Vamp glue spraying treatment method, vamp glue spraying robot, system and medium

Abstract

The invention discloses a vamp glue spraying treatment method, a vamp glue spraying robot, a system and a medium, and relates to the field of robotics.The method comprises the steps that the actual size and the actual shape of a workpiece to be subjected to glue spraying and the actual position of the workpiece to be subjected to glue spraying on a glue spraying workbench are obtained; according to the actual size, the actual shape and the actual position, an actual three-dimensional model of the workpiece to be subjected to glue spraying is constructed; searching an actual glue spraying track matched with the actual three-dimensional model in a preset three-dimensional model-glue spraying track database; based on the actual glue spraying track, a nozzle starting and stopping time sequence table is determined, and the nozzle starting and stopping time sequence table comprises the glue spraying starting moment and the glue spraying stopping moment of each nozzle; and according to the nozzle start-stop time sequence table and the actual glue spraying track, glue spraying operation is executed. By implementing the method, the glue spraying path can be flexibly adjusted, and the production efficiency is improved.

Description

Technical Field

[0001] The present application relates to the field of robots, and particularly to a method for treating shoe upper with glue spraying, a shoe upper glue spraying robot, a system and a medium. Background Art

[0002] With the continuous development of the manufacturing industry, automation technology plays an increasingly important role in the production process. The footwear manufacturing industry is no exception. Improving production efficiency and product quality through automation technology has become a trend in the industry's development. In the process of shoe upper processing, glue spraying treatment is a key link, which affects the durability and appearance of shoes. In order to meet the market's demand for high-quality footwear products, the automation and precision of the shoe upper glue spraying process have become an important research direction.

[0003] Currently, shoe upper glue spraying mainly relies on traditional fixed-trajectory glue spraying equipment. These devices usually control the nozzle to move on a fixed track through a preset program to evenly spray glue on the shoe upper. This method realizes the basic glue spraying function through simple mechanical movement and improves the production efficiency to a certain extent.

[0004] However, with the increasing demand for personalization and customization, traditional fixed-trajectory glue spraying equipment shows some deficiencies when dealing with shoe uppers of different sizes and shapes. For example, when processing shoe uppers with complex shapes or non-standard sizes, due to the inability to flexibly adjust the glue spraying path, the production efficiency is reduced, which to a certain extent limits the applicability and efficiency of traditional glue spraying technology. Summary of the Invention

[0005] The present application provides a method for treating shoe upper with glue spraying, a shoe upper glue spraying robot, a system and a medium, which are used to flexibly adjust the glue spraying path and improve the production efficiency.

[0006] In a first aspect, the present application provides a method for treating shoe upper with glue spraying, which is applied to a shoe upper glue spraying robot. The method includes: obtaining the actual size, actual shape of the workpiece to be glue-sprayed and the actual position of the workpiece to be glue-sprayed on the glue spraying workbench; constructing an actual three-dimensional model of the workpiece to be glue-sprayed according to the actual size, the actual shape and the actual position; searching in a preset three-dimensional model - glue spraying trajectory database for an actual glue spraying trajectory that matches the actual three-dimensional model; determining a nozzle start-stop timing table based on the actual glue spraying trajectory, where the nozzle start-stop timing table includes the start glue spraying time and stop glue spraying time of each nozzle; and performing a glue spraying operation according to the nozzle start-stop timing table and the actual glue spraying trajectory.

[0007] By adopting the above technical solution, the upper spraying robot obtains the actual size, actual shape and actual position of the workpiece to be sprayed with glue on the spraying glue workbench, so as to construct a more accurate actual three-dimensional model. In the preset three-dimensional model - spraying glue trajectory database, the upper spraying robot searches for the actual spraying glue trajectory that matches the actual three-dimensional model, realizes the flexible adaptation to uppers of different sizes and shapes, abandons the limitations of the traditional fixed trajectory, can dynamically adjust the spraying glue path according to the actual situation of each workpiece, and improves the processing efficiency. It is especially beneficial for customized production, can quickly respond to uppers of various non-standard sizes, and reduces the line change and debugging time. Based on this actual spraying glue trajectory, the upper spraying robot determines the start-stop timing table of the nozzles, including the start spraying glue moment and the stop spraying glue moment of each nozzle, and performs the spraying glue operation according to the start-stop timing table of the nozzles and the actual spraying glue trajectory. By precisely controlling the start-stop timing of each nozzle, the spraying glue process is optimized, glue waste is avoided, the spraying glue is ensured to be uniform and complete, the spraying glue quality and accuracy are improved, and at the same time, automatic operation is realized, manual intervention is reduced, and the production efficiency is improved.

[0008] Combined with some embodiments of the first aspect, in some embodiments, constructing the actual three-dimensional model of the workpiece to be sprayed with glue according to the actual size, the actual shape and the actual position specifically includes: based on the preset three-dimensional coordinate system in the spraying glue workbench, extracting the three-dimensional point cloud data of the workpiece to be sprayed with glue from the actual position; constructing the actual three-dimensional model of the workpiece to be sprayed with glue according to the bounding box of the three-dimensional point cloud data, the actual size and actual shape of the workpiece to be sprayed with glue.

[0009] By adopting the above technical solution, the accuracy and efficiency of modeling are greatly improved. The three-dimensional point cloud data can be used to accurately capture the geometric features of the workpiece to be sprayed with glue, including complex curved surfaces and details. Combining the actual size and actual shape of the workpiece to be sprayed with glue, a highly accurate actual three-dimensional model can be constructed, providing a reliable basis for subsequent determination of the spraying glue trajectory, and helping to ensure the integrity and uniformity of the spraying glue coverage. At the same time, this modeling method also has strong versatility, can adapt to uppers of various different shapes and sizes, and improves the flexibility of the method. In addition, the model based on the three-dimensional coordinate system is convenient for integration with the upper spraying robot, which is beneficial to realizing precise trajectory control.

[0010] In combination with some embodiments of the first aspect, in some embodiments, based on the actual glue spraying trajectory, a nozzle start-stop timing table is determined. The nozzle start-stop timing table includes the start glue spraying time and the stop glue spraying time of each nozzle, and specifically includes: determining the nozzles corresponding to each glue spraying segment in the actual glue spraying trajectory, where the actual glue spraying trajectory is formed by connecting a plurality of the glue spraying segments; determining the glue spraying time of each nozzle according to the glue spraying length of each nozzle and the preset glue spraying speed, where the glue spraying length of the nozzle is the same as the curve length of the corresponding glue spraying segment; calculating the start glue spraying time and the stop glue spraying time of each nozzle according to the glue spraying time corresponding to each nozzle and the preset nozzle glue spraying sequence; and determining the nozzle start-stop timing table based on the start glue spraying time and the stop glue spraying time of each nozzle.

