein the to-be-wound sound insulation cotton refers to the sound insulation cotton in a preset initial form, and the sound insulation cotton processing platform is configured to wind the to-be-wound sound insulation cotton into a form that is adapted to the component three-dimensional shape; a second acquisition unit configured to control the sound insulation cotton processing platform to perform a winding operation on the to-be-wound sound insulation cotton according to the three-dimensional shape to obtain to-be-installed sound insulation cotton, wherein the to-be-installed sound insulation cotton refers to the sound insulation cotton in a form that is adapted to the component three-dimensional shape; and a second control unit configured to control a dispensing robot to perform a dispensing operation according to the current position information to install the to-be-installed sound insulation cotton on the to-be-installed component of the compressor, thereby completing a sound insulation cotton installation operation, wherein the sound insulation cotton installation operation is an operation that needs to be completed as indicated by the sound insulation cotton installation instruction.

[0014] Optionally, the first acquisition unit comprises: a first acquisition module configured to acquire the current position information and a three-dimensional image of the compressor by using a three-dimensional vision program; a second acquisition module configured to perform feature extraction on the three-dimensional image to obtain feature point cloud data of the to-be-installed component; and a first determination module configured to determine that a three-dimensional shape formed according to the feature point cloud data is the component three-dimensional shape of the to-be-installed component.

[0015] Optionally, the automatic installation device of the sound insulation cotton further comprises at least one of the following: a first processing module configured to perform image enhancement processing and binarization processing on the three-dimensional image until the image definition of the three-dimensional image reaches a definition threshold before performing feature extraction on the three-dimensional image to obtain the feature point cloud data of the component to be installed; a second processing module configured to perform image filtering processing on the three-dimensional image until the image smoothness of the three-dimensional image reaches a smoothness threshold; and a third processing module configured to perform 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 comprises: a first determination sub-module configured to determine a part of the three-dimensional image containing the component to be installed as a three-dimensional sub-image; a first acquisition sub-module configured to perform 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; and a second acquisition sub-module configured to perform coordinate conversion on the plurality of feature points to obtain the feature point cloud data, wherein the coordinate conversion refers to converting two-dimensional image coordinates into three-dimensional space coordinates.

[0017] Optionally, the first determination module comprises: a calculation sub-module configured to 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; a third acquisition sub-module configured to determine the three-dimensional shape according to the size information in a case where the size information meets a preset size specification of the compressor; and a fourth acquisition sub-module configured to determine that the three-dimensional shape is the component three-dimensional shape of the component to be installed.

[0018] Optionally, the sound insulation cotton processing platform comprises a first sound insulation cotton processing platform and a second sound insulation cotton processing platform, the second acquisition unit comprises a first control module configured to control a flattening assembly of the first sound insulation cotton processing platform to perform a flattening operation on the to-be-rolled sound insulation cotton in a case where it is determined that the material taking robot is to place the to-be-rolled sound insulation cotton on the first sound insulation cotton processing platform, wherein the first sound insulation cotton processing platform is configured to adjust flatness of the to-be-rolled sound insulation cotton until a flatness threshold is reached, the flatness refers to a degree of absence of an abnormal form in a current form of the to-be-rolled sound insulation cotton, the abnormal form comprises at least one of the following: a rolled edge, an overlap, a transfer module configured to control the material taking robot to transfer the flattened to-be-rolled sound insulation cotton from the first sound insulation cotton processing platform to the second sound insulation cotton processing platform in a case where the flatness of the to-be-rolled sound insulation cotton reaches the flatness threshold, wherein the second sound insulation cotton processing platform is configured to roll the to-be-rolled sound insulation cotton into a form adapted to the three-dimensional shape, and a third acquisition module configured to control a material rolling assembly of the second sound insulation cotton processing platform to perform the material rolling operation on the to-be-rolled sound insulation cotton according to the three-dimensional shape to obtain the to-be-installed sound insulation cotton.

[0019] Optionally, the automatic installation device of the sound insulation cotton further comprises a separation module configured to separate a Velcro fluff surface from a Velcro hook surface in the to-be-rolled sound insulation cotton in a process in which the flattening assembly of the first sound insulation cotton processing platform performs the flattening operation on the to-be-rolled sound insulation cotton, and a fitting module configured to fit the Velcro fluff surface and the Velcro hook surface in the to-be-rolled sound insulation cotton after the material rolling assembly of the second sound insulation cotton processing platform performs the material rolling operation on the to-be-rolled sound insulation cotton according to the three-dimensional shape to fix the to-be-rolled sound insulation cotton into a form of the to-be-installed sound insulation cotton.

[0020] Optionally, the second control unit comprises a second determination module configured to determine position coordinate information of the to-be-installed component in the compressor according to the three-dimensional image of the compressor, a fourth acquisition module configured to process the current position information and the position coordinate information by using a pose path generation model to obtain a pose path of the material dispensing robot, wherein the pose path generation model is obtained by training a plurality of sets of training data by machine learning, each of the plurality of sets of training data comprises sample current position information, sample position coordinate information, and a sample pose path corresponding to the sample current position information and the sample position coordinate information, and a second control module configured to control the material dispensing robot to perform the material dispensing operation according to the pose path to install the to-be-installed sound insulation cotton on the to-be-installed component to complete the sound insulation cotton installation operation.

[0021] According to another aspect of the embodiments of the present application, there is also provided an automated installation system of acoustic cotton, which uses any of the above-mentioned automated installation methods of acoustic cotton.

[0022] According to another aspect of the embodiments of the present application, there is also provided a computer-readable storage medium comprising a stored program, wherein the program performs any of the above-mentioned automated installation methods of acoustic cotton.

[0023] According to another aspect of the embodiments of the present application, there is also provided a processor for running a program, wherein the program performs any of the above-mentioned automated installation methods of acoustic cotton when running.

