Method, system, electronic device and readable storage medium for planning path of glue spraying on sole

Abstract

The present invention relates to the field of path planning technology, specifically to a method, system, electronic device and readable storage medium for planning a path for glue spraying on a sole, comprising: obtaining the edge contour of a sole of a single sole image, inserting a dividing line between the edge contour of a sole with an annular sidewall and the edge contour of a sole without an annular sidewall, horizontally moving the dividing line to obtain a parallel line parallel to the dividing line, forming a partition curve between the edge contour intersection of the parallel line and the edge contour of the sole edge contour to the intersection of the dividing line and the indentation of the sole edge contour at the same end, fitting the partition curve, the edge contour curve segment between the parallel line and the edge contour intersection of the sole edge contour, and the indentation curve segment between the dividing line and the indentation intersection of the indentation to obtain a glue spraying planning path. The present invention adopts multi-layer partition processing, has strong scalability, replaces manual full-automatic glue spraying operations, and improves the intelligent production efficiency of enterprises.

Description

Technical Field

[0001] The present invention relates to the technical field of path planning, and in particular to a method, system, electronic device and readable storage medium for planning a path for spraying glue on a sole. Background Art

[0002] In the shoemaking process, it is difficult to obtain a good edge for the annular side wall soles using binocular vision or line laser due to the unclear depth information characteristics, and the glue spraying path optimization cannot be implemented. Shoe factories currently still use manual glue brushing, but manual glue brushing is inefficient and unstable, the glue thickness is uneven, and it is easy to cause problems such as glue overflow and glue shortage, making it difficult to meet high quality requirements. In addition, the production environment contains toxic substances that affect the health and safety of employees.

[0003] Therefore, the traditional edge extraction algorithm for ordinary shoes can no longer meet the requirements of spraying glue on the soles with local annular side walls. It is necessary to develop a more adaptable technology to guide the spraying operation of the spraying robot based on the characteristics of this type of product, so as to fill the technical gap in the field of spraying glue on the soles with local annular side walls. Summary of the invention

[0004] The purpose of the present invention is to overcome the problem that traditional edge extraction algorithms cannot meet the requirements of glue spraying on soles with local annular side walls, and provide a method, system, electronic device and readable storage medium for planning a path for glue spraying on soles.

[0005] In order to achieve the above object, the present invention provides a sole glue spraying path planning method, comprising the following steps:

[0006] Acquire a single sole image, process the single sole image, and extract a sole edge contour in the processed single sole image, wherein the sole edge contour includes a sole edge contour with an annular side wall and a sole edge contour without an annular side wall;

[0007] Obtaining points on the edge contour of the sole, setting point sequence numbers, inserting a dividing line between the edge contour of the sole with the annular side wall and the edge contour of the sole without the annular side wall, horizontally moving the dividing line in the direction of the edge contour of the sole without the annular side wall, and obtaining a parallel line parallel to the dividing line, wherein the parallel line and the dividing line include a side wall connecting portion, and the horizontal moving distance is determined according to the length of the side wall connecting portion;

[0008] The edge contour of the sole is indented inwardly to obtain an indented contour, wherein the indented distance is determined according to the width of the annular side wall; obtaining the intersection points of the indented contour with the dividing line and the corresponding indented contour of the parallel line, and the intersection points of the edge contour of the sole with the dividing line and the corresponding edge contour of the parallel line, respectively, and indexing the edge contour intersection points and the indented contour intersection points at the points on the sole edge contour and the indented contour, respectively, to obtain corresponding point sequence numbers;

[0009] Obtain points on the sole edge contour curve segment and / or the indented contour curve segment between the dividing line and the parallel line, calculate the coordinates of the insertion points according to the acquired coordinates of the points on the sole edge contour curve segment and / or the indented contour curve segment, and the coordinates of the indented contour intersection points and the edge contour intersection points corresponding to the sole edge contour curve segment and / or the indented contour curve segment, and the point sequence number, the insertion points are respectively assembled to form a partition curve from the edge contour intersection point of the parallel line and the sole edge contour to the dividing line at the same end and the indented contour intersection point of the sole edge contour, wherein the partition curve is the glue spraying path of the side wall connection area;

[0010] The partition curve, the sole edge contour curve segment between the parallel line and the edge contour intersection of the sole edge contour, and the indentation contour curve segment between the dividing line and the indentation contour intersection of the indentation contour are fitted to obtain a glue spraying planning path.

[0011] As an implementable method, a single sole image is acquired, the single sole image is processed, and a sole edge contour in the processed sole image is extracted, wherein the sole edge contour includes a sole edge contour with an annular side wall and a sole edge contour without an annular side wall, the steps comprising:

[0012] Acquire a shoe sole image to be sprayed with glue, acquire a sole area in the shoe sole image to be sprayed with glue according to a first predetermined condition, and cut the shoe sole image to be sprayed with glue according to the sole area to obtain a single sole image;

[0013] The single sole image is subjected to image processing to extract the sole edge contour in the single sole image after image processing, wherein the sole edge contour includes a sole edge contour with an annular side wall and a sole edge contour without an annular side wall.

[0014] As an implementable method, the steps of obtaining points on the edge contour of the sole, setting point numbers, and inserting a dividing line between the edge contour of the sole with the annular side wall and the edge contour of the sole without the annular side wall include:

[0015] Calculate the minimum circumscribed circle of the sole edge contour, obtain a first circumscribed circle intersection point and a second circumscribed circle intersection point of the sole edge contour and the minimum circumscribed circle, and set a point position sequence number on the sole edge contour according to the first circumscribed circle intersection point or the second circumscribed circle intersection point;

[0016] Calculate the minimum circumscribed rectangle of the edge contour of the sole, insert the first partition point and the second partition point into the minimum circumscribed rectangle respectively, take the line between the first partition point and the second partition point as the first diagonal, set a rectangular area with a width and a height of W1 and H1 respectively, and obtain the second diagonal of the rectangular area, wherein the second diagonal is the dividing line between the edge contour of the sole with annular side walls and the edge contour of the sole without annular side walls.

[0017] As an implementable method, the step of setting the point number on the edge contour of the sole according to the first circumscribed circle intersection point or the second circumscribed circle intersection point comprises:

[0018] Points are extracted from the sole edge contour, and the points on the sole edge contour are sorted, wherein the point sequence number of the first circumscribed circle intersection point or the second circumscribed circle intersection point is 0.

