Gluing method, device, equipment, storage medium and program product

Abstract

The invention discloses a gluing method, device and equipment, a storage medium and a program product. According to the method, under the condition that current gluing operation is interrupted, a first coordinate of a gluing interruption point and an overall gluing track of the current gluing operation are obtained, then a first gluing length corresponding to the position from a first starting point of the overall gluing track to the gluing interruption point is determined, and under the condition that the current gluing operation is determined to continue to be executed, the first coordinate of the gluing interruption point is determined. According to the first coordinate of the gluing interruption point, the first gluing length and the overall gluing track, the local gluing track with the gluing interruption point as the second starting point is determined, the execution mechanism is controlled to continue gluing with the interruption point as the starting point along the regenerated local gluing track, the glued part does not need to be removed for re-gluing, the gluing efficiency is improved, and the gluing time is shortened. And meanwhile, glue is saved.

Description

Technical Field

[0001] This application belongs to the field of battery manufacturing technology, and in particular relates to a coating method, apparatus, equipment, storage medium and process product. Background Technology

[0002] During the manufacturing process of the battery pack, thermally conductive adhesive is applied between the module and the lower casing to form a stable heat conduction channel. This efficiently transfers the heat generated during the charging and discharging of the battery pack to the heat dissipation system, ensuring the safety and lifespan of the battery pack during long-term operation. It also serves to bond the structure, buffer vibrations, and prevent displacement.

[0003] In related technologies, if the glue runs out or an abnormal situation occurs during the glue application process, the ongoing glue application operation is interrupted, the glue application program is reset, and the glue application needs to be restarted after the problem is resolved. This results in a waste of glue application time and thermally conductive glue, leading to a low glue application rate. Summary of the Invention

[0004] This application provides a glue application method, apparatus, device, storage medium, and program product. For interrupted glue application operations, it can continue applying glue along the newly generated local glue application trajectory, starting from the glue application interruption point, without having to remove the already applied glue and reapply it, thus improving glue application efficiency and saving glue.

[0005] In a first aspect, embodiments of this application provide an adhesive application method, applied to an adhesive application device, the adhesive application device including an actuator; the method includes: If the current gluing operation is confirmed to be interrupted, obtain the first coordinates of the gluing interruption point and the overall gluing trajectory of the current gluing operation. Based on the first coordinates of the glue application interruption point and the overall glue application trajectory, determine the first glue application length from the first starting point of the overall glue application trajectory to the glue application interruption point; If it is determined to continue the current gluing operation, a local gluing trajectory is determined with the gluing interruption point as the second starting point, based on the first coordinate of the gluing interruption point, the first gluing length, and the overall gluing trajectory. The actuator is controlled to continue applying adhesive along the local adhesive application trajectory.

[0006] Secondly, embodiments of this application also provide an adhesive application device, applied to an adhesive application equipment, the adhesive application equipment including an actuator; the device includes: The acquisition module is used to acquire the first coordinates of the glue application interruption point and the overall glue application trajectory of the current glue application operation when it is confirmed that the current glue application operation is interrupted. The first determining module is used to determine the first adhesive application length from the first starting point of the overall adhesive application trajectory to the adhesive application interruption point based on the first coordinates of the adhesive application interruption point and the overall adhesive application trajectory. The second determining module is used to determine a local adhesive application trajectory with the adhesive application interruption point as the second starting point, based on the first coordinate of the adhesive application interruption point, the first adhesive application length, and the overall adhesive application trajectory, when it is determined to continue the current adhesive application operation. The control module is used to control the actuator to continue applying adhesive along the local adhesive application trajectory.

[0007] Thirdly, embodiments of this application also provide an adhesive coating device, the adhesive coating device including: a processor and a memory storing computer program instructions; the processor executes the computer program instructions to implement the adhesive coating method provided in the first aspect of this application.

[0008] Fourthly, embodiments of this application also provide a computer-readable storage medium storing computer program instructions, which, when executed by a processor, implement the adhesive application method provided in the first aspect of this application.

[0009] Fifthly, embodiments of this application also provide a computer program product, wherein when the instructions in the computer program product are executed by the processor of the adhesive coating device, the adhesive coating device performs the adhesive coating method provided in the first aspect of this application.

[0010] The technical solution provided in this application has at least the following beneficial effects: The gluing method, apparatus, equipment, storage medium, and program product provided in this application, when the current gluing operation is interrupted, obtain the first coordinates of the gluing interruption point and the overall gluing trajectory of the current gluing operation, and then determine the first gluing length corresponding to the gluing interruption point. If it is determined to continue the current gluing operation, the actuator is controlled to continue gluing along the newly generated local gluing trajectory starting from the interruption point, without having to remove the already glued part and re-glu, which improves gluing efficiency and helps to save glue. Attached Figure Description

[0011] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments of this application will be briefly introduced below. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0012] Figure 1 This is a schematic flowchart of an adhesive application method provided in one embodiment of this application; Figure 2This is a schematic diagram of an overall adhesive application trajectory (before adhesive application) provided in one embodiment of this application; Figure 3 This is a schematic diagram of an overall adhesive application trajectory (adhesive application interruption) provided in one embodiment of this application; Figure 4 This is a detailed flowchart of S120 provided in one embodiment of this application; Figure 5 This is a schematic diagram illustrating the working principle of an overall adhesive application trajectory mapper provided in one embodiment of this application; Figure 6 This is a detailed flowchart of S122 provided in one embodiment of this application; Figure 7 This is a detailed flowchart of S130 provided in one embodiment of this application; Figure 8 This is a schematic flowchart of another adhesive application method provided in one embodiment of this application; Figure 9 This is a schematic flowchart of another adhesive application method provided in one embodiment of this application; Figure 10 This is a schematic diagram of the structure of an adhesive applicator provided in one embodiment of this application; Figure 11 This is a schematic diagram of the structure of an adhesive coating device provided in another embodiment of this application. Detailed Implementation

[0013] The features and exemplary embodiments of various aspects of this application will be described in detail below. To make the objectives, technical solutions, and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain this application and not to limit it. For those skilled in the art, this application can be implemented without some of these specific details. The following description of the embodiments is merely to provide a better understanding of this application by illustrating examples.

[0014] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes said element.

[0015] In related technologies, if the glue application process is interrupted, the already glued portion needs to be removed before resuming, resulting in wasted glue application time, reduced efficiency, and some degree of glue waste. To prevent glue application interruptions due to insufficient glue, an alarm is triggered to prompt glue replacement when the remaining glue in the glue container is insufficient to coat a single product (e.g., a battery cell or a battery pack). At this point, the remaining glue is relatively large, approximately 1 liter, representing about 7% of the total glue wasted. This increases glue consumption and consequently, manufacturing costs.