[0024] According to another aspect of the embodiments of the present application, there is also provided a computer program product comprising computer instructions for performing any of the above-mentioned automated installation methods of acoustic cotton when executed by a processor.

[0025] In the embodiments of the present application, 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 acoustic cotton; in the case of receiving an acoustic cotton installation instruction, a material taking robot is controlled to perform a material taking operation to place the acoustic cotton to be wound on an acoustic cotton processing platform, wherein the acoustic cotton to be wound refers to the acoustic cotton in a preset initial shape, and the acoustic cotton processing platform is used to wind the acoustic cotton to be wound into a shape that is adapted to the three-dimensional shape of the component; the acoustic cotton processing platform is controlled to perform a material winding operation on the acoustic cotton to be wound according to the three-dimensional shape, to obtain acoustic cotton to be installed, wherein the acoustic cotton to be installed refers to the acoustic cotton in a shape that is adapted to the three-dimensional shape of the component; a material placing robot is controlled to perform a material placing operation to install the acoustic cotton to be installed on the component to be installed of the compressor, to complete the acoustic cotton installation operation, wherein the acoustic cotton installation operation refers to the operation that needs to be completed as indicated by the acoustic cotton installation instruction. Through the above technical solution, the purpose of first controlling the material taking robot to take material, then controlling the acoustic cotton processing platform to perform a material winding operation on the acoustic cotton, and finally controlling the material placing robot to wrap the acoustic cotton on the compressor is achieved, the technical effect of automatically wrapping the acoustic cotton on the compressor through the cooperation of the robot and the acoustic cotton processing platform is achieved, the efficiency and accuracy of wrapping the acoustic cotton on the compressor are improved, the health of the operator is avoided from being affected, and thus the technical problem in the related art that the installation of the acoustic cotton on the compressor usually needs manual operation, which is not only inefficient and has a high error rate, but also easily affects the health of the operator is solved. BRIEF DESCRIPTION OF DRAWINGS

[0026] The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiments of the application and together with the description serve to explain the application. In the drawings:

[0027] Figure 1 Fig. 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 application;

[0028] Figure 2 Fig. 2 is a flow chart of an automatic installation method of sound insulation cotton according to an embodiment of the present application;

[0029] Figure 3 Fig. 3 is a flow chart of an optional automatic installation method of sound insulation cotton according to an embodiment of the present application;

[0030] Figure 4 Fig. 4 is a schematic diagram of an automatic installation device of sound insulation cotton according to an embodiment of the present application. DETAILED DESCRIPTION

[0031] In order to make the technical personnel of the present application better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, not all. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor should be within the scope of protection of the present application.

[0032] It should be noted that the terms "first", "second", and the like in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily indicate a specific order or a chronological sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device including a series of steps or units does not necessarily limit to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

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

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

[0035] The methods and embodiments provided in this invention can be executed on a mobile terminal, a computer terminal, or a similar computing device. Taking running on a mobile terminal as an example, Figure 1 This is a hardware structure block diagram of a mobile terminal for an automated installation method of sound insulation cotton according to an embodiment of the present invention. (See diagram below.) Figure 1 As shown, a mobile terminal may include one or more ( Figure 1 Only one is shown in the diagram. A processor 102 (which may include, but is not limited to, a microprocessor MCU or a programmable logic device FPGA, etc.) and a memory 104 for storing data are also shown. The mobile terminal may further include a transmission device 106 for communication functions and an input / output device 108. Those skilled in the art will understand that... Figure 1 The structure shown is for illustrative purposes only and does not limit the structure of the mobile terminal described above. For example, the mobile terminal may also include components that are more... Figure 1 The more or fewer components shown, or having the same Figure 1 The different configurations shown.

[0036] The memory 104 can be used to store computer programs, such as application software programs and modules, like the computer program corresponding to the automated installation method of sound insulation cotton in this embodiment of the invention. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, thereby implementing the above-described method. The memory 104 may include high-speed random access memory and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include memory remotely located relative to the processor 102, and these remote memories can be connected to the mobile terminal via a network. Examples of the aforementioned networks 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. Specific examples of the aforementioned networks may include wireless networks provided by the mobile terminal's communication provider. In one example, the transmission device 106 includes a Network Interface Controller (NIC), which can be connected to other network devices via a base station 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 the embodiment of the present application, a method embodiment of the automatic installation method of the 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 the logical order is shown in the flowchart, in some cases, the steps shown or described herein can be executed in an order different from that shown herein.

[0038] Figure 2 is a flowchart of the automatic installation method of the sound insulation cotton according to the embodiment of the present application, as shown in the figure, the method comprises the following steps: Figure 2

[0039] Step S202, obtaining the current position information of the compressor and the component 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 the three-dimensional shape of each component in the compressor that needs to be wrapped with sound insulation cotton, i.e. the three-dimensional shape of each component to be installed) can be obtained first, to provide a data basis for subsequent analysis of the posture path of the sound insulation cotton roll operation and the robot for wrapping the sound insulation cotton on the compressor (including but not limited to the movement path of the robot and the posture transformation path of the robot).

[0041] The above embodiment of the present application will be described in detail below, Figure 3 Figure 3 is a flowchart of the optional automatic installation method of the sound insulation cotton according to the embodiment of the present application.

[0042] According to the above embodiment of the present application, in the above step S202, obtaining the current position information of the compressor and the component three-dimensional shape of the component to be installed in the compressor comprises: obtaining the current position information of the compressor and the three-dimensional image by using a three-dimensional vision program; 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 formed according to the feature point cloud data is the component three-dimensional shape of the component to be installed.

