CN113223029A - Glass gluing method, glass gluing device, electronic equipment and storage medium - Google Patents
Glass gluing method, glass gluing device, electronic equipment and storage medium Download PDFInfo
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Abstract
The application discloses a glass gluing method, a glass gluing device, an electronic device and a computer readable storage medium. The glass gluing method comprises the following steps: acquiring a contour point cloud of the edge of the glass to be coated with glue; mapping the contour point cloud to a two-dimensional plane to obtain contour points; generating a gluing path of the glass to be glued by combining the process model signal based on the contour points; and generating gluing track point information on the gluing path, and sending the gluing track point information to the robot to glue the glass to be glued. The shape and the position of the glass to be coated can be accurately identified, glass coating track points of any type and size can be automatically generated, high-precision coating of glass contours of any specification and size can be realized, and the usability, the flexibility and the universality of glass coating are improved. In addition, the gluing path is generated by combining the process model signals, so that the corresponding gluing path can be generated according to different process models, and the gluing of different process models can be realized on the glass to be glued.
Description
Technical Field
The present disclosure relates to the field of image processing, and more particularly, to a glass gluing method, a glass gluing apparatus, an electronic device, and a computer-readable storage medium.
Background
The glass gluing has high precision requirement, and if the precision is not enough, the situation that the glue overflows to the inner side or the outer side can occur. In the related art, a general gluing method needs to teach gluing track points in advance for different types of glass respectively, requires that the position and rotation of each type of supplied glass are fixed or a registration template of each type of glass is collected in advance, and gluing is carried out according to the type of the glass and the track points taught in advance. However, the gluing method needs to teach track points of different types of glass in advance, the position and rotation of the supplied glass need to be fixed or the requirements of collecting registration templates and the like of different types in advance, so that the usability, flexibility and universality of glass gluing are greatly reduced.
Disclosure of Invention
Embodiments of the present application provide a glass paste method, a glass paste apparatus, an electronic device, and a computer-readable storage medium.
The glass gluing method of the embodiment of the application comprises the following steps: acquiring a contour point cloud of the edge of the glass to be coated with glue; mapping the contour point cloud to a two-dimensional plane to obtain a contour point; generating a gluing path of the glass to be glued by combining a process model signal based on the contour points; and generating gluing track point information on the gluing path, and sending the gluing track point information to the robot to glue the glass to be glued.
In some embodiments, the generating, based on the contour points, a gluing path of the glass to be glued in combination with a process model signal includes: receiving the process model signal; and generating the gluing path by combining the process model signal based on the contour points.
In some embodiments, the generating, based on the contour points, a gluing path of the glass to be glued in combination with a process model signal includes: when the process model signal is a preset process model signal, generating the gluing path based on the contour point and a preset process algorithm; and when the process model signal is not the preset process model signal, processing the contour points to obtain corner points, and combining the contour points and the corner points to generate the gluing path.
In some embodiments, the generating the glue application path by combining the contour points and the corner points includes: when the number of the corner points is less than 2, generating the gluing path based on the contour points and the preset process algorithm; and when the number of the corner points is more than or equal to 2, determining each edge section according to the corner points, and combining the contour points and each edge section to generate the gluing path.
In some embodiments, the generating the glue application path by combining the contour points and the edge segments includes: dividing each edge section into a special edge section and a non-special edge section; performing at least one of the following operations on the edge segment: reserving all edge segments, reserving only the special edge segments, reserving only the non-special edge segments, lengthening or shortening the special edge segments; and combining the contour points and the operated edge sections to generate the gluing path.
In some embodiments, the dividing each of the edge segments into a special edge segment and a non-special edge segment includes: acquiring a set direction; dividing the edge segment in the set orientation into the special edge segments and dividing the other edge segments into the non-special edge segments.
The method for acquiring the contour point cloud of the edge of the glass to be coated comprises the following steps: acquiring point cloud data of glass to be coated, which is acquired by a visual sensor; performing point cloud filtering and outlier rejection on the point cloud data to obtain a point cloud model of the glass to be coated with the glue; and acquiring the contour point cloud according to the point cloud model.
In some embodiments, the mapping the contour point cloud to a two-dimensional plane to obtain a contour point comprises: and carrying out orthogonal projection on the contour point cloud so as to map the contour point cloud onto a two-dimensional plane to obtain the contour point.
In some embodiments, the generating, based on the contour points, a gluing path of the glass to be glued in combination with a process model signal includes: based on the contour points, performing noise point removal and smoothing treatment on each edge at a sub-pixel level; and performing straight line fitting on each side of the contour described by the result after the noise point removal and smoothing treatment.
In some embodiments, the performing a straight line fit on each side of the contour described by the noise-removed and smoothed result includes: determining a contour point cloud corresponding to the result; determining a target contour point of which the Z-direction coordinate of the corresponding contour point cloud is not zero based on the Z-direction coordinate of the contour point cloud corresponding to the result; and performing straight line fitting on each side of the contour described by the target contour point.
In some embodiments, the generating gluing track point information on the gluing path includes: and generating the gluing track point information on the gluing path according to the inherent attribute of the robot and the initial pose of the robot.
In some embodiments, the generating the gluing track point information on the gluing path according to the inherent attribute of the robot and the initial pose of the robot includes: determining corners and straight lines in the gluing path; setting gluing track points at the turning and the straight line according to the glue outlet speed and the movement speed of the robot and corresponding densities; and determining the walking sequence of the gluing track points according to the initial pose of the robot so as to obtain the information of the gluing track points.