[0011] By adopting the above technical solution, the actual glue spraying trajectory is decomposed into a plurality of glue spraying segments, and corresponding nozzles are allocated to each glue spraying segment, realizing more refined glue spraying control. By calculating the glue spraying time of each nozzle, the spraying amount and distribution of the glue can be accurately controlled, which not only improves the uniformity and coverage rate of glue spraying, but also effectively reduces the waste of glue. By presetting the glue spraying speed, the glue spraying parameters can be adjusted according to the requirements of different regions, further optimizing the glue spraying effect. In addition, this precise timing control can also coordinate the work of multiple nozzles, improving the overall glue spraying efficiency. The finally generated nozzle start-stop timing table provides clear guidance for the execution of the shoe upper glue spraying robot, helping to realize a highly automated and precise glue spraying process.

[0012] In combination with some embodiments of the first aspect, in some embodiments, after the step of performing the glue spraying operation according to the nozzle start-stop timing table and the actual glue spraying trajectory, the method further includes: during the glue spraying process, real-time collecting image data of the workpiece to be glue sprayed; when the image data shows that there are missing areas in the workpiece to be glue sprayed that have not been glue sprayed, determining the size information, shape information, and position information of the missing areas; and determining the supplementary glue spraying trajectory of the missing areas based on the size information, the shape information, and the position information.

[0013] By adopting the above technical solution, by real-time collecting the image data of the workpiece to be glue sprayed and performing dynamic monitoring during the glue spraying process, the reliability of the glue spraying quality is greatly improved. Through real-time image analysis, the shoe upper glue spraying robot can quickly identify the missing areas that have not been glue sprayed and respond immediately. This real-time monitoring and supplementary glue spraying mechanism effectively prevents product quality problems caused by uneven or missing glue spraying. By accurately positioning the size information, shape information, and position information of the missing areas, the shoe upper glue spraying robot can formulate targeted supplementary glue spraying trajectories to ensure that each area is covered with the required amount of glue. This adaptive supplementary mechanism not only improves the product quality, but also reduces the need for manual inspection and rework, thus improving the overall production efficiency.

[0014] In some embodiments in combination with some embodiments of the first aspect, after the step of performing the glue spraying operation according to the nozzle start-stop timing table and the actual glue spraying trajectory, the method further includes: after the glue spraying is completed, obtaining the glue spraying thickness of the workpiece to be glue-sprayed; if the glue spraying thickness does not meet the preset glue spraying thickness requirement, issuing a glue spraying quality warning.

[0015] By adopting the above technical solution, the glue spraying thickness of the workpiece to be glue-sprayed is obtained after the glue spraying is completed and compared with the preset glue spraying thickness requirement, realizing precise control of the glue spraying quality. This automated quality inspection method not only reduces the need for manual inspection, but also can promptly detect the situation where the glue spraying thickness does not meet the standard, and quickly attract the attention of the operator through the warning mechanism. By monitoring the glue spraying thickness in real time, it is possible to effectively prevent product quality problems caused by insufficient or excessive glue usage, greatly improving the consistency and reliability of the product and reducing the production of defective products.

[0016] In some embodiments in combination with some embodiments of the first aspect, the method further includes: monitoring the clogging state of the nozzle in real time; when it is detected that a target nozzle is clogged, closing the glue spraying switch of the target nozzle and stopping the glue spraying operation.

[0017] By adopting the above technical solution, the clogging state of the nozzle is monitored in real time, greatly improving the reliability and stability of the shoe upper glue spraying robot. When it is detected that the nozzle is clogged, the shoe upper glue spraying robot can quickly respond, automatically close the corresponding nozzle and stop the glue spraying operation. This rapid response mechanism can effectively prevent the production of defective products and problems such as uneven glue spraying or glue waste caused by nozzle clogging, reducing material waste and rework costs. In addition, this real-time monitoring and automatic shutdown mechanism also reduces the risk of equipment damage and extends the service life of the nozzle and the entire shoe upper glue spraying robot. At the same time, this intelligent fault handling method reduces the need for manual intervention, improving the automation level and overall efficiency of production.

[0018] In some embodiments in combination with some embodiments of the first aspect, after the step of monitoring the clogging state of the nozzle in real time, the method further includes: recording the number of times the nozzle is clogged; when the number of clogging times exceeds the preset number threshold, issuing a nozzle replacement prompt.

[0019] By adopting the above technical solution, recording the clogging times of the nozzle and setting up an early warning mechanism, long-term monitoring and preventive maintenance of the nozzle usage status are achieved. When the clogging times exceed the preset threshold, the upper shoe glue spraying robot will automatically issue a prompt to replace the nozzle. By replacing the problematic nozzle in a timely manner, stable glue spraying quality can be maintained, product defects caused by nozzle problems can be reduced, and this active early warning mechanism can effectively prevent production problems caused by nozzle aging or damage. At the same time, the equipment maintenance strategy is also optimized, shifting from passive maintenance to active prevention, effectively reducing the risk of sudden failures, and improving the overall reliability of the equipment and the stability of the production line.

[0020] In a second aspect, an embodiment of the present application provides an upper shoe glue spraying robot, which includes: one or more processors and a memory; the memory is coupled to the one or more processors, and the memory is used to store computer program code, and the computer program code includes computer instructions, and the one or more processors call the computer instructions to enable the upper shoe glue spraying robot to execute the method described in the first aspect and any possible implementation manner in the first aspect.

[0021] In a third aspect, an embodiment of the present application provides a computer program product containing instructions, which, when the computer program product runs on the upper shoe glue spraying robot, enables the upper shoe glue spraying robot to execute the method described in the first aspect and any possible implementation manner in the first aspect.

[0022] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, including instructions, which, when the instructions run on the upper shoe glue spraying robot, enable the upper shoe glue spraying robot to execute the method described in the first aspect and any possible implementation manner in the first aspect.

[0023] It can be understood that the upper shoe glue spraying robot provided in the second aspect, the computer program product provided in the third aspect, and the computer storage medium provided in the fourth aspect are all used to execute the method provided in the embodiment of the present application. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding method, and will not be elaborated here.

[0024] One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages: 1. Since the method of constructing a three-dimensional model based on actual workpiece parameters and matching the corresponding glue spraying trajectory is adopted, the present invention can flexibly adapt to shoe uppers of different sizes and shapes, effectively solving the problem in the prior art that it is difficult for fixed-trajectory glue spraying equipment to meet the diverse product requirements, and thus realizing a highly flexible and intelligent glue spraying process. This method not only greatly improves the production efficiency, but also significantly enhances the glue spraying quality and uniformity. Compared with the traditional technology, the present invention can quickly respond to product changes without frequent equipment adjustment, greatly shortening the line change time and commissioning cost, providing technical support for personalized customized production and making flexible production of small batches and multiple varieties possible.

