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CN-122023489-A - Vamp track positioning and correcting method

CN122023489ACN 122023489 ACN122023489 ACN 122023489ACN-122023489-A

Abstract

The application provides a vamp track positioning and correcting method, and relates to the technical field of shoe production. The vamp track positioning and correcting method can adapt to local deformation and size difference of each vamp, accurately generate a special vamp bottom bonding line track of each vamp, provide core technical support for automation of working procedures such as roughening, applying a treating agent, spraying glue and the like of the vamp, can pointedly calibrate local deviation between a vamp template and a sample by adopting a local correcting method of point-by-point local matching, effectively improve positioning precision of the vamp bottom bonding line track, ensure consistency and stability of automatic processing, smooth the generated track on the basis of completing local correction, and simultaneously project track points onto vamp point cloud, thereby avoiding the problem of overlarge track fluctuation and further improving fluency and accuracy of working procedure execution of automatic equipment.

Inventors

  • LIU LANTAO

Assignees

  • 深圳耀族之光科技有限公司

Dates

Publication Date
20260512
Application Date
20260327

Claims (10)

  1. 1. The vamp track positioning and correcting method is characterized by comprising the following steps of: S1, global registration, namely obtaining a rotation translation matrix aligned by registering Sample point cloud Sample3D to template point cloud Model3D by using a classical ICP algorithm Converting Sample point cloud Sample3D into a template point cloud position by using the conversion relation, and marking the Sample point cloud Sample as STM3D; S2, local registration, namely, taking each point in a point set of a template upper and lower bonding line MLine D, taking the point as a cuboid central point, taking a connecting line from a current point to a next point as a main direction, taking the length, the width and the height to form a cuboid region, and selecting a set of points surrounded by the cuboid region in a template point cloud to form a new local three-dimensional point cloud Similarly, from Selecting a set of points surrounded by a cuboid region to form a new local three-dimensional point cloud ; Is a point cloud Sum point cloud Adding a plurality of point sets additionally; The cyclic operation is carried out, and the product is obtained Lower update upper and lower binding line Point set of (2) ; S3, track smoothing, namely carrying out smoothing operation on the updated upper and lower bonding lines, and projecting the updated upper and lower bonding lines onto the vamp point cloud to obtain a final upper and lower bonding line track.
  2. 2. The vamp track locating and deviation correcting method as claimed in claim 1, wherein the input data comprises: Template three-dimensional point cloud I.e. a set of several three-dimensional coordinate points: ; Upper and bottom bonding line of template Point set of (2) And the point sets are sequential; Sample three-dimensional point cloud Sample3D, i.e. a plurality of three-dimensional coordinate point sets: 。
  3. 3. the vamp track positioning and deviation rectifying method as claimed in claim 2, wherein the output data is a point set of a sample sole bonding line SLine3D 。
  4. 4. The vamp track positioning and deviation rectifying method as claimed in claim 1, characterized in that in S2, the length, width and height are respectively 20, 80 and 80.
  5. 5. The vamp track positioning and deviation correcting method as claimed in claim 1, wherein in S2, the method for obtaining a plurality of point sets comprises the steps of taking two faces of a cuboid perpendicular to a main direction, obtaining the point sets of the two faces through sampling, and then adding the point sets into two local point clouds to form a template local point cloud And sample local point cloud 。
  6. 6. The vamp track positioning and deviation rectifying method as claimed in claim 5, wherein the acquisition method of a plurality of point sets further comprises the step of obtaining a local point cloud of the template by using classical ICP algorithm To a sample local point cloud Registration aligned rotational translation matrix Using the conversion relation to convert the current point of the template upper and lower bonding line to obtain The lower update upper base bonding line point.
  7. 7. The vamp track positioning and deviation rectifying method as claimed in claim 1, wherein S3 comprises the steps of bonding the updated upper and lower soles Point set of (2) Reconstructing a two-dimensional coordinate system, wherein the Y-axis represents each point on the upper and lower bonding lines, the difference value between the Z value of the updated point and the Z value of the template point, and the X-axis represents the accumulation of the distance between the two points on the upper and lower bonding lines, and the two points are simultaneously Is the datum point ) Calculation of ,( ) The points are transformed into the new coordinate system on a regular basis.
  8. 8. The vamp track positioning and deviation correcting method as claimed in claim 7, wherein S3 further comprises fitting using a unitary 11 th order polynomial equation to obtain a fitting function, and then using X of each point to obtain updated Y, i.e. each point should be adjusted Upper and lower bonding line of template Point set of (2) Is provided with a plurality of points in the middle of the frame, Update its Z value to become 。
  9. 9. The vamp track positioning and deviation rectifying method as claimed in claim 8, wherein S3 further comprises the steps of carrying out edge pasting operation again, and calculating updated points and corresponding local three-dimensional point clouds The distance between each point in the three-dimensional point cloud is obtained The point of the middle distance that is the smallest.
  10. 10. The vamp track positioning and deviation rectifying method as claimed in claim 9, wherein S3 further comprises the step of, for the end Lower upper and lower binding line Reuse of rotational translation matrix Is the inverse of the matrix of (a) Bonding the upper and the lower to each other Conversion to And generating a final sample upper base bonding line.