In some embodiments, the gluing trace point information further includes: and normal information corresponding to the contour points.
The glass gluing device comprises a first obtaining module, a second obtaining module, a first generating module, a second generating module and a sending module. The first acquisition module is used for acquiring the contour point cloud of the edge of the glass to be coated with glue; the second acquisition module is used for mapping the contour point cloud to a two-dimensional plane to obtain a contour point; the first generation module is used for generating a gluing path of the glass to be glued by combining a process model signal based on the contour points; the second generation module is used for generating gluing track point information on the gluing path; and the sending module is used for sending the gluing track point information to the robot so as to glue the glass to be glued.
The electronic device of the embodiments of the present application includes a memory, a processor, and a computer program stored on the memory and executable on the processor, and the processor executes the computer program to implement the glass paste coating method of any one of the embodiments.
The computer-readable storage medium of an embodiment of the present application has stored thereon a computer program that, when executed by a processor, implements the glass paste method of any of the above-described embodiments.
The glass gluing method, the glass gluing device, the electronic equipment and the computer-readable storage medium can acquire the outline point cloud of the edge of glass to be glued, map the outline point cloud to a two-dimensional plane to obtain outline points, generate a gluing path of the glass to be glued by combining process model signals based on the outline points, generate gluing track point information on the gluing path, and send the gluing track point information to a robot to glue the glass to be glued. The shape and the position of the coated glass can be accurately identified, glass coating track points of any model can be automatically generated, high-precision coating of glass profiles of any specification and size can be realized, and the usability, the flexibility and the universality of glass coating are greatly improved. In addition, the gluing path is generated by combining the process model signals, so that the corresponding gluing path can be generated according to different process models, and the gluing of different process models can be realized on the glass to be glued.
Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.
Drawings
The above and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a schematic flow diagram of a glass sizing method according to certain embodiments of the present application;
FIG. 2 is a schematic view of a glass sizing apparatus according to certain embodiments of the present application;
FIG. 3 is a schematic structural diagram of an electronic device according to some embodiments of the present application;
FIGS. 4 and 5 are schematic flow diagrams of glass sizing methods according to certain embodiments of the present application;
FIG. 6 is a process schematic of a glass sizing method according to certain embodiments of the present application;
FIGS. 7 and 8 are schematic views of a glass sizing process according to certain embodiments of the present application;
fig. 9 to 11 are schematic flow charts of a glass paste coating method according to an embodiment of the present application;
fig. 12 is a schematic connection diagram of an electronic device and a computer-readable storage medium according to an embodiment of the present application.
Detailed Description
Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative and are only for the purpose of explaining the present application and are not to be construed as limiting the present application.
Referring to fig. 1, a glass paste coating method according to an embodiment of the present disclosure includes:
step 01: acquiring a contour point cloud of the edge of the glass to be coated with glue;
step 02: mapping the contour point cloud to a two-dimensional plane to obtain contour points;
step 03: generating a gluing path of the glass to be glued by combining the process model signal based on the contour points;
step 04: and generating gluing track point information on the gluing path, and sending the gluing track point information to the robot to glue the glass to be glued.
Referring to fig. 2, a glass coating apparatus 100 according to an embodiment of the present disclosure includes a first obtaining module 10, a second obtaining module 20, a first generating module 30, a second generating module 40, and a sending module 50. The glass gluing method can be realized by the glass gluing device 100 according to the embodiment of the present application, wherein step 01 can be realized by the first obtaining module 10, step 02 can be realized by the second obtaining module 20, step 03 can be realized by the first generating module 30, and step 04 can be realized by the second generating module 40 and the sending module 50, that is, the first obtaining module 10 is used for obtaining the contour point cloud of the edge of the glass to be glued. The second obtaining module 20 is configured to map the contour point cloud to a two-dimensional plane to obtain a contour point. The first generation module 30 is used for generating a gluing path of the glass to be glued by combining the process model signals based on the contour points. The second generating module 40 is configured to generate gluing track point information on the gluing path. The sending module 50 is used for sending the gluing track point information to the robot so as to glue the glass to be glued.
Referring to fig. 3, an electronic device 1000 according to an embodiment of the present disclosure includes a memory 200, a processor 300, and a computer program stored in the memory 200 and executable on the processor 300, and when the processor 300 executes the computer program, the glass paste coating method according to an embodiment of the present disclosure is implemented. As such, the glass paste coating method according to the embodiment of the present application may be implemented by the electronic device 1000 according to the embodiment of the present application, wherein the steps 01, 02, 03, and 04 may all be implemented by the processor 300, that is, the processor 300 may be configured to: acquiring a contour point cloud of the edge of the glass to be coated with glue; mapping the contour point cloud to a two-dimensional plane to obtain contour points; generating a gluing path of the glass to be glued by combining the process model signal based on the contour points; and generating gluing track point information on the gluing path, and sending the gluing track point information to the robot to glue the glass to be glued.
The processor 300 may be referred to as a driver board. The driver board may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc.
In the related art, the glass gluing has a high requirement for precision, and if the precision is not enough, the situation that the gluing overflows to the inner side or the outer side can occur. In the related art, a general gluing method needs to teach gluing track points in advance for different types of glass respectively, requires that the position and rotation of each type of supplied glass are fixed or a registration template of each type of glass is collected in advance, and gluing is carried out according to the type of the glass and the track points taught in advance. However, the gluing method needs to teach track points of different types of glass in advance, the position and rotation of the supplied glass need to be fixed or the requirements of collecting registration templates and the like of different types in advance, so that the usability, flexibility and universality of glass gluing are greatly reduced.
