Robot shoe industry gluing parameter configuration method, device and equipment and storage medium

Abstract

The present application relates to shoe industry gluing technology, disclose a kind of robot shoe industry gluing parameter configuration method, device, equipment and storage medium.The method comprises: obtaining the shoe sample model of shoe to be glued, utilize pre-constructed gluing feature process library to carry out shoe structure matching operation on the shoe sample model;When matching succeeds, historical shoe gluing process parameter set is updated in corresponding position fitting, and the shoe gluing process parameter set is obtained;When matching is unsuccessful, the shoe curve feature set of the shoe sample model is created;Utilize pre-constructed shoe industry gluing process configuration model, carry out feature processing operation to the shoe curve feature set, obtain each path point of executable gluing process and the tool coordinate system direction at each path point, and then utilize interpolation calculation, obtain the shoe gluing process parameter set of gluing full path, and send to shoe gluing equipment.The present application can improve gluing efficiency and quality.

Description

Technical Field

[0001] This invention relates to the field of adhesive coating technology in the footwear industry, and in particular to a method, apparatus, equipment, and computer-readable storage medium for configuring parameters of robotic adhesive coating in the footwear industry. Background Technology

[0002] With societal development, the automation of various tasks, replacing manual labor, has progressed rapidly. Robots can not only perform highly repetitive and dangerous tasks, but also ensure product consistency, stability, and a high pass rate. Glue application is a fundamental and crucial step in the footwear industry.

[0003] However, the footwear industry today has a wide variety of products, brands, and styles, with multiple shoe sizes even within the same style. At the same time, the complex programming of the robot's glue application trajectory makes it impossible for the current manual teaching method of glue application path programming to meet the diverse glue application needs of the footwear industry, thus reducing the accuracy of the robot's glue application trajectory. Summary of the Invention

[0004] This invention provides a method, apparatus, equipment, and storage medium for configuring adhesive coating parameters in the footwear industry. Its main purpose is to enable footwear adhesive coating robots to quickly identify and configure relatively accurate adhesive coating process parameters during the adhesive coating process, thereby improving adhesive coating efficiency and quality.

[0005] To achieve the above objectives, the present invention provides a method for configuring glue application parameters for robotic footwear, comprising:

[0006] Obtain the shoe pattern model of the shoe to be coated with glue, and use the pre-built glue coating feature process library to perform shoe structure matching operation on the shoe pattern model to obtain the structure matching degree;

[0007] Based on the structural matching degree, it is determined whether the shoe structure matching operation was successful;

[0008] When a match is successful, the historical shoe curve feature set and historical shoe gluing process parameter set are obtained. The fitting relationship between the shoe model and the historical shoe curve feature set in terms of position and size is calculated. Based on the fitting relationship, the historical shoe gluing process parameter set is updated with corresponding position fitting to obtain the shoe gluing process parameter set. The shoe gluing process parameter set is then sent to the pre-built shoe gluing equipment.

[0009] When the matching fails, the shoe pattern model is used to extract shoe curves based on preset feature types using a pre-built shoe scanning model to obtain a set of shoe curves, and the glue reference position is calculated for the shoe pattern model to obtain a set of glue reference positions.

[0010] Based on the shoe curve set and the glued reference position set, create the shoe curve feature set of the shoe pattern model;

[0011] Using a pre-built configuration model for shoe gluing process, feature processing operations are performed on the shoe curve feature set to obtain each path point of the executable gluing process and the tool coordinate system direction at each path point;

[0012] Interpolation calculations are performed based on each path point and the tool coordinate system direction at each path point to obtain the shoe gluing process parameter set for the entire gluing path.

[0013] Using the shoe gluing equipment, the shoes to be glued are coated with glue according to the shoe gluing process parameter set.

[0014] Optionally, the step of performing shoe curve extraction based on a preset feature type on the shoe pattern model to obtain a shoe curve set includes:

[0015] Obtain a 3D model view of the shoe pattern;

[0016] Perform curve recognition operations on the 3D model view based on the feature types of the upper, heel, toe, outer waist, and inner waist to obtain a set of shoe curves including the heel feature curve, toe feature curve, outer waist feature curve, inner waist feature curve, and two upper feature curves.

[0017] The two upper feature curves are similar to the outer waist feature curve and the inner waist feature curve, respectively.

[0018] Optionally, the step of using a pre-built shoe gluing process configuration model to perform feature processing operations on the shoe curve feature set to obtain each path point of the executable gluing process and the tool coordinate system direction at each path point includes:

[0019] The bounding box of the shoe curve feature set is identified using a pre-constructed shoe coating process configuration model, and the center point of the bounding box is calculated.

[0020] Based on the discrete parameters in the shoe upper curve feature set, each shoe curve in the shoe curve feature set is discretized to obtain a path point set, and the tangent direction of the target path point in the path point set is configured as the X direction of the target path point;

[0021] When the target path point belongs to any one of the shoe heel, shoe toe, inner waist and outer waist types, the X direction of the target path point is projected onto the preset world coordinate system x0y plane, and the y direction of the world coordinate system x0y plane is marked as the Y direction of the target path point;

[0022] The Z direction of the target path point is obtained by cross-product of the X and Y directions of the target path point.

