Upper trajectory generation method based on camera model imaging

Abstract

The present invention relates to the technical field of footwear production, and more specifically, to a method for generating shoe upper trajectories based on camera module imaging. A grinding line is first established on the shoe upper, and then the camera module is used to identify the grinding line of the shoe upper. Based on the identification of the grinding line, a plurality of moving trajectory points of a grinding wheel are established along the grinding line, and by adjusting the front and rear positions of each moving trajectory point, a rotation and translation matrix of the grinding wheel is established to generate a grinding trajectory of the grinding wheel, thereby solving the problems of low manual grinding efficiency, high repetitive labor intensity, and unsuitability for large-scale production, and further improving the grinding efficiency and realizing intelligent production of footwear products.

Description

Technical Field

[0001] The present invention relates to the technical field of footwear production, and more specifically, to a method for generating a shoe upper trajectory based on camera module imaging. Background Art

[0002] The grinding and gluing of the shoe uppers involves technical steps in shoe repair or shoe making. Usually, the grinding and gluing of the shoe uppers may be to repair wear on the shoes or to bond the shoes.

[0003] The steps include:

[0004] Preparation: Make sure the working environment is clean, the surface of the shoes is clean and dust-free, and fix the uppers on the shoe last.

[0005] Polish the upper: Use tools such as sandpaper or grinding wheels to gently polish the surface of the upper to make it smooth in order to increase the contact area between the glue and the surface of the shoe and improve the bonding strength.

[0006] Gluing: Apply glue evenly on the polished upper surface. Choose the right type of glue according to your needs to ensure that it can firmly bond the upper to the shoe material.

[0007] Glue the upper: Glue the sanded and glued upper to the surface of the shoe. Make sure to apply enough pressure to the shoe to ensure a strong bond.

[0008] Wait for curing: After the glue is bonded, wait for a while to ensure that the glue is fully cured and bonded.

[0009] Due to the changes in shoe styles, designs and sizes, the shoe last used to fix the upper must also be matched accordingly to facilitate the support and fixation of the upper during grinding. At the same time, during the grinding process, the shoe upper is polished along the edge. Grinding the upper only by the naked eye can easily cause the surface of the upper to be uneven. Traditional manual or semi-automatic grinding methods are difficult to accurately control the grinding depth and grinding trajectory, and the processing efficiency is low. Summary of the invention

[0010] In view of the above-mentioned deficiencies in the prior art, an object of the present invention is to provide a method for generating a shoe upper trajectory based on camera module imaging, so as to improve the polishing efficiency and realize the intelligent production of footwear products.

[0011] The above technical objectives of the present invention are achieved through the following technical solutions: A method for generating a shoe upper trajectory based on camera module imaging comprises the following steps:

[0012] Step S1: Establish a line to be polished, distinguish and divide the polishing area and non-polishing area of ​​the upper, and establish a line to be polished on the upper;

[0013] Step S2: polishing line identification, using the camera module to collect camera data from all angles of the shoe upper, and extract and identify the exact position of the shoe upper polishing line;

[0014] Step S3: Grinding trajectory generation. Multiple grinding wheel moving trajectory points are established along the grinding line. Each moving trajectory point is represented by a six-degree-of-freedom (X, Y, Z, α, β, γ) posture information. By adjusting the front and rear positions of each moving trajectory point, the rotation and translation matrix of the grinding wheel is established, the grinding trajectory cloud points are generated, and the grinding trajectory of the upper is constructed.

[0015] Preferably, the polished area and the non-polished area of ​​the shoe upper are divided by color, and the camera module includes a 3D line laser camera for taking multi-angle video and photographing the shoe upper. The polished area and the non-polished area are divided by identifying the gradient difference of the grayscale image of the two areas, and the multi-angle video and photos are spliced ​​and integrated, and the data from multiple perspectives are integrated to complete the three-dimensional modeling of the current photographed shoe upper and combine them into a complete polishing trajectory of the shoe upper.

[0016] Preferably, an upper database is established, and a variety of standard upper information templates are imported into the database for storage and database construction. The geometric information of the standard upper is set in the upper database, and the template upper is aligned with the corresponding feature points calculated by the current upper movement trajectory point cloud. The corresponding feature points calculated by the current upper movement trajectory point cloud are adaptively corrected, and the correction content includes the situation where the distance between the movement trajectory point clouds is far, the movement trajectory point cloud is missing, or there are a lot of noise points in the photo.