[0025] 2. Since the real-time image monitoring and adaptive supplementary glue spraying mechanism are adopted, the present invention can dynamically detect and handle the omission or non-uniformity problems in the glue spraying process, effectively solving the problem in the prior art that it is difficult to timely discover and correct glue spraying defects, and thus realizing a high-quality and highly consistent glue spraying effect. This method of real-time monitoring and automatic error correction not only greatly reduces the generation of unqualified products, but also reduces the need for manual inspection and labor intensity. Compared with the traditional post-inspection method, the present invention can immediately discover and solve problems during the production process, greatly improving the production efficiency and product quality.

[0026] 3. Since the real-time monitoring of the nozzle blockage state and the preventive maintenance strategy are adopted, the present invention can actively prevent and timely handle nozzle failures, effectively solving the problem in the prior art that equipment maintenance is passive and failures occur frequently, and thus realizing the high reliability and long-term stable operation of the shoe upper glue spraying robot. This intelligent equipment monitoring and maintenance method not only significantly reduces the downtime caused by equipment failures, but also extends the service life of the nozzle and the entire shoe upper glue spraying robot. Compared with the traditional regular inspection or post-failure repair method, the present invention can perform precise maintenance according to the actual usage situation, greatly improving the equipment utilization rate and maintenance efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 is a flow schematic diagram of the shoe upper glue spraying treatment method in an embodiment of the present application; Figure 2 is another flow schematic diagram of the shoe upper glue spraying treatment method in an embodiment of the present application; Figure 3 is a schematic structural diagram of an entity device of the shoe upper glue spraying robot in an embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0028] The terms used in the following embodiments of the present application are only for the purpose of describing specific embodiments and are not intended to limit the present application. As used in the specification of the present application, the singular forms "a", "an", "the above", "the", and "this" are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term "and / or" used in the present application refers to any or all possible combinations of one or more of the listed items.

[0029] Hereinafter, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as implying or suggesting relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the embodiments of the present application, unless otherwise specified, the meaning of "a plurality" is two or more.

[0030] The following describes the process of the method provided in this embodiment. Please refer to Figure 1 , which is a schematic flowchart of a process of the upper glue spraying treatment method in the embodiments of the present application.

[0031] S101. Obtain the actual size, actual shape of the workpiece to be glue-sprayed, and the actual position of the workpiece to be glue-sprayed on the glue-spraying workbench; Among them, the workpiece to be glue-sprayed refers to the upper part of the shoe that needs to be glue-sprayed, which can be an upper, a sole, or other shoe components that need to be glue-sprayed. The actual size refers to the physical size data such as the length, width, and height of the workpiece to be glue-sprayed. The actual shape is used to represent the geometric shape characteristics of the workpiece to be glue-sprayed, such as a plane, a curved surface, or an irregular shape. The glue-spraying workbench refers to the platform or work area for placing the workpiece to be glue-sprayed. The actual position represents the spatial coordinates of the workpiece to be glue-sprayed on the glue-spraying workbench, usually including the position information in three dimensions of X, Y, and Z.

[0032] Before starting the glue-spraying operation, the upper glue-spraying robot needs to first obtain the actual size, actual shape of the workpiece to be glue-sprayed, and the actual position of the workpiece to be glue-sprayed on the glue-spraying workbench, so as to perform precise glue-spraying operations subsequently. Specifically, the upper glue-spraying robot scans and measures the workpiece to be glue-sprayed placed on the glue-spraying workbench through a equipped sensor system (such as a 3D scanner, a laser rangefinder, etc.). The upper glue-spraying robot captures the image of the workpiece to be glue-sprayed through a built-in vision system, and analyzes the actual size and actual shape of the workpiece to be glue-sprayed through an image processing algorithm. At the same time, the upper glue-spraying robot determines the actual position of the workpiece to be glue-sprayed on the glue-spraying workbench through a built-in positioning system, usually the coordinates relative to a fixed reference point on the workbench.

[0033] S102. Construct the actual three-dimensional model of the workpiece to be sprayed with glue according to the actual size, the actual shape, and the actual position. Among them, the actual three-dimensional model refers to the digital representation of the workpiece to be sprayed with glue created through computer graphics technology. Construction refers to the process of creating a three-dimensional model using the obtained actual size, the actual shape, and the actual position.

[0034] After the shoe upper glue spraying robot obtains the actual size, the actual shape, and the actual position of the workpiece to be sprayed with glue on the glue spraying workbench, it is necessary to integrate this information into a complete three-dimensional model for subsequent accurate glue spraying path planning. Specifically, first, the shoe upper glue spraying robot creates a basic geometric body through the built-in modeling system and the obtained actual size. Then, modify and refine this basic geometric body according to the actual shape, such as adding details such as curved surfaces, concavities, and convexities. Next, the shoe upper glue spraying robot will integrate the actual position of the workpiece to be sprayed with glue into the model to ensure that the position of the model in the virtual space corresponds to the actual position of the workpiece to be sprayed with glue on the glue spraying workbench. In this process, the shoe upper glue spraying robot may use technologies such as point cloud data processing and mesh generation to improve the accuracy and detail level of the model. The finally generated actual three-dimensional model not only contains the geometric information of the workpiece to be sprayed with glue but also contains its position information in the working space, providing a comprehensive and accurate reference for subsequent glue spraying path planning.

[0035] Optionally, generally, constructing the actual three-dimensional model of the workpiece to be sprayed with glue according to the actual size, the actual shape, and the actual position can be achieved through the following method: Based on the preset three-dimensional coordinate system in the glue spraying workbench, extract the three-dimensional point cloud data of the workpiece to be sprayed with glue from the actual position; construct the actual three-dimensional model of the workpiece to be sprayed with glue according to the bounding box of the three-dimensional point cloud data, the actual size, and the actual shape of the workpiece to be sprayed with glue.

[0036] S103. In the preset three-dimensional model - glue spraying trajectory database, search for the actual glue spraying trajectory that matches the actual three-dimensional model. Among them, the three-dimensional model - glue spraying trajectory database refers to a preset data set that stores various three-dimensional models and their corresponding glue spraying trajectories. Searching means searching in the three-dimensional model - glue spraying trajectory database for records similar to the actual three-dimensional model of the workpiece to be sprayed with glue. The actual glue spraying trajectory refers to the specific glue spraying path applicable to the current workpiece to be sprayed with glue, including the starting point, the ending point, and the intermediate path of the glue spraying.

