Pultrusion strip track control automatic gluing method and system based on servo motor

Abstract

The invention provides a pultrusion strip track control automatic gluing method and system based on a servo motor, and relates to the technical field of track control. The method comprises the steps that a coordinate system is established by collecting three-dimensional digital-analog information of a workpiece to plan track points, and a visual sensor is used for recognizing reference feature points for space compensation; the glue amount and pressure parameters are monitored in real time, the speed of the servo motor and the glue supply pressure are dynamically adjusted, and the parameters are uploaded to a control system to generate a quality evaluation report for track optimization. According to the pultrusion strip gluing device, accurate control over the gluing track and the glue amount uniformity are achieved, and the pultrusion strip gluing quality and the production efficiency are improved.

Description

Technical Field

[0001] The present invention relates to trajectory control technology, and particularly to an automatic glue coating method and system for pultruded bar trajectory control based on a servo motor. Background Art

[0002] In the fields of aerospace, automotive manufacturing, construction, etc., pultruded bars, as an important composite structural component, are widely used. The connection and sealing of pultruded bars usually require glue coating treatment to ensure their structural integrity and sealing performance. Traditional pultruded bar glue coating processes mainly rely on manual operation, and workers manually control the glue gun to coat along the surface of the pultruded bar according to experience. With the improvement of industrial automation level, automatic glue coating technology has gradually been applied to the production process of pultruded bars, replacing manual operation with robotic arms or special equipment to improve the glue coating efficiency and quality.

[0003] However, the existing automatic glue coating technology for pultruded bars still has some obvious defects and deficiencies. First of all, the existing technology lacks the ability to accurately identify and compensate for the actual position of the pultruded bar. When the pultruded bar has deformation or installation deviation, the glue coating trajectory does not match the actual requirements, affecting the glue coating quality. Secondly, traditional glue coating systems cannot real-time monitor and adjust key parameters during the glue coating process, such as glue volume and glue coating pressure, resulting in uneven glue volume distribution on the glue coating trajectory. Especially in corner and curved surface areas, there are problems of excessive or insufficient glue volume. Finally, the existing glue coating systems lack a complete data acquisition and analysis mechanism, and cannot systematically evaluate and continuously optimize the glue coating quality, making it difficult for the glue coating process to form a closed-loop control and unable to automatically optimize the glue coating parameters and trajectory according to historical data.

[0004] Therefore, there is an urgent need for an automatic glue coating method that can accurately identify the position of the pultruded bar, real-time adjust the glue coating parameters, and have a data analysis and optimization function to improve the accuracy, uniformity, and reliability of pultruded bar glue coating. Summary of the Invention

[0005] The embodiments of the present invention provide an automatic glue coating method and system for pultruded bar trajectory control based on a servo motor, which can solve the problems in the existing technology.

[0006] In the first aspect of the embodiments of the present invention, an automatic glue coating method for pultruded bar trajectory control based on a servo motor is provided, including: Collect three-dimensional digital model information of the pultruded bar workpiece, establish a coordinate system of the pultruded bar workpiece according to the three-dimensional digital model information, and plan glue coating trajectory points in the coordinate system; The image information on the surface of the pultruded bar workpiece is collected in real time by a vision sensor. The reference feature points on the surface of the pultruded bar workpiece are identified according to the image information, the reference feature points are registered with the coordinate system, the actual position information of the glue application trajectory points is obtained, and spatial compensation is performed on the glue application trajectory points according to the actual position information; According to the compensated glue application trajectory points, the glue application device is controlled to perform glue application operations; during the glue application operations, the glue volume parameter and the glue application pressure parameter of the glue gun are collected in real time, and according to the change trends of the glue volume parameter and the glue application pressure parameter, the movement speed of the servo motor and the glue supply pressure of the glue gun are dynamically adjusted to control the glue volume uniformity of the glue application trajectory within the preset trajectory threshold range; The compensated glue application trajectory points, the glue volume parameter and the glue application pressure parameter are uploaded to the control system. The control system generates a glue application quality evaluation report according to the uploaded parameters and uses the glue application quality evaluation report for the optimization of subsequent glue application trajectories.

[0007] Collect the three-dimensional digital model information of the pultruded bar workpiece, establish the coordinate system of the pultruded bar workpiece according to the three-dimensional digital model information. Planning the glue application trajectory points in the coordinate system includes: Extract the feature surfaces of the pultruded bar workpiece based on the three-dimensional digital model information of the pultruded bar workpiece. Set the bottom plane of the pultruded bar workpiece as the XOY plane, set the direction of the longest side of the pultruded bar workpiece as the positive direction of the X axis, set the direction perpendicular to the bottom plane as the positive direction of the Z axis, and determine the coordinate origin through the intersection line of the feature surfaces to establish the local coordinate system of the pultruded bar workpiece; Generate initial glue application trajectory points in the local coordinate system, optimize the initial glue application trajectory points according to the preset glue application process requirements, establish the mapping relationship between the glue application width and the glue application speed, and adaptively adjust the glue application speed of the glue application trajectory points according to the mapping relationship to generate optimized glue application trajectory points that meet the glue application process requirements.

[0008] Identifying the reference feature points on the surface of the pultruded bar workpiece according to the image information and registering the reference feature points with the coordinate system includes: Screen the reference feature points from the candidate feature point set according to the preset screening criteria. The screening criteria include that the response value of the feature point is greater than the first threshold, the feature point has the maximum response value within the local non-maximum suppression radius, and the distance between adjacent feature points is greater than the second threshold; Establish the mapping relationship between the reference feature points and the theoretical coordinate system. The mapping relationship includes converting the coordinates of the reference feature points in the camera coordinate system to the coordinates of the reference feature points in the world coordinate system through the rotation matrix and the translation vector; The RANSAC algorithm is used to optimize the rotation matrix and the translation vector, and the optimized rotation matrix and the optimized translation vector are obtained by minimizing the Euclidean distance between the actual coordinates and the theoretical coordinates of the reference feature points in the world coordinate system; The optimized rotation matrix and the optimized translation vector are applied to the newly acquired feature points on the workpiece surface to achieve real-time registration of the reference feature points and the coordinate system.

[0009] Obtain the actual position information of the glue application trajectory points, and perform spatial compensation on the glue application trajectory points according to the actual position information, including: Collect the actual position point data and the theoretical position point data of the glue application trajectory, compare the actual position point data with the theoretical position point data, and calculate the trajectory deviation of the glue application trajectory; Based on the trajectory deviation, construct a weighted least squares compensation model, introduce a compensation gain parameter and a compensation constant term into the weighted least squares compensation model, calculate the compensation gain parameter and the compensation constant term with the position deviation, and generate an initial position compensation amount; Apply the initial position compensation amount to the theoretical position point data to obtain the position data after the first compensation, collect the compensation error between the position data after the first compensation and the target position, and adaptively adjust the compensation gain parameter based on the compensation error and a preset compensation learning rate; Real-time collect the glue application speed parameter and the glue application acceleration parameter during the glue application process, establish a mapping relationship between the glue application speed parameter and the glue application acceleration parameter and the position compensation amount after adaptive adjustment, and calculate the updated position compensation amount according to the mapping relationship; Set a position compensation smoothing coefficient, use the position compensation smoothing coefficient to perform weighted smoothing processing on two adjacent updated position compensation amounts to generate a final position compensation amount, and superimpose the final position compensation amount on the theoretical position point data of the glue application trajectory to achieve real-time position compensation of the glue application trajectory.

