阅读说明：本技术 一种用于鞋面的机器人划线方法及应用其的装置 (Robot marking method for shoe upper and device applying same ) 是由 周锦荣 王成群 于 2019-11-15 设计创作，主要内容包括：本发明公开了一种用于鞋面的机器人划线方法其包括如下步骤：建立多个模板图像,通过拍照设备采集鞋面图像并对其进行校正处理,得到与模板图像像素大小相适的鞋面形状图像,将鞋面形状图像与多个模板图像进行形状匹配,查找与鞋面形状图像相匹配的目标模板图像,若查找到目标模板图像,则将目标模板图像的组成鞋面划线轮廓线的坐标点变换为机器人能够读取的点位数据,将所述机器人能够读取的点位数据输送给机器人,机器人预读所有点位数据生成鞋面划线轮廓线并开始划线；本发明还公开了一种应用其的装置。本发明采用联动拍照设备和机器人的方式,为每一个鞋面快速查找到匹配的模板图像,从而提高划线效率,提升划线精度。(The invention discloses a robot scribing method for shoe uppers, which comprises the following steps: establishing a plurality of template images, acquiring vamp images through photographing equipment and correcting the vamp images to obtain vamp shape images with the sizes matched with the pixel sizes of the template images, carrying out shape matching on the vamp shape images and the template images, searching target template images matched with the vamp shape images, converting coordinate points forming vamp lineation contour lines of the target template images into point location data which can be read by a robot if the target template images are found, transmitting the point location data which can be read by the robot to the robot, pre-reading all the point location data by the robot to generate vamp lineation contour lines and starting lineation; the invention also discloses a device applying the method. According to the invention, a mode of linking the photographing equipment and the robot is adopted, and the matched template image is quickly found for each vamp, so that the scribing efficiency is improved, and the scribing precision is improved.)

1. A method for robotic marking of shoe uppers, characterized in that it comprises the following steps:

s1, extracting a picture file from the multiple primitive files and establishing multiple template images;

s2, acquiring a distorted vamp image through a photographing device and correcting the distorted vamp image to obtain a vamp shape image which is suitable for the size of the template image pixel;

s3, carrying out shape matching on the vamp shape image in the S2 and the plurality of template images in the S1, and searching a target template image matched with the vamp shape image in the S2;

s4, if the target template image in the S3 is found, converting coordinate points forming a vamp scribing outline of the target template image into point position data which can be read by a robot;

and S5, point position data which can be read by the robot in the S4 are transmitted to the robot, the robot pre-reads all the point position data to generate a vamp scribing contour line, and scribing is started.

2. A method according to claim 1, wherein in S1, visual software is used to extract a drawing from a plurality of metafiles and create a plurality of template images, specifically: and the primitive files are dxf files, and the plurality of dxf files are subjected to scaling calculation processing through visual software to obtain a template image with the size suitable for the size of visual pixels.

3. The robot line drawing method for the upper according to claim 2, characterized in that the upper image captured by the photographing device in S2 is a distorted upper image, which is corrected in S2, specifically: the distorted vamp image pixel coordinates are assigned to the template image pixel coordinates.

4. A robot scribing method for upper according to claim 3, wherein the point location data of the upper scribing outline of the target template image is converted into point location data that can be read by the robot in S4, specifically: converting coordinate points of vamp lineation contour lines of the target template into point position data which can be read by a robot through a transformation matrix; the transformation matrix is a rigid affine transformation calculated from a point correspondence and two corresponding angles, i.e. a transformation consisting of rotation and translation, and the formed transformation is taken as a transformation matrix.

5. The robot line drawing method for an upper according to claim 4, wherein the shape matching of the upper shape image in S2 with the plurality of template images in S1 in S3 is performed, and a target template image matching the upper shape image in S2 is found, specifically: if the target template image matched with the vamp shape image in the S2 is not found, the process returns to S2, and the vamp image is collected again.