[0023] Obtain the center vector from the target path point to the center point, project the center vector onto the x0y plane of the world coordinate system to obtain a reference vector, and calculate the angle between the reference vector and the Z direction;

[0024] If the included angle is acute, the tool coordinate system direction of the target path point will be obtained based on the X, Y and Z directions;

[0025] If the included angle is obtuse, the Z direction is reversed, and the tool coordinate system direction of the target path point is obtained based on the X, Y and Z directions.

[0026] When the target path point belongs to the shoe upper type, the -z direction in the x0y plane of the world coordinate system is configured as the Z direction of the target path point, and the cross product of the X direction and the Z direction is configured as the Y direction of the target path point;

[0027] The tool coordinate system direction of the target path point is obtained based on the X, Y, and Z directions.

[0028] Optionally, after obtaining the adhesive application path curve parameters, the method further includes:

[0029] Construct key-value pairs between the shoe curve feature set of the shoe pattern model and the glue application path curve parameters;

[0030] The key-value pairs are saved to the coating feature process library.

[0031] Optionally, determining whether the shoe structure matching operation was successful based on the structure matching degree includes:

[0032] If the structural matching degree is within a preset first interval, the matching is considered successful;

[0033] If the structural matching degree is outside the first interval, the matching is determined to be unsuccessful;

[0034] The first interval is a range of values ​​containing 1.

[0035] Optionally, the method further includes:

[0036] When the fitting relationship is within a preset second interval, the process of fitting and updating the historical shoe gluing process parameter set at the corresponding position according to the fitting relationship is executed.

[0037] When the fitting relationship is outside the preset second interval, a new set of shoe gluing process parameters is calculated using the shoe gluing process configuration model;

[0038] The second interval is a range of values ​​that include 0.

[0039] Optionally, the adhesive application feature process library is queryable and editable.

[0040] To address the above problems, the present invention also provides a robotic shoe gluing parameter configuration device, the device comprising:

[0041] The reusable matching module is used to obtain the shoe pattern model of the shoe to be glued. The shoe pattern model is used to perform a shoe structure matching operation using a pre-built glue application feature process library to obtain the structure matching degree. Based on the structure matching degree, it is determined whether the shoe structure matching operation is successful. When the matching is successful, the historical shoe curve feature set and the historical shoe glue application process parameter set are obtained. The fitting relationship between the shoe pattern model and the historical shoe curve feature set in terms of position and size is calculated. Based on the fitting relationship, the historical shoe glue application process parameter set is updated by fitting the corresponding position to obtain the shoe glue application process parameter set. The shoe glue application process parameter set is then sent to the pre-built shoe glue application equipment.

[0042] The feature processing module is used to extract shoe curves from the shoe model based on preset feature types using a pre-built shoe scanning model when the matching fails, to obtain a shoe curve set; to calculate the gluing reference position of the shoe model, to obtain a gluing reference position set; to create a shoe curve feature set of the shoe model based on the shoe curve set and the gluing reference position set; and to perform feature processing on the shoe curve feature set using a pre-built shoe gluing process configuration model to obtain each path point of the gluing process and the tool coordinate system direction at each path point.

[0043] The glue application process parameter configuration module is used to perform interpolation calculations based on each path point and the tool coordinate system direction at each path point to obtain a set of shoe glue application process parameters for the entire glue application path, and to apply glue to the shoes to be glued using the shoe glue application equipment according to the set of shoe glue application process parameters.

[0044] To address the above problems, the present invention also provides an electronic device, the electronic device comprising:

[0045] At least one processor; and,

[0046] A memory communicatively connected to the at least one processor; wherein,

[0047] The memory stores a computer program that can be executed by the at least one processor, which enables the at least one processor to perform the above-described method for configuring adhesive coating parameters in robotic footwear.

[0048] To address the aforementioned problems, the present invention also provides a computer-readable storage medium storing at least one computer program, which is executed by a processor in an electronic device to implement the above-described method for configuring adhesive coating parameters in robotic footwear.

[0049] This invention first extracts historical shoe curve feature sets and historical shoe gluing process parameter sets with high structural matching through a process reuse method. The historical shoe curve feature set includes data such as the shoe's characteristic curves and feature types, which helps to provide a fitting relationship. The historical shoe gluing process parameter set includes parameters that can control the shoe gluing equipment to perform 3D mobile spraying. Therefore, spraying can be performed quickly based on the fitting relationship, improving spraying efficiency. When the shoe is not a good match, i.e., the shoe is a new model, feature processing is performed through a shoe industry gluing process configuration model to obtain a more suitable shoe gluing process parameter set, thereby improving spraying adaptability and quality. The shoe industry gluing process configuration model uses five feature types—upper, heel, toe, outer waist, and inner waist—and two other types—for calculation, further improving the model's calculation accuracy. Therefore, the robotic shoe industry gluing parameter configuration method, device, equipment, and storage medium provided by this invention can improve the efficiency and quality of robotic shoe industry gluing. Attached Figure Description

[0050] Figure 1 This is a flowchart illustrating a method for configuring adhesive coating parameters in robotic footwear according to an embodiment of the present invention.