According to the glass gluing method, the outline point cloud of the edge of the glass to be glued can be obtained, the outline point cloud is mapped to the two-dimensional plane to obtain the outline point, then the gluing path of the glass to be glued is generated by combining the process model signal based on the outline point, gluing track point information is generated on the gluing path, and the gluing track point information is sent to the robot to glue the glass to be glued. The shape and the position of the coated glass can be accurately identified, glass coating track points of any model can be automatically generated, high-precision coating of glass profiles of any specification and size can be realized, and the usability, the flexibility and the universality of glass coating are greatly improved. In addition, the gluing path is generated by combining the process model signals, so that the corresponding gluing path can be generated according to different process models, and the gluing of different process models can be realized on the glass to be glued.
The glass gluing method according to the embodiment of the present application can be implemented by the glass gluing device 100 according to the embodiment of the present application, and can also be implemented by the electronic device 1000 according to the embodiment of the present application. The electronic device 1000 according to the embodiment of the present application may be a terminal device configured with the memory 200, the processor 300, and a computer program stored in the memory 200 and executable on the processor 300. For example, the electronic device 1000 may include a computer, a smartphone, a tablet, or other terminal device.
In some embodiments, referring to fig. 4, step 03 includes the steps of:
step 031: receiving a process model signal;
step 032: and generating a gluing path by combining the process model signal based on the contour points.
In some embodiments, the first generating module 30 includes a first receiving unit and a first generating unit, step 031 can be implemented by the first receiving unit, and step 032 can be implemented by the first generating unit, that is, the first receiving unit is used for receiving the process model signal. The first generating unit is used for generating a gluing path by combining the process model signals based on the contour points.
In some embodiments, the electronic device 1000 includes a processor 300. Both steps 031 and 032 can be implemented by the processor 300, that is, the processor 300 is configured to receive a process model signal; and generating a gluing path by combining the process model signal based on the contour points.
Specifically, in some embodiments, the process model signal may be input by a user or preset. The process model signal can comprise a plurality of types, so that the process model signal can be received, and the gluing path can be generated by combining the process model signal based on the contour points.
In some embodiments, referring to fig. 5, step 03 further includes:
step 033: when the process model signal is a preset process model signal, generating a gluing path based on the contour point and a preset process algorithm;
step 034: and when the process model signal is not the preset process model signal, processing the contour points to obtain corner points, and combining the contour points and the corner points to generate a gluing path.
In some embodiments, the first generating module 30 includes a second generating unit and a third generating unit, step 033 may be implemented by the second generating unit, and step 034 may be implemented by the third generating unit, that is, the second generating unit is configured to generate the gluing path based on the contour points and the preset process algorithm when the process model signal is the preset process model signal. And the third generating unit is used for processing the contour points to obtain corner points when the process model signal is not the preset process model signal, and generating the gluing path by combining the contour points and the corner points.
In some embodiments, the electronic device 1000 includes a processor 300. Both the step 033 and the step 034 may be implemented by the processor 300, that is, the processor 300 is configured to generate the gluing path based on the contour point and the preset process algorithm when the process model signal is the preset process model signal; and when the process model signal is not the preset process model signal, processing the contour points to obtain corner points, and combining the contour points and the corner points to generate a gluing path.
Specifically, in some embodiments, the process model signal may be a preset process model signal or a non-preset process model signal. Referring to fig. 6, the predetermined process model is process 1 in fig. 6, for example: the process model signal is a preset process model signal, the preset process model signal is the process 1 in fig. 6, and the gluing path is generated based on the contour points and a preset process algorithm. The preset process algorithm can be that the inner contraction processing is carried out based on the contour points to generate a circle of track points around, and the track points are gluing paths. The preset process algorithm is an inner shrinkage algorithm, the inner shrinkage method comprises a morphological corrosion method and a vertical line translation inner shrinkage method along a local tangent line, the morphological corrosion method can highly keep the shape of the contour point, and each local part can be translated for different distances by the vertical line translation inner shrinkage method along the local tangent line. Referring again to fig. 6, the processes 2, 3 and 4 in fig. 6 are non-default processes. And when the process model signal is not the preset process model signal, processing the contour points to obtain corner points, and combining the contour points and the corner points to generate a gluing path. Specifically, the corner refers to a specifically detectable interest point, and in some embodiments, the contour point may be processed by Harris (Harris) corner detection algorithm to obtain a corner. In some embodiments, the corner points may also be determined by the shape of the contour points, and referring to fig. 7, when the shape of the contour points is a standard rectangular rectangle or a non-rectangular rectangle, the four corner points may be determined by the points closest to the vertices of the circumscribed rectangle. Referring to fig. 8, when the shape of the contour points is irregular, the contour points need to be processed by the harris corner detection algorithm to obtain the corners.
In some embodiments, referring to fig. 9, generating a glue-applying path by combining contour points and corner points includes:
step 0341: when the number of the angular points is less than 2, generating gluing paths based on the contour points and a preset process algorithm;
step 0342: and when the number of the corner points is more than or equal to 2, determining each edge section according to the corner points, and combining the contour points and each edge section to generate a gluing path.
