A method for identifying left and right feet based on the contour of the sole adhesive line

Abstract

A method for identifying left and right feet based on the contour of sole glue lines. By using machine vision technology, data of the sole glue line contour is collected, and the collected data is analyzed in real time to quickly determine the left and right feet of the sole, realizing real-time and fast identification of the left and right feet of the sole. Therefore, without relying on manual marking, the adaptive process of intelligent algorithms is reduced, the intelligence of the equipment is improved, the production quality, efficiency and accuracy are improved, and there is no need to completely separate from the processing equipment to ensure real-time production. At the same time, no additional production equipment needs to be added.

Description

Technical Field

[0001] The present invention relates to the technical field of sole contour identification, and particularly relates to a method for identifying left and right feet based on the contour of sole glue lines. Background Art

[0002] With the continuous enrichment of new technology supply, the production technologies and equipment of each shoe industry have been continuously upgraded. Especially at present, the world has entered the wave of the fourth industrial revolution, and technologies represented by intelligent manufacturing, Internet of Things, artificial intelligence, etc. have continuously begun to rapidly integrate with traditional manufacturing industries.

[0003] In the process of shoe production and manufacturing, it is necessary to brush glue on the sole, including the processes of brushing glue water and brushing treatment agent. In the actual production process, the sole styles are diverse, the sizes are different, and there are distortions to varying degrees, which pose great challenges to the sole in automated operations.

[0004] Using machine vision technology to accurately identify the left and right feet of the sole is a prerequisite for realizing the full-automatic production of the sole. The method of pasting barcodes for marking is time-consuming and laborious, and it is difficult to adapt to the production requirements of rapid style change using deep learning algorithms. Therefore, it becomes particularly important to use image processing technology to quickly and real-time identify the left and right feet of the sole.

[0005] Using the traditional method of pasting barcodes for marking is not only time-consuming and laborious, but also needs to consider the position change of marking for different styles, with low efficiency and poor accuracy. Therefore, advanced sensor technologies such as RFID are adopted, but this method requires the use of additional equipment, and the sole will be completely separated from this equipment during actual processing, so it is difficult to achieve real-time production. Nowadays, most manufacturers use artificial intelligence deep learning algorithms, which can effectively identify the left and right feet, but there are still problems such as the need to collect a large number of learning samples, low learning efficiency, and difficulty in adapting to style changes. Summary of the Invention

[0006] Aiming at the problems and technical requirements existing in the prior art, the purpose of the present invention is to provide a method for identifying left and right feet based on the contour of sole glue lines, which can perform real-time analysis on the data of the sole glue line contour to realize the rapid identification of the left and right feet of the sole.

[0007] To achieve the above purpose, the present invention is realized by adopting the following technical solutions:

[0008] A method for identifying left and right feet based on the contour of sole glue lines, comprising the following steps:

[0009] Step 1: Obtain the depth image of the sole, and perform processing on the contour of the sole glue line to obtain the sole glue line contour XLD1;

[0010] Step 2: Obtain the pixel coordinates corresponding to the sole glue line contour XLD1;

[0011] Step 3: Establish the minimum circumscribed rectangle of the sole adhesive line profile XLD1, and obtain the center coordinates (Row_Center1, Col_Center1) of the minimum circumscribed rectangle of the sole adhesive line profile XLD1, as well as the length Length1 and width Width1 of the sole adhesive line profile XLD1;

[0012] Step 4: Generate a line segment Line1 with the starting point coordinates and the ending point coordinates ;

[0013] Step 5: Obtain the two intersection points of the line segment Line1 and the sole adhesive line profile XLD1, which are the intersection point P1-1 and the intersection point P1-2 respectively, and calculate the midpoint P1-3 of the intersection point P1-1 and the intersection point P1-2;

[0014] Step 6: Generate a line segment Line2 with the starting point coordinates and the ending point coordinates ;

[0015] Step 7: Obtain the two intersection points of the line segment Line2 and the sole adhesive line profile XLD1, which are the intersection point P2-1 and the intersection point P2-2 respectively, and calculate the midpoint P2-3 of the intersection point P2-1 and the intersection point P2-2;

[0016] Step 8: Connect the midpoint P1-3 and the midpoint P2-3 to generate a line segment Line3;

[0017] Step 9: Calculate the slope k of the line segment Line3 and obtain the rotation angle θ;

[0018] Step 10: Rotate the sole adhesive line profile XLD1 to obtain the sole adhesive line profile XLD2;

[0019] Step 11: Establish the minimum circumscribed rectangle of the sole adhesive line profile XLD2, and obtain the center coordinates (Row_Center2, Col_Center2) of the minimum circumscribed rectangle of the sole adhesive line profile XLD2;

