Gluing control method for a gluing robot and related robot

Abstract

The application provides a gluing control method of a gluing robot and a related robot, and belongs to the technical field of data processing under the Internet industry. The method comprises the following steps: in the case that a first detection result is a detection pass, a target awning is moved to a first preset area, and the target awning is placed in the first preset area based on the center position of the first preset area. The first detection result comprises a detection result of the model and quality of the target awning; awning design information of a vehicle to be installed corresponding to the target awning and environment information of the first preset area are obtained; gluing parameters are determined according to the awning design information and the environment information; the target awning is glued according to the gluing parameters; after a second detection result of the target awning after gluing is a detection pass, it is confirmed that the target awning is glued, and the second detection result is used to indicate the gluing quality. The accuracy, reliability and quality controllability of the gluing operation of the gluing robot can be improved.

Description

Technical Field

[0001] This application belongs to the field of data processing in the Internet industry, and specifically relates to a glue-applying robot control method and related robots. Background Technology

[0002] As a crucial component for enhancing vehicle comfort and aesthetics, the installation quality of a sunroof directly impacts the vehicle's sealing performance, structural stability, and lifespan. The adhesive application process is a critical step before installation; the appropriateness of the adhesive application parameters, precise control of the application process, and effective quality testing all play a decisive role in the final installation outcome.

[0003] Currently, traditional canopy adhesive application relies heavily on manual operation or semi-automated equipment, which has several shortcomings. Firstly, adhesive application parameters are often set based on experience, failing to fully consider the specific design information of the canopy and the site environment. This leads to a mismatch between the application parameters and actual needs, easily resulting in insufficient adhesive adhesion and sealing failure. Secondly, environmental factors significantly affect adhesive performance, and existing technologies lack targeted parameter adjustment mechanisms, making it difficult to ensure consistent adhesive application under different working conditions. Furthermore, the lack of real-time and effective detection methods during the application process means that substandard adhesive application cannot be identified in a timely manner. Summary of the Invention

[0004] This application provides a glue-applying robot control method to improve the accuracy, reliability, and quality control of the glue-applying robot's operation, while reducing resource waste and subsequent production risks, providing key assurance for the high-quality installation of vehicle canopies.

[0005] Firstly, this application provides a glue-applying control method for a glue-applying robot, applicable to a glue-applying robot (the glue-applying robot of this application can be embedded with an AI engine module; it is understood that a glue-applying robot with an embedded AI engine module can also be called an intelligent glue-applying robot), the method comprising:

[0006] If the first test result is that the test is passed, the target canopy is moved to the first preset area and placed in the first preset area based on the center position of the first preset area. The first test result includes the test results for the model and quality of the target canopy.

[0007] Obtain the roof design information of the vehicle to be installed corresponding to the target roof and the environmental information of the first preset area. The first detection result includes the detection results for the model and quality of the target roof.

[0008] Determine the adhesive application parameters based on the canopy design information and the environmental information;

[0009] Apply adhesive to the target canopy according to the adhesive application parameters;

[0010] After obtaining a second test result indicating that the target canopy has passed the adhesive coating process, the adhesive coating of the target canopy is confirmed to be complete. The second test result is used to indicate the quality of the adhesive coating.

[0011] According to the glue application control method for the glue application robot provided in this application, the glue application parameters include a target glue application width and a target glue layer thickness. Determining the glue application parameters based on the canopy design information and the environmental information includes: determining the installation type and canopy size of the target canopy based on the canopy design information; obtaining predicted stress distribution values ​​after the target canopy is installed on the vehicle to be installed under different working conditions; determining a minimum glue application width and a minimum glue layer thickness based on the installation type, the canopy size, and the predicted stress distribution values; determining the target glue application width based on the environmental information and the minimum glue application width; and determining the target glue layer thickness based on the environmental information and the minimum glue layer thickness.

[0012] According to the glue application control method for the glue application robot provided in this application, the step of determining the target glue layer thickness based on the environmental information and the minimum glue layer thickness includes: determining the temperature and humidity values ​​within the first preset area based on the environmental information; obtaining the adhesive type of the target canopy; and determining the target glue layer thickness based on the temperature value, the humidity value, the adhesive type, and the minimum glue layer thickness.

[0013] According to the glue application control method for the glue application robot provided in this application, the step of determining the target glue layer thickness based on the temperature value, the humidity value, the adhesive type, and the minimum glue layer thickness includes: determining a reference glue layer thickness based on the humidity value and the minimum glue layer thickness; determining whether the temperature value is higher than a preset temperature value; if the temperature value is higher than the preset temperature value, adjusting the reference glue layer thickness based on the temperature value to obtain the target glue layer thickness; if the temperature value is not higher than the preset temperature value, adjusting the reference glue layer thickness based on the preset temperature value to obtain the target glue layer thickness.

[0014] According to the adhesive application robot control method provided in this application, the method further includes: determining the adhesive type for each adhesive application area of ​​the target canopy; obtaining the material characteristics of the adhesive based on the adhesive type; adjusting the reference adhesive layer thickness according to the temperature value to obtain the target adhesive layer thickness includes: adjusting the reference adhesive layer thickness according to the material characteristics and the temperature value to obtain the target adhesive layer thickness for each adhesive application area; adjusting the reference adhesive layer thickness according to the preset temperature value to obtain the target adhesive layer thickness includes: adjusting the reference adhesive layer thickness according to the material characteristics and the preset temperature value to obtain the target adhesive layer thickness for each adhesive application area.

[0015] According to the glue application control method for the glue application robot provided in this application, the step of applying glue to the target canopy according to the glue application parameters includes: determining a temperature value in the first preset area based on the environmental information; determining whether the temperature value is lower than a preset temperature value; if the temperature value is lower than the preset temperature value, determining a temperature difference between the temperature value and the preset temperature value; generating temperature control parameters for a heating device based on the temperature difference, wherein the heating device is used to raise the glue supply temperature of the glue application device; controlling the heating device according to the temperature control parameters so that the glue supply temperature is not lower than the preset temperature value; and controlling the glue application device to apply glue to the target canopy according to the glue application parameters.

