Special piece bottom type shoe sole glue spraying path generation method based on contour splicing

Abstract

The application discloses a special piece bottom type shoe sole glue spraying path generation method based on contour splicing, and the process is as follows: an original image of a special piece bottom type shoe sole is acquired; a mask is obtained through gray scale analysis on the original image, and then the mask and the original image are intersected to perform cutting; an outer contour of the special piece bottom type shoe sole is obtained through edge detection on the cut image by using a Sobel operator, and an inner contour is obtained through uniform inward shrinking on the outer contour; four junction points of contour splicing are found on the outer contour and the inner contour; segmented contours are acquired and spliced into a spliced contour, and then the spliced contour is uniformly inward shrunk to obtain an inner contour of the spliced contour; and points extracted from the inner contour of the spliced contour in an equal interval mode are used as key points passed through by a glue spraying robot. The glue spraying path obtained by the application is close to the shape of an actual contour, and can fully meet the precision requirement of glue spraying.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of shoemaking technology, in particular to a special piece bottom sole glue spraying path generation method based on contour splicing. BACKGROUND

[0002] Nowadays, the shoe sole glue spraying systems at home and abroad are developing towards the direction of intelligent, automatic, visual and multifunctional numerical control integrated system. Machine vision can replace human eyes to detect and analyze the target and make corresponding processing, but many shoe industries still use manual method to glue the piece bottom sole. There are many disadvantages for manual glue brushing: the water-based glue has a little toxicity, the working time of manual glue brushing is 8-10 hours a day, and long-term inhalation will have bad effects on the body; manual glue brushing sometimes causes some places without glue due to negligence, resulting in glue peeling when bonding with shoe bag, affecting the quality of shoes; manual glue brushing sometimes has difficulty in grasping the amount of glue dipped by brush, resulting in more glue in some places and less glue in some places, which leads to the glue in some places of the piece bottom being unable to dry when entering the oven. Therefore, it is necessary to automatically glue the piece bottom.

[0003] At present, the ordinary piece bottom sole obtains the edge of the contour through vision and plans the track points to obtain the glue spraying path, but the contour of the special piece bottom (a part of high wall exists at the bottom of the piece bottom, such as Figure 2 ) type sole is not all on the outermost side of the object, which leads to the fact that the actual required edge information cannot be obtained by direct lighting method. Therefore, it is necessary to improve the existing special piece bottom sole glue spraying path generation method to adapt to the automatic glue spraying of the special piece bottom sole. SUMMARY

[0004] The technical problem to be solved by the present application is to provide a special piece bottom sole glue spraying path generation method based on contour splicing, which is used for edge extraction and contour splicing of the special piece bottom sole with high wall edge, so as to generate the glue spraying path.

[0005] In order to solve the above technical problem, the present application provides a special piece bottom sole glue spraying path generation method based on contour splicing, which includes the following specific process:

[0006] S1, acquiring an original image of a special piece bottom sole;

[0007] S2, obtaining a mask through gray scale analysis of the original image, and then performing intersection and cutting of the mask and the original image;

[0008] S3, edge detection is carried out on the cropped image using a Sobel operator to obtain the outer contour Edge_Out of the special sheet bottom type shoe sole, and the inner contour Edge_Inner is obtained by uniformly shrinking the outer contour Edge_Out;

[0009] S4, four junction points of contour splicing are found on the outer contour Edge_Out and the inner contour Edge_Inner;

[0010] S5, the segmented contour is obtained and spliced into a spliced contour, and then the inner contour Edge_Inner_F of the spliced contour is obtained by uniformly shrinking the spliced contour;

[0011] S6, the points extracted according to the equidistant method on the inner contour Edge_Inner_F of the spliced contour are used as the key points passed through by the glue spraying robot.

[0012] As an improvement of the special sheet bottom type shoe sole glue spraying path generation method based on contour splicing of the application:

[0013] The specific process of the gray scale analysis in step S2 is as follows:

[0014] First, set the pixel range for screening as 0<Pixel<150; screen out the row minimum value xmin, column minimum value ymin, row maximum value xmax and column maximum value ymax of all points in the original image that meet the pixel range; obtain the center point coordinates of the mask rectangle as The height of the mask rectangle is (x max -x min )+60, and the width is (y max -y min )+60, so as to obtain the mask.