[0017] Preferably, the grinding trajectory of the upper after correction is aligned with the standard upper template in the upper database to obtain the rotation and translation matrix of the grinding wheel. The six-degree-of-freedom trajectory of the moving trajectory points is moved to the current upper position, and the grinding trajectory is scaled and stretched proportionally according to the current upper size, so that the grinding trajectory can adapt to the current upper shape contour.

[0018] Preferably, the camera module includes a machine platform and a multi-axis robotic arm installed on the machine platform, and the 3D line laser camera is installed on the multi-axis mechanical wall. Through the flexible driving of the multi-axis robotic arm, it is ensured that the laser plane of the 3D line laser camera can be oriented vertically to the surface of the shoe upper for taking pictures.

[0019] Preferably, for the same polishing line of the shoe upper, multiple scans are performed repeatedly at different operating angles and directions, the scanned data are integrated and summarized, and the scan data of the 3D line laser camera is corrected according to the difference in the scan data in different directions to ensure the accuracy of the generated point cloud.

[0020] Preferably, the all-round angle includes a multi-dimensional perspective for the current upper contour, and the multi-dimensional perspective includes at least the front, back, left and right directions of the upper contour periphery, ensuring the integrity of the scan of the upper contour periphery, and utilizing the alignment calibration block geometric model and the scanned stitching calibration block point cloud to obtain a stitching matrix of four faces, and then stitching the matrices obtained from the four directions to obtain a complete upper movement trajectory point cloud.

[0021] In summary, the present invention has the beneficial effects of:

[0022] It is difficult to accurately control the depth and shape of the grinding by traditional manual or semi-automatic grinding methods. The current grinding of the shoe upper only relies on the naked eye to distinguish, and it is difficult to ensure the accuracy of the grinding. For this reason, the grinding line is established on the shoe upper in advance, and then the camera module is used to identify the grinding line of the shoe upper. Based on the identification of the grinding line, multiple moving trajectory points of the grinding wheel are established along the grinding line, and by adjusting the front and rear positions of each moving trajectory point, the rotation and translation matrix of the grinding wheel is established to generate the grinding trajectory of the grinding wheel, so as to solve the problems of low efficiency of manual grinding, high intensity of repetitive labor and unsuitability for large-scale production. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the steps of an embodiment of the present invention. DETAILED DESCRIPTION

[0024] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0025] It should be noted that when a component is referred to as being "fixed to" or "disposed on" another component, it can be directly on the other component or indirectly on the other component. When a component is referred to as being "connected to" another component, it can be directly or indirectly connected to the other component.

[0026] It should be understood that the orientation or position relationship indicated by terms such as "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0027] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0028] The upper trajectory generation method based on camera model imaging, see Figure 1 , including the following steps:

[0029] Step S1: Establish a line to be polished, distinguish and divide the polishing area and non-polishing area of ​​the upper, and establish a line to be polished on the upper;

[0030] Step S2: polishing line identification, using the camera module to collect camera data from all angles of the shoe upper, and extract and identify the exact position of the shoe upper polishing line;

[0031] Step S3: Grinding trajectory generation. Multiple grinding wheel moving trajectory points are established along the grinding line. Each moving trajectory point is represented by a six-degree-of-freedom (X, Y, Z, α, β, γ) posture information. By adjusting the front and rear positions of each moving trajectory point, the rotation and translation matrix of the grinding wheel is established, the grinding trajectory cloud points are generated, and the grinding trajectory of the upper is constructed.

[0032] When this embodiment is implemented, it is difficult to accurately control the depth and shape of the grinding by traditional manual or semi-automatic grinding methods. It is difficult to ensure the accuracy of the grinding of the current shoe upper by relying solely on the naked eye to distinguish the grinding of the shoe upper. For this reason, a grinding line is established on the shoe upper in advance, and then the camera module is used to identify the grinding line of the shoe upper. Based on the identification of the grinding line, multiple moving trajectory points of the grinding wheel are established along the grinding line, and by adjusting the front and rear positions of each moving trajectory point, a rotation and translation matrix of the grinding wheel is established to generate the grinding trajectory of the grinding wheel, so as to solve the problems of low efficiency of manual grinding, high intensity of repetitive labor and unsuitability for large-scale production, so as to improve the grinding efficiency and realize the intelligent production of footwear products.