[0051] Figure 2 This is a detailed flowchart of the feature processing steps in a robot footwear adhesive coating parameter configuration method according to an embodiment of the present invention;

[0052] Figure 3 This is a functional block diagram of a robot footwear gluing parameter configuration device provided in an embodiment of the present invention;

[0053] Figure 4 This is a schematic diagram of the structure of an electronic device for implementing the robot shoe coating parameter configuration method according to an embodiment of the present invention.

[0054] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0055] It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0056] This application provides a method for configuring parameters for robotic shoe gluing. In this application, the executing entity of the method includes, but is not limited to, at least one of the following electronic devices that can be configured to execute the method provided in this application: a server, a terminal, etc. In other words, the method can be executed by software or hardware installed on a terminal device or a server device, and the software can be a blockchain platform. The server includes, but is not limited to, a single server, a server cluster, a cloud server, or a cloud server cluster. The server can be an independent server or a cloud server providing basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, content delivery networks (CDN), and big data and artificial intelligence platforms.

[0057] Reference Figure 1 The diagram shown is a flowchart illustrating a method for configuring robot-assisted adhesive coating parameters in footwear according to an embodiment of the present invention. In this embodiment, the method for configuring robot-assisted adhesive coating parameters in footwear includes:

[0058] S1. Obtain the shoe pattern model of the shoe to be coated with glue, and use the pre-built glue coating feature process library to perform shoe structure matching operation on the shoe pattern model to obtain the structure matching degree.

[0059] In this embodiment of the invention, the shoe model refers to a 3D model of the shoe structure;

[0060] Furthermore, the glue application feature process library is a database used to store the generated shoe glue application robot application route configuration records [shoe pattern model: shoe curve feature set - shoe glue application process parameter set], which is used to improve the spraying efficiency of subsequent similar shoe pattern models.

[0061] In this embodiment of the invention, matching is performed from the perspective of shoe structure, and different styles and types of shoes are separated.

[0062] S2. Based on the structural matching degree, determine whether the shoe structure matching operation is successful.

[0063] In detail, in this embodiment of the invention, determining whether the shoe structure matching operation is successful based on the structure matching degree includes:

[0064] If the structural matching degree is within a preset first interval, the matching is considered successful;

[0065] If the structural matching degree is outside the first interval, the matching is determined to be unsuccessful;

[0066] The first interval is a range of values ​​containing 1.

[0067] In this embodiment of the invention, the first interval is (0.9, 1], where 1 represents shoes with the exact same style (but may have different shoe sizes).

[0068] When a match is successful, S3: Obtain the historical shoe curve feature set and historical shoe gluing process parameter set obtained from the match; calculate the fitting relationship between the shoe model and the historical shoe curve feature set in terms of position and size; and update the historical shoe gluing process parameter set according to the fitting relationship to obtain the shoe gluing process parameter set; and send the shoe gluing process parameter set to the pre-constructed shoe gluing equipment.

[0069] In this embodiment of the invention, the concept of process reuse is adopted to save the historically generated set of shoe gluing process parameters. When the same product is encountered again, it can be directly called up to improve the gluing efficiency.

[0070] Furthermore, in this embodiment of the invention, the historical shoe curve feature set contains a set of shoe curves corresponding to the historical shoe pattern model, including the heel feature curve, toe feature curve, outer waist feature curve, inner waist feature curve, and two upper feature curves. These curves can help the system calculate the fitting relationship between the historical shoe pattern model and the shoe pattern model. Based on the fitting relationship, the historical shoe gluing process parameter set is updated accordingly to obtain a new shoe gluing process parameter set, which is then sent to the pre-built shoe gluing equipment for glue spraying practice.

[0071] Furthermore, in another embodiment of the present invention, the method further includes:

[0072] When the fitting relationship is within a preset second interval, the process of fitting and updating the historical shoe gluing process parameter set at the corresponding position according to the fitting relationship is executed.

[0073] When the fitting relationship is outside the preset second interval, a new set of shoe gluing process parameters is calculated using the shoe gluing process configuration model;

[0074] The second interval is a range of values ​​that include 0.

[0075] It should be understood that when shoe sizes of the same style of shoes differ significantly, the coefficient of the fitting relationship will be too large. Furthermore, proportionally changing the glue application process parameters may result in glue application paths that are too dense or too wide, or too much or too little, easily leading to a decrease in glue spraying quality. In this embodiment of the invention, negative numbers indicate that the glue spraying area needs to be reduced, while positive numbers indicate that the glue spraying area needs to be increased.

[0076] When the matching fails, S4, using the pre-built shoe scanning model, perform shoe curve extraction operation based on preset feature type on the shoe pattern model to obtain shoe curve set, and calculate the bonding reference position on the shoe pattern model to obtain bonding reference position set.

[0077] In this embodiment of the invention, the shoe scanning model used is an STL shoe scanning model, which is a digital model that acquires three-dimensional data of a shoe through 3D scanning technology and stores it in STL file format. Furthermore, the shoe scanning model in this embodiment is also applicable to common formats such as iges, step, and brep.

