Gluing robot control method and device, electronic equipment, storage medium and vehicle

Abstract

The application discloses a gluing robot control method and device, electronic equipment, storage medium and vehicle, relates to the technical field of automobile welding and gluing control, and comprises the following steps: acquiring the distance measurement value between the glue gun nozzle of the gluing robot and the workpiece surface in real time, calculating the distance error between the distance measurement value and the preset target working distance; determining the control requirement of the gluing robot according to the distance error; and controlling the gluing robot based on the control parameter set corresponding to the control requirement. Through the application, different control parameters can be called to control the gluing robot, the safety of the equipment can be improved, the quality of the gluing process can be ensured, the high-speed complex working condition can be effectively coped with, and the rapidity of emergency collision avoidance and the accuracy of smooth recovery can be considered.

Description

Technical Field

[0001] This application relates to the field of automatic glue application control technology for automotive welding, and more particularly to glue application robot control methods, glue application robot control devices, electronic devices, storage media, and vehicles. Background Technology

[0002] In the automated adhesive application process of automotive welding, trajectory tracking control technology based on real-time distance measurement is commonly used to ensure adhesive application quality and prevent collisions between the glue gun and the workpiece. For example, distance is measured by a 3D vision sensor, and a PID (Proportion Integral Differential) controller is used to maintain a preset working distance.

[0003] However, in the high-speed (200-300mm / s) adhesive application scenarios unique to welding workshops, traditional methods using a fixed set of control parameters are prone to problems. When sudden close-range threats arise due to part deformation or assembly errors, the fixed-gain controller's response is insufficiently rapid, with limited adjustment range. This can easily lead to the adhesive gun scraping or colliding with the workpiece, causing equipment damage and production stoppages. When it's necessary to recover from a distant position to the optimal working distance, a high controller gain can easily cause motion overshoot, potentially triggering an impact; conversely, a low gain results in a slow recovery process, affecting production cycle time.

[0004] The technical verification disclosed in the relevant technology (see "Technical Description of Side Wall Adhesive Real-time Detection and Height Guidance System") shows that the existing system has a significant delay in responding to sudden height changes of more than 4 mm, especially when the speed is higher than 250 mm / s, the adjustment capability drops sharply, the fundamental reason for which is limited by the delay of data communication and actuator.

[0005] Therefore, rapidly moving away from the workpiece (collision avoidance) and smoothly approaching the workpiece (recovery / precise tracking) are two conflicting control objectives that place demands on the controller's dynamic performance. Using a single, fixed set of control parameters cannot simultaneously optimize these two contradictory objectives, which is a key bottleneck restricting the safety, accuracy, and reliability of high-speed adhesive application operations. Summary of the Invention

[0006] The purpose of this invention is to provide a glue-applying robot control method, glue-applying robot control device, electronic equipment, storage medium, and vehicle, at least to solve the problem of how to optimize two conflicting control objectives—rapidly moving away from the workpiece and smoothly approaching the workpiece—and to address a technical problem that restricts the safety, accuracy, and reliability of high-speed glue-applying operations.

[0007] This invention provides the following solution:

[0008] According to one aspect of the present invention, a method for controlling an adhesive application robot is provided, comprising:

[0009] The distance between the glue gun nozzle of the glue applicator robot and the workpiece surface is measured in real time, and the distance error between the measured distance and the preset target working distance is calculated.

[0010] Based on the distance error, determine the current control requirements of the glue-applying robot;

[0011] Based on the control requirements, the corresponding set of control parameters is invoked to control the glue-applying robot.

[0012] Preferably, determining the current control requirements of the adhesive application robot based on the distance error includes:

[0013] In response to the distance error being negative, the glue gun nozzle of the glue-applying robot is controlled to move away from the workpiece surface until the distance measurement value equals the target working distance;

[0014] or

[0015] In response to the distance error being positive, the glue gun nozzle of the glue-applying robot is controlled to approach the workpiece surface until the distance measurement value equals the target working distance.