[0020] Step 12: Generate a line segment Line4 with the starting point coordinates and the ending point coordinates ;

[0021] Step 13: Obtain the two intersection points of the line segment Line4 and the sole adhesive line profile XLD2, which are the intersection point P4-1 and the intersection point P4-2 respectively, and calculate the midpoint P4-3 of the intersection point P4-1 and the intersection point P4-2;

[0022] Step 14: Generate a line segment Line5 with the starting point coordinates and the ending point coordinates ;

[0023] Step 15: Obtain two intersection points of line Line5 and the sole glue line contour XLD2, namely intersection point P5-1 and intersection point P5-2, and calculate the midpoint P5-3 of intersection point P5-1 and intersection point P5-2;

[0024] Step 16: Determine the left and right feet by comparing the column coordinates of midpoint P4-3 and midpoint P5-3;

[0025] Step 17: The final actuator performs processing according to the determined left and right feet respectively.

[0026] In step 1, to obtain the depth image of the sole, a 3D line laser and a 3D camera with binocular structured light are used.

[0027] In the processing of the sole glue line contour in step 1, the methods used are the block directed search method and the bilateral maximum value method.

[0028] In step 9, the rotation angle θ is: when the slope k is an angle in the first quadrant or the second quadrant, the rotation angle θ = 90 - k; when the slope k is an angle in the third quadrant or the fourth quadrant, the rotation angle θ = 90 + k.

[0029] In step 10, the sole glue line contour XLD1 is rotated, and the rotation angle is the rotation angle θ.

[0030] In step 16, when comparing the column coordinates of midpoint P4-3 and midpoint P5-3 to determine the left and right feet, if the column coordinate of P4-3 is less than the column coordinate of midpoint P5-3, it is the left foot; if the column coordinate of P4-3 is greater than the column coordinate of midpoint P5-3, it is the right foot.

[0031] Compared with the prior art, the beneficial effects of the present invention are:

[0032] A method for identifying left and right feet based on the sole glue line contour of the present invention uses machine vision technology to identify the left and right feet of the sole in real time and quickly. Without relying on manual marking, it also reduces the adaptive process of intelligent algorithms, improves the intelligence of the equipment, improves production quality, efficiency, and accuracy, and does not require complete separation from the processing equipment to ensure real-time production. At the same time, no additional production equipment needs to be added.

[0033] The above description is only an overview of the technical solution of the present invention. In order to understand the technical means of the present invention more clearly, it can be implemented according to the content of the description. And in order to make the above and other purposes, features, and advantages of the present invention more obvious and understandable, the following specific implementation methods of the present invention are listed.

[0034] Those skilled in the art will better understand the above and other objects, features and advantages of the present invention according to the following detailed description of specific embodiments of the present invention, but this is not a limitation to the present invention. Detailed Embodiment

[0035] To facilitate the understanding of the present invention, the present invention will be described more comprehensively below. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosure of the present invention more thorough and comprehensive.

[0036] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which the present invention belongs. The terms used in the specification of the present invention herein are only for the purpose of describing specific embodiments and are not intended to limit the present invention.

[0037] The following provides a detailed description of the specific embodiments provided by the present invention.

[0038] A method for identifying left and right feet based on the sole glue line contour includes the following steps:

[0039] Step 1: Obtain the depth image of the sole and perform processing on the sole glue line contour to obtain the sole glue line contour XLD1;

[0040] Step 2: Obtain the pixel coordinates corresponding to the sole glue line contour XLD1;

[0041] Step 3: Establish the minimum circumscribed rectangle of the sole glue line contour XLD1, and obtain the center coordinates (Row_Center1, Col_Center1) of the minimum circumscribed rectangle of the sole glue line contour XLD1, as well as the length Length1 and width Width1 of the sole glue line contour XLD1;

[0042] Since the sole glue line contour XLD1 is an irregular curve, it is difficult to calculate the rotation angle of the curve. If the horizontal line where the center coordinates (Row_Center1, Col_Center1) are located can divide the sole glue line contour XLD1 into upper and lower regions, take the central axis of the lower region of the sole glue line contour XLD1. The data is more accurate the closer the central axis is to the middle position. Therefore, take the central points at 1 / 4 and 1 / 5 to form the central axis to generate line segment Line1 and line segment Line2, and calculate the angle of the central axis as the offset angle of the sole;

[0043] Step 4: Generate a line segment Line1 with the starting point coordinates and the ending point coordinates ;

