CN110226806A - A kind of sole gluing track generation method and device - Google Patents
A kind of sole gluing track generation method and device Download PDFInfo
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- CN110226806A CN110226806A CN201910376398.1A CN201910376398A CN110226806A CN 110226806 A CN110226806 A CN 110226806A CN 201910376398 A CN201910376398 A CN 201910376398A CN 110226806 A CN110226806 A CN 110226806A
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- 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
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/20—Design optimisation, verification or simulation
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Abstract
The present invention provides a kind of sole gluing track generation method and devices, the described method includes: obtaining the point cloud data of sole, the spatial model of sole is constructed according to the point cloud data of the sole, sole outer profile is extracted according to the spatial model of the sole, the plane intersected with the spatial model is determined according to the consecutive points on the sole outer profile, the vector that the plane is formed perpendicular to the consecutive points, and by the starting point of the vector, obtain the intersection of the plane Yu the spatial model, using the starting point of the vector as starting point, along the direction of the intersection, offset preset value determines glue-applying point, according to the sole outer profile, consecutive points determine that obtained glue-applying point generates sole gluing track two-by-two, improve the accuracy for extracting sole outer profile, to improve the accuracy of sole gluing, in the prior art can not solve Existing spray gluing effect is poor, is also easy to produce the problem of defect ware when accurately extracting sole edge or using CAD model spraying sole.
Description
Technical field
The present invention relates to automation technical field of shoe making more particularly to a kind of sole gluing track generation method and devices.
Background technique
In the shoe making process, one of an important factor for coating technique of sole is influence shoemaking quality.Traditional shoe-making industry
In coating process mainly by the way of hand spray, it is slow that there are spraying rates, the defect of stability difference, and it is uneven to generate glue
The problems such as even, gummosis, kiss-coating, it is often more important that the toxic gas that glue generates can generate harm to the health of operating personnel.For
The harm of shoemaking quality and speed, reduction to human body is promoted, shoes manufacturing enterprise needs a kind of sole glue spreading method of automation.
With the development of 3-D technology, artificial mark spraying gluing is replaced for automatic spraying sole and provides possibility.Sole from
Dynamicization spraying needs to extract the track for processing from the three-dimensional data of sole, using reverse engineering to raw data points cloud
It is handled to establish surface model or obtain sole profile line.Due to the Irregular Boundary Surface that sole is various models, gluing
Track needs to be extracted according to the sole of different model.
There are mainly three types of the existing sole gluing track automatic generation methods based on cloud: first method uses dimensionality reduction
Three-dimensional data is projected to two-dimentional principal plane (plane that X, Y-axis determine) by processing, obtains behind track again back projection to three-dimensional space
Between, this method is realized simple, but when the angle of shoes wall and sole is close to 90 °, the track of generation is possible to that shoes wall can not be covered,
Lead to occur drain spray in spraying process；Second method carries out principal plane to carry out rail again after all-azimuth search obtains the edge of sole
Mark extracts, when having biggish extension around heel or shoes, the edge inaccuracy searched for, so that such method is no longer suitable
With；The third method generates spraying profile according to sole CAD model, and CAD model belongs to confidential documents, and this method is unfavorable for setting
The secrecy of document is counted, and during Sole moulding, due to technique and mold, actual size and original size exist centainly
Error, sprayed according to CAD model, be easy to generate defect ware in spraying process.
Summary of the invention
In view of this, the present invention provides a kind of sole gluing track generation method and devices, for solving the prior art
In can not accurately extract sole edge or using CAD model spraying sole when existing spray gluing effect is poor, is also easy to produce defect ware
The problem of.
