Automatic shoe sole edge line tracking method based on robot

Abstract

The invention provides an automatic shoe sole edge line tracking method based on a robot. The method includes the steps that firstly, a shoe with a shoe sole bound is scanned, after point cloud data are acquired, point cloud feature points are acquired through a weighted PCA three-level-set total least square method, the feature points are divided into blocks and projected to a two-dimensional region, a longest feature line in a two-dimensional image is acquired through a two-dimensional line segment splicing method, the feature line is back projected to three-dimensional space, a closed three-dimensional curve of the edge of the shoe sole is thinned through a space linear projection method, a new curve is generated through a scanned current vamp and the three-dimensional closed curve generated previously in the generation process, the curve is tracked through the industrial robot, and then automatic grinding, liquid medicine coating and glue spraying operation and the like can be achieved. The method can be widely applied to an automatic shoe-making system, and the production efficiency and product quality are improved.

Description

technical field [0001] The invention relates to a shoemaking method, in particular to an automatic recognition and tracking method for sole edges based on a robot vision system. Background technique [0002] In the traditional shoemaking process, the bonding of the sole and the upper is done by hand. At present, some shoe-making equipment uses robots to complete the automatic grinding, spraying, and gluing operations of the vamp fitting parts, but offline teaching must be used to complete the generation of robot tracking trajectories. First fit the sole to the upper, manually draw the edge line of the sole, and draw vertical lines at a certain interval, and then use the intersection of the edge line of the sole and the vertical line to teach the robot to generate a tracking trajectory, as shown in Figure 9 as shown, Figure 9 Among them, 1 indicates the grinding, spraying water and gluing area below the edge line of the sole, 2 indicates the teaching point of the robot, and...

AI Technical Summary

Problems solved by technology

These two methods are time-consuming. The method of teaching is to use the tracking trajectory of a pair of shoes to apply to the operation trajectory of the subsequent upper, which will cause a certain error.

[0003] In the traditional shoe-making process, it is time-consuming and labor-intensive to use manual or robot to polish the edge line of the sole, draw the line and teach the process, and the product quality cannot be guaranteed.

Moreover, all shoes of the same model use the same tracking curve. Since the shoes will be deformed, it is easy to produce large errors when polishing and spraying glue, which will affect the quality of the finished shoes.

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