[0078] In this embodiment of the invention, adhesive application features are created and categorized into: upper features, heel features, inner waist features, toe features, and outer waist features. This refines the traditional classification of uppers and edges, improving personalized adhesive application for different areas and enhancing overall adhesive quality. In this embodiment, the above five feature curves are identified from a 3D model view of the shoe sample to obtain a set of shoe curves.

[0079] S5. Based on the shoe curve set and the glued reference position set, create the shoe curve feature set of the shoe pattern model.

[0080] Because the STL shoe scanning model has gluing reference positions, the creation process of this invention is highly efficient. Based on the set of gluing reference positions, information such as the gluing position and discrete distance can be analyzed, and then combined with feature curves to obtain the shoe curve feature set. The shoe curve feature set includes feature type, feature curve, discretization method and parameters, spray gun compensation, etc., which are used as input for subsequent algorithms to automatically obtain the robot's gluing trajectory path.

[0081] S6. Using a pre-built shoe coating process configuration model, perform feature processing operations on the shoe curve feature set to obtain each path point of the executable coating process and the tool coordinate system direction at each path point.

[0082] In this embodiment of the invention, the shoe coating process configuration model is a mathematical model with fixed parameters, which is used to transform the shoe curve feature set into coating path curve parameters.

[0083] In detail, in this embodiment of the invention, the step of using a pre-constructed shoe gluing process configuration model to perform feature processing operations on the shoe curve feature set to obtain each path point of the executable gluing process and the tool coordinate system direction at each path point includes:

[0084] The bounding box of the shoe curve feature set is identified using a pre-constructed shoe coating process configuration model, and the center point of the bounding box is calculated.

[0085] Based on the discrete parameters in the shoe upper curve feature set, each shoe curve in the shoe curve feature set is discretized to obtain a path point set, and the tangent direction of the target path point in the path point set is configured as the X direction of the target path point;

[0086] When the target path point belongs to any one of the shoe heel, shoe toe, inner waist and outer waist types, the X direction of the target path point is projected onto the preset world coordinate system x0y plane, and the y direction of the world coordinate system x0y plane is marked as the Y direction of the target path point;

[0087] The Z direction of the target path point is obtained by cross-product of the X and Y directions of the target path point.

[0088] Obtain the center vector from the target path point to the center point, project the center vector onto the x0y plane of the world coordinate system to obtain a reference vector, and calculate the angle between the reference vector and the Z direction;

[0089] If the included angle is acute, the tool coordinate system direction of the target path point will be obtained based on the X, Y and Z directions;

[0090] If the included angle is obtuse, the Z direction is reversed, and the tool coordinate system direction of the target path point is obtained based on the X, Y and Z directions.

[0091] When the target path point belongs to the shoe upper type, the -z direction in the x0y plane of the world coordinate system is configured as the Z direction of the target path point, and the cross product of the X direction and the Z direction is configured as the Y direction of the target path point;

[0092] The tool coordinate system direction of the target path point is obtained based on the X, Y, and Z directions.

[0093] For details, please refer to Figure 2 As shown, in this embodiment of the invention, by first identifying all features of the shoe curve feature set of the toe, heel, etc., an outer box encompassing all features is constructed to obtain the bounding box.

[0094] Then, the center point Pm of the bounding box is calculated using a clustering algorithm.

[0095] In this embodiment of the invention, the feature processing algorithm mainly determines the path points and the TCP direction at each path point. During path point calculation, the feature curves are discretized according to the discrete type in the shoe curve feature set to obtain a uniformly distributed set of path points. Then, this invention configures the tangent direction of the target path point in the path point set as the X direction of the target path point.

[0096] For the shoe upper features, the TCP direction is calculated as follows: First, the tangential direction of the curve at the path point is calculated to obtain the direction vector, and then it is projected into the x0y plane, which is the X direction of the TCP at that point. The -z direction of the world coordinate system is taken as the Z direction of the TCP at that point. Finally, the Y direction is obtained by cross product of the X direction and the Z direction. Thus, the TCP direction is determined.

[0097] For features such as heels and toes, when calculating the TCP direction, first calculate the bounding box formed by all features, and use the center of the bounding box as the reference point Pm. Calculate the tangential direction of the curve at the path point to obtain the direction vector, and project it onto the x0y plane, which is the X direction of the TCP at that point. Use the y-direction of the world coordinate system as the Y direction of the TCP at that point, and finally obtain the Z direction by cross product of the X and Y directions. To ensure that the Z direction of the TCP always points inside the model, it is necessary to perform a direction check using the reference point. Specifically, use the reference point Pm and the path point Pi to create a center vector, and project it onto the x0y plane to obtain the reference vector Vr. Calculate the angle between Vr and the Z direction at the path point Pi. If the angle is acute, then the Z direction of Pi is the desired one; otherwise, correct the Y direction of the TCP at that point and cross product it with the X direction again to obtain the Z direction at Pi. Through the above process, the target path points and TCP directions are finally determined.

[0098] S7. Based on each path point and the tool coordinate system direction at each path point, interpolation calculation is performed to obtain the shoe gluing process parameter set for the entire gluing path.

[0099] The interpolation calculation is a process of estimating unknown data points using known data points. In the glue spraying path planning of this invention, interpolation calculation can generate a smooth set of shoe glue application process parameters for the entire glue application path, ensuring that the robot can move smoothly along this path.