[0015] As a further improvement of the special sheet bottom type shoe sole glue spraying path generation method based on contour splicing of the application:

[0016] The method of uniform shrinking in step S3 is as follows:

[0017] The outer contour Edge_Out is fitted by m points, and every nth point is taken as the center of the circle, the number of pixel points Distance image is the radius, and (m / n) circles are made, all the circles are spliced into a region Region1, and the inner contour of the region Region1 is extracted as the inner contour Edge_Inner;

[0018] Distance image (number) = Distance fact (mm)*Pixel(number / mm) (2)

[0019] wherein, Distance fact is the width of the thickest part of the high wall of the special sole, and Pixel is the pixel accuracy of 0.6.

[0020] As a further improvement of the special sole based on the contour splicing glue spraying path generation method of the present application:

[0021] The process of obtaining the four intersection points of the contour splicing in step S4 is:

[0022] S4.1, the circumscribed circle of the outer contour Edge_Out is obtained, and the intersection point of the circumscribed circle and the toe and the intersection point of the circumscribed circle and the left heel In_Heel_Left are obtained, and the point In_Right which is [Distance] pixels away from the point In_Heel_Left on the right side of the outer contour Edge_Out is found, and is connected as a line segment In_Heel_LeftIn_Right;

[0023] [Distance] = 6.24 * Point T 2 -0.45Point T +6.25 (3)

[0024] wherein, [Distance] is the distance after rounding, Point T is the total number of points of the outer contour Edge_Out;

[0025] S4.2, the circumscribed rectangle of the outer contour Edge_Out is obtained, and the left upper vertex of the circumscribed rectangle is the point R_Left, and the right upper vertex is the point R_Right;

[0026] S4.3, the angle between the edge R_leftR_right of the circumscribed rectangle and the horizontal axis u in the pixel coordinate system u-v is Phi1, the angle between the line segment In_Heel_LeftIn_Right and the horizontal axis u in the pixel coordinate system u-v is Phi2, and the two ends of the edge R_leftR_right of the circumscribed rectangle are each extended by 150 pixels to form a line segment Point1Point2, and a rectangle Rectangle is established with Phi3 as the angle of the diagonal line of the rectangle and the line segment Point1Point2 as one diagonal line of the rectangle, wherein,

[0027] Phi3 = Phi1-Phi2 (9)

[0028] The bottom left corner of the rectangle Rectangle is Point1, the top right corner is Point2, the top left corner is Point3, and the bottom right corner is Point4; the line on which Point3 and Point4 are located is the line on which the heel is located;

[0029] S4.4, on the original image, on the outside edge of the high wall of the special sheet bottom type sole, the critical points of the high wall from nothing to something on both sides are P1 and P3 respectively; on the inside edge of the high wall of the special sheet bottom type sole, the critical points of the high wall from thin to thick on both sides are P2 and P4 respectively;

[0030] Point_L1 and Point_L2 are taken on the extension line of the edge Point3Point1 of the rectangle Rectangle, and Point_L3 and Point_L4 are taken on the extension line of the edge Point2Point4, and the pixel distances from Point_L1, Point_L2, Point_L3 and Point_L4 to the heel respectively correspond to the pixel distances from P1, P2, P3 and P4 to the heel;

[0031] S4.5, the intersection points of the line segment connecting Point_L1 and Point_L3 with the outer contour Edge_Out are InterSection1 and InterSection2 respectively, and the intersection points of the line segment connecting Point_L2 and Point_L4 with the inner contour Edge_Inner are InterSection3 and InterSection4 respectively; points InterSection1, InterSection2, InterSection3 and InterSection4 are the intersection points.

[0032] As a further improvement of the special sheet bottom type sole glue spraying path generation method based on contour splicing of the present application:

[0033] The splicing process in step S5 is the process of splicing the contour:

[0034] With the points InterSection1 and InterSection2 as the outer contour boundary points, the outer contour Edge_Out above the outer contour boundary points as the upper half contour of the splicing contour, recorded as Counter1; with InterSection3 and InterSection4 as the inner contour boundary points, the inner contour Edge_Inner below the inner contour boundary points as the lower half contour of the splicing contour, recorded as Counter2; connecting InterSection1 and InterSection3 as a line segment Intermediate_line1 and fitting the points on the line segment Intermediate_line1 into an arc curve Counter3, connecting InterSection2 and InterSection4 as a line segment Intermediate_line2 and fitting the points on the line segment Intermediate_line2 into an arc curve Counter4; then connecting Counter1, Counter3, Counter2 and Counter4 in turn to obtain the splicing contour, and then uniformly internally shrinking the splicing contour to obtain the inner contour of the splicing contour.

