CN114794668A

CN114794668A - Vamp gluing method, system, computer equipment and computer-readable storage medium

Info

Publication number: CN114794668A
Application number: CN202210346035.5A
Authority: CN
Inventors: 邱强; 陈洁涛; 胡泽轩; 孙明镜; 何国庆
Original assignee: Shenzhen Ruben Technology Co ltd
Current assignee: Shenzhen Ruben Technology Co ltd
Priority date: 2022-03-31
Filing date: 2022-03-31
Publication date: 2022-07-29
Anticipated expiration: 2042-03-31
Also published as: CN114794668B

Abstract

The application relates to the technical field of shoemaking, and discloses a vamp gluing method, a vamp gluing system, computer equipment and a computer-readable storage medium. The method comprises the following steps: determining a first gluing track of the vamp to be glued; wherein the first glue application track is based on a base coordinate system of the driving mechanism; performing preliminary motion planning according to the first gluing track to determine whether the first gluing track contains singular track points; responding to the fact that the first gluing track comprises the singular track point location, and locally adjusting the singular track point location to obtain an adjusted second gluing track; and planning the whole motion according to the second gluing track so as to guide the driving mechanism to glue the vamp to be glued. By the method, the gluing track can be optimized, the strange problem in the gluing process is avoided, the trouble of manual debugging is reduced, and the efficiency and the stability of gluing the vamps are improved.

Description

Vamp gluing method, system, computer equipment and computer-readable storage medium

Technical Field

The present application relates to the field of footwear manufacturing technologies, and in particular, to a method, a system, a computer device, and a computer-readable storage medium for gluing a shoe upper.

Background

Automation of shoe upper gluing is becoming an increasing concern in the shoe industry. However, due to the complex gluing surface of the shoe upper, high precision and stable and uniform gluing present great challenges. In the current automatic gluing technology by using a robot, a track point position is generally recognized by a teaching point position or 3D vision and converted into a robot coordinate system, and then the robot runs by a robot instruction.

Because the shoe type is complicated and changeable, the track point location that prior art obtained is directly sent to the robot and is carried out the spraying through the robot instruction, is difficult to guarantee the homogeneity of rubber coating generally, and probably has the singularity to need the continuous debugging of experienced operating personnel, waste time and energy.

Disclosure of Invention

The technical problem mainly solved by the application is to provide a vamp gluing method, a vamp gluing system and a computer-readable storage medium, and the problems that gluing tracks need to be debugged continuously by manpower in a vamp gluing process, so that time and labor cost are high can be solved.

In order to solve the above technical problem, a technical solution adopted in the first aspect of the present application is: a method of gluing an upper is provided, the method comprising:

determining a first gluing track of the vamp to be glued; wherein the first glue application track is based on a base coordinate system of the driving mechanism; performing preliminary motion planning according to the first gluing track to determine whether the first gluing track contains singular track points; responding to the fact that the first gluing track comprises the singular track point location, and locally adjusting the singular track point location to obtain an adjusted second gluing track; and planning the whole motion according to the second gluing track so as to guide the driving mechanism to glue the vamp to be glued.

Optionally, determining a first gluing trajectory of the upper to be glued comprises:

acquiring image data of the vamp to be glued by using a camera; determining a corresponding initial gluing track according to the image data; wherein the initial gluing track is based on a camera coordinate system of a camera; and determining a first gluing track of the vamp to be glued according to the initial gluing track and the conversion relation between the camera coordinate system and the base coordinate system.

Optionally, determining a corresponding initial gluing track according to the image data includes:

acquiring actual track point positions of the vamp to be glued according to the image data; carrying out offset processing on the actual track point location according to preset parameters to obtain an offset track point location; and processing the offset track point position by using a track interpolation method to obtain a corresponding initial gluing track.

Optionally, performing motion planning according to the first gluing trajectory to determine whether the first gluing trajectory contains a singular trajectory point, including:

determining a motion model of the driving mechanism; determining a characteristic matrix of the driving mechanism based on the first track point location according to the motion model; determining a characteristic value corresponding to the characteristic matrix; judging whether the absolute value of the difference value of the characteristic value and 0 is smaller than a preset threshold value or not; and determining the first track point position as a singular track point position in response to the absolute value of the difference between the characteristic value and 0 being less than a preset threshold value.