[0100] S8. Using the shoe gluing equipment, apply glue to the shoes to be glued according to the shoe gluing process parameter set.

[0101] The shoe gluing equipment sprays glue according to the 3D curve information recorded in the shoe gluing process parameter set.

[0102] This invention first extracts historical shoe curve feature sets and historical shoe gluing process parameter sets with high structural matching through a process reuse method. The historical shoe curve feature set contains data such as the shoe's characteristic curves and feature types, which helps to provide a fitting relationship. The historical shoe gluing process parameter set contains parameters that can control the shoe gluing equipment to perform 3D mobile spraying. Therefore, spraying can be performed quickly based on the fitting relationship, improving spraying efficiency. When the shoe is not a good match, i.e., the shoe is a new model, the shoe gluing process configuration model is used for feature processing to obtain a more suitable shoe gluing process parameter set, thereby improving spraying adaptability and quality. The shoe gluing process configuration model further improves the accuracy of model calculation by using five feature types (upper, heel, toe, outer waist, and inner waist) and two other types (upper and others). Therefore, the robot shoe gluing parameter configuration method provided by this invention can improve the efficiency and quality of robot shoe gluing.

[0103] like Figure 3 The diagram shown is a functional block diagram of a robot footwear adhesive coating parameter configuration device provided in an embodiment of the present invention.

[0104] The robotic footwear adhesive coating parameter configuration device 100 of this invention can be installed in an electronic device. Depending on the functions implemented, the robotic footwear adhesive coating parameter configuration device 100 may include a reuse matching module 101, a feature processing module 102, and an adhesive coating process parameter configuration module 103. The module described in this invention can also be called a unit, referring to a series of computer program segments that can be executed by the processor of an electronic device and perform a fixed function, stored in the memory of the electronic device.

[0105] In this embodiment, the functions of each module / unit are as follows:

[0106] The matching module 101 is used to acquire the shoe pattern model of the shoe to be coated with glue, perform shoe structure matching operation on the shoe pattern model using a pre-built glue coating feature process library to obtain the structure matching degree, and determine whether the shoe structure matching operation is successful based on the structure matching degree. When the matching is successful, the matching historical shoe curve feature set and historical shoe glue coating process parameter set are acquired, the fitting relationship between the shoe pattern model and the historical shoe curve feature set in terms of position and size is calculated, and the historical shoe glue coating process parameter set is updated by fitting the corresponding position based on the fitting relationship to obtain the shoe glue coating process parameter set, and the shoe glue coating process parameter set is sent to the pre-built shoe glue coating equipment.

[0107] The feature processing module 102 is used to extract shoe curves from the shoe model based on preset feature types using a pre-built shoe scanning model when the matching fails, to obtain a shoe curve set, to calculate the gluing reference position of the shoe model, to obtain a gluing reference position set, to create a shoe curve feature set of the shoe model based on the shoe curve set and the gluing reference position set, and to perform feature processing on the shoe curve feature set using a pre-built shoe gluing process configuration model to obtain each path point of the gluing process and the tool coordinate system direction at each path point.

[0108] The glue application process parameter configuration module 103 is used to perform interpolation calculations based on each path point and the tool coordinate system direction at each path point to obtain a set of shoe glue application process parameters for the entire glue application path, and to apply glue to the shoes to be glued using the shoe glue application equipment according to the set of shoe glue application process parameters.

[0109] In detail, the modules in the robotic footwear gluing parameter configuration device 100 described in this application embodiment adopt the same configuration as described above during use. Figures 1 to 2 The method described above uses the same technical means as the robot footwear adhesive coating parameter configuration method and can produce the same technical effect, so it will not be repeated here.

[0110] like Figure 4 The diagram shown is a structural schematic of an electronic device 1 for implementing a method for configuring adhesive coating parameters in robotic footwear, according to an embodiment of the present invention.

[0111] The electronic device 1 may include a processor 10, a memory 11, a communication bus 12, and a communication interface 13. It may also include a computer program stored in the memory 11 and capable of running on the processor 10, such as a robot footwear adhesive parameter configuration program.

[0112] In some embodiments, the processor 10 may be composed of integrated circuits, such as a single packaged integrated circuit or multiple integrated circuits with the same or different functions, including combinations of one or more central processing units (CPUs), microprocessors, digital processing chips, graphics processors, and various control chips. The processor 10 is the control unit of the electronic device 1, connecting various components of the electronic device through various interfaces and lines. It executes programs or modules stored in the memory 11 (e.g., executing robot shoe adhesive parameter configuration programs) and calls data stored in the memory 11 to perform various functions of the electronic device and process data.

[0113] The memory 11 includes at least one type of readable storage medium, including flash memory, portable hard drive, multimedia card, card-type memory (e.g., SD or DX memory), magnetic memory, magnetic disk, optical disk, etc. In some embodiments, the memory 11 can be an internal storage unit of an electronic device, such as a portable hard drive. In other embodiments, the memory 11 can be an external storage device of the electronic device, such as a plug-in portable hard drive, Smart Media Card (SMC), Secure Digital (SD) card, Flash Card, etc. Furthermore, the memory 11 can include both internal and external storage units of the electronic device. The memory 11 can be used not only to store application software and various types of data installed on the electronic device, such as the code for a robot shoe coating parameter configuration program, but also to temporarily store data that has been output or will be output.