[0043] Specifically, as shown in Figure 3 , a 3D vision recognition system can be used for data acquisition, here the 3D camera can be set on the robot manipulator (of course, the 3D camera can also be set at other positions for image acquisition according to the actual situation, which is not limited specifically here), to quickly and accurately obtain the current position information of the compressor and the three-dimensional image, then perform feature extraction on the three-dimensional image, and form point cloud data from the extracted feature points, that is, the three-dimensional shape of the compressor can be determined according to the point cloud data, and the component three-dimensional shape of each component to be installed in the compressor is also obtained, to provide a reference for subsequent specific formation of the sound insulation cotton roll. ​​

[0044] It should be noted that, in the process of installing the sound insulation cotton sleeve on the compressor, in order to improve the operation speed and precision, two different robots can be used (including a taking robot for placing the initial sound insulation cotton on the sound insulation cotton processing platform and a placing robot for sleeving the rolled sound insulation cotton on the compressor), and in the case of two robots, the 3D camera can be arranged on the placing robot to collect data; of course, in order to save costs, a multifunctional robot can also be used to complete the entire process of taking and placing, and in the case of only one robot, the 3D camera can be arranged on the robot to collect data.

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

[0046] As shown in Figure 3 , the collected three-dimensional image can be preprocessed by using computer vision software, which can include but is not limited to image enhancement, image filtering, binaryzation and the like, so as to improve the image quality and reduce the interference of environmental light on the measurement system.

[0047] On the one hand, the collected three-dimensional image can be preprocessed through image enhancement, image filtering, and binarization, etc. The specific operations are as follows: 1) image enhancement: the purpose of image enhancement is to improve the visual effect of the image, making 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 improved through brightness adjustment to ensure that key features can be clearly identified, contrast enhancement can highlight the details in the image, making edges, textures, etc. more obvious, and color correction can eliminate image color deviation caused by light source color difference, making image information more accurate; 2) image filtering: image filtering is used to remove noise in the image, 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 preserving the edge information of the image as much as possible. Median filtering takes the median value of the pixel values in the neighborhood of each pixel, which can effectively remove salt and pepper noise. Mean filtering replaces the current pixel value with the average value of the pixel values in the neighborhood, thereby smoothing the image; 3) binarization: binarization is the process of converting an image to only black and white colors, which is usually used to simplify the image into only two regions of "background" and "foreground" to facilitate subsequent feature extraction and analysis. Binarization can be achieved by setting a threshold, setting all pixel points with a value higher than the threshold to white (foreground), and setting all pixel points with a value lower than the threshold to black (background). When processing 3D vision images, binarization can be used to highlight the outline of the compressor and its components, making them clearer in the image, which is convenient for subsequent size calculation and positioning.

[0048] On the other hand, in image preprocessing, the influence of ambient light on the measurement system also needs to be considered; ambient light, especially uneven or changing lighting conditions, can cause shadows or reflections in the image, 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 keep it consistent under different lighting conditions; 2) shadow elimination: using a shadow detection algorithm to identify and eliminate shadow areas in the image, reducing the impact of these areas on the measurement result; 3) reflection suppression: through image processing or adjusting the lighting method, reducing the reflection phenomenon on the surface of the object, ensuring that the outline of the object in the image is clear and visible.

[0049] In a specific embodiment of the present application, feature extraction is performed on the three-dimensional image to obtain feature point cloud data of the to-be-installed component, including: determining a part of the three-dimensional image containing the to-be-installed component as 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 to-be-installed component; and performing coordinate conversion on the plurality of feature points to obtain the feature point cloud data, wherein the coordinate conversion refers to converting two-dimensional image coordinates into three-dimensional space coordinates.

[0050] Specifically, key feature points (i.e. Figure 3 shown in the feature extraction) in the image, such as edges, corner points, etc., will be used for subsequent size measurement; then the extracted feature points are combined into a point cloud (i.e. Figure 3 shown in the point cloud reconstruction), which helps to recover three-dimensional space information from the two-dimensional image.

[0051] In another specific embodiment of the present application, the three-dimensional shape formed according to the feature point cloud data is determined as the component three-dimensional shape of the to-be-installed component, including: calculating the size information of the to-be-installed component according to the feature point cloud data using a three-dimensional geometric calculation method; in the case that the size information meets the preset size specification of the compressor, determining the three-dimensional shape according to the size information; and determining the three-dimensional shape as the component three-dimensional shape of the to-be-installed component.

[0052] Specifically, the point cloud data can be analyzed to calculate the key dimensions (i.e. Figure 3 shown in the size calculation) of the compressor, such as length, width, height, etc., and the calculated results are compared with the design specifications to verify whether the parts meet the requirements, and in the case that the calculated size information meets the design requirements (i.e. the preset size specification), the component three-dimensional shape of each to-be-installed component can be obtained in combination with the size information and the three-dimensional image of the compressor.

[0053] As Figure 3 shown, the image, size, etc. 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 also 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 extracted image edge profile can also be subjected to experimental measurement of geometric quantities and analysis of experimental data to ensure the accuracy and reliability of the measurement results (experimental measurement and analysis).

[0054] Step S204, in the case of receiving the sound insulation cotton installation instruction, the control picking robot to perform picking operation, to place the to-be-rolled sound insulation cotton on the sound insulation cotton processing platform, wherein the to-be-rolled sound insulation cotton is in the preset initial form of the sound insulation cotton, and the sound insulation cotton processing platform is used to roll the to-be-rolled sound insulation cotton into a form adapted to the three-dimensional shape of the assembly.

[0055] In this embodiment, in the case of needing to install the sound insulation cotton on the compressor cover, i.e., receiving the sound insulation cotton installation instruction, the picking robot can be controlled to first place the sound insulation cotton in the initial form, i.e., the to-be-rolled sound insulation cotton, on the sound insulation cotton processing platform, so as to roll the to-be-rolled sound insulation cotton into a form adapted to the three-dimensional shape of the assembly on the platform, facilitating subsequent sleeving on the compressor; at the same time, the form adaptation can also better ensure the sound insulation effect.