[0016] To address the aforementioned technical problems, embodiments of this application provide a glue application method, apparatus, device, storage medium, and program product. This glue application method, applied to a glue application device, includes: upon confirming an interruption of the current glue application operation, acquiring the first coordinates of the glue application interruption point and the overall glue application trajectory of the current operation; determining a first glue application length from the first starting point of the overall glue application trajectory to the interruption point based on the first coordinates of the interruption point and the overall glue application trajectory; upon confirming the continuation of the current glue application operation, determining a local glue application trajectory with the interruption point as a second starting point based on the first coordinates of the interruption point, the first glue application length, and the overall glue application trajectory; and controlling an execution mechanism to continue applying glue along the local glue application trajectory. Based on this, when the current glue application operation is interrupted, acquiring the first coordinates of the interruption point and the overall glue application trajectory of the current operation, and then determining the first glue application length corresponding to the interruption point, and upon confirming the continuation of the current glue application operation, controlling the execution mechanism to continue applying glue along the newly generated local glue application trajectory starting from the interruption point, eliminates the need to clear the already applied glue and reapply, improving glue application efficiency and saving glue.

[0017] The adhesive application method provided in the embodiments of this application will be described below.

[0018] Figure 1A schematic flowchart of an adhesive application method according to an embodiment of this application is shown. Figure 1 As shown, the adhesive application method is applied to an adhesive application equipment, which includes an actuator. The adhesive application method may include the following steps: S110~S140.

[0019] S110. If it is confirmed that the current glue application operation is interrupted, obtain the first coordinates of the glue application interruption point and the overall glue application trajectory of the current glue application operation.

[0020] In this step, if the remaining glue in the glue bucket is less than or equal to the first preset amount, it indicates that the glue in the bucket is used up and a new glue bucket needs to be replaced. The current glue application operation should then be interrupted. Alternatively, in case of an abnormal situation, the user can press the emergency stop control, which will respond to the user's action and confirm the interruption of the current glue application operation.

[0021] As an example, the first preset amount is determined based on the minimum amount of glue that can be detected in the glue bucket.

[0022] As an example, when the glue bucket can no longer supply glue to the glue application equipment, i.e., the remaining glue in the glue bucket reaches its minimum value, a first preset amount is determined based on the minimum remaining glue amount. For example, the first preset amount is 0.1L.

[0023] As an example, the actuator includes a robotic arm and a glue head. The robotic arm moves the glue head along the overall glue application trajectory of the current glue application operation and completes the glue application during the movement. If the current glue application operation is interrupted, the robotic arm stops moving, obtains the coordinates of the glue head's stopping position, performs a stringing action at that coordinate, and then moves the robotic arm back to its initial pose. The coordinates of the glue head's stopping position are used as the first coordinates of the interruption point.

[0024] The overall adhesive application trajectory for the current application operation is generated before the current application operation is executed.

[0025] For example, such as Figure 2 As shown, the overall adhesive application trajectory may include the coordinates of the first starting point and multiple trajectory points (i.e., P1~P...). 14 The coordinates of the trajectory points, the glue application length corresponding to each trajectory point, and multiple glue application paths are provided. Adjacent trajectory points are connected by their corresponding glue application paths. The first trajectory point P1 is the starting point of the overall glue application trajectory, with a corresponding glue application degree of 0. Subsequent trajectory points (i.e., P2~P...) 14 The corresponding glue application lengths are the cumulative lengths of the glue application path located between the first starting point and the corresponding trajectory point. For example... Figure 3 As shown, when the current glue application operation is interrupted, the projection of the glue head's stopping position in the vertical direction is the glue application interruption point P. The coordinates of the glue head's stopping position are taken as the first coordinates of the glue application interruption point P.

[0026] As an example, if the current glue application operation is confirmed to be interrupted, an interruption signal is sent to the control system of the glue application equipment. After receiving the interruption signal, the control system immediately saves the current motion state of the actuator and reads the precise position of the glue head through the encoder, recording it as the first coordinate of the glue application interruption point.

[0027] S120. Based on the first coordinate of the glue application interruption point and the overall glue application trajectory, determine the first glue application length from the first starting point of the overall glue application trajectory to the glue application interruption point.

[0028] In this step, based on the first coordinate of the glue application interruption point, the position of the glue application interruption point in the overall glue application trajectory can be determined, and then the first target trajectory point and the second target trajectory point can be determined. The glue application interruption point is located between the first target trajectory point and the second target point. Combining the coordinates of the first target trajectory point and the second target point and the corresponding glue application length, the first glue application length of the glue application interruption point can be determined.

[0029] For example, such as Figure 3 As shown, based on the first coordinate (x, y) of the glue application interruption point P, it is determined that the glue application interruption point P is located between the seventh trajectory point P7 and the eighth trajectory point P8 in the overall glue application trajectory. Based on the coordinates of the seventh trajectory point P7, the eighth trajectory point P8, and the coordinates of the glue application interruption point P, the glue application length between the glue application interruption point P and the seventh trajectory point P7 is calculated. Adding the glue application length corresponding to the seventh trajectory point P7, the first glue application length from the first starting point of the overall glue application trajectory to the glue application interruption point can be obtained.

[0030] It should be noted that, Figure 2 and Figure 3 This illustration only demonstrates one overall adhesive application trajectory, where the application path is a straight line segment, and does not constitute a limitation on the adhesive application method provided in the embodiments of this application. In other embodiments, the overall adhesive application trajectory and application path can be flexibly set according to requirements, and the application path may also include arc segments or wavy segments, which are not limited here.

[0031] S130. If it is determined to continue the current glue application operation, based on the first coordinate of the glue application interruption point, the first glue application length, and the overall glue application trajectory, determine the local glue application trajectory with the glue application interruption point as the second starting point.

[0032] The local adhesive application trajectory includes the adhesive application trajectory located after the adhesive application interruption point in the overall adhesive application trajectory, that is, the adhesive application trajectory between the adhesive application interruption point and the end point of the overall adhesive application trajectory.

[0033] In this step, after eliminating the cause of the abnormal situation or replacing the glue bucket, confirm the continuation of the current glue application operation. Based on the first glue application length corresponding to the glue application interruption point, determine the trajectory points in the overall glue application trajectory that have not been glued. Then, based on the coordinates of the trajectory points that have not been glued and the coordinates of the glue application interruption point, regenerate a local glue application trajectory with the glue application interruption point as the second starting point.

