基于激光视觉的鞋底喷胶路径生成方法研究

Research on Path Generation Method of Sole Spray Glue Based on Laser Vision

为了实现鞋底喷胶的自动化,提出了一种基于激光视觉生成喷胶路径的方法。利用线激光三维扫描仪获取鞋底的深度图,并对其进行中值滤波处理。采用传统的边缘检测算法提取鞋底内边缘,然后针对其不足,提出了分区最大值算法。首先通过Moore边界追踪算法提取鞋底外边缘轮廓,然后利用质心定位算法获取鞋底外边缘轮廓的质心,再通过分区搜索最大值提取离散的内边缘点,最后采用NURBS插值算法对内边缘点进行插值处理,获取平滑的内边缘曲线。将平滑后的内边缘曲线向鞋底内侧偏置生成喷胶路径。文中介绍了系统的硬件组成和工作原理。试验结果表明,鞋底喷胶均匀,能够满足鞋底黏合要求,验证了该方法的有效性和可行性。

In order to achieve the automation of sole glue spraying,a method of generating glue spraying path based on laser vision is proposed.The depth map of the sole is obtained by using the line laser three-dimensional scanner,and it is processed by median filtering.The traditional edge detection algorithm is used to extract the inner edge of the sole,and then a partition maximum algorithm is proposed for its shortcomings.Firstly,the outer edge contour of the sole is extracted using Moore boundary tracking algorithm,then the centroid positioning algorithm is used to obtain the centroid of the outer edge contour of the sole,and then the discrete inner edge points is extracted by searching the maximum value of the partition,and finally the NURBS interpolation algorithm is used to interpolate the inner edge points to obtain the smooth inner edge curve.The smoothed inner contour curve is biased to the inner side of the sole to generate a glue spraying path.The hardware composition and working principle of the system are briefly introduced.The experimental results show that the soles are sprayed uniformly and can meet the requirements of soles adhesion,which verifies the effectiveness and feasibility of the method.