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

[0057] According to the above embodiment of the present application, in the above step S206, according to the three-dimensional shape, controlling the sound insulation cotton processing platform to perform the rolling operation on the to-be-rolled sound insulation cotton to obtain the to-be-installed sound insulation cotton, comprising: in the case of determining that the picking robot places the to-be-rolled sound insulation cotton on the first sound insulation cotton processing platform, controlling the laying assembly of the first sound insulation cotton processing platform to perform the laying operation on the to-be-rolled sound insulation cotton, wherein the first sound insulation cotton processing platform is used to adjust the flatness of the to-be-rolled sound insulation cotton until the flatness threshold is reached, the flatness refers to the degree of absence of abnormal form in the current form of the to-be-rolled sound insulation cotton, the abnormal form includes at least one of the following: edge overlap; in the case that the flatness of the to-be-rolled sound insulation cotton reaches the flatness threshold, controlling the picking robot to transfer the laid to-be-rolled sound insulation cotton 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 to-be-rolled sound insulation cotton into a form adapted to the three-dimensional shape; controlling the rolling assembly of the second sound insulation cotton processing platform to perform the rolling operation on the to-be-rolled sound insulation cotton according to the three-dimensional shape to obtain the to-be-installed sound insulation cotton.

[0058] Optionally, the above sound insulation cotton processing platform comprises 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 lay and fix the to-be-rolled sound insulation cotton, and the second sound insulation cotton processing platform is used to roll the to-be-rolled sound insulation cotton into a form adapted to the three-dimensional shape of the assembly.

[0059] Specifically, at the sound insulation cotton material place, there are two trolleys loaded with a plurality of sound insulation cottons in initial forms, so that the taking robot can take the sound insulation cottons from the two trolleys and place the taken sound insulation cottons on a sound insulation cotton laying platform (i.e., a first sound insulation cotton processing platform), which is responsible for laying and fixing the taken sound insulation cottons to be rolled, and here the sound insulation cottons are laid mainly to place the rolled edges, overlaps, and corners of the sound insulation cottons; then the taking robot takes the sound insulation cottons that have been laid and fixed by using special tools such as suction cups and clamps, and places the sound insulation cottons on a sound insulation cotton rolling platform (i.e., a second sound insulation cotton processing platform), which is responsible for rolling the sound insulation cottons according to the three-dimensional shape of the component to be installed obtained in the above analysis, so as to roll the sound insulation cottons into a form that is adapted to the three-dimensional shape of the component, and during the rolling process, the rollers or shafts of the sound insulation cotton rolling platform will roll the sound insulation cottons tightly along a predetermined path at a proper speed and force, so as to ensure that the rolled sound insulation cottons are tight, wrinkle-free, and maintain good shape and size.

[0060] In an optional embodiment of the present application, the automatic installation method of the sound insulation cotton further comprises: separating the magic tape velvet surface from the magic tape 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; and 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 magic tape velvet surface is attached to the magic tape hook surface in the sound insulation cotton to be rolled, so as to fix the sound insulation cotton to be rolled into the form of the sound insulation cotton to be installed.

[0061] Specifically, during the laying of the sound insulation cotton on the sound insulation cotton laying platform, the magic tape part (i.e., the magic tape velvet surface and the magic tape hook surface) needs to be unfolded in advance to facilitate subsequent rolling and attaching operations; of course, after the sound insulation cotton is rolled on the sound insulation cotton rolling platform, the mechanical device on the sound insulation cotton rolling platform will attach the unfolded magic tape part to the rolled sound insulation cotton, which can be completed by a special attaching device, such as using an adhesive or pressure to fix the magic tape, so as to ensure that the position of the attached magic tape is accurate, so that the shape and size of the rolled sound insulation cotton (i.e., the sound insulation cotton to be installed) are fixed, and subsequent installation operations are facilitated.

[0062] Step S208: controlling the taking robot to perform the taking 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 indicated by the sound insulation cotton installation instruction.

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

[0064] According to the above embodiment of the present application, in the step S208, the current position information is used to control the feeding robot to perform the feeding operation to install the to-be-installed sound insulation cotton on the to-be-installed component of the compressor, to complete the sound insulation cotton installation operation, which includes: determining the position coordinate information of the to-be-installed component in the compressor according to the three-dimensional image of the compressor; processing the current position information and the position coordinate information by using the pose path generation model to obtain the pose path of the feeding robot, wherein the pose path generation model is trained by using a plurality of sets of training data by machine learning, and each set of the plurality of sets of training data includes: sample current position information, sample position coordinate information, and sample pose path corresponding to the sample current position information and the sample position coordinate information; and controlling the feeding robot to perform the feeding operation according to the pose path to install the to-be-installed sound insulation cotton on the to-be-installed component, to complete the sound insulation cotton installation operation.

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

[0066] As can be seen from the above, the current position information of the compressor and the component three-dimensional shape of the to-be-installed component in the compressor can be obtained by the technical scheme provided by the above embodiment of the present application, wherein the to-be-installed component refers to the component in the compressor that needs to be installed with sound insulation cotton; in the case that the sound insulation cotton installation instruction is received, the feeding robot is controlled to perform the feeding operation to place the to-be-wound sound insulation cotton on the sound insulation cotton processing platform, wherein the to-be-wound sound insulation cotton refers to the sound insulation cotton in a preset initial shape, and the sound insulation cotton processing platform is used to wind the to-be-wound sound insulation cotton into a shape that is adapted to the component three-dimensional shape; the sound insulation cotton processing platform is controlled to perform the winding operation on the to-be-wound sound insulation cotton according to the three-dimensional shape to obtain the to-be-installed sound insulation cotton, wherein the to-be-installed sound insulation cotton refers to the sound insulation cotton in a shape that is adapted to the component three-dimensional shape; and the feeding robot is controlled to perform the feeding operation according to the current position information to install the to-be-installed sound insulation cotton on the to-be-installed component 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, which achieves the purpose of controlling the feeding robot to perform the feeding operation first, then controlling the sound insulation cotton processing platform to perform the winding operation on the sound insulation cotton, and finally controlling the feeding robot to sleeve the sound insulation cotton on the compressor, realizes the technical effect of automatically sleeving the sound insulation cotton on the compressor by the cooperation of the robot and the sound insulation cotton processing platform, improves the efficiency and accuracy of sleeving the sound insulation cotton on the compressor, and avoids affecting the health of the operator.