[0016] Preferably, the step of calling the corresponding control parameter set based on the control requirements to control the glue-applying robot includes:

[0017] Call the first control parameter set corresponding to when the distance error is negative, and output the first control command based on the first control parameter set;

[0018] In response to the tool coordinate system being perpendicular to the workpiece as the positive direction, based on the first control command, the glue gun nozzle of the glue-applying robot is controlled to move along the positive direction until the distance measurement value is equal to the target working distance.

[0019] Preferably, the step of calling the corresponding control parameter set based on the control requirements to control the glue-applying robot includes:

[0020] Call the second control parameter set corresponding to when the distance error is positive, and output the second control command based on the second control parameter set;

[0021] In response to the tool coordinate system being perpendicular to the workpiece in the negative direction, based on the second control command, the glue gun nozzle of the glue applicator robot is controlled to move in the negative direction until the distance measurement value is equal to the target working distance.

[0022] Preferably, both the first control parameter set and the second control parameter set include a proportional gain, and an integral and a derivative corresponding to the proportional gain;

[0023] The proportional gain included in the first set of control parameters is greater than the proportional gain included in the second set of control parameters.

[0024] Preferably, the first control command or the second control command is used by the glue-applying robot to determine the dynamic offset in real time;

[0025] The dynamic offset is used to correct the adhesive application trajectory of the adhesive application robot.

[0026] According to a second aspect of the present invention, a control device for an adhesive application robot is provided, comprising:

[0027] The distance error calculation module is used to acquire the distance measurement value between the glue gun nozzle of the glue application robot and the workpiece surface in real time, and calculate the distance error between the distance measurement value and the preset target working distance;

[0028] The control requirements determination module is used to determine the current control requirements of the adhesive application robot based on the distance error.

[0029] The control parameter module is used to invoke the corresponding control parameter set based on the control requirements to control the glue-applying robot.

[0030] According to three aspects of the present invention, an electronic device is provided, comprising: a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus;

[0031] The memory stores a computer program, which, when executed by the processor, causes the processor to perform the steps of the glue-applying robot control method.

[0032] According to four aspects of the present invention, a computer-readable storage medium is provided, comprising: storing a computer program executable by an electronic device, wherein when the computer program is run on the electronic device, the electronic device causes the electronic device to perform the steps of a glue-applying robot control method.

[0033] According to five aspects of the present invention, a vehicle is provided, comprising:

[0034] Electronic equipment used to implement the steps of a glue-applying robot control method;

[0035] The processor runs a program, and when the program runs, it executes the steps of the glue-applying robot control method based on data output from the electronic device.

[0036] Storage medium for storing programs that, when run, execute steps of a glue-applying robot control method based on data output from an electronic device.

[0037] The above solution achieves the following beneficial technical effects:

[0038] This application determines the distance error between the glue gun nozzle and the workpiece surface in real time by measuring the distance between them and a preset working distance. This distance error allows for the determination of control requirements for the glue application robot. Furthermore, by calling corresponding control parameters based on these requirements, the glue application robot can be controlled. This addresses the technical challenge of high-speed glue application robots, where a single control parameter cannot simultaneously balance the speed of emergency collision avoidance and the accuracy of smooth recovery, resulting in high collision risk and poor response to sudden changes in workpiece conditions. Controlling the glue application robot by calling different control parameters also significantly improves equipment safety, ensures glue application quality, and effectively handles high-speed and complex working conditions. Attached Figure Description

[0039] Figure 1 This is a flowchart of a glue-applying robot control method provided by one or more embodiments of the present invention.

[0040] Figure 2 This is a structural diagram of a glue-applying robot control device provided in one or more embodiments of the present invention.

[0041] Figure 3 This is a block diagram of an electronic device structure for a glue-applying robot control method provided in one or more embodiments of the present invention. Detailed Implementation

[0042] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0043] High-speed adhesive application robots are widely used in industrial applications such as automotive body manufacturing and new energy battery sealing. During high-speed continuous trajectory operations, the servo motion axes often employ traditional fixed-parameter closed-loop control. This control method inherently presents a trade-off between speed and stability: if the parameters are biased towards dynamic response, with large proportional and derivative gains, the robot is highly sensitive in emergency braking, but trajectory reset after collision avoidance is prone to overshoot and jitter, inducing process defects such as adhesive line deviation and adhesive breakage. If the PID parameters are biased towards steady-state accuracy, with high integral weights, trajectory tracking is stable, but braking response lags when faced with sudden changes in workpiece contours or foreign object intrusion, significantly increasing the risk of collision.