In some embodiments, the first generating module 30 includes a fourth generating unit and a fifth generating unit, step 0341 may be implemented by the fourth generating unit, and step 0342 may be implemented by the fifth generating unit, that is, the fourth generating unit is configured to generate the gluing path based on the contour points and the preset process algorithm when the number of corner points is less than 2. And the fifth generating unit is used for determining each edge section according to the corner points when the number of the corner points is more than or equal to 2, and generating the gluing path by combining the contour points and each edge section.
In some embodiments, the electronic device 1000 includes a processor 300. Both the step 0341 and the step 0342 may be implemented by the processor 300, that is, the processor 300 is configured to generate the gluing path based on the contour point and the preset process algorithm when the number of the corner points is less than 2; and when the number of the corner points is more than or equal to 2, determining each edge section according to the corner points, and combining the contour points and each edge section to generate a gluing path.
Specifically, in some embodiments, when the number of corner points is less than 2, that is, when the corner points are 0 and 1, the gluing path is generated based on the contour points and the preset process algorithm. When the number of the corner points is less than 2, the edge section cannot be determined according to the corner points, and thus, the gluing path can be generated based on the contour points and the retraction processing algorithm. And when the number of the corner points is more than or equal to 2, determining each edge section according to the corner points, and combining the contour points and each edge section to generate a gluing path.
In some embodiments, referring to fig. 10, combining the contour points and the edge segments to generate a glue application path includes:
step 0343: dividing each edge section into a special edge section and a non-special edge section;
step 0344: performing at least one of the following operations on the edge segment: reserving all edge sections, only reserving special edge sections, only reserving non-special edge sections, and prolonging or shortening the special edge sections;
step 0345: and combining the contour points and the operated edge sections to generate a gluing path.
In some embodiments, the first generation module 30 includes a first division unit, a first operation unit, and a sixth generation unit. Step 0343 may be implemented by a first dividing unit, step 0344 may be implemented by a first operating unit, and step 0345 may be implemented by a sixth generating unit, that is, the first dividing unit is configured to divide the respective edge segments into special edge segments and non-special edge segments. The first operation unit is used for performing at least one of the following operations on the edge segment: reserving all edge segments, reserving only special edge segments, reserving only non-special edge segments, lengthening or shortening special edge segments. The sixth generating unit is used for generating the gluing path by combining the contour points and the operated edge sections.
In some embodiments, the electronic device 1000 includes a processor 300. Step 0343, step 0344 and step 0345 may all be implemented by the processor 300, that is, the processor 300 is configured to divide each edge segment into a special edge segment and a non-special edge segment; performing at least one of the following operations on the edge segment: reserving all edge sections, only reserving special edge sections, only reserving non-special edge sections, and prolonging or shortening the special edge sections; and combining the contour points and the operated edge sections to generate a gluing path.
In particular, in some embodiments, each edge segment may be divided into a special edge segment and a non-special edge segment, and the special edge segment may be some portion of the edge segment. The special edge segment and the non-special edge segment may be self-defined and default by factory setting or may be manually set by a user, and are not limited herein. Referring to fig. 6, it can be considered that the right side edge in fig. 6 can be a special section, and the rest can be a non-special section. At least one of the following operations may be performed according to the demand edge segment: and reserving all edge sections, reserving only special edge sections, reserving only non-special edge sections, prolonging or shortening the special edge sections, and combining the contour points and the operated edge sections to generate a gluing path. In one example, it is possible to set all edge segments reserved as operation a, only special edge segments reserved as operation B, only non-special edge segments C reserved, special edge segments extended or shortened as operation D, and flexible free combination between the above special edge segment operations or with other processes is possible. Thus, referring to fig. 6, operation a is process 1, operation B is process 2 combined with process 1, operation C is process 3, and operation D is process 4 combined with operation C.
In some embodiments, referring to fig. 11, dividing each edge segment into a special edge segment and a non-special edge segment includes:
step 0346: acquiring a set direction;
step 0347: the edge segments in the set orientation are divided into special edge segments and the other edge segments are divided into non-special edge segments.
In some embodiments, the first generation module 30 includes a first acquisition unit and a second division unit. Step 0346 may be implemented by a first obtaining unit, and step 0347 may be implemented by a second dividing unit, that is, the first obtaining unit is used for obtaining the set orientation; the second dividing unit is used for dividing the edge segment in the set direction into special edge segments and dividing other edge segments into non-special edge segments.
In some embodiments, the electronic device 1000 includes a processor 300. Steps 0343, 0344 and 0345 may all be implemented by the processor 300, that is, the processor 300 is configured to obtain the setting orientation; the edge segments in the set orientation are divided into special edge segments and the other edge segments are divided into non-special edge segments.
Specifically, in some embodiments, the set orientation may be a factory-defined default or may be manually set by a user, which is not limited herein. And dividing the edge section in the set direction into special edge sections, and dividing other edge sections into non-special edge sections. In one embodiment, four corner points are determined, the orientations may include four orientations, namely, up, down, left, and right, if the orientation is set to be up, an edge between two corner points at the top is determined as a special edge segment, and other edge segments are divided into non-special edge segments.
In some embodiments, obtaining a contour point cloud of an edge of glass to be coated includes:
acquiring point cloud data of glass to be coated, which is acquired by a visual sensor;
carrying out point cloud filtering and outlier rejection on the point cloud data to obtain a point cloud model of the glass to be coated;
and acquiring the contour point cloud according to the point cloud model.