Optionally, determining a motion model of the drive mechanism comprises:

obtaining model parameters of the driving mechanism, and obtaining a relative pose relation between the tail end of the driving mechanism and the gluing mechanism; and determining a motion model of the driving mechanism according to the model parameters and the relative pose relationship.

Optionally, adjusting at least a local locus point position including the singular locus point position to obtain an adjusted second gluing locus, including:

adjusting the local track point location by utilizing a first preset algorithm to obtain a second track point location; and determining a second gluing track according to the second track point position.

Optionally, locally adjusting the singular locus point position to obtain an adjusted second gluing locus, including:

selecting a rotating shaft and a rotating angle according to the posture of the singular track point; rotating the singular track point according to the rotating shaft and the rotating angle to obtain a middle track point; judging whether the middle track point position is a singular track point position or not; if so, returning to execute the steps of selecting a rotating shaft and a rotating angle according to the posture of the singular locus point, rotating the singular locus point according to the rotating shaft and the rotating angle to obtain a middle locus point and judging whether the middle locus point is the singular locus point; if not, determining the middle track point position as a second track point position; and determining a second gluing track according to the second track point position.

Optionally, performing overall motion planning according to the second gluing track, so as to guide the driving mechanism to glue the upper to be glued, including:

obtaining gluing process parameters; processing the second gluing track according to the gluing process parameters and a preset algorithm to generate a target gluing track; and sending the target gluing track to a driving mechanism so as to guide the driving mechanism to glue the vamp to be glued.

In order to solve the above technical problem, a technical solution adopted in the second aspect of the present application is: providing an upper gluing system comprising:

the first obtaining module is used for determining a first gluing track of the vamp to be glued; wherein the first glue application track is based on a base coordinate system of the driving mechanism;

the preliminary planning module is used for carrying out preliminary motion planning according to the first gluing track so as to determine whether the first gluing track contains singular track points or not;

the singular point adjusting module is used for responding to the fact that the first gluing track comprises singular track point locations, and locally adjusting the singular track point locations to obtain an adjusted second gluing track;

and the integral planning module is used for carrying out integral motion planning according to the second gluing track so as to guide the driving mechanism to carry out gluing operation on the vamp to be glued.

In order to solve the above technical problem, a technical solution adopted by the third aspect of the present application is: a computer device is provided that includes a processor and a memory.

Optionally, the memory is used for storing program instructions, and the processor is used for executing the program instructions to realize the vamp gluing method.

In order to solve the above technical problem, a technical solution adopted in the fourth aspect of the present application is: a computer readable storage medium is provided that stores program instructions that are executable to implement the above-described upper gluing method.

In distinction from the prior art, the present application provides a method, system, computer device, and computer-readable storage medium for gluing a shoe upper, the method comprising: determining a first gluing track of the vamp to be glued; wherein the first glue application track is based on a base coordinate system of the driving mechanism; performing preliminary motion planning according to the first gluing track to determine whether the first gluing track contains singular track points; responding to the fact that the first gluing track comprises the singular track point location, and locally adjusting the singular track point location to obtain an adjusted second gluing track; and planning the whole motion according to the second gluing track so as to guide the driving mechanism to glue the vamp to be glued. By the method, the first gluing track of the vamp to be glued based on the base coordinate system of the driving mechanism is determined, preliminary motion planning is carried out according to the first gluing track, the singular track point position in the first gluing track is found out, local adjustment is carried out on the singular track point position, the second gluing track is obtained, and overall motion planning is carried out according to the second gluing track, so that the driving mechanism is guided to carry out gluing operation on the vamp to be glued, the gluing track can be optimized, the singular problem in the gluing process is avoided, the trouble of manual debugging is reduced, and the efficiency and the stability of vamp gluing are improved.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts. Wherein:

FIG. 1 is a schematic flow chart diagram illustrating one embodiment of a method for gluing an upper provided herein;

FIG. 2 is a schematic flow chart of S11 in FIG. 1;