[0037] After the shoe upper glue spraying robot constructs the actual 3D model, it needs to determine the actual glue spraying trajectory suitable for the workpiece to be glued. Specifically, first, the shoe upper glue spraying robot will access the 3D model - glue spraying trajectory database built-in or connected to it. This 3D model - glue spraying trajectory database usually contains a large number of pre-designed 3D models and corresponding glue spraying trajectories. The shoe upper glue spraying robot will use a pattern matching algorithm to compare the actual 3D model just constructed with the 3D models in the 3D model - glue spraying trajectory database. The comparison process may consider multiple aspects such as the geometric shape, size ratio, and key feature points of the model. When finding the closest matching model, the shoe upper glue spraying robot will extract the glue spraying trajectory corresponding to this 3D model. If there is no completely matching model, the shoe upper glue spraying robot may select the several closest models and then generate a new trajectory suitable for the current workpiece to be glued through interpolation or other algorithms. This process may also consider factors such as the material of the workpiece to be glued and the type of adhesive required for glue spraying to ensure that the generated glue spraying trajectory is not only geometrically suitable but also meets the actual glue spraying requirements.

[0038] S104. Based on the actual glue spraying trajectory, determine the nozzle start-stop timing table, where the nozzle start-stop timing table includes the start glue spraying time and stop glue spraying time of each nozzle; Among them, the nozzle refers to the device for spraying glue. Usually, a shoe upper glue spraying robot is equipped with multiple nozzles. The nozzle start-stop timing table refers to a table that details the start glue spraying time and stop glue spraying time of each nozzle. The start glue spraying time represents the specific time point when each nozzle starts spraying glue. The stop glue spraying time refers to the specific time point when each nozzle stops spraying glue.

[0039] After the shoe upper glue spraying robot determines the actual glue spraying trajectory, it needs to formulate a detailed glue spraying execution plan. Specifically, first, the shoe upper glue spraying robot will analyze the actual glue spraying trajectory and divide the entire actual glue spraying trajectory into multiple glue spraying segments. Then, the shoe upper glue spraying robot will calculate the time required to complete each glue spraying segment based on the characteristics (such as length, curvature, etc.) of each glue spraying segment and the preset glue spraying speed. Next, the shoe upper glue spraying robot will consider the number, position, and working characteristics of the nozzles and allocate the most suitable nozzle for each glue spraying segment. On this basis, the shoe upper glue spraying robot will calculate the specific working time of each nozzle, including the start glue spraying time and stop glue spraying time. This information will be organized into a detailed nozzle start-stop timing table. The nozzle start-stop timing table not only contains time information but may also include parameters such as the position of the nozzle and the glue spraying pressure to ensure precise control of the glue spraying process. In addition, the shoe upper glue spraying robot will also consider the coordination between nozzles to avoid interference or overlap between different nozzles and optimize the overall glue spraying effect.

[0040] In other embodiments, the upper shoe glue spraying robot can also determine the nozzle start-stop timing table based on the actual glue spraying trajectory through a dynamic programming algorithm. Dynamic programming is a method of optimizing calculations by decomposing complex problems into sub-problems and storing the results of sub-problems. In the determination of nozzle start-stop timing, it can be applied in the following steps: (1) Problem definition: Divide the actual glue spraying trajectory into several trajectory segments, and each trajectory segment can be completed by different nozzles. The goal is to find a nozzle allocation scheme that minimizes the total glue spraying time while ensuring the glue spraying quality. (2) State definition: Define the state dp[i][j] to represent the optimal solution (which can be the shortest time or the highest quality score) when the first i trajectory segments are completed and the j-th nozzle is used to end. (3) Transition equation: For the current trajectory segment i, it is necessary to consider whether to use a new nozzle. If a new nozzle is used, the switching time needs to be considered; if the previous nozzle is continued to be used, the glue spraying time of the current segment is directly added. dp[i][j]=min(dp[i-1][k]+switch_time(k,j)+spray_time(i,j)), where k is the previously used nozzle. (4) Boundary condition: dp[0][j]=0, indicating that at the beginning, any nozzle can be selected and the time is 0. (5) Calculation order: Calculate each state from front to back until all trajectory segments are completed. (6) Result backtracking: Trace back from the last state to determine the start and stop times of each nozzle. Through this method, the optimal solution can be found within the time complexity of O(n*m^2), where n is the number of trajectory segments and m is the number of nozzles. This method can find the optimal solution globally, but when the problem scale becomes larger, the computational complexity will also increase rapidly.

[0041] In another embodiment, multi-objective optimization considers multiple potentially conflicting objectives. In the determination of the nozzle start-stop timing table, the main objectives include minimizing the total glue spraying time, maximizing the glue spraying accuracy rate, minimizing material waste, etc. The specific steps are as follows: a. Definition of objective function: f1(x)=Total glue spraying time f2(x)=-Glue spraying accuracy rate (the negative sign is because we want to maximize the accuracy rate) f3(x)=Material waste amount where x represents a possible nozzle start-stop timing table.

[0042] b. Definition of constraint conditions: Such as nozzle switching times limit, minimum accuracy rate requirement, etc.

[0043] c. Selection of optimization algorithm: Genetic algorithm, particle swarm optimization or multi-objective evolutionary algorithm (such as NSGA-II) can be used. Taking the genetic algorithm as an example: Coding: Encode the nozzle start-stop timing into a chromosome.

[0044] Initialization: Randomly generate a certain number of feasible solutions.

[0045] Evaluation: Calculate the objective function value of each solution.

[0046] Selection: Select excellent individuals according to the objective function values.

[0047] Crossover and mutation: Generate new solutions.

[0048] Repeat evaluation, selection, crossover, and mutation until the termination condition is reached.

[0049] d. Pareto front: Obtain a series of non-dominated solutions to form the Pareto front.

[0050] e. Decision-making: Select a solution that best meets the actual requirements from the Pareto front as the final solution.

[0051] The advantage of this method is that it can consider multiple objectives simultaneously and find a balanced solution. However, this method may require a long calculation time, and the selection of the final solution may require human judgment.

[0052] Optionally, generally, based on the actual glue spraying trajectory, determine the nozzle start-stop timing table. The nozzle start-stop timing table includes the start glue spraying time and the stop glue spraying time of each nozzle, which can be achieved by the following method: Determine the nozzles corresponding to each glue spraying segment in the actual glue spraying trajectory. The actual glue spraying trajectory is composed of multiple such glue spraying segments connected together; According to the glue spraying length of each nozzle and the preset glue spraying speed, determine the glue spraying time of each nozzle. The glue spraying length of the nozzle is the same as the curve length of the corresponding glue spraying segment; According to the glue spraying time corresponding to each nozzle and the preset nozzle glue spraying order, calculate the start glue spraying time and the stop glue spraying time of each nozzle; Based on the start glue spraying time and the stop glue spraying time of each nozzle, determine the nozzle start-stop timing table.