In some embodiments, the first acquisition module 10 includes a second acquisition unit, a third acquisition unit, and a fourth acquisition unit. The above steps may be implemented by the second obtaining unit, the third obtaining unit, and the fourth obtaining unit. That is to say, the second acquisition unit is used for acquiring the point cloud data of the glass to be coated, which is acquired by the visual sensor. The third acquisition unit is used for carrying out point cloud filtering and outlier rejection on the point cloud data so as to acquire a point cloud model of the glass to be coated with glue. The fourth acquisition unit is used for acquiring the contour point cloud according to the point cloud model.
In some embodiments, the electronic device 1000 includes a processor 300. The above steps can be implemented by the processor 300, that is, the processor 300 is configured to obtain point cloud data of the glass to be coated, which is acquired by the vision sensor; carrying out point cloud filtering and outlier rejection on the point cloud data to obtain a point cloud model of the glass to be coated; and acquiring the contour point cloud according to the point cloud model.
In particular, the vision sensor may be a 3D industrial camera. The visual sensor can acquire point cloud data of the glass to be coated with glue. The point cloud data includes coordinate values of points on three XYZ axes in space, including the orientation of each point cloud itself on three XYZ axes. And fine operations such as point cloud filtering, outlier rejection and the like are carried out on the point cloud data to form a more accurate point cloud model. The point cloud model is the point cloud model of the glass to be coated with the glue, so that the outline point cloud of the glass to be coated with the glue can be extracted.
In some embodiments, the point cloud model of the glass to be coated may be subjected to edge contour analysis to obtain a contour point cloud of the edge of the glass to be coated. Wherein, the edge profile of the coated glass can be obtained by edge profile analysis. The specific implementation process can be implemented by the existing traditional edge detection technology, deep learning algorithm and other technologies, and is not limited here.
It is worth mentioning that in the present embodiment, the outline of the glass to be coated may be any shape, for example, a polygon, such as a triangle, a rectangle, a pentagon, etc. The surface of the glass to be coated can be a plane, or a similar plane, specifically can be a relatively smooth concave surface or convex surface, such as a flat arc surface or a flat concave surface, or can also be a similar plane having concave-convex fluctuation at the same time. The shape of the glass to be coated may be of any specification and is not particularly limited herein.
In some embodiments, mapping the contour point cloud to a two-dimensional plane to obtain a contour point comprises:
and performing orthogonal projection on the contour point cloud to map the contour point cloud onto a two-dimensional plane to obtain a contour point.
In some embodiments, the above steps may be implemented by the second obtaining module 20. That is to say, the second obtaining module is configured to perform orthogonal projection on the contour point cloud to map the contour point cloud onto the two-dimensional plane, so as to obtain the contour point.
In some embodiments, the electronic device 1000 includes a processor 300. The above steps can be implemented by the processor 300, that is, the processor 300 is configured to perform orthogonal projection on the contour point cloud to map the contour point cloud onto a two-dimensional plane to obtain the contour point.
Specifically, the orthogonal projection of the profile point cloud can more accurately define the profile of the glass edge. The obtained outline point cloud of the edge of the glass to be coated is three-dimensional point cloud data, and the three-dimensional point cloud data influences the determination of the outline of the edge of the glass due to various external or internal factors, so that the outline point cloud can be mapped onto a two-dimensional plane by performing orthogonal projection on the outline point cloud to obtain the outline point. In addition, the data are subjected to dimensionality reduction processing, the data corresponding to the dimensionality with small outline influence are filtered, the data processing amount is reduced, the data processing speed is accelerated, and the efficiency is improved.
In one embodiment, the glass to be coated may be a non-standard plane glass, such as: a certain portion of the glass, for example a certain corner of the glass, or two ends of the glass, is slightly raised (sunk) so that certain edges form an arc, i.e. the corresponding portion is highly curved in space. Due to the imaging principle, the described edge of the point corresponding to the above arc line shot by the vision sensor at a non-perpendicular angle is a non-standard straight line. Therefore, orthogonal projection operation is carried out on the contour point cloud of the edge of the glass to be coated, dimension reduction processing is further carried out on the contour point cloud, each contour point cloud is mapped onto a two-dimensional plane, then two-dimensional contour points of the edge of the glass to be coated can be obtained, and the points describing the contour approach to a straight line.
In some embodiments, generating a gluing path for glass to be glued in combination with a process model signal based on contour points comprises:
based on the contour points, performing noise point removal and smoothing treatment on each edge at a sub-pixel level;
and performing straight line fitting on each side of the contour described by the result after the noise point removal and smoothing treatment.
In some embodiments, the first generation module 30 includes a first processing unit and a second processing unit. The above steps can be implemented by the second processing unit, the first processing unit and the second processing unit, that is, the first processing unit is configured to perform noise removal and smoothing on each edge at a sub-pixel level based on the contour points. And the second processing unit is used for performing straight line fitting on each side of the contour described by the result after the noise point removal and smoothing processing.
In some embodiments, the electronic device 1000 includes a processor 300. The above steps can be implemented by the processor 300, that is, the processor 300 is configured to perform noise point removal and smoothing on each edge at a sub-pixel level based on the contour points; and performing straight line fitting on each side of the contour described by the result after the noise point removal and smoothing treatment.
Specifically, the sub-pixel level may refer to a point between two pixel points viewed from a microscopic perspective, and the sub-pixel level calculation may enable image processing to be more accurate. After each edge described by the contour point is subjected to noise removal and smoothing processing at a sub-pixel level, each edge of the contour described by the contour point subjected to the noise removal and smoothing processing can be subjected to straight line fitting. In some embodiments, the line fitting may be to find a line corresponding to each edge based on the points of each edge, where the number of points corresponding to the better portion of each edge covered by the line is the greatest.