[0044] This embodiment addresses the technical challenge of high collision risk and poor response to sudden changes in workpieces in high-speed glue-applying robots, where a single control parameter cannot simultaneously balance the speed of emergency collision avoidance and the accuracy of smooth recovery. A control method, device, electronic equipment, storage medium, and vehicle for the glue-applying robot are proposed. Depending on the control requirements (emergency collision avoidance or smooth recovery), two different sets of control parameters are dynamically switched, thereby optimizing conflicting control objectives separately. This significantly improves equipment safety, ensures glue-applying process quality, and effectively copes with high-speed and complex working conditions.

[0045] Figure 1 This is a flowchart of a glue-applying robot control method provided by one or more embodiments of the present invention.

[0046] like Figure 1 The control method for the glue-applying robot shown includes:

[0047] Step S1: Obtain the distance measurement value between the glue gun nozzle of the glue application robot and the workpiece surface in real time, and calculate the distance error between the distance measurement value and the preset target working distance.

[0048] After the equipment powers on and completes system initialization, it loads collision avoidance and resets basic parameters. Various sensors collect obstacle distance, trajectory deviation, and workpiece contour data in real time. Operating condition determination relies on preset thresholds to determine the operating condition and retrieves matching basic parameters.

[0049] Specifically, the distance measurement value D(t) between the glue gun nozzle and the workpiece surface can be obtained in real time using a 3D vision sensor, meaning that this distance measurement value changes over time. Furthermore, the real-time distance error E(t) = D(t) - D_target between the real-time distance measurement value D(t) and the preset target working distance D_target is calculated.

[0050] It should be noted that 3D vision sensors need to meet accuracy and frequency requirements.

[0051] Step S2: Determine the control requirements of the current glue-applying robot based on the distance error.

[0052] In this embodiment, the control requirements of the glue-applying robot can be determined in real time based on whether the distance error calculated in real time is positive or negative, and the corresponding positive / negative sign. For example, the control requirement for the glue-applying robot to move closer to the workpiece surface, or the control requirement for the glue-applying robot to move further away from the workpiece surface.

[0053] Furthermore, when E(t) < - If the distance is deemed too close and there is a risk of collision, "stay away" control must be executed.

[0054] When E(t) > + If the distance is too far, the system needs to be restored to the working distance and "closer" control needs to be executed.

[0055] in, This is the distance threshold.

[0056] Step S3: Based on the control requirements, call the corresponding control parameter set to control the glue-applying robot.

[0057] After determining the control requirements for the glue-applying robot, the control parameter set corresponding to the requirements is invoked to control the robot. This control parameter set includes the proportional gain and its corresponding integral and derivative coefficients.

[0058] In this context, gain represents the controller's responsiveness to errors. Higher gain results in a faster system response and more aggressive error correction, but excessive gain can lead to oscillations, jitter, or even instability. Lower gain results in a more stable system with better anti-interference capabilities, but also a slower response and larger tracking errors.

[0059] This application utilizes a set of control parameters corresponding to the control requirements. That is, by selecting the corresponding set of control parameters according to different operating conditions, it can take all operating conditions into account and achieve dynamic gain control. This allows the system to automatically adjust the control gain online based on real-time operating conditions (e.g., distance error magnitude, direction, load, speed, etc.) to achieve fast, stable, and optimal performance.

[0060] Furthermore, a tool coordinate system is determined, in which the Z-axis is the direction perpendicular to the workpiece. In the preset tool coordinate system, the direction perpendicular to the workpiece away from it is positive, and the direction perpendicular to the workpiece is negative.

[0061] If the distance error is negative, the first control parameter set corresponding to the negative distance error is called, and a first control command is output based on the first control parameter set. Based on the first control command, the glue gun nozzle of the glue applicator is controlled to move in the positive direction away from the workpiece surface until the distance measurement value equals the target working distance.