6. A robot scribing device for shoe uppers, characterized in that the robot scribing device comprises the robot scribing method for shoe uppers and a frame body (1) according to any one of claims 1 to 5, a photographing device (3) is installed above the inside of the frame body (1), a robot (5) is installed on one side of the inside of the frame body (1), a transparent conveyor belt (7) penetrating through the inside of the frame body (1) is installed, a driving device (8) and an encoder (9) are installed at one end of the transparent conveyor belt (7), the driving device (8) and the encoder (9) are electrically connected, and the robot (5) is electrically connected with the driving device (8) and the encoder (9).

7. The robot lineation device for the shoe upper according to claim 6, wherein a camera fixing support (2) is arranged above the inside of the frame main body (1), the photographing equipment (3) is installed on the camera fixing support (2), a robot fixing machine table (4) is arranged on one side of the inside of the frame main body (1), and the robot (5) is installed on the robot fixing machine table (4); the photographing device (3) is an industrial camera.

8. A robotic marking device for shoe uppers according to claim 7, characterized in that inside the frame body (1) is mounted a through-going transport frame (6), inside which transport frame (6) is mounted the transparent conveyor belt (7).

9. The robot lineation device for the shoe upper according to the claim 8, wherein a net pressing (10) is installed outside the transmission frame (6) inside the frame body (1), a net pressing cylinder (11) is installed on one side of the net pressing (10), a light source (12) is horizontally fixed on the lower portion of the inner side of the net pressing (10), the transparent transmission belt (7) penetrates through the inside of the net pressing (10) and surrounds the light source (12), and the robot (5) is electrically connected with the photographing device (3), the driving device (8), the encoder (9), the net pressing cylinder (11) and the light source (12).

10. The robot line marking device for shoe uppers according to claim 9, characterized in that the robot (5) is a multi-joint robot, the robot (5) is equipped with a spray gun at the top of the shaft, the spray gun is added with ink, the conveying frame (6) and the transparent conveyor belt (7) both extend out of the frame body (1), the side of the transparent conveyor belt (7) close to the driving device (8) is used for placing shoe uppers, and the driving device (8) is a servo motor.

Technical Field

The invention belongs to the technical field of vamp scribing, and particularly relates to a robot scribing method for a vamp and a device applying the robot scribing method.

Background

At present, the traditional industry gradually introduces automation equipment to assist people in completing the processes of shoe making process.

When the shoe is manufactured, if the coating glue is too much, the vamp can be wrinkled, if the coating glue is too little, the phenomenon that the vamp is not firmly adhered can occur, the vamp needs to be supplemented with the glue, so in order to ensure that the vamp is uniformly glued, the vamp needs to be scribed and then polished, and the coated glue is suitable for gluing.

Although some relatively early application technologies exist in the automation market of the existing shoe manufacturing industry, for example, after the sole information is collected by a profiler, the image comparison and matching are performed with the existing sole data, but the technology is troublesome to operate, has relatively high requirements on staff, and has relatively low yield.

Disclosure of Invention

In order to solve the above problems, the present invention provides a robot marking method for shoe uppers, which is used for solving the problems existing in the prior art.

It is another object of the present invention to provide a robotic scoring device for an upper.

The technical scheme adopted by the invention is as follows:

a method of robotic scoring of an upper, comprising the steps of:

s1, extracting a picture file from the multiple primitive files and establishing multiple template images;

s2, acquiring a distorted vamp image through a photographing device and correcting the distorted vamp image to obtain a vamp shape image which is suitable for the size of the template image pixel;

s3, carrying out shape matching on the vamp shape image in the S2 and the plurality of template images in the S1, and searching a target template image matched with the vamp shape image in the S2;

s4, if the target template image in the S3 is found, converting coordinate points forming a vamp scribing outline of the target template image into point position data which can be read by a robot;

and S5, point position data which can be read by the robot in the S4 are transmitted to the robot, the robot pre-reads all the point position data to generate a vamp scribing contour line, and scribing is started.