[0067] Therefore, the technical solutions provided by the above-mentioned embodiments of the present application solve the technical problem in the related art that the installation of the sound insulation cotton of the compressor usually needs manual operation, which is not only low in efficiency and high in error rate, but also easily affects the health of the operator.

[0068] The technical solutions provided by the above-mentioned embodiments of the present application realize automatic wrapping of sound insulation cotton for the compressor, and have the following advantages: 1) improving production efficiency: the automatic installation of sound insulation cotton by robots can significantly improve production speed, reduce waiting time, realize continuous production, and thus improve overall production efficiency; 2) reducing health risks: robots can replace manual work with high repetition and potential harm, avoiding direct contact of the operator with the sound insulation cotton material and reducing 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) improving quality consistency: the robot system can ensure that the sound insulation cotton installed each time meets the design specifications, reduces errors caused by human factors, and improves product consistency and reliability; 5) enhancing flexibility and adaptability: by integrating a visual recognition system, the robot can automatically adapt to compressors of different sizes and shapes without human intervention, greatly enhancing the flexibility and adaptability of the production line; 6) data collection and analysis: the automated process can collect a large amount of data, and through data analysis, the production process can be optimized, the design of the sound insulation cotton can be improved, and even equipment failures can be predicted and prevented, further improving the intelligent level of the production line.

[0069] It should be noted that, for the foregoing method embodiments, in order to simply describe, they are all described as a series of action combinations, but those skilled in the art should know that the present application is not limited to the order of the actions described, because according to the present application, certain steps can be performed in other orders or at the same time. Secondly, those skilled in the art should know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily essential to the present application.

[0070] From the above description of the embodiments, those skilled in the art can clearly understand that the method according to the above-mentioned embodiments can be realized by means of software and a general hardware platform as necessary, and of course, it can also be realized by hardware, but in many cases, the former is a better embodiment. Based on such understanding, the technical solutions of the present application can be embodied in the form of a software product, which is stored in a storage medium (such as a ROM / RAM, a magnetic disk, or an optical disk), and includes a number of instructions to make a terminal device (which can be a mobile phone, a computer, a server, or a network device, etc.) execute the methods described in the embodiments of the present application.

[0071] According to the embodiment of the present application, an automatic installation device for the soundproof cotton is also provided, Figure 4 is a schematic diagram of the automatic installation device for the soundproof cotton according to the embodiment of the present application, as Figure 4 shown, the device comprises 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 for the soundproof cotton will be described in detail below.

[0072] The first acquisition unit 41 is configured 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 the soundproof cotton.

[0073] The first control unit 43 is configured to, in the case of receiving a soundproof cotton installation instruction, control the material taking robot to perform a material taking operation to place a soundproof cotton roll in a soundproof cotton processing platform, wherein the soundproof cotton roll refers to the soundproof cotton in a preset initial shape, and the soundproof cotton processing platform is configured to roll the soundproof cotton roll into a shape that is adapted to the three-dimensional shape of the component.

[0074] The second acquisition unit 45 is configured to control the soundproof cotton processing platform to perform a material rolling operation on the soundproof cotton roll according to the three-dimensional shape, to obtain soundproof cotton to be installed, wherein the soundproof cotton to be installed refers to the soundproof cotton in a shape that is adapted to the three-dimensional shape of the component.

[0075] The second control unit 47 is configured to control the material placing robot to perform a material placing operation according to the current position information, to install the soundproof cotton to be installed on the component to be installed of the compressor, to complete a soundproof cotton installation operation, wherein the soundproof cotton installation operation refers to an operation that needs to be completed as indicated by the soundproof cotton installation instruction.

[0076] It should be noted 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 embodiment, and the four units have the same instances and application scenarios as the corresponding steps, but are not limited to the content disclosed in the above-mentioned embodiment.

[0077] From the above, in the scheme described in the above embodiments of the present application, the current position information of the compressor and the component three-dimensional shape of the component to be installed in the compressor can be obtained by the first acquisition unit, 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 control the material taking robot to perform material taking operation to place the to-be-wound sound insulation cotton on the sound insulation cotton processing platform under the condition that the sound insulation cotton installation instruction is received, wherein the to-be-wound sound insulation cotton refers to the sound insulation cotton in the preset initial form, and the sound insulation cotton processing platform is used to wind the to-be-wound sound insulation cotton into a form adapted to the component three-dimensional shape;Then, the second acquisition unit can be used again to control the sound insulation cotton processing platform to perform material winding operation on the to-be-wound 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 in a form adapted to the component three-dimensional shape;Finally, the second control unit can be used to control the material placing robot to perform material placing 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 indicated by the sound insulation cotton installation instruction to be completed, so as to achieve the purpose of taking material by the material taking robot first, winding the sound insulation cotton by the sound insulation cotton processing platform, and finally placing the sound insulation cotton on the compressor by the material placing robot, realize the technical effect of automatically sleeving the sound insulation cotton on the compressor by the cooperation of the robot and the sound insulation cotton processing platform, improve the efficiency and accuracy of sleeving the sound insulation cotton on the compressor, and avoid affecting the health of the operator.