[0035] As a further improvement of the special piece bottom type shoe sole glue spraying path generation method based on contour splicing of the application:

[0036] The included angle Phi1 is:

[0037] Phi1=arctan((R_Right Row -R_Left Row ) / (R_Right Col -R_Left Col )) (5)

[0038] Wherein, R_Right Row and R_Right col are the row and column values of the point R_Right, R_Left Row and R_Left Col are the row and column values of the point R_Left;

[0039] The included angle Phi2 is:

[0040] Phi2=arctan((In_Right Row -In_Heel_Left Row ) / (In_Right Col -In_Heel_Left Col )) (8)

[0041] In_Right Row and In_Right Col are the row and column values of the point In_Right respectively, In_Heel_Left Row and In_Heel_Left Col are the row and column values of the point In_Heel_Left respectively.

[0042] As a further improvement of the special piece bottom type shoe sole glue spraying path generation method based on contour splicing of the present application:

[0043] The method for fitting into an arc curve is:

[0044] The number of pixel points of the line segment Intermediate_line1 is p1 mid , the line segment Intermediate_line1 is discretized into p1 mid points, each discretized point is moved to the left by a pixel distance P1 move , thereby obtaining the arc curve Counter3, the column coordinates of each point before and after the movement are unchanged, and the row coordinates of each point after the movement are (P fact -P1 move ), wherein,

[0045]

[0046] The number of pixel points of the line segment Intermediate_line2 is p2 mid , the line segment Intermediate_line2 is discretized into p2 mid points, each discretized point is moved to the right by a pixel distance P2 move , thereby obtaining the arc curve Counter4, the column coordinates of each point before and after the movement are unchanged, and the row coordinates of each point after the movement are (P fact +P2 move ), wherein,

[0047]

[0048] wherein, P fact is the row coordinate of the point, and p i is the serial number of the current discretized point.

[0049] The beneficial effects of the present application mainly include:

[0050] The present application adopts the key point position of the glue spraying path obtained by the contour extraction of the special sole type with high wall edge, the simple mathematical geometry method is used to splice the segmented contour, the glue spraying path can be quickly obtained in the host computer, the two middle contours of the segmented contour are fitted into the radian curve, the shape is closer to the actual contour, and the obtained glue spraying path can fully meet the precision requirement of the glue spraying. BRIEF DESCRIPTION OF DRAWINGS

[0051] The specific embodiment of the present application will be further described in detail below in combination with the drawings.

[0052] Figure 1 It is a schematic diagram of the special sole type shoe sole glue spraying path generation method based on contour splicing of the present application;

[0053] Figure 2 It is a schematic diagram of the original image of the special sole type shoe sole;

[0054] Figure 3 It is a schematic diagram of the image after the original image is cropped;

[0055] Figure 4 It is a schematic diagram of the outer contour and the inner contour of the special sole type shoe sole obtained based on the cropped image;

[0056] Figure 5 It is a schematic diagram of the circumscribed circle and the circumscribed rectangle of the outer contour of the special sole type shoe sole;

[0057] Figure 6 It is a schematic diagram of the rectangle Rectangle;

[0058] Figure 7 It is a schematic diagram of the positions of points P1, P2, P3 and P4;

[0059] Figure 8 It is a schematic diagram of the positions of points Point_L1, Point_L2, Point_L3 and Point_L4;

[0060] Figure 9 It is a schematic diagram of the positions of the four junction points of the spliced contour;

[0061] Figure 10 It is a splicing schematic diagram of Counter1, Counter2, Counter3 and Counter4;

[0062] Figure 11 It is a schematic diagram of the spliced contour and the inner contour of the spliced contour;

[0063] Figure 12 It is a schematic diagram of the glue spraying path. DETAILED DESCRIPTION

[0064] The application will be further described in conjunction with specific embodiments below, but the protection scope of the application is not limited to this:

[0065] Example 1, a special sole based on contour splicing The generation method of the glue spraying path of the sole, as shown in Figure 1 , specifically:

[0066] 1. Obtain an image

[0067] An industrial camera of model Hikvision MV-CA050-10GM and a Hikvision 6mm lens are used for image acquisition. The special sole (a sole with a part of high wall at the bottom) is placed horizontally on a backlight source (model FJI-ASC350350-W). The camera vertically photographs the object from top to bottom. The distance between the camera and the backlight source is 400mm. An original image Image1 of the special sole is obtained, as shown in Figure 2 , the format of the collected image is BMP, and the size is 2448*2048.