[0016] According to the glue application control method for the glue application robot provided in this application, the step of controlling the glue application device to apply glue to the target canopy according to the glue application parameters includes: dividing the glue application area of ​​the target canopy into multiple glue application sub-areas; performing the following operations for each glue application sub-area: obtaining the glue application control parameters of the current glue application sub-area; controlling the glue application device to apply glue to the current glue application sub-area according to the glue application control parameters of the current glue application sub-area; obtaining the second detection result of the laser detection device on the current glue application sub-area; if the second detection result is a pass, then determining the next glue application sub-area as the current glue application sub-area; if the second detection result is a fail, then determining that the glue application of the current glue application sub-area is unqualified.

[0017] According to the glue application control method for the glue application robot provided in this application, after determining that the current glue application sub-area is unqualified, the method further includes: determining the unqualified type of the current glue application sub-area based on the second detection result, wherein the unqualified type includes exceeding the qualified standard or falling below the qualified standard; if the unqualified type is below the qualified standard, generating glue application remedial parameters based on the second detection result and the glue application control parameters of the current glue application sub-area; and controlling the glue application device to reapply glue to the current glue application sub-area based on the glue application remedial parameters.

[0018] According to the glue application control method for the glue application robot provided in this application, when the non-conformity type is higher than the conformity standard, the method further includes: moving the target canopy to a second preset area; generating alarm information, the alarm information being used to indicate that the glue application is non-conforming; after obtaining the cancellation information for the alarm information, moving the target canopy to the first preset area; and determining the next glue application sub-area as the current glue application sub-area.

[0019] According to the glue application control method for the glue application robot provided in this application, the step of controlling the glue application device to reapply glue to the current glue application sub-area based on the glue application remediation parameters includes: determining the defect type based on the second detection result, wherein the defect type includes missed application or breakpoint; determining the coordinates of the defect corresponding to the defect type; determining the glue application trajectory based on the coordinates; and controlling the glue application device to reapply glue to the current glue application sub-area based on the glue application trajectory and the glue application remediation parameters.

[0020] This application also provides a glue-applying robot, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the glue-applying control method of any of the glue-applying robots described above.

[0021] This application also provides a non-transitory computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the glue application control method of any of the above-described glue application robots.

[0022] This application also provides a computer program product, including a computer program that, when executed by a processor, implements a glue application control method for any of the glue application robots described above.

[0023] As can be seen, the glue application control method of the glue application robot provided in this application firstly eliminates mismatched or substandard canopies before the glue application operation starts by using the results of the first pre-detection. This avoids the subsequent use of glue application resources on invalid workpieces, significantly reducing rework and material waste caused by workpiece fundamental issues, and ensuring the effective implementation of the glue application operation from the source. Secondly, placing the target canopy based on the center position of the first preset area ensures that the canopy is accurately positioned within the glue application area, avoiding glue application position deviations caused by canopy placement offsets. This provides a stable spatial foundation for the accurate implementation of subsequent glue application parameters, reducing glue application position errors caused by positioning errors and reducing problems affecting the compatibility of subsequent vehicle installation. Furthermore, by obtaining the canopy design information of the vehicle to be installed and the environmental information of the first preset area, the adhesive application parameters are determined. This overcomes the limitations of traditional adhesive application methods that rely on experience to set parameters. The canopy design information allows the parameters to match the canopy's own structure and installation requirements, while the environmental information allows the parameters to adapt to the on-site working conditions. This ensures that the adhesive application parameters are both adaptable and environmentally friendly, fundamentally improving the rationality of the adhesive application quality and avoiding problems such as insufficient adhesive adhesion and sealing failure caused by improper parameters. Finally, the completion of adhesive application is confirmed by the subsequent second detection result. Unqualified canopies can be screened out in a timely manner after adhesive application, preventing unqualified products from entering the subsequent vehicle installation stage. This avoids risks such as vehicle sealing leaks and unstable canopy fixation after installation, reducing after-sales repair costs and quality risks in the vehicle production chain. Overall, this application effectively improves the accuracy, reliability, and quality control of the adhesive application robot's operation, while reducing resource waste and subsequent production risks, providing a key guarantee for the high-quality installation of vehicle canopies. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0025] Figure 1 This is a flowchart illustrating a glue application control method for a glue application robot provided in this application.

[0026] Figure 2 This is a structural schematic diagram of an adhesive application robot provided in this application.

[0027] Figure 3 This is a schematic diagram of a canopy conveyor system provided in this application.

[0028] Figure 4 This is a schematic diagram of the functional components of a glue-applying robot provided in this application. Detailed Implementation

[0029] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0030] The terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or apparatuses.

[0031] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0032] Currently, traditional canopy adhesive application relies heavily on manual operation or semi-automated equipment, which has several shortcomings. Firstly, adhesive application parameters are often set based on experience, failing to fully consider the specific design information of the canopy and the site environment. Secondly, environmental factors significantly impact adhesive performance, and existing technologies lack targeted parameter adjustment mechanisms. Furthermore, the lack of real-time and effective detection methods during the application process means that substandard adhesive application cannot be identified promptly.

[0033] To address the aforementioned problems, this application provides a glue application control method for a glue application robot. The embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0034] Please see Figure 1 , Figure 1 This is a flowchart illustrating a glue application control method for a glue application robot provided in this application.

[0035] S101, if the first detection result is that the detection is passed, the target canopy is moved to the first preset area and placed in the first preset area based on the center position of the first preset area.