[0078] Therefore, by the technical scheme provided in the above embodiments of the present application, the technical problem that the installation of sound insulation cotton on the compressor in the related art usually needs manual operation, which is not only low in efficiency and high in error rate, but also easy to affect the health of the operator, is solved.

[0079] In an optional embodiment of the present application, the first acquisition unit comprises: a first acquisition module configured to obtain the current position information of the compressor and the three-dimensional image by using a three-dimensional vision program;a second acquisition module configured to perform feature extraction on the three-dimensional image to obtain feature point cloud data of the component to be installed;and a first determination module configured to determine that the three-dimensional shape formed according to the feature point cloud data is the component three-dimensional shape of the component to be installed.

[0080] In an optional embodiment of the present application, the automatic installation device of the sound insulation cotton further comprises at least one of: a first processing module configured to perform image enhancement processing and binaryzation processing on the three-dimensional image until the image definition of the three-dimensional image reaches a definition threshold, before performing feature extraction on the three-dimensional image to obtain the feature point cloud data of the component to be installed;a second processing module configured to perform image filtering processing on the three-dimensional image until the image smoothness of the three-dimensional image reaches a smoothness threshold;and a third processing module configured to perform 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.

[0081] In an optional embodiment of the present application, the second acquisition module comprises: a first determination submodule for determining a part of the three-dimensional image containing the to-be-installed component as a three-dimensional sub-image; a first acquisition submodule for 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 to-be-installed component; and a second acquisition submodule for performing coordinate conversion on the plurality of feature points to obtain feature point cloud data, wherein the coordinate conversion refers to converting two-dimensional image coordinates into three-dimensional space coordinates.

[0082] In an optional embodiment of the present application, the first determination module comprises: a calculation submodule for calculating the size information of the to-be-installed component using a three-dimensional geometric calculation method according to the feature point cloud data; a third acquisition submodule for determining the three-dimensional shape according to the size information in the case that the size information meets the preset size specification of the compressor; and a fourth acquisition submodule for determining the three-dimensional shape as the component three-dimensional shape of the to-be-installed component.

[0083] In an optional embodiment of the present application, the sound insulation cotton processing platform comprises: a first sound insulation cotton processing platform and a second sound insulation cotton processing platform, a second acquisition unit comprising: a first control module for controlling the laying component of the first sound insulation cotton processing platform to perform a laying operation on the to-be-rolled sound insulation cotton in the case that it is determined that the material taking robot places the to-be-rolled sound insulation cotton on the first sound insulation cotton processing platform, wherein the first sound insulation cotton processing platform is used to adjust the flatness of the to-be-rolled sound insulation cotton until the flatness threshold is reached, the flatness refers to the degree of the current state of the to-be-rolled sound insulation cotton without abnormal state, and the abnormal state includes at least one of the following: edge rolling, overlapping; a transfer module for controlling the material taking robot to transfer the laid to-be-rolled sound insulation cotton from the first sound insulation cotton processing platform to the second sound insulation cotton processing platform in the case that the flatness of the to-be-rolled sound insulation cotton reaches the flatness threshold, wherein the second sound insulation cotton processing platform is used to roll the to-be-rolled sound insulation cotton into a state that is adapted to the three-dimensional shape; and a third acquisition module for controlling the material rolling component of the second sound insulation cotton processing platform to perform a material rolling operation on the to-be-rolled sound insulation cotton according to the three-dimensional shape to obtain the to-be-installed sound insulation cotton.

[0084] In an optional embodiment of the present application, the automatic installation device of the sound insulation cotton further comprises: a separation module for separating the magic tape velvet surface from the magic tape hook surface in the to-be-rolled sound insulation cotton in the process of controlling the laying component of the first sound insulation cotton processing platform to perform the laying operation on the to-be-rolled sound insulation cotton; and a fitting module for fitting the magic tape velvet surface with the magic tape hook surface in the to-be-rolled sound insulation cotton after the material rolling component of the second sound insulation cotton processing platform completes the material rolling operation on the to-be-rolled sound insulation cotton according to the three-dimensional shape, so as to fix the to-be-rolled sound insulation cotton into the state of the to-be-installed sound insulation cotton.

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

[0086] According to another aspect of the embodiments of the present application, there is also provided an automatic sound insulation cotton installation system, which uses any of the automatic sound insulation cotton installation methods described above.

[0087] According to another aspect of the embodiments of the present application, there is also provided a computer-readable storage medium comprising a stored program, wherein the program executes any of the automatic sound insulation cotton installation methods described above.

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

[0089] Optionally, in the present embodiment, the computer-readable storage medium is configured to store program code for performing the following steps: acquiring current position information of the compressor and an assembly three-dimensional shape of a to-be-installed assembly in the compressor, wherein the to-be-installed assembly refers to an assembly in the compressor that needs to be installed with sound insulation cotton; in the case where a sound insulation cotton installation instruction is received, controlling a material taking robot to perform a material taking operation to place a to-be-wound sound insulation cotton on a sound insulation cotton processing platform, wherein the to-be-wound sound insulation cotton refers to sound insulation cotton in a preset initial form, and the sound insulation cotton processing platform is configured to wind the to-be-wound sound insulation cotton into a form that is adapted to the assembly three-dimensional shape; controlling the sound insulation cotton processing platform to perform a material winding operation on the to-be-wound sound insulation cotton according to the three-dimensional shape to obtain to-be-installed sound insulation cotton, wherein the to-be-installed sound insulation cotton refers to sound insulation cotton in a form that is adapted to the assembly three-dimensional shape; and controlling a dispensing robot to perform a dispensing operation according to the current position information to install the to-be-installed sound insulation cotton on the to-be-installed assembly of the compressor, thereby completing a sound insulation cotton installation operation, wherein the sound insulation cotton installation operation refers to an operation that needs to be completed as indicated by the sound insulation cotton installation instruction.

