CN114683282A - Glue spraying track generation method, device and equipment of shoe making robot - Google Patents

Glue spraying track generation method, device and equipment of shoe making robot Download PDF

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CN114683282A
CN114683282A CN202210289273.7A CN202210289273A CN114683282A CN 114683282 A CN114683282 A CN 114683282A CN 202210289273 A CN202210289273 A CN 202210289273A CN 114683282 A CN114683282 A CN 114683282A
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point
point set
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glue spraying
plane
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CN114683282B (en
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郭会文
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Dongguan Zhirui Intelligent Technology Co ltd
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Dongguan Zhirui Machinery Technology Co ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • A—HUMAN NECESSITIES
    • A43—FOOTWEAR
    • A43D—MACHINES, TOOLS, EQUIPMENT OR METHODS FOR MANUFACTURING OR REPAIRING FOOTWEAR
    • A43D25/00—Devices for gluing shoe parts
    • A43D25/18—Devices for applying adhesives to shoe parts
    • A43D25/183—Devices for applying adhesives to shoe parts by nozzles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/0075—Manipulators for painting or coating
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning

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  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)

Abstract

The invention discloses a glue spraying track generation method, a glue spraying track generation device and glue spraying track generation equipment for a shoemaking robot, wherein the method comprises the steps of obtaining a first point set for constructing a vamp reference boundary line and a second point set for constructing a vamp reference line; calculating the initial posture of each point in the first point set according to the three-dimensional coordinates of each point in the first point set and the second point set; considering errors of point position acquisition, performing combined adjustment on initial postures of a plurality of points in the first point set, and calculating integral posture loss; and calculating a group of postures with the minimum overall posture loss based on an optimization algorithm, and outputting the group of postures as final postures to generate a glue spraying track of the shoe making robot. The glue spraying track of the shoemaking robot obtained by the invention is suitable for automatic glue spraying operation of soles and vamps in the shoemaking process, and the production efficiency of shoes is improved.

Description

Glue spraying track generation method, device and equipment of shoe making robot
Technical Field
The invention belongs to the technical field of shoemaking, and particularly relates to a glue spraying track generation method, a glue spraying track generation device and glue spraying track generation equipment for a shoemaking robot.
Background
In the shoe making industry, the shoe making process can be roughly divided into a cutting needle sewing section, a forming section and a packaging section. Wherein, the cutting needle sewing section is mainly responsible for respectively manufacturing the vamp and the sole, namely, various fabrics are cut, the vamp is sewn by adopting a needle sewing machine, and the sole is manufactured by injection molding or other processes; the forming section is mainly used for jointing the sole and the vamp by processes of roughening, spraying a treating agent, spraying glue and the like; the packaging section is mainly responsible for quality inspection of finished products of the manufactured shoes and packaging the finished products into boxes.
In the forming section, the sole and vamp gluing process is one of the key processes with the largest labor and time consumption in the shoe making process. The process determines the bonding fastness of the vamp and the sole and reflects the quality of the shoe. The traditional glue spraying process adopts manual operation or manual semi-automatic operation, specifically, the sole and the vamp are pressed together manually, and a circle of line is drawn on the vamp along the edge of the sole by using a fluorescent pen to serve as a reference boundary line for vamp treatment. When the vamp is subsequently roughened, the treating agent is brushed and the glue is brushed, the purple lamp is used for illuminating the vamp, the vamp reference boundary line is observed manually, and the relevant processes of the vamp are carried out along the reference boundary line, so that the whole process is very low in efficiency and poor in accuracy, and toxic gas volatilized by the adhesive seriously threatens the body health of an operator.
Disclosure of Invention
The invention aims to provide a glue spraying track generation method, a glue spraying track generation device and glue spraying track generation equipment of a shoe making robot, which are used for solving at least one technical problem in the prior art.
In order to achieve the purpose, the invention adopts the following technical scheme:
in a first aspect, the present invention provides a glue spraying track generation method for a shoe making robot, including:
acquiring a first point set used for constructing an upper reference boundary line and a second point set used for constructing an upper reference line, wherein the upper reference boundary line is an annular line used for marking the attaching position of a sole and an upper, and the upper reference line is an annular line which is spaced from the upper reference boundary line by a certain distance;
calculating the initial posture of each point in the first point set according to the three-dimensional coordinates of each point in the first point set and the second point set;
considering errors of point location acquisition, performing joint adjustment on initial postures of a plurality of points in the first point set, and calculating overall posture loss;
and calculating a group of postures with the minimum overall posture loss based on an optimization algorithm, and outputting the group of postures as final postures to generate a glue spraying track of the shoe making robot.