[0034] Continue with Figure 3 For example, if it is determined to continue the current glue application operation, based on the first glue application length corresponding to the glue application interruption point P and the glue application length corresponding to each trajectory point in the overall glue application trajectory, the trajectory points in the overall glue application trajectory that have not been glued are determined to be P8~P8. 14 Based on the first coordinate of the glue application interruption point P and the trajectory points P8~P 14 The coordinates are used to regenerate the local adhesive application trajectory, i.e., {(x, y), (x8, y8), (x9, y9), ..., (x... 14 y 14 )}.

[0035] S140, Control the actuator to continue applying adhesive along the local adhesive application trajectory.

[0036] In this step, the local glue application trajectory, with the glue application interruption point as the second starting point, is issued as a new glue application task to the actuator. The actuator performs the glue application operation according to the new task. The actuator moves from the initial pose to the glue application interruption point and continues to apply glue along the local glue application trajectory with the glue application interruption point as the starting point. This achieves the effect of stopping glue application at the glue application interruption point and resuming glue application at the glue application interruption point after confirming the continuation of the current glue application operation. There is no need to reapply glue, which improves glue application efficiency and helps to save glue.

[0037] The adhesive application method provided in this application can continue adhesive application at the interruption point. Before performing the adhesive application operation, it is no longer necessary to check whether the remaining amount of adhesive is sufficient to produce a battery pack. This can reduce the amount of residual adhesive in the adhesive container, significantly save adhesive usage, and thus save production costs. More importantly, it does not require the removal of the already applied adhesive, avoiding material waste and greatly saving adhesive application time, thereby improving production efficiency.

[0038] It should be noted that this solution can be applied not only to the production of battery packs but also to other products involving adhesive coating processes, demonstrating good reusability. Furthermore, the adhesive coating method provided in this application requires no hardware investment and can be implemented simply through program optimization and adjustments.

[0039] The adhesive application method provided in this application, when the current adhesive application operation is interrupted, obtains the first coordinates of the adhesive application interruption point and the overall adhesive application trajectory of the current adhesive application operation, and then determines the first adhesive application length corresponding to the adhesive application interruption point. If it is determined to continue the current adhesive application operation, the execution mechanism is controlled to continue applying adhesive along the newly generated local adhesive application trajectory starting from the interruption point, without needing to reapply adhesive, thus improving adhesive application efficiency and saving adhesive.

[0040] In one embodiment, the overall adhesive application trajectory includes the starting coordinates of the first starting point, the coordinates of multiple trajectory points, the adhesive application length corresponding to each trajectory point, and multiple adhesive application paths. Adjacent two trajectory points are connected by corresponding adhesive application paths, and the adhesive application length corresponding to each trajectory point is the cumulative length of the adhesive application path located between the first starting point and the corresponding trajectory point.

[0041] The overall adhesive application trajectory is divisible, supporting interruption and continuation at any point, allowing adhesive application to resume after an interruption.

[0042] For example, in the overall adhesive application trajectory, each trajectory point is represented by P. i (i=1~n) represents the trajectory points P compared to the first starting point. i The adhesive application length is in S i Each trajectory point P i The coordinates are in (x) i y i ) represents, where n indicates that the overall adhesive application trajectory includes n trajectory points, x i The x-coordinate of the trajectory point, y i S represents the ordinate of the trajectory point. i This indicates the adhesive application length corresponding to the trajectory point. (Combined with...) Figure 2 or Figure 3 Define the overall adhesive application trajectory as S traj S traj =[x i y i S i ], i=1~14.

[0043] Accordingly, such as Figure 4 As shown, based on the first coordinate of the glue application interruption point and the overall glue application trajectory, the first glue application length from the first starting point of the overall glue application trajectory to the interruption point is determined. That is, S120 may include the following steps: S121~S123.

[0044] S121. Based on the first coordinate of the glue application interruption point and the coordinates of each trajectory point, determine the first target trajectory point and the second target trajectory point.

[0045] In this step, since the robotic arm moves the glue head along the overall glue application trajectory during the glue application process, the difference between the actual glue application trajectory and the overall glue application trajectory is very small. The glue application interruption point will most likely be located on the glue application path between two adjacent trajectory points, or the distance between it and the glue application path will be less than or equal to the set distance threshold. Therefore, by comparing the first coordinate of the glue application interruption point with the coordinates of each trajectory point in the overall glue application trajectory, the approximate position of the glue application interruption point in the overall glue application trajectory can be determined, and then the first target trajectory point and the second target trajectory point can be determined. The glue application interruption point is located between the first target trajectory point and the second target trajectory point.

[0046] S122. Based on the first coordinate of the glue application interruption point, the second coordinate of the first target trajectory point, the third coordinate of the second target trajectory point, the second glue application length corresponding to the first target trajectory point, and the third glue application length of the second target trajectory point, determine the fourth glue application length from the first target trajectory point to the glue application interruption point.

[0047] In this step, based on the first coordinates of the glue application interruption point, the second coordinates of the first target trajectory point, and the third coordinates of the second target trajectory point, the first distance between the first target trajectory point and the glue application interruption point, and the second distance between the first target trajectory point and the second target trajectory point can be calculated, and then the ratio of the first distance to the second distance can be obtained; based on the second glue application length corresponding to the first target trajectory point and the third glue application length of the second target trajectory point, the glue application length of the glue application path located between the first target trajectory point and the second target trajectory point can be obtained; by multiplying the glue application length of the glue application path between the first target trajectory point and the second target trajectory point and the ratio of the first distance to the second distance, the fourth glue application length from the first target trajectory point to the glue application interruption point can be obtained.

[0048] If the adhesive application path between the first target trajectory point and the second target trajectory point is a straight line segment, the first distance between the first target trajectory point and the adhesive application interruption point is equal to the fourth adhesive application length from the first target trajectory point to the adhesive application interruption point.

[0049] S123. The cumulative length of the second and fourth adhesive application lengths of the first target trajectory point is used to determine the first adhesive application length of the adhesive application interruption point.

[0050] In this step, the cumulative length of the second and fourth adhesive application lengths is calculated to obtain the first adhesive application length at the adhesive application interruption point.

[0051] The adhesive application method provided in this application divides the first adhesive application length at the adhesive application interruption point along the overall adhesive application trajectory into two parts: a second adhesive application length corresponding to the first target trajectory point and a fourth adhesive application length between the first target trajectory and the adhesive application interruption point. The second adhesive application length is the original data stored in the overall adhesive application trajectory, not the actual adhesive application length recorded during the adhesive application process. This avoids the length inaccuracy problem that may occur at turning points when recording the adhesive application length according to the control cycle. At the same time, the first target trajectory point and the adhesive application interruption point are located on the same adhesive application path, and the distance between them is calculated in a simple and highly accurate way, which can accurately determine the first adhesive application length at the adhesive application interruption point.