[0019] As an implementable method, the steps of obtaining the intersection points of the indented contour with the dividing line and the corresponding indented contour of the parallel line, and the intersection points of the edge contour of the sole with the dividing line and the corresponding edge contour of the parallel line, and indexing the edge contour intersection points and the indented contour intersection points in the points on the sole edge contour and the indented contour, respectively, to obtain the corresponding point sequence numbers include:

[0020] Obtain a first edge contour intersection point and a second edge contour intersection point of the sole edge contour and the parallel line, index the first edge contour intersection point and the second edge contour intersection point in the point positions of the sole edge contour, and obtain point position serial numbers corresponding to the first edge contour intersection point and the second edge contour intersection point respectively; obtain a third edge contour intersection point of the sole edge contour and the second diagonal line, index the third edge contour intersection point in the point positions of the sole edge contour, and obtain a point position serial number corresponding to the third edge contour intersection point, wherein the third edge contour intersection point is the intersection point of the sole edge contour and the right end of the second diagonal line;

[0021] Obtain a first indented contour intersection point and a second indented contour intersection point of the indented contour and the second diagonal line, index the first indented contour intersection point and the second indented contour intersection point in the points of the indented contour, and obtain point position numbers corresponding to the first indented contour intersection point and the second indented contour intersection point respectively; obtain a third indented contour intersection point of the indented contour and the parallel lines, index the third indented contour intersection point in the points of the indented contour, and obtain a point position number corresponding to the third indented contour intersection point, wherein the third indented contour intersection point is the intersection point of the left end of the indented edge contour and the parallel lines.

[0022] As an implementable embodiment, the steps of obtaining points on the sole edge contour curve segment and / or the indented contour curve segment between the dividing line and the parallel line, calculating the coordinates of the insertion points according to the obtained coordinates of the points on the sole edge contour curve segment and / or the indented contour curve segment, the coordinates of the indented contour intersection points and the edge contour intersection points corresponding to the sole edge contour curve segment and / or the indented contour curve segment, and the point sequence number, and the insertion points are respectively assembled to form a partition curve from the parallel line and the edge contour intersection point of the sole edge contour to the dividing line and the indented contour intersection point of the sole edge contour at the same end, include:

[0023] Obtaining a set of all first points on the indented contour curve segment between the first indented contour intersection point and the third indented contour intersection point, calculating a first offset slope according to point sequence numbers of the first indented contour intersection point and the third indented contour intersection point and the ordinate of the third indented contour intersection point and the first edge contour intersection point, calculating the coordinates of the corresponding first insertion point according to the first offset slope and the coordinates of each first point in the first point set, to obtain a first insertion point set, wherein the first insertion point set forms a first partition curve between the first indented contour intersection point and the first edge contour intersection point;

[0024] Obtain a set of all second points on the sole edge contour curve segment between the second edge contour intersection and the third edge contour intersection, calculate a second offset slope according to the point sequence numbers of the second edge contour intersection and the third edge contour intersection, and the longitudinal coordinates of the second indented contour intersection and the third edge contour intersection, calculate the coordinates of the corresponding second insertion point according to the second offset slope and the coordinates of each second point in the second point set, and obtain a second insertion point set, wherein the second insertion point set forms a second partition curve between the second indented contour intersection and the second edge contour intersection.

[0025] As an implementation method, the calculation formula for calculating the first offset slope according to the point sequence number of the first indented contour intersection point and the third indented contour intersection point, and the ordinate of the third indented contour intersection point and the first edge contour intersection point is: In the formula, Tan 01 Indicates the first offset slope, OutSideC1 indicates the ordinate of the first edge contour intersection, InSideC3 indicates the ordinate of the third indentation contour intersection, InSide03_Order indicates the point sequence number of the third indentation contour intersection, and InSide01_Order indicates the point sequence number of the first indentation contour intersection. In the calculation process of the horizontal and vertical coordinates, the horizontal axis is used as the ordinate axis and the vertical axis is used as the horizontal axis.

[0026] Calculating the coordinates of the corresponding first insertion point according to the first offset slope and the ordinate of each first point in the first point set specifically includes: calculating the ordinate of the first insertion point having the same abscissa value according to the first offset slope and the coordinate of each first point in the first point set, wherein the calculation formula of the ordinate of the first insertion point is: InSide01C i -i*Tan 01 , where i represents an increasing value, the interval is (1, InSide03_Order-InSide01_Order), InSide01C i Represents the ordinate of the i-th first point in the first point set, Tan 01 represents the first offset slope;

[0027] The calculation formula for calculating the second offset slope according to the point sequence number of the second edge contour intersection point and the third edge contour intersection point, and the ordinate of the second indentation contour intersection point and the third edge contour intersection point is: In the formula, Tan 02 Indicates the second offset slope, OutSideC3 indicates the ordinate of the third edge contour intersection, InSideC2 indicates the ordinate of the second indented contour intersection, OutSide03_Order indicates the point sequence number of the third edge contour intersection, and OutSide02_Order indicates the point sequence number of the second edge contour intersection. In the calculation process of the horizontal and vertical coordinates, the horizontal axis is used as the ordinate axis, and the vertical axis is used as the horizontal axis.

[0028] Calculating the coordinates of the corresponding second insertion point according to the second offset slope and the coordinates of each second point in the second point set specifically includes: calculating the ordinate of the second insertion point having the same abscissa according to the second offset slope and the ordinate of each second point in the second point set; wherein the calculation formula of the ordinate of the second insertion point is: OutSide02C i -i*Tan 02 , where i represents an increasing value, the interval is (1, OutSide03_Order-OutSide02_Order), OutSide02C i Represents the ordinate of the i-th second point in the second point set, Tan 02 Represents the second offset slope.

[0029] Accordingly, the present invention also provides a sole glue spraying path planning system, comprising the following modules:

[0030] An image acquisition module is used to acquire a single sole image, process the single sole image, and extract a sole edge contour in the processed single sole image, wherein the sole edge contour includes a sole edge contour with an annular side wall and a sole edge contour without an annular side wall;

[0031] A demarcation line insertion module is provided to obtain a point on the sole edge contour, set a point sequence number, insert a demarcation line between the sole edge contour with the ring-shaped side wall and the sole edge contour without the ring-shaped side wall, and horizontally move the demarcation line toward the direction of the sole edge contour without the ring-shaped side wall to obtain a parallel line parallel to the demarcation line, wherein a side wall connection portion is included between the parallel line and the demarcation line, and a horizontal movement distance is determined according to the length of the side wall connection portion;

[0032] A point indexing module is used to indent the edge contour of the sole inward to obtain an indented contour, wherein the indented distance is determined according to the width of the annular side wall; obtain the intersection points of the indented contour with the dividing line and the corresponding indented contour of the parallel line, and the intersection points of the edge contour of the sole with the dividing line and the corresponding edge contour of the parallel line, and index the edge contour intersection points and the indented contour intersection points in the points on the sole edge contour and the indented contour to obtain corresponding point sequence numbers;

[0033] A partition curve calculation module is used to obtain points on the sole edge contour curve segment and / or the indented contour curve segment between the dividing line and the parallel line, and calculate the coordinates of the insertion points according to the obtained coordinates of the points on the sole edge contour curve segment and / or the indented contour curve segment, as well as the coordinates of the indented contour intersection points and the edge contour intersection points corresponding to the sole edge contour curve segment and / or the indented contour curve segment, and the point sequence number, wherein the insertion points are respectively assembled to form a partition curve from the edge contour intersection point of the parallel line and the sole edge contour to the dividing line at the same end and the indented contour intersection point of the sole edge contour, wherein the partition curve is the glue spraying path of the side wall connection area;

[0034] The path fitting module fits the partition curve, the sole edge contour curve segment between the parallel line and the edge contour intersection of the sole edge contour, and the indentation contour curve segment between the dividing line and the indentation contour intersection of the indentation contour to obtain a glue spraying planning path.

