Automatic shoe sole gluing method and system based on three-dimensional reconstruction and storage medium

Abstract

The invention discloses an automatic shoe sole gluing method and system based on three-dimensional reconstruction and a storage medium. The method comprises the steps of determining a geometric modelimaged by a three-dimensional scanning camera; calibrating a line structure smooth surface of the geometric model; extracting a structured light center line of the line structured light surface; according to the line structure smooth surface and the structure light center line, creating triangulation on the to-be-glued shoe sole; extracting boundary point cloud of the to-be-glued shoe sole according to a triangulation result; determining an equidistant offset curve according to the boundary point cloud of the to-be-glued shoe sole; determining a gluing posture and a gluing track of the robot according to the equidistant offset curve; and automatically gluing the shoe sole according to the determined gluing posture and gluing track. Automatic gluing is achieved through the robot so that gluing stability is improved, and manual workload is reduced. By determining the equally-spaced offset curve, automatic gluing can be conducted on the women's shoe sole with the complex curved surface and the large curved surface curvature change, the application range is wide, and the shoe sole gluing device can be widely applied to the technical field of shoemaking.

Description

technical field [0001] The invention relates to the technical field of shoemaking, in particular to a shoe sole automatic gluing method, system and storage medium based on three-dimensional reconstruction. Background technique [0002] With the development of industrial technology, the demographic dividend is decreasing day by day, and the footwear industry is facing problems such as difficulty in recruiting workers, high labor costs, and difficult personnel management. Among them, the sole gluing process is basically still at the level of manual operation. Manual gluing has problems such as low efficiency, unstable quality, high labor intensity and harsh working environment, which will seriously affect the quality of shoes. Therefore, the automatic gluing equipment for soles has become an inevitable choice for the development of factories. [0003] Some gluing methods for shoe soles based on three-dimensional modeling have occurred in the prior art, mainly including the fo...

AI Technical Summary

Problems solved by technology

[0005] Although special equipment for three-dimensional gluing has appeared on the market, the existing technology can only be used for automatic gluing for sports shoes, which have smooth surfaces, small changes in surface curvature, and regular styles.

However, for women's shoes (especially high-heeled shoes), which have complex curved surfaces, large curvature changes and irregular styles, the existing technology cannot realize automatic glue application, and the scope of application is relatively small.

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