[0053] S105. Perform the glue spraying operation according to the nozzle start-stop timing table and the actual glue spraying trajectory.

[0054] After completing all the preparatory work, the shoe upper glue spraying robot enters the actual glue spraying stage. Specifically, first, the shoe upper glue spraying robot adjusts the position of its robotic arm according to the actual glue spraying trajectory to align the nozzle with the starting glue spraying point. Then, the shoe upper glue spraying robot strictly controls the opening and closing of each nozzle according to the nozzle start-stop timing table. During the glue spraying process, the robotic arm of the shoe upper glue spraying robot moves along the predetermined actual glue spraying trajectory while precisely controlling the spraying state of the nozzle. The shoe upper glue spraying robot monitors the glue spraying process in real time, including parameters such as the working state of the nozzle, the spraying volume and pressure of the glue, and makes fine adjustments as needed. Throughout the process, the shoe upper glue spraying robot also continuously monitors the glue spraying effect through the vision system to ensure that the glue evenly covers the surface of the workpiece to be glued.

[0055] By adopting the above technical solution, the shoe upper glue spraying robot obtains the actual size, actual shape and actual position on the glue spraying workbench of the workpiece to be glued, so as to construct a more accurate actual three-dimensional model. In the preset three-dimensional model - glue spraying trajectory database, the shoe upper glue spraying robot searches for the actual glue spraying trajectory that matches the actual three-dimensional model, realizing flexible adaptation to shoe uppers of different sizes and shapes, abandoning the limitations of traditional fixed trajectories, and being able to dynamically adjust the glue spraying path according to the actual situation of each workpiece, improving the processing efficiency. It is especially beneficial for customized production, can quickly respond to various non-standard size shoe uppers, and reduces the line change and debugging time. Based on this actual glue spraying trajectory, the shoe upper glue spraying robot determines the nozzle start-stop timing table, which includes the start glue spraying moment and stop glue spraying moment of each nozzle, and performs the glue spraying operation according to the nozzle start-stop timing table and the actual glue spraying trajectory. By precisely controlling the start-stop timing of each nozzle, the glue spraying process is optimized, glue waste is avoided, the glue spraying is ensured to be uniform and complete, the glue spraying quality and accuracy are improved, and at the same time, automatic operation is realized, manual intervention is reduced, and the production efficiency is improved.

[0056] The following further describes the more specific process of the method provided in this embodiment. Please refer to Figure 2 , which is another process schematic diagram of the shoe upper glue spraying processing method in the embodiment of the present application.

[0057] After step S105, the following steps may or may not be executed: S201. Monitor the clogging state of the nozzle in real time; Among them, the clogging state means that the outlet of the nozzle is blocked by foreign objects or solidified glue, affecting the normal glue spraying situation. Real-time monitoring means continuously detecting and evaluating the working state of the nozzle during the glue spraying process.

[0058] During the entire process of the upper spraying robot performing the spraying operation, it is necessary to continuously monitor the working state of the nozzle to ensure the spraying quality and efficiency. Specifically, the upper spraying robot will use a variety of sensors and detection methods to monitor the clogging state of the nozzle in real time, which may include pressure sensors, flow sensors, temperature sensors, etc. The pressure sensor is used to detect the pressure change inside the nozzle. If the pressure suddenly rises, it may indicate that the nozzle is clogged. The flow sensor monitors the actual flow rate of the glue. If the flow rate is lower than the expected value, it may also be a sign of clogging. The temperature sensor can detect abnormal changes in the nozzle temperature because clogging may cause local temperature to rise. In addition, the upper spraying robot may also be equipped with a high-speed camera to observe the actual spraying effect through image analysis. If it is found that the spraying is uneven or the spraying trajectory is abnormal, it may also indicate nozzle clogging. The upper spraying robot processes these sensor data in real time and uses a preset algorithm to determine whether there is a clogging situation.

[0059] S202. When it is detected that the target nozzle is clogged, turn off the spraying switch of the target nozzle and stop the spraying operation. Among them, the target nozzle refers to a specific nozzle detected to have a clogging problem. The spraying switch refers to a mechanical device or equipment that controls the start or stop of the nozzle. Stopping the spraying operation means pausing the entire spraying process, including the movement of the upper spraying robot and the operation of other related systems.

[0060] When the upper spraying robot detects nozzle clogging, it is necessary to immediately take measures to prevent product quality problems and equipment damage. Specifically, once the upper spraying robot confirms that a certain nozzle (i.e., the target nozzle) is clogged, it will immediately execute a series of preset emergency procedures. First, the upper spraying robot will quickly turn off the spraying switch of the target nozzle, cut off the glue supply, and prevent the problem from deteriorating further. This process usually takes place within milliseconds to minimize the adverse effects. At the same time, the upper spraying robot will send an alarm signal to notify the operator or maintenance personnel.

[0061] Next, the upper spraying robot will execute the program to stop the spraying operation, including stopping the movement of the robotic arm, closing the glue supply systems of all nozzles, and pausing other auxiliary equipment related to spraying (such as glue heaters, compressed air systems, etc.). The upper spraying robot will move the robotic arm to a safe position according to the preset safety procedure for maintenance personnel to conduct inspections and repairs.

[0062] S203. Record the number of times the nozzle is clogged. Among them, the clogging times represent the cumulative number of times a nozzle becomes clogged. During the daily operation of the shoe upper glue spraying robot, it is necessary to continuously monitor and record the working status of each nozzle to promptly detect potential problems and perform maintenance. Specifically, whenever the shoe upper glue spraying robot detects that a nozzle is clogged, it immediately updates the clogging record of that nozzle in the internal database. This clogging record usually includes the time of clogging, the duration, the degree of clogging, the working conditions at that time (such as glue temperature, pressure, etc.), and possible causes. The shoe upper glue spraying robot maintains a separate clogging record for each nozzle, so as to track the performance change trend of each nozzle.

[0063] S204. When the clogging times exceed the preset times threshold, a nozzle replacement prompt is issued; Among them, the preset times threshold refers to the maximum acceptable number of clogging times set in advance. If the number exceeds this value, it is considered that the nozzle needs to be replaced. The nozzle replacement prompt refers to the notification information sent by the shoe upper glue spraying robot to remind the operator that a specific nozzle needs to be replaced. Issuing means that the shoe upper glue spraying robot conveys the nozzle replacement prompt to relevant personnel through various means (such as display screen, sound alarm, information push, etc.).

