Research On The Key Technology Of Shoe Spray Adhesive Based On 3D Laser Contour Sensor

China is a great power in the traditional footwear industry and the shoe industry has brought great economic benefits to China every year.In the production process of shoes,coating technology is a more critical link,but parts of small and medium-sized shoe enterprises are still based on the use of manual gluing.There is a problem of unstable gluing quality and low working efficiency,so it is an urgent need for shoe manufacturers to realize automatic spray-bonding.In recent ten years,with the rapid development of non-contact measurement technology represented by machine vision,robot processing with machine vision technology has become an indispensable part of modern production and processing.Machine vision technology can efficiently and accurately collect information on the irregular shape of the workpiece,and provide control points of the trajectory path for the subsequent production and processing of the robot.In this paper,the spray-bonding craft in the shoe making process is studied.The image of sole is collected by 3D laser contour sensor,and the glue coating track of industrial robot is obtained by image processing technology,which drives the robot to perform glue spraying.The specific work contents are as follows:(1)According to the given application scenarios,application range and precision requirements,combined with 3D laser contour sensor imaging module and industrial robot motion module,a complete set of monocular 3D vision industrial robot shoe spraying experimental platform was independently designed and built.The experimental platform includes image processing module,robot motion module and PLC control module,which can collect the image of sole efficiently,extract object contour,and realize the glue spraying of robot.(2)In order to obtain the good contour information of upper edge of sole,a series of experiments are carried out on image filtering,contrast enhancement and edge detection by using the current mainstream two-dimensional image processing algorithm.Finally,the median filter is selected to preprocess the image,and the existing Canny edge detection operator is improved to enhance the resistance of edge detection to noise,and the sole upper edge contour is finally obtained.(3)In order to solve the phenomenon of breakpoint and the missing of contour line in the process of practical application.Firstly,BFS algorithm is used to detect the continuity of the contour,and the breakpoints in the contour line are interpolated and repaired by IDW algorithm.Secondly,the missing part of the contour line caused by occlusion is interpolated by using NURBS.Finally,the curve after fitting is offset by the space normal distance to generate the industrial robot spray motion trajectory.(4)After the work of image acquisition,feature contour extraction and industrial robot motion trajectory generation,a experimental platform control system is also needed to make the equipment cooperate with each other according to the expected settings.It mainly includes the process design of glue coating,main equipment movement control,data transmission and so on.Finally,the above methods are verified on the experimental platform.The experimental results show that the visual glue coating platform has good working efficiency and stability.