Sole glue spraying thickness control method based on binocular vision

Abstract

A sole spraying thickness control method based on binocular vision includes the following steps: 1) erecting a binocular camera above a glue spraying platform, and obtaining images of a sole through two camera heads of the binocular camera; 2) performing three-dimensional calibration according to the two camera heads in the step 1), 3) adjusting angles and distance of the camera heads, and outputting calibration images with accurate line alignment; 4) finding identical characteristics in vision fields of the left camera head and the right camera head, outputting a disparity map, calculating a relative geometric position of the camera, and outputting a three-dimensional coordinate of a detection target through a trigonometric survey method; 5) providing a bivariate gaussian distribution model aiming at a discrete point, and building a sole glue spraying thickness sedimentary model; and 6) inputting the obtained three-dimensional coordinate with optimum space to a movement queue of a glue spraying mechanical arm so as to control the mechanical arm to complete a glue spraying process. The sole spraying thickness control method based on the binocular vision improves working efficiency, improves product quality, and solves the problem that traditional manual glue spraying thickness is uneven.

Description

technical field [0001] The invention relates to a technology for controlling the thickness of glue sprayed on soles, in particular to a method for controlling the thickness of glue sprayed on soles. Background technique [0002] In recent years, China's footwear industry has sprung up suddenly, becoming the world's largest footwear producer and exporter. However, with the rapid development of domestic and foreign situations and the continuous intensification of competition, such as the appreciation of the renminbi, the rise of raw material prices, the emergence of a shortage of skilled workers, and the EU's anti-dumping measures against China's shoe industry, the shoe industry is facing more and more new challenges. challenge. Sole glue spraying is mainly done by hand, which has the advantages of low manufacturing cost. However, such viscose shoes have the following problems: 1) The glue spraying of the sole is mainly done manually, but the inconsistent thickness of the fi...

AI Technical Summary

Problems solved by technology

[0004] In order to solve the problem of uneven thickness of traditional hand-sprayed glue, toxic glue affecting the health of workers, etc., and to make computer vision technology applicable to traditional manual industries, this invention proposes a thickness of sole sprayed glue based on binocular vision Control method, which uses binocular vision to quickly reconstruct the three-dimensional coordinates of the sole, and has the advantages of simple operation and uniform film thickness.

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