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

[0091] Optionally, in the embodiment, the computer readable storage medium is configured to store program code for performing the following steps: performing image enhancement processing and binarization processing on the three-dimensional image until the image definition of the three-dimensional image reaches a definition threshold; performing image filtering processing on the three-dimensional image until the image smoothness of the three-dimensional image reaches a smoothness threshold; and 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.

[0092] Optionally, in the embodiment, the computer readable storage medium is configured to store program code for performing the following steps: determining that a part of the three-dimensional image containing the to-be-installed component 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 to-be-installed component; and performing coordinate conversion on the plurality of feature points to obtain feature point cloud data, wherein the coordinate conversion refers to converting two-dimensional image coordinates into three-dimensional space coordinates.

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

[0094] Optionally, in the embodiment, the computer readable storage medium is configured to store program code for performing the following steps: in a case where it is determined that the material taking robot places the to-be-rolled sound insulation cotton on the first sound insulation cotton processing platform, controlling a flattening assembly of the first sound insulation cotton processing platform to perform a flattening operation on the to-be-rolled sound insulation cotton, wherein the first sound insulation cotton processing platform is used to adjust the flatness of the to-be-rolled sound insulation cotton until a flatness threshold is reached, the flatness referring to a degree of absence of an abnormal form in a current form of the to-be-rolled sound insulation cotton, the abnormal form including at least one of the following: a rolled edge, an overlap; in a case where the flatness of the to-be-rolled sound insulation cotton reaches the flatness threshold, controlling the material taking robot to transfer the flattened to-be-rolled sound insulation cotton from the first sound insulation cotton processing platform to a second sound insulation cotton processing platform, wherein the second sound insulation cotton processing platform is used to roll the to-be-rolled sound insulation cotton into a form adapted to the three-dimensional shape; and controlling a material rolling assembly of the second sound insulation cotton processing platform to perform a material rolling operation on the to-be-rolled sound insulation cotton according to the three-dimensional shape to obtain the to-be-installed sound insulation cotton.

[0095] Optionally, in the embodiment, the computer readable storage medium is configured to store program code for performing the following steps: separating the hook surface of the magic tape from the pile surface of the magic tape in the to-be-wound acoustic cotton during the process of controlling the laying assembly of the first acoustic cotton processing platform to perform the laying operation on the to-be-wound acoustic cotton; and after the winding assembly of the second acoustic cotton processing platform performs the winding operation on the to-be-wound acoustic cotton according to the three-dimensional shape, the pile surface of the magic tape is attached to the hook surface of the magic tape in the to-be-wound acoustic cotton to fix the to-be-wound acoustic cotton into the form of the to-be-installed acoustic cotton.

[0096] Optionally, in the embodiment, the computer readable storage medium is configured to store program code for performing the following steps: determining the position coordinate information of the to-be-installed component in the compressor according to the three-dimensional image of the compressor; processing the current position information and the position coordinate information by using a pose path generation model to obtain a pose path of the dispensing robot, wherein the pose path generation model is obtained by training a plurality of sets of training data by machine learning, and each set of the plurality of sets of training data includes sample current position information, sample position coordinate information, and a sample pose path corresponding to the sample current position information and the sample position coordinate information; and controlling the dispensing robot to perform the dispensing operation according to the pose path to install the to-be-installed acoustic cotton on the to-be-installed component, thereby completing the acoustic cotton installation operation.

[0097] According to another aspect of the embodiment of the present application, a processor is also provided, which is used to run a program, wherein the program performs any of the above-mentioned automatic installation methods of acoustic cotton when running.

[0098] According to another aspect of the embodiment of the present application, a computer program product is also provided, which includes computer instructions, and the computer instructions perform any of the above-mentioned automatic installation methods of acoustic cotton when executed by a processor.

[0099] The above-mentioned serial numbers of the embodiments of the present application are only for description, and do not represent the advantages and disadvantages of the embodiments.

[0100] In the above-mentioned embodiments of the present application, the description of each embodiment has its own focus, and the parts not described in detail in a certain embodiment can be referred to the relevant description of other embodiments.

[0101] In several embodiments provided in the present application, it should be understood that the disclosed technology can be implemented by other means. Among them, the above-mentioned device embodiments are only schematic, for example, the division of the units can be a logical function division, and actual implementation can have another division mode, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the displayed or discussed each other can be through some interface, indirect coupling or communication connection between units or modules, which can be electrical or other forms.

[0102] The units described as separate components can or can not be physically separated, and the components shown as units can or can not be physical units, that is, they can be located in one place, or they can be distributed to multiple units. Part or all of the units can be selected according to actual needs to achieve the purpose of the embodiment.

[0103] In addition, each functional unit in each embodiment of the present application can be integrated into a processing unit, or each unit can exist physically, or two or more units can be integrated into one unit. The integrated unit can be realized in the form of hardware or in the form of a software functional unit.

[0104] The integrated unit, if realized in the form of a software functional unit and sold or used as an independent product, can be stored in a computer-readable storage medium. Based on this understanding, the technical solutions of the present application essentially or the part that contributes to the prior art or the whole or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium, including a plurality of instructions for causing a computer device (which can be a personal computer, a server or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: a U disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a mobile hard disk, a magnetic disk or an optical disk, and various media that can store program codes.

[0105] The above is only the preferred embodiment of the present application, and it should be pointed out that for ordinary skilled in the art, without departing from the principles of the present application, a number of improvements and refinements can be made, and these improvements and refinements should be considered as the protection scope of the present application.