[0010] Controlling the glue application device to perform glue application operations according to the compensated glue application trajectory points includes: Real-time collect the current spatial position and the current motion posture of the glue gun, calculate the position deviation of the glue gun by comparing the current spatial position with the target spatial position, and calculate the posture deviation of the glue gun by comparing the current motion posture with the target motion posture; Based on the position deviation and the posture deviation, set position compensation parameters and posture compensation parameters, superimpose the position compensation parameters on the target spatial position to obtain the compensated motion position, and superimpose the posture compensation parameters on the target motion posture to obtain the compensated motion posture; Calculate the motion parameters of the servo motors of each axis of the gluing device based on the compensated motion position and the compensated motion attitude, where the motion parameters include the rotation speed, rotation direction, and acceleration of the servo motors of each axis; Generate motion control commands for the servo motors of each axis of the gluing device based on the motion parameters, and drive the servo motors of each axis of the gluing device through the motion control commands to drive the glue gun to perform gluing operations along the gluing trajectory.

[0011] Upload the compensated gluing trajectory points, the glue amount parameters, and the gluing pressure parameters to the control system, and the control system generates a gluing quality evaluation report based on the uploaded parameters, including: Upload the compensated gluing trajectory points, the glue amount parameters, and the gluing pressure parameters to the control system; Calculate the uniformity index of the glue amount parameters, which is calculated based on the variance between the single-point glue amount value and the average glue amount value. At the same time, calculate the stability index of the gluing pressure, which is calculated based on the change amplitude of the pressure values at adjacent times; Establish a quality evaluation model based on the uniformity index, the stability index, and the compensated gluing trajectory points. Set the weight coefficients of each index in the quality evaluation model, and obtain the comprehensive gluing quality score through the weighted calculation of each index and the corresponding weight coefficients; Classify the gluing quality based on the comprehensive gluing quality score, and generate a quality evaluation report according to the classification result of the gluing quality.

[0012] In the second aspect of the embodiments of the present invention, a pultruded strip trajectory control automatic gluing system based on servo motors is provided, including: The first unit is used to collect the three-dimensional digital model information of the pultruded strip workpiece, establish the coordinate system of the pultruded strip workpiece according to the three-dimensional digital model information, and plan the gluing trajectory points in the coordinate system; The second unit is used to collect the image information on the surface of the pultruded strip workpiece in real time by using a vision sensor, identify the reference feature points on the surface of the pultruded strip workpiece according to the image information, register the reference feature points with the coordinate system, obtain the actual position information of the gluing trajectory points, and perform spatial compensation on the gluing trajectory points according to the actual position information; The third unit is used to control the gluing device to perform gluing operations according to the compensated gluing trajectory points; during the gluing operation, collect the glue amount parameters and the gluing pressure parameters of the glue gun in real time, and dynamically adjust the motion speed of the servo motor and the glue supply pressure of the glue gun according to the change trends of the glue amount parameters and the gluing pressure parameters, so that the glue amount uniformity of the gluing trajectory is controlled within the preset trajectory threshold range; The fourth unit is configured to upload the compensated glue - applying trajectory points, the glue amount parameters, and the glue - applying pressure parameters to a control system. The control system generates a glue - applying quality evaluation report based on the uploaded parameters and uses the glue - applying quality evaluation report for subsequent optimization of the glue - applying trajectory.

[0013] In a third aspect of the embodiments of the present invention, an electronic device is provided, including: A processor; A memory for storing instructions executable by the processor; Wherein, the processor is configured to call the instructions stored in the memory to execute the method described above.

[0014] In a fourth aspect of the embodiments of the present invention, a computer - readable storage medium is provided, on which computer program instructions are stored. When the computer program instructions are executed by a processor, the method described above is implemented.

[0015] The beneficial effects of this application are as follows: The automatic glue - applying method for pultruded strip trajectory control based on a servo motor provided by the present invention can accurately position the glue - applying position by collecting the three - dimensional digital model information of the pultruded strip workpiece, establishing a coordinate system to plan the glue - applying trajectory points, and performing spatial compensation in combination with the image information collected by a vision sensor in real time. It effectively solves the problem of inaccurate glue - applying caused by workpiece position deviation in the traditional glue - applying process and improves the glue - applying positioning accuracy.

[0016] During the glue - applying operation process of the present invention, by collecting the glue amount parameters and the glue - applying pressure parameters of the glue gun in real time and dynamically adjusting the movement speed of the servo motor and the glue supply pressure of the glue gun, the uniformity control of the glue amount on the glue - applying trajectory is realized, overcoming the technical defects of uneven glue amount and large fluctuations in glue - applying quality in the traditional glue - applying method, and significantly improving the consistency and stability of the glue - applying quality.

[0017] The present invention uploads the compensated glue - applying trajectory points, glue amount parameters, and glue - applying pressure parameters to the control system, generates a glue - applying quality evaluation report and uses it for subsequent optimization of the glue - applying trajectory, constructs a closed - loop feedback optimization mechanism, enables the system to continuously learn and improve the glue - applying process parameters, realizes the continuous optimization of the glue - applying process, greatly improves the production efficiency and product quality, and reduces the requirements for manual intervention and production costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic flow chart of the automatic glue - applying method for pultruded strip trajectory control based on a servo motor according to an embodiment of the present invention; Figure 2 It is a flow chart for optimizing the glue - applying trajectory of a pultruded strip workpiece based on a local coordinate system according to an embodiment of the present invention; Figure 3Flow chart of real-time position compensation of glue application trajectory based on adaptive algorithm in an embodiment of the present invention; Figure 4 Flow chart of comprehensive evaluation of glue application quality based on multi-parameter fusion in an embodiment of the present invention. Detailed implementation manners

[0019] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Apparently, the described embodiments are only a part rather than all of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0020] The technical solutions of the present invention will be described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments.

[0021] Figure 1 Schematic flow chart of an automatic glue application method for pultruded bar trajectory control based on a servo motor in an embodiment of the present invention, as Figure 1 shown, the method includes: Collect three-dimensional digital model information of the pultruded bar workpiece, establish a coordinate system of the pultruded bar workpiece according to the three-dimensional digital model information, and plan glue application trajectory points in the coordinate system; Use a vision sensor to collect image information on the surface of the pultruded bar workpiece in real time, identify reference feature points on the surface of the pultruded bar workpiece according to the image information, register the reference feature points with the coordinate system, obtain the actual position information of the glue application trajectory points, and perform spatial compensation on the glue application trajectory points according to the actual position information; Control a glue application device to perform glue application operations according to the compensated glue application trajectory points; during the glue application operation, collect the glue volume parameter and the glue application pressure parameter of the glue gun in real time, and dynamically adjust the movement speed of the servo motor and the glue supply pressure of the glue gun according to the change trends of the glue volume parameter and the glue application pressure parameter, so that the glue volume uniformity of the glue application trajectory is controlled within a preset trajectory threshold range; Upload the compensated glue application trajectory points, the glue volume parameter, and the glue application pressure parameter to a control system, and the control system generates a glue application quality evaluation report according to the uploaded parameters and uses the glue application quality evaluation report for subsequent optimization of the glue application trajectory.