FIG. 3 is a schematic flow chart of S112 in FIG. 2;

FIG. 4 is a schematic flow chart of S12 in FIG. 1;

FIG. 5 is a schematic flow chart of S121 in FIG. 4;

FIG. 6 is a schematic flow chart of S13 in FIG. 1;

FIG. 7 is a schematic flow chart of S14 in FIG. 1;

FIG. 8 is a schematic diagram illustrating the construction of one embodiment of a shoe upper gluing system provided herein;

FIG. 9 is a schematic block diagram of an embodiment of a computer device provided herein;

FIG. 10 is a schematic structural diagram of an embodiment of a computer-readable storage medium provided in the present application.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. It is to be understood that the specific embodiments described herein are merely illustrative of the application and are not limiting of the application. It should be further noted that, for the convenience of description, only some of the structures related to the present application are shown in the drawings, not all of the structures. 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 application.

Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.

The steps in the embodiments of the present application are not necessarily processed according to the described step sequence, and may be optionally rearranged in a random manner, or steps in the embodiments may be deleted, or steps in the embodiments may be added according to requirements.

The term "and/or" in embodiments of the present application refers to any and all possible combinations including one or more of the associated listed items. It is also to be noted that: when used in this specification, the term "comprises/comprising" specifies the presence of stated features, integers, steps, operations, elements and/or components but does not preclude the presence or addition of one or more other features, integers, steps, operations, elements and/or components and/or groups thereof.

The terms "first", "second", etc. in this application are used to distinguish between different objects and not to describe a particular order. Furthermore, the terms "include" and "have," as well as any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.

Referring to fig. 1, fig. 1 is a schematic flow chart of an embodiment of a shoe upper gluing method provided by the present application, and the method includes:

s11: determining a first gluing track of the vamp to be glued; wherein the first glue application track is based on a base coordinate system of a drive mechanism.

Optionally, the first gluing track of the shoe upper to be glued may be obtained through 3D vision and other manners, for example, a 3D camera is used to obtain a depth image of the shoe upper to be glued, a corresponding initial gluing track is determined according to the depth image, and then the initial gluing track is converted into a coordinate system of the driving mechanism, so as to obtain the first gluing track. Wherein the first glue application track is based on a base coordinate system of the driving mechanism.

Optionally, the driving mechanism of this embodiment is a robot, and the first gluing trajectory is based on a base coordinate system of the robot.

S12: and performing preliminary motion planning according to the first gluing track to determine whether the first gluing track contains singular track points.

Optionally, performing preliminary motion planning according to the first gluing track, and performing inverse calculation on a corresponding joint angle by using the first gluing track and a motion model of the robot, namely performing kinematic inverse operation on the robot to determine whether the first gluing track contains a singular track point location.

S13: and responding to the fact that the first gluing track comprises the singular track point position, and locally adjusting the singular track point position to obtain an adjusted second gluing track.

Optionally, in response to that the first gluing track includes the singular track point location, the singular track point location is locally adjusted by using a preset algorithm to obtain an adjusted second gluing track.

Optionally, traversing from the starting point position to the ending point position of the first gluing track, judging point positions one by one, and adjusting the point positions of the singular tracks to remove all the singular track point positions in the first gluing track to obtain a second gluing track.

S14: and planning the whole motion according to the second gluing track so as to guide the driving mechanism to glue the vamp to be glued.

Optionally, overall motion planning is performed according to the second gluing track, and the planned second gluing track is sent to the robot so as to guide the robot to drive the gluing mechanism to glue the vamp to be glued.

Compared with the prior art, the embodiment provides a vamp gluing method, which comprises the following steps: determining a first gluing track of the vamp to be glued; wherein the first glue application track is based on a base coordinate system of the driving mechanism; performing preliminary motion planning according to the first gluing track to determine whether the first gluing track contains singular track points; responding to the fact that the first gluing track comprises the singular track point location, and locally adjusting the singular track point location to obtain an adjusted second gluing track; and planning the whole motion according to the second gluing track so as to guide the driving mechanism to glue the vamp to be glued. By the method, the first gluing track of the vamp to be glued based on the base coordinate system of the driving mechanism is determined, preliminary motion planning is carried out according to the first gluing track, the singular track point position in the first gluing track is found out, local adjustment is carried out on the singular track point position, the second gluing track is obtained, and overall motion planning is carried out according to the second gluing track, so that the driving mechanism is guided to carry out gluing operation on the vamp to be glued, the gluing track can be optimized, the singular problem in the gluing process is avoided, the trouble of manual debugging is reduced, and the efficiency and the stability of vamp gluing are improved.

