鞋底曲面数据提取与喷胶轨迹的自动生成方法

Method for Extraction of Information of Shoe Upper and for Automatic Generation of Spraying Trajectory

为快速有效地提取鞋底曲面信息和生成喷胶轨迹,提出一种基于线结构光扫描鞋底曲面的方法。利用线结构光三维测量原理,扫描套在鞋楦上的鞋帮底面,获得表示鞋底曲面信息的点云数据。用B样条曲线拟合出一系列的三维扫描线,生成封闭的鞋底轮廓线,计算鞋底轮廓线在鞋底曲面的偏置曲线得到喷胶轨迹。构建线结构光扫描鞋帮底面的试验装置,计算其在x、y和z轴方向上的测量误差分别为0.094、0、0.015 mm,满足系统精度要求。最后将生成的喷胶轨迹通过坐标变换应用于St(?)ubli机器人自动喷胶系统,验证了方法的有效性和可行性。

To rapidly and effectively extract the information of shoe upper and generate the spraying trajectory, a method for scanning shoe upper based on linear structured light is proposed. On the principle of the 3D measurement with linear structured light, after scanning a lasted shoe upper, the information of shoe sole is rendered by point clouds data. 3D scan curves are fitted as B-spline curves, and a closed contour line of shoe sole is interpolated. By calculating the offset curve of shoe upper contour on the shoe upper, the spraying trajectory is obtained. The experimental facility for scanning shoe upper with linear structured light is constructed, and its measurement errors in x, y and z directions are calculated to be 0.094, 0 and 0.015 mm respectively, which satisfies the requirement of system precision. Finally, the generated trajectory after coordinate transformation is applied in shoe upper spraying system with Staeubli industrial robot. The results prove that the proposed method is effective and feasible.