[0022] In an alternative embodiment, collecting three-dimensional digital model information of the pultruded bar workpiece, establishing a coordinate system of the pultruded bar workpiece according to the three-dimensional digital model information, and planning glue application trajectory points in the coordinate system includes: Extract the feature surfaces of the pultruded bar workpiece based on the three-dimensional digital model information of the pultruded bar workpiece. Set the bottom plane of the pultruded bar workpiece as the XOY plane, set the direction of the longest side of the pultruded bar workpiece as the positive X-axis direction, and set the direction perpendicular to the bottom plane as the positive Z-axis direction. Determine the coordinate origin through the intersection lines of the feature surfaces, and establish a local coordinate system for the pultruded bar workpiece; Generate initial glue application trajectory points in the local coordinate system, optimize the initial glue application trajectory points according to the preset glue application process requirements, establish a mapping relationship between the glue application width and the glue application speed, adaptively adjust the glue application speed of the glue application trajectory points according to the mapping relationship, and generate optimized glue application trajectory points that meet the glue application process requirements.

[0023] Obtain the three-dimensional digital model information of the pultruded bar workpiece. This can be achieved by using a three-dimensional laser scanner to perform an omni-directional scan of the pultruded bar workpiece. For example, use a three-dimensional laser scanner with an accuracy of 0.05 mm and a collection rate of 50,000 points per second to scan the pultruded bar workpiece from different angles to obtain point cloud data. Subsequently, perform filtering, denoising, and meshing processing on the collected point cloud data through point cloud processing software to generate a three-dimensional digital model of the pultruded bar workpiece.

[0024] Based on the obtained three-dimensional digital model information, it is necessary to extract the feature surfaces of the pultruded bar workpiece to establish a local coordinate system. Feature surface extraction can be achieved through the region growing algorithm. This algorithm uses a certain point in the point cloud data as a seed point and gradually expands the region according to the normal vector similarity and the spatial distance threshold until a complete plane feature is formed. In practical applications, the normal vector angle threshold can be set to 5 degrees and the distance threshold can be set to 0.2 mm to accurately identify the various plane features of the pultruded bar workpiece. For a typical L-shaped pultruded bar workpiece, feature surfaces such as the bottom plane, side plane, and end face can be identified.

[0025] During the establishment of the coordinate system, set the bottom plane of the pultruded bar workpiece as the XOY plane. The specific operation is to calculate the normal vector of the bottom plane through the principal component analysis method, and this normal vector is the Z-axis direction. In practical applications, at least three non-collinear points on the bottom plane can be selected, and the plane equation can be fitted by the least squares method to determine the exact position and normal vector direction of the bottom plane.

[0026] When determining the X-axis direction, it is necessary to identify the longest side of the pultruded bar workpiece. This can be achieved through the edge detection algorithm. First, apply the Canny edge detection algorithm on the bottom plane to extract the edge line, then identify the straight line segments through the Hough transform, and calculate the lengths of each straight line segment. Select the direction of the longest straight line segment as the positive X-axis direction. For example, for a pultruded bar workpiece with a length of 1000 mm and a width of 50 mm, the 1000 mm side can be clearly identified as the longest side through edge detection.

[0027] When determining the coordinate origin, it needs to be achieved through the intersection lines of the feature planes. For example, the intersection lines of the bottom plane and two side planes can be calculated, and the intersection points of these intersection lines can be used as the coordinate origin. In practical applications, the intersection line equations can be obtained by solving the plane equations system, and then the intersection point coordinates can be obtained by solving the intersection line equations system. For a pultruded bar workpiece with a rectangular cross-section, the intersection points of the bottom plane and two adjacent side planes can be selected as the coordinate origin to establish a complete local coordinate system.

[0028] Generate initial glue application trajectory points in the established local coordinate system. The generation of the initial trajectory points can be based on the geometric features of the pultruded bar workpiece, such as setting trajectory points at fixed intervals along the edge that needs to be glued. For a straight edge, an equidistant sampling method can be adopted. For example, a trajectory point is set every 5mm; for a curved edge, the sampling interval can be dynamically adjusted according to the curvature change. The sampling points are dense in the area with large curvature and sparse in the area with small curvature to ensure a smooth transition of the glue application trajectory.

[0029] Optimize the initial glue application trajectory points according to the preset glue application process requirements. The process requirements include glue application width, thickness uniformity, glue application continuity, etc. During the optimization process, the B-spline curve fitting algorithm can be applied to smooth the trajectory points, reduce the mutation points in the trajectory, and improve the smoothness of the glue application. At the same time, additional transition points are added at the corners to ensure that the glue application mechanism can pass smoothly. For example, for a 90-degree corner, an arc transition with a radius of 10mm can be added, and 5 transition points are evenly distributed on the arc.

[0030] Establishing the mapping relationship between the glue application width and the glue application speed is the key to achieving uniform glue application. Through the analysis of experimental data, the corresponding relationship between the glue application width and the glue application speed can be obtained. For example, when the glue application pressure is maintained at 0.3MPa, the corresponding glue application width is 3mm when the glue application speed is 10mm / s, 2.5mm when the glue application speed is 15mm / s, and 2mm when the glue application speed is 20mm / s. This mapping relationship can be stored in the form of a lookup table for easy real-time call.

[0031] Adaptive adjustment of the glue application speed of the glue application trajectory points according to the established mapping relationship. During the actual glue application process, if it is detected that the required glue application width at the current position is 2.8mm, the system will automatically adjust the glue application speed to about 12mm / s according to the mapping relationship. For a pultruded bar workpiece with a complex shape, different positions may require different glue application widths, and the system will dynamically adjust the glue application speed according to the specific requirements of each trajectory point to ensure the consistency of the glue application quality.

[0032] Through the above steps, optimized glue application trajectory points that meet the requirements of the glue application process are finally generated. These trajectory points contain position coordinates and corresponding glue application speed information, and can be directly used to control the glue application mechanism to perform the glue application operation. For example, for an L-shaped pultruded bar workpiece with a length of 1000 mm and a width of 50 mm, glue needs to be applied to its two inner edges. The number of finally generated trajectory points is about 400, and the glue application speed ranges from 10 to 20 mm / s, which can achieve a uniform glue application effect with a width of 2 - 3 mm and a thickness of 0.5 mm.

[0033] Figure 2 The flowchart of the glue application trajectory optimization for the pultruded bar workpiece based on the local coordinate system in the embodiment of the present invention is as follows: This figure shows a flowchart for the planning and optimization of the glue application trajectory of the pultruded bar workpiece. The picture describes two main steps: First, a local coordinate system is established. By obtaining the three-dimensional digital model information of the pultruded bar workpiece, the characteristic surface is determined. The bottom plane of the workpiece is defined as the XOY plane, the direction of the longest side of the workpiece is set as the positive direction of the X axis, and the direction perpendicular to the bottom plane is set as the positive direction of the Z axis. The coordinate origin is determined through the intersection line of the characteristic surfaces, thus establishing a complete local coordinate system. The second step is to generate initial glue application trajectory points in this established local coordinate system, and then optimize these trajectory points according to the preset glue application process requirements. During the optimization process, a mapping relationship between the glue application width and the glue application speed is established, and based on this mapping relationship, the glue application speed of the glue application trajectory points is adaptively adjusted, and finally, optimized glue application trajectory points that meet the process requirements are generated. These two steps are closely connected to form a complete glue application trajectory planning and optimization process.