Referring to fig. 2, fig. 2 is a schematic flow chart of S11 in fig. 1, and S11 may further include:

s111: and acquiring image data of the vamp to be glued by using a camera.

Optionally, the vamp to be glued is photographed by using a 3D camera to obtain image data of the vamp to be glued.

Alternatively, the image data is a depth image, also called range image, which refers to an image using the distance (depth) value of each point in the scene collected by the image collector as the pixel value, and it directly reflects the geometric shape of the visible surface of the scene, and it can be used to conveniently solve many problems in 3D object description.

S112: determining a corresponding initial gluing track according to the image data; wherein the initial glue trajectory is based on a camera coordinate system of the camera.

Optionally, the image data is processed to determine a corresponding initial glue trajectory. Wherein the initial gluing trajectory is based on a camera coordinate system of the 3D camera.

S113: and determining a first gluing track of the vamp to be glued according to the initial gluing track and the conversion relation between the camera coordinate system and the base coordinate system.

Optionally, the initial gluing track is converted into a coordinate system of the robot according to a hand-eye calibration relationship between the robot and the 3D camera, so as to obtain a first gluing track of the shoe upper to be glued. The hand-eye calibration relation represents the conversion relation between the camera coordinate system and the base coordinate system.

Referring to fig. 3, fig. 3 is a schematic flowchart of S112 in fig. 2, and S112 may further include:

s1121: and acquiring the actual track point position of the vamp to be glued according to the image data.

Optionally, the actual locus point of the vamp to be glued is extracted according to the image data.

Optionally, the actual track point location is corrected according to the template track point location, wherein the template track point location is obtained by extracting the track of the shoe mold in advance and can be obtained from a template database.

S1122: and carrying out bias processing on the actual track point location according to preset parameters to obtain a bias track point location.

Optionally, the correction track point location is subjected to bias processing according to preset parameters to obtain a bias track point location.

Optionally, the preset parameter includes an offset distance, and the offset distance is a gluing radius of the gluing mechanism. At each locus point position, the axis of the gluing mechanism is parallel to the normal vector of the locus point position.

S1123: and processing the offset track point position by using a track interpolation method to obtain a corresponding initial gluing track.

Optionally, interpolation is performed on the offset track point position by using a track interpolation method to obtain a corresponding initial gluing track.

Alternatively, the trajectory interpolation method includes linear interpolation, circular interpolation, cubic spline interpolation, quintic spline interpolation, and the like.

Alternatively, interpolation is a process of data encryption performed in real time. Some data on the known curve is calculated according to some algorithm to the intermediate points between the known points, also called the densification of the data points. The data densification function is called interpolation, in which a space between a start point and an end point of a curve is densified to form a desired contour trajectory. The interpolation in the present embodiment includes position interpolation and attitude interpolation.

Referring to fig. 4, fig. 4 is a schematic flowchart of S12 in fig. 1, and S12 may further include:

s121: a motion model of the drive mechanism is determined.

S122: and determining a feature matrix of the driving mechanism based on the first track point position according to the motion model.

Optionally, the first gluing track and the motion model of the robot are utilized to reversely calculate the corresponding joint angle, that is, inverse kinematics operation of the robot is performed, and whether the first track point positions in the first gluing track are singular track point positions or not is judged one by one.

Optionally, according to the motion model, a feature matrix of the robot based on the first trajectory point location is determined.

Optionally, the feature matrix is a jacobian matrix. The Jacobian matrix generally refers to the Jacobian matrix. In the vector calculus, the jacobian matrix is a matrix in which the first-order partial derivatives are arranged in a certain manner, and the determinant thereof is called jacobian. The significance of the jacobian matrix is that it embodies an optimal linear approximation of a differentiable equation to a given point, similar to the derivative of a multivariate function. In this example, the jacobian matrix may map the velocity of the robot joint space to a cartesian space velocity and an angular velocity.

S123: and determining the eigenvalue corresponding to the characteristic matrix.

Alternatively, the eigenvalues of the Jacobian matrix are found by matrix SVD decomposition.

Alternatively, SVD decomposition (singular value decomposition) is an important matrix decomposition in linear algebra, and has important applications in the fields of signal processing, statistics, and the like. Singular value decomposition is in some respects similar to symmetric or hermitian matrices based on the diagonalization of eigenvectors. The SVD can be used for feature decomposition in a dimension reduction algorithm, and can also be used in fields such as a recommendation system, natural language processing and the like. In this example, SVD decomposition is used for eigen decomposition of the Jacobian matrix.

S124: and judging whether the absolute value of the difference value between the characteristic value and 0 is smaller than a preset threshold value.

Alternatively, it is determined whether the absolute value of the difference between the eigenvalue of the jacobian matrix and 0 is smaller than a preset threshold, i.e., close to 0. The preset threshold value can be set according to specific situations.

S125: and determining the first track point position as a singular track point position in response to the absolute value of the difference between the characteristic value and 0 being smaller than a preset threshold value.

Optionally, in response to that the absolute value of the difference between the feature value and 0 is smaller than a preset threshold, determining that the first trajectory point location is a singular trajectory point location.

Referring to fig. 5, fig. 5 is a schematic flowchart of S121 in fig. 4, and S121 may further include:

s1211: and acquiring the model parameters of the driving mechanism and acquiring the relative pose relationship between the tail end of the driving mechanism and the gluing mechanism.

Optionally, the model parameters of the robot are obtained, a preset robot kinematics model is obtained according to the model parameters, or the robot kinematics model is constructed according to the structure parameters by obtaining the structure parameters of the robot.

Optionally, a relative pose relationship between the end of the driving mechanism and the gluing mechanism is obtained.

S1212: and determining a motion model of the driving mechanism according to the model parameters and the relative pose relationship.

Optionally, a motion model of the driving mechanism, i.e. a motion model of the robot, is determined according to the model parameters and the relative pose relationship.

Referring to fig. 6, fig. 6 is a schematic flow chart of S13 in fig. 1, and S13 may further include:

s131: and selecting a rotating shaft and a rotating angle according to the posture of the singular locus point.

Optionally, the singular locus point location is locally adjusted by using a method of fixing a spatial position and sampling a transformed posture, so as to obtain a second locus point location.

OptionallyFor target locus point P near the singular locus point _i Record P _i Determining a suitable rotation axis according to the attitude of the singular locus point, e.g. selecting P _i Is the axis of rotation and determines the angle of rotation theta.

Alternatively, the rotation axis and the rotation angle may be determined according to actual process requirements, and are not specifically limited herein.

S132: and rotating the singular locus point according to the rotating shaft and the rotating angle to obtain a middle locus point.

Optionally, the target locus point P _i And rotating the central track point by an angle theta around the rotating shaft to obtain a central track point position.

S133: and judging whether the middle track point position is a singular track point position or not.

Optionally, based on the middle trajectory point location, determining a jacobian matrix of the robot, calculating a feature value of the jacobian matrix, and judging whether the feature value is close to 0, so as to determine whether the middle trajectory point location is a singular trajectory point location.

The implementation process and principle of the above-mentioned S133 are similar to those of S122 to S125, and are not described herein again.

Optionally, if the determination result is yes, returning to execute S131; if the determination result is negative, S134 is executed.

S134: and determining the middle track point position as a second track point position.

Optionally, the foregoing S131 to S133 are repeatedly executed until the intermediate locus point is not the singular locus point, and the intermediate locus point is determined to be the second locus point.

S135: and determining a second gluing track according to the second track point position.

Optionally, the second gluing track is determined by using a track interpolation method according to the second track point position, wherein the track interpolation method is similar to the implementation process and principle of S1123, and is not described herein again.

Referring to fig. 7, fig. 7 is a schematic flowchart of S14 in fig. 1, and S14 may further include:

s141: and obtaining gluing process parameters.

Optionally, technological parameters such as a gluing radius, a gluing height, a gluing speed and the like are obtained, and the parameters can be input and given by a user or obtained by calculating parameters such as a gluing width, a gluing thickness, a gluing time and the like.

S142: and processing the second gluing track according to the gluing process parameters and a preset algorithm to generate a target gluing track.

Optionally, the second gluing track is integrally optimized according to a gluing process and a preset algorithm, wherein one preset algorithm is that the second gluing track is planned by using an S curve in a cartesian space, and under the condition that constraints such as joint limits and joint speeds are met, track point interpolation is performed according to a servo cycle of the robot, so that distances between interpolated track point positions are kept consistent, and each axis of the robot reaches a set target position at each moment in the operation process, thereby generating a target gluing track with constant linear speed and continuous acceleration.

S143: and sending the target gluing track to a driving mechanism so as to guide the driving mechanism to carry out gluing operation on the vamp to be glued.

Optionally, the target gluing track is sent to the robot in real time in a communication mode so as to guide the robot to drive the gluing mechanism to glue the upper to be glued.

Optionally, the target gluing track may also be sent to the robot in real time by other manners, which are not specifically limited herein.

Referring to fig. 8, fig. 8 is a schematic structural diagram of an embodiment of the shoe upper gluing system 100 provided by the present application, which includes a first obtaining module 110, a preliminary planning module 120, a singular point adjusting module 130, and an overall planning module 140.

Optionally, the first obtaining module 110 is configured to determine a first gluing track of the upper to be glued; wherein the first glue application track is based on a base coordinate system of the driving mechanism.

Optionally, the preliminary planning module 120 is configured to perform a preliminary motion planning according to the first gluing trajectory to determine whether the first gluing trajectory includes a singular trajectory point.

Optionally, the singular point adjusting module 130 is configured to, in response to that the first gluing trajectory includes a singular trajectory point location, locally adjust the singular trajectory point location to obtain an adjusted second gluing trajectory.

Optionally, the overall planning module 140 is configured to perform overall motion planning according to the second gluing track, so as to guide the driving mechanism to glue the upper to be glued.

Referring to fig. 9, fig. 9 is a schematic structural diagram of an embodiment of a computer device 200 provided in the present application, where the computer device includes a processor 201 and a memory 202.

In particular, the memory 202 is used to store program instructions that are executed by the processor 201 to implement the methods provided by any one or any non-conflicting combination of the above embodiments.

Optionally, the processor 201 is a Central Processing Unit (CPU), which is one of the main devices of an electronic computer, and is a core accessory in the computer. Its functions are mainly to interpret computer instructions and to process data in computer software. The CPU is the core component of the computer responsible for reading, decoding and executing instructions. The central processor mainly comprises two parts, namely a controller and an arithmetic unit, and also comprises a cache memory and a bus for realizing data and control of the connection between the cache memory and the arithmetic unit. The central processing unit mainly has the functions of processing instructions, executing operations, controlling time and processing data. In a computer architecture, a CPU is a core hardware unit that performs control and allocation of all hardware resources (such as memory and input/output units) of a computer and performs general operations. The CPU is the computational and control core of the computer. The operation of all software layers in the computer system will eventually be mapped to the operation of the CPU by the instruction set.

Alternatively, the memory 202 is a Read Only Memory (ROM) or a Random Access Memory (RAM), which is a memory device in the computer system and is mainly used for storing programs and data. All information in the computer, including the input raw data, the computer program, the intermediate run results, and the final run results, is stored in memory. It is based on the position of controller to store and take out information.

Referring to fig. 10, fig. 10 is a schematic structural diagram of an embodiment of a computer-readable storage medium provided by the present application, where the computer-readable storage medium 300 includes program instructions 301, and the program instructions 301 can be executed to implement the method provided by any one or any non-conflicting combination of the above embodiments. The capacity of the computer-readable storage medium 300 is sized to meet the requirements of the stored program instructions 301.

As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-readable storage media 300 (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.