[0033] X, Y, Z coordinates: These three coordinates represent the position of an object in three-dimensional space. X, Y, and Z represent the horizontal, vertical, and depth positions of an object, respectively.

[0034] α, β, γ angles: These three angles represent the posture or direction of an object. They are usually represented by Euler angles or rotation matrices. α, β, and γ represent the angles of rotation of an object around the X, Y, and Z axes of its coordinate system, respectively.

[0035] The premise of establishing multiple moving trajectory points of the grinding wheel along the grinding line is to calibrate the camera module to determine a workpiece coordinate system that can reflect the actual coordinates of the target object. Through this workpiece coordinate system, the feature information in the two-dimensional picture taken by the camera can be converted into the real feature information in the three-dimensional coordinate system.

[0036] Accordingly, for a photo taken by a camera with multiple marking points, three-dimensional point cloud data can be obtained by transforming the workpiece coordinate system.

[0037] Specifically, the polished area and the non-polished area of ​​the shoe upper are divided by color. The camera module includes a 3D line laser camera for taking multi-angle photos of the shoe upper. The polished area and the non-polished area are divided by identifying the gradient difference of the grayscale image of the two areas, and the multi-angle photos are stitched and integrated. The data from multiple perspectives are integrated to complete the three-dimensional modeling of the current camera upper and combine them into a complete polishing trajectory of the upper.

[0038] Due to the pre-established polishing lines, the polishing area and non-polishing area of ​​the upper are divided by color. After the 3D line laser camera scan is completed, the polishing line is identified and integrated by using the gradient difference of the grayscale image of the polishing area and the non-polishing area to complete the confirmation of the complete route of the current upper polishing trajectory.

[0039] Specifically, an upper database is established, and multiple standard upper information templates are imported into the database for storage and database construction. The geometric information of the standard upper is set in the upper database. The template upper and the corresponding feature points calculated by the current upper moving trajectory point cloud are aligned, and the corresponding feature points calculated by the current upper moving trajectory point cloud are adaptively corrected. The correction content includes the situation where the distance between the moving trajectory point clouds is far, the moving trajectory point cloud is missing, or there are a lot of noise points in the photo.

[0040] When a 3D line laser camera is scanning, it is affected by factors such as the environment and differences in upper products. For example, the distance between adjacent moving trajectory point clouds is far, the moving trajectory point clouds are missing, or there are a lot of noise points in the photos. Therefore, by establishing an upper database and setting points to mark the geometric information of the standard upper for alignment, the corresponding feature points calculated by the current upper moving trajectory point cloud are adaptively corrected, which can greatly improve the fault tolerance of the polishing trajectory.

[0041] Specifically, the grinding trajectory of the corrected upper is aligned with the standard upper template in the upper database to obtain the rotation and translation matrix of the grinding wheel. The six-degree-of-freedom trajectory of the moving trajectory points is moved to the current upper position, and the grinding trajectory is scaled and stretched proportionally according to the current upper size so that the grinding trajectory can adapt to the current upper shape contour.

[0042] In addition, considering the size of the shoe upper, the grinding trajectory needs to be adaptively matched to the outer contour of the shoe upper to improve the accuracy of the grinding trajectory.

[0043] Specifically, the camera module includes a machine platform and a multi-axis robotic arm installed on the machine platform. The 3D line laser camera is installed on the multi-axis mechanical wall. Through the flexible driving of the multi-axis robotic arm, it is ensured that the laser plane of the 3D line laser camera can be oriented vertically to the surface of the shoe upper for taking pictures.

[0044] In order to improve the accuracy of camera recognition, the camera module of this embodiment is supported by a machine platform, and a multi-axis robotic arm is used to flexibly drive the 3D line laser camera to take pictures, and the laser plane is always kept perpendicular to the surface of the shoe upper for orientation and photography, thereby ensuring the accuracy of polishing line recognition.

[0045] Specifically, for the same polishing line of the shoe upper, multiple scans are performed repeatedly at different operating angles and directions, and the scanned data are integrated and summarized. According to the differences in the scanning data in different directions, the scanning data of the 3D line laser camera is corrected to ensure the accuracy of the generated point cloud.