[0064] Based on continuously monitoring and recording the clogging times of the nozzles, the shoe upper glue spraying robot needs to promptly determine whether a nozzle needs to be replaced to ensure the glue spraying quality and production efficiency. Specifically, the shoe upper glue spraying robot regularly checks the clogging times of each nozzle and compares them with the preset times threshold. This preset times threshold is usually set according to the expected service life of the nozzle, production requirements, and historical data. When the clogging times of a certain nozzle reach or exceed this preset times threshold, the shoe upper glue spraying robot immediately triggers the nozzle replacement prompt program.

[0065] The forms of the prompt may be diverse, including but not limited to: displaying a warning message on the operation interface of the shoe upper glue spraying robot, indicating the specific nozzle number and position that needs to be replaced; emitting a specific sound alarm to attract the attention of on-site operators; pushing a notification message to the mobile device of maintenance personnel; marking that the shoe upper glue spraying robot needs maintenance at the central control end of the factory; and even automatically generating a detailed maintenance request form, containing information such as the usage history of the nozzle, clogging records, and replacement suggestions.

[0066] S205. During the glue spraying process, image data of the workpiece to be glue sprayed is collected in real time; Among them, the image data represents the visual information of the workpiece to be glue sprayed captured by the image sensor of the shoe upper glue spraying robot, usually stored in digital format. Real-time collection means continuously obtaining image data during the glue spraying process, rather than taking pictures after the glue spraying is completed.

[0067] While performing the glue spraying task, the shoe upper glue spraying robot needs to continuously monitor the glue spraying effect to ensure that the glue is evenly covered without omission. Specifically, the shoe upper glue spraying robot will install high-resolution industrial cameras on its robotic arm or the surrounding environment. These industrial cameras may include ordinary RGB cameras, infrared cameras, or 3D depth cameras. During the glue spraying process, these industrial cameras will continuously capture images of the workpiece to be glued at a very high frame rate (possibly dozens or even hundreds of frames per second). To ensure image quality, the shoe upper glue spraying robot may be equipped with special lighting systems, such as ring LED lights or structured light projectors, to enhance the contrast between the glue and the surface of the workpiece to be glued.

[0068] The shoe upper glue spraying robot can use a dedicated image processing chip or a high-performance GPU to process the image data of the workpiece to be glued captured in real time. The image processing algorithm will preprocess each frame of the image, such as denoising, enhancing contrast, etc., and then perform feature extraction and analysis. These processed images and the extracted feature information will be temporarily stored in the cache for subsequent steps.

[0069] S206. When the image data shows that there are omission areas in the workpiece to be glued that have not been glued, determine the size information, shape information, and position information of the omission areas; Among them, the omission area refers to the surface part of the workpiece to be glued that has not been covered by glue during the glue spraying process. The size information represents the size of the omission area, usually including length, width, or area. The shape information refers to the geometric features of the omission area, such as whether it is a regular shape (circle, rectangle, etc.) or an irregular shape. The position information is used to represent the specific position of the omission area on the workpiece to be glued, usually described using a coordinate system.

[0070] When the shoe upper glue spraying robot discovers omission areas that have not been glued through real-time image analysis, it needs to immediately accurately locate and analyze these areas for subsequent supplementary glue spraying. Specifically, first, the shoe upper glue spraying robot can use image segmentation technology to identify and separate the omission areas. This may involve algorithms such as color threshold processing, edge detection, and region growing.

[0071] When determining the size information of the omission area, the shoe upper glue spraying robot will calculate the number of pixels in the omission area, and then convert the pixel size to the actual physical size according to the pre-calibrated image scale factor. For irregular shapes, the maximum length, width, and total area may be calculated.

[0072] The determination of the shape information of the omission area may involve shape recognition algorithms. The shoe upper glue spraying robot will analyze the contour of the omission area, calculate its roundness, rectangularity, etc. features, and judge whether it is close to a certain standard geometric shape. For complex irregular shapes, Fourier descriptors or other advanced shape description methods may be used.

[0073] The determination of the position information of the missing area is usually based on the coordinate system of the shoe upper glue spraying robot. The shoe upper glue spraying robot calculates the centroid of the missing area or the coordinates of the center point of the bounding box. These coordinates will be transformed into the coordinate system of the working space of the shoe upper glue spraying robot for subsequent supplementary glue spraying operations.

[0074] S207. Based on the size information, the shape information, and the position information, determine the supplementary glue spraying trajectory of the missing area; After the shoe upper glue spraying robot identifies and analyzes the missing area, it needs to quickly plan an efficient and effective supplementary glue spraying trajectory to ensure complete coverage of the workpiece surface. The supplementary glue spraying trajectory refers to the glue spraying path that the shoe upper glue spraying robot plans to execute to cover the missing area. Specifically, the shoe upper glue spraying robot generates the supplementary glue spraying trajectory by running a path planning algorithm based on the missing area generated in the previous steps.

[0075] First, based on the position information of the missing area, the shoe upper glue spraying robot determines the starting position where the nozzle needs to move. This starting position is usually set slightly outside the edge of the missing area to ensure complete coverage. Then, according to the shape information of the missing area, the shoe upper glue spraying robot selects an appropriate glue spraying mode. For example, for an approximately circular missing area, a spiral glue spraying path may be adopted; for a rectangular area, a back-and-forth scanning method may be used; and for an irregular shape, a composite strategy combining contour following and filling may be used. Next, the size information of the missing area is used to determine the specific parameters of glue spraying, such as the nozzle moving speed, the glue spraying amount, the distance between the nozzle and the surface, etc. Larger missing areas may require multiple overlapping sprays, while smaller missing areas may only require a single precise spray.

[0076] When generating the supplementary glue spraying trajectory, the shoe upper glue spraying robot also considers multiple optimization objectives, such as minimizing the glue spraying time, ensuring uniform coverage, avoiding overspray, etc., and may use complex algorithms, such as genetic algorithms or particle swarm optimization, to find the best supplementary glue spraying trajectory.

[0077] The finally generated supplementary glue spraying trajectory will include a series of precise path points, and each path point contains the position, attitude, moving speed, and glue spraying parameters of the nozzle. The shoe upper glue spraying robot may record this supplementary trajectory information for performing the actual supplementary glue spraying operation.

[0078] S208. After the glue spraying is completed, obtain the glue spraying thickness of the workpiece to be glue sprayed; Among them, the thickness of the sprayed glue refers to the thickness of the glue layer formed on the surface of the workpiece to be sprayed with glue, usually measured in millimeters or micrometers. Obtain the process of representing the measurement or estimation of the thickness of the glue layer. After the spraying of glue is completed, it means that the shoe upper spraying robot has completed all the predetermined spraying operations, including the initial spraying and any necessary supplementary spraying.