[0034] In an optional implementation manner, identifying the reference feature points on the surface of the pultruded bar workpiece according to the image information, and registering the reference feature points with the coordinate system includes: Screening the reference feature points from the candidate set of feature points according to a preset screening criterion, where the screening criterion includes that the response value of the feature point is greater than the first threshold, the feature point has the maximum response value within the local non-maximum suppression radius, and the distance between adjacent feature points is greater than the second threshold; Establishing a mapping relationship between the reference feature points and the theoretical coordinate system, where the mapping relationship includes converting the coordinates of the reference feature points in the camera coordinate system to the coordinates of the reference feature points in the world coordinate system through a rotation matrix and a translation vector; Optimizing the rotation matrix and the translation vector by using the RANSAC algorithm, and obtaining the optimized rotation matrix and the optimized translation vector by minimizing the Euclidean distance between the actual coordinates and the theoretical coordinates of the reference feature points in the world coordinate system; Apply the optimized rotation matrix and the optimized translation vector to the newly acquired feature points on the workpiece surface to achieve real-time registration of the reference feature points and the coordinate system.

[0035] Obtain the image information of the pultruded bar workpiece surface through image processing technology, and identify the candidate set of feature points from it. In order to screen out high-quality reference feature points from the candidate set of feature points, this embodiment adopts multiple screening criteria.

[0036] Screen the reference feature points from the candidate set of feature points according to the preset screening criteria. The screening criteria include three aspects: the response value of the feature point is greater than the first threshold, the feature point has the maximum response value within the local non-maximum suppression radius, and the distance between adjacent feature points is greater than the second threshold. In practical applications, the first threshold can be set to 0.015, which means that the response value of the feature point must be greater than 0.015 to be regarded as a valid feature point. The local non-maximum suppression radius can be set to 5 pixels to ensure that only the feature point with the maximum response value is retained within this radius range. The second threshold can be set to 10 pixels to ensure that there is enough distance between adjacent feature points to avoid overcrowding of feature points.

[0037] When the system detects 100 candidate feature points on the workpiece surface, by applying the above screening criteria, 30 reference feature points that meet the conditions may be screened out. These reference feature points have relatively high response values, are the most prominent in the local area, and maintain an appropriate distance from each other, which is beneficial for subsequent coordinate system registration.

[0038] After screening out the reference feature points, it is necessary to establish the mapping relationship between these feature points and the theoretical coordinate system. This mapping relationship includes converting the coordinates of the reference feature points in the camera coordinate system to the coordinates of the reference feature points in the world coordinate system through the rotation matrix and the translation vector. In the camera coordinate system, assuming the coordinates of a reference feature point are (x_c, y_c, z_c), through the action of the rotation matrix R and the translation vector T, it can be converted to the coordinates (x_w, y_w, z_w) in the world coordinate system.

[0039] In actual operation, the rotation matrix R is a 3×3 matrix representing the rotation relationship of the camera coordinate system relative to the world coordinate system; the translation vector T is a three-dimensional vector representing the displacement of the origin of the camera coordinate system relative to the origin of the world coordinate system. Through these two parameters, the conversion between coordinate systems can be achieved.

[0040] To improve the accuracy of coordinate transformation, this embodiment uses the RANSAC algorithm to optimize the rotation matrix and translation vector. The RANSAC algorithm randomly selects sample points from the set of reference feature points in an iterative manner, calculates the rotation matrix and translation vector, and then evaluates the applicability of these parameters. Specifically, the system obtains the optimized rotation matrix and the optimized translation vector by minimizing the Euclidean distance between the actual coordinates and the theoretical coordinates of the reference feature points in the world coordinate system.

[0041] In the implementation of the RANSAC algorithm, the number of iterations can be set to 1000 times, and the inlier threshold can be set to 2.5 pixels. This means that if the Euclidean distance between a feature point and its theoretical position after transformation is less than 2.5 pixels, it is considered an inlier. The goal of the algorithm is to find the rotation matrix and translation vector that maximize the number of inliers.

[0042] For example, assume there are 30 reference feature points. After optimization by the RANSAC algorithm, there may be 25 inliers and 5 outliers. The average Euclidean distance error of these inliers may be 1.2 pixels, indicating a high registration accuracy. The optimized rotation matrix may be close to the identity matrix, and the translation vector may be (2.3, -1.5, 0.8), representing the displacement of the camera coordinate system relative to the world coordinate system.

[0043] Apply the optimized rotation matrix and the optimized translation vector to the newly acquired feature points on the workpiece surface to achieve real-time registration of the reference feature points and the coordinate system. This step enables the system to continuously track the feature points on the workpiece surface and accurately map them to the world coordinate system.

[0044] In an actual application scenario, when the workpiece moves or the camera position changes, the system can collect new images in real time, extract feature points, and transform these feature points into the world coordinate system through the optimized rotation matrix and translation vector. This real-time registration ability is of great significance for industrial applications that require precise positioning, such as automated assembly and quality inspection.

[0045] Through the above method, the system can accurately identify the reference feature points on the surface of the pultruded bar workpiece and accurately register them with the coordinate system, providing a reliable basis for subsequent workpiece positioning, dimension measurement, defect detection, etc. This method has the characteristics of high precision and high robustness, can adapt to changes in different lighting conditions and workpiece surface states, and meets the strict requirements in industrial production.

[0046] In an alternative embodiment, obtaining the actual position information of the glue application trajectory points and performing spatial compensation on the glue application trajectory points according to the actual position information includes: Collecting actual position point data and theoretical position point data of the gluing track, comparing the actual position point data with the theoretical position point data, and calculating the track deviation of the gluing track; A weighted least squares compensation model is constructed based on the trajectory deviation, a compensation gain parameter and a compensation constant term are introduced into the weighted least squares compensation model, and the compensation gain parameter and the compensation constant term are calculated with the position deviation to generate an initial position compensation amount; Applying the initial position compensation amount to the theoretical position point data to obtain the position data after the initial compensation, collecting the compensation error between the position data after the initial compensation and the target position, and adaptively adjusting the compensation gain parameter based on the compensation error and a preset compensation learning rate; Collecting the gluing speed parameter and the gluing acceleration parameter in the gluing process in real time, establishing a mapping relationship between the gluing speed parameter and the gluing acceleration parameter and the adaptively adjusted position compensation amount, and calculating the updated position compensation amount according to the mapping relationship; A position compensation smoothing coefficient is set, and the position compensation smoothing coefficient is used to perform weighted smoothing processing on two adjacent updated position compensation amounts to generate a final position compensation amount, and the final position compensation amount is superimposed on the theoretical position point data of the gluing track to achieve real-time position compensation of the gluing track.

[0047] Collect the actual position point data and theoretical position point data of the gluing track. The actual position point data can be obtained through the position sensor installed on the gluing equipment. For example, a high-precision laser displacement sensor can be used, and its measurement accuracy can reach ±0.01mm. The theoretical position point data is the set of gluing path points pre-planned according to the product design drawings. In actual applications, multiple position sensors can be installed on the gluing equipment to collect position data in the three directions of X, Y, and Z respectively. The sampling frequency is set to 100Hz to ensure the real-time and accuracy of data collection.

[0048] The actual position point data collected is compared with the theoretical position point data to calculate the trajectory deviation of the gluing trajectory. For example, for a certain sampling point, if the theoretical position is (10.00mm, 20.00mm, 5.00mm), and the actual measured position is (10.15mm, 19.92mm, 5.08mm), then the trajectory deviation of this point is (0.15mm, -0.08mm, 0.08mm). By analyzing the deviation of multiple points on the gluing trajectory, a complete trajectory deviation data set can be obtained.

