A method and robot for online generation of grinding operation trajectory in multi-dimensional space surface

Abstract

The present application discloses a method and a robot for online generation of a multi-dimensional space curved surface grinding operation track. This method uses the Bayesian coherent point drift algorithm to register each shoe upper point data with the corresponding side wall point data to form each registration point, and these registration points form a shoe upper roughing track to assist industrial robots to complete the automatic roughing of the shoe upper , effectively improving the quality and roughing efficiency of shoe products. Since there are a large number of discrete variables in the probability density function of the registration Gaussian mixture model function between the upper point data and the side wall point data, it is different from the traditional point set registration algorithm that uses the expectation maximization algorithm and maximum likelihood estimation to iteratively calculate. Apply to register each upper point data with the corresponding side wall point data through the Bayesian coherent point drift algorithm, which can further improve the calculation accuracy.

Description

technical field [0001] The present application relates to the technical field of shoemaking, and in particular to an online generation method and robot for grinding operation tracks of multi-dimensional space curved surfaces. Background technique [0002] Roughing the upper is a very important process in the production of cold-bonded shoes. The roughening quality of the upper determines the quality of the glued joint between the outsole and the upper. The shoe upper roughing operation of Chinese shoe manufacturers is generally carried out by hand. Manual roughing has a high degree of uncertainty, and the quality of roughing is often related to the experience and work status of the operator, which leads to a high rate of scrap when roughing shoe uppers. High, uneven product quality. On the other hand, roughing produces a lot of seriously polluting dust, and workers who work in the roughing workshop for a long time have a high probability of suffering from respiratory disease...

AI Technical Summary

Problems solved by technology

However, the use of industrial robots to complete the roughening of shoe uppers still has difficulties such as difficult planning of the roughening trajectory.

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