[0036] Among them, such as Figure 2 As shown, the adhesive application robot may include a moving device 201, a gripping device 202, and an adhesive application device 203. First, it obtains the inspection results regarding the model and quality of the target canopy. Only when the inspection is passed does it grasp the target canopy and place it in a preset area for adhesive application. For example... Figure 3 As shown, the target canopy passes through Figure 3 The target canopy is transported to the docking position of the gluing robot via a conveyor line. The canopy is placed in the limiting device 301 of the conveyor line, and during transport, a first detection device 302 on the conveyor line obtains a first detection result. After obtaining the first detection result for the model and quality of the target canopy and determining that the detection has passed, the gluing robot activates the actuator, such as the gripping device 202 with a flexible gripping component at the end, to perform the gripping and transfer operation of the target canopy. First, the gripping device, based on pre-stored gripping point parameters corresponding to the target canopy model, such as the rigid support area of ​​the canopy's non-gluing edge and preset contact points avoiding vulnerable structures, controls the flexible gripping component, such as a silicone suction cup assembly with a pressure sensor, to contact the canopy surface. The suction force or clamping force is adjusted based on the contact pressure value fed back in real time by the pressure sensor to achieve stable gripping of the target canopy. Subsequently, the robot, based on a preset workspace coordinate system and combined with a visual navigation module, performs path planning and dynamic correction to ensure that the target canopy is accurately moved along the preset path to the first preset area. The preset workspace coordinate system can be a three-dimensional Cartesian coordinate system with the robot base as the origin. The boundary coordinates and center position coordinates of the first preset area are pre-entered into the robot control system using a laser calibrator. The visual navigation module can be an industrial camera installed on the robot body to identify positioning QR codes or infrared positioning beacons laid on the ground in real time.

[0037] During the placement of the target canopy into the first preset area, the robot achieves precise alignment of its center position through a dual positioning mechanism. First, reference positioning marks are set on the surface of the support platform in the first preset area, such as optical positioning lines arranged in a cross shape, a circular reference hole at the center, or a positioning block with an RFID chip. The vision sensor at the end of the robotic arm captures real-time images of the support platform, extracts the coordinate information of the reference positioning marks using an image recognition algorithm, and compares it with the preset center coordinates of the first preset area to calculate the deviation between the current placement position of the target canopy and the center coordinates. Simultaneously, the displacement sensor of the robotic arm provides real-time feedback on the position data of the end effector, forming a complementary verification with the deviation value obtained by the vision sensor. The robot control system drives the robotic arm to make fine adjustments based on the verified deviation value until the deviation between the reference point for the canopy's placement and the center coordinates of the first preset area is less than a preset positioning accuracy threshold. Then, the robotic arm is controlled to slowly lower the canopy until the lower surface of the canopy contacts the surface of the support platform.

[0038] To confirm that the target canopy has been accurately placed in the center of the first preset area, the adhesive application robot can initiate a multi-step verification process. First, it acquires real-time pressure distribution data from the pressure sensor array built into the support platform after the canopy comes into contact with the platform. If the pressure values ​​reported by all pressure sensors are within a preset effective range and the pressure difference is less than a preset difference, it indicates that the canopy is placed stably and under uniform force, without any localized force anomalies caused by tilting or offset. Next, a vision sensor captures a combined image of the canopy and the support platform, and an edge detection algorithm calculates the distance between the edge of the canopy and the boundary of the first preset area. Simultaneously, it identifies the coaxiality of the positioning holes on the canopy and the central reference hole of the platform. If all the above detection indicators meet the preset requirements, it is determined that the canopy has been accurately placed in the center of the first preset area.

[0039] After the canopy is placed in position, the glue-applying robot can further activate the positioning and locking mechanism to ensure the positional stability of subsequent glue-applying operations. Pneumatic positioning clamps are installed at preset positions along the edge of the canopy on the support platform. Once the canopy is confirmed to be in place, the control system triggers the clamps to clamp the canopy from both sides and the front and rear ends towards the center, achieving mechanical fixation. Simultaneously, the vacuum adsorption system inside the support platform activates, generating negative pressure through evenly distributed adsorption holes on the platform surface to further adhere the canopy to the platform surface, forming a dual positioning guarantee of mechanical clamping and vacuum adsorption. Furthermore, before the glue-applying operation begins, the robot's vision system can re-check the canopy's position. If a slight deviation caused by external interference such as airflow or vibration is detected, the positioning clamps are immediately driven to make fine adjustments, ensuring that the canopy always remains within the centered positioning range, providing a stable positional foundation for subsequent precise glue-applying operations based on glue-applying parameters.

[0040] S102, obtain the canopy design information of the vehicle to be installed corresponding to the target canopy and the environmental information of the first preset area.

[0041] The solenoid design information refers to core technical data that is compatible with the target solenoid for the vehicle to be installed and directly affects the setting of adhesive application parameters. Specifically, it can include the following key information: Structural and dimensional parameters of the solenoid, such as the overall geometric dimensions, edge contour features, and installation interface information, such as the location coordinates, number, and diameter of the mounting holes, as well as the depth and width of the sealing groove connecting to the vehicle body. These parameters determine the boundary range of the adhesive application area and the basis for planning the adhesive application path. The solenoid design information also includes solenoid material and performance requirements, such as the substrate type of the target solenoid, such as tempered glass or polycarbonate composite materials; the surface treatment process of the adhesive application area, such as whether it has undergone sandblasting or coating treatment, which affects the adhesion of the adhesive; and the adhesive application quality standards specified in the design documents, such as sealing level requirements and bonding strength requirements. The solenoid design information may also include vehicle-specific parameters, such as the vehicle model number, the allowable range of structural dimensional deviations of the solenoid mounting groove, and adhesive application no-go zones designed for specific vehicle models.

[0042] The environmental information is a key external condition that affects the performance of the adhesive and the stability of the coating quality. Specifically, it may include the temperature and humidity parameters, airflow state parameters, and impurity concentration parameters of the first preset area.

[0043] S103, determine the adhesive application parameters based on the canopy design information and the environmental information.

[0044] The adhesive application parameters may include the application width, adhesive layer thickness, and application speed. Specifically, these parameters may also include the type of adhesive and the application area for different adhesives.

[0045] S104, Apply adhesive to the target canopy according to the adhesive application parameters.

[0046] The intelligent glue applicator calculates the current glue applicator parameters and then determines the target glue gun, glue dispensing speed, glue applicator trajectory, etc. based on the current glue applicator parameters.

[0047] S105, after obtaining the second test result of the target canopy after adhesive application as passing the test, the adhesive application of the target canopy is confirmed to be completed.

[0048] The second detection result is used to indicate the quality of the adhesive application. The adhesive application robot can acquire the second detection result in real time during the application process, and will only proceed to the next area after the second detection result for the current area has passed.

[0049] As can be seen, in this embodiment, firstly, by using the preliminary first detection results, mismatched or substandard canopies are directly eliminated before the glue application operation begins, avoiding the subsequent use of glue application resources on invalid workpieces. This significantly reduces rework and material waste caused by workpiece fundamental issues, ensuring the effective implementation of the glue application operation from the source. Secondly, placing the target canopy based on the center position of the first preset area ensures accurate positioning of the canopy within the glue application area, avoiding glue application position deviations caused by canopy placement offsets. This provides a stable spatial foundation for the accurate implementation of subsequent glue application parameters, reducing glue application position errors caused by positioning errors and affecting subsequent vehicle installation compatibility. Furthermore, by obtaining the canopy design information of the vehicle to be installed and the environmental information of the first preset area to determine the glue application parameters, the limitations of traditional glue application relying on experience to set parameters are overcome. The canopy design information allows the parameters to match the canopy's own structure and installation requirements, while the environmental information allows the parameters to adapt to the on-site working conditions. This makes the glue application parameters both adaptable and environmentally adaptable, fundamentally improving the rationality of the glue application quality and avoiding problems such as insufficient adhesive strength and sealing failure caused by improper parameters. Finally, the completion of the adhesive application is confirmed by a second post-application inspection. This allows for the timely screening of substandard sunroofs after application, preventing them from entering the subsequent vehicle installation process and avoiding risks such as leaks in vehicle sealing or unstable sunroof fixation. This reduces after-sales repair costs and quality concerns throughout the vehicle production chain. Overall, this application effectively improves the accuracy, reliability, and quality control of the adhesive application robot's operation, while reducing resource waste and subsequent production risks, providing crucial assurance for high-quality installation of vehicle sunroofs.

[0050] In one possible embodiment, the adhesive application parameters include a target adhesive application width and a target adhesive layer thickness. Determining the adhesive application parameters based on the canopy design information and the environmental information includes: determining the installation type and canopy size of the target canopy based on the canopy design information; obtaining predicted stress distribution values ​​after the target canopy is installed on the vehicle to be installed under different operating conditions; determining a minimum adhesive application width and a minimum adhesive layer thickness based on the installation type, the canopy size, and the predicted stress distribution values; determining the target adhesive application width based on the environmental information and the minimum adhesive application width; and determining the target adhesive layer thickness based on the environmental information and the minimum adhesive layer thickness.

[0051] The installation types can be categorized based on the connection method between the canopy and the vehicle body, sealing requirements, and stress characteristics. Specifically, they can be classified into three types: rigid fixed type, flexible buffer type, and composite sealing type. Rigid fixed canopies require high-strength rigid connections through adhesive application, demanding that the adhesive layer possess tensile and vibration resistance properties. Flexible buffer type canopies require adhesive application that balances sealing and buffering to absorb vibrations from vehicle movement. Composite sealing type canopies require differentiated adhesive application for different areas, such as the canopy body and frame, and the frame and vehicle body, simultaneously meeting sealing and structural support requirements. The canopy dimensions include not only the overall planar dimensions of the canopy but also the width of the effective adhesive application area at the edges, the fitting dimensions of the mounting groove, and the thickness of the canopy substrate. These dimensional parameters directly determine the boundary range of the adhesive application area and the basic load-bearing space of the adhesive layer.

[0052] Secondly, the stress distribution values ​​after the target sunroof is installed on the vehicle vary under different working conditions, such as rain, snow, high temperature exposure, low temperature, high speed driving, and bumpy road conditions. This predicted stress distribution value is obtained through finite element analysis: first, a three-dimensional assembly model of the target sunroof and the vehicle body is established; then, the material mechanical parameters of the sunroof substrate, adhesive, and vehicle frame are imported; and then load boundary conditions are set for different working conditions, such as applying temperature field loads under high temperature conditions and surface pressure loads under high speed conditions. Stress simulation calculations are performed using finite element analysis software to generate stress distribution cloud maps at the connection points between the sunroof and the adhesive layer on the vehicle body. The maximum principal stress values ​​of each adhesive-coated area are extracted. For example, the maximum stress of 22 MPa in the adhesive-coated area at the edge of the sunroof under bumpy conditions and the maximum stress of 8 MPa in the adhesive-coated area at the center under high speed conditions are the predicted stress distribution values ​​for the corresponding working conditions.

[0053] In practice, after obtaining the installation type, the canopy dimensions, and the predicted stress distribution, the minimum adhesive application width S1 = F / (τ × adhesive layer thickness baseline value) can be derived using the shear strength formula τ = F / S, where τ is the shear strength, F is the stress load, and S is the shear area of ​​the adhesive layer. For example, for a rigid fixed canopy, if its overall dimensions are 1850mm × 920mm, finite element analysis shows that the maximum stress in the edge adhesive area under bumpy conditions is 22MPa, and the shear strength of the adhesive used is 18MPa, then the minimum adhesive application width can be derived using the shear strength formula. Assuming the baseline adhesive layer thickness is 1.5mm, and the stress load F = maximum stress × canopy edge stress area, such as an edge length of 3.7m × width of 0.005m, the calculated minimum adhesive application width must be no less than 12mm. Simultaneously, the requirements for adhesive layer support under the installation type can be determined by combining this with the installation type, and the corresponding adhesive layer thickness can be determined. For example, the rigid installation requires strong adhesive layer support, and the 6mm thickness of the canopy substrate necessitates a minimum adhesive layer thickness of 1.8mm to prevent failure of the rigid connection due to an excessively thin adhesive layer. For flexible, buffer-type canopies, the minimum adhesive application width can be appropriately reduced, such as to 10mm based on the same stress conditions, but the minimum adhesive layer thickness must be increased to 2.2mm to absorb vibration stress through a thicker adhesive layer. For vehicles with smaller canopy sizes, due to the lower overall stress, the minimum adhesive application width and thickness can be reduced by 10%-15% from the above calculations to ensure parameter and dimensional compatibility.