[0079] After the shoe upper spraying robot has completed all the spraying operations, it is necessary to conduct a quality inspection on the spraying results, and the thickness of the sprayed glue is one of the key indicators. Specifically, the shoe upper spraying robot may adopt various methods to measure the thickness of the sprayed glue. A common method is to use a non-contact laser rangefinder. The shoe upper spraying robot will install one or more high-precision laser ranging sensors on its robotic arm. These high-precision laser ranging sensors will measure at multiple predetermined points on the surface of the workpiece to be sprayed with glue, and calculate the thickness of the glue layer by comparing the surface height differences before and after spraying. Another method is to use an optical interferometer, which can accurately measure the thickness of a thin film by analyzing the interference pattern of light. This method is particularly effective for transparent or semi-transparent glue. The shoe upper spraying robot may install multiple fixed interferometers around its workbench, or install a movable interferometer on its robotic arm to scan different areas of the workpiece. For some workpieces made of special materials or with complex shapes, the shoe upper spraying robot may use an ultrasonic thickness gauge. This method calculates the thickness by measuring the propagation time of ultrasonic waves in the glue layer.

[0080] During the measurement process, the shoe upper spraying robot will select multiple representative measurement points according to the shape and size of the workpiece to be sprayed with glue. These measurement points may include the edges, centers of the workpiece, and key areas where too much or too little glue is likely to accumulate. The shoe upper spraying robot will record the thickness values of each measurement point and calculate statistical data such as the average thickness, maximum thickness, and minimum thickness.

[0081] S209: If the thickness of the sprayed glue does not meet the preset requirements for the thickness of the sprayed glue, a warning for the quality of the sprayed glue will be issued.

[0082] Among them, the preset requirements for the thickness of the sprayed glue refer to the acceptable range of the thickness of the glue layer defined in advance, usually including the minimum and maximum allowable thicknesses. The warning for the quality of the sprayed glue represents the warning information issued by the shoe upper spraying robot to notify the operator that there is a situation where the thickness of the sprayed glue is unqualified. Issuing means communicating the warning for the quality of the sprayed glue through various means (such as audible and visual alarms, message notifications, etc.).

[0083] After the upper spraying robot completes the measurement of the spraying thickness, it needs to immediately evaluate whether the spraying thickness meets the preset spraying thickness requirements and give an alarm in time when problems are found. Specifically, first, the upper spraying robot reads the preset spraying thickness requirements. The preset spraying thickness requirements may vary depending on different workpiece types, materials or product specifications. For example, the spraying thickness requirements for the sole may be different from those for the upper, and the requirements for sports shoes may be different from those for casual shoes.

[0084] Then, the upper spraying robot will compare the measured spraying thickness with the preset spraying thickness requirements. This comparison process includes not only checking whether the average thickness is within the allowable range, but also considering the uniformity of the thickness. For example, even if the average thickness is qualified, if the thickness in some areas deviates significantly from the requirements, it may trigger a warning. If it is found that the spraying thickness does not meet the preset spraying thickness requirements, the upper spraying robot will immediately start the warning program.

[0085] Due to the adoption of the method of constructing a three-dimensional model based on actual workpiece parameters and matching the corresponding spraying trajectory, the present invention can flexibly adapt to uppers of different sizes and shapes, effectively solves the problem that the fixed-trajectory spraying equipment in the prior art is difficult to meet the diversified product requirements, and thus realizes a highly flexible and intelligent spraying process. This method not only greatly improves the production efficiency, but also significantly improves the spraying quality and uniformity. Compared with the traditional technology, the present invention can quickly respond to product changes, without frequent equipment adjustment, greatly shortening the line change time and commissioning cost, providing technical support for personalized customized production, and making it possible for flexible production of small batches and multiple varieties.

[0086] Due to the adoption of real-time image monitoring and adaptive supplementary spraying mechanism, the present invention can dynamically detect and handle the omission or non-uniformity problems in the spraying process, effectively solves the problem that it is difficult to timely discover and correct spraying defects in the prior art, and thus realizes a high-quality and highly consistent spraying effect. This method of real-time monitoring and automatic error correction not only greatly reduces the generation of unqualified products, but also reduces the need for manual inspection and labor intensity. Compared with the traditional post-inspection method, the present invention can immediately discover and solve problems during the production process, greatly improving the production efficiency and product quality.

[0087] Due to the adoption of real-time monitoring of nozzle blockage status and preventive maintenance strategies, the present invention can actively prevent and timely handle nozzle failures, effectively solving the problems of passive equipment maintenance and frequent failures in the prior art, and thus achieving high reliability and long-term stable operation of the shoe upper glue spraying robot. This intelligent equipment monitoring and maintenance method not only significantly reduces the downtime caused by equipment failures, but also extends the service life of the nozzles and the entire shoe upper glue spraying robot. Compared with the traditional regular inspection or post-failure repair methods, the present invention can perform precise maintenance according to the actual usage conditions, greatly improving the equipment utilization rate and maintenance efficiency.

[0088] The following describes the shoe upper glue spraying robot in the embodiments of the present invention from the perspective of hardware processing. Please refer to Figure 3 , which is a schematic structural diagram of an entity device of the shoe upper glue spraying robot in the embodiments of the present application.

[0089] It should be noted that Figure 3 the structure of the shoe upper glue spraying robot shown is only an example and should not impose any limitations on the functions and usage scopes of the embodiments of the present invention.

[0090] As Figure 3 shown, the shoe upper glue spraying robot includes a central processing unit (CPU) 301, which can execute various appropriate actions and processes according to the program stored in the read-only memory (ROM) 302 or the program loaded from the storage section 308 into the random access memory (RAM) 303, such as executing the method described in the above embodiments. In the RAM 303, various programs and data required for system operation are also stored. The CPU 301, ROM 302, and RAM 303 are connected to each other through a bus 304. The input / output (I / O) interface 305 is also connected to the bus 304.

[0091] The following components are connected to the I / O interface 305: an input section 306 including an audio input device, a button switch, etc.; an output section 307 including a liquid crystal display (LCD), an audio output device, an indicator light, etc.; a storage section 308 including a hard disk, etc.; and a communication section 309 including a network interface card such as a LAN (Local Area Network) card, a modem, etc. The communication section 309 performs communication processing via a network such as the Internet. The drive 310 is also connected to the I / O interface 305 as needed. A removable medium 311, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 310 as needed so that a computer program read from it can be installed into the storage section 308 as needed.