[0049] Based on the obtained trajectory deviation data, a weighted least squares compensation model is constructed. In this model, a compensation gain parameter and a compensation constant term are introduced. The compensation gain parameter is used to adjust the amplitude of the compensation, and the compensation constant term is used to correct the inherent bias of the system. In practical applications, the compensation gain parameter can be initially set to 0.8, and the compensation constant term can be initially set to the average value of the deviations in each direction. The compensation gain parameter and the compensation constant term are calculated with the position deviation to generate an initial position compensation amount. Specifically, for the compensation amount in the X direction, it can be obtained by multiplying the deviation in the X direction by the compensation gain parameter and then adding the compensation constant term in the X direction. The calculation methods for the compensation amounts in the Y and Z directions are similar.

[0050] The calculated initial position compensation amount is applied to the theoretical position point data to obtain the position data after the first compensation. For example, if the theoretical position of a certain point is (10.00mm, 20.00mm, 5.00mm), the initial compensation amount in the X direction is 0.15mm, the initial compensation amount in the Y direction is -0.08mm, and the initial compensation amount in the Z direction is 0.08mm, then the position data after the first compensation is (10.15mm, 19.92mm, 5.08mm).

[0051] The compensation error between the position data after the first compensation and the target position is collected. The target position usually refers to the ideal glue application position required by the product design. The compensation gain parameter is adaptively adjusted based on the compensation error and a preset compensation learning rate. The compensation learning rate can be set to 0.05, indicating the step size for adjusting the compensation gain parameter each time. If the compensation error is large, the compensation gain parameter is increased; if the compensation error is small or overcompensation occurs, the compensation gain parameter is decreased. Through multiple iterative adjustments, the compensation gain parameter gradually converges to the optimal value.

[0052] The glue application speed parameter and the glue application acceleration parameter during the glue application process are collected in real time. The glue application speed parameter can be obtained through the speed sensor of the glue application equipment, and the glue application acceleration parameter can be obtained by performing a difference calculation on the speed data. In practical applications, the glue application speed is usually set within the range of 10 - 50mm / s, and the acceleration generally does not exceed 200mm / s². A mapping relationship is established between the glue application speed parameter and the glue application acceleration parameter and the position compensation amount after adaptive adjustment, and the updated position compensation amount is calculated according to the mapping relationship.

[0053] For example, when the glue application speed is 30mm / s, the position compensation amount in the X direction may need to be increased by 0.05mm; when the glue application acceleration is 100mm / s², the position compensation amount in the Y direction may need to be increased by 0.03mm. By establishing this mapping relationship, the position compensation amount can be dynamically adjusted according to the real-time glue application speed and acceleration, improving the accuracy of the compensation.

[0054] Set the position compensation smoothing coefficient, which is used to perform weighted smoothing on two adjacent updated position compensation amounts. The position compensation smoothing coefficient can be set to 0.7, indicating that the new compensation amount accounts for 70% of the weight in the final compensation amount, and the compensation amount at the previous moment accounts for 30% of the weight. Through smoothing, sudden changes in the compensation amount can be avoided, making the glue application trajectory smoother and more continuous.

[0055] Use the position compensation smoothing coefficient to perform weighted smoothing on two adjacent updated position compensation amounts to generate the final position compensation amount. For example, if the X-direction compensation amount calculated at the current moment is 0.18 mm, the X-direction compensation amount at the previous moment is 0.15 mm, and the position compensation smoothing coefficient is 0.7, then the final X-direction compensation amount is 0.18 mm × 0.7 + 0.15 mm × 0.3 = 0.171 mm.

[0056] Superimpose the final position compensation amount on the theoretical position point data of the glue application trajectory to achieve real-time position compensation of the glue application trajectory. For example, if the theoretical position of a certain point is (10.00 mm, 20.00 mm, 5.00 mm), and the final compensation amounts in the X, Y, and Z directions are 0.171 mm, -0.075 mm, and 0.084 mm respectively, then the compensated position is (10.171 mm, 19.925 mm, 5.084 mm). In this way, high-precision real-time compensation of the glue application trajectory can be achieved, improving the quality and efficiency of glue application.

[0057] Figure 3 The following is the flowchart of the real-time position compensation of the glue application trajectory based on the adaptive algorithm in the embodiments of the present invention: This figure describes a complete position compensation process: First, the actual position point data and theoretical position point data of the glue application trajectory are obtained through a data acquisition system, and the trajectory deviation is calculated through comparative analysis; then, based on these deviation data, a weighted least squares compensation model is constructed, a compensation gain parameter and a compensation constant term are introduced into the model, and an initial position compensation amount is generated through calculation; then, the initial compensation amount is applied to the theoretical position point to obtain the compensated position data, and the compensation error is calculated by comparing with the target position. The compensation gain parameter is adaptively adjusted according to the error and the preset compensation learning rate; during the glue application process, the glue application speed and acceleration parameters are collected in real time, a mapping relationship is established between these dynamic parameters and the adjusted position compensation amount, and the updated position compensation amount is calculated; finally, by setting the position compensation smoothing coefficient, weighted smoothing is performed on adjacent updated compensation amounts to generate the final position compensation amount, which is superimposed on the theoretical trajectory to achieve real-time position compensation of the glue application trajectory.

[0058] In an alternative embodiment, controlling the glue application device to perform glue application operations according to the compensated glue application trajectory points includes: Collect the current spatial position and current motion posture of the glue gun in real time. Calculate the position deviation of the glue gun by comparing the current spatial position with the target spatial position. At the same time, calculate the posture deviation of the glue gun by comparing the current motion posture with the target motion posture; Set the position compensation parameter and posture compensation parameter based on the position deviation and the posture deviation. Superimpose the position compensation parameter on the target spatial position to obtain the compensated motion position, and superimpose the posture compensation parameter on the target motion posture to obtain the compensated motion posture; Calculate the motion parameters of the servo motors of each axis of the glue application device according to the compensated motion position and the compensated motion posture. The motion parameters include the rotation speed, rotation direction and acceleration of the servo motors of each axis; Generate motion control commands for the servo motors of each axis of the glue application device based on the motion parameters, and drive the servo motors of each axis of the glue application device through the motion control commands to drive the glue gun to perform glue application operations along the glue application trajectory.

[0059] When the glue application device is performing glue application operations, it is necessary to collect the current spatial position and current motion posture of the glue gun in real time. The current spatial position is obtained by a position sensor installed on the glue gun. The position sensor can be an optical encoder, a laser rangefinder or a vision positioning system, etc. For example, the spatial position of the glue gun nozzle is represented by three-dimensional coordinates (x, y, z), and the unit is millimeters. The current motion posture is obtained by a posture sensor, such as a gyroscope, an accelerometer or a posture measurement unit. The posture can be represented by Euler angles (α, β, γ), which correspond to the rotation angles around the x-axis, y-axis and z-axis respectively, and the unit is degrees. The acquisition frequency is set to 100 Hz, that is, data is acquired every 10 milliseconds to ensure that the system can respond to changes in position and posture in a timely manner.