It is to be provided up to one of above-mentioned or part or all of purpose or other purposes, the first aspect of the embodiment of the present invention
A kind of sole gluing track generation method, comprising:
Obtain the point cloud data of sole；
The spatial model of sole is constructed according to the point cloud data of the sole；
Sole outer profile is extracted according to the spatial model of the sole, the sole outer profile is made of multiple points；
Determine that the plane intersected with the spatial model, the plane are vertical according to the consecutive points on the sole outer profile
In the vector that the consecutive points are formed, and by the starting point of the vector, the intersection of the plane Yu the spatial model is obtained；
Using the starting point of the vector as starting point, along the direction of the intersection, offset preset value determines glue-applying point；
According to the sole outer profile, consecutive points determine that obtained glue-applying point generates sole gluing track two-by-two.
The point cloud data for obtaining sole in one of the embodiments, comprising:
The point cloud data of sole is obtained using three-dimensional laser sensor scanning sole；
Or
The multi-angle point cloud data for obtaining the sole under different positions and pose, merges the multi-angle point cloud data, obtains shoes
The point cloud data at bottom.
The spatial model that sole is constructed according to the point cloud data of the sole in one of the embodiments, comprising:
Denoising is carried out to the point cloud data of the sole, obtains sole point cloud model；
Trigonometric ratio processing is carried out to the sole point cloud model, constructs the spatial model of sole.
It is described in one of the embodiments, that sole outer profile is extracted according to the spatial model of the sole, comprising:
Using the center of gravity of the spatial model of the sole as origin, by the origin and perpendicular to the multiple of the sole
The spatial model of sole described in plane cutting obtains multiple longitudinal segmentation lines；
The endpoint of the multiple longitudinal segmentation lines is determined as sole outer profile.
It is described in one of the embodiments, that sole outer profile is extracted according to the spatial model of the sole, comprising:
To be parallel to the spatial model of sole described in multiple plane cuttings of the sole, multiple transversally cutting lines are obtained；
The endpoint of transversally cutting line non-closed in the multiple transversally cutting line is determined as sole outer profile.
The consecutive points determination according on the sole outer profile and the spatial model in one of the embodiments,
The plane of intersection, comprising:
Obtain the distance between the consecutive points on the sole outer profile；
When the distance between the consecutive points on the sole outer profile are greater than default spacing, it is inserted between consecutive points
A few auxiliary point, the consecutive points spacing between at least one described auxiliary point and described two consecutive points are less than or equal to described
Default spacing；
The all the points of the sole outer profile and all auxiliary points are determined as revised sole outer profile；
The plane intersected with the spatial model is determined according to the consecutive points on the revised sole outer profile.
It is described in one of the embodiments, that according to the sole outer profile, consecutive points determine that obtained glue-applying point is raw two-by-two
After sole gluing track, further includes:
The sole gluing track under three-dimensional system of coordinate is converted into the motion profile sprayed under body coordinate system a little.
The second aspect of the embodiment of the present invention provides a kind of sole gluing track generating means, comprising:
Module is obtained, for obtaining the point cloud data of sole；
Constructing module, for constructing the spatial model of sole according to the point cloud data of the sole；
Extraction module, for according to the spatial model of the sole extract sole outer profile, the sole outer profile be by
What multiple points were constituted；
The acquisition module is also used to be determined according to the consecutive points on the sole outer profile and intersect with the spatial model
Plane, the vector that the plane is formed perpendicular to the consecutive points, and by the vector starting point, obtain the plane with
The intersection of the spatial model；
Determining module, for using the starting point of the vector as starting point, offset preset value to be determined along the direction of the intersection
Glue-applying point；
Generation module, for consecutive points to determine that obtained glue-applying point generates sole gluing two-by-two according to the sole outer profile
Track.
The third aspect of the embodiment of the present invention provides a kind of terminal device, comprising:
Memory, processor and storage are in the memory and the computer journey that can run on the processor
The step of sequence, the processor realizes method as described above when executing the computer program.
The fourth aspect of the embodiment of the present invention provides a kind of computer readable storage medium, comprising:
The computer-readable recording medium storage has computer program, real when the computer program is executed by processor
The step of existing method as described above.