[0114] The communication bus 12 can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. This bus can be divided into an address bus, a data bus, a control bus, etc. The bus is configured to enable communication between the memory 11 and at least one processor 10, etc.

[0115] The communication interface 13 is used for communication between the electronic device 1 and other devices, including a network interface and a user interface. Optionally, the network interface may include a wired interface and / or a wireless interface (such as a Wi-Fi interface, Bluetooth interface, etc.), typically used to establish communication connections between the electronic device and other electronic devices. The user interface may be a display, an input unit (such as a keyboard), or, optionally, a standard wired or wireless interface. Optionally, in some embodiments, the display may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, or an OLED (Organic Light-Emitting Diode) touchscreen, etc. The display may also be appropriately referred to as a screen or display unit, used to display information processed in the electronic device and to display a visual user interface.

[0116] Figure 4 Only electronic devices with components are shown; those skilled in the art will understand that... Figure 4The structure shown does not constitute a limitation on the electronic device 1, and may include fewer or more components than shown, or combine certain components, or have different component arrangements.

[0117] For example, although not shown, the electronic device 1 may also include a power supply (such as a battery) to power various components. Preferably, the power supply can be logically connected to the at least one processor 10 through a power management device, thereby enabling functions such as charging management, discharging management, and power consumption management. The power supply may also include one or more DC or AC power supplies, recharging devices, power fault detection circuits, power converters or inverters, power status indicators, and other arbitrary components. The electronic device 1 may also include various sensors, Bluetooth modules, Wi-Fi modules, etc., which will not be described in detail here.

[0118] It should be understood that the embodiments described are for illustrative purposes only and are not limited to this structure in the scope of the patent application.

[0119] The robot footwear adhesive coating parameter configuration program stored in the memory 11 of the electronic device 1 is a combination of multiple instructions. When run in the processor 10, it can achieve the following:

[0120] Obtain the shoe pattern model of the shoe to be coated with glue, and use the pre-built glue coating feature process library to perform shoe structure matching operation on the shoe pattern model to obtain the structure matching degree;

[0121] Based on the structural matching degree, it is determined whether the shoe structure matching operation was successful;

[0122] When a match is successful, the historical shoe curve feature set and historical shoe gluing process parameter set are obtained. The fitting relationship between the shoe model and the historical shoe curve feature set in terms of position and size is calculated. Based on the fitting relationship, the historical shoe gluing process parameter set is updated with corresponding position fitting to obtain the shoe gluing process parameter set. The shoe gluing process parameter set is then sent to the pre-built shoe gluing equipment.

[0123] When the matching fails, the shoe pattern model is used to extract shoe curves based on preset feature types using a pre-built shoe scanning model to obtain a set of shoe curves, and the glue reference position is calculated for the shoe pattern model to obtain a set of glue reference positions.

[0124] Based on the shoe curve set and the glued reference position set, create the shoe curve feature set of the shoe pattern model;

[0125] Using a pre-built configuration model for shoe gluing process, feature processing operations are performed on the shoe curve feature set to obtain each path point of the executable gluing process and the tool coordinate system direction at each path point;

[0126] Interpolation calculations are performed based on each path point and the tool coordinate system direction at each path point to obtain the shoe gluing process parameter set for the entire gluing path.

[0127] Using the shoe gluing equipment, the shoes to be glued are coated with glue according to the shoe gluing process parameter set.

[0128] Specifically, the specific implementation method of the processor 10 for the above instructions can be referred to the description of the relevant steps in the corresponding embodiment of the accompanying drawings, and will not be repeated here.

[0129] Furthermore, if the modules / units integrated in the electronic device 1 are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. The computer-readable storage medium can be volatile or non-volatile. For example, the computer-readable medium may include: any entity or device capable of carrying the computer program code, a recording medium, a USB flash drive, a portable hard drive, a magnetic disk, an optical disk, a computer memory, or a read-only memory (ROM).

[0130] The present invention also provides a computer-readable storage medium storing a computer program, which, when executed by a processor of an electronic device, can perform the following:

[0131] Obtain the shoe pattern model of the shoe to be coated with glue, and use the pre-built glue coating feature process library to perform shoe structure matching operation on the shoe pattern model to obtain the structure matching degree;

[0132] Based on the structural matching degree, it is determined whether the shoe structure matching operation was successful;

[0133] When a match is successful, the historical shoe curve feature set and historical shoe gluing process parameter set are obtained. The fitting relationship between the shoe model and the historical shoe curve feature set in terms of position and size is calculated. Based on the fitting relationship, the historical shoe gluing process parameter set is updated with corresponding position fitting to obtain the shoe gluing process parameter set. The shoe gluing process parameter set is then sent to the pre-built shoe gluing equipment.

[0134] When the matching fails, the shoe pattern model is used to extract shoe curves based on preset feature types using a pre-built shoe scanning model to obtain a set of shoe curves, and the glue reference position is calculated for the shoe pattern model to obtain a set of glue reference positions.