[0060] After obtaining the current spatial position and current motion posture, the system will compare them with the preset target spatial position and target motion posture, and calculate the position deviation and posture deviation. The position deviation is calculated as the difference between the current spatial position and the target spatial position on the three coordinate axes, that is, Δx, Δy and Δz. The posture deviation is calculated as the angle difference between the current motion posture and the target motion posture on the three rotation axes, that is, Δα, Δβ and Δγ. For example, if the target position is (100.0, 150.0, 50.0) mm and the current position is (100.5, 149.8, 50.3) mm, then the position deviation is (0.5, -0.2, 0.3) mm; if the target posture is (30.0, 45.0, 60.0) degrees and the current posture is (29.8, 45.2, 60.1) degrees, then the posture deviation is (-0.2, 0.2, 0.1) degrees.

[0061] Based on the calculated position deviation and attitude deviation, the system sets the position compensation parameters and attitude compensation parameters. The setting of the position compensation parameters adopts the proportional-integral-differential (PID) control algorithm, which is comprehensively calculated according to the magnitude, change trend and cumulative error of the position deviation. Specifically, for each coordinate axis, the position compensation parameter is equal to the position deviation multiplied by the proportional coefficient Kp, plus the integral of the position deviation multiplied by the integral coefficient Ki, and then plus the differential of the position deviation multiplied by the differential coefficient Kd. In this embodiment, the proportional coefficient Kp in the x-axis direction is set to 1.2, the integral coefficient Ki is set to 0.05, and the differential coefficient Kd is set to 0.08; the parameter settings for the y-axis and z-axis are similar. The setting of the attitude compensation parameters also adopts a similar PID control algorithm, but the parameter values are different. For example, the proportional coefficient for rotation around the x-axis is set to 1.5, the integral coefficient is set to 0.03, and the differential coefficient is set to 0.1.

[0062] After calculating the position compensation parameters and attitude compensation parameters, the position compensation parameters are superimposed on the target spatial position to obtain the compensated motion position; the attitude compensation parameters are superimposed on the target motion attitude to obtain the compensated motion attitude. For example, if the target position is (100.0, 150.0, 50.0) millimeters and the position compensation parameters are (-0.6, 0.3, -0.2) millimeters, then the compensated motion position is (99.4, 150.3, 49.8) millimeters; if the target attitude is (30.0, 45.0, 60.0) degrees and the attitude compensation parameters are (0.3, -0.2, 0.1) degrees, then the compensated motion attitude is (30.3, 44.8, 60.1) degrees.

[0063] According to the compensated motion position and motion attitude, the system needs to calculate the motion parameters of the servo motors of each axis of the gluing device. The gluing device usually includes a robotic arm with 6 degrees of freedom, and each degree of freedom corresponds to a servo motor. Through the inverse kinematics algorithm, the spatial position and attitude are converted into joint angles. For example, for a 6-axis robotic arm, the compensated motion position (99.4, 150.3, 49.8) millimeters and motion attitude (30.3, 44.8, 60.1) degrees can be converted into 6 joint angle values: θ1 = 28.5 degrees, θ2 = 35.2 degrees, θ3 = 62.7 degrees, θ4 = 15.3 degrees, θ5 = 40.1 degrees, θ6 = 55.8 degrees.

[0064] Based on the joint angle values, calculate the motion parameters of each axis servo motor, including rotational speed, steering, and acceleration. The rotational speed calculation is based on the difference between the current joint angle and the target joint angle, as well as the preset motion time. For example, if the current angle of the first axis is 25.0 degrees, the target angle is 28.5 degrees, and the preset motion time is 0.2 seconds, then the required angular velocity is (28.5 - 25.0) / 0.2 = 17.5 degrees per second. Considering the reduction ratio of the motor (such as 50:1), the actual rotational speed of the motor is 17.5 × 50 = 875 degrees per second, which is approximately 2.43 revolutions per second. The steering is determined by the positive or negative of the angle change. A positive value indicates clockwise rotation, and a negative value indicates counterclockwise rotation. The acceleration is set as the rate of change of the rotational speed. Usually, a trapezoidal velocity curve is adopted, that is, a mode of first accelerating, then running at a constant speed, and then decelerating. Both the acceleration and deceleration are set as 5 times the rotational speed per second, that is, 17.5 × 5 = 87.5 degrees per second² in this example.

[0065] Based on the calculated motion parameters, the system generates motion control commands for each axis servo motor of the gluing device. The control commands adopt the form of pulse + direction, or adopt industrial fieldbus protocols such as EtherCAT, PROFINET, etc. The control commands contain information such as motor number, target position, running speed, acceleration, etc. For example, for the first axis motor, the control command may contain: motor number = 1, target position = 28.5 degrees (converted to encoder pulse count), running speed = 17.5 degrees per second, acceleration = 87.5 degrees per second². These control commands are sent to each axis servo driver through the controller, and after receiving the commands, the driver controls the motor to move according to the specified parameters.

[0066] Through the above motion control commands, each axis servo motor of the gluing device drives the glue gun to perform gluing operations along the compensated gluing trajectory. During the gluing process, the system continuously performs real-time acquisition of position and attitude, deviation calculation, parameter compensation, and control command generation to form a closed-loop control, ensuring that the glue gun always moves along the expected trajectory and improving the gluing accuracy and quality. In practical applications, this method can control the gluing position accuracy within ±0.1 mm and the attitude accuracy within ±0.1 degrees, meeting the requirements of high-precision gluing operations.

[0067] In an alternative embodiment, upload the compensated gluing trajectory points, the glue amount parameters, and the gluing pressure parameters to the control system, and the control system generates a gluing quality assessment report based on the uploaded parameters, including: Upload the compensated gluing trajectory points, the glue amount parameters, and the gluing pressure parameters to the control system; Calculate the uniformity index of the glue amount parameter, which is calculated based on the variance between the single-point glue amount value and the average glue amount value. At the same time, calculate the stability index of the glue application pressure, which is calculated based on the change range of the pressure values at adjacent times; Establish a quality evaluation model according to the uniformity index, the stability index, and the compensated glue application trajectory points. Set the weight coefficients of each index in the quality evaluation model, and obtain the comprehensive glue application quality score through the weighted calculation of each index and the corresponding weight coefficients; Grade the glue application quality based on the comprehensive glue application quality score, and generate a quality evaluation report according to the grading result of the glue application quality.

[0068] After the glue application system completes the trajectory compensation, the key parameters during the glue application process are collected through the data acquisition module. These parameters include the coordinate data of the compensated glue application trajectory points, the real-time glue amount parameters, and the glue application pressure parameters. The data acquisition module packs these parameters into data packets in a standard format and uploads them to the central control system through industrial Ethernet or wireless communication. After receiving the data, the control system first performs data verification to ensure the integrity and validity of the data, and then stores the data in a dedicated parameter database to prepare for subsequent quality evaluation.

[0069] After the control system receives the parameter data, it starts to calculate the uniformity index of the glue amount parameter. The system extracts all the glue amount parameter values from the database. Suppose there are n sampling points, and the glue amount values at each point are g 1 , g 2 ...g n . The system first calculates the average glue amount value g_avg, which is the arithmetic average of all the glue amount values. Subsequently, the system calculates the difference between the glue amount value at each point and the average glue amount value, sums the squares of these differences, and then divides by the number of sampling points to obtain the variance value. The uniformity index is obtained by normalizing the variance value so that its value range is between 0 and 1, where 0 represents completely non-uniform and 1 represents completely uniform. For example, during a certain glue application process, the system collected the glue amount data of 100 points, the average glue amount was 5.2 milliliters, the calculated variance was 0.18, and the uniformity index after normalization was 0.92, indicating that the glue amount distribution was quite uniform.