[0035] Correspondingly, the present invention also provides an electronic device, characterized in that it includes: at least one processor and a memory communicatively connected to at least one of the processors; at least one of the processors is used to read the program in the memory to execute the method.

[0036] Correspondingly, the present invention also provides a computer-readable storage medium, characterized in that instructions are stored on the medium, and when the instructions are executed on a computer, the computer executes the method.

[0037] Beneficial effects of the invention: The invention discloses a method, system, electronic device and readable storage medium for planning a path for spraying glue on a sole, which obtains the edge contour of a sole of a single sole image, inserts a dividing line between the edge contour of a sole with an annular side wall and the edge contour of a sole without an annular side wall, moves the dividing line horizontally, obtains a parallel line parallel to the dividing line, forms a partition curve between the intersection point of the parallel line with the edge contour of the sole edge contour to the intersection point of the dividing line with the indented contour of the sole edge contour at the same end, and forms a partition curve between the intersection point of the partition curve, the parallel line and the edge contour of the sole edge contour. The shoe sole edge contour curve segment between the points and the indented contour curve segment between the dividing line and the indented contour intersection point are fitted to obtain the glue spraying planning path; it is possible to adopt multi-layer partitioning processing for different characteristics of the sole edge of the annular side wall, and perform different operations on each allocated area, including segmentation, fitting and reorganization, to obtain an effective glue spraying path and guide the glue spraying operation, so that the stability is good, the robustness is strong, the accuracy can be achieved below 0.2mm, the scalability is strong, and it is suitable for a variety of shoe types. This embodiment replaces the manual full-automatic glue spraying operation and improves the intelligent production efficiency of the enterprise. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 Schematic diagram of the steps of the sole glue spraying path planning method according to an embodiment of the present invention.

[0039] Figure 2 It is a structural schematic diagram of the minimum circumscribed circle obtained in the sole glue spraying path planning method according to an embodiment of the present invention.

[0040] Figure 3 It is a structural schematic diagram of the minimum circumscribed rectangle obtained in the sole glue spraying path planning method according to an embodiment of the present invention.

[0041] Figure 4 It is a structural schematic diagram of the rectangular area and partition points obtained in the sole glue spraying path planning method according to an embodiment of the present invention.

[0042] Figure 5 It is a structural schematic diagram of the second diagonal line and the parallel line obtained in the sole glue spraying path planning method according to an embodiment of the present invention.

[0043] Figure 6 It is a structural schematic diagram of the retracted profile obtained in the sole glue spraying path planning method according to an embodiment of the present invention.

[0044] Figure 7 It is a structural schematic diagram of the glue spraying planning path obtained by the sole glue spraying path planning method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0045] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0046] See also Figure 1 This embodiment provides a technical solution: a method for planning a path for spraying glue on a sole, comprising the following steps:

[0047] Step S100, obtaining a single sole image, processing the single sole image, and extracting a sole edge contour in the processed single sole image, wherein the sole edge contour includes a sole edge contour with an annular side wall and a sole edge contour without an annular side wall;

[0048] Step S200, obtaining points on the sole edge contour, setting point sequence numbers, inserting a dividing line between the sole edge contour with the ring-shaped side wall and the sole edge contour without the ring-shaped side wall, horizontally moving the dividing line in the direction of the sole edge contour without the ring-shaped side wall, and obtaining a parallel line parallel to the dividing line, wherein a side wall connecting portion is included between the parallel line and the dividing line, and a horizontal moving distance is determined according to the length of the side wall connecting portion;

[0049] Step S300, indenting the edge contour of the sole inward to obtain an indented contour, wherein the indented distance is determined according to the width of the annular side wall; obtaining the corresponding indented contour intersection points of the indented contour with the dividing line and the parallel line, and the corresponding edge contour intersection points of the sole edge contour with the dividing line and the parallel line, and indexing the edge contour intersection points and the indented contour intersection points in the points on the sole edge contour and the indented contour to obtain corresponding point sequence numbers;

[0050] Step S400, obtaining points on the sole edge contour curve segment and / or the indented contour curve segment between the dividing line and the parallel line, and calculating the coordinates of the insertion points according to the obtained coordinates of the points on the sole edge contour curve segment and / or the indented contour curve segment, and the coordinates of the indented contour intersection points and the edge contour intersection points corresponding to the sole edge contour curve segment and / or the indented contour curve segment, and the point sequence number, wherein the insertion points are respectively assembled to form a partition curve from the edge contour intersection point of the parallel line and the sole edge contour to the dividing line at the same end and the indented contour intersection point of the sole edge contour, wherein the partition curve is the glue spraying path of the side wall connection area;

[0051] Step S500, fitting the partition curve, the sole edge contour curve segment between the parallel line and the edge contour intersection of the sole edge contour, and the indentation curve segment between the dividing line and the indentation intersection of the indentation contour to obtain a glue spraying planning path.

[0052] Executing step S100, acquiring a single sole image, processing the single sole image, and extracting a sole edge contour in the processed sole image, wherein the sole edge contour includes a sole edge contour with an annular side wall and a sole edge contour without an annular side wall, comprising:

[0053] Acquire a shoe sole image to be sprayed with glue, acquire a sole area in the shoe sole image to be sprayed with glue according to a first predetermined condition, and cut the shoe sole image to be sprayed with glue according to the sole area to obtain a single sole image;

[0054] The single sole image is subjected to image processing to extract the sole edge contour in the single sole image after image processing, wherein the sole edge contour includes a sole edge contour with an annular side wall and a sole edge contour without an annular side wall.

[0055] The step of acquiring the sole area in the shoe sole image to be sprayed with glue according to the first predetermined condition includes: acquiring a ROI region of interest with a gray value less than 100 in the shoe sole image to be sprayed with glue based on a connected domain, which is the obtained sole area.