[0054] As can be seen, this application first clarifies the installation type and size of the target canopy based on the canopy design information, then determines the minimum adhesive width and minimum adhesive layer thickness to meet the foundation bearing and sealing requirements by combining the predicted stress distribution values ​​after canopy installation under different working conditions, and finally dynamically optimizes the minimum adhesive parameters based on environmental information to obtain the layered logic of the target adhesive parameters. This improves the scientificity and accuracy of the adhesive parameters from the dimensions of performance adaptation, working condition adaptability, and environmental compatibility, effectively solving the problems of low adaptability of traditional experience-based parameters, adhesive layer failure due to failure to consider working conditions, and poor adhesive consistency due to ignoring environmental variables. Ultimately, it significantly improves the reliability of adhesive quality, reduces after-sales risks such as sealing failure and structural loosening after canopy installation, reduces adhesive waste, and balances performance, efficiency, and cost advantages.

[0055] In one possible embodiment, determining the target adhesive layer thickness based on the environmental information and the minimum adhesive layer thickness includes: determining the temperature and humidity values ​​within the first preset area based on the environmental information; obtaining the adhesive type of the target canopy; and determining the target adhesive layer thickness based on the temperature value, the humidity value, the adhesive type, and the minimum adhesive layer thickness.

[0056] Temperature can alter the viscosity of adhesives. High temperatures decrease viscosity and increase diffusion, potentially leading to a wider application width and thinner adhesive layer. Low temperatures increase viscosity and decrease flowability, resulting in a narrower application width and uneven or excessively thick adhesive layer. Humidity primarily affects the curing state of adhesives. For example, polyurethane adhesives cure faster and shrink more easily in high humidity, potentially leading to insufficient adhesive layer thickness. The application width needs to be fine-tuned to match the shrinkage characteristics of the adhesive. Silicone adhesives are less sensitive to humidity, but excessive humidity can still affect the density of the adhesive layer, indirectly affecting its thickness. The type of adhesive determines its temperature and humidity sensitivity and basic flowability. Low-viscosity adhesives diffuse easily, resulting in a wider application width and thinner thickness. High-viscosity adhesives are easier to control in terms of application width, and the adhesive layer thickness is more easily stabilized within the target range. The combined effect of these three factors directly influences the accuracy of the application width and the uniformity and stability of the adhesive layer thickness.

[0057] When determining the temperature and humidity values ​​within the first preset area based on environmental information, temperature and humidity sensors deployed in the adhesive application area can collect real-time data on ambient air temperature, adhesive application platform surface temperature, and relative humidity, ensuring that the acquired temperature and humidity data accurately reflects the actual environmental conditions for adhesive coating and curing. When determining the adhesive type for the target canopy, the adhesive application robot's control system directly retrieves the appropriate adhesive type from the pre-associated canopy design process file, based on the target canopy's model, such as polyurethane structural adhesives, silicone sealants, or epoxy adhesives.

[0058] As can be seen, this application first determines the temperature and humidity values ​​of the first preset area based on environmental information, then obtains the adhesive type of the target canopy, and finally combines these environmental data, adhesive characteristics, and minimum coating parameters to determine the target coating width and adhesive layer thickness. This allows the coating parameters to be fully adapted to the actual working environment and the characteristics of the adhesive itself, avoiding problems such as coating width deviation and improper adhesive layer thickness caused by traditional parameter settings ignoring environmental influences or adhesive differences. This effectively improves the accuracy of coating parameters, enhances the stability of coating quality, and thus ensures the sealing performance and structural reliability of the subsequent target canopy installation.

[0059] In one possible embodiment, determining the target adhesive layer thickness based on the temperature value, the humidity value, the adhesive type, and the minimum adhesive layer thickness includes: determining a reference adhesive layer thickness based on the humidity value and the minimum adhesive layer thickness; determining whether the temperature value is higher than a preset temperature value; if the temperature value is higher than the preset temperature value, adjusting the reference adhesive layer thickness based on the temperature value to obtain the target adhesive layer thickness; if the temperature value is not higher than the preset temperature value, adjusting the reference adhesive layer thickness based on the preset temperature value to obtain the target adhesive layer thickness.

[0060] The preset temperature value can be the optimal temperature for different types of adhesives, or a temperature generally suitable for all adhesives. When determining the reference adhesive layer thickness based on the minimum adhesive layer thickness and humidity value, adjustments can be made according to the differences in the adhesive's sensitivity to humidity. If the adhesive is humidity-sensitive, when the humidity in the first preset area is higher than the preset humidity, the high humidity will accelerate the adhesive curing and cause slight shrinkage. Therefore, the reference adhesive layer thickness needs to be increased beyond the minimum adhesive layer thickness to avoid insufficient thickness after curing. If the humidity is lower than the preset humidity, the adhesive curing speed is slower and the shrinkage is minimal. The reference adhesive layer thickness can be finely adjusted only from the minimum adhesive layer thickness. If the adhesive is not humidity-sensitive, the reference adhesive layer thickness is basically consistent with the minimum adhesive layer thickness.

[0061] In one possible embodiment, applying adhesive to the target canopy according to the adhesive application parameters includes: determining a temperature value within the first preset area based on the environmental information; determining whether the temperature value is lower than a preset temperature value; if the temperature value is lower than the preset temperature value, determining a temperature difference between the temperature value and the preset temperature value; generating temperature control parameters for a heating device based on the temperature difference, the heating device being used to increase the adhesive supply temperature of the adhesive application device; controlling the heating device according to the temperature control parameters so that the adhesive supply temperature is not lower than the preset temperature value; and controlling the adhesive application device to apply adhesive to the target canopy according to the adhesive application parameters.

[0062] The adhesive application device, such as a glue gun, is equipped with a heating element. If the current ambient temperature is lower than a preset temperature value, the heating parameters can be controlled to raise the glue supply temperature, allowing the adhesive application parameters to be calculated based on the preset temperature value. If the current ambient temperature is higher than the preset temperature value, the adhesive application parameters are calculated based on the actual current ambient temperature.

