Robot three-dimensional vision system and method for shoe sole and vamp scanning operation

Abstract

The invention discloses a robot three-dimensional vision system and method for shoe sole and vamp scanning operation. The system comprises a visual scanning system, a robot, a three-dimensional camera, a related tool clamp, an industrial personal computer, an upper computer controller, a shoe body model and a robot working support. The visual scanning system is fixedly connected with a robot; thevisual scanning system is used for scanning a shoe body model to obtain a contour point position and transmitting the contour point position to the industrial personal computer; the industrial personal computer is used for calculating to obtain a track through upper computer software; and the visual scanning system is used for operating the shoe body model fixed on a robot working bracket througha three-dimensional camera. According to the method, the glue injection line at the joint of the shoe body and the inclined plane can be accurately obtained, different requirements can be calculated according to the glue injection line, main shoemaking industries such as glue spraying and polishing can be completed according to different processes and modes, shoe body data information is obtainedthrough three-dimensional camera scanning, the scanning time is short, the efficiency is high, the scanning beat is smaller than 12 seconds per shoe, and the scanning precision is high.

Description

technical field [0001] The invention relates to the technical field of three-dimensional vision systems, in particular to a robot three-dimensional vision system and method for scanning soles and uppers. Background technique [0002] In the production and processing of soles and uppers, it is usually necessary to use processing robots to perform specific operations, thereby replacing traditional manual operations, improving production efficiency, and shortening the production cycle. However, processing robots cannot target the specific shape of the shoe body like the human eye. For the glue injection operation, it is necessary to establish a three-dimensional vision system for the processing robot. [0003] A three-dimensional machine vision system with the patent number CN201620843213.5, including a bracket, a rotating platform, a controller, a binocular camera, a projector, a calibration object, and a synchronous trigger circuit. The bracket is set on a rotating platform, ...

AI Technical Summary

Problems solved by technology

However, the 3D vision system in this patent uses one-time data acquisition and directly applies the data, which is not suitable for shoe body processing and production, and the synchronous triggering of the existing 3D vision system projector and camera starts, the data acquisition is slow, and the acquisition time Long, low efficiency, and the acquired data range is large, resulting in low data accuracy

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