In one possible design, obtaining a first set of points for constructing an upper reference boundary line and a second set of points for constructing an upper reference line includes:
tightly attaching the sole to the vamp, and arranging a solid vamp reference boundary line on the vamp along the upper edge of the sole;
a plurality of spacing lines with the consistent vertex heights are arranged on the reference boundary line of the solid vamp at equal intervals;
acquiring intersection points of each interval line and the entity vamp reference boundary line one by using point position acquisition equipment, wherein a set of three-dimensional coordinates of a plurality of intersection points forms a first point set for constructing the vamp reference boundary line;
and acquiring the vertex three-dimensional coordinates of each interval line one by using point position acquisition equipment, wherein a second point set for constructing the vamp reference line is formed by a set of the three-dimensional coordinates of a plurality of vertexes.
In one possible design, the point location acquisition device includes a three-dimensional digitizer.
In one possible design, calculating an initial pose of each point in the first set of points according to three-dimensional coordinates of each point in the first set of points and the second set of points includes:
suppose n is0And (n +1)0Respectively, the nth point and the n +1 th point in the first point set, and assuming that n iscIs the nth point in the second point set, wherein ncAnd n0Points extracted from the same interval line;
construction of n0、(n+1)0And ncFitting an equation on the plane of the plane, and solving to obtain a normal vector of the plane;
according to the plane normal vector, n0And (n +1)0Is calculated to obtain n0The initial pose of (a).
In one possible design, n is constructed0、(n+1)0And ncFitting an equation to the plane of the plane, and solving to obtain a normal vector of the plane, wherein the normal vector comprises the following steps:
construction of n0、(n+1)0And ncA plane fitting equation of the plane, wherein the expression of the plane fitting equation is as follows:
Ax+By+Cz+D＝0； (1)
wherein A, B, C and D are unknown parameters;
according to n0、(n+1)0And ncCalculating to obtain unknown parameters of the plane fitting equation according to respective three-dimensional coordinates, wherein the calculation formula is as follows:
A＝(y3-y1)×(z3-z1)-(z2-z1)×(y3-y1)； (2)
B＝(x3-x1)×(z2-z1)-(x2-x1)×(z3-z1)； (3)
C＝(x2-x1)×(y3-y1)-(x3-x1)×(y2-y1)； (4)
D＝-(A×x1+B×y1+C×z1)； (5)
wherein (x1, y1, z1), (x2, y2, z2) and (x3, y3, z3) each represent n0、(n+1)0And ncAnd (A, B, C) represents a plane normal vector.
In one possible design, n is based on a plane normal vector0And (n +1)0Is calculated to obtain n0Comprises:
from the plane normal vectors (A, B, C), n is calculated respectively0The X-axis rotation amount component Rx and the Y-axis rotation amount component Ry of the initial posture of (a), the calculation formula is as follows:
Figure BDA0003559503780000041
Figure BDA0003559503780000042
according to n0Three-dimensional coordinate sum of (n +1)0Three-dimensional coordinates of (c), calculating n0The Z-axis rotation amount component Rz of the initial posture of (2) is calculated as follows：
Figure BDA0003559503780000043
In one possible design, the overall attitude loss is calculated, including:
calculating the sum of the deviation of the adjusted attitude of each point in the first point set compared with the initial attitude to obtain the attitude deviation loss e1The calculation formula is as follows:
Figure BDA0003559503780000044
wherein,
Figure BDA0003559503780000045
and
Figure BDA0003559503780000046
respectively representing an X-axis rotation amount component, a Y-axis rotation amount component and a Z-axis rotation amount component of the initial posture of the ith point in the first point set;
calculating the sum of the similarity between each point in the first point set and a plurality of points adjacent to the point to obtain the attitude smoothness loss e2The calculation formula is as follows:
Figure BDA0003559503780000047
according to the attitude deviation loss e1And the loss of attitude smoothness e2And calculating to obtain the overall loss e, wherein the calculation formula is as follows:
e＝e1+e2。 (11)
in one possible design, the optimization algorithm includes a newton gradient descent method, a conjugate gradient descent method, or a simulated annealing method.
In a second aspect, the present invention provides a glue spraying trajectory generating device for a shoe making robot, comprising:
the device comprises a point set acquisition module, a first point set and a second point set, wherein the first point set is used for constructing an upper reference boundary line, the second point set is used for constructing an upper reference boundary line, the upper reference boundary line is an annular line used for marking the attaching position of a sole and an upper, and the upper reference line is an annular line which is spaced from the upper reference boundary line by a certain distance;
the initial posture calculation module is used for calculating the initial posture of each point in the first point set according to the three-dimensional coordinates of each point in the first point set and the second point set;
the attitude loss calculation module is used for considering errors of point position acquisition, performing combined adjustment on initial attitudes of a plurality of points in the first point set, and calculating overall attitude loss;
and the glue spraying track generating module is used for calculating a group of postures with the minimum overall posture loss based on an optimization algorithm, outputting the group of postures as a final posture and generating a glue spraying track of the shoe making robot.
In one possible design, when acquiring a first set of points for constructing an upper reference boundary line and a second set of points for constructing an upper reference line, the point set acquisition module is specifically configured to:
tightly attaching the sole to the vamp, and arranging a solid vamp reference boundary line on the vamp along the upper edge of the sole;
a plurality of spacing lines with the consistent vertex heights are arranged on the reference boundary line of the solid vamp at equal intervals;
acquiring intersection points of each interval line and the entity vamp reference boundary line one by using point position acquisition equipment, wherein a set of three-dimensional coordinates of a plurality of intersection points forms a first point set for constructing the vamp reference boundary line;
and acquiring the vertex three-dimensional coordinates of each interval line one by using point position acquisition equipment, wherein a second point set for constructing the vamp reference line is formed by a set of the three-dimensional coordinates of a plurality of vertexes.
In one possible design, the point location acquisition device includes a three-dimensional digitizer.
In a possible design, when the initial pose of each point in the first point set is calculated according to the three-dimensional coordinates of each point in the first point set and the second point set, the initial pose calculation module is specifically configured to:
suppose n is0And (n +1)0Respectively, the nth point and the n +1 th point in the first point set, and assuming that n iscIs the nth point in the second point set, wherein ncAnd n0Points extracted from the same interval line;
construction of n0、(n+1)0And ncFitting an equation to the plane of the plane, and solving to obtain a plane normal vector;
according to the plane normal vector, n0And (n +1)0Is calculated to obtain n0The initial pose of (a).
In one possible design, n is constructed0、(n+1)0And ncWhen the plane of the plane is fitted with an equation and a normal vector of the plane is obtained by solving, the initial attitude calculation module is specifically configured to:
construction of n0、(n+1)0And ncA plane fitting equation of the plane, wherein the expression of the plane fitting equation is as follows:
Ax+By+Cz+D＝0； (1)
wherein A, B, C and D are unknown parameters;
according to n0、(n+1)0And ncCalculating to obtain unknown parameters of the plane fitting equation according to respective three-dimensional coordinates, wherein the calculation formula is as follows:
A＝(y3-y1)×(z3-z1)-(z2-z1)×(y3-y1)； (2)
B＝(x3-x1)×(z2-z1)-(x2-x1)×(z3-z1)； (3)
C＝(x2-x1)×(y3-y1)-(x3-x1)×(y2-y1)； (4)
D＝-(A×x1+B×y1+C×z1)； (5)
wherein (x1, y1, z1), (x2, y2, z2) and (x3, y3, z3) each represent n0、(n+1)0And ncAnd (A, B, C) represents a plane normal vector.
In one possible design, n is calculated according to a plane normal vector0And (n +1)0Is calculated to obtain n0The initial pose calculation module is specifically configured to:
from the plane normal vectors (A, B, C), n is calculated respectively0The X-axis rotation amount component Rx and the Y-axis rotation amount component Ry of the initial posture of (a), the calculation formula is as follows:
Figure BDA0003559503780000061
Figure BDA0003559503780000071
according to n0Three-dimensional coordinate sum (n +1)0Three-dimensional coordinates of (c), calculating n0The Z-axis rotation amount component Rz of the initial posture of (2), the calculation formula is as follows:
Figure BDA0003559503780000072
in one possible design, when calculating the overall attitude loss, the attitude loss calculation module is specifically configured to:
calculating the sum of the deviation of the adjusted attitude of each point in the first point set compared with the initial attitude to obtain the attitude deviation loss e1The calculation formula is as follows:
Figure BDA0003559503780000073
wherein,
Figure BDA0003559503780000074
and
Figure BDA0003559503780000075
respectively representing the ith point initial in the first point setAn X-axis rotation amount component, a Y-axis rotation amount component, and a Z-axis rotation amount component of the attitude;
calculating the sum of the similarity between each point in the first point set and a plurality of points adjacent to the point to obtain the attitude smoothness loss e2The calculation formula is as follows:
Figure BDA0003559503780000076
according to the attitude deviation loss e1And the attitude smoothness loss e2And calculating to obtain the overall loss e, wherein the calculation formula is as follows:
e＝e1+e2。 (11)
in one possible design, the optimization algorithm includes a newton gradient descent method, a conjugate gradient descent method, or a simulated annealing method.
In a third aspect, the present invention provides a computer device, comprising a memory, a processor and a transceiver, which are sequentially connected in communication, wherein the memory is used for storing a computer program, the transceiver is used for receiving and sending messages, and the processor is used for reading the computer program and executing the glue spraying track generation method of the shoe making robot as set forth in any one of the possible designs of the first aspect.
In a fourth aspect, the present invention provides a computer-readable storage medium having instructions stored thereon, where the instructions, when executed on a computer, perform the glue spraying trajectory generation method for a shoe-making robot as set forth in any one of the possible designs of the first aspect.
In a fifth aspect, the present invention provides a computer program product comprising instructions which, when run on a computer, cause the computer to perform a method of generating a glue dispensing trajectory for a shoemaking robot as set forth in any one of the possible designs of the first aspect.
Has the advantages that:
according to the method, a first point set used for constructing a vamp reference boundary line and a second point set used for constructing a vamp reference line are obtained, the initial posture of each point in the first point set is calculated according to the three-dimensional coordinates of each point in the first point set and the three-dimensional coordinates of each point in the second point set, then the initial postures of a plurality of points in the first point set are jointly adjusted by considering the error of point position acquisition, the overall posture loss is calculated, finally a group of postures with the minimum overall posture loss are calculated based on an optimization algorithm, and the group of postures are output as the final postures, so that the glue spraying track of the shoe making robot is generated. This application is based on the point location data of accurate collection vamp benchmark boundary line to adjust and calculate the gesture loss to the error of point location data, obtain a set of gesture that whole gesture loss is minimum based on optimization algorithm at last, and as shoemaking robot spout gluey orbit, applicable sole vamp in shoemaking process is automatic spouts gluey operation, has improved shoes utensil production efficiency.
Drawings
Fig. 1 is a flowchart of a glue spraying trajectory generation method of the shoe making robot in this embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present disclosure more clear, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the drawings in the embodiments of the present disclosure, and it is obvious that the described embodiments are some, but not all embodiments of the present disclosure. All other embodiments, which can be obtained by a person skilled in the art without making any inventive step on the basis of the embodiments in the present description, shall fall within the scope of protection of the present invention.
Examples
In order to solve the technical problems that the efficiency of the whole glue spraying process is very low and the accuracy is poor in the prior art, and toxic gas volatilized by an adhesive seriously threatens the body health of an operator, the embodiment of the application provides a glue spraying track generation method of a shoemaking robot.
As shown in fig. 1, in a first aspect, the present embodiment provides a glue spraying track generation method for a shoe making robot, including but not limited to steps S101 to S104:
s101, obtaining a first point set used for constructing an upper reference boundary line and a second point set used for constructing an upper reference line, wherein the upper reference boundary line is an annular line used for marking the attaching position of a sole and an upper, and the upper reference line is an annular line which is spaced from the upper reference boundary line by a certain distance;
in a specific embodiment of step S101, obtaining a first set of points for constructing an upper reference boundary line and a second set of points for constructing an upper reference line includes:
s1011, tightly attaching the sole to the vamp, and arranging an entity vamp reference boundary line on the vamp along the upper edge of the sole;
for example, on a shoe upper which is lasted, a high-temperature invisible pen is used to make a sole adhere to the shoe upper and draw a solid shoe upper reference boundary line on the shoe upper along the upper edge of the shoe upper, wherein the high-temperature invisible pen can be operated manually or by a mechanical arm, and is not limited herein.
S1012, equidistantly arranging a plurality of spacing lines with the consistent vertex heights on the entity vamp reference boundary line;
preferably, a spacing line is arranged on the solid vamp reference boundary line at intervals of 1cm, so that discrete data points can be obtained by collecting the intersection point of each spacing line and the solid vamp reference boundary line, and the reconstruction of the vamp reference boundary line is realized. Of course, it is understood that the distance between the first and second electrodes is not limited to 1cm, but may be 0.8cm, 0.9cm, 1.1cm, and the like, and is not limited herein.
Preferably, the length of each spacing line may be 1cm, and the height of the vertex of each spacing line is consistent with the reference boundary line of the solid upper, although it is understood that the length of the spacing line in this embodiment may also be 0.8cm, 0.9cm, 1.1cm, and the like, which is not limited herein.
S1013, acquiring intersection points of each interval line and the entity vamp reference boundary line one by using point position acquisition equipment, wherein a first point set for constructing the vamp reference boundary line is formed by a set of three-dimensional coordinates of a plurality of intersection points;
preferably, the point location acquiring device may be a three-dimensional digitizer, and the three-dimensional coordinates of a certain intersection point may be acquired by pointing the tip of the three-dimensional digitizer to the intersection point.
And S1014, acquiring the vertex three-dimensional coordinates of each interval line one by using point position acquisition equipment, wherein a second point set for constructing the vamp reference line is formed by a set of the three-dimensional coordinates of a plurality of vertexes.
Preferably, the point location acquiring device includes a three-dimensional digitizer, and the three-dimensional coordinates of the vertex of a certain interval line can be acquired by pointing the tip of the three-dimensional digitizer to the vertex.
S102, calculating the initial posture of each point in the first point set according to the three-dimensional coordinates of each point in the first point set and the second point set;
in a specific implementation manner of step S102, calculating an initial pose of each point in the first point set according to three-dimensional coordinates of each point in the first point set and the second point set, includes:
step S1021, suppose n0And (n +1)0Respectively, the nth point and the (n +1) th point in the first point set, and assume that n iscIs the nth point in the second point set, wherein ncAnd n0Points extracted from the same interval line;
step S1022. construction of n0、(n+1)0And ncFitting an equation on the plane of the plane, and solving to obtain a normal vector of the plane;
in particular, with n0、(n+1)0And ncThe direction of the plane is the normal direction of the vamp facing outwards, the normal direction is taken as the Z axis, and n is used0As a starting point, (n +1)0Is terminalAnd the connecting line is used as an X axis, staring at the X axis according to the right hand, and the Y axis direction is also uniquely determined, so that the subsequent initial posture can be calculated based on the constructed three-dimensional coordinate system.
In a specific embodiment of step S1022, constructing a plane fitting equation of the planes where n0, (n +1)0 and nc are located, and solving to obtain a plane normal vector, including:
constructing a plane fitting equation of the planes of n0, (n +1)0 and nc, wherein the expression of the plane fitting equation is as follows:
Ax+By+Cz+D＝0； (1)
wherein A, B, C and D are unknown parameters;
according to the respective three-dimensional coordinates of n0, (n +1)0 and nc, calculating to obtain unknown parameters of the plane fitting equation, wherein the calculation formula is as follows:
A＝(y3-y1)×(z3-z1)-(z2-z1)×(y3-y1)； (2)
B＝(x3-x1)×(z2-z1)-(x2-x1)×(z3-z1)； (3)
C＝(x2-x1)×(y3-y1)-(x3-x1)×(y2-y1)； (4)
D＝-(A×x1+B×y1+C×z1)； (5)
wherein, (x1, y1, z1), (x2, y2, z2) and (x3, y3, z3) represent three-dimensional coordinates of n0, (n +1)0 and nc, respectively, and (A, B, C) represents a plane normal vector.
Step S1023, n is calculated according to the plane normal vector0And (n +1)0Is calculated to obtain n0The initial pose of (a).
In a specific embodiment of step S1023, n is calculated according to the normal vector of the plane0And (n +1)0Is calculated to obtain n0Comprises:
from the plane normal vectors (A, B, C), n is calculated respectively0The X-axis rotation amount component Rx and the Y-axis rotation amount component Ry of the initial posture of (a), the calculation formula is as follows:
Figure BDA0003559503780000121
Figure BDA0003559503780000122
according to n0Three-dimensional coordinate sum of (n +1)0Three-dimensional coordinates of (c), calculating n0The Z-axis rotation amount component Rz of the initial posture of (2), the calculation formula is as follows:
Figure BDA0003559503780000123
s103, considering errors of point position acquisition, performing combined adjustment on initial postures of a plurality of points in the first point set, and calculating overall posture loss;
because there is an error in acquiring the point location, and considering that the boundary of the upper has a certain smoothness, in a specific implementation manner of step S103, calculating the overall attitude loss includes:
step S1031, calculating the sum of deviation amounts of the adjusted postures of the first point set and the initial postures of the first point set to obtain a posture deviation loss e1The calculation formula is as follows:
Figure BDA0003559503780000124
wherein,
Figure BDA0003559503780000125
and
Figure BDA0003559503780000126
respectively representing an X-axis rotation amount component, a Y-axis rotation amount component and a Z-axis rotation amount component of the initial posture of the ith point in the first point set;
step S1032, calculating the sum of the similarity between each point in the first point set and a plurality of points adjacent to the point to obtain the gesture smoothness loss e2The calculation formula is as follows:
Figure BDA0003559503780000131
step S1033, according to the attitude deviation loss e1And the loss of attitude smoothness e2And calculating to obtain the overall loss e, wherein the calculation formula is as follows:
e＝e1+e2。 (11)
and S104, calculating a group of postures with the minimum overall posture loss based on an optimization algorithm, and outputting the group of postures as a final posture to generate a glue spraying track of the shoe making robot.
In a specific embodiment of step S104, the optimization algorithm includes a newton gradient descent method, a conjugate gradient descent method, or a simulated annealing method. It should be noted that the optimization algorithm in the present application uses an existing algorithm model, and a specific algorithm principle thereof is not described herein again.
The glue spraying track is a group of six-dimensional pose track sequences comprising three-dimensional coordinates and postures, and the shoe making robot can perform automatic glue spraying operation according to the group of position pose track sequences by inputting the group of position pose track sequences into the shoe making robot; preferably, the shoemaking robot in this embodiment is a six-axis robot.
Based on the above disclosure, in this embodiment, a first point set for constructing an upper reference line and a second point set for constructing an upper reference line are obtained, then, an initial pose of each point in the first point set is calculated according to three-dimensional coordinates of each point in the first point set and the second point set, then, an error of point acquisition is considered, joint adjustment is performed on the initial poses of a plurality of points in the first point set, an overall pose loss is calculated, finally, a group of poses with the minimum overall pose loss is calculated based on an optimization algorithm, and the group of poses are output as final poses to generate a glue spraying trajectory of the shoe making robot. This application is based on the point location data of accurate collection vamp reference boundary line to adjust and calculate the gesture loss to the error of point location data, obtain a set of gesture that whole gesture loss is minimum based on the optimization algorithm at last, and as shoemaking robot spout gluey orbit, applicable sole vamp in shoemaking process is automatic spouts gluey operation, has improved shoes utensil production efficiency.
In a second aspect, the present invention provides a glue spraying trajectory generating device for a shoe making robot, comprising:
the device comprises a point set acquisition module, a first point set and a second point set, wherein the first point set is used for constructing an upper reference boundary line, the second point set is used for constructing an upper reference boundary line, the upper reference boundary line is an annular line used for marking the attaching position of a sole and an upper, and the upper reference line is an annular line which is spaced from the upper reference boundary line by a certain distance;
the initial posture calculation module is used for calculating the initial posture of each point in the first point set according to the three-dimensional coordinates of each point in the first point set and the second point set;
the attitude loss calculation module is used for considering errors of point position acquisition, performing combined adjustment on initial attitudes of a plurality of points in the first point set, and calculating overall attitude loss;
and the glue spraying track generating module is used for calculating a group of postures with the minimum overall posture loss based on an optimization algorithm, outputting the group of postures as a final posture and generating a glue spraying track of the shoe making robot.
In one possible design, when acquiring a first set of points for constructing an upper reference boundary line and a second set of points for constructing an upper reference line, the point set acquisition module is specifically configured to:
tightly attaching the sole to the vamp, and arranging a solid vamp reference boundary line on the vamp along the upper edge of the sole;
a plurality of spacing lines with the consistent vertex heights are arranged on the reference boundary line of the solid vamp at equal intervals;
acquiring intersection points of each interval line and the entity vamp reference boundary line one by using point position acquisition equipment, wherein a set of three-dimensional coordinates of a plurality of intersection points forms a first point set for constructing the vamp reference boundary line;
and acquiring the vertex three-dimensional coordinates of each interval line one by using point position acquisition equipment, wherein a second point set for constructing the vamp reference line is formed by a set of the three-dimensional coordinates of a plurality of vertexes.
In one possible design, the point location acquisition device includes a three-dimensional digitizer.
In a possible design, when the initial pose of each point in the first point set is calculated according to the three-dimensional coordinates of each point in the first point set and the second point set, the initial pose calculation module is specifically configured to:
suppose n is0And (n +1)0Respectively, the nth point and the n +1 th point in the first point set, and assuming that n iscIs the nth point in the second point set, wherein ncAnd n0Points extracted from the same interval line;
construction of n0、(n+1)0And ncFitting an equation to the plane of the plane, and solving to obtain a plane normal vector;
according to the plane normal vector, n0And (n +1)0Is calculated to obtain n0The initial pose of (a).
In one possible design, n is constructed0、(n+1)0And ncWhen the plane of the plane is fitted with an equation and a normal vector of the plane is obtained by solving, the initial attitude calculation module is specifically configured to:
construction of n0、(n+1)0And ncA plane fitting equation of the plane, wherein the expression of the plane fitting equation is as follows:
Ax+By+Cz+D＝0； (1)
wherein A, B, C and D are unknown parameters;
according to n0、(n+1)0And ncCalculating to obtain unknown parameters of the plane fitting equation according to respective three-dimensional coordinates, wherein the calculation formula is as follows:
A＝(y3-y1)×(z3-z1)-(z2-z1)×(3-y1)； (2)
B＝(x3-1)×(z2-z1)-(x2-x1)×(z3-z1)； (3)
C＝(x2-x1)×(y3-y1)-(x3-x1)×(y2-y1)； (4)
D＝-(A×x1+B×y1+C×z1)； (5)
wherein (x1, y1, z1), (x2, y2, z2) and (x3, y3, z3) each represent n0、(n+1)0And ncAnd (A, B, C) represents a plane normal vector.