In some embodiments, the straight line fitting of each side of the contour described by the noise-removed and smoothed result comprises:
determining the contour point cloud corresponding to the result;
determining a target contour point of which the Z-direction coordinate of the corresponding contour point cloud is not zero based on the Z-direction coordinate of the contour point cloud corresponding to the result;
and performing straight line fitting on each side of the contour described by the target contour point.
In some embodiments, the first generation module 30 includes a first determination unit, a second determination unit, and a third processing unit. The above steps can be implemented by the first determining unit, the second determining unit and the third processing unit, that is, the first determining unit is used for determining the contour point cloud corresponding to the result. The second determining unit is used for determining a target contour point of which the Z-direction coordinate of the corresponding contour point cloud is not zero based on the Z-direction coordinate of the contour point cloud corresponding to the result. The third processing unit is used for performing straight line fitting on each side of the contour described by the target contour point.
In some embodiments, the electronic device 1000 includes a processor 300. The above steps can be implemented by the processor 300, that is, the processor 300 is configured to determine a contour point cloud corresponding to a result; determining a target contour point of which the Z-direction coordinate of the corresponding contour point cloud is not zero based on the Z-direction coordinate of the contour point cloud corresponding to the result; and performing straight line fitting on each side of the contour described by the target contour point.
Specifically, in the point cloud process of collecting glass to be coated with glue, for the glass to be coated with glue on a non-standard plane, the part of the glass to be coated with glue, which is attached to the conveyor belt, is easily interfered by the conveyor belt, and then an interference point appears. And the edge of the tilting part is not interfered, so that in the process of fitting the straight line based on the two-dimensional contour points, for the edge in contact with the conveying belt, the straight line corresponding to the edge can be determined according to the point of the edge, which is not in contact with the conveying belt. And determining which contour points on the edge are in contact with the conveyor belt and which contour points are not in contact with the conveyor belt according to the Z-direction coordinates of the contour point clouds corresponding to the contour points on the edge, namely determining that the contour points are in contact with the conveyor belt if the Z-direction coordinates of the contour point clouds corresponding to the contour points are zero, determining that the contour points are not in contact with the conveyor belt if the Z-direction coordinates of the contour point clouds corresponding to the contour points are not zero, and performing straight line fitting on the basis of the contour points which are not in contact with the conveyor belt at the moment to obtain a more accurate contour edge of the glass to be coated. It should be noted that, in this embodiment, a coordinate system corresponding to the glass to be glued is established by attaching to the conveyor belt, that is, an origin of the coordinate system is located on a plane where the conveyor belt is located.
It should be noted that the coordinate system may be established in other forms, and at this time, a certain point cloud screening rule may be set in advance according to the shape of the non-standard plane glass to be glued, and a point corresponding to the preferred portion is selected, that is, a point of the non-standard plane glass to be glued, which does not correspond to the contact portion of the conveyor belt, is selected. In this embodiment, the object of the straight line fitting operation is preferably a result of noise removal and smoothing processing, but may be a contour point without noise removal and smoothing processing, and is not limited herein.
In some embodiments, generating the gluing track point information on the gluing path includes:
and generating gluing track point information on the gluing path according to the inherent attribute of the robot and the initial pose of the robot.
In some embodiments, the above steps may be implemented by the second generating module 40, that is, the second generating module 40 is configured to generate the gluing track point information on the gluing path according to the inherent attribute of the robot and the initial pose of the robot.
In some embodiments, the electronic device 1000 includes a processor 300. The above steps can be implemented by the processor 300, that is, the processor 300 is configured to generate the gluing track point information on the gluing path according to the inherent attribute of the robot and the initial pose of the robot.
In particular, the robot may be an industrial robot arm for glass gluing. In order to make the robot walk less redundant tracks, the initial point of the gluing track point can be set at a position on the gluing path which is most similar to the initial pose of the robot, for example: the initiation point is set in the middle of the side near the robot. That is, after the initial pose of the robot is determined, the intermediate point on the gluing path of the side closest to the initial pose of the robot can be used as the initial point of the gluing track point, and then other gluing track points can be set on the gluing path according to the inherent attribute of the robot, so that the gluing track point information of the glued glass can be obtained. It is worth mentioning that the gluing track point information can include, but is not limited to, coordinates of the gluing track points, initial track points of the gluing track points, trends of the gluing track points (i.e., the walking sequence of the gluing track points), and the like. After the gluing track point information of the glued glass is obtained, the gluing track point information can be sent to the robot in a communication mode. When the robot receives the gluing track point information, the glue spraying nozzle of the robot is controlled to glue the glass to be glued based on the gluing track point information.
In some embodiments, generating gluing track point information on a gluing path according to the inherent attributes of the robot and the initial pose of the robot includes:
determining corners and straight lines in the gluing path;
setting gluing track points at corresponding densities at the turning part and the straight line part according to the glue outlet speed and the movement speed of the robot;
and determining the walking sequence of the gluing track points according to the initial pose of the robot to obtain the information of the gluing track points.
In some embodiments, the second generating module 40 comprises a third determining unit, a fourth processing unit and a fourth determining unit. The above steps may be implemented by a third determining unit, a fourth processing unit and a fourth determining unit, that is, the third determining unit is configured to determine corners and straight lines in the gluing path. And the fourth processing unit is used for setting gluing track points at the corners and the straight lines according to the glue outlet speed and the movement speed of the robot and with corresponding density. And the fourth determining unit is used for determining the walking sequence of the gluing track points according to the initial pose of the robot so as to obtain the gluing track point information.