[0056] The step of performing image processing on the single sole image and extracting the sole edge contour in the single sole image after image processing comprises:

[0057] A morphological opening operation is performed on the single sole image to remove edge burrs and noise interference, and the edge contour of the sole in the single sole image is extracted using Canny operator edge detection based on the pixel features of the sole area and the background area at the edge of the sole in the single sole image.

[0058] Specifically, the equipment is started through the control console, the sole with a partial annular side wall to be sprayed with glue is placed on the conveyor belt, the motor is used as a power device to drive the conveyor belt to rotate, and the sole is conveyed to the image acquisition device. When the through-beam sensor detects the product arrival signal, a photo command is sent to the image acquisition device, and the image acquisition device obtains the image of the sole to be sprayed with glue; for the acquired image of the sole to be sprayed with glue, the size of the image is obtained, including the width and height of the image; for the acquired image of the sole to be sprayed with glue, the ROI region of interest is set, that is, the ROI region of interest with a grayscale value less than 100 is set; the ROI region of interest is intercepted from the original image according to the ROI region of interest The ROI image of interest is obtained, which is the sole image, eliminating interference from other areas and improving the algorithm processing speed; wherein, in intercepting the ROI image of interest, this embodiment uses the difference between the target object and the background, and extracts the target object by setting the screening value. Since it is carried out on the assembly line, there may be more than two sole images in the image obtained at this time, so it is necessary to sort them from front to back, extract the target object in the front, that is, the single sole image to be sprayed with glue, and when the next sole product arrives at the photographing position, the soles that arrive at the photographing position are visually photographed in turn to extract the sole image, and the process is repeated in sequence.

[0059] Executing step S200, obtaining points on the edge contour of the sole, setting point sequence numbers, and inserting a dividing line between the edge contour of the sole with an annular side wall and the edge contour of the sole without an annular side wall comprises:

[0060] Calculate the minimum circumscribed circle of the sole edge contour, obtain a first circumscribed circle intersection point and a second circumscribed circle intersection point of the sole edge contour and the minimum circumscribed circle, and set a point position sequence number on the sole edge contour according to the first circumscribed circle intersection point or the second circumscribed circle intersection point;

[0061] Calculate the minimum circumscribed rectangle of the edge contour of the sole, insert the first partition point and the second partition point into the minimum circumscribed rectangle respectively, take the line between the first partition point and the second partition point as the first diagonal, set a rectangular area with a width and a height of W1 and H1 respectively, and obtain the second diagonal of the rectangular area, wherein the second diagonal is the dividing line between the edge contour of the sole with annular side walls and the edge contour of the sole without annular side walls.

[0062] The step of setting the point sequence number on the edge contour of the sole according to the first circumscribed circle intersection point or the second circumscribed circle intersection point comprises:

[0063] Extract points from the sole edge contour and sort the points on the sole edge contour, wherein the point number of the first circumscribed circle intersection point or the second circumscribed circle intersection point is 0; in this embodiment, the point number of the first circumscribed circle intersection point I0 is 0 for sorting.

[0064] like Figure 2 As shown, a single sole image is obtained, wherein the sole area in the single sole image includes a sole area with annular side walls and a sole area without annular side walls, and the minimum circumscribed circle of the sole edge contour is calculated to obtain the first circumscribed circle intersection point I0 and the second circumscribed circle intersection point I1 of the sole edge contour and the minimum circumscribed circle; the minimum circumscribed rectangle of the sole edge contour is calculated, and the four vertices are A0, A1, A2, and A3, respectively, wherein the first circumscribed circle intersection point I0 and the second circumscribed circle intersection point I1 are respectively located on the line connecting vertex A0 to vertex A1 and the line connecting vertex A2 to vertex A3.

[0065] like Figure 3 As shown, according to the edge contour feature of the sole, a first partition point B0 and a second partition point B1 are respectively inserted on the minimum circumscribed rectangle, and a line between the first partition point B0 and the second partition point B1 is parallel to two short sides of the minimum circumscribed rectangle, wherein the two short sides are respectively the short side between vertex A0 and vertex A1, and the short side between vertex A2 and vertex A3.

[0066] Among them, the first partition point B0 and the second partition point B1 are manually pre-set according to the smallest size of the sole, and the soles of other sizes are incremented in sequence according to the smallest size. Specifically, the length from the first partition point B0 to the vertex A3 of the smallest circumscribed rectangle and the length from the second partition point B1 to the vertex A2 of the smallest circumscribed rectangle are increased respectively, and the length increases by 5 mm for each additional size.

[0067] like Figure 4 As shown, with the line between the first partition point B0 and the second partition point B1 as the first diagonal line, a rectangular area with a width of W1 and a height of H1 is set, and the four intersection positions respectively indicated by the four cross lines are the four intersection positions of the diagonal line of the rectangular area and the edge contour of the sole; wherein, in this embodiment, the setting value of W1 is 50 pixels in length, and the setting value of H1 is a value that completely penetrates the single sole contour in direction; the four vertices of the rectangular area are vertex C0, vertex C1, vertex C2, and vertex C3, wherein the line formed by the first partition point B0 and the second partition point B1 is the diagonal line between vertex C0 and vertex C2, as shown in FIG. Figure 5 As shown (to more clearly show the positions of different lines and intersections during the planning path calculation process, Figure 5 , Figure 6 and Figure 7 Line graphs are used for illustration, but in actual operation, the Figure 4 The sole image shown in the figure is used to obtain the second diagonal line L1 of the rectangular area, and the second diagonal line L1 is horizontally moved toward the sole area without the annular side wall, with a moving distance of 100 pixels, to obtain a parallel line L2 parallel to the second diagonal line L1.

[0068] Executing step S300, obtaining the intersection points of the indented contour with the dividing line and the corresponding indented contour of the parallel line, and the intersection points of the edge contour of the sole with the dividing line and the corresponding edge contour of the parallel line, respectively, indexing the edge contour intersection points and the indented contour intersection points in the points on the sole edge contour and the indented contour, respectively, and obtaining the corresponding point sequence numbers includes:

[0069] Obtain a first edge contour intersection point and a second edge contour intersection point of the sole edge contour and the parallel line, index the first edge contour intersection point and the second edge contour intersection point in the point positions of the sole edge contour, and obtain point position serial numbers corresponding to the first edge contour intersection point and the second edge contour intersection point respectively; obtain a third edge contour intersection point of the sole edge contour and the second diagonal line, index the third edge contour intersection point in the point positions of the sole edge contour, and obtain a point position serial number corresponding to the third edge contour intersection point, wherein the third edge contour intersection point is the intersection point of the sole edge contour and the right end of the second diagonal line;

[0070] Obtain a first indented contour intersection point and a second indented contour intersection point of the indented contour and the second diagonal line, index the first indented contour intersection point and the second indented contour intersection point in the points of the indented contour, and obtain point position numbers corresponding to the first indented contour intersection point and the second indented contour intersection point respectively; obtain a third indented contour intersection point of the indented contour and the parallel lines, index the third indented contour intersection point in the points of the indented contour, and obtain a point position number corresponding to the third indented contour intersection point, wherein the third indented contour intersection point is the intersection point of the left end of the indented edge contour and the parallel lines.