[0068] 2. A mask is generated by performing gray scale analysis on the original image Image1 to obtain the approximate area where the sole contour is located. The steps are as follows:

[0069] 1) Set the pixel range for screening: 0<Pixel<150;

[0070] 2) Screen all points of the row minimum value x min , column minimum value y min , row maximum value x max and column maximum value y max of the points in the original image Image1 that meet the pixel range;

[0071] 3) Subtract the row maximum value from the row minimum value and divide by 2. Subtract the column maximum value from the column minimum value and divide by 2 to obtain the center point coordinates of the mask rectangle

[0072] 4) Add 60 to the value obtained by subtracting the row maximum value from the row minimum value, i.e. (x max -x min )+60, as the height of the mask rectangle. Add 60 to the value obtained by subtracting the column maximum value from the column minimum value, i.e. (y max -y min )+60, as the width of the mask rectangle (adding 60 is to ensure that the mask rectangle can cover the entire sole area), thereby obtaining the mask Image2;

[0073] Then, the obtained mask Image2 is used to crop the original image Image1 to filter out most of the meaningless background in the original image, reduce the influence of the background, and facilitate subsequent processing. The cropping method is to take the intersection of the mask Image2 and the original image Image1 to obtain the cropped image Image3. The cropped image is as shown in Figure 3

[0074] Image3 = Image1∩Image2 (1)

[0075] 3. The Sobel operator is used to perform edge detection on the cropped image Image3 to obtain the outer contour Edge_Out of the special sole type shoe sole. Then, the actual distance between the inner and outer contours is calculated to obtain the inner shrinkage pixel distance required for the inner contour. The inner contour Edge_Inner is obtained by uniformly shrinking the outer contour.

[0076] The method of uniformly shrinking the outer contour to obtain the inner contour is as follows: the outer contour Edge_Out is fitted by m points. To reduce the calculation amount, every nth point is taken as the center of a circle, and the number of pixels Distance image to be shrunk is taken as the radius to draw (m / n) circles. All the drawn circles are spliced into a region Region1. Then, the inner and outer contours of the region Region1 are extracted, and the inner contour of the region Region1 is recorded as Edge_Inner, as shown in Figure 4 For example, assuming that the outer contour Edge_Out includes 2000 points, and the shrinkage distance is 20 pixels, every 9th point is taken as a point, i.e., the 10th point is taken as the center of a circle, and 20 pixels are taken as the radius to draw a circle. A total of 200 circles are drawn, and the region formed by splicing the 200 circles is Region1.

[0077] The calculation method of the number of pixels to be shrunk is as follows:

[0078] Distance image (mm) * Pixel fact (number of pixels / mm) (2)

[0079] wherein Distance fact is the actual distance of the side wall of the special sole type shoe sole. It can be found through observation that the change of the high side wall of the sole is from nothing to something, and then from thin to thick, starting from the left upper corner of the sole heel. Through measurement, it is found that the width of the position of the thick part of the high side wall is basically the same (i.e., the thickest part of the high wall side is a continuous length of the high wall side with a constant width), so the width (the vertical distance of the two sides of the high side wall) of the thickest part of the high side wall is taken as the actual distance Distance fact ​, Pixel is pixel precision, Distance image is the number of pixels that should be retracted on the image, the pixel precision obtained by the image acquisition method used in this paper is 0.6.

[0080] 4, respectively, on the detected outer contour Edge_Out do the circumscribed circle Out_Circle and circumscribed rectangle Out_Rectangle, as Figure 5 shown, the circumscribed circle Out_Circle and the outer contour Edge_Out exist at least two intersection points, one is located at the position of the toe, recorded as In_Shoe_Tip; One is located on the left side of the heel, recorded as In_Heel_Left;

[0081] On the outer contour Edge_Out, the position of the pixel point located on the right side of In_Heel_Left with an interval of [Distance] distance is recorded as In_Right:

[0082] [Distance] = 6.24 * Point T 2 -0.45Point T +6.25 (3)

[0083] Where, [Distance] is the distance after rounding, Point T is the total number of outer contour points.

[0084] 5, the circumscribed rectangle Out_Rectangle exists four vertices, by comparing the four points can get the circumscribed rectangle Out_Rectangle between the left top vertex R_Left and the right top vertex R_Right two points distance, calculation method as shown below:

[0085]

[0086] Where, R_Left Row and R_Left Col are the row and column values of the left top vertex R_Left, R_Right Row and R_Right Col are the row and column values of the right top vertex R_Right.

[0087] Then calculate the edge R_leftR_right of the circumscribed rectangle Out_Rectangle and the angle Phi1 between the horizontal axis u in the pixel coordinate system u-v, calculation method as follows:

[0088] Phi1 = arctan((R_Right Row -R_Left Row(R_Right Col -R_Left Col )) (5)

[0089] wherein R_Right Row and R_Right col are the row and column values of point R_Right, respectively, and R_Left Row and R_Left Col are the row and column values of point R_Left, respectively.

