The invention discloses a
robot glue scraping method based on
visual identification, and belongs to the field of glue scraping methods. The
robot glue scraping method comprises the following steps that a
visual identification device obtains an image of a to-be-processed
pipe, and the image is processed through a visual
image processing algorithm to obtain the
diameter and perimeter L of the to-be-processed
pipe and the curvature of the circumference of the to-be-processed
pipe; according to the curvature information, the position of a glue scraping mechanism on a mechanical arm in a glue scraping
system is adjusted, so that a glue scraping roller
brush is positioned at the topmost end of the to-be-processed pipe and moves downwards to the lowest point along the curvature path of the to-be-processed pipe from the topmost end to complete the first half-perimeter glue
scraping action, a second driving device starts to drive the mechanical arm to move by the width of one roller
brush and return to the first step for circular treatment again until glue scraping of the first half surface of the to-be-processed pipe is completed; and the to-be-processed pipe is rotated, and returns to thefirst step for circular treatment again until glue scraping of the second half surface of the to-be-processed pipe is completed. The
robot glue scraping method can adopt the glue scraping
system to automatically complete the glue
scraping action, and is safe and environmentally-friendly.