[0135] Based on the shoe curve set and the glued reference position set, create the shoe curve feature set of the shoe pattern model;

[0136] Using a pre-built configuration model for shoe gluing process, feature processing operations are performed on the shoe curve feature set to obtain each path point of the executable gluing process and the tool coordinate system direction at each path point;

[0137] Interpolation calculations are performed based on each path point and the tool coordinate system direction at each path point to obtain the shoe gluing process parameter set for the entire gluing path.

[0138] Using the shoe gluing equipment, the shoes to be glued are coated with glue according to the shoe gluing process parameter set.

[0139] In the several embodiments provided by this invention, it should be understood that the disclosed devices, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules is only a logical functional division, and other division methods may be used in actual implementation.

[0140] The modules described as separate components may or may not be physically separate. The components shown as modules may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0141] Furthermore, the functional modules in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or in the form of hardware plus software functional modules.

[0142] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention.

[0143] Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be embraced within the invention. No appended diagram markings in the claims should be construed as limiting the scope of the claims.

[0144] The blockchain referred to in this invention is a novel application model of computer technologies such as distributed data storage, peer-to-peer transmission, consensus mechanisms, and encryption algorithms. Essentially, a blockchain is a decentralized database, a chain of data blocks linked together using cryptographic methods. Each data block contains information about a batch of network transactions, used to verify the validity of the information (anti-counterfeiting) and generate the next block. A blockchain can include an underlying blockchain platform, a platform product service layer, and an application service layer.

[0145] The embodiments of this application can acquire and process relevant data based on artificial intelligence technology. Artificial intelligence (AI) refers to the theories, methods, technologies, and application systems that use digital computers or machines controlled by digital computers to simulate, extend, and expand human intelligence, perceive the environment, acquire knowledge, and use that knowledge to obtain optimal results.

[0146] Furthermore, it is clear that the word "comprising" does not exclude other units or steps, and the singular does not exclude the plural. Multiple units or devices recited in a system claim may also be implemented by a single unit or device through software or hardware. The terms "first," "second," etc., are used to indicate names and do not indicate any specific order.

[0147] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention.

Claims

1. A method for configuring parameters for robotic shoe gluing, characterized in that, The method includes: Obtain the shoe pattern model of the shoe to be coated with glue, and use the pre-built glue coating feature process library to perform shoe structure matching operation on the shoe pattern model to obtain the structure matching degree; Based on the structural matching degree, it is determined whether the shoe structure matching operation was successful; When a match is successful, the historical shoe curve feature set and historical shoe gluing process parameter set are obtained. The fitting relationship between the shoe model and the historical shoe curve feature set in terms of position and size is calculated. Based on the fitting relationship, the historical shoe gluing process parameter set is updated with corresponding position fitting to obtain the shoe gluing process parameter set. The shoe gluing process parameter set is then sent to the pre-built shoe gluing equipment. When the matching fails, the shoe pattern model is used to extract shoe curves based on preset feature types using a pre-built shoe scanning model to obtain a set of shoe curves, and the glue reference position is calculated for the shoe pattern model to obtain a set of glue reference positions. Based on the shoe curve set and the glued reference position set, create the shoe curve feature set of the shoe pattern model; Using a pre-built configuration model for shoe gluing process, feature processing operations are performed on the shoe curve feature set to obtain each path point of the executable gluing process and the tool coordinate system direction at each path point; Interpolation calculations are performed based on each path point and the tool coordinate system direction at each path point to obtain the shoe gluing process parameter set for the entire gluing path. Using the shoe gluing equipment, the shoes to be glued are coated according to the shoe gluing process parameter set; The step of using a pre-constructed shoe gluing process configuration model to perform feature processing operations on the shoe curve feature set to obtain each path point of the executable gluing process and the tool coordinate system direction at each path point includes: The bounding box of the shoe curve feature set is identified using a pre-constructed shoe coating process configuration model, and the center point of the bounding box is calculated. Based on the discrete parameters in the shoe curve feature set, each shoe curve in the shoe curve feature set is discretized to obtain a path point set, and the tangent direction of the target path point in the path point set is configured as the X direction of the target path point; When the target path point belongs to any one of the following types: heel, toe, inner waist, and outer waist, the X direction of the target path point is projected onto the preset world coordinate system x0y plane, and the y direction of the world coordinate system x0y plane is marked as the Y direction of the target path point. The Z direction of the target path point is obtained by cross-product of the X and Y directions of the target path point. Obtain the center vector from the target path point to the center point, project the center vector onto the x0y plane of the world coordinate system to obtain a reference vector, and calculate the angle between the reference vector and the Z direction; If the included angle is acute, the tool coordinate system direction of the target path point will be obtained based on the X, Y and Z directions; If the included angle is obtuse, the Z direction is reversed, and the tool coordinate system direction of the target path point is obtained based on the X, Y and Z directions. When the target path point belongs to the shoe upper type, the -z direction in the x0y plane of the world coordinate system is configured as the Z direction of the target path point, and the cross product of the X direction and the Z direction is configured as the Y direction of the target path point; The tool coordinate system direction of the target path point is obtained based on the X, Y, and Z directions.

