Calculation method for vamp glue spray trajectory

A calculation method and trajectory line technology, applied in the field of automation, to achieve the effect of automatic glue spraying and accurate calculation

Active Publication Date: 2015-07-08
QUANZHOU INST OF EQUIP MFG
View PDF6 Cites 23 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The technical problem to be solved by the present invention is to provide a calculation method for the glue spray trajectory of shoe uppers, which can make the two sets of point cloud data of the sole and the shoe upper not completely overlap overlap and match as much as possible, and unify the point cloud pairs To the unified coordinates, so as to realize the automatic calculation of the glue spraying position of the sole and upper, and solve the problem of automatic glue spraying of the existing shoe upper

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Calculation method for vamp glue spray trajectory
  • Calculation method for vamp glue spray trajectory
  • Calculation method for vamp glue spray trajectory

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0029] The present invention will be further described below in conjunction with the embodiments with reference to the accompanying drawings.

[0030] see Figure 1 to Figure 8 , a calculation method for shoe upper glue spray trajectory, comprising the steps of:

[0031] Step 10. Scan a set of soles and uppers with a linear laser scanner to obtain two sets of point cloud data. Please refer to image 3 , image 3 It is a schematic diagram of the scanned sole and upper, the point cloud data is a matrix, the point cloud data of the sole is recorded as matrix B, and the point cloud data of the shoe upper is recorded as matrix D, and the two sets of point cloud data need to be registered The original point cloud pair; for example, the sole is a matrix B of double-precision data type of 17027×3, that is, a matrix B composed of 17027 three-dimensional space coordinates x, y, z. Similarly, the upper is a double-precision data of 18173×3 type of matrix D;

[0032] Step 20. Since th...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention provides a calculation method for a vamp glue spray trajectory. The calculation method comprises the steps that firstly, a set of soles and vamps are scanned through a linear laser scanner, and two sets of point cloud data are obtained; secondly, arrays of original point cloud pairs are made to be identical in size through preprocessing; thirdly, rough matching is achieved through an SVD singular matrix decomposition method, accurate registration is achieved through an ICP algorithm after the point cloud pairs are identical in direction and become close to each other, and coordinate conversion relations between the point cloud pairs are obtained. Meanwhile, due to the practical production demands, local fitting deformation of a sole profile point cloud set is achieved through a Bezier curved line algorithm, the accurate calculation of the vamp glue spray trajectory is achieved, and thus glue spray automation is achieved.

Description

【Technical field】 [0001] The invention relates to the field of automation, in particular to a calculation method for a shoe upper glue spray trajectory obtained based on accurate registration of shoe sole and shoe upper point cloud pairs. 【Background technique】 [0002] At present, the automation level of my country's footwear industry is still relatively low. Especially in the glue spraying process, only a few enterprises use automation equipment in individual processes. Most of the glue spraying processes are still completed manually by workers. Problems such as labor shortage are becoming more and more prominent, and there is an urgent need to develop a mature automated intelligent glue spraying production line to promote the healthy development of the industry. The invention solves the key technology in the development of the intelligent glue spraying robot—glue spraying automation, and realizes the automatic calculation of the glue spraying position of the sole and vamp ...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/00
Inventor 曾辉雄李俊
Owner QUANZHOU INST OF EQUIP MFG
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap