Sole deviation rectifying system and method based on vision
阅读说明：本技术 一种基于视觉的鞋底纠偏系统及方法 (Sole deviation rectifying system and method based on vision ) 是由 丁金波 林曦 黄诗华 于 2019-09-09 设计创作，主要内容包括：本发明涉及制鞋的技术领域,目的是提供一种基于视觉的鞋底纠偏系统及方法,包括机架、工作台、喷胶件及设置在所述机架上的移动手臂,工作台设置在所述机架上,移动手臂位于工作台的正上方,移动手臂包括X轴子臂及Y轴子臂,X轴子臂用于带动喷胶件沿X轴方向移动,Y轴子臂用于带动喷胶件沿Y轴方向移动,机架设置有图像采集装置及控制器,图像采集装置与控制器电性连接,图像采集装置用于采集工作台上的图像,控制器用于接收图像采集装置采集的图像,根据采集的图像获取待加工鞋底的边缘图形,生成喷胶件的喷胶路径,并控制X轴子臂和Y轴子臂带动喷胶件移动。本发明具有提高鞋底的喷胶质量的优点。(The invention relates to the technical field of shoemaking, and aims to provide a sole deviation rectifying system and method based on vision, which comprises a rack, a workbench, a glue spraying piece and a moving arm arranged on the rack, wherein the workbench is arranged on the rack, the moving arm is positioned right above the workbench and comprises an X-axis sub-arm and a Y-axis sub-arm, the X-axis sub-arm is used for driving the glue spraying piece to move along the X-axis direction, the Y-axis sub-arm is used for driving the glue spraying piece to move along the Y-axis direction, the rack is provided with an image acquisition device and a controller, the image acquisition device is electrically connected with the controller, the image acquisition device is used for acquiring images on the workbench, the controller is used for receiving the images acquired by the image acquisition device, and acquiring an edge graph of the sole to be processed according to the acquired image, generating a glue spraying path of the glue spraying piece, and controlling the X-axis sub-arm and the Y-axis sub-arm to drive the glue spraying piece to move. The invention has the advantage of improving the glue spraying quality of the sole.)
1. The sole deviation rectifying system based on vision is characterized by comprising a rack (1), a workbench (11), a glue spraying piece (3) and a moving arm (2) arranged on the rack (1), wherein the workbench (11) is arranged on the rack (1), the moving arm (2) is positioned right above the workbench (11), the moving arm (2) comprises an X-axis sub-arm (21) and a Y-axis sub-arm (22), the X-axis sub-arm (21) is used for driving the glue spraying piece (3) to move along the X-axis direction, and the Y-axis sub-arm (22) is used for driving the glue spraying piece (3) to move along the Y-axis direction;
frame (1) is provided with image acquisition device (12) and controller, image acquisition device (12) with controller electric connection, image acquisition device (12) are used for gathering the image on workstation (11), the controller is used for receiving the image that image acquisition device (12) gathered, obtains the edge figure of waiting to process the sole according to the image of gathering, generates the gluey route of spouting gluey piece (3) to control X axle sub-arm (21) and Y axle sub-arm (22) drive and spout gluey piece (3) and remove.
2. The vision-based shoe sole correction system of claim 1, wherein: the X-axis sub-arm (21) comprises an X-axis support frame (211), a first reciprocating lead screw (212) and a first internal thread sleeve (213), the X-axis support frame (211) is fixedly arranged on the rack (1), a first sliding groove is formed in the side wall of the X-axis support frame (211), the first reciprocating lead screw (212) is rotatably arranged in the first sliding groove, the first internal thread sleeve (213) is in threaded sleeve connection with the first reciprocating lead screw (212), the side wall of the first internal thread sleeve (213) is in butt joint with the first sliding groove, a first servo motor (214) is further arranged on the X-axis support frame (211), the output shaft of the first servo motor (214) is coaxially connected with one end of the first reciprocating lead screw (212), and the controller is electrically connected with the first servo motor (214).
3. The vision-based shoe sole correction system of claim 2, wherein: the Y-axis sub-arm (22) comprises a Y-axis support frame (221), a second reciprocating lead screw (222) and a second internal thread sleeve (223), the Y-axis support frame (221) is arranged on the rack (1) in a sliding mode, one side of the Y-axis support frame (221) is fixedly connected with the first internal thread sleeve (213), a second sliding groove is formed in the side wall of the Y-axis support frame (221), the second reciprocating lead screw (222) is rotatably arranged in the second sliding groove, the length direction of the second reciprocating lead screw (222) is perpendicular to the length direction of the first reciprocating lead screw (212), the second internal thread sleeve (223) is sleeved on the second reciprocating lead screw (222) in a threaded mode, the side wall of the second internal thread sleeve (223) is connected with the second abutting sliding groove, a second servo motor (224) is further arranged on the Y-axis support frame (221), and the output shaft of the second servo motor (224) is coaxially connected with one end of the second reciprocating lead screw (222), the controller is electrically connected with the second servo motor (224).
4. The vision-based shoe sole correction system of claim 3, wherein: the utility model discloses a Y-axis support frame, including frame (1), the both sides of frame (1) all are provided with slide rail (13), the length direction of slide rail (13) is parallel with the length direction of first reciprocal lead screw (212), two slide rail (13) are close to the both ends of second reciprocal lead screw (222) respectively, the both ends of Y-axis support frame (221) all are provided with slider (2211), two slider (2211) is two respectively slide in slide rail (13).
5. The vision-based shoe sole correction system of claim 3, wherein: spout gluey piece (3) and glue case (31), support arm (32) and spray gun (33) including storing up, it is fixed to set up to store up gluey case (31) in frame (1), support arm (32) and second internal thread sleeve (223) fixed connection, spray gun (33) are fixed to be set up on support arm (32), it wears to be equipped with the siphunculus on gluey case (31) to store up, spray gun (33) are through siphunculus and store up gluey case (31) conduction connection.
6. The vision-based shoe sole correction system of claim 5, wherein: the supporting arm (32) comprises a first sub-arm (321) and a second sub-arm (322), the first sub-arm (321) is fixedly connected with one side of the second internal thread sleeve (223), a third servo motor (323) is fixedly arranged at the other end of the first sub-arm (321), an output shaft of the third servo motor (323) is fixedly connected with the second sub-arm (322), the third servo motor (323) is electrically connected with the controller, and the length direction of the second sub-arm (322) is perpendicular to the length direction of the output shaft of the third servo motor (323).
7. A vision-based shoe sole deviation rectifying method using the vision-based shoe sole deviation rectifying system according to any one of claims 1 to 6, comprising the steps of:
s1: placing the shoes to be processed in a working area of a workbench (11), acquiring sole images in the working area by an image acquisition device (12), sending the sole images to a controller, and executing S2;
s2: the controller performs image enhancement, morphological processing, filtering and image segmentation on the sole image to extract an edge contour image of the sole image, performs breakpoint filling processing and multiple edge simplification processing on the edge contour image to obtain a complete edge contour image, and executes S3;
s3: the controller establishes a coordinate system by taking the center in the working area of the workbench (11) as an original point O, the length direction in the working area of the workbench (11) as an X-axis direction and the width direction in the working area of the workbench (11) as a Y-axis direction, generates a glue spraying path to be calculated by acquiring all edge track point coordinates of a complete edge contour image, performs deviation calculation on the glue spraying path to be calculated and a pre-processing path prestored in the controller to generate a real-time processing path, and executes S4;
s4: the controller carries out discrete processing on coordinates of each point of the real-time processing path through a data processing algorithm, converts the coordinates of each point of the real-time processing path after the discrete processing into a pulse coordinate sequence of a first servo motor (214) and a pulse coordinate sequence of a second servo motor (224), and respectively sends the pulse coordinate sequence of the first servo motor (214) and the pulse coordinate sequence of the second servo motor (224) to the first servo motor (214) and the second servo motor (224) to control the movement path of the spray gun (33).
8. The vision-based shoe sole deviation rectifying method according to claim 6, wherein said S2 comprises the following steps:
s21: the controller performs gaussian filtering processing on the sole image, weakens noise, enhances contrast, and executes S22;
s22: the controller performs digital image gradient processing and non-maximum inhibition processing on the sole image, and executes S23;
s23: the controller carries out double-threshold method processing of canny algorithm on the digital image of the sole image, and extracts the edge contour image of the sole image.
9. The vision-based shoe sole deviation rectifying method according to claim 6, wherein the step S3 specifically comprises the steps of:
s31: the controller establishes a coordinate system by taking the center in the working area of the workbench (11) as an origin O, the length direction in the working area of the workbench (11) as an X-axis direction and the width direction in the working area of the workbench (11) as a Y-axis direction;
s32: searching for an edge contour point of the complete edge contour image in the form of an internal thread starting from the start point with a center within the working area of the table (11) as a start point and one corner of the working area of the table (11) as an end point, and performing S33;
s33: when an edge contour point of an edge contour image is searched, recording the coordinate of the point and judging whether the point reaches an end point, if so, executing S34, otherwise, executing S33;
s34: and finishing the search, and generating all edge track point coordinates of the complete edge contour image.
10. The vision-based shoe sole deviation rectifying method according to claim 8, wherein said S2 further comprises the steps of:
s24: and carrying out breakpoint filling processing and multiple edge simplification processing on the edge of the edge contour image of the sole image so as to obtain a single and continuous edge.
Technical Field
The invention relates to the technical field of shoemaking, in particular to a sole deviation rectifying system and method based on vision.
Background
The shoes are necessary articles for people to live, and the requirements of people on the shoes are higher and higher along with the improvement of society and the improvement of people's life, because the shoes are necessary articles for people to walk, and the shoes are required to be glued and adhered to manufacture the shoes no matter the slippers, the leather shoes or the sports shoes. In traditional shoemaking trade, the gluey process of spouting of sole all adopts manual operation to realize, though this operation is easier, but manual operation is not only with high costs, and is inefficient, and it is also inhomogeneous to spouting gluey to sole surface, extravagant glue, and the quality of product also can not remain stable yet, and consequently the sole spouts gluey automation is trendy.
Chinese patent with publication number CN205696063U discloses a rotary clamping device of sole glue sprayer, which comprises a working table plate, a side plate and a connecting rod, wherein a flange bearing is inlaid in the bottom surface of one end of the connecting rod, a shaft in the flange bearing is fixedly connected with the upper end of a pneumatic cylinder, a piston rod is inserted in the pneumatic cylinder, the end of the piston rod is connected with a first clamping piece, the bottom end of the working table plate is provided with a motor, a stand column is inserted in the middle of the working table plate, the bottom shaft of the stand column is connected with the motor, and a second clamping piece is fixed at the upper end of the stand. When the edge of the sole is coated with glue, the sole is placed on the second clamping piece, gas is filled into the pneumatic cylinder, the piston rod is pushed to move by the aid of gas pressure in the pneumatic cylinder, the piston rod drives the first clamping piece to move downwards until the sole on the second clamping piece is squeezed, the motor is started, the motor drives the stand column to rotate, the first clamping piece and the second clamping piece can rotate together under the action of the flange bearing, after the coating is completed, the gas in the pneumatic cylinder is discharged, the piston rod contracts upwards to drive the first clamping piece to move upwards, and a worker takes the sole down to enter next program to paste.
Disclosure of Invention
The invention aims to provide a sole deviation rectifying system and method based on vision, which have the advantage of improving the glue spraying quality of soles.
In order to achieve the purpose, the technical scheme adopted by the invention is that the sole deviation rectifying system based on vision comprises a rack, a workbench, a glue spraying piece and a moving arm arranged on the rack, wherein the workbench is arranged on the rack, the moving arm is positioned right above the workbench and comprises an X-axis sub-arm and a Y-axis sub-arm, the X-axis sub-arm is used for driving the glue spraying piece to move along the X-axis direction, and the Y-axis sub-arm is used for driving the glue spraying piece to move along the Y-axis direction;
the frame is provided with image acquisition device and controller, image acquisition device with controller electric connection, image acquisition device is used for gathering the image on the workstation, the controller is used for receiving the image that image acquisition device gathered, acquires the marginal figure of waiting to process the sole according to the image of gathering, generates the gluey route of spouting gluey piece to control X axle sub-arm and Y axle sub-arm drive spout gluey piece and remove.
Through adopting above-mentioned technical scheme, before spouting gluey, operating personnel will wait to process shoes and place in the workspace of workstation for the sole of shoes is just to removing the arm. The image acquisition device acquires a sole image in a working area of the workbench, and the sole image contains an image of the complete working area of the workbench. The controller receives the sole image acquired by the image acquisition device, extracts the edge contour image of the sole image, generates all edge track point coordinates of the edge contour image, generates a glue spraying path of the glue spraying piece, drives the glue spraying piece to spray glue on the sole along the glue spraying path through the X-axis sub-arm and the Y-axis sub-arm, and accordingly achieves the effect of improving the glue spraying quality of the sole.
Preferably, the X-axis sub-arm includes an X-axis support frame, a first reciprocating screw rod and a first internal thread sleeve, the X-axis support frame is fixedly disposed on the machine frame, a first chute is disposed on a side wall of the X-axis support frame, the first reciprocating screw rod is rotatably disposed in the first chute, the first internal thread sleeve is in threaded sleeve connection with the first reciprocating screw rod, a side wall of the first internal thread sleeve is abutted against the first chute, the X-axis support frame is further provided with a first servo motor, an output shaft of the first servo motor is coaxially connected with one end of the first reciprocating screw rod, the controller is electrically connected with the first servo motor, a first limit rod is fixedly disposed on the X-axis support frame, a length direction of the first limit rod is consistent with a length direction of the first reciprocating screw rod, and the first limit sleeve is in sliding sleeve connection with the first limit rod, the first limiting sleeve is fixedly connected with the first internal thread sleeve.
By adopting the technical scheme, the controller generates the pulse sequence to control the first servo motor. When the output shaft of the first servo motor rotates, the output shaft drives the first reciprocating screw to rotate, the first chute limits the first internal thread sleeve to rotate along with the first reciprocating screw, so that the first internal thread sleeve moves on the first reciprocating screw along the length direction of the first reciprocating screw under the rotation of the first reciprocating screw, and the effect of driving the glue spraying piece to move along the X-axis direction is achieved.
Preferably, the Y-axis sub-arm includes a Y-axis support frame, a second reciprocating lead screw and a second internal thread sleeve, the Y-axis support frame is slidably disposed on the frame, one side of the Y-axis support frame is fixedly connected to the first internal thread sleeve, a second chute is disposed on a side wall of the Y-axis support frame, the second reciprocating lead screw is rotatably disposed in the second chute, a length direction of the second reciprocating lead screw is perpendicular to a length direction of the first reciprocating lead screw, the second internal thread sleeve is in threaded sleeve connection with the second reciprocating lead screw, a side wall of the second internal thread sleeve abuts against the second chute, the Y-axis support frame is further provided with a second servo motor, an output shaft of the second servo motor is coaxially connected to one end of the second reciprocating lead screw, the controller is electrically connected to the second servo motor, and the Y-axis support frame is fixedly provided with a second limit rod, the length direction of the second limiting rod is consistent with that of the second reciprocating screw rod, a second limiting sleeve is sleeved on the second limiting rod in a sliding mode, and the second limiting sleeve is fixedly connected with a second internal thread sleeve.
By adopting the technical scheme, the controller generates the pulse sequence to control the second servo motor. When the output shaft of the second servo motor rotates, the second reciprocating screw rod is driven to rotate, the second sliding groove limits the second internal thread sleeve to rotate along with the second reciprocating screw rod, so that the second internal thread sleeve moves on the second reciprocating screw rod along the length direction of the second reciprocating screw rod under the rotation of the second reciprocating screw rod, and the effect of driving the glue spraying piece to move along the Y-axis direction is achieved.
Preferably, the two sides of the rack are both provided with slide rails, the length direction of the slide rails is parallel to the length direction of the first reciprocating screw rod, the two slide rails are respectively close to the two ends of the second reciprocating screw rod, the two ends of the Y-axis support frame are both provided with slide blocks, and the two slide blocks respectively slide in the two slide rails.
Through adopting above-mentioned technical scheme, the in-process that first internal thread sleeve removed on first reciprocating screw, the both ends of Y axle strut slide in two slide rails to reach the effect that improves the stability of spouting the piece of gluing at the removal in-process.
Preferably, it glues case, support arm and spray gun to spout the glue part including storing up, it is fixed to set up to store up to glue the case in the frame, support arm and second internal thread sleeve fixed connection, the spray gun is fixed to be set up on the support arm, it wears to be equipped with the siphunculus on the glue storage case, the spray gun passes through the siphunculus and stores up gluey case turn-on connection.
By adopting the technical scheme, the spray gun drives the spray gun to move by moving the arm, and the spray gun sprays the glue in the glue storage box onto the sole to finish the glue spraying work of the sole.
Preferably, the support arm includes a first sub-arm and a second sub-arm, the first sub-arm is fixedly connected to one side of the second internal thread sleeve, a third servo motor is fixedly arranged at the other end of the first sub-arm, an output shaft of the third servo motor is fixedly connected to the second sub-arm, the third servo motor is electrically connected to the controller, and the length direction of the second sub-arm is perpendicular to the length direction of the output shaft of the third servo motor.
Through adopting above-mentioned technical scheme for the spray gun spout gluey angularly adjustable to the sole, thereby reach the effect that improves and spout gluey quality.
Preferably, the sole rectification method based on vision comprises the following steps:
s1: placing the shoes to be processed in a working area of a workbench, acquiring sole images in the working area by an image acquisition device, sending the sole images to a controller, and executing S2;
s2: the controller performs image enhancement, morphological processing, filtering and image segmentation on the sole image to extract an edge contour image of the sole image, performs breakpoint filling processing and multiple edge simplification processing on the edge contour image to obtain a complete edge contour image, and executes S3;
s3: the controller establishes a coordinate system by taking the center in the working area of the workbench as an original point O, the length direction in the working area of the workbench as an X-axis direction and the width direction in the working area of the workbench as a Y-axis direction, generates a glue spraying path to be calculated by acquiring all edge track point coordinates of a complete edge contour image, performs deviation calculation on the glue spraying path to be calculated and a pre-processing path prestored in the controller to generate a real-time processing path, and executes S4;
s4: the controller carries out discrete processing on the coordinates of each point of the real-time processing path through a data processing algorithm, converts the coordinates of each point of the real-time processing path after the discrete processing into a pulse coordinate sequence of the first servo motor and a pulse coordinate sequence of the second servo motor, and respectively sends the pulse coordinate sequence of the first servo motor and the pulse coordinate sequence of the second servo motor to the first servo motor and the second servo motor to control the movement path of the spray gun.
Preferably, the S2 includes the following steps:
s21: the controller performs gaussian filtering processing on the sole image, weakens noise, enhances contrast, and executes S22;
s22: the controller performs digital image gradient processing and non-maximum inhibition processing on the sole image, and executes S23;
s23: the controller carries out double-threshold method processing of canny algorithm on the digital image of the sole image, and extracts the edge contour image of the sole image.
Preferably, the S3 specifically includes the following steps:
s31: the controller establishes a coordinate system by taking the center in the working area of the workbench as an original point O, the length direction in the working area of the workbench as an X-axis direction and the width direction in the working area of the workbench as a Y-axis direction;
s32: taking the center in the working area of the workbench as a starting point, taking one corner of the working area of the workbench as an end point, searching for an edge contour point of the complete edge contour image in a thread form from the starting point, and executing S33;
s33: when an edge contour point of an edge contour image is searched, recording the coordinate of the point and judging whether the point reaches an end point, if so, executing S34, otherwise, executing S33;
s34: and finishing the search, and generating all edge track point coordinates of the complete edge contour image.
Preferably, S2 further includes the following steps:
s24: and carrying out breakpoint filling processing and multiple edge simplification processing on the edge of the edge contour image of the sole image so as to obtain a single and continuous edge.
In conclusion, the beneficial effects of the invention are as follows:
1. according to the placement position of the shoes to be processed, the glue spraying path is automatically generated, and the glue spraying quality of the soles is improved;
2. the support arm comprises a first sub-arm and a second sub-arm, the first sub-arm is fixedly connected with one side of a second limiting sleeve, a third servo motor is fixedly arranged at the other end of the first sub-arm, an output shaft of the third servo motor is fixedly connected with the second sub-arm, and the third servo motor is electrically connected with the controller, so that the angle of a spray gun for spraying glue to a sole is adjustable, and the support arm has the advantage of improving the glue spraying quality;
3. according to the invention, an operator only needs to place shoes in the working area of the workbench, the shoes do not need to be placed according to the calibration positions, the shoes can be placed at will, the characteristics of the soles are obtained by photographing through the vision system, a new glue spraying path is generated, and the shoe spraying device has the advantage of being convenient for the operator to place the shoes.
Drawings
FIG. 1 is a schematic structural view of a vision-based sole deviation rectification system of the present invention;
FIG. 2 is an enlarged view of a portion A of FIG. 1;
FIG. 3 is a schematic structural view of a vision-based shoe sole deviation rectifying system of the present invention for showing X-axis sub-arms;
FIG. 4 is a partially enlarged schematic view of a portion of FIG. 3;
FIG. 5 is a schematic structural view of a vision-based shoe sole deviation rectifying system of the present invention for showing Y-axis sub-arms;
FIG. 6 is a schematic view of the steps of a vision-based shoe sole deviation rectifying method of the present invention;
FIG. 7 is a schematic view of the step S3 of the vision-based shoe sole deviation rectifying method of the present invention;
fig. 8 is a schematic diagram of an edge contour point of a complete edge contour image searched in an internal thread form for demonstrating S3 according to the vision-based shoe sole deviation correction method of the present invention.
In the figure, 1, a frame; 11. a work table; 12. an image acquisition device; 13. a slide rail; 2. moving the arm; 21. an X-axis sub-arm; 211. an X-axis support frame; 212. a first reciprocating screw; 213. a first internally threaded sleeve; 214. a first servo motor; 22. a Y-axis sub-arm; 221. a Y-axis support; 2211. a slider; 222. a second reciprocating screw; 223. a second internally threaded sleeve; 224. a second servo motor; 3. spraying a glue piece; 31. a glue storage box; 32. a support arm; 321. a first sub-arm; 322. a second sub-arm; 323. a third servo motor; 33. a spray gun.
Detailed Description
The technical solutions in the embodiments of the present invention are clearly and completely described below with reference to fig. 1 to 8 of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1 and 2, a sole rectification system based on vision comprises a
Refer to 2, spout
Before glue spraying, an operator places shoes to be processed in a working area of the
Referring to fig. 3 and 4, the moving arm 2 is located right above the
Referring to fig. 5, the Y-
The controller generates a pulse train to control the
Referring to fig. 6, a sole deviation rectifying method based on vision includes the following steps:
s1: placing the shoes to be processed in the working area of the
s2: the controller performs image enhancement, morphological processing, filtering and image segmentation on the sole image to extract an edge contour image of the sole image, performs breakpoint filling processing and multiple edge simplification processing on the edge contour image to obtain a complete edge contour image, and executes S3;
s3: the controller establishes a coordinate system by taking the center in the working area of the
in the embodiment, a preprocessing path prestored in the controller is generated by a teaching method by adopting a teaching handle;
s4: the controller performs discrete processing on the coordinates of each point of the real-time processing path through a data processing algorithm, converts the coordinates of each point of the real-time processing path after the discrete processing into a pulse coordinate sequence of the
S2 includes the steps of:
s21: the controller performs gaussian filtering processing on the sole image, weakens noise, enhances contrast, and executes S22;
s22: the controller performs digital image gradient processing and non-maximum inhibition processing on the sole image, and executes S23;
s23: the controller carries out double-threshold method processing of canny algorithm on the digital image of the sole image, extracts the edge contour image of the sole image and executes S24;
s24: and carrying out breakpoint filling processing and multiple edge simplification processing on the edge of the edge contour image of the sole image so as to obtain a single and continuous edge.
In this embodiment, the dual-threshold method of the canny algorithm has two parameter values, one is larger and the other is smaller, and the two parameter values are the dual thresholds of the canny algorithm, respectively, the larger parameter value is called a high threshold, and the smaller parameter value is called a low threshold. In the obtained gray map of the edge candidate points, the pixel points with the gray values higher than the high threshold are marked as strong edges, the pixel points with the gray values lower than the low threshold are set to be zero, and the pixel points with the gray values between the high threshold and the low threshold are marked as weak edges. According to the optimal edge principle of the canny algorithm, the final edge points comprise all pixel points marked as strong edges and pixel points marked as weak edges and communicated with the strong edges, the pixel points are considered to form the edges of the sole image, and the images of the edges of the sole image are obtained after the points are extracted. The multiple edge singulation process of S24 utilizes a morphological algorithm to perform recursive erosion on the binary image of the edge profile image of the sole image and the standard erosion template to remove the redundant information of the edge, thereby preventing the generation of multiple glue-spraying paths. The breakpoint filling processing specifically comprises: the method comprises the steps of firstly searching the positions of breakpoints, then pairing the breakpoints which are most likely to have connection relations according to the minimum spacing principle, and finally connecting the successfully paired breakpoints for repairing lost edges, wherein the breakpoints which are most likely to have connection relations refer to the breakpoints which are the shortest in distance. The breakpoint filling processing process mainly comprises three steps: firstly, the positions of breakpoints are searched, secondly, the breakpoints which are most likely to generate connection relations are paired according to the minimum distance principle, and thirdly, the breakpoints which are successfully paired are connected. Continuous and single edge images can be obtained through multiple times of multiple edge simplification processing and multiple times of breakpoint filling processing.
Referring to fig. 7 and 8, S3 specifically includes the following steps:
s31: the controller establishes a coordinate system with the center in the working area of the
s32: starting from the center in the working area of the table 11 as a starting point, starting from a corner of the working area of the table 11 as an end point B, searching for an edge contour point of the complete edge contour image in the form of an internal thread, and performing S33;
s33: when an edge contour point of an edge contour image is searched, recording the coordinates of the point, and executing S34;
s34: judging whether the terminal B is reached, if so, executing S36, otherwise, executing S35;
s35: searching the next edge contour point, and executing S33;
s36: and finishing the search, and generating all edge track point coordinates of the complete edge contour image.
In this embodiment, the midpoint of the
The implementation principle of the invention is as follows: before glue spraying, an operator places shoes to be processed in a working area of the
In the description of the present invention, it is to be understood that the terms "counterclockwise", "clockwise", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations or positional relationships based on those shown in the drawings, and are used for convenience of description only, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be considered as limiting.
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