[0090] The two ends of the side R_leftR_right of the circumscribed rectangle Out_Rectangle are each extended outward by 150 pixels to form a line segment Point1Point2 (i.e., the two end points of the extended line segment are Point1 and Point2), and the row and column values of Point1 are calculated as follows:

[0091]

[0092] The row and column values of Point2 are calculated as follows:

[0093]

[0094] The angle between the line segment In_Heel_LeftIn_Right and the horizontal axis u in the pixel coordinate system u-v is Phi2:

[0095] Phi2 = arctan ((In_Right Row -In_Heel_Left Row ) / (In_Right Col -In_Heel_Left Col )) (8)

[0096] wherein In_Right Row and In_Right Col are the row and column values of point In_Right, respectively, and In_Heel_Left Row and In_Heel_Left Col are the row and column values of point In_Heel_Left, respectively.

[0097] Phi3 = Phi1-Phi2 (9)

[0098] A rectangle Rectangle is established with Phi3 as the included angle of the diagonal of the rectangle and the line segment Point1Point2 as the diagonal of the rectangle, and the four vertices of the rectangle Rectangle are respectively: the left lower corner vertex Point1, the right upper corner vertex Point2, the left upper corner vertex Point3 and the right lower corner vertex Point4, as shown in Figure 6 ; wherein the length of the rectangle Rectangle Point1Point4 is denoted as Rectangle Width , and the width of the rectangle Rectangle Point1Point3 is denoted as Rectangle Height :

[0099]

[0100] The angle between the length Point1Point4 (or Point2Point3) of the rectangle Rectangle and the horizontal axis u in the pixel coordinate system u-v is denoted as Phi4:

[0101] Phi4=Phi1-Phi3 / 2 (11)

[0102] The calculation method of the row and column values of Point3 is as follows:

[0103]

[0104] The calculation method of the row and column values of Point4 is as follows:

[0105]

[0106] After Point3 and Point4 are obtained, the straight line on which the diagonal Point3Point4 of the rectangle Rectangle is located is denoted as Line3, and Line3 is the straight line on which the heel is located.

[0107] 6. Because the special sole type shoe sole has high side walls, the outermost edge cannot be directly used as the actual edge, so the contour needs to be divided into four parts, and the positions of the connecting points of the four parts and the distance from the actual sole heel can be obtained by measurement.

[0108] The measurement method is as follows:

[0109] The change of the thickness of the high side walls of the special sole type shoe sole on both sides is from the heel along the left and right sides of the shoe sole, from nothing to something and then from thin to thick. In the original image Image1, the critical points (on the outer edge of the high side wall) of the high side walls of the sole on both sides from nothing to something are P1 and P3, and the critical points (on the inner edge of the high side wall) of the high side walls of the sole on both sides from thin to thick are P2 and P4;

[0110] The actual distances of P1, P2, P3 and P4 to the heel are measured respectively, and then converted to the pixel distances of the four points to the heel respectively as Distance1, Distance2, Distance3 and Distance4 according to formula (2) as shown in Figure 7

[0111] Then, points Point_L1 and Point_L2 are taken on the extension line of the side Point3Point1 of the rectangle Rectangle obtained in step 3, such that the pixel distance of Point_L1 to Line3 (the heel) is equal to the pixel distance of P1 to the heel, and the pixel distance of Point_L2 to Line3 (the heel) is equal to the pixel distance of P2 to the heel; similarly, points Point_L3 and Point_L4 are taken on the extension line of the side Point2Point4 of the rectangle Rectangle, such that the pixel distance of Point_L3 to Line3 (the heel) is equal to the pixel distance of P3 to the heel, and the pixel distance of Point_L4 to Line3 (the heel) is equal to the pixel distance of P4 to the heel, as shown in Figure 8

[0112] Then, the pixel distance Distance1 between Point_L1 and Point3 is calculated as:

[0113] Distance1 = Distance1 / cos(Phi3) (14)

[0114] Similarly, there are:

[0115] Distance2 = Distance2 / cos(Phi3) (15)

[0116] Distance3 = Distance3 / cos(Phi3) (16)

[0117] Distance4 = Distance4 / cos(Phi3) (17)

[0118] Wherein, Distance2 is the pixel distance between Point_L2 and Point4, Distance3 is the pixel distance between Point_L3 and Point2, and Distance4 is the pixel distance between Point_L4 and Point4.

[0119] ​​7. Connect Point_L1 and Point_L3 with a line segment. The two intersection points with the outer contour Edge_Out are InterSection1 and InterSection2, respectively. Connect Point_L2 and Point_L4 with a line segment. The two intersection points with the inner contour Edge_Inner are InterSection3 and InterSection4, respectively. Figure 9 As shown, these four points are the four intersection points where the outline needs to be stitched together.