[0071] like Figure 6 Shown are the first edge contour intersection E1 (OutSideR1, OutSideC1) and the second edge contour intersection E2 (OutSideR2, OutSideC2) of the sole edge contour Edge1 and the parallel line L2, and the third edge contour intersection E3 (OutSideR3, OutSideC3) of the sole edge contour Edge1 and the second diagonal line L1. The above three intersection points are indexed in the sole edge contour Edge1, and the three point position numbers are determined to be: OutSide01_Order, OutSide02_Order, OutSide03_Order, respectively. In the calculation process of the horizontal and vertical coordinates, the calculation is performed with the horizontal axis as the vertical axis and the vertical axis as the horizontal axis.

[0072] The sole edge contour Edge1 is indented inward to obtain an indented contour Edge2, as well as a first indented contour intersection D1 (InSideR1, InSideC1) and a second indented contour intersection D2 (InSideR2, InSideC2) between the indented contour Edge2 and the second diagonal line L1, and a third indented contour intersection D3 (InSideR3, InSideC3) between the indented contour Edge2 and the parallel line L2. The above three intersections are indexed in the indented contour Edge2 to determine that the three point position numbers are: InSide01_Order, InSide02_Order, InSide03_Order;

[0073] The calculation formula of the width obtained in the step of determining the inwardly retracted distance according to the width of the annular side wall is: d is the indent distance, W is the width of the actual ring border, and p is the single pixel accuracy.

[0074] Execute step S400, obtain the points on the sole edge contour curve segment and / or the indented contour curve segment between the dividing line and the parallel line, calculate the coordinates of the insertion points according to the obtained coordinates of the points on the sole edge contour curve segment and / or the indented contour curve segment, and the coordinates of the indented contour intersection points and the edge contour intersection points corresponding to the sole edge contour curve segment and / or the indented contour curve segment, and the point sequence number, and the insertion points are respectively assembled to form a partition curve between the dividing line and the indented contour intersection point of the sole edge contour from the edge contour intersection point of the parallel line and the sole edge contour to the same end, including:

[0075] Obtain a set of all first points on the indented contour curve segment between the first indented contour intersection point and the third indented contour intersection point, and calculate the coordinates of each first point in the first point set; calculate a first offset slope according to the point sequence numbers of the first indented contour intersection point and the third indented contour intersection point, and the ordinates of the third indented contour intersection point and the first edge contour intersection point, calculate the coordinates of the corresponding first insertion point according to the first offset slope and the coordinates of each first point in the first point set, and obtain a first insertion point set, wherein the first insertion point set forms a first partition curve between the first indented contour intersection point and the first edge contour intersection point, wherein the calculated abscissa of the first insertion point is the same as the abscissa of the corresponding first point to be calculated; Figure 7 Shown is a first partition curve S1 between the first indented contour intersection point and the first edge contour intersection point;

[0076] Obtain all second point sets on the sole edge contour curve segment between the second edge contour intersection and the third edge contour intersection and calculate the coordinates of each second point in the second point set; calculate the second offset slope according to the point sequence numbers of the second edge contour intersection and the third edge contour intersection and the ordinates of the second indented contour intersection and the third edge contour intersection; calculate the coordinates of the corresponding second insertion point according to the second offset slope and the coordinates of each second point in the second point set to obtain a second insertion point set, wherein the second insertion point set forms a second partition curve between the second indented contour intersection and the second edge contour intersection, wherein the calculated abscissa of the second insertion point is the same as the abscissa of the corresponding calculated second point; Figure 7 Shown is a second partition curve S2 between the second indentation contour intersection point D2 and the second edge contour intersection point E2.

[0077] In addition, the side wall connection portion is designed as an integral part with the annular side wall, and the side wall connection portion includes a first side wall connection portion and a second side wall connection portion, and the area between the first partition curve S1 and the sole edge contour curve segment between the first edge contour intersection E1 and the fourth edge contour intersection E4 is the first side wall connection portion area, and the first side wall connection portion gradually narrows toward the direction of the horizontal line, and the first partition curve S1 is the glue spraying path corresponding to the first side wall connection portion; the area between the second partition curve S2 and the sole edge contour curve segment between the second edge contour intersection E2 and the third edge contour intersection E3 is the second side wall connection portion area, and the second side wall connection portion gradually narrows toward the direction of the horizontal line, and the second partition curve S2 is the glue spraying path corresponding to the second side wall connection portion.

[0078] In this embodiment, if Figure 7As shown, all the first points on the indented contour curve segment between the first indented contour intersection D1 and the third indented contour intersection D3, and all the second points on the sole edge contour curve segment between the second edge contour intersection E2 and the third edge contour intersection E3 are obtained respectively. However, in other embodiments, the calculation can also be performed by obtaining all the points on other curve segments between the dividing line and the parallel lines and the corresponding intersection coordinates and point sequence numbers. For example, the coordinates of all the points on the sole edge contour curve segment between the first edge contour intersection E1 and the fourth edge contour intersection E4 and the coordinates of all the points on the sole edge contour curve between the second edge contour intersection E2 and the third edge contour intersection E3 and the corresponding intersection coordinates and point sequence numbers can be obtained respectively for calculation, or the coordinates of all the points on the indented contour curve segment between the first indented contour intersection D1 and the third indented contour intersection D3 and the coordinates of all the points on the indented contour curve between the second indented contour intersection D2 and the fourth indented contour intersection D4 and the corresponding intersection coordinates and point sequence numbers can be obtained respectively for calculation, and so on.

[0079] Specifically, in the present embodiment, in the process of calculating the first partition curve S1, all the first points on the indented contour curve segment between the first indented contour intersection D1 and the third indented contour intersection D3, as well as the point sequence numbers of the first indented contour intersection D1 and the third indented contour intersection D3 corresponding to the first indented contour intersection D1 and the third indented contour intersection D3, and the longitudinal coordinates of the third indented contour intersection D3 and the first edge contour intersection E1 are obtained for calculation. However, in other embodiments, the calculation of insertion points can also be performed by obtaining the coordinates and coordinate points of other intersections. For example, all the third points on the sole edge contour curve segment between the first edge contour intersection E1 and the fourth edge contour intersection E4, as well as the point sequence numbers of the first edge contour intersection E1 and the fourth edge contour intersection E4 corresponding to the sole edge contour curve segment between the first edge contour intersection E1 and the fourth edge contour intersection E4, and the longitudinal coordinates of the fourth edge contour intersection E4 and the first indented contour intersection D1 can be obtained for calculation.