2. The method for configuring glue application parameters for robotic footwear as described in claim 1, characterized in that, The step of performing shoe curve extraction based on a preset feature type on the shoe pattern model to obtain a shoe curve set includes: Obtain a 3D model view of the shoe pattern; Perform curve recognition operations on the 3D model view based on the feature types of the upper, heel, toe, outer waist, and inner waist to obtain a set of shoe curves including the heel feature curve, toe feature curve, outer waist feature curve, inner waist feature curve, and two upper feature curves. The two upper feature curves are similar to the outer waist feature curve and the inner waist feature curve, respectively.

3. The method for configuring glue application parameters for robotic footwear as described in claim 1, characterized in that, After obtaining the set of shoe adhesive coating process parameters, the method further includes: Construct key-value pairs between the shoe curve feature set of the shoe pattern model and the shoe glue coating process parameter set; The key-value pairs are saved to the coating feature process library.

4. The method for configuring glue application parameters for robotic footwear as described in claim 1, characterized in that, The step of determining whether the shoe structure matching operation was successful based on the structure matching degree includes: If the structural matching degree is within a preset first interval, the matching is considered successful; If the structural matching degree is outside the first interval, the matching is determined to be unsuccessful; The first interval is a range of values ​​containing 1.

5. The method for configuring glue application parameters for robotic footwear as described in claim 1, characterized in that, The method further includes: When the fitting relationship is within a preset second interval, the process of fitting and updating the historical shoe gluing process parameter set at the corresponding position according to the fitting relationship is executed. When the fitting relationship is outside the preset second interval, a new set of shoe gluing process parameters is calculated using the shoe gluing process configuration model; The second interval is a range of values ​​that include 0.

6. The method for configuring glue application parameters for robotic footwear as described in claim 1, characterized in that, The adhesive application feature process library is searchable and editable.

7. A device for configuring parameters for adhesive application in robotic footwear, characterized in that, The device includes: The reusable matching module is used to obtain the shoe pattern model of the shoe to be glued. The shoe pattern model is used to perform a shoe structure matching operation using a pre-built glue application feature process library to obtain the structure matching degree. Based on the structure matching degree, it is determined whether the shoe structure matching operation is successful. When the matching is successful, the historical shoe curve feature set and the historical shoe glue application process parameter set are obtained. The fitting relationship between the shoe pattern model and the historical shoe curve feature set in terms of position and size is calculated. Based on the fitting relationship, the historical shoe glue application process parameter set is updated by fitting the corresponding position to obtain the shoe glue application process parameter set. The shoe glue application process parameter set is then sent to the pre-built shoe glue application equipment. The feature processing module is used to extract shoe curves from the shoe model based on preset feature types using a pre-built shoe scanning model when the matching fails, to obtain a shoe curve set; to calculate the gluing reference position of the shoe model, to obtain a gluing reference position set; to create a shoe curve feature set of the shoe model based on the shoe curve set and the gluing reference position set; and to perform feature processing on the shoe curve feature set using a pre-built shoe gluing process configuration model to obtain each path point of the gluing process and the tool coordinate system direction at each path point. The glue application process parameter configuration module is used to perform interpolation calculations based on each path point and the tool coordinate system direction at each path point to obtain a set of shoe glue application process parameters for the entire glue application path, and to apply glue to the shoes to be glued using the shoe glue application equipment according to the set of shoe glue application process parameters. The step of using a pre-constructed shoe gluing process configuration model to perform feature processing operations on the shoe curve feature set to obtain each path point of the executable gluing process and the tool coordinate system direction at each path point includes: The bounding box of the shoe curve feature set is identified using a pre-constructed shoe coating process configuration model, and the center point of the bounding box is calculated. Based on the discrete parameters in the shoe curve feature set, each shoe curve in the shoe curve feature set is discretized to obtain a path point set, and the tangent direction of the target path point in the path point set is configured as the X direction of the target path point; When the target path point belongs to any one of the following types: heel, toe, inner waist, and outer waist, the X direction of the target path point is projected onto the preset world coordinate system x0y plane, and the y direction of the world coordinate system x0y plane is marked as the Y direction of the target path point. The Z direction of the target path point is obtained by cross-product of the X and Y directions of the target path point. Obtain the center vector from the target path point to the center point, project the center vector onto the x0y plane of the world coordinate system to obtain a reference vector, and calculate the angle between the reference vector and the Z direction; If the included angle is acute, the tool coordinate system direction of the target path point will be obtained based on the X, Y and Z directions; If the included angle is obtuse, the Z direction is reversed, and the tool coordinate system direction of the target path point is obtained based on the X, Y and Z directions. When the target path point belongs to the shoe upper type, the -z direction in the x0y plane of the world coordinate system is configured as the Z direction of the target path point, and the cross product of the X direction and the Z direction is configured as the Y direction of the target path point; The tool coordinate system direction of the target path point is obtained based on the X, Y, and Z directions.

8. An electronic device, characterized in that, The electronic device includes: At least one processor; and, A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the robotic footwear adhesive parameter configuration method as described in any one of claims 1 to 6.

9. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the robot footwear adhesive coating parameter configuration method as described in any one of claims 1 to 6.

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