[0120] Using InterSection1 and InterSection2 as the boundary points, the outer contour Edge_Out is divided into upper and lower parts. The part above the boundary points is designated as the upper half of the spliced ​​contour, denoted as Counter1. Similarly, using InterSection3 and InterSection4 as the boundary points, the inner contour Edge_Inner is divided into upper and lower parts. The part below the boundary points is designated as the lower half of the spliced ​​contour, denoted as Counter2. Figure 10 As shown, the middle part of the spliced ​​contour cannot simply use the outer contour Edge_Out part or the inner contour Edge_Inner part; it needs to be generated through fitting.

[0121] 8. By splicing the three contour points together, the final edge contour can be obtained;

[0122] Connect InterSection1 and InterSection3 as a line segment, denoted as Intermediate_line1, and connect InterSection2 and InterSection4 as a line segment, denoted as Intermediate_line2. Because the actual contour of this part of the film background is not linear, using a straight line for fitting is unreasonable. To ensure it has a certain curvature, Intermediate_line1 is first discretized into p1. mid When discretizing points, the goal is to minimize the spacing between points while avoiding an excessive number of points that would slow down the algorithm. Since the fitting process involves a certain curvature, the number of points will be greater than that of a line segment; therefore, the number of discrete points is p1. mid Consistent with the number of pixels that make up the Intermediate_line1 line segment, each discrete point is shifted to the left by P1. move The new fitted curve Counter3 is obtained by moving a distance of 1 pixel. The column coordinates of each point remain unchanged before and after the movement. The row coordinates of each point after the movement are (P) fact -P1 move ):

[0123]

[0124] wherein P fact is the row coordinate of the point before moving, 0.2 is a weighting coefficient, used to make the fitted curve closer to the actual curve, p i is the serial number of the current discrete point, p mid is the total number of discrete points, assuming there are 40 discrete points in total, then p mid is 40.

[0125] Similarly, Intermediate_line2 is discretized into p2 mid points, the number of discrete points p2 mid is consistent with the length of the Intermediate_line2 segment, each discretized point is moved to the right by P2 move pixels to obtain a new fitted curve Counter4, the column coordinates of each point before and after moving remain unchanged, and the row coordinates of each point after moving are (P fact + P2 move ):

[0126]

[0127] The fitted curve Counter3 fitted by the discrete points close to the circular arc can be closer to the actual situation, and then the fitted curve Counter3 is used as the connecting curve between Counter1 and Counter2 on the left side of the spliced contour. The fitted curve Counter4 is used as the connecting curve between Counter1 and Counter2 on the right side of the spliced contour, that is, the Counter1, Counter3, Counter2 and Counter4 obtained are sequentially and circularly connected to obtain the spliced contour, denoted as Edge_Out_F, which is shown in Figure 11 .

[0128] 9、The points on the inner contour Edge_Inner_F of the spliced contour are extracted as key points through which the glue spraying robot passes according to the equal interval method, as shown in Figure 12 , the number of points and the starting point position can be adjusted according to the actual glue spraying demand, the glue spraying robot can automatically generate a glue spraying path according to the input key points and starting point position to realize the glue spraying of the special piece bottom type sole, the glue spraying robot used in the present application is ABB small industrial robot IRB1200. For example, the inner contour array data of the inner contour Edge_Inner_F is [Point0...Point 1500 ...Point3000 ], then the interval of each point is 60, and the data of the extracted points is [Point0, Point 60 , Point 120 ...Point 1500 ...Point 3000 ], the start position of the glue spraying of the robot IRB1200 can be designated as any one of the points in [Point0, Point 60 , Point 120 ...Point 1500 ...Point 3000 ].

[0129] Experiment:

[0130] In order to verify the effectiveness of the special sole outer contour Edge_Out_F and the inner contour Edge_Inner_F extracted by the contour splicing-based method of the present application, the following experimental verification is performed.

[0131] The edges are extracted by the Sobel edge extraction operator. Assuming that the entire outer contour Edge_Out_F has 2000 points, the number of points constituting the edges can be regarded as the number of pixels constituting the contour. Every 50 pixels, one point is taken, and a total of 40 points are obtained at equal intervals. The X and Y values of the 40 points are converted from the pixel coordinate system to the actual world coordinate system of the robot, denoted as X r / Y r .