In some embodiments, the electronic device 1000 includes a processor 300. The steps may be implemented by the processor 300, that is, the processor 300 is configured to determine corners and straight lines in the gluing path; setting gluing track points at corresponding densities at the turning part and the straight line part according to the glue outlet speed and the movement speed of the robot; and determining the walking sequence of the gluing track points according to the initial pose of the robot to obtain the information of the gluing track points.
Specifically, the determination of the corners and the straight lines in the gluing path may be based on the relationship between the coordinate values of the points on the gluing path. The X and Y coordinates of adjacent points at a corner may be different, while the X or Y coordinates of adjacent points on a straight line may be the same. For example: assuming that the glass to be coated is rectangular, in the coating path of the glass to be coated, the X coordinates and the Y coordinates of adjacent points at the corners of the four corners are different, the Y coordinates of adjacent points on the upper straight line are the same and the X coordinates are different, the Y coordinates of adjacent points on the lower straight line are the same and the X coordinates are different, the value of the Y coordinates is small relative to the value of the upper straight line, the X coordinates of adjacent points on the left straight line are the same and the Y coordinates are different, the X coordinates of adjacent points on the right straight line are the same and the Y coordinates are different, and the value of the X coordinates is small relative to the value of the left straight line.
When the robot is used for gluing the glass, the glue outlet head is controlled based on a certain glue outlet speed to glue. The glue discharging rate is used as an inherent attribute of the robot, and the glue coating effect in the embodiment is influenced. In order to conveniently set a gluing track point on a gluing path according to the glue outlet speed of the robot so as to avoid the glue piling condition, the glue outlet speed of the robot can be determined.
The inherent property of the robot motion is also represented by that if the robot sets the same motion speed parameters at the corners and the straight lines, the motion speeds at the corners and the straight lines are different, and the motion speed at the specific corners is slower than that at the straight lines. In actual conditions, the glue discharging speed of another inherent attribute of the robot is unchanged, so that the glue stacking condition can be caused at a corner for the glue discharging speed and the movement speed parameter of a proper straight line. In some embodiments, on the premise of ensuring that the robot moves along the determined gluing path, the distance between the gluing track points arranged at the corners on the gluing path can be larger than the distance between the gluing track points arranged at the straight line, so that the balance between the movement speed at the straight line and the movement speed at the corners is achieved, and the problem of glue piling possibly caused by the corners is solved. Can set up a minimum interval in straight line department and be used for injecing the interval of straight line department rubber coating track point, prevent straight line department because the robot because track point quantity is too much and the condition of unsmooth heap of gluing appears blocking. And different moving speed parameters with different numerical values can be set at the straight line and the corner to achieve the balance of the moving speed at the straight line and the moving speed at the corner, and the problem of glue stacking caused by inherent properties is solved.
And determining the walking sequence of the gluing track points according to the initial pose of the robot to obtain the information of the gluing track points. It can be understood that, in order to make the robot walk less redundant tracks, the initial point of the track point is set to a point close to the initial pose of the robot, for example: the track points corresponding to the middle parts of the edges of the glass to be coated, which are close to the robot, can be set. That is, after the initial pose of the robot is determined, the track point corresponding to the middle point on the gluing path of the edge closest to the initial pose of the robot (or the track point closest to the middle point) can be used as the initial track point of the gluing track point, and then, other track points can be walked clockwise or counterclockwise.
In some embodiments, the gluing track point information may specifically include a gluing track point coordinate, an initial track point coordinate, a walking sequence of the gluing track point, a movement speed parameter of the gluing track point, and the like.
In some embodiments, the adhesive coated trace point information further comprises: and normal information corresponding to the contour points.
Specifically, the normal information may be an angle value of a normal vector corresponding to each contour point cloud with respect to a fixed amount, or may be a deviation angle value of a point cloud in a subsequent walking order in each contour point cloud with respect to a previous point cloud.
Referring to fig. 12, a computer readable storage medium 500 of an embodiment of the present application stores a computer program, and the computer program is executed by a processor 300 to implement the glass paste coating method of any one of the above embodiments. It should be noted that the computer program stored in the computer-readable storage medium 500 of the embodiment of the present application can be executed by the processor 300 of the electronic device 1000, and it should be noted that the computer-readable storage medium 500 may be a storage medium built in the electronic device 1000, or may be a storage medium that can be plugged into the electronic device 1000 in an inserting and pulling manner, so that the computer-readable storage medium 500 of the embodiment of the present application has higher flexibility and reliability.
In the description herein, reference to the description of the terms "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example" or "some examples" or the like means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and the scope of the preferred embodiments of the present application includes other implementations in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present application.
The logic and/or steps represented in the flowcharts or otherwise described herein, such as an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processing module-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
The Processor 220 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
It should be understood that portions of the embodiments of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present application may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc.
Although embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present application, and that variations, modifications, substitutions and alterations of the above embodiments may be made by those of ordinary skill in the art within the scope of the present application.
Claims (16)
1. A glass gluing method is characterized by comprising the following steps:
acquiring a contour point cloud of the edge of the glass to be coated with glue;
mapping the contour point cloud to a two-dimensional plane to obtain a contour point;
generating a gluing path of the glass to be glued by combining a process model signal based on the contour points;
and generating gluing track point information on the gluing path, and sending the gluing track point information to the robot to glue the glass to be glued.