Description

Vamp track positioning and correcting method Technical Field The invention relates to the technical field of shoe production, in particular to a vamp track positioning and correcting method. Background The production process of the shoe making industry is mainly divided into a cutting needle car section, a forming section and a packaging section, wherein the forming section is a key link for attaching the sole to the vamp, and vamp processing flow of the link sequentially comprises feeding, roughening, applying a treating agent, passing a treating agent oven, applying glue water, passing the glue oven and attaching the sole; The shoe uppers are made of flexible materials, and the procedures of cutting, sewing and the like are finished manually, so that certain local deformation and dimensional difference exist in each shoe upper, and the difference does not affect the final shoe making quality within a tolerance range, but the automatic shoe upper processing cannot be carried out in a fixed track mode; At present, three-dimensional point clouds of the surface of the whole circle of the vamp are mainly obtained through three-dimensional scanning in the industry, then a vamp three-dimensional template is established, the difference between each vamp and the template point clouds is calculated in real time, a template upper and lower bonding line is adjusted based on the difference, and then the adjusted track is issued to a six-axis robot for execution, but the suitability of the prior art when dealing with the vamp local deviation is insufficient, the special upper and lower bonding line track of each vamp is difficult to accurately generate, and the processing precision of an automatic process is affected. Therefore, we improve the method and put forward a vamp track positioning and correcting method. Disclosure of Invention The invention provides a vamp track positioning and correcting method, which comprises the following steps: S1, global registration, namely obtaining a rotation translation matrix aligned by registering Sample point cloud Sample3D to template point cloud Model3D by using a classical ICP algorithm Converting Sample point cloud Sample3D into a template point cloud position by using the conversion relation, and marking the Sample point cloud Sample as STM3D; S2, local registration, namely, taking each point in a point set of a template upper and lower bonding line MLine D, taking the point as a cuboid central point, taking a connecting line from a current point to a next point as a main direction, taking the length, the width and the height to form a cuboid region, and selecting a set of points surrounded by the cuboid region in a template point cloud to form a new local three-dimensional point cloud Similarly, fromSelecting a set of points surrounded by a cuboid region to form a new local three-dimensional point cloud; Is a point cloudSum point cloudAdding a plurality of point sets additionally; The cyclic operation is carried out, and the product is obtained Lower update upper and lower binding linePoint set of (2); S3, track smoothing, namely carrying out smoothing operation on the updated upper and lower bonding lines, and projecting the updated upper and lower bonding lines onto the vamp point cloud to obtain a final upper and lower bonding line track. As a preferred embodiment of the present application, the input data includes: Template three-dimensional point cloud I.e. a set of several three-dimensional coordinate points:; Upper and bottom bonding line of template Point set of (2)And the point sets are sequential; Sample three-dimensional point cloud Sample3D, i.e. a plurality of three-dimensional coordinate point sets: 。 As a preferable technical scheme of the application, the output data is a point set of a sample upper and lower bonding line SLine3D 。 In the preferred technical scheme of the application, in S2, the length, width and height are respectively 20, 80 and 80. In S2, the method for acquiring the plurality of point sets comprises the steps of taking two surfaces of a cuboid perpendicular to a main direction, obtaining the point sets of the two surfaces through sampling, and then adding the point sets into two local point clouds to form a template local point cloudAnd sample local point cloud。 The method for acquiring the plurality of point sets further comprises the step of obtaining a template local point cloud by using a classical ICP algorithmTo a sample local point cloudRegistration aligned rotational translation matrixUsing the conversion relation to convert the current point of the template upper and lower bonding line to obtainThe lower update upper base bonding line point. As a preferable technical scheme of the application, the S3 specifically comprises the following steps of bonding the updated upper and the lowerPoint set of (2)Reconstructing a two-dimensional coordinate system, wherein the Y-axis represents each point on the upper and lower bonding lines,