In one possible design, n is calculated according to a plane normal vector0And (n +1)0Is calculated to obtain n0The initial pose calculation module is specifically configured to:
from the plane normal vectors (A, B, C), n is calculated respectively0The X-axis rotation amount component Rx and the Y-axis rotation amount component Ry of the initial posture of (a), the calculation formula is as follows:
Figure BDA0003559503780000161
Figure BDA0003559503780000162
according to n0Three-dimensional coordinate sum of (n +1)0Three-dimensional coordinates of (c), calculating n0The Z-axis rotation amount component Rz of the initial posture of (2), the calculation formula is as follows:
Figure BDA0003559503780000167
in one possible design, when calculating the overall attitude loss, the attitude loss calculation module is specifically configured to:
calculating the sum of the deviation of the adjusted attitude of each point in the first point set compared with the initial attitude to obtain the attitude deviation loss e1The calculation formula is as follows:
Figure BDA0003559503780000163
wherein,
Figure BDA0003559503780000164
and
Figure BDA0003559503780000165
respectively representing an X-axis rotation amount component, a Y-axis rotation amount component and a Z-axis rotation amount component of the initial posture of the ith point in the first point set;
calculating the sum of the similarity between each point in the first point set and a plurality of points adjacent to the point to obtain the attitude smoothness loss e2The calculation formula is as follows:
Figure BDA0003559503780000166
according to the attitude deviation loss e1And the loss of attitude smoothness e2And calculating to obtain the overall loss e, wherein the calculation formula is as follows:
e＝e1+e2。 (11)
in one possible design, the optimization algorithm includes a newton gradient descent method, a conjugate gradient descent method, or a simulated annealing method.
In a third aspect, the present invention provides a computer device, comprising a memory, a processor and a transceiver, which are sequentially connected in communication, wherein the memory is used for storing a computer program, the transceiver is used for sending and receiving messages, and the processor is used for reading the computer program and executing the glue spraying track generation method for the shoe making robot as set forth in any one of the possible designs of the first aspect.
In a fourth aspect, the present invention provides a computer-readable storage medium having instructions stored thereon, where the instructions, when executed on a computer, perform the glue spraying trajectory generation method for a shoe-making robot as set forth in any one of the possible designs of the first aspect.
In a fifth aspect, the present invention provides a computer program product comprising instructions which, when run on a computer, cause the computer to perform a method of generating a glue dispensing trajectory for a shoemaking robot as set forth in any one of the possible designs of the first aspect.
Finally, it should be noted that: the above are merely preferred embodiments of the present invention, and are not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (10)

1. A glue spraying track generation method of a shoe making robot is characterized by comprising the following steps:
acquiring a first point set used for constructing an upper reference boundary line and a second point set used for constructing an upper reference line, wherein the upper reference boundary line is an annular line used for marking the attaching position of a sole and an upper, and the upper reference line is an annular line which is spaced from the upper reference boundary line by a certain distance;
calculating the initial posture of each point in the first point set according to the three-dimensional coordinates of each point in the first point set and the second point set;
considering errors of point location acquisition, performing joint adjustment on initial postures of a plurality of points in the first point set, and calculating overall posture loss;
and calculating a group of postures with the minimum overall posture loss based on an optimization algorithm, and outputting the group of postures as final postures to generate a glue spraying track of the shoe making robot.
2. The glue spraying trajectory generation method of a shoe making robot according to claim 1, wherein obtaining a first set of points for constructing an upper reference boundary line and a second set of points for constructing an upper reference line comprises:
tightly attaching the sole to the vamp, and arranging a solid vamp reference boundary line on the vamp along the upper edge of the sole;
a plurality of spacing lines with the consistent vertex heights are arranged on the reference boundary line of the solid vamp at equal intervals;
acquiring intersection points of each interval line and the entity vamp reference boundary line one by using point position acquisition equipment, wherein a set of three-dimensional coordinates of a plurality of intersection points forms a first point set for constructing the vamp reference boundary line;
and acquiring the vertex three-dimensional coordinates of each interval line one by using point position acquisition equipment, wherein a second point set for constructing the vamp reference line is formed by a set of the three-dimensional coordinates of a plurality of vertexes.
3. The method according to claim 2, wherein the spot position acquiring device includes a three-dimensional digitizer.
4. The method for generating a glue spraying trajectory of a shoe making robot according to claim 2, wherein calculating an initial posture of each point in the first point set according to three-dimensional coordinates of each point in the first point set and the second point set comprises:
suppose n is0And (n +1)0Respectively, the nth point and the (n +1) th point in the first point set, and assume that n iscIs the nth point in the second point set, wherein ncAnd n0Points extracted from the same interval line;
construction of n0、(n+1)0And ncFitting an equation on the plane of the plane, and solving to obtain a normal vector of the plane;
according to the plane normal vector, n0And (n +1)0Is calculated to obtain n0The initial pose of (a).
5. The method for generating a trajectory of glue spraying of a robot for manufacturing shoes according to claim 4, characterized in that n is constructed0、(n+1)0And ncFitting an equation to the plane of the plane, and solving to obtain a normal vector of the plane, wherein the normal vector comprises the following steps:
construction of n0、(n+1)0And ncA plane fitting equation of the plane, wherein the expression of the plane fitting equation is as follows:
Ax+By+Cz+D＝0； (1)
wherein A, B, C and D are unknown parameters;
according to n0、(n+1)0And ncCalculating to obtain unknown parameters of the plane fitting equation according to respective three-dimensional coordinates, wherein the calculation formula is as follows:
A＝(y3-y1)×(z3-z1)-(z2-z1)×(y3-y1)； (2)
B＝(x3-x1)×(z2-z1)-(x2-x1)×(z3-z1)； (3)
C＝(x2-x1)×(y3-y1)-(x3-x1)×(y2-y1)； (4)
D＝-(A×x1+B×y1+C×z1)； (5)
wherein (x1, y1, z1), (x2, y2, z2) and (x3, y3, z3) each represent n0、(n+1)0And ncAnd (A, B, C) represents a plane normal vector.
6. The method according to claim 5, wherein the method comprises generating the glue-spraying trajectory according to a plane normal vector n0And (n +1)0Is calculated to obtain n0Comprises:
from the plane normal vectors (A, B, C), n is calculated respectively0The X-axis rotation amount component Rx and the Y-axis rotation amount component Ry of the initial posture of (a), the calculation formula is as follows:
Figure FDA0003559503770000031
Figure FDA0003559503770000032
according to n0Three-dimensional coordinate sum of (n +1)0Three-dimensional coordinates of (c), calculating n0The Z-axis rotation amount component Rz of the initial posture of (2), the calculation formula is as follows:
Figure FDA0003559503770000033
7. the glue-spraying trajectory generation method of a shoe-making robot according to claim 1, wherein calculating an overall attitude loss comprises:
calculating the sum of the deviation of the adjusted attitude of each point in the first point set compared with the initial attitude to obtain the attitude deviation loss e1The calculation formula is as follows:
Figure FDA0003559503770000034
wherein,
Figure FDA0003559503770000035
and
Figure FDA0003559503770000036
respectively representing an X-axis rotation amount component, a Y-axis rotation amount component and a Z-axis rotation amount component of the initial posture of the ith point in the first point set;
calculating the sum of the similarity between each point in the first point set and a plurality of points adjacent to the point to obtain the attitude smoothness loss e2The calculation formula is as follows:
Figure FDA0003559503770000037
according to the attitude deviation loss e1And the loss of attitude smoothness e2And calculating to obtain the overall loss e, wherein the calculation formula is as follows:
e＝e1+e2。 (11)
8. the method of claim 1, wherein the optimization algorithm comprises a newton gradient descent method, a conjugate gradient descent method, or a simulated annealing method.
9. A glue spraying track generation device of a shoemaking robot is characterized by comprising:
the device comprises a point set acquisition module, a first point set and a second point set, wherein the first point set is used for constructing an upper reference boundary line, the second point set is used for constructing an upper reference boundary line, the upper reference boundary line is an annular line used for marking the attaching position of a sole and an upper, and the upper reference line is an annular line which is spaced from the upper reference boundary line by a certain distance;
the initial posture calculation module is used for calculating the initial posture of each point in the first point set according to the three-dimensional coordinates of each point in the first point set and the second point set;
the attitude loss calculation module is used for considering errors of point position acquisition, performing combined adjustment on initial attitudes of a plurality of points in the first point set, and calculating overall attitude loss;
and the glue spraying track generating module is used for calculating a group of postures with the minimum overall posture loss based on an optimization algorithm, outputting the group of postures as a final posture and generating a glue spraying track of the shoe making robot.
10. A computer device comprising a memory, a processor and a transceiver communicatively connected in sequence, wherein the memory is used for storing a computer program, the transceiver is used for transmitting and receiving messages, and the processor is used for reading the computer program and executing the glue spraying track generation method of the shoemaking robot according to any one of claims 1-8.
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