[0080] In this embodiment, in the process of calculating the second partition curve S2, all the second points on the sole edge contour curve segment between the second edge contour intersection E2 and the third edge contour intersection E3, as well as the point sequence numbers of the second edge contour intersection E2 and the third edge contour intersection E3 corresponding to the sole edge contour curve segment between the second edge contour intersection E2 and the third edge contour intersection E3, and the longitudinal coordinates of the second indented contour intersection D2 and the third edge contour intersection E3 are obtained for calculation; however, in other embodiments, the calculation of the insertion point can also be performed by obtaining the coordinates and coordinate points of other intersections, for example, all the fourth points on the indented contour curve segment between the second indented contour intersection D2 and the fourth indented contour intersection D4, as well as the point sequence numbers of the second indented contour intersection D2 and the fourth indented contour intersection D4 corresponding to the indented contour curve segment between the second indented contour intersection D2 and the fourth indented contour intersection D4, and the longitudinal coordinates of the fourth indented contour intersection D4 and the second edge contour intersection E2 are obtained for calculation.

[0081] The calculation formula for calculating the first offset slope according to the point sequence numbers of the first indented contour intersection point and the third indented contour intersection point and the ordinate of the third indented contour intersection point and the first edge contour intersection point is: In the formula, Tan 01 Indicates the first offset slope, OutSideC1 indicates the ordinate of the first edge contour intersection, InSideC3 indicates the ordinate of the third indentation contour intersection, InSide03_Order indicates the point sequence number of the third indentation contour intersection, and InSide01_Order indicates the point sequence number of the first indentation contour intersection. In the calculation process of the horizontal and vertical coordinates, the horizontal axis is used as the ordinate axis and the vertical axis is used as the horizontal axis.

[0082] Calculating the coordinates of the corresponding first insertion point according to the first offset slope and the ordinate of each first point in the first point set specifically includes: calculating the ordinate of the first insertion point having the same abscissa value according to the first offset slope and the coordinate of each first point in the first point set, wherein the calculation formula of the ordinate of the first insertion point is: InSide01C i -i*Tan 01 , where i represents an increasing value, the interval is (1, InSide03_Order-InSide01_Order), InSide01C i Represents the ordinate of the i-th first point in the first point set, Tan 01 Indicates the first offset slope.

[0083] The calculation formula for calculating the second offset slope according to the point sequence number of the second edge contour intersection point and the third edge contour intersection point, and the ordinate of the second indentation contour intersection point and the third edge contour intersection point is: In the formula, Tan 02 Indicates the second offset slope, OutSideC3 indicates the ordinate of the third edge contour intersection, InSideC2 indicates the ordinate of the second indented contour intersection, OutSide03_Order indicates the point sequence number of the third edge contour intersection, and OutSide02_Order indicates the point sequence number of the second edge contour intersection. In the calculation process of the horizontal and vertical coordinates, the horizontal axis is used as the ordinate axis, and the vertical axis is used as the horizontal axis.

[0084] Calculating the coordinates of the corresponding second insertion point according to the second offset slope and the coordinates of each second point in the second point set specifically includes: calculating the ordinate of the second insertion point having the same abscissa according to the second offset slope and the ordinate of each second point in the second point set; wherein the calculation formula of the ordinate of the second insertion point is: OutSide02C i -i*Tan 02 , where i represents an increasing value, the interval is (1, OutSide03_Order-OutSide02_Order), OutSide02C i Represents the ordinate of the i-th second point in the second point set, Tan 02 Represents the second offset slope.

[0085] Execute step S500, such as Figure 7 As shown, the glue spraying path is obtained by fitting the sole edge contour curve segment S3 between the parallel line and the edge contour intersection of the sole edge contour, the indentation contour curve segment S4 between the dividing line and the indentation contour intersection of the indentation contour, the first partition curve S1, and the second partition curve S1. The sole is sprayed with glue according to the obtained glue spraying path, which meets the glue spraying requirements of the sole with a local annular side wall.

[0086] This embodiment adopts multi-layer zoning processing to target the different features of the edge of the sole of the annular side wall, and performs different operations on each allocated area, including segmentation, fitting and reorganization, to obtain an effective glue spraying path and guide the glue spraying operation, so as to achieve good stability and strong robustness, and achieve an accuracy of less than 0.2mm. It has strong scalability and can adapt to a variety of shoe types. This embodiment replaces manual fully automated glue spraying operations and improves the intelligent production efficiency of enterprises.

[0087] Based on the same inventive concept, an embodiment of the present invention also provides a sole glue spraying path planning system, including the following modules:

[0088] An image acquisition module is used to acquire a single sole image, process the single sole image, and extract a sole edge contour in the processed single sole image, wherein the sole edge contour includes a sole edge contour with an annular side wall and a sole edge contour without an annular side wall;

[0089] A demarcation line insertion module is provided to obtain a point on the sole edge contour, set a point sequence number, insert a demarcation line between the sole edge contour with the ring-shaped side wall and the sole edge contour without the ring-shaped side wall, and horizontally move the demarcation line toward the direction of the sole edge contour without the ring-shaped side wall to obtain a parallel line parallel to the demarcation line, wherein a side wall connection portion is included between the parallel line and the demarcation line, and a horizontal movement distance is determined according to the length of the side wall connection portion;

[0090] A point indexing module is used to indent the edge contour of the sole inward to obtain an indented contour, wherein the indented distance is determined according to the width of the annular side wall; obtain the intersection points of the indented contour with the dividing line and the corresponding indented contour of the parallel line, and the intersection points of the edge contour of the sole with the dividing line and the corresponding edge contour of the parallel line, and index the edge contour intersection points and the indented contour intersection points in the points on the sole edge contour and the indented contour to obtain corresponding point sequence numbers;

[0091] A partition curve calculation module is used to obtain points on the sole edge contour curve segment and / or the indented contour curve segment between the dividing line and the parallel line, and calculate the coordinates of the insertion points according to the obtained coordinates of the points on the sole edge contour curve segment and / or the indented contour curve segment, as well as the coordinates of the indented contour intersection points and the edge contour intersection points corresponding to the sole edge contour curve segment and / or the indented contour curve segment, and the point sequence number, wherein the insertion points are respectively assembled to form a partition curve from the edge contour intersection point of the parallel line and the sole edge contour to the dividing line at the same end and the indented contour intersection point of the sole edge contour, wherein the partition curve is the glue spraying path of the side wall connection area;

[0092] The path fitting module fits the partition curve, the sole edge contour curve segment between the parallel line and the edge contour intersection of the sole edge contour, and the indentation contour curve segment between the dividing line and the indentation contour intersection of the indentation contour to obtain a glue spraying planning path.