[0052] For example, such as Figure 5 As shown, the glue coating equipment includes an overall glue coating trajectory mapper, which is configured to be based on the first coordinates (x, y) of the input glue coating interruption point P, the previous trajectory point passed through, and the overall glue coating trajectory S. traj Output the first glue application length S corresponding to the glue application interruption point. r For details on the specific processing procedure, please refer to the explanations in S121 to S123, which will not be repeated here.

[0053] In one embodiment, such as Figure 6 As shown, based on the first coordinate of the glue application interruption point, the second coordinate of the first target trajectory point, the third coordinate of the second target trajectory point, the second glue application length corresponding to the first target trajectory point, and the third glue application length of the second target trajectory point, the fourth glue application length from the first target trajectory point to the glue application interruption point is determined, that is, S122 may include the following steps: S1221~S1223.

[0054] S1221. The adhesive application path located between the first target trajectory point and the second target trajectory point is determined as the target adhesive application path.

[0055] S1222. Determine the fifth adhesive application length of the target adhesive application path based on the second adhesive application length corresponding to the first target trajectory point and the third adhesive application length of the second target trajectory point.

[0056] In this step, in the overall adhesive application trajectory, the first target trajectory point and the second target trajectory point are two adjacent trajectory points. The difference between the third adhesive application length corresponding to the second target trajectory point and the second adhesive application length corresponding to the first target trajectory point is the fifth adhesive application length of the target adhesive application path.

[0057] S1223. Based on the first coordinate of the glue application interruption point, the second coordinate of the first target trajectory point, and the third coordinate of the second target trajectory point, determine the first distance between the glue application interruption point and the first target trajectory point, and the second distance between the first target trajectory point and the second target trajectory point.

[0058] In this step, the glue application interruption point is located between the first target trajectory point and the second target trajectory point. Based on the first coordinate of the glue application interruption point and the second coordinate of the first target trajectory point, the first distance between the first target trajectory point and the glue application interruption point can be determined. Based on the second coordinate of the first target trajectory point and the third coordinate of the second target trajectory point, the second distance between the first target trajectory point and the second target trajectory point can be determined.

[0059] S1224. Based on the ratio of the first distance to the second distance and the fifth adhesive application length of the target adhesive application path, determine the fourth adhesive application length from the first target trajectory point to the adhesive application interruption point.

[0060] In this step, the ratio of the first distance to the second distance represents the proportion of the distance between the glue application interruption point and the first target trajectory point on the target glue application path. By multiplying the fifth glue application length of the target glue application path with the ratio of the first distance to the second distance, the fourth glue application length from the first target trajectory point to the glue application interruption point can be determined more accurately.

[0061] In one embodiment, such as Figure 7 As shown, based on the first coordinate of the glue application interruption point, the first glue application length, and the overall glue application trajectory, a local glue application trajectory with the glue application interruption point as the second starting point is determined. That is, S130 may include the following steps: S131~S132.

[0062] S131. Based on the first glue application length corresponding to the glue application interruption point and the glue application length corresponding to each trajectory point, the trajectory points with a glue application length greater than the first glue application length are determined as the third target trajectory points.

[0063] In this step, the adhesive application length corresponding to each trajectory point is compared with the first adhesive application length corresponding to the adhesive application interruption point. Trajectory points with adhesive application lengths greater than the first adhesive application length are those that have not been coated with adhesive in the overall adhesive application trajectory. These uncoated trajectory points are identified as the third target trajectory points. The third target trajectory point includes at least one trajectory point.

[0064] S132. Based on the first coordinate of the glue application interruption point and the fourth coordinate of the third target trajectory point, determine the local glue application trajectory with the glue application interruption point as the second starting point.

[0065] In this step, the coordinates of the second starting point of the local adhesive application trajectory are determined based on the first coordinates of the adhesive application interruption point; based on the coordinates of the second starting point and the fourth coordinates of the third target trajectory point, the local adhesive application trajectory with the adhesive application interruption point as the second starting point is regenerated.

[0066] For example, if it is determined that the current glue application task should continue, the glue application equipment retrieves the first coordinates (x, y) of the glue application interruption point P before the glue application was stopped and the first glue application length S. rSearch within the overall adhesive application trajectory for an application length greater than the first application length S. r The trajectory points are identified, and the uncoated trajectory points are sorted in ascending order of coating length to obtain the target trajectory point sequence. Taking the first coordinate (x, y) of the coating interruption point P as the starting point, a local coating trajectory is generated from the coating interruption point P onwards, based on the coordinates of the target trajectory point sequence. The local coating trajectory includes {(x, y), (x...y)...} r+1 y r+1 ), (x r+2 y r+2 ), ..., (x n y n )}.

[0067] In one embodiment, the adhesive application device further includes an image acquisition module. As an example, the image acquisition module may include a charge-coupled device (CCD).

[0068] Accordingly, if it is confirmed that the current adhesive application operation is interrupted, the method may further include the following steps: The first image of the area where the glue application interruption point is located is obtained through the image acquisition module.

[0069] In this step, while interrupting the current glue application operation, an image acquisition module is used to capture an image of the area where the glue application interruption point is located, obtaining a first image of the region where the glue application interruption point is located. The first image can reflect the true position of the glued end, that is, the first coordinate position of the glue application interruption point. The first image can be used as a reference image.

[0070] Prior to S140, the method may further include the following steps: The second image of the area where the glue application interruption point is located is obtained through the image acquisition module; Based on the comparison results between the first image and the second image, the positional deviation of the glue application interruption point is determined; The coordinates of the second starting point are corrected based on the positional deviation.

[0071] In this embodiment, if it is determined that the current glue application operation should continue, a second image, i.e., a real-time image, of the area where the glue application interruption point is located is acquired again through the image acquisition module. Then, the first image and the second image are compared, and key features of the two images (such as the glue application end or workpiece marker points) are extracted. Pixel-level matching is performed to determine the positional deviation between the glue application interruption point in the first image and the corresponding glue application interruption point in the second image. The coordinates of the second starting point are corrected based on the positional deviation to compensate for the positional deviation. By correcting the coordinates of the second starting point of the local glue application trajectory, the actuator can accurately move to the glue application interruption point and start the subsequent glue application.