[0044] Step 5: Obtain the two intersection points of line segment Line1 and the sole glue line contour XLD1, and form an intersection point coordinate set (Row_Down01, Col_Down01), where the coordinates of intersection point P1-1 are (Row_Down01[0], Col_Down01[0]), and the coordinates of intersection point P1-2 are (Row_Down01[1], Col_Down01[1]). From the endpoint coordinates of line segment Line1, it can be seen that line segment Line1 is a horizontal line, so Row_Down01[0] = Row_Down01[1], and calculate the midpoint P1-3 of intersection point P1-1 and intersection point P1-2, and the coordinates of midpoint P1-3 are

[0045]

[0046] Step 6: Generate a line segment Line2 with a starting coordinate of and an ending coordinate of ;

[0047] Step 7: Obtain the two intersection points of line segment Line2 and the sole glue line contour XLD1, and form an intersection point coordinate set (Row_Down02, Col_Down02), where the coordinates of intersection point P2-1 are (Row_Down02[0], Col_Down02[0]), and the coordinates of intersection point P2-2 are (Row_Down02[1], Col_Down02[1]). From the endpoint coordinates of line segment Line2, it can be seen that line segment Line2 is a horizontal line, so Row_Down02[0] = Row_Down02[1], and calculate the midpoint P2-3 of intersection point P2-1 and intersection point P2-2, and the coordinates of midpoint P2-3 are

[0048]

[0049] Step 8: Connect midpoint P1-3 and midpoint P2-3 to generate line segment Line3;

[0050] Step 9: Calculate the slope k of line segment Line3 and obtain the rotation angle θ;

[0051] Step 10: Rotate the sole glue line contour XLD1 to obtain the sole glue line contour XLD2;

[0052] Step 11: Establish the minimum bounding rectangle of the sole glue line contour XLD2, and obtain the center coordinates (Row_Center2, Col_Center2) of the minimum bounding rectangle of the sole glue line contour XLD2. Among them, line segment Line4 and line segment Line5 are the horizontal lines where the center coordinates (Row_Center2, Col_Center2) are located, which divide the sole glue line contour XLD2 into upper and lower regions. The middle position of the upper half region of the sole glue line contour XLD2 can best reflect the width of the shoe, while the middle position of the lower half region of the sole glue line contour XLD2 is generated as the reference coordinate point for evaluation;

[0053] Step 12: Generate a line segment Line4 with a starting coordinate of and an ending coordinate of ;

[0054] Step 13: Obtain the two intersection points of line segment Line4 and the sole glue line contour XLD2, and form an intersection point coordinate set (Row_Down04, Col_Down04). Among them, the coordinate of intersection point P4-1 is (Row_Down04[0], Col_Down04[0]), and the coordinate of intersection point P4-2 is (Row_Down04[1], Col_Down04[1]). From the endpoint coordinates of line segment Line4, it can be seen that line segment Line4 is a horizontal line, so Row_Down04[0] = Row_Down04[1], and calculate the midpoint P4-3 of intersection point P4-1 and intersection point P4-2, and the coordinate of midpoint P4-3 is

[0055]

[0056] Step 14: Generate a line segment Line5 with a starting coordinate of and an ending coordinate of ;

[0057] Step 15: Obtain the two intersection points of line segment Line5 and the sole glue line contour XLD2, and form an intersection point coordinate set (Row_Down05, Col_Down05). Among them, the coordinate of intersection point P5-1 is (Row_Down05[0], Col_Down05[0]), and the coordinate of intersection point P5-2 is (Row_Down05[1], Col_Down05[1]). From the endpoint coordinates of line segment Line5, it can be seen that line segment Line5 is a horizontal line, so Row_Down05[0] = Row_Down05[1], and calculate the midpoint P5-3 of intersection point P5-1 and intersection point P5-2, and the coordinate of midpoint P5-3 is

[0058]

[0059] Step 16: Determine the left and right feet by comparing the column coordinates of the midpoints P4-3 and P5-3;

[0060] Step 17: The final actuator performs processing separately according to the determined left and right feet.

[0061] Among them, in Step 1, a depth image of the sole is obtained using a 3D line laser and a 3D camera with binocular structured light.

[0062] Among them, in Step 1, for the processing of the sole glue line contour, the methods used are the block-directed search method and the bilateral maximum value method.

[0063] Among them, in Step 9, the rotation angle θ is: when the slope k is an angle in the first quadrant or the second quadrant, the rotation angle θ = 90 - k; when the slope k is an angle in the third quadrant or the fourth quadrant, the rotation angle θ = 90 + k.

[0064] Among them, in Step 10, the sole glue line contour XLD1 is rotated, and the rotation angle is the rotation angle θ.

