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A Calculation Method of Glue Spray Trajectory Line for Shoe Upper

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

Active Publication Date: 2017-12-19
QUANZHOU INST OF EQUIP MFG
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  • Abstract
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  • Claims
  • Application Information

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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

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  • A Calculation Method of Glue Spray Trajectory Line for Shoe Upper
  • A Calculation Method of Glue Spray Trajectory Line for Shoe Upper
  • A Calculation Method of Glue Spray Trajectory Line for Shoe Upper

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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...

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Abstract

The present invention provides a calculation method for shoe upper glue spray trajectory. Firstly, a linear laser scanner is used to scan a set of shoe soles and shoe uppers to obtain two sets of point cloud data. Then, the rough matching is realized by the SVD singular matrix decomposition method, so that the point cloud pairs are in the same direction and close to each other, and then the ICP algorithm is used to achieve precise registration, and the coordinate transformation relationship between the point cloud pairs is obtained. At the same time, due to the actual production needs, the Bezier curve algorithm is used to realize the local fitting deformation of the point cloud of the sole contour, and realize the accurate calculation of the glue spraying trajectory of the upper, thus realizing the automation of glue spraying.

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

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T7/30
Inventor 李俊曾辉雄
Owner QUANZHOU INST OF EQUIP MFG
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