[0063] As can be seen, this application, by controlling the heating device to raise the adhesive supply temperature of the coating device based on the temperature difference when the ambient temperature is lower than the preset temperature value to ensure that the adhesive supply temperature meets the standard, and by calculating the coating parameters based on the actual ambient temperature when the temperature is higher than the preset temperature value, can effectively offset the adverse effects of temperature fluctuations on the viscosity and flowability of the adhesive. It avoids problems such as uneven coating and layering caused by high adhesive viscosity at low temperatures, or overflow and excessively thin adhesive layers caused by parameter mismatch at high temperatures. It not only ensures the stability of the adhesive supply state, but also improves the accuracy of the coating parameters and the actual temperature conditions. Ultimately, it enhances the controllability of the coating process and the consistency of the coating quality, providing a guarantee for the sealing performance and structural stability of the subsequent canopy installation.

[0064] In one possible embodiment, the method further includes: determining the adhesive type for each coating area of ​​the target canopy; obtaining the material characteristics of the adhesive based on the adhesive type; adjusting the reference adhesive layer thickness according to the temperature value to obtain the target adhesive layer thickness includes: adjusting the reference adhesive layer thickness according to the material characteristics and the temperature value to obtain the target adhesive layer thickness for each coating area; adjusting the reference adhesive layer thickness according to the preset temperature value to obtain the target adhesive layer thickness includes: adjusting the reference adhesive layer thickness according to the material characteristics and the preset temperature value to obtain the target adhesive layer thickness for each coating area.

[0065] Different types of adhesives are often used for different areas of the target canopy due to varying functional requirements, and their corresponding material characteristics also differ significantly. For example, the edge sealing area between the canopy and the vehicle frame requires a focus on waterproofing and weather resistance, and silicone sealant is typically used. This type of adhesive is characterized by excellent low-temperature flexibility and low sensitivity to humidity. The fixing area between the center of the canopy and the sunshade assembly requires high-strength adhesion to resist vehicle bumps and vibrations, and polyurethane structural adhesive can be used. Its material characteristics include high bonding strength at room temperature, slight shrinkage at high temperatures, and sensitivity to temperature changes. For stress concentration areas such as the corners of the canopy, epoxy adhesive can be used to prevent the adhesive layer from cracking due to localized stress. Its material characteristics include poor flowability at low temperatures.

[0066] When adjusting the reference adhesive layer thickness based on material characteristics and temperature values ​​to obtain the target adhesive layer thickness for each coating area, a differentiated adjustment strategy needs to be developed for the differences in adhesive properties in each area. Taking silicone sealant in the edge sealing area as an example, if the reference adhesive layer thickness is 1.2mm, when the temperature value of the first preset area is detected to be 15℃, the viscosity of silicone sealant increases and its fluidity decreases at low temperatures, which can easily lead to uneven coverage of the adhesive layer after coating. It is necessary to adjust the reference adhesive layer thickness by 0.1-0.2mm based on its low shrinkage material characteristics, and determine the target adhesive layer thickness to be 1.3-1.4mm to ensure that the adhesive layer can fully fill the sealing gap.

[0067] As can be seen, in this embodiment, by adjusting the adhesive material characteristics and actual temperature of each area, it can be ensured that the adhesive layer thickness of each coating area can be adapted to its functional requirements, avoiding local coating quality problems caused by a one-size-fits-all adjustment.

[0068] In one possible embodiment, controlling the adhesive application device to apply adhesive to the target canopy according to the adhesive application parameters includes: dividing the adhesive application area of ​​the target canopy into multiple adhesive application sub-areas; and performing the following operations for each adhesive application sub-area: obtaining adhesive application control parameters for the current adhesive application sub-area; controlling the adhesive application device to apply adhesive to the current adhesive application sub-area according to the adhesive application control parameters for the current adhesive application sub-area; obtaining the second detection result of the laser detection device for the current adhesive application sub-area; if the second detection result is a pass, then determining the next adhesive application sub-area as the current adhesive application sub-area; if the second detection result is a fail, then determining that the adhesive application of the current adhesive application sub-area is unqualified.

[0069] The second test result includes the detection of adhesive application width, adhesive layer thickness, adhesive application continuity, presence of air bubbles, presence of missed areas, and whether the deviation between the adhesive line and the baseline of the canopy edge exceeds a preset value. The judgment criteria for the second test result can be shown in Table 1, for example.

[0070] Table 1

[0071]

[0072] If any one of the requirements fails, the task inspection fails. After the current adhesive application sub-area passes inspection, the next adhesive application sub-area is then processed. This adhesive application sub-area can be divided based on the adhesive material; for example, different materials can be used to create different adhesive application sub-areas. Alternatively, it can be divided based on the adhesive application parameters; sub-areas using the same parameters can be grouped into the same sub-area. Specifically, after all adhesive application sub-areas are completed, the entire adhesive application area can be inspected again to obtain a second inspection result.

[0073] As can be seen, in this embodiment, by dividing the target canopy coating area into multiple coating sub-areas according to adhesive materials or coating parameters, coating and inspection operations are performed sequentially on each sub-area. Furthermore, an overall inspection can be performed after coating all sub-areas. This avoids the problems of difficulty in detecting local defects and uneven quality in areas with different materials and parameters in traditional overall coating. It can promptly locate coating problems in individual sub-areas to reduce the cost of large-area rework. At the same time, multi-dimensional inspection and optional overall re-inspection further tighten quality control, effectively improving the accuracy and quality controllability of the coating operation, and enhancing the overall reliability of the target canopy coating.

[0074] In one possible embodiment, after determining that the current glued sub-area is unqualified, the method further includes: determining the unqualified type of the current glued sub-area based on the second detection result, the unqualified type including exceeding or falling below the qualified standard; if the unqualified type is below the qualified standard, generating glue remedial parameters based on the second detection result and the glued control parameters of the current glued sub-area; and controlling the glued device to reapply glue to the current glued sub-area based on the glue remedial parameters.