2. The glass gluing method according to claim 1, wherein the step of generating the gluing path of the glass to be glued based on the contour points and in combination with a process model signal comprises the following steps:
receiving the process model signal;
and generating the gluing path by combining the process model signal based on the contour points.
3. The glass gluing method according to claim 1, wherein the step of generating the gluing path of the glass to be glued based on the contour points and in combination with a process model signal comprises the following steps:
when the process model signal is a preset process model signal, generating the gluing path based on the contour point and a preset process algorithm;
and when the process model signal is not the preset process model signal, processing the contour points to obtain corner points, and combining the contour points and the corner points to generate the gluing path.
4. The glass-coating method of claim 3, wherein said combining the contour points and the corner points to generate the coating path comprises:
when the number of the corner points is less than 2, generating the gluing path based on the contour points and the preset process algorithm;
and when the number of the corner points is more than or equal to 2, determining each edge section according to the corner points, and combining the contour points and each edge section to generate the gluing path.
5. The glass sizing method according to claim 4, wherein the combining the contour points and the respective edge segments to generate the sizing path comprises:
dividing each edge section into a special edge section and a non-special edge section;
performing at least one of the following operations on the edge segment: reserving all edge segments, reserving only the special edge segments, reserving only the non-special edge segments, lengthening or shortening the special edge segments;
and combining the contour points and the operated edge sections to generate the gluing path.
6. The glass gluing method according to claim 5, wherein the dividing of each edge section into a special edge section and a non-special edge section comprises:
acquiring a set direction;
dividing the edge segment in the set orientation into the special edge segments and dividing the other edge segments into the non-special edge segments.
7. The glass gluing method according to claim 1, wherein the obtaining of the contour point cloud of the edge of the glass to be glued comprises:
acquiring point cloud data of glass to be coated, which is acquired by a visual sensor;
performing point cloud filtering and outlier rejection on the point cloud data to obtain a point cloud model of the glass to be coated with the glue;
and acquiring the contour point cloud according to the point cloud model.
8. The glass sizing method according to claim 7, wherein the mapping the contour point cloud to a two-dimensional plane to obtain a contour point comprises:
and carrying out orthogonal projection on the contour point cloud so as to map the contour point cloud onto a two-dimensional plane to obtain the contour point.
9. The glass gluing method according to claim 8, wherein the step of generating the gluing path of the glass to be glued based on the contour points and in combination with a process model signal comprises the following steps:
based on the contour points, performing noise point removal and smoothing treatment on each edge at a sub-pixel level;
and performing straight line fitting on each side of the contour described by the result after the noise point removal and smoothing treatment.
10. The glass gluing method according to claim 9, wherein the straight line fitting of each side of the profile described by the noise point removal and smoothing result comprises:
determining a contour point cloud corresponding to the result;
determining a target contour point of which the Z-direction coordinate of the corresponding contour point cloud is not zero based on the Z-direction coordinate of the contour point cloud corresponding to the result;
and performing straight line fitting on each side of the contour described by the target contour point.
11. The glass gluing method according to claim 9 or 10, wherein the generating of gluing track point information on the gluing path comprises:
and generating the gluing track point information on the gluing path according to the inherent attribute of the robot and the initial pose of the robot.
12. The glass gluing method according to claim 11, wherein the generating of the gluing track point information on the gluing path according to the inherent properties of the robot and the initial pose of the robot comprises:
determining corners and straight lines in the gluing path;
setting gluing track points at the turning and the straight line according to the glue outlet speed and the movement speed of the robot and corresponding densities;
and determining the walking sequence of the gluing track points according to the initial pose of the robot so as to obtain the information of the gluing track points.
13. The glass gluing method of claim 12, wherein the gluing track point information further comprises: and normal information corresponding to the contour points.
14. A glass gluing device is characterized by comprising:
the first acquisition module is used for acquiring the contour point cloud of the edge of the glass to be coated with glue;
the second acquisition module is used for mapping the contour point cloud to a two-dimensional plane to obtain a contour point;
the first generation module is used for generating a gluing path of the glass to be glued by combining a process model signal based on the contour points;
the second generation module is used for generating gluing track point information on the gluing path;
and the sending module is used for sending the gluing track point information to the robot so as to glue the glass to be glued.
15. An electronic device, comprising: a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the glass-coating method of any one of claims 1 to 13 when executing the computer program.
16. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the glass-gluing method of any one of claims 1 to 13.
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| CN202110422148.4A CN113223029A (en) | 2021-04-20 | 2021-04-20 | Glass gluing method, glass gluing device, electronic equipment and storage medium |
| PCT/CN2022/087776 WO2022222934A1 (en) | 2021-04-20 | 2022-04-19 | Glass adhesive coating method, glass adhesive coating apparatus, electronic device, and storage medium |
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| CN202110422148.4A CN113223029A (en) | 2021-04-20 | 2021-04-20 | Glass gluing method, glass gluing device, electronic equipment and storage medium |
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| CN112238032A (en) * | 2020-09-04 | 2021-01-19 | 上海尧崇智能科技有限公司 | Gluing path generation method, device and system and computer-readable storage medium |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2022222934A1 (en) * | 2021-04-20 | 2022-10-27 | 梅卡曼德（北京）机器人科技有限公司 | Glass adhesive coating method, glass adhesive coating apparatus, electronic device, and storage medium |
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