Claims

1. An automated installation method for sound insulation cotton, characterized in that, include: Obtain the current location 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 fitted with sound insulation cotton; Upon receiving the sound insulation cotton installation instruction, the material handling robot is controlled to perform a material handling operation to place the sound insulation cotton to be rolled onto the sound insulation cotton processing platform. The sound insulation cotton to be rolled refers to the sound insulation cotton in a preset initial form. The sound insulation cotton processing platform is used to roll the sound insulation cotton to be rolled into a form that adapts to the three-dimensional shape of the component. According to the three-dimensional shape, the sound insulation cotton processing platform controls the sound insulation cotton to be rolled to perform a rolling operation 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; Based on the current location information, the unloading robot is controlled to perform an unloading operation to install the sound insulation cotton to be installed onto the component to be installed on the compressor, thus completing the sound insulation cotton installation operation. The sound insulation cotton installation operation is the operation required to be performed as instructed by the sound insulation cotton installation command. Obtaining the current location information of the compressor and the three-dimensional shape of the component to be installed in the compressor includes: acquiring the current location information and a three-dimensional image of the compressor using a three-dimensional vision program; extracting features from the three-dimensional image to obtain feature point cloud data of the component to be installed; and determining the three-dimensional shape formed by the feature point cloud data as the three-dimensional shape of the component to be installed. The sound insulation cotton processing platform includes a first sound insulation cotton processing platform and a second sound insulation cotton processing platform. Based on the three-dimensional shape, the sound insulation cotton processing platform is controlled to perform a rolling operation on the sound insulation cotton to be rolled, obtaining sound insulation cotton to be installed. This includes: when it is determined that the material handling robot has placed 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. 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, where flatness refers to the degree of flatness of the sound insulation cotton to be rolled. The current form does not contain any abnormal forms, and the abnormal forms include at least one of the following: curled edges, overlapping; when the flatness of the sound insulation cotton to be rolled reaches the flatness threshold, the material handling 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 adapts to the three-dimensional shape; the rolling component of the second sound insulation cotton processing platform is controlled 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.

2. The automated installation method for sound insulation cotton according to claim 1, characterized in that, Before performing feature extraction on the three-dimensional image to obtain the feature point cloud data of the component to be installed, at least one of the following is also included: The three-dimensional image is subjected to image enhancement and binarization processing until the image clarity of the three-dimensional image reaches a clarity threshold. The three-dimensional image is subjected to image filtering processing until the image smoothness of the three-dimensional image reaches a smoothness threshold; The image shadow is removed from the three-dimensional image until the image shadow intensity of the three-dimensional image is lower than the shadow intensity threshold.

3. The automated installation method for sound insulation cotton according to claim 1, characterized in that, Feature extraction is performed on the three-dimensional image to obtain the feature point cloud data of the component to be installed, including: The portion of the three-dimensional image containing the component to be installed is identified as a three-dimensional sub-image. Feature extraction is performed on 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; The coordinates of multiple feature points are transformed to obtain the feature point cloud data, wherein the coordinate transformation refers to converting two-dimensional image coordinates into three-dimensional spatial coordinates.

4. The automated installation method for sound insulation cotton according to claim 1, characterized in that, Determining the three-dimensional shape formed by the feature point cloud data as the component's three-dimensional shape to be installed includes: The size information of the component to be installed is calculated using a three-dimensional geometric calculation method based on the feature point cloud data. If the size information conforms to the preset size specifications of the compressor, the three-dimensional shape is determined based on the size information; The three-dimensional shape is determined to be the component three-dimensional shape of the component to be installed.

5. The automated installation method for sound insulation cotton according to claim 1, characterized in that, Also includes: During the process of the laying component of the first sound insulation cotton processing platform performing the laying operation on the sound insulation cotton to be rolled, the Velcro fleece side and the Velcro hook side of the sound insulation cotton to be rolled are separated. After the roll assembly of the second sound insulation cotton processing platform performs the roll operation on the sound insulation cotton to be rolled according to the three-dimensional shape, the Velcro fleece side and the Velcro hook side of the sound insulation cotton to be rolled are attached to fix the sound insulation cotton to be rolled into the shape of the sound insulation cotton to be installed.

6. The automated installation method for sound insulation cotton according to claim 1, characterized in that, Based on the current location information, the unloading robot is controlled to perform an unloading operation to install the sound insulation cotton to be installed onto the component to be installed on the compressor, thus completing the sound insulation cotton installation operation, including: The position coordinates of the component to be installed in the compressor are determined based on the three-dimensional image of the compressor. The current position information and the position coordinate information are processed using a posture path generation model to obtain the posture path of the unloading robot. The posture path generation model is trained using multiple sets of training data through machine learning. Each set of training data includes: sample current position information, sample position coordinate information, and sample posture path corresponding to the sample current position information and the sample position coordinate information. The material feeding robot is controlled to perform the material feeding 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.

7. An automated installation device for sound insulation cotton, characterized in that, The automated installation device for the sound insulation cotton is used to perform the automated installation method for the sound insulation cotton according to any one of claims 1 to 6, comprising: The first acquisition unit 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 fitted with sound insulation cotton. The first control unit is used to control the material picking robot to perform a material picking operation when it receives a sound insulation cotton installation instruction, so as to place the sound insulation cotton to be rolled on the sound insulation cotton processing platform. The sound insulation cotton to be rolled refers to the sound insulation cotton in a preset initial form. The sound insulation cotton processing platform is used to roll the sound insulation cotton to be rolled into a form that adapts to the three-dimensional shape of the component. The 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 is adapted to the three-dimensional shape of the component; The second control unit is used to control the feeding robot to perform a feeding operation based on the current position information, so as to install the sound insulation cotton to be installed on the component to be installed on 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 command.

8. 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 as described in any one of claims 1 to 6 is performed.

Images