[0072] To ensure uniform glue quantity at the start and end points, special process settings were implemented to allow for early glue dispensing and delayed glue shut-off.

[0073] In one embodiment, the adhesive applicator further includes an adhesive dispensing mechanism. As an example, the adhesive dispensing mechanism includes an adhesive valve.

[0074] Before the control actuator continues applying adhesive along the local adhesive application trajectory, the method may further include the following steps: The pre-dispensing distance is determined based on the moving speed of the actuator and the response time of the dispensing mechanism. The coordinates of the second starting point are corrected based on the pre-dispensing distance.

[0075] The moving speed of the actuator refers to its speed in the direction parallel to the glue application plane. The response time of the dispensing mechanism refers to the cumulative time from receiving the dispensing command to the actual dispensing. As an example, the response time of the dispensing mechanism can be determined based on the vertical clearance of the glue hose and the glue dispensing speed of the glue machine. For instance, the ratio of the vertical clearance of the glue hose to the glue dispensing speed of the glue machine can be used to determine the response time of the dispensing mechanism.

[0076] In this embodiment, based on the moving speed of the actuator and the response time of the dispensing mechanism, the moving distance of the actuator within the response time (i.e., the pre-dispensing distance) is calculated. In the dispensing direction, the pre-dispensing distance is moved in the reverse direction from the first coordinate of the dispensing interruption point, and this distance is set as the new dispensing starting point, ensuring the consistency and overlap of the actual dispensing line. As an example, the product of the moving speed of the actuator and the response time of the dispensing mechanism is determined as the pre-dispensing distance.

[0077] In some embodiments, the method may further include the following steps: The coordinates of the second starting point are corrected based on the pre-dispensing distance and positional deviation.

[0078] In this embodiment, the coordinates of the new starting point (i.e., the second starting point) for continuing adhesive application are corrected based on the positional deviation of the adhesive application interruption point and the distance from the adhesive outlet. As an example, the corrected coordinates of the second starting point = first coordinate + positional deviation - pre-outlet distance. In one embodiment, such as... Figure 8 As shown, the adhesive application method may also include the following step: S150.

[0079] S150. If the remaining amount of glue is detected to be less than or equal to the first preset amount, or in response to the user pressing the emergency stop control, confirm that the current glue application operation is interrupted.

[0080] In this embodiment, when the remaining glue in the glue bucket is detected to be less than or equal to a first preset amount, it indicates that the glue in the glue bucket has been used up and a new glue bucket needs to be replaced, thus confirming the interruption of the current glue application operation. Alternatively, when the user presses the emergency stop control, it indicates that an abnormal situation has occurred during the glue application operation, and the user manually presses the emergency stop control to confirm the interruption of the current glue application operation.

[0081] This application does not limit the method of measuring the amount of glue remaining; volume, weight, or liquid level depth may be used, and no limitation is made here.

[0082] As an example, the glue application equipment also includes a displacement sensor, which is used to obtain the pressing depth of the pressure plate pump inside the glue bucket, which is equivalent to the liquid level of the glue. If the pressure plate pump is detected to be less than or equal to the set depth, the pressure plate pump cannot continue to press down, indicating that the glue has been used up (or the minimum remaining amount has been reached). At this time, the glue application equipment automatically stops the glue application operation.

[0083] As an example, the glue application equipment also includes a pressure sensor, which is used to obtain the pressure in the space below the pressure plate pump inside the glue tank. When the pressure in the space below the pressure plate pump is less than or equal to the preset pressure, it indicates that the glue has been used up (or the minimum remaining amount has been reached), and the glue application equipment automatically stops the glue application operation.

[0084] In one embodiment, the adhesive application equipment further includes an alarm. If the remaining amount of adhesive is detected to be less than or equal to a first preset amount, the adhesive application method may further include the following steps: The control alarm triggers the first alarm prompt to remind the user to replace the glue bucket.

[0085] The alarm can be any type of device with alarm prompting function known to those skilled in the art, such as indicator lights, electric bells, vibrators, displays or voice broadcasters, and the prompting method can be intermittent or continuous, which is not limited here.

[0086] In this embodiment, if the remaining amount of glue is less than or equal to the first preset amount, it indicates that the glue has been used up (or the minimum remaining amount has been reached), and the glue container needs to be replaced. The alarm is then triggered to remind the user to replace the glue container in time to avoid the glue already applied from curing and failing due to excessive glue replacement time.

[0087] In one embodiment, if the amount of glue remaining is detected to be less than or equal to a first preset amount, the glue application method may further include the following steps: The timer starts from the moment the current adhesive application operation is interrupted; If the timed duration exceeds the preset duration, the control alarm will trigger a second alarm to remind the user that the glue replacement time has expired.

[0088] The preset time is determined based on the curing time of the adhesive. As an example, the preset time is greater than or equal to the curing time of the adhesive. For instance, the preset time is greater than or equal to 10 minutes.

[0089] Since the applied adhesive will continue to cure, if the adhesive is not replaced regularly, the new adhesive will not be able to bond effectively with the cured adhesive after it has fully cured, resulting in bonding failure.

[0090] In this embodiment, if the timeout exceeds the preset time, it indicates that the glue replacement time has been too long and the applied glue has cured and failed. The control alarm triggers a second alarm prompt, reminding the user that the glue replacement timeout has expired and the current glue application operation can no longer be continued, which helps to improve the glue application yield.

[0091] In one embodiment, the adhesive application method may further include the following steps: Obtain parameter information for the current adhesive application operation; Based on the parameter information and the preset relationship between the preset parameter information and the preset duration, the preset duration corresponding to the parameter information is determined.

[0092] The parameters for the current adhesive application process include, but are not limited to, adhesive thickness, adhesive type, and ambient humidity, as well as all parameters known to those skilled in the art that affect the adhesive curing time, which are not limited here.

[0093] In this embodiment, the preset relationship between preset parameter information and preset duration is pre-defined. Based on the parameter information of the current glue application operation, the preset duration corresponding to the parameter information can be determined.

[0094] The adhesive application method provided in this application embodiment can adaptively adjust the preset time according to the parameter information of the current adhesive application operation, which is beneficial to improving the universality of the adhesive application method.

[0095] In one embodiment, the adhesive application method may further include the following steps: In response to the user's confirmation, detect the remaining amount of glue; If the amount of glue remaining is greater than the second preset amount, determine to continue the current glue application operation.

[0096] In this embodiment, the user replaces the glue bucket within a preset time period and confirms that the glue bucket has been replaced on the glue application equipment. In response to the user's confirmation, the glue application equipment checks the remaining amount of glue in the glue bucket again. If the remaining amount of glue is greater than the second preset amount, it confirms that the glue bucket has been replaced and determines to continue the current glue application operation.

