Sole glue spraying device and method based on monocular vision

Abstract

The invention provides a sole glue spraying device based on monocular vision. The sole glue spraying device comprises a conveyor belt device, a visual device, a manipulator device and a control system. The invention further provides a sole glue spraying method based on monocular vision. The sole glue spraying method comprises the following steps of equipment debugging, image acquisition, image processing, measurement coordinate acquisition, track point position extraction, coordinate transformation, glue spraying action and the like. According to the device and the method, the monocular camerais adopted to replace an existing double-sided visual system; the cost is relatively low, the advantages of high three-dimensional vision measurement and detection speed, high robot glue spraying efficiency and high universality are combined, the glue application work can be rapidly completed for any shoe size and any shoe shape outline, the glue application quality meets the requirements of theshoemaking process, the labor is saved, and the labor intensity of workers and possible damage of chemical adhesives to the human body are reduced.

Description

technical field [0001] The invention relates to a glue spraying equipment and method, in particular to a sole glue spraying equipment and method based on monocular vision. Background technique [0002] In the shoemaking process, the quality of the sizing operation has always been an important factor in determining the quality of shoes. With the improvement of automation in the shoemaking industry, the sizing operation of shoemaking is gradually being replaced by automatic equipment. Using automated equipment to carry out shoe sizing work, the working method is mainly divided into two types: sizing track matching generation and online automatic generation according to the different sizing track generation methods. The former uses features to match and call existing sizing Track, due to the diversification of shoe styles and materials, it is time-consuming and energy-consuming to adopt this method; the latter automatically generates sizing tracks through online measurement, a...

AI Technical Summary

Problems solved by technology

[0003] At present, the sole glue spraying equipment on the market generally adopts the binocular vision system to automatically produce the glue sizing track, and the cost is relatively high; at the same time, the sole glue spraying equipment currently on the market usually has part of the glue in the form of mist when spraying glue Scattering, these glues are easy to adhere to the lens of the vision system, affecting the photo quality of the vision system, and then affecting the quality of glue spraying; in addition, the sole glue spraying equipment on the market usually only has one spray gun, which is prone to glue leakage , which will affect the glue spraying quality, or need to spray glue on the same sole multiple times, the efficiency is relatively low

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