[0132] When the sole is sprayed with glue, the tool center point (TCP point, Tools Central Point, the sixth axis of the robot is provided with a flange plate when it is manufactured, and the flange plate is provided with a processing piece with a sharp point. The glue is sprayed from the processing piece to the sole, and the position of the sharp point of the processing piece is the position of the TCP, that is, the tool center point) of the flange plate fixed on the robot moves to the actual coordinate position, that is, the position of the 40 points taken. The positional deviation between the TCP point and the actual edge is observed (by moving the robot to the actual edge to view the X f / Y f value of the robot in the robot teaching device, and the converted X r / Y r value is compared and calculated to obtain the actual positional deviation), so as to know whether the extracted edge is accurate. Table 1 is the position data of the selected 40 points and the corresponding positional deviation:

[0133] Table 1: Position data of 40 points and corresponding positional deviation

[0134]

[0135]

[0136] wherein the calculation formula of the position deviation μ is:

[0137]

[0138] Finally, μ = 0.3, that is, after the edge is extracted, the error between the external contour after the high wall is removed by the contour splicing method of the present application and the actual edge is within 0.3 mm, which can meet the requirements of the actual edge spraying of the special sheet bottom type shoe sole, thereby proving the effectiveness of the present application.

[0139] Then, 99 other different special sheet bottom type soles are reselected, and the position deviation μ is calculated according to the above experimental method, and a total of 100 groups of position deviations μ are obtained, as shown in Table 2:

[0140] Table 2: 100 groups of position data and their position deviations

[0141]

[0142]

[0143] As can be seen from Table 2, most of the position deviations μ are less than 0.3, which further verifies that the generated spraying path of the present application can meet the requirements of the actual edge spraying of the special sheet bottom type shoe sole.

[0144] Finally, it should be noted that the above only lists several specific embodiments of the present application. Obviously, the present application is not limited to the above embodiments, and there can be many variations. All variations that can be directly derived or inferred from the content disclosed by those skilled in the art should be considered as falling within the scope of protection of the present application.

Claims

1. A method for generating adhesive spraying paths for special-pattern soles based on contour splicing, characterized in that... The specific process is as follows: S1. Acquire an original image of a special type of shoe sole; S2. Obtain a mask from the original image through grayscale analysis, and then crop the image by intersecting the mask with the original image. S3. Use the Sobel operator to perform edge detection on the cropped image to obtain the outer contour Edge_Out of the special sole type of shoe sole. Then, uniformly shrink the outer contour Edge_Out to obtain the inner contour Edge_Inner. The method for uniform inward contraction is as follows: The outer contour Edge_Out is fitted by m points, with each nth point as the center and the number of pixels indented (Distance) as the innermost point. image Draw (m / n) circles with a radius, and stitch all the circles together to form Region1. Then extract the inner contour of Region1 as the inner contour Edge_Inner. Distance image (units) = Distance fact (mm)*Pixel(pieces / mm) (2) Among them, Distance fact It is the width of the thickest part of the high side wall of the special plate-type shoe sole; Pixel is the pixel precision of 0.6; S4, find the four intersection points of the outline splicing on the outer contour Edge_Out and the inner contour Edge_Inner; The process of obtaining the four intersection points of the contour stitching is as follows: S4.

1. Construct a circumcircle for the outer contour Edge_Out, obtain the intersection point of the circumcircle with the toe of the shoe and the intersection point In_Heel_Left of the circumcircle with the left heel, find the point In_Right on the outer contour Edge_Out that is [Distance] pixels to the right of point In_Heel_Left, and connect them to form the line segment In_Heel_LeftIn_Right. [Distance]=6.24*Point T 2 -0.45Point T +6.25 (3) Where [Distance] is the rounded distance, and Point... T This represents the total number of points on the outer contour Edge_Out. S4.2 The outer contour Edge_Out is a bounding rectangle, with the upper left vertex of the bounding rectangle being point R_Left and the upper right vertex being point R_Right; S4.3, the angle between the sides R_left and R_right of the circumscribed rectangle and the horizontal axis u in the pixel coordinate system uv is Phi1, and the angle between the line segment In_Heel_Left and In_Right and the horizontal axis u in the pixel coordinate system uv is Phi2. The two ends of the sides R_left and R_right of the circumscribed rectangle are extended outwards by 150 pixels to form line segments Point1 and Point2. A rectangle Rectangle is established with Phi3 as the angle between the diagonals of the rectangle and line segments Point1 and Point2 as one diagonal of the rectangle. Phi3=Phi1-Phi2 (9) The bottom left vertex of the rectangle is Point1, the top right vertex is Point2, the top left vertex is Point3, and the bottom right vertex is Point4; the line containing Point3 and Point4 is the line containing the heel. S4.4 In the original image, on the outer edge of the high sidewall of the special plate-type shoe sole, the critical points where the high sidewall on both sides changes from non-existent to existing are P1 and P3, respectively; on the inner edge of the high sidewall of the special plate-type shoe sole, the critical points where the high sidewall on both sides changes from thin to thick are P2 and P4, respectively. Points Point_L1 and Point_L2 are taken on the extension lines of sides Point3 and Point1 of the rectangle, and points Point_L3 and Point_L4 are taken on the extension lines of sides Point2 and Point4. The pixel distances from Point_L1, Point_L2, Point_L3 and Point_L4 to the heel are respectively equal to the pixel distances from P1, P2, P3 and P4 to the heel. S4.

