Research On 3D Reconstruction Of Sole- Gelatinized Surface Based On Machine Vision

China is a great power in the traditional footwear industry and the shoe industry has brought huge economic benefits to China every year.However,due to its behindhand technology,Chinese shoemaking industry has no opportunity to compete with other countries.There are some problems especially in sole-gelatinized part,such as low production efficiency,product inconsistency and unsatisfactory normalization.According to the reality of Chinese shoemaking industry,this paper turns the information reconstruction of sole-gelatinized surface to robot languages through binocular vision system to extract sole-gelatinized surface information.It realized the automation of sole-gelatinized stations and had a great experiment effect.This paper’s main achievement:(1)Using the Gray code of structured light to encode pixel information of solegelatinized surface,the both side of camera can get pictures more accurate and faster;To get higher quality of pictures,the luminance of light source can be confirmed by contrasting experiments form different light sources’ luminance.Based on the theory that deduced the transform relationship of different coordinate systems in vision system,it achieves binocular vision system’s demarcation and epipolar alignment work.(2)To get better information of sole-gelatinized surface boundary,it did a series of experiments that filter,divide,morphology analyze and boundary detect the pictures by applying the 2D pictures dealing current arithmetic.Finally,by choosing mid-value filter to preprocess pictures and Canny boundary detection to detect boundary,it got continuous and fine hard sole-gelatinized surface boundary information.(3)To solve the problem that the sole-gelatinized surface boundary information may become discontinuous point and low intensity reality scene,it put forward boundary breakpoint detective arithmetic based on BFS arithmetic,therefore,it can detect the connectivity of image’s boundary perfectly;it put forward curve breakpoint compensation and increasing boundary intensity arithmetic based on IDW curve matching arithmetic.This arithmetic can increase the intensity of poor boundary intensity and breakpoint boundary curve by not breaking the original image’s boundary information.To improve procedure’s transportability and future maintaining,this paper suggests that camera can run in Opencv and can adjust self-development procedure flexible based on camera SDK’s secondary development to camera.(4)As a 2D boundary curve oriented to rebuild 3D sole-gelatinized surface based on parallax,by encoding software,it extracts gelatinized point subset in sole-gelatinized surface and also extracts station pose information,in the end it turns to MELFA language then it puts into industrial robot and simulates sole-gelatinized experiments.The result suggests that the extraction of sole-gelatinized surface information has a great accuracy.