[0062] If the distance error is positive, the second control parameter set corresponding to a positive distance error is called, and a second control command is output based on the second control parameter set. Based on the second control command, the glue gun nozzle of the glue-applying robot is controlled to move in the negative direction, approaching the workpiece surface, until the distance measurement value equals the target working distance.

[0063] The first set of control parameters includes a proportional gain (Kp) that is greater than the proportional gain included in the second set of control parameters.

[0064] Furthermore, taking the control parameter set used by the normally operating glue-applying robot as the standard, the proportional gain included in the first control parameter set is greater than the proportional gain included in the control parameter set under normal operation, and the proportional gain included in the control parameter set under normal operation is greater than the proportional gain included in the second control parameter set.

[0065] If the current glue-applying robot needs to move away from the workpiece to achieve rapid hazard avoidance, then the proportional gain used is greater than the proportional gain included in the control parameter set under normal operation. At the same time, the integral coefficient under normal operation is reduced, and the derivative coefficient is increased.

[0066] If the current glue-applying robot needs to approach the workpiece to achieve stable approach, the proportional gain used is less than the proportional gain included in the control parameter set under normal operation. At the same time, the integral coefficient under normal operation is increased, and the derivative coefficient is appropriately reduced.

[0067] That is, for the control requirement of the glue-applying robot moving away from the workpiece surface, the first set of control parameters is invoked. This set of control parameters adopts a larger proportional gain and is tuned to have a faster system response speed. Combined with appropriate integral (Ki) and derivative (Kd) actions, a fast and large control output U(t) is generated, driving the robot to move along the positive Z-axis of the tool coordinate system (away from the workpiece).

[0068] To control the glue-applying robot's proximity to the workpiece surface, a second set of control parameters is invoked. This set employs a small proportional gain, tuned to suppress overshoot and ensure stability. Combined with appropriate integral (Ki) and derivative (Kd) actions, it generates a smooth, gradual control output U(t), driving the robot to move along the negative Z-axis (closer to the workpiece).

[0069] For example, GETREG I052 MREG#(336); reads the Z-axis error value.

[0070] IF (I052<0) THEN; If the error is negative (Z-axis deviation downwards).

[0071] SETREG MREG#(337) 70; Sets the high P gain to 70.

[0072] ELSE; The error is positive (deviation upward).

[0073] SETREG MREG#(337)30; Sets the low P gain to 30.

[0074] ENDIF

[0075] MREG# (337) is the proportional gain register for robot Z-axis tracking. The program determines the moving direction of the dispensing robot based on the sign of the distance error and dynamically switches between the first and second control parameter sets. For example, the proportional gain in the first control parameter set can be 70, and the proportional gain in the second control parameter set can be 30.

[0076] When the 3D vision sensor detects that the Z-axis position is too low (i.e., I052<0), the glue-applying robot needs to quickly correct upwards. Therefore, the proportional gain parameter controlling the glue-applying robot is set to 70, and the integral coefficient is reduced and the derivative coefficient is increased based on the proportional gain of 70 to improve the response speed and ensure the consistency of glue application height.

[0077] When the 3D vision sensor detects that the Z-axis position is too high (i.e., I052≥0), the glue-applying robot needs to slowly correct it to avoid damaging the workpiece or causing the glue gun to shake. Therefore, the proportional gain parameter controlling the glue-applying robot is set to 30, and based on the proportional gain of 30, the integral coefficient is adaptively increased and the derivative coefficient is decreased to ensure stability.

[0078] By employing different proportional gain ratios to control the movement of the glue-applying robot, high gain is required to quickly correct deviations and reduce tracking errors during periods of large errors. During periods of small errors or zero crossings, the gain needs to be reduced to avoid overshoot and oscillation, ensuring a smooth trajectory and achieving a balance between stability and response speed.

[0079] In this embodiment, the proportional gain value can be adjusted according to changes in load or contact force for special working conditions to prevent workpiece vibration or process defects. These special working conditions may include welding, gluing, cutting, etc.

[0080] The first or second control command is used by the glue-applying robot to determine the dynamic offset in real time. The dynamic offset is used to correct the glue-applying robot's trajectory.