[0097] In other embodiments, the remaining amount of glue can be detected at set intervals. If the remaining amount of glue is detected to be greater than a second preset amount, the current glue application operation can be continued to prevent the user from forgetting to confirm after changing the glue.

[0098] For example, such as Figure 9 As shown, when the amount of glue remaining is less than or equal to a first preset amount, the glue application method may include the following steps: S210, Control the return of the rubber head.

[0099] In this embodiment, the glue applicator head is a retractable head. When it is detected that the glue has been used up, the glue applicator head is controlled to return to its original position, and the glue application operation is stopped.

[0100] S220, the alarm triggers the first alarm prompt, reminding the user to replace the glue bucket.

[0101] In this step, the control alarm triggers the first alarm prompt, reminding the user to replace the glue bucket in time to prevent the applied glue from curing.

[0102] S230: It has been detected that the user has replaced the glue bucket.

[0103] In this step, the system detects that the user has replaced the glue bucket, meaning that the amount of glue remaining in the glue bucket is greater than the second preset amount.

[0104] S240, control the glue nozzle to extend further, and continue applying glue.

[0105] In this step, the retractable glue head is controlled to extend further, and the glue application operation continues from the point where the glue application is interrupted.

[0106] S250, control the timer to start recording the duration of the glue application stop.

[0107] After the glue application operation is stopped, the duration of the stoppage is recorded. The timer stops when it is detected that the user has replaced the glue bucket.

[0108] It should be noted that, Figure 9 This application only illustrates by example that S250 is executed after S220. S220 and S250 are two parallel steps, and this application does not limit the execution order of S220 and S250.

[0109] S260. Is the duration of stopping adhesive application greater than or equal to the preset duration?

[0110] In this step, the duration of stopping glue application is compared with the preset duration. If the duration of stopping glue application is greater than or equal to the preset duration, the result is yes, and S270 is executed; if the duration of stopping glue application is less than the preset duration, the result is no, and the duration of stopping glue application continues to be recorded.

[0111] S270, the alarm triggers a second alarm prompt, reminding the user that the glue replacement time has expired and the glue application operation cannot continue.

[0112] Based on the adhesive application method provided in the above embodiments, this application also provides specific implementation methods of the adhesive application apparatus. Please refer to the following embodiments.

[0113] First see Figure 10 The adhesive applicator provided in this application embodiment may include: an acquisition module 301, a first determination module 302, a second determination module 303, and a control module 304.

[0114] The acquisition module 301 is used to acquire the first coordinates of the glue application interruption point and the overall glue application trajectory of the current glue application operation when it is confirmed that the current glue application operation is interrupted.

[0115] The first determining module 302 is used to determine the first adhesive application length from the first starting point of the overall adhesive application trajectory to the interruption point based on the first coordinates of the adhesive application interruption point and the overall adhesive application trajectory.

[0116] The second determining module 303 is used to determine a local adhesive application trajectory with the adhesive application interruption point as the second starting point, based on the first coordinate of the adhesive application interruption point, the first adhesive application length, and the overall adhesive application trajectory, when it is determined to continue the current adhesive application operation.

[0117] The control module 304 is used to control the actuator to continue applying glue along the local glue application trajectory.

[0118] The adhesive applicator provided in this application, when the current adhesive application operation is interrupted, obtains the first coordinates of the adhesive application interruption point and the overall adhesive application trajectory of the current adhesive application operation, and then determines the first adhesive application length corresponding to the adhesive application interruption point. If it is determined to continue the current adhesive application operation, the actuator is controlled to continue applying adhesive along the newly generated local adhesive application trajectory starting from the interruption point. It is not necessary to remove the already applied adhesive part and reapply adhesive, which improves the adhesive application efficiency and helps to save adhesive.

[0119] In one embodiment, the overall adhesive application trajectory includes the starting coordinates of a first starting point, the coordinates of multiple trajectory points, the adhesive application length corresponding to each trajectory point, and multiple adhesive application paths. Adjacent trajectory points are connected by corresponding adhesive application paths. The adhesive application length corresponding to each trajectory point is the cumulative length of the adhesive application path between the first starting point and the corresponding trajectory point. Accordingly, the first determining module is used to determine the first adhesive application length from the first starting point to the interruption point of the overall adhesive application trajectory based on the first coordinates of the adhesive application interruption point and the overall adhesive application trajectory. This includes: determining the first target trajectory point and the second target trajectory point based on the first coordinates of the adhesive application interruption point and the coordinates of each trajectory point; determining the fourth adhesive application length from the first target trajectory point to the adhesive application interruption point based on the first coordinates of the adhesive application interruption point, the second coordinates of the first target trajectory point, the third coordinates of the second target trajectory point, the second adhesive application length corresponding to the first target trajectory point, and the third adhesive application length of the second target trajectory point; and determining the first adhesive application length of the adhesive application interruption point by accumulating the second adhesive application length and the fourth adhesive application length of the first target trajectory point.

[0120] In one embodiment, the first determining module is used to determine a fourth adhesive application length from the first target trajectory point to the adhesive application interruption point based on the first coordinates of the adhesive application interruption point, the second coordinates of the first target trajectory point, the third coordinates of the second target trajectory point, the second adhesive application length corresponding to the first target trajectory point, and the third adhesive application length of the second target trajectory point. This includes: determining the adhesive application path located between the first target trajectory point and the second target trajectory point as a target adhesive application path; determining a fifth adhesive application length of the target adhesive application path based on the second adhesive application length corresponding to the first target trajectory point and the third adhesive application length of the second target trajectory point; determining a first distance between the adhesive application interruption point and the first target trajectory point, and a second distance between the first target trajectory point and the second target trajectory point, based on the first coordinates of the adhesive application interruption point, the second coordinates of the first target trajectory point, and the third coordinates of the second target trajectory point; and determining the fourth adhesive application length from the first target trajectory point to the adhesive application interruption point based on the ratio of the first distance to the second distance and the fifth adhesive application length of the target adhesive application path.

[0121] In one embodiment, the second determining module is used to determine a local adhesive application trajectory with the adhesive application interruption point as the second starting point based on the first coordinates of the adhesive application interruption point, the first adhesive application length, and the overall adhesive application trajectory. This includes: determining the trajectory points with an adhesive application length greater than the first adhesive application length as third target trajectory points based on the first adhesive application length corresponding to the adhesive application interruption point and the adhesive application length corresponding to each trajectory point; and determining the local adhesive application trajectory with the adhesive application interruption point as the second starting point based on the first coordinates of the adhesive application interruption point and the fourth coordinates of the third target trajectory points.