[0075] Specifically, when it is determined that the adhesive application in the current sub-area is substandard, and the substandard type is below the acceptable standard (e.g., the adhesive width is less than the preset acceptable range, the adhesive layer thickness does not reach the minimum design value, or there are localized missed areas), when generating adhesive remedial parameters based on the second inspection results and the adhesive control parameters of the current sub-area, firstly, specific defect data can be extracted from the second inspection results. For example, if the original adhesive control parameters set the adhesive width to 10mm and the adhesive layer thickness to 1.5mm, the inspection found that the actual adhesive width was only 8mm and the thickness was only 1.2mm, with two missed sections each 50mm in length. Subsequently, the replenishment amount is calculated by combining the original adhesive control parameters and defect data, determining the target replenishment width and target replenishment thickness in the adhesive remedial parameters, and adjusting the adhesive dispensing amount according to the location of the missed sections. In particular, if the adhesive is already in a semi-cured state, the adhesive preheating temperature also needs to be added to the remedial parameters to ensure that the replenished adhesive can effectively bond with the original adhesive layer.

[0076] In one possible embodiment, controlling the adhesive applicator to reapply adhesive to the current adhesive sub-area according to the adhesive remediation parameters includes: determining the defect type based on the second detection result, the defect type including missed coating or breakpoint; determining the coordinates of the defect corresponding to the defect type; determining the adhesive application trajectory based on the coordinates; and controlling the adhesive applicator to reapply adhesive to the current adhesive sub-area according to the adhesive application trajectory and the adhesive remediation parameters.

[0077] When reapplying adhesive based on the adhesive remediation parameters, it is necessary to select an appropriate adhesive application trajectory according to the defect type: if the defect is that the overall adhesive width is too thin and the thickness is insufficient but the trajectory is complete, then control the adhesive application device to reapply along the original adhesive application trajectory. By adjusting the matching relationship between the adhesive application speed and the amount of adhesive dispensed, the adhesive is evenly superimposed on the original trajectory to achieve the target remediation parameters.

[0078] If the defect is a localized missed area, a break in the coating path, or an irregular edge on the original path, such as a significant gap between the missed area and the original coated area, the coating remediation parameters will include a newly generated recoating path. This path can be a smooth-transitioning supplementary path generated based on the coordinates of the defect area obtained by the laser detection device and the edge contour of the original coating path. When the coating device recoats along the new path, it can also correct the positional deviation in real time through a visual positioning module to avoid misalignment or excessive overlap between the recoating area and the original coated area, ultimately achieving the integrity and consistency of the coating layer after recoating, meeting the qualification standard requirements.

[0079] As can be seen, this application, after determining that a sub-area of ​​adhesive application is unqualified, first distinguishes between unqualified types that exceed or fall below the qualified standard based on the second test result. For cases that fall below the qualified standard, it generates precise adhesive application remedial parameters by combining the test result with the adhesive application control parameters of the current sub-area, and then controls the adhesive application device to reapply the adhesive. This avoids the waste of resources caused by directly discarding unqualified areas that fall below the standard in the traditional way, or the quality fluctuations caused by blindly reapplying the adhesive. It can not only achieve precise repair of unqualified areas and improve the overall qualified rate of adhesive application, but also ensure that the quality of the adhesive layer after reapplying meets the standard, effectively enhancing the economy and reliability of adhesive application operations.

[0080] In one possible embodiment, when the non-compliance type is higher than the acceptance standard, the method further includes: moving the target canopy to a second preset area; generating alarm information, the alarm information being used to indicate that the adhesive application is unqualified; after obtaining the deactivation information for the alarm information, moving the target canopy to the first preset area; and determining the next adhesive application sub-area as the current adhesive application sub-area.

[0081] The second preset area is designated for placing the canopy with adhesive application errors. This area is used for manual correction and adhesive application to the sub-areas where adhesive application is substandard. After manual application, an alarm is sent to the adhesive application robot, which then re-carries the target canopy to apply adhesive to subsequent sub-areas.

[0082] As can be seen, this application, by moving the target canopy to a second preset area and generating an alarm when the non-conformity type exceeds the acceptable standard, and then returning to the first preset area to continue subsequent adhesive application after receiving alarm clearance information, avoids the waste of resources caused by directly discarding non-conformities exceeding the standard due to machine repair difficulties, and also prevents the interruption of the overall adhesive application process by a single area problem. It can both accurately handle defects that are difficult for machines to repair manually and ensure the continuous progress of adhesive application, effectively improving the overall adhesive application pass rate and work efficiency, and enhancing the controllability and flexibility of the adhesive application process.

[0083] Please see Figure 4 , Figure 4A schematic diagram illustrating the functional components of a glue-applying robot is provided. The glue-applying robot may include: a processor 410, a communication interface 420, a memory 430, and a communication bus 440. The processor 410, the communication interface 420, and the memory 430 communicate with each other through the communication bus 440. The processor 410 can call the computer program in the memory 430 to execute a glue-applying robot control method. The method includes: if the first detection result is a pass, moving the target canopy to a first preset area and placing the target canopy in the first preset area based on the center position of the first preset area, wherein the first detection result includes detection results for the model and quality of the target canopy; acquiring the canopy design information of the vehicle to be installed corresponding to the target canopy and the environmental information of the first preset area; determining glue-applying parameters based on the canopy design information and the environmental information; applying glue to the target canopy according to the glue-applying parameters; and confirming that the glue-applying of the target canopy is completed after obtaining a second detection result for the glued target canopy as a pass, wherein the second detection result is used to indicate the glue-applying quality.