5. The line segments connecting Point_L1 and Point_L3 intersect the outer contour Edge_Out at points InterSection1 and InterSection2, respectively. The line segments connecting Point_L2 and Point_L4 intersect the inner contour Edge_Inner at points InterSection3 and InterSection4, respectively. Points InterSection1, InterSection2, InterSection3, and InterSection4 are the boundary points. S5. Obtain the segmented contours and stitch them together to form a stitched contour. Then, uniformly shrink the stitched contours to obtain the inner contour Edge_Inner_F of the stitched contours. The process of stitching together the stitched outline is as follows: Using InterSection1 and InterSection2 as the outer contour boundary points, the outer contour Edge_Out above the boundary points is taken as the upper half of the splicing contour, denoted as Counter1; using InterSection3 and InterSection4 as the inner contour boundary points, the inner contour Edge_Inner below the boundary points is taken as the lower half of the splicing contour, denoted as Counter2; connecting InterSection1 and InterSection3 into a line segment Intermediate_line1 and fitting the points on line segment Intermediate_line1 into an arc curve Counter3; connecting InterSection2 and InterSection4 into a line segment Intermediate_line2 and fitting the points on line segment Intermediate_line2 into an arc curve Counter4; then connecting Counter1, Counter3, Counter2, and Counter4 in a circular fashion to obtain the splicing contour; then uniformly shrinking the splicing contour inward to obtain the inner contour of the splicing contour. S6. The points extracted from the inner contour Edge_Inner_F of the spliced ​​contour in an equal-spacing manner are used as the key points along the glue spraying path of the glue spraying robot.

2. The method for generating the adhesive spraying path of special sole-type shoe soles based on contour splicing according to claim 1, characterized in that: The specific process of grayscale analysis in step S2 is as follows: First, set the pixel range for screening as 0 < Pixel < 150; screen out the row minimum value xmin, column minimum value ymin, row maximum value xmax, and column maximum value ymax of all points in the original image that satisfy the pixel range; obtain the center point coordinates of the mask rectangle as The height of the mask rectangle is (x max -x min ) + 60, and the width is (y max -y min ) + 60, thereby obtaining the mask.

3. The method for generating the adhesive spraying path for special sole-type shoe soles based on contour splicing according to claim 2, characterized in that: The included angle Phi1 is: Phi1=arctan((R_Right Row -R_Left Row ) / (R_Right Col -R_Left Col )) (5) Among them, R_Right Row and R_Right col These are the row and column values ​​of the point R_Right, and R_Left, respectively. Row and R_Left Col These are the row and column values ​​of the point R_Left, respectively; The included angle Phi2 is: Phi2=arctan((In_Right Row -In_Heel_Left Row ) / (In_Right Col -In_Heel_Left Col )) (8) Among them, In_Right Row and In_Right Col These are the row and column values ​​of the point In_Right, and In_Heel_Left, respectively. Row and In_Heel_Left Col These are the row and column values ​​for the point In_Heel_Left, respectively.

4. The method for generating the adhesive spraying path for special sole-type shoe soles based on contour splicing according to claim 3, characterized in that: The method for fitting the curve into an arc is as follows: The number of pixels in the line segment Intermediate_line1 is p1. mid Discretize line segment Intermediate_line1 into p1 mid Given a set of points, move each of the discrete points to the left by P1. move The arc curve Counter3 is obtained by measuring a pixel distance. The column coordinates of each point remain unchanged before and after the movement, and the row coordinates of each point are (P... fact -P1 move ),in, The number of pixels in the line segment Intermediate_line2 is p2. mid Discretize the line segment Intermediate_line2 into p2 mid Given a set of points, move each of the discrete points to the right by P2. move The arc curve Counter4 is obtained by measuring a pixel distance. The column coordinates of each point remain unchanged before and after the movement, and the row coordinates of each point are (P) fact +P2 move ),in, Among them, P fact p is the row coordinate of the point. i It is the index of the current discrete point.

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