[0081] Furthermore, the calculated control output U(t) is sent to the glue-applying robot controller via a high-speed industrial Ethernet (such as Profinet). The glue-applying robot controller enables its real-time trajectory correction function (such as the HTRAJON and SKILLSND "CORRPATH_ON" commands of Yaskawa robots), and superimposes the received U(t) as a dynamic offset onto the preset glue-applying trajectory in real time to complete online correction and realize closed-loop adaptive control.

[0082] In this embodiment, the control parameter set corresponding to the current control requirements can also be switched based on the parameters or rules of other controllers (such as fuzzy controllers and sliding controllers).

[0083] The following embodiment uses the side panel adhesive application station of a certain vehicle model as an example to illustrate this embodiment in detail.

[0084] The hardware configuration for applying adhesive to the sidewalls of a certain vehicle model employs a Coherix A110 3D vision sensor (working distance 90-120mm, wavelength 660nm, IP67 protection) mounted on the end effector of a robot. The controller is an industrial computer equipped with the control algorithm of this invention. The execution unit is the robot, whose controller must support external real-time path correction.

[0085] The parameter settings include: Target working distance D_target: 2200 micrometers (2.2 mm). Threshold δ: 500 micrometers (0.5 mm). First control parameter set (for collision avoidance): Kp1=2.0, Ki1=0.5, Kd1=0.1. Second control parameter set (for recovery): Kp2=0.8, Ki2=0.2, Kd2=0.05.

[0086] The glue-applying robot applies glue at a speed of 280 mm / s. When it encounters a 3 mm local protrusion, the sensor detects that D(t) drops sharply to 1.5 mm, and E(t) = -0.7 mm < - The system instantly switched to the first parameter set, outputting a large positive velocity command. The robot rapidly lifted, reducing the distance to 3.0mm within 15ms, successfully avoiding a collision. After passing the protrusion, D(t) = 3.5mm, E(t) = +1.3mm > + The system switches to the second parameter set and outputs a gentle negative speed command. The robot recovers smoothly to the target distance of 2.2mm within about 60ms without overshoot. During this period, the glue application is continuous and the glue type test is qualified.

[0087] In the glue-applying robot program, the dual-mode control concept can be reflected by setting different reference values ​​(such as SET OGU#(9) 15000 and SET OGU#(9) 2200) and the corresponding gain management logic. The laser enable (SET OGU#(8) 3) and disable (SET OGU#(8) 99) can be combined with the internal state management of the control mode.

[0088] This embodiment is applicable to automotive welding production lines with an adhesive application speed of not less than 200 mm / s, in order to resolve the conflict between collision avoidance and precision in this specific scenario.

[0089] In this embodiment, the distance control of the glue-applying robot dynamically selects and applies at least two different sets of control parameters based on the direction (positive / negative) of the real-time distance error or different work stages. These different sets of control parameters are used to generate control commands for distances from the workpiece and control commands for proximity to the workpiece, respectively. Furthermore, it can achieve millisecond-level adaptive switching of control parameters within the control loop, resulting in finer control granularity and faster response.

[0090] Figure 2 This is a structural diagram of a glue-applying robot control device provided in one or more embodiments of the present invention.

[0091] like Figure 2 The control device for the glue-applying robot shown includes: a distance error calculation module, a control requirement determination module, and a control parameter calling module.

[0092] The distance error calculation module is used to acquire the distance measurement value between the glue gun nozzle of the glue applicator robot and the workpiece surface in real time, and calculate the distance error between the distance measurement value and the preset target working distance.

[0093] The control requirements determination module is used to determine the control requirements of the current glue-applying robot based on the distance error.

[0094] The control parameter module is used to call the corresponding control parameter set based on control requirements to control the glue-applying robot.

[0095] The control requirement module is used to control the glue gun nozzle of the glue applicator robot to move away from the workpiece surface until the distance measurement value equals the target working distance, in response to a negative distance error; or, in response to a positive distance error, to control the glue gun nozzle of the glue applicator robot to move closer to the workpiece surface until the distance measurement value equals the target working distance.

[0096] The control requirement determination module is used to call the first control parameter set corresponding to the distance error being negative, and output the first control command based on the first control parameter set; in response to the tool coordinate system being perpendicular to the workpiece as the positive direction, based on the first control command, the glue gun nozzle of the glue applicator robot is controlled to move in the positive direction until the distance measurement value is equal to the target working distance.