[0122] In one embodiment, the adhesive application device further includes an image acquisition module. The device also includes a third determination module. If it is confirmed that the current adhesive application operation is interrupted, the acquisition module is further configured to acquire a first image of the area where the adhesive application interruption point is located via the image acquisition module. Before the control actuator continues adhesive application along the local adhesive application trajectory, the acquisition module is further configured to acquire a second image of the area where the adhesive application interruption point is located via the image acquisition module. The third determination module is used to determine the positional deviation of the adhesive application interruption point based on the comparison result between the first and second images; and to correct the coordinates of the second starting point based on the positional deviation.

[0123] In one embodiment, the adhesive applicator further includes an adhesive dispensing mechanism. The device also includes a fourth determining module, which determines a pre-dispensing distance based on the moving speed of the actuator and the response time of the adhesive dispensing mechanism before the actuator continues to apply adhesive along the local adhesive application trajectory. Based on the pre-dispensing distance and the positional deviation, the coordinates of the second starting point are corrected.

[0124] In one embodiment, the device further includes a third determining module, which is configured to confirm the interruption of the current glue application operation when the remaining amount of glue is detected to be less than or equal to a first preset amount, or in response to the user pressing an emergency stop control.

[0125] In one embodiment, the glue application equipment further includes an alarm. If the remaining amount of glue is detected to be less than or equal to a first preset amount, the control module is also used to control the alarm to trigger a first alarm prompt to remind the user to replace the glue bucket.

[0126] In one embodiment, when the remaining amount of glue is detected to be less than or equal to a first preset amount, the control module is further configured to: start timing from the moment the current glue application operation is interrupted; and when the timing duration exceeds the preset duration, control the alarm to trigger a second alarm prompt to remind the user that the glue replacement timeout has occurred.

[0127] In one embodiment, the device further includes a fourth determining module, which is configured to: acquire parameter information of the current gluing operation; and determine the preset duration corresponding to the parameter information based on the parameter information and the preset relationship between the preset parameter information and the preset duration.

[0128] In one embodiment, the device further includes a fifth determining module, which is configured to: detect the amount of glue remaining in response to a user's confirmation operation; and determine to continue the current glue application operation if the amount of glue remaining is greater than a second preset amount.

[0129] Figure 11 A schematic diagram of the hardware structure of the adhesive coating equipment provided in an embodiment of this application is shown.

[0130] The adhesive application equipment may include a processor 401 and a memory 402 storing computer program instructions.

[0131] Specifically, the processor 401 may include a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits that can be configured to implement the embodiments of this application.

[0132] Memory 402 may include mass storage for data or instructions. For example, and not limitingly, memory 402 may include a hard disk drive (HDD), floppy disk drive, flash memory, optical disk, magneto-optical disk, magnetic tape, or Universal Serial Bus (USB) drive, or a combination of two or more of these. Where suitable, memory 402 may include removable or non-removable (or fixed) media. Where suitable, memory 402 may be internal or external to the coating apparatus. In a particular embodiment, memory 402 is a non-volatile solid-state memory.

[0133] Memory may include read-only memory (ROM), random access memory (RAM), disk storage media devices, optical storage media devices, flash memory devices, and electrical, optical, or other physical / tangible memory storage devices. Therefore, typically, memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., memory devices) encoded with software including computer-executable instructions, and when the software is executed (e.g., by one or more processors), it is operable to perform the operations described with reference to the methods according to one aspect of this disclosure.

[0134] The processor 401 reads and executes computer program instructions stored in the memory 402 to implement any of the adhesive application methods in the above embodiments.

[0135] In one example, the adhesive application device may also include a communication interface 403 and a bus 404. Wherein, as... Figure 11 As shown, the processor 401, memory 402, and communication interface 403 are connected through bus 404 and complete communication with each other.

[0136] The communication interface 403 is mainly used to realize communication between various modules, devices, units and / or equipment in the embodiments of this application.

[0137] Bus 404 includes hardware, software, or both, that couples components of the dispensing equipment together. For example, and not limitingly, the bus may include an Accelerated Graphics Port (AGP) or other graphics bus, an Enhanced Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), a Hypertext Transfer (HT) interconnect, an Industry Standard Architecture (ISA) bus, an Infinite Bandwidth Interconnect, a Low Pin Count (LPC) bus, a memory bus, a Micro Channel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local Bus (VESA Local Bus, VLB) bus, or other suitable buses, or a combination of two or more of these. Where appropriate, bus 404 may include one or more buses. Although specific buses are described and illustrated in the embodiments of this application, this application considers any suitable bus or interconnection.

[0138] In addition, in conjunction with the adhesive application methods in the above embodiments, this application embodiment can provide a computer storage medium for implementation. The computer storage medium stores computer program instructions; when these computer program instructions are executed by a processor, they implement any of the adhesive application methods in the above embodiments.

[0139] This application also provides a computer program product, including a computer program that, when executed, implements any of the adhesive application methods described in the above embodiments.

[0140] It should be clarified that this application is not limited to the specific configurations and processes described above and shown in the figures. For the sake of brevity, detailed descriptions of known methods are omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of this application is not limited to the specific steps described and shown. Those skilled in the art can make various changes, modifications, and additions, or change the order of steps, after understanding the spirit of this application.

[0141] The functional blocks shown in the above-described structural diagram can be implemented as hardware, software, firmware, or a combination thereof. When implemented in hardware, they can be, for example, electronic circuits, application-specific integrated circuits (ASICs), appropriate firmware, plug-ins, function cards, etc. When implemented in software, the elements of this application are programs or code segments used to perform the required tasks. Programs or code segments can be stored on a machine-readable medium or transmitted over a transmission medium or communication link via data signals carried on a carrier wave. "Machine-readable medium" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable-ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, fiber optic media, radio frequency (RF) links, etc. Code segments can be downloaded via computer networks such as the Internet, intranets, etc.

[0142] It should also be noted that the exemplary embodiments mentioned in this application describe methods or systems based on a series of steps or apparatus. However, this application is not limited to the order of the above steps; that is, the steps can be performed in the order mentioned in the embodiments, or in a different order, or several steps can be performed simultaneously.

[0143] The aspects of this disclosure have been described above with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this disclosure. It should be understood that each block in the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus to produce a machine such that these instructions, executable via the processor of the computer or other programmable data processing apparatus, enable the implementation of the functions / actions specified in one or more blocks of the flowchart illustrations and / or block diagrams. Such a processor can be, but is not limited to, a general-purpose processor, a special-purpose processor, a special application processor, or a field-programmable logic circuit. It is also understood that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can also be implemented by special-purpose hardware performing the specified functions or actions, or can be implemented by a combination of special-purpose hardware and computer instructions.