[0093] Based on the same inventive concept, an embodiment of the present invention also provides an electronic device. Regarding the components, please refer to the above-mentioned related descriptions, and the repeated parts will not be repeated. It includes: at least one processor and a memory that is communicatively connected to the at least one processor; the at least one processor is used to read the program in the memory to execute the method described above.

[0094] Based on the same inventive concept, an embodiment of the present invention further provides a computer-readable storage medium. Regarding the components, please refer to the above-mentioned related descriptions, and the repeated parts will not be repeated. Instructions are stored on the medium. When the instructions are executed on the computer, the computer executes the method described above.

[0095] Although the present invention has been disclosed as above in the form of a preferred embodiment, it is not intended to limit the present invention. Any person skilled in the art may make possible changes and modifications to the technical solution of the present invention by using the methods and technical contents disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention shall fall within the protection scope of the technical solution of the present invention.

Claims

1. A method for planning a path for spraying glue on a sole, characterized in that: The following steps are involved: Acquire a single sole image, process the single sole image, and extract a sole edge contour in the processed single sole image, wherein the sole edge contour includes a sole edge contour with an annular side wall and a sole edge contour without an annular side wall; Obtaining points on the edge contour of the sole, setting point sequence numbers, inserting a dividing line between the edge contour of the sole with the annular side wall and the edge contour of the sole without the annular side wall, horizontally moving the dividing line in the direction of the edge contour of the sole without the annular side wall, and obtaining a parallel line parallel to the dividing line, wherein the parallel line and the dividing line include a side wall connecting portion, and the horizontal moving distance is determined according to the length of the side wall connecting portion; The edge contour of the sole is indented inwardly to obtain an indented contour, wherein the indented distance is determined according to the width of the annular side wall; obtaining the intersection points of the indented contour with the dividing line and the corresponding indented contour of the parallel line, and the intersection points of the edge contour of the sole with the dividing line and the corresponding edge contour of the parallel line, respectively, and indexing the edge contour intersection points and the indented contour intersection points at the points on the sole edge contour and the indented contour, respectively, to obtain corresponding point sequence numbers; Obtain points on the sole edge contour curve segment and / or the indented contour curve segment between the dividing line and the parallel line, calculate the coordinates of the insertion points according to the acquired coordinates of the points on the sole edge contour curve segment and / or the indented contour curve segment, and the coordinates of the indented contour intersection points and the edge contour intersection points corresponding to the sole edge contour curve segment and / or the indented contour curve segment, and the point sequence number, the insertion points are respectively assembled to form a partition curve from the edge contour intersection point of the parallel line and the sole edge contour to the dividing line at the same end and the indented contour intersection point of the sole edge contour, wherein the partition curve is the glue spraying path of the side wall connection area; The partition curve, the sole edge contour curve segment between the parallel line and the edge contour intersection of the sole edge contour, and the indentation contour curve segment between the dividing line and the indentation contour intersection of the indentation contour are fitted to obtain a glue spraying planning path.

2. The method for planning the path of the sole glue spraying according to claim 1, characterized in that: The steps of acquiring a single sole image, processing the single sole image, and extracting a sole edge contour in the processed sole image, wherein the sole edge contour includes a sole edge contour with an annular side wall and a sole edge contour without an annular side wall, include: Acquire a shoe sole image to be sprayed with glue, acquire a sole area in the shoe sole image to be sprayed with glue according to a first predetermined condition, and cut the shoe sole image to be sprayed with glue according to the sole area to obtain a single sole image; The single sole image is subjected to image processing to extract the sole edge contour in the single sole image after image processing, wherein the sole edge contour includes a sole edge contour with an annular side wall and a sole edge contour without an annular side wall.

3. The method for planning the path of spraying glue on the sole according to claim 1, characterized in that: The steps of obtaining points on the edge contour of the sole, setting point sequence numbers, and inserting a dividing line between the edge contour of the sole with the annular side wall and the edge contour of the sole without the annular side wall include: Calculate the minimum circumscribed circle of the sole edge contour, obtain a first circumscribed circle intersection point and a second circumscribed circle intersection point of the sole edge contour and the minimum circumscribed circle, and set a point position sequence number on the sole edge contour according to the first circumscribed circle intersection point or the second circumscribed circle intersection point; Calculate the minimum circumscribed rectangle of the edge contour of the sole, insert the first partition point and the second partition point into the minimum circumscribed rectangle respectively, take the line between the first partition point and the second partition point as the first diagonal, set a rectangular area with a width and a height of W1 and H1 respectively, and obtain the second diagonal of the rectangular area, wherein the second diagonal is the dividing line between the edge contour of the sole with annular side walls and the edge contour of the sole without annular side walls.

4. The method for planning the path of spraying glue on the sole according to claim 3, characterized in that: The step of setting the point sequence number on the edge contour of the sole according to the first circumscribed circle intersection point or the second circumscribed circle intersection point comprises: Points are extracted from the sole edge contour, and the points on the sole edge contour are sorted, wherein the point sequence number of the first circumscribed circle intersection point or the second circumscribed circle intersection point is 0.

5. The method for planning the path of spraying glue on the sole according to claim 1, characterized in that: The steps of obtaining the intersection points of the indented contour with the dividing line and the corresponding indented contour of the parallel line, and the intersection points of the edge contour of the sole with the dividing line and the corresponding edge contour of the parallel line, and indexing the edge contour intersection points and the indented contour intersection points in the points on the sole edge contour and the indented contour, respectively, to obtain the corresponding point sequence numbers include: Obtain a first edge contour intersection point and a second edge contour intersection point of the sole edge contour and the parallel line, index the first edge contour intersection point and the second edge contour intersection point in the point positions of the sole edge contour, and obtain point position serial numbers corresponding to the first edge contour intersection point and the second edge contour intersection point respectively; obtain a third edge contour intersection point of the sole edge contour and the second diagonal line, index the third edge contour intersection point in the point positions of the sole edge contour, and obtain a point position serial number corresponding to the third edge contour intersection point, wherein the third edge contour intersection point is the intersection point of the sole edge contour and the right end of the second diagonal line; Obtain a first indented contour intersection point and a second indented contour intersection point of the indented contour and the second diagonal line, index the first indented contour intersection point and the second indented contour intersection point in the points of the indented contour, and obtain point position numbers corresponding to the first indented contour intersection point and the second indented contour intersection point respectively; obtain a third indented contour intersection point of the indented contour and the parallel lines, index the third indented contour intersection point in the points of the indented contour, and obtain a point position number corresponding to the third indented contour intersection point, wherein the third indented contour intersection point is the intersection point of the left end of the indented edge contour and the parallel lines.