[0097] The control parameter module is invoked to call the second control parameter set corresponding to the positive distance error, and the second control command is output based on the second control parameter set. In response to the tool coordinate system being perpendicular to the workpiece in the negative direction, the glue gun nozzle of the glue applicator robot is controlled to move in the negative direction based on the second control command until the distance measurement value is equal to the target working distance.

[0098] The first control parameter set and the second control parameter set both include proportional gain, as well as integral and derivative corresponding to the proportional gain; the proportional gain included in the first control parameter set is greater than the proportional gain included in the second control parameter set.

[0099] The first control command or the second control command is used to determine the dynamic offset of the glue-applying robot in real time; the dynamic offset is used to correct the glue-applying trajectory of the glue-applying robot.

[0100] Figure 3This is a block diagram of an electronic device structure for a glue-applying robot control method provided in one or more embodiments of the present invention.

[0101] like Figure 3 As shown, this application provides an electronic device, including: a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus;

[0102] The memory stores a computer program that, when executed by a processor, causes the processor to perform the steps of a glue-applying robot control method.

[0103] This application also provides a computer-readable storage medium storing a computer program executable by an electronic device, which, when run on the electronic device, causes the electronic device to perform the steps of a glue-applying robot control method.

[0104] This application also provides a vehicle, including:

[0105] Electronic equipment for implementing steps based on a glue-applying robot control method;

[0106] The processor runs a program, and when the program runs, it executes the steps of the glue-applying robot control method based on data output from the electronic device.

[0107] Storage medium for storing programs that, when run, execute steps of a glue-applying robot control method based on data output from an electronic device.

[0108] The communication bus mentioned in the above electronic devices can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. This communication bus can be divided into address bus, data bus, control bus, etc. For ease of illustration, only one thick line is used to represent it in the diagram, but this does not mean that there is only one bus or one type of bus.

[0109] The electronic device comprises a hardware layer, an operating system layer running on top of the hardware layer, and an application layer running on the operating system. The hardware layer includes hardware such as a central processing unit (CPU), a memory management unit (MMU), and memory. The operating system can be any one or more computer operating systems that control the electronic device through processes, such as Linux, Unix, Android, iOS, or Windows. Furthermore, in this embodiment of the invention, the electronic device can be a smartphone, tablet computer, or other handheld device, or a desktop computer, portable computer, or other electronic device; there is no particular limitation in this embodiment.

[0110] In this embodiment of the invention, the executing entity for electronic device control can be an electronic device itself, or a functional module within an electronic device capable of calling and executing a program. The electronic device can obtain the firmware corresponding to the storage medium. This firmware is provided by the supplier, and different storage media may have the same or different firmware; no limitation is made here. After obtaining the firmware corresponding to the storage medium, the electronic device can write this firmware into the storage medium; specifically, it burns the firmware corresponding to the storage medium into the storage medium. The process of burning the firmware into the storage medium can be implemented using existing technology, and will not be elaborated upon in this embodiment of the invention.

[0111] Electronic devices can also obtain reset commands corresponding to the storage media. The reset commands corresponding to the storage media are provided by the supplier. The reset commands corresponding to different storage media can be the same or different, and no restrictions are imposed here.

[0112] At this time, the storage medium of the electronic device is a storage medium on which the corresponding firmware has been written. The electronic device can respond to the reset command corresponding to the storage medium on which the corresponding firmware has been written, thereby resetting the storage medium on which the corresponding firmware has been written according to the reset command. The process of resetting the storage medium according to the reset command can be implemented by existing technology and will not be described in detail in this embodiment of the invention.

[0113] For ease of description, the above devices are described separately by function as various units and modules. Of course, in implementing this application, the functions of each unit and module can be implemented in one or more software and / or hardware.

[0114] It will be understood by those skilled in the art that, unless otherwise defined, all terms used herein (including technical and scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. It should also be understood that terms such as those defined in general dictionaries should be understood to have the meaning consistent with their meaning in the context of the prior art, and should not be interpreted in an idealized or overly formal sense unless specifically defined.