[0084] Furthermore, the logical instructions in the aforementioned memory 430 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0085] On the other hand, the present invention also provides a non-transitory computer-readable storage medium storing a computer program thereon. When executed by a processor, the computer program implements a glue-applying control method for a glue-applying robot provided by the above methods. The method includes: if a first detection result is obtained and the detection is passed, moving a target canopy to a first preset area and placing the target canopy in the first preset area based on the center position of the first preset area, wherein the first detection result includes detection results for the model and quality of the target canopy; obtaining canopy design information of the vehicle to be installed corresponding to the target canopy and environmental information of the first preset area; determining glue-applying parameters based on the canopy design information and the environmental information; applying glue to the target canopy according to the glue-applying parameters; and confirming that the glue-applying of the target canopy is completed after obtaining a second detection result for the glue-applying target canopy and the detection result is obtained and the detection result is obtained, wherein the second detection result is used to indicate the glue-applying quality.

[0086] In another aspect, this application also provides a computer program product, including a computer program that, when executed by a processor, implements a glue-applying control method for any of the glue-applying robots described above. The method includes: if a first detection result indicates that the detection has passed, moving a target canopy to a first preset area and placing the target canopy in the first preset area based on its center position; the first detection result includes detection results regarding the model and quality of the target canopy; acquiring canopy design information of the vehicle to be installed corresponding to the target canopy and environmental information of the first preset area; determining glue-applying parameters based on the canopy design information and the environmental information; applying glue to the target canopy according to the glue-applying parameters; and confirming that the glue-applying of the target canopy is complete after obtaining a second detection result indicating that the detection has passed, the second detection result indicating the glue-applying quality.

[0087] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0088] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A glue-applying robot glue-applying control method, characterized in that, Applied to a glue-applying robot, the method includes: If the first test result is that the test is passed, the target canopy is moved to the first preset area and placed in the first preset area based on the center position of the first preset area. The first test result includes the test results for the model and quality of the target canopy. Obtain the canopy design information of the vehicle to be installed corresponding to the target canopy and the environmental information of the first preset area; The installation type and size of the target canopy are determined based on the canopy design information; Obtain predicted stress distribution values ​​after the target canopy is installed on the vehicle to be installed under different working conditions; The minimum adhesive width and minimum adhesive layer thickness are determined based on the installation type, the canopy size, and the predicted stress distribution. The target adhesive width is determined based on the environmental information and the minimum adhesive width. The target adhesive layer thickness is determined based on the environmental information and the minimum adhesive layer thickness. The coating parameters include the target coating width and the target adhesive layer thickness. The temperature value within the first preset area is determined based on the environmental information; Determine whether the temperature value is lower than the preset temperature value; If the temperature value is lower than the preset temperature value, then the temperature difference between the temperature value and the preset temperature value is determined. The temperature control parameters of the heating device are generated based on the temperature difference, and the heating device is used to increase the glue supply temperature of the glue coating device. The heating device is controlled according to the temperature control parameters to ensure that the glue supply temperature is not lower than the preset temperature value; The adhesive application device is controlled to apply adhesive to the target canopy according to the adhesive application parameters; After obtaining a second test result indicating that the target canopy has passed the adhesive coating process, the adhesive coating of the target canopy is confirmed to be complete. The second test result is used to indicate the quality of the adhesive coating.

2. The method according to claim 1, characterized in that, Determining the target adhesive layer thickness based on the environmental information and the minimum adhesive layer thickness includes: The temperature and humidity values ​​within the first preset area are determined based on the environmental information. Obtain the type of adhesive used for the target canopy; The target adhesive layer thickness is determined based on the temperature value, the humidity value, the adhesive type, and the minimum adhesive layer thickness.

3. The method according to claim 2, characterized in that, Determining the target adhesive layer thickness based on the temperature value, the humidity value, the adhesive type, and the minimum adhesive layer thickness includes: The reference adhesive layer thickness is determined based on the humidity value and the minimum adhesive layer thickness. Determine whether the temperature value is higher than the preset temperature value; If the temperature value is higher than the preset temperature value, the reference adhesive layer thickness is adjusted according to the temperature value to obtain the target adhesive layer thickness; If the temperature value is not higher than the preset temperature value, the reference adhesive layer thickness is adjusted according to the preset temperature value to obtain the target adhesive layer thickness.

4. The method according to claim 3, characterized in that, The method further includes: Determine the type of adhesive used in each coating area of ​​the target canopy; The material characteristics of the adhesive are obtained according to the type of adhesive; The step of adjusting the reference adhesive layer thickness according to the temperature value to obtain the target adhesive layer thickness includes: The reference adhesive layer thickness is adjusted according to the material characteristics and the temperature value to obtain the target adhesive layer thickness for each coating area. The step of adjusting the reference adhesive layer thickness according to the preset temperature value to obtain the target adhesive layer thickness includes: The reference adhesive layer thickness is adjusted according to the material characteristics and the preset temperature value to obtain the target adhesive layer thickness for each coating area.

5. The method according to claim 1, characterized in that, The step of controlling the adhesive application device to apply adhesive to the target canopy according to the adhesive application parameters includes: The adhesive coating area of ​​the target canopy is divided into multiple adhesive coating sub-areas; Perform the following operations for each glued sub-area: Obtain the adhesive application control parameters for the current adhesive application sub-region; The adhesive application device is controlled to apply adhesive to the current adhesive application sub-region according to the adhesive application control parameters of the current adhesive application sub-region. Obtain the second detection result of the laser detection device on the currently coated sub-region; If the second detection result is a pass, then the next glued area is determined to be the current glued area; If the second test result is "test failed", then the current glued sub-area is determined to be unqualified.

6. The method according to claim 5, characterized in that, After determining that the current glued sub-area is unqualified, the method further includes: Based on the second test result, the type of non-compliance of the current glued sub-area is determined, and the type of non-compliance includes exceeding or falling below the pass standard; If the non-compliance type is below the acceptance standard, adhesive remediation parameters are generated based on the second test result and the adhesive control parameters of the current adhesive sub-area. The adhesive application device is controlled to reapply adhesive to the currently applied sub-area according to the adhesive remediation parameters.

7. A glue-applying robot, characterized in that, It includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, implements the method as claimed in any one of claims 1 to 6.

8. A non-transitory computer-readable storage medium, characterized in that, It stores a computer program that, when executed by a processor, implements the method as described in any one of claims 1 to 6.

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