The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It is to be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by the computer-readable storage medium 300. These computer-readable storage media 300 may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the program instructions 301 executed by the processor of the computer or other programmable data processing apparatus create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer-readable storage media 300 may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the program instructions 301 stored in the computer-readable storage media 300 produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer-readable storage media 300 may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the program instructions 301 that execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

The above description is only for the purpose of illustrating embodiments of the present application and is not intended to limit the scope of the present application, and all modifications of equivalent structures and equivalent processes, which are made according to the content of the present specification and the accompanying drawings, or which are directly or indirectly applied to other related technical fields, are also included in the scope of the present application.

Claims

1. A method of gluing an upper, characterized in that it comprises:

determining a first gluing track of the vamp to be glued; wherein the first glue application track is based on a base coordinate system of a driving mechanism;

performing preliminary motion planning according to the first gluing track to determine whether the first gluing track contains singular track points;

responding to the fact that the first gluing track comprises singular track point locations, and locally adjusting the singular track point locations to obtain an adjusted second gluing track;

and planning the whole motion according to the second gluing track so as to guide the driving mechanism to glue the vamp to be glued.

2. The method of claim 1,

the determining of the first gluing trajectory of the shoe upper to be glued comprises:

acquiring image data of the vamp to be glued by using a camera;

determining a corresponding initial gluing track according to the image data; wherein the initial glue trajectory is based on a camera coordinate system of the camera;

and determining a first gluing track of the vamp to be glued according to the initial gluing track and the conversion relation between the camera coordinate system and the base coordinate system.

3. The method of claim 2,

the determining of the corresponding initial gluing track according to the image data includes:

acquiring actual track point positions of the vamp to be glued according to the image data;

carrying out bias processing on the actual track point location according to preset parameters to obtain a bias track point location;

and processing the offset track point position by using a track interpolation method to obtain a corresponding initial gluing track.

4. The method of claim 1,

the motion planning is performed according to the first gluing track to determine whether the first gluing track contains a singular track point location, and the method comprises the following steps:

determining a motion model of the driving mechanism;

determining a feature matrix of the driving mechanism based on the first track point location according to the motion model;

determining a characteristic value corresponding to the characteristic matrix;

judging whether the absolute value of the difference value between the characteristic value and 0 is smaller than a preset threshold value or not;

and determining the first track point position as a singular track point position in response to the absolute value of the difference between the characteristic value and 0 being smaller than a preset threshold value.

5. The method of claim 4,

the determining of the motion model of the driving mechanism comprises:

obtaining model parameters of the driving mechanism, and obtaining a relative pose relation between the tail end of the driving mechanism and the gluing mechanism;

and determining a motion model of the driving mechanism according to the model parameters and the relative pose relationship.

6. The method of claim 1,

the locally adjusting the singular locus point position to obtain an adjusted second gluing locus includes:

selecting a rotating shaft and a rotating angle according to the posture of the singular track point;

rotating the singular locus point according to the rotating shaft and the rotating angle to obtain a middle locus point;

judging whether the middle track point position is a singular track point position or not;

if so, returning to execute the steps of selecting a rotating shaft and a rotating angle according to the posture of the singular track point, rotating the singular track point according to the rotating shaft and the rotating angle to obtain a middle track point position, and judging whether the middle track point position is the singular track point position;

if not, determining the middle track point position as a second track point position;

and determining a second gluing track according to the second track point position.

7. The method of claim 1,

and planning the whole motion according to the second gluing track so as to guide the driving mechanism to glue the vamp to be glued, wherein the planning step comprises the following steps:

obtaining gluing process parameters;

processing the second gluing track according to the gluing process parameters and a preset algorithm to generate a target gluing track;

and sending the target gluing track to a driving mechanism so as to guide the driving mechanism to carry out gluing operation on the vamp to be glued.

8. An upper gluing system, characterized in that it comprises:

the first obtaining module is used for determining a first gluing track of the vamp to be glued; wherein the first glue application track is based on a base coordinate system of a driving mechanism;

9. A computer device, characterized in that the computer device comprises a processor and a memory for storing program instructions, the processor being configured to execute the program instructions to implement the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that program instructions are stored, which can be executed to implement the method according to any one of claims 1 to 7.