[0115] For the sake of simplicity, the method embodiments are described as a series of actions. However, those skilled in the art should understand that the embodiments of the present invention are not limited to the described order of actions, because according to the embodiments of the present invention, some steps can be performed in other orders or simultaneously. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions involved are not necessarily essential to the embodiments of the present invention.

[0116] As can be seen from the above description of the embodiments, those skilled in the art can clearly understand that this application can be implemented by means of software plus necessary general-purpose hardware platforms. Based on this understanding, the technical solution of this application, 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 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 various embodiments or some parts of the embodiments of this application.

[0117] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention 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 or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for controlling a glue-applying robot, characterized in that, The glue-applying robot control method includes: The distance between the glue gun nozzle of the glue applicator robot and the workpiece surface is measured in real time, and the distance error between the measured distance and the preset target working distance is calculated. Based on the distance error, determine the current control requirements of the glue-applying robot; Based on the control requirements, the corresponding set of control parameters is invoked to control the glue-applying robot.

2. The glue-applying robot control method according to claim 1, characterized in that, Determining the control requirements of the current adhesive application robot based on the distance error includes: In response to the distance error being negative, the glue gun nozzle of the glue-applying robot is controlled to move away from the workpiece surface until the distance measurement value equals the target working distance; or In response to the distance error being positive, the glue gun nozzle of the glue-applying robot is controlled to approach the workpiece surface until the distance measurement value equals the target working distance.

3. The glue-applying robot control method according to claim 2, characterized in that, The step of controlling the glue-applying robot by invoking the corresponding set of control parameters based on the control requirements includes: Call the first control parameter set corresponding to when the distance error is negative, and output the first control command based on the first control parameter set; In response to the tool coordinate system being perpendicular to the workpiece as the positive direction, based on the first control command, the glue gun nozzle of the glue-applying robot is controlled to move along the positive direction until the distance measurement value is equal to the target working distance.

4. The glue-applying robot control method according to claim 3, characterized in that, The step of controlling the glue-applying robot by invoking the corresponding set of control parameters based on the control requirements includes: Call the second control parameter set corresponding to when the distance error is positive, and output the second control command based on the second control parameter set; In response to the tool coordinate system being perpendicular to the workpiece in the negative direction, based on the second control command, the glue gun nozzle of the glue applicator robot is controlled to move in the negative direction until the distance measurement value is equal to the target working distance.

5. The glue-applying robot control method according to claim 4, characterized in that, Both the first control parameter set and the second control parameter set include a proportional gain, as well as an integral and a derivative corresponding to the proportional gain; The proportional gain included in the first set of control parameters is greater than the proportional gain included in the second set of control parameters.

6. The glue-applying robot control method according to claim 4, characterized in that, The first control command or the second control command is used by the glue-applying robot to determine the dynamic offset in real time; The dynamic offset is used to correct the adhesive application trajectory of the adhesive application robot.

7. A control device for a glue-applying robot, characterized in that, The glue-applying robot control device includes: The distance error calculation module is used to acquire the distance measurement value between the glue gun nozzle of the glue application robot and the workpiece surface in real time, and calculate the distance error between the distance measurement value and the preset target working distance; The control requirements determination module is used to determine the current control requirements of the adhesive application robot based on the distance error. The control parameter module is used to invoke the corresponding control parameter set based on the control requirements to control the glue-applying robot.

8. An electronic device, characterized in that, include: The processor, communication interface, memory, and communication bus are connected, with the processor, communication interface, and memory communicating with each other via the communication bus. The memory stores a computer program that, when executed by a processor, causes the processor to perform the steps of the glue-applying robot control method as described in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, The device stores a computer program executable by an electronic device, which, when run on the electronic device, causes the electronic device to perform the steps of the glue-applying robot control method as described in any one of claims 1 to 6.

10. A vehicle, characterized in that, include: An electronic device for implementing the steps of the glue-applying robot control method as described in any one of claims 1 to 6; A processor that runs a program, which, when running, executes the steps of the glue-applying robot control method as described in any one of claims 1 to 6 from data output by an electronic device. A storage medium for storing a program that, when run, performs the steps of the glue-applying robot control method as described in any one of claims 1 to 6 on data output from an electronic device.

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