6. The method for planning the path for spraying glue on the sole according to claim 5, characterized in that: The steps of obtaining points on the sole edge contour curve segment and / or the indented contour curve segment between the dividing line and the parallel line, calculating the coordinates of the insertion points according to the obtained coordinates of the points on the sole edge contour curve segment and / or the indented contour curve segment, the coordinates of the indented contour intersection points and the edge contour intersection points corresponding to the sole edge contour curve segment and / or the indented contour curve segment, and the point sequence number, and the insertion points are respectively assembled to form a partition curve from the parallel line and the edge contour intersection point of the sole edge contour to the dividing line and the indented contour intersection point of the sole edge contour at the same end, comprising: Obtaining a set of all first points on the indented contour curve segment between the first indented contour intersection point and the third indented contour intersection point, calculating a first offset slope according to point sequence numbers of the first indented contour intersection point and the third indented contour intersection point and the ordinate of the third indented contour intersection point and the first edge contour intersection point, calculating the coordinates of the corresponding first insertion point according to the first offset slope and the coordinates of each first point in the first point set, to obtain a first insertion point set, wherein the first insertion point set forms a first partition curve between the first indented contour intersection point and the first edge contour intersection point; Obtain a set of all second points on the sole edge contour curve segment between the second edge contour intersection and the third edge contour intersection, calculate a second offset slope according to the point sequence numbers of the second edge contour intersection and the third edge contour intersection, and the longitudinal coordinates of the second indented contour intersection and the third edge contour intersection, calculate the coordinates of the corresponding second insertion point according to the second offset slope and the coordinates of each second point in the second point set, and obtain a second insertion point set, wherein the second insertion point set forms a second partition curve between the second indented contour intersection and the second edge contour intersection.

7. The method for planning the path for spraying glue on the sole according to claim 6, characterized in that: The calculation formula for calculating the first offset slope according to the point sequence numbers of the first indented contour intersection point and the third indented contour intersection point and the ordinate of the third indented contour intersection point and the first edge contour intersection point is: In the formula, Tan 01 Indicates the first offset slope, OutSideC1 indicates the ordinate of the first edge contour intersection, InSideC3 indicates the ordinate of the third indentation contour intersection, InSide03_Order indicates the point sequence number of the third indentation contour intersection, and InSide01_Order indicates the point sequence number of the first indentation contour intersection. In the calculation process of the horizontal and vertical coordinates, the horizontal axis is used as the ordinate axis and the vertical axis is used as the horizontal axis. Calculating the coordinates of the corresponding first insertion point according to the first offset slope and the ordinate of each first point in the first point set specifically includes: calculating the ordinate of the first insertion point having the same abscissa value according to the first offset slope and the coordinate of each first point in the first point set, wherein the calculation formula of the ordinate of the first insertion point is: InSide01C i -i*Tan 01 , where i represents an increasing value, the interval is (1, InSide03_Order-InSide01_Order), InSide01C i Represents the ordinate of the i-th first point in the first point set, Tan 01 represents the first offset slope; The calculation formula for calculating the second offset slope according to the point sequence number of the second edge contour intersection point and the third edge contour intersection point, and the ordinate of the second indentation contour intersection point and the third edge contour intersection point is: In the formula, Tan 02 Indicates the second offset slope, OutSideC3 indicates the ordinate of the third edge contour intersection, InSideC2 indicates the ordinate of the second indented contour intersection, OutSide03_Order indicates the point sequence number of the third edge contour intersection, and OutSide02_Order indicates the point sequence number of the second edge contour intersection. In the calculation process of the horizontal and vertical coordinates, the horizontal axis is used as the ordinate axis, and the vertical axis is used as the horizontal axis. Calculating the coordinates of the corresponding second insertion point according to the second offset slope and the coordinates of each second point in the second point set specifically includes: calculating the ordinate of the second insertion point having the same abscissa according to the second offset slope and the ordinate of each second point in the second point set; wherein the calculation formula of the ordinate of the second insertion point is: OutSide02C i -i*Tan 02 , where i represents an increasing value, the interval is (1, OutSide03_Order-OutSide02_Order), OutSide02C i Represents the ordinate of the i-th second point in the second point set, Tan 02 Represents the second offset slope.

8. A shoe sole glue spraying path planning system, characterized in that: Includes the following modules: An image acquisition module is used to acquire a single sole image, process the single sole image, and extract a sole edge contour in the processed single sole image, wherein the sole edge contour includes a sole edge contour with an annular side wall and a sole edge contour without an annular side wall; A demarcation line insertion module is provided to obtain a point on the sole edge contour, set a point sequence number, insert a demarcation line between the sole edge contour with the ring-shaped side wall and the sole edge contour without the ring-shaped side wall, and horizontally move the demarcation line toward the direction of the sole edge contour without the ring-shaped side wall to obtain a parallel line parallel to the demarcation line, wherein a side wall connection portion is included between the parallel line and the demarcation line, and a horizontal movement distance is determined according to the length of the side wall connection portion; A point indexing module is used to indent the edge contour of the sole inward to obtain an indented contour, wherein the indented distance is determined according to the width of the annular side wall; obtain the intersection points of the indented contour with the dividing line and the corresponding indented contour of the parallel line, and the intersection points of the edge contour of the sole with the dividing line and the corresponding edge contour of the parallel line, and index the edge contour intersection points and the indented contour intersection points in the points on the sole edge contour and the indented contour to obtain corresponding point sequence numbers; A partition curve calculation module is used to obtain points on the sole edge contour curve segment and / or the indented contour curve segment between the dividing line and the parallel line, and calculate the coordinates of the insertion points according to the obtained coordinates of the points on the sole edge contour curve segment and / or the indented contour curve segment, as well as the coordinates of the indented contour intersection points and the edge contour intersection points corresponding to the sole edge contour curve segment and / or the indented contour curve segment, and the point sequence number, wherein the insertion points are respectively assembled to form a partition curve from the edge contour intersection point of the parallel line and the sole edge contour to the dividing line at the same end and the indented contour intersection point of the sole edge contour, wherein the partition curve is the glue spraying path of the side wall connection area; The path fitting module fits the partition curve, the sole edge contour curve segment between the parallel line and the edge contour intersection of the sole edge contour, and the indentation contour curve segment between the dividing line and the indentation contour intersection of the indentation contour to obtain a glue spraying planning path.

9. An electronic device, characterized in that: include: at least one processor, and a memory communicatively coupled to at least one of the processors; At least one of the processors is used to read the program in the memory to execute the method as claimed in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The medium stores instructions, and when the instructions are executed on a computer, the computer is enabled to execute the method according to any one of claims 1 to 7.

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