Multi-dimensional space curved surface polishing operation track online generation method and robot
A multi-dimensional space and curved surface technology, applied in instruments, manipulators, program-controlled manipulators, etc., can solve problems such as difficulty in planning roughing trajectories, and achieve the effects of improving calculation accuracy, roughing efficiency, and quality.
Active Publication Date: 2022-01-07
云路复合材料(上海)有限公司
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Problems solved by technology
However, the use of industrial robots to complete the roughening of shoe uppers
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[0041] The following will clearly and completely describe the technical solutions in the embodiments of the application with reference to the drawings in the embodiments of the application. Apparently, the described embodiments are only some of the embodiments of the application, not all of them. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of this application.
[0042] First aspect, such as figure 1 As shown, the application provides a method for online generation of multi-dimensional space curved surface grinding operation trajectory, which includes:
[0043] 110. Obtain point data of each shoe upper to form point cloud data of shoe uppers, and acquire point data of each sole to form point cloud data of shoe soles.
[0044] Point cloud data refers to a set of vectors in a three-dimensional coordinate system. The scanned data is recorded in the ...
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The invention discloses a multi-dimensional space curved surface polishing operation track online generation method and a robot. According to the multi-dimensional space curved surface polishing operation track online generation method, shoe upper point data and the corresponding side wall point data are registered through adopting a Bayesian coherent point drift algorithm to form registration points, and the registration points form a shoe upper roughing track to assist an industrial robot to complete automatic roughing of a shoe upper, so that the shoe roughing quality and the roughing efficiency are effectively improved. As a probability density function of a registration Gaussian mixture model function between the shoe upper point data and the side wall point data has a large number of discrete variables, the method is different from a traditional point set registration algorithm adopting an expectation maximization algorithm and maximum likelihood estimation for iterative calculation, the multi-dimensional space curved surface polishing operation track online generation method adopts the Bayesian coherent point drift algorithm to register the shoe upper point data and the corresponding side wall point data, and can further improve the calculation accuracy degree.
Description
technical field [0001] The present application relates to the technical field of shoemaking, and in particular to an online generation method and robot for grinding operation tracks of multi-dimensional space curved surfaces. Background technique [0002] Roughing the upper is a very important process in the production of cold-bonded shoes. The roughening quality of the upper determines the quality of the glued joint between the outsole and the upper. The shoe upper roughing operation of Chinese shoe manufacturers is generally carried out by hand. Manual roughing has a high degree of uncertainty, and the quality of roughing is often related to the experience and work status of the operator, which leads to a high rate of scrap when roughing shoe uppers. High, uneven product quality. On the other hand, roughing produces a lot of seriously polluting dust, and workers who work in the roughing workshop for a long time have a high probability of suffering from respiratory disease...
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Login to View More IPC IPC(8): G06T15/00G06T7/30B25J9/16
CPCG06T15/005G06T7/30B25J9/1664G06T2207/10028G06T2207/20076
Inventor 马娟陈向坤
Owner 云路复合材料(上海)有限公司