[0092] Specifically, according to an embodiment of the present invention, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present invention includes a computer program product that includes a computer program carried on a computer-readable medium, and the computer program includes a computer program for performing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from the network through the communication section 309, and / or installed from the removable medium 311. When the computer program is executed by the central processing unit (CPU) 301, various functions defined in the present invention are executed.

[0093] It should be noted that specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a flash memory, an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present invention, the computer-readable storage medium can be any tangible medium that contains or stores a program, and the program can be used by or combined with an instruction execution system, apparatus, or device.

[0094] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of systems, methods, and computer program products according to various embodiments of the present invention. Among them, each block in the flowchart or block diagram may represent a module, a program segment, or a part of code, and the above-mentioned module, program segment, or part of code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order from that marked in the accompanying drawings.

[0095] Specifically, the upper shoe surface glue spraying robot of this embodiment includes a processor and a memory, and a computer program is stored on the memory. When the computer program is executed by the processor, the upper shoe surface glue spraying processing method provided in the above embodiment is implemented.

[0096] On the other hand, the present invention also provides a computer-readable storage medium, which may be included in the upper shoe surface glue spraying robot described in the above embodiment; or it may exist alone without being assembled into the upper shoe surface glue spraying robot. The above storage medium carries one or more computer programs. When the above one or more computer programs are executed by a processor of the upper shoe surface glue spraying robot, the upper shoe surface glue spraying robot is enabled to implement the upper shoe surface glue spraying processing method provided in the above embodiment.

[0097] As mentioned above, the above embodiments are only used to illustrate the technical solutions of the present application and are not intended to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the various embodiments of the present application.

[0098] As used in the above embodiments, depending on the context, the term "when..." may be interpreted to mean "if...", or "after...", or "in response to determining...", or "in response to detecting...". Similarly, depending on the context, the phrase "when determining..." or "if detecting (the stated condition or event)" may be interpreted to mean "if determining...", or "in response to determining...", or "when detecting (the stated condition or event)", or "in response to detecting (the stated condition or event)".

[0099] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by relevant hardware instructed by a computer program. This program can be stored in a computer-readable storage medium. When this program is executed, it can include the processes of the above method embodiments. The aforementioned storage media include: various media such as ROM or random access memory RAM, magnetic disks, or optical discs that can store program codes.

Claims

1. A method for treating a shoe upper with glue spraying, characterized in that, Applied to a shoe upper glue spraying robot, the method includes: Obtain the actual size, actual shape of the workpiece to be glue-sprayed, and the actual position of the workpiece to be glue-sprayed on the glue-spraying workbench; Construct the actual three-dimensional model of the workpiece to be glue-sprayed according to the actual size, the actual shape, and the actual position; In a preset three-dimensional model - glue-spraying trajectory database, search for the actual glue-spraying trajectory that matches the actual three-dimensional model; Based on the actual glue-spraying trajectory, determine a nozzle start-stop timing table, where the nozzle start-stop timing table includes the start glue-spraying moment and stop glue-spraying moment of each nozzle; Execute the glue-spraying operation according to the nozzle start-stop timing table and the actual glue-spraying trajectory.

2. The method according to claim 1, wherein The constructing the actual three-dimensional model of the workpiece to be glue-sprayed according to the actual size, the actual shape, and the actual position specifically includes: Based on a preset three-dimensional coordinate system in the glue-spraying workbench, extract the three-dimensional point cloud data of the workpiece to be glue-sprayed from the actual position; Construct the actual three-dimensional model of the workpiece to be glue-sprayed according to the bounding box of the three-dimensional point cloud data, the actual size and actual shape of the workpiece to be glue-sprayed.

3. The method according to claim 1, wherein The determining the nozzle start-stop timing table based on the actual glue-spraying trajectory, where the nozzle start-stop timing table includes the start glue-spraying moment and stop glue-spraying moment of each nozzle, specifically includes: Determine the nozzles corresponding to each glue-spraying segment in the actual glue-spraying trajectory, and the actual glue-spraying trajectory is formed by connecting a plurality of the glue-spraying segments; According to the glue-spraying length of each nozzle and a preset glue-spraying speed, determine the glue-spraying time of each nozzle, and the glue-spraying length of the nozzle is the same as the curve length of the corresponding glue-spraying segment; Calculate the start glue-spraying moment and stop glue-spraying moment of each nozzle according to the glue-spraying time corresponding to each nozzle and a preset nozzle glue-spraying sequence; Based on the start glue-spraying moment and stop glue-spraying moment of each nozzle, determine the nozzle start-stop timing table.

4. The method according to claim 1, wherein After the step of executing the glue-spraying operation according to the nozzle start-stop timing table and the actual glue-spraying trajectory, the method further includes: During the glue-spraying process, collect the image data of the workpiece to be glue-sprayed in real time; When the image data shows that there are missing areas on the workpiece to be glue-sprayed that have not been glue-sprayed, determine the size information, shape information, and position information of the missing areas; Based on the size information, the shape information, and the position information, determine the supplementary glue-spraying trajectory of the missing areas.

5. The method according to claim 1, characterized in that, After the step of executing the glue-spraying operation according to the nozzle start-stop timing table and the actual glue-spraying trajectory, the method further includes: After the glue-spraying is completed, obtain the glue-spraying thickness of the workpiece to be glue-sprayed; If the glue-spraying thickness does not meet the preset glue-spraying thickness requirement, issue a glue-spraying quality warning.

6. The method according to claim 1, characterized in that, The method further includes: Monitor the clogging state of the nozzles in real time; When it is detected that there is a target nozzle clogged, turn off the glue-spraying switch of the target nozzle and stop the glue-spraying operation.

7. The method according to claim 6, characterized in that After the step of monitoring the clogging state of the nozzles in real time, the method further includes: Record the number of times the nozzles are clogged; When the number of clogging times exceeds a preset number threshold, issue a nozzle replacement prompt.

8. A shoe upper glue spraying robot, characterized in that, The upper shoe glue spraying robot includes: one or more processors and a memory; the memory is coupled to the one or more processors, the memory is used to store computer program code, the computer program code includes computer instructions, and the one or more processors call the computer instructions to cause the upper shoe glue spraying robot to execute the method according to any one of claims 1-7.

9. A computer-readable storage medium, comprising instructions, characterized in that, When the instruction runs on the upper shoe glue spraying robot, it causes the upper shoe glue spraying robot to execute the method according to any one of claims 1-7.

10. A computer program product, characterized in that, When the computer program product runs on the upper shoe glue spraying robot, it causes the upper shoe glue spraying robot to execute the method according to any one of claims 1-7.

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