[0144] The above description is merely a specific implementation of this application. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, modules, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here. It should be understood that the protection scope of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the protection scope of this application.

Claims

1. A method for applying adhesive, characterized in that, The method is applied to an adhesive coating equipment, the adhesive coating equipment including an actuator; the method includes: If the current gluing operation is confirmed to be interrupted, obtain the first coordinates of the gluing interruption point and the overall gluing trajectory of the current gluing operation. Based on the first coordinates of the glue application interruption point and the overall glue application trajectory, determine the first glue application length from the first starting point of the overall glue application trajectory to the glue application interruption point; If it is determined to continue the current gluing operation, a local gluing trajectory is determined with the gluing interruption point as the second starting point, based on the first coordinate of the gluing interruption point, the first gluing length, and the overall gluing trajectory. The actuator is controlled to continue applying adhesive along the local adhesive application trajectory.

2. The method according to claim 1, characterized in that, The overall adhesive application trajectory includes the starting coordinates of the first starting point, the coordinates of multiple trajectory points, the adhesive application length corresponding to each trajectory point, and multiple adhesive application paths. Adjacent trajectory points are connected by corresponding adhesive application paths. The adhesive application length corresponding to each trajectory point is the cumulative length of the adhesive application path between the first starting point and the corresponding trajectory point. Accordingly, determining the first adhesive application length from the first starting point of the overall adhesive application trajectory to the interruption point based on the first coordinates of the adhesive application interruption point and the overall adhesive application trajectory includes: Based on the first coordinate of the glue application interruption point and the coordinates of each of the trajectory points, determine the first target trajectory point and the second target trajectory point; Based on the first coordinate of the glue application interruption point, the second coordinate of the first target trajectory point, the third coordinate of the second target trajectory point, the second glue application length corresponding to the first target trajectory point, and the third glue application length of the second target trajectory point, determine the fourth glue application length from the first target trajectory point to the glue application interruption point. The first adhesive application length at the adhesive application interruption point is determined by the cumulative length of the second adhesive application length and the fourth adhesive application length at the first target trajectory point.

3. The method according to claim 2, characterized in that, The step of determining the fourth adhesive application length from the first target trajectory point to the adhesive application interruption point based on the first coordinate of the adhesive application interruption point, the second coordinate of the first target trajectory point, the third coordinate of the second target trajectory point, the second adhesive application length corresponding to the first target trajectory point, and the third adhesive application length of the second target trajectory point includes: The adhesive application path located between the first target trajectory point and the second target trajectory point is determined as the target adhesive application path; The fifth adhesive application length of the target adhesive application path is determined based on the second adhesive application length corresponding to the first target trajectory point and the third adhesive application length of the second target trajectory point. Based on the first coordinates of the glue application interruption point, the second coordinates of the first target trajectory point, and the third coordinates of the second target trajectory point, determine the first distance between the glue application interruption point and the first target trajectory point, and the second distance between the first target trajectory point and the second target trajectory point; Based on the ratio of the first distance to the second distance and the fifth adhesive application length of the target adhesive application path, the fourth adhesive application length from the first target trajectory point to the adhesive application interruption point is determined.

4. The method according to claim 2, characterized in that, The step of determining a local adhesive application trajectory with the adhesive application interruption point as the second starting point based on the first coordinates of the adhesive application interruption point, the first adhesive application length, and the overall adhesive application trajectory includes: Based on the first glue application length corresponding to the glue application interruption point and the glue application length corresponding to each trajectory point, the trajectory points with a glue application length greater than the first glue application length are determined as the third target trajectory points. Based on the first coordinate of the glue application interruption point and the fourth coordinate of the third target trajectory point, a local glue application trajectory with the glue application interruption point as the second starting point is determined.

5. The method according to claim 4, characterized in that, The adhesive application equipment also includes an image acquisition module. Accordingly, in the event that the current adhesive application operation is confirmed to be interrupted, the method further includes: The first image of the area where the glue application interruption point is located is obtained through the image acquisition module; Before controlling the actuator to continue applying adhesive along the local adhesive application trajectory, the method further includes: A second image of the area where the adhesive application interruption point is located is obtained through the image acquisition module; Based on the comparison results between the first image and the second image, the positional deviation of the glue application interruption point is determined; Based on the aforementioned positional deviation, the coordinates of the second starting point are corrected.

6. The method according to claim 5, characterized in that, The adhesive coating equipment further includes an adhesive dispensing mechanism, and before controlling the actuator to continue applying adhesive along the local adhesive coating trajectory, the method further includes: The pre-dispensing distance is determined based on the moving speed of the actuator and the response time of the dispensing mechanism. Based on the pre-dispensing distance and the positional deviation, the coordinates of the second starting point are corrected.

7. The method according to any one of claims 1-6, characterized in that, The method further includes: If the remaining amount of glue is detected to be less than or equal to the first preset amount, or if the user presses the emergency stop control, the current glue application operation is confirmed to be interrupted.

8. The method according to claim 7, characterized in that, The adhesive application equipment also includes an alarm; if the remaining amount of adhesive is detected to be less than or equal to a first preset amount, the method further includes: The control alarm triggers the first alarm prompt to remind the user to replace the glue bucket.

9. The method according to claim 8, characterized in that, If the amount of glue remaining is detected to be less than or equal to a first preset amount, the method further includes: The timer starts from the moment the current adhesive application operation is interrupted; If the timeout period exceeds the preset time, the alarm will be triggered to alert the user that the adhesive replacement timeout has expired.

10. A glue-applying device, characterized in that, Applied to adhesive coating equipment, the adhesive coating equipment including an actuator; the device includes: The acquisition module is used to acquire the first coordinates of the glue application interruption point and the overall glue application trajectory of the current glue application operation when it is confirmed that the current glue application operation is interrupted. The first determining module is used to determine the first adhesive application length from the first starting point of the overall adhesive application trajectory to the adhesive application interruption point based on the first coordinates of the adhesive application interruption point and the overall adhesive application trajectory. The second determining module is used to determine a local adhesive application trajectory with the adhesive application interruption point as the second starting point, based on the first coordinate of the adhesive application interruption point, the first adhesive application length, and the overall adhesive application trajectory, when it is determined to continue the current adhesive application operation. The control module is used to control the actuator to continue applying adhesive along the local adhesive application trajectory.

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