[0070] Calculate the stability index of the glue application pressure. The system extracts all the pressure parameter values from the database. Suppose there are m time points of pressure values, which are p 1 , p 2 ...p n . The system calculates the change range of the pressure values at adjacent times, that is, |p 2 -p 1 |, |p 3 -p 2|...|p n -p -1 |。The system calculates the average value of these change amplitudes and compares it with a preset standard change amplitude to obtain a stability index. The stability index is also normalized so that its value range is between 0 and 1, where 0 represents completely unstable and 1 represents completely stable. For example, during the same glue application process, the system collects pressure data at 200 time points, the calculated average change amplitude is 0.05 MPa, the preset standard change amplitude is 0.1 MPa, and the normalized stability index is 0.88, indicating that the pressure control is relatively stable.

[0071] Based on the calculated uniformity index, stability index, and the compensated glue application trajectory points, the system establishes a quality evaluation model. This model uses a weighted scoring method to assign different weight coefficients to each index. In this embodiment, the weight coefficient of the uniformity index is set to 0.4, the weight coefficient of the stability index is set to 0.3, and the weight coefficient of the trajectory accuracy index is set to 0.3.

[0072] The trajectory accuracy index is calculated by comparing the deviation between the compensated glue application trajectory points and the ideal trajectory points, and is also normalized to between 0 and 1. The system multiplies each index by its corresponding weight coefficient and then sums them up to obtain the comprehensive glue application quality score. For example, for a certain glue application process, the uniformity index is 0.92, the stability index is 0.88, and the trajectory accuracy index is 0.95, then the comprehensive score is 0.92×0.4 + 0.88×0.3 + 0.95×0.3 = 0.917.

[0073] The glue application quality is classified based on the comprehensive glue application quality score. The classification criteria are set as follows: a comprehensive score above 0.9 is grade A (excellent), between 0.8 and 0.9 is grade B (good), between 0.7 and 0.8 is grade C (qualified), and below 0.7 is grade D (unqualified). According to this standard, the glue application quality in the above example is rated as grade A.

[0074] A quality evaluation report is generated based on the classification results. The report content includes: glue application time, glue application area, specific values of each index, comprehensive score, quality grade, and improvement suggestions. For different levels of evaluation results, the system gives corresponding improvement suggestions. For example, for a grade B result, the system may suggest optimizing the glue volume control parameters; for a grade C result, the system may suggest checking the pressure control system of the glue application equipment; for a grade D result, the system may suggest shutting down for maintenance and recalibrating the equipment.

[0075] The quality assessment report is stored in the system database in the form of an electronic document, and can be displayed in real time through the user interface or sent to relevant personnel via the network. The system will also compare the assessment results with historical data, analyze the changing trend of the glue application quality, and provide decision-making support for production management. In this way, the glue application system can achieve a comprehensive assessment and continuous improvement of the glue application quality, and improve product quality and production efficiency.

[0076] Figure 4 The following is the flow chart of the comprehensive assessment of glue application quality based on multi-parameter fusion in the embodiments of the present invention: This figure shows the complete working flow chart of a glue application quality assessment system. The process starts with the data acquisition stage. The system first synchronously uploads the glue application trajectory point data optimized by position compensation, the glue amount parameter data monitored in real time, and the glue application pressure parameter data to the central control system for unified processing and analysis. In the data processing stage, the system calculates two key quality indicators respectively: the uniformity indicator of the glue amount parameter and the stability indicator of the glue application pressure. Among them, the uniformity indicator is obtained by calculating the variance between the single-point glue amount value of each glue application point and the average glue amount value of the entire glue application process. This indicator can effectively reflect the consistency of the glue amount distribution during the glue application process; the stability indicator is determined by analyzing the change range of the pressure values at adjacent moments, and this indicator can accurately reflect the fluctuation of the glue application pressure. Based on these processed indicator data and the glue application trajectory point information optimized by compensation, the system constructs a comprehensive quality assessment model. In this assessment model, the system assigns corresponding weight coefficients to different assessment indicators, and finally obtains a comprehensive score reflecting the overall glue application quality level by performing weighted calculations on each quality indicator and its corresponding weight coefficient. This multi-parameter fusion assessment method can not only comprehensively reflect the quality status of the glue application process, but also provide reliable data support for subsequent process parameter optimization and equipment status monitoring.

[0077] In the second aspect of the embodiments of the present invention, a pultruded bar trajectory control automatic glue application system based on a servo motor is provided, including: A first unit for collecting three-dimensional digital model information of a pultruded bar workpiece, establishing a coordinate system of the pultruded bar workpiece according to the three-dimensional digital model information, and planning glue application trajectory points in the coordinate system; A second unit for using a vision sensor to collect image information of the surface of the pultruded bar workpiece in real time, identifying reference feature points on the surface of the pultruded bar workpiece according to the image information, registering the reference feature points with the coordinate system, obtaining the actual position information of the glue application trajectory points, and performing spatial compensation on the glue application trajectory points according to the actual position information; A third unit, configured to control a glue application device to perform glue application operations according to the compensated glue application trajectory points; during the glue application operations, the glue volume parameter and the glue application pressure parameter of the glue gun are collected in real time, and according to the change trends of the glue volume parameter and the glue application pressure parameter, the movement speed of the servo motor and the glue supply pressure of the glue gun are dynamically adjusted to control the glue volume uniformity of the glue application trajectory within a preset trajectory threshold range; A fourth unit, configured to upload the compensated glue application trajectory points, the glue volume parameter, and the glue application pressure parameter to a control system, and the control system generates a glue application quality evaluation report according to the uploaded parameters and uses the glue application quality evaluation report for optimizing subsequent glue application trajectories.

[0078] In a third aspect of the embodiments of the present invention, an electronic device is provided, including: A processor; A memory for storing instructions executable by the processor; Wherein, the processor is configured to call the instructions stored in the memory to execute the method described above.

[0079] In a fourth aspect of the embodiments of the present invention, a computer-readable storage medium is provided, on which computer program instructions are stored, and when the computer program instructions are executed by a processor, the method described above is implemented.

[0080] The present invention may be a method, an apparatus, a system, and / or a computer program product. The computer program product may include a computer-readable storage medium, on which computer-readable program instructions for executing various aspects of the present invention are uploaded.

[0081] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An automatic glue coating method for the pultruded bar trajectory control based on a servo motor, characterized in that, Including: Collecting three-dimensional digital model information of the pultruded bar workpiece, establishing a coordinate system of the pultruded bar workpiece according to the three-dimensional digital model information, and planning glue application trajectory points in the coordinate system; Using a vision sensor to collect image information on the surface of the pultruded bar workpiece in real time, identifying reference feature points on the surface of the pultruded bar workpiece according to the image information, registering the reference feature points with the coordinate system, obtaining the actual position information of the glue application trajectory points, and performing spatial compensation on the glue application trajectory points according to the actual position information; Controlling the glue application device to perform glue application operations according to the compensated glue application trajectory points; During the glue application operation, collecting the glue volume parameter and the glue application pressure parameter of the glue gun in real time, and dynamically adjusting the movement speed of the servo motor and the glue supply pressure of the glue gun according to the change trends of the glue volume parameter and the glue application pressure parameter, so as to control the glue volume uniformity of the glue application trajectory within a preset trajectory threshold range; Uploading the compensated glue application trajectory points, the glue volume parameter and the glue application pressure parameter to the control system, and the control system generating a glue application quality evaluation report according to the uploaded parameters and using the glue application quality evaluation report for the optimization of subsequent glue application trajectories.