[0065] Among them, in Step 16, compare the column coordinates of the midpoints P4-3 and P5-3 to determine the left and right feet:

[0066] When the column coordinate of P4-3 is less than the column coordinate of the midpoint P5-3, that is it is the left foot;

[0067] When the column coordinate of P4-3 is greater than the column coordinate of the midpoint P5-3, that is it is the right foot.

[0068] The technical features of the above-described examples can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above examples are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope recorded in this specification.

[0069] The above-described examples only represent the implementation manners of the present invention. The description is relatively specific and detailed, but it should not be construed as a limitation on the scope of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several modifications and non-substantive improvements can be made, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.

Claims

1. A method for identifying left and right feet based on the profile of the sole adhesive line, characterized in that It includes the following steps: Step 1: Obtain the depth image of the sole, and process the sole glue line contour to obtain the sole glue line contour XLD1; Step 2: Obtain the pixel coordinates corresponding to the sole glue line contour XLD1; Step 3: Establish the minimum bounding rectangle of the sole glue line contour XLD1, and obtain the center coordinates (Row_Center1, Col_Center1) of the minimum bounding rectangle of the sole glue line contour XLD1, as well as the length Length1 and width Width1 of the sole glue line contour XLD1; Step 4: Generate a line segment Line1 with a starting coordinate of and an ending coordinate of ; Step 5: Obtain two intersection points of the line segment Line1 and the sole glue line contour XLD1, which are the intersection point P1-1 and the intersection point P1-2 respectively, and calculate the midpoint P1-3 of the intersection point P1-1 and the intersection point P1-2; Step 6: Generate a line segment Line2 with a starting coordinate of and an ending coordinate of . Step 7: Obtain two intersection points of the line segment Line2 and the sole glue line contour XLD1, which are the intersection point P2-1 and the intersection point P2-2 respectively, and calculate the midpoint P2-3 of the intersection point P2-1 and the intersection point P2-2; Step 8: Connect the midpoint P1-3 and the midpoint P2-3 to generate the line segment Line3; Step 9: Calculate the slope k of the line segment Line3 and obtain the rotation angle θ; Step 10: Rotate the sole glue line contour XLD1 to obtain the sole glue line contour XLD2; Step 11: Establish the minimum bounding rectangle of the sole glue line contour XLD2, and obtain the center coordinates (Row_Center2, Col_Center2) of the minimum bounding rectangle of the sole glue line contour XLD2; Step 12: Generate a line segment Line4 with a starting coordinate of and an ending coordinate of ; Step 13: Obtain two intersection points of the line segment Line4 and the sole glue line contour XLD2, which are the intersection point P4-1 and the intersection point P4-2 respectively, and calculate the midpoint P4-3 of the intersection point P4-1 and the intersection point P4-2; Step 14: Generate a line segment Line5 with a starting coordinate of and an ending coordinate of . Step 15: Obtain two intersection points of the line segment Line5 and the sole glue line contour XLD2, which are the intersection point P5-1 and the intersection point P5-2 respectively, and calculate the midpoint P5-3 of the intersection point P5-1 and the intersection point P5-2; Step 16: Determine the left and right feet by comparing the column coordinates of the midpoint P4-3 and the midpoint P5-3; Step 17: The final actuator processes according to the determined left and right feet respectively.

2. The method for identifying left and right feet based on the sole glue line profile according to claim 1, wherein In step 1, to obtain the depth image of the sole, a 3D line laser or a 3D camera with binocular structured light is used.

3. A method for identifying left and right feet based on the contour of the sole adhesive line according to claim 1, characterized in that, In step 1, for the sole glue line contour processing, the methods used are the block directed search method and the bilateral maximum value method.

4. A left and right foot identification method based on the sole glue line contour according to claim 1, characterized in that In step 9, the rotation angle θ is: when the slope k is in the first quadrant or the second quadrant, the rotation angle θ = 90 - k; when the slope k is in the third quadrant or the fourth quadrant, the rotation angle θ = 90 + k.

5. A method for identifying left and right feet based on the profile of the sole adhesive line according to claim 1, characterized in that In step 10, when rotating the sole glue line contour XLD1, the rotation angle is the rotation angle θ.

6. The left / right foot identification method based on the profile of the sole glue line according to claim 1, wherein In step 16, when comparing the column coordinates of the midpoint P4-3 and the midpoint P5-3 to determine the left and right feet, if the column coordinate of P4-3 is less than the column coordinate of the midpoint P5-3, it is the left foot; if the column coordinate of P4-3 is greater than the column coordinate of the midpoint P5-3, it is the right foot.

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