Preferably, in S1, the visual software extracts the drawing files from the multiple metafiles and creates multiple template images, specifically: and the primitive files are dxf files, and the plurality of dxf files are subjected to scaling calculation processing through visual software to obtain a template image with the size suitable for the size of visual pixels.

Preferably, the upper image acquired by the photographing device in S2 is a distorted upper image, and the correction processing is performed in S2, specifically: the distorted vamp image pixel coordinates are assigned to the template image pixel coordinates.

Preferably, in S4, the converting the point location data of the upper-surface-drawing outline of the target template image into point location data that can be read by the robot includes: converting coordinate points of vamp lineation contour lines of the target template into point position data which can be read by a robot through a transformation matrix; the transformation matrix is a rigid affine transformation calculated from a point correspondence and two corresponding angles, i.e. a transformation consisting of rotation and translation, and the formed transformation is taken as a transformation matrix.

Preferably, in S3, the shape matching is performed on the upper shape image in S2 and the plurality of template images in S1, and the target template image matching the upper shape image in S2 is searched, specifically: if the target template image matched with the vamp shape image in the S2 is not found, the process returns to S2, and the vamp image is collected again.

The utility model provides a robot marking device for vamp, its includes robot marking method and frame main part for vamp, the inside top of frame main part installation equipment of shooing, the inside side-mounting robot of frame main part, the transparent conveyer belt that passes through of frame main part internally mounted, drive arrangement and encoder are installed to the one end of transparent conveyer belt, drive arrangement with the encoder electricity is connected, the robot with drive arrangement and encoder electricity are connected.

Preferably, a camera fixing support is arranged above the inside of the frame main body, the photographing equipment is installed on the camera fixing support, a robot fixing machine is arranged on one side of the inside of the frame main body, and the robot is installed on the robot fixing machine; the photographing device is an industrial camera.

Preferably, a transmission frame is arranged in the frame body in a penetrating way, and the transparent transmission belt is arranged in the transmission frame.

Preferably, inside the frame main part the conveying frame externally mounted presses the net, press net one side installation to press net cylinder, press the inboard lower part level fixed light source of net, transparent conveyer belt runs through press the inside and surround of net the light source, the robot with equipment of shooing drive arrangement the encoder press the net cylinder with the light source is the electricity and connects.

Preferably, the robot is a multi-joint robot, a spray gun is installed at the top of a shaft of the robot, ink is added into the spray gun, the conveying frame and the transparent conveying belt extend out of the frame main body, one side of the transparent conveying belt, which is close to the driving device, is used for placing a vamp, and the driving device is a servo motor.

Compared with the prior art, the method has the advantages that the plurality of template images are established, the vamp image collected by the photographing device is corrected to obtain the vamp shape image which is suitable for the pixel size of the template images, then the vamp shape image is matched with the plurality of template images in shape, the target template image matched with the vamp shape image is found, coordinate points of the target template image which form the vamp lineation contour line are converted into point position data which can be read by the robot and are transmitted to the robot, the robot pre-reads all the point position data to generate the vamp lineation contour line and starts to lineate, accordingly, the lineation efficiency can be effectively improved, and the lineation accuracy is improved.

Drawings

FIG. 1 is a schematic flow chart of a method for robotic scoring of an upper provided in accordance with embodiment 1 of the present invention;

FIG. 2 is a schematic illustration of a frame body of a robotic scoring device for an upper provided in accordance with embodiment 2 of the present invention;

FIG. 3 is a schematic view of the overall structure of a robot scoring device for shoe uppers provided in embodiment 2 of the present invention;

fig. 4 is a schematic structural view of a net pressing part of a robot scribing device for shoe uppers, provided in embodiment 2 of the invention.

Description of the reference numerals

The method comprises the following steps of 1-a frame main body, 2-a camera fixing support, 3-photographing equipment, 4-a robot fixing machine table, 5-a robot, 6-a conveying frame, 7-a transparent conveying belt, 8-driving equipment, 9-an encoder, 10-a net pressing, 11-a net pressing cylinder and 12-a light source.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.