2. The method according to claim 1, characterized in that, Collecting three-dimensional digital model information of the pultruded bar workpiece, establishing a coordinate system of the pultruded bar workpiece according to the three-dimensional digital model information, and planning glue application trajectory points in the coordinate system includes: Extracting the feature surface of the pultruded bar workpiece based on the three-dimensional digital model information of the pultruded bar workpiece, setting the bottom plane of the pultruded bar workpiece as the XOY plane, setting the direction of the longest side of the pultruded bar workpiece as the positive direction of the X axis, setting the direction perpendicular to the bottom plane as the positive direction of the Z axis, and determining the coordinate origin through the intersection line of the feature surfaces to establish a local coordinate system of the pultruded bar workpiece; Generating initial glue application trajectory points in the local coordinate system, optimizing the initial glue application trajectory points according to the preset glue application process requirements, establishing a mapping relationship between the glue application width and the glue application speed, and adaptively adjusting the glue application speed of the glue application trajectory points according to the mapping relationship to generate optimized glue application trajectory points that meet the glue application process requirements.

3. The method according to claim 1, wherein Identifying reference feature points on the surface of the pultruded bar workpiece according to the image information, and registering the reference feature points with the coordinate system includes: Screening reference feature points from the candidate feature point set according to the preset screening criteria, and the screening criteria include that the response value of the feature point is greater than the first threshold, the feature point has the maximum response value within the local non-maximum suppression radius, and the distance between adjacent feature points is greater than the second threshold; Establishing a mapping relationship between the reference feature points and the theoretical coordinate system, and the mapping relationship includes converting the coordinates of the reference feature points in the camera coordinate system to the coordinates of the reference feature points in the world coordinate system through a rotation matrix and a translation vector; Using the RANSAC algorithm to optimize the rotation matrix and the translation vector, and obtaining the optimized rotation matrix and the optimized translation vector by minimizing the Euclidean distance between the actual coordinates and the theoretical coordinates of the reference feature points in the world coordinate system; Act on the optimized rotation matrix and the optimized translation vector on the newly acquired feature points on the workpiece surface to achieve real-time registration of the reference feature points and the coordinate system.

4. The method according to claim 1, wherein Obtain the actual position information of the glue application trajectory points. Spatial compensation for the glue application trajectory points according to the actual position information includes: Collect the actual position point data and the theoretical position point data of the glue application trajectory, compare the actual position point data with the theoretical position point data, and calculate the trajectory deviation of the glue application trajectory; Construct a weighted least squares compensation model based on the trajectory deviation, introduce a compensation gain parameter and a compensation constant term in the weighted least squares compensation model, calculate the compensation gain parameter and the compensation constant term with the position deviation, and generate an initial position compensation amount; Act on the initial position compensation amount on the theoretical position point data to obtain the position data after the first compensation, collect the compensation error between the position data after the first compensation and the target position, and adaptively adjust the compensation gain parameter based on the compensation error and a preset compensation learning rate; Collect the glue application speed parameter and the glue application acceleration parameter during the glue application process in real time, establish a mapping relationship between the glue application speed parameter and the glue application acceleration parameter and the position compensation amount after adaptive adjustment, and calculate the updated position compensation amount according to the mapping relationship; Set a position compensation smoothing coefficient, perform weighted smoothing processing on two adjacent updated position compensation amounts by using the position compensation smoothing coefficient to generate a final position compensation amount, and superimpose the final position compensation amount on the theoretical position point data of the glue application trajectory to achieve real-time position compensation of the glue application trajectory.

5. The method according to claim 1, characterized in that, Control the glue application device to perform glue application operations according to the compensated glue application trajectory points, including: Collect the current spatial position and the current motion posture of the glue gun in real time, calculate the position deviation of the glue gun by comparing the current spatial position with the target spatial position, and calculate the posture deviation of the glue gun by comparing the current motion posture with the target motion posture at the same time; Set position compensation parameters and posture compensation parameters based on the position deviation and the posture deviation, superimpose the position compensation parameters on the target spatial position to obtain the compensated motion position, and superimpose the posture compensation parameters on the target motion posture to obtain the compensated motion posture; Calculate the motion parameters of the servo motors of each axis of the glue application device according to the compensated motion position and the compensated motion posture. The motion parameters include the rotation speed, rotation direction and acceleration of the servo motors of each axis; Generate motion control commands for the servo motors of each axis of the glue application device based on the motion parameters, and drive the servo motors of each axis of the glue application device through the motion control commands to drive the glue gun to perform glue application operations along the glue application trajectory.

6. The method according to claim 1, characterized in that, Upload the compensated glue application trajectory points, the glue amount parameters and the glue application pressure parameters to the control system. The control system generates a glue application quality assessment report according to the uploaded parameters, including: Upload the compensated glue application trajectory points, the glue amount parameters and the glue application pressure parameters to the control system; Calculate the uniformity index of the glue amount parameter, where the uniformity index is calculated based on the variance between the single-point glue amount value and the average glue amount value. At the same time, calculate the stability index of the glue application pressure, where the stability index is calculated based on the change range of the pressure values at adjacent times; Establish a quality evaluation model according to the uniformity index, the stability index, and the compensated glue application trajectory points. Set the weight coefficients of each index in the quality evaluation model, and obtain the comprehensive glue application quality score through the weighted calculation of each index and the corresponding weight coefficients; Classify the glue application quality based on the comprehensive glue application quality score, and generate a quality evaluation report according to the classification result of the glue application quality.

7. A pultruded strip trajectory control automatic gluing system based on a servo motor, which is used to implement the method described in any one of the foregoing claims 1-6, and is characterized in that Comprising: The first unit is configured to collect the three-dimensional digital model information of the pultruded bar workpiece, establish a coordinate system of the pultruded bar workpiece according to the three-dimensional digital model information, and plan the glue application trajectory points in the coordinate system; The second unit is configured to use a vision sensor to collect the image information of the surface of the pultruded bar workpiece in real time, identify the reference feature points on the surface of the pultruded bar workpiece according to the image information, register the reference feature points with the coordinate system, obtain the actual position information of the glue application trajectory points, and perform spatial compensation on the glue application trajectory points according to the actual position information; The third unit is configured to control the glue application device to perform glue application operations according to the compensated glue application trajectory points; During the glue application operation, collect the glue amount parameter and the glue application pressure parameter of the glue gun in real time. According to the change trends of the glue amount parameter and the glue application pressure parameter, dynamically adjust the movement speed of the servo motor and the glue supply pressure of the glue gun to control the glue amount uniformity of the glue application trajectory within the preset trajectory threshold range; The fourth unit is configured to upload the compensated glue application trajectory points, the glue amount parameter, and the glue application pressure parameter to the control system. The control system generates a glue application quality evaluation report according to the uploaded parameters, and uses the glue application quality evaluation report for the optimization of subsequent glue application trajectories.

8. An electronic device, characterized in that, Comprising: A processor; A memory for storing instructions executable by the processor; Wherein, the processor is configured to call the instructions stored in the memory to execute the method according to any one of claims 1 to 6.

9. A computer-readable storage medium having computer program instructions stored thereon, characterized in that, When the computer program instructions are executed by the processor, the method according to any one of claims 1 to 6 is implemented.

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