[0046] In order to improve the fault tolerance of scanning and recognition, the same polishing line of the shoe upper is scanned repeatedly at different operating angles and directions, that is, multiple scans are performed with different reverse angles. The data collected from the scanning of the same polishing line is then integrated and summarized, and the scanning data of the 3D line laser camera is corrected according to the differences in scanning data in different directions.

[0047] Specifically, the all-round angle includes a multi-dimensional perspective for the current upper contour, and the multi-dimensional perspective includes at least the front, back, left and right directions of the upper contour periphery, ensuring the integrity of the scan of the upper contour periphery, and utilizing the alignment calibration block geometric model and the scanned stitching calibration block point cloud to obtain a stitching matrix of four faces, and then stitching the matrices obtained from the four directions to obtain a complete upper movement trajectory point cloud.

[0048] The above embodiments are merely explanations of the present invention and are not limitations of the present invention. After reading this specification, those skilled in the art may make modifications to the embodiments without any creative contribution as needed. However, such modifications are protected by the patent law as long as they are within the scope of the claims of the present invention.

Claims

1. A shoe upper trajectory generation method based on camera module imaging, characterized by: The following steps are involved: Step S1: Establish a line to be polished, distinguish and divide the polishing area and non-polishing area of ​​the upper, and establish a line to be polished on the upper; Step S2: polishing line identification, using the camera module to collect camera data from all angles of the shoe upper, and extract and identify the exact position of the shoe upper polishing line; Step S3: Grinding trajectory generation, establishing multiple grinding wheel moving trajectory points along the grinding line, each moving trajectory point is represented by a six-degree-of-freedom (X, Y, Z, α, β, γ) posture information, and by adjusting the front and rear positions of each moving trajectory point, the grinding wheel rotation and translation matrix is ​​established, the grinding trajectory cloud points are generated, and the grinding trajectory of the upper is constructed; Establish a shoe upper database, import multiple standard shoe upper templates into the database for storage and database building, set the geometric information of the standard shoe upper in the shoe upper database, perform registration based on the standard shoe upper template and the corresponding feature points calculated by the current shoe upper movement trajectory point cloud, and perform adaptive correction on the corresponding feature points calculated by the current shoe upper movement trajectory point cloud, the correction content includes the situation where the distance between adjacent movement trajectory point clouds is far, the movement trajectory point cloud is missing, or there are a lot of noise points in the photo; The grinding trajectory of the corrected upper is aligned with the standard upper template in the upper database to obtain the rotation and translation matrix of the grinding wheel. The six-degree-of-freedom trajectory of the moving trajectory points is moved to the current upper position. According to the current upper size, the grinding trajectory is scaled and stretched proportionally to adapt the grinding trajectory to the current upper shape contour.

2. The method for generating shoe upper trajectories based on camera module imaging according to claim 1, characterized in that: The polished area and non-polished area of ​​the shoe upper are divided by color. The camera module includes a 3D line laser camera for multi-angle video and photography of the shoe upper. The polished area and non-polished area are divided by identifying the gradient difference of the grayscale image of the two areas, and the multi-angle video and photography are spliced ​​and integrated. The data from multiple perspectives are integrated to complete the three-dimensional modeling of the current camera upper and combine them into a complete polishing trajectory of the upper.

3. The method for generating shoe upper trajectory based on camera module imaging according to claim 2, characterized in that: The camera module includes a machine platform and a multi-axis robotic arm installed on the machine platform. The 3D line laser camera is installed on the multi-axis mechanical wall. Through the flexible driving of the multi-axis robotic arm, it is ensured that the laser plane of the 3D line laser camera can be oriented vertically to the surface of the shoe upper for taking pictures.

4. The method for generating shoe upper trajectories based on camera module imaging according to claim 3, characterized in that: For the same polishing line of the shoe upper, multiple scans are performed repeatedly at different operating angles and directions, and the scanned data are integrated and summarized. According to the differences in the scan data in different directions, the scan data of the 3D line laser camera is corrected to ensure the accuracy of the generated point cloud.

5. The method for generating shoe upper trajectory based on camera module imaging according to claim 1, characterized in that: The all-round angle includes a multi-dimensional perspective for the current upper contour, which includes at least the front, back, left and right directions of the upper contour periphery, ensuring the integrity of the scan of the upper contour periphery, and using the alignment calibration block geometric model and the scanned stitching calibration block point cloud to obtain the stitching matrix of the four faces, and then stitching the matrices obtained from the four directions to splice out a complete upper movement trajectory point cloud.

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