The present invention provides a kind of sole gluing track generation method and devices, which comprises obtains the point of sole
Cloud data construct the spatial model of sole according to the point cloud data of the sole, extract shoes according to the spatial model of the sole
Bottom outer profile, the sole outer profile are made of multiple points, according to the consecutive points on the sole outer profile are determining and institute
The plane of spatial model intersection, the vector that the plane is formed perpendicular to the consecutive points are stated, and passes through the starting point of the vector,
The intersection for obtaining the plane Yu the spatial model, using the starting point of the vector as starting point, the direction along the intersection is inclined
It moves preset value and determines glue-applying point, consecutive points determine that obtained glue-applying point generates sole gluing rail two-by-two according to the sole outer profile
Mark, improve extract sole outer profile accuracy, to improve the accuracy of sole gluing, solve in the prior art without
Gluing effect is poor, is also easy to produce asking for defect ware for existing spray when accurately extracting sole edge or using CAD model spraying sole for method
Topic.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is a kind of implementation process schematic diagram for sole gluing track generation method that the embodiment of the present invention one provides；
Fig. 2 is the refinement step flow diagram of the step 14 of embodiment illustrated in fig. 1 one；
Fig. 3 is a kind of schematic diagram for sole gluing track generating means that the embodiment of the present invention three provides；
Fig. 4 is the schematic diagram for the terminal device that the embodiment of the present invention four provides.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
In order to illustrate technical solutions according to the invention, the following is a description of specific embodiments.
Fig. 1 is a kind of implementation process schematic diagram for sole gluing track generation method that the embodiment of the present invention one provides, such as
Shown in Fig. 1, the sole gluing track generation method of the present embodiment the following steps are included:
Step 11, the point cloud data for obtaining sole.
The executing subject of the present embodiment is sole gluing track generating means, and sole gluing track generating means setting exists
On automatic glue spreaders.Sole is placed on the operating platform of automatic glue spreaders, and sole gluing track generating means obtain sole
Point cloud data.
In the present embodiment, the point cloud data of sole can be obtained using three-dimensional laser sensor scanning sole, alternatively, passing through
The multi-angle point cloud data for obtaining the sole under different positions and pose, merges the multi-angle point cloud data, obtains the point cloud of sole
Data.
Specifically, sole gluing track generating means can scan sole using three-dimensional laser sensor, sole is obtained
Point cloud data.Three-dimensional laser sensor is to scan sole surface using the principle of laser ranging based on three-dimensional laser scanning technique
Three dimensional point cloud.Alternatively, sole gluing track generating means can also by the binocular that is mounted on automatic glue spreaders with
Machine texture camera carries out multi-angled shooting to sole, obtains multiple point cloud charts, obtains the point cloud under different positions and pose by point cloud chart
Data recycle blending algorithm to merge the multi-angle point cloud data under different positions and pose, obtain the point cloud data of sole.It is logical
It crosses and merges multiple point cloud charts, obtained point cloud data is more accurate, so that the three-dimensional space model of sole is more
Accurately, therefore, the preferred second way of the present embodiment obtains the point cloud data of sole.The point of sole is obtained using the second way
It is flat in the operation of automatic glue spreaders according to sole after getting the multi-angle point cloud data of sole under different positions and pose when cloud data
The height of platform carries out threshold process to multi-angle point cloud data, and erased noise point avoids the point cloud data for getting non-sole.
Step 12, the spatial model that sole is constructed according to the point cloud data of the sole.
Sole gluing track generating means construct sole three-dimensional space model according to the point cloud data of sole, specifically include:
Denoising is carried out to the point cloud data of the sole first, obtains sole point cloud model, then to the sole point cloud model into
The processing of row trigonometric ratio, constructs the spatial model of sole.
There are various noise spots in point cloud data due to obtaining sole, in order to obtain the spatial model of accurate sole,
Sole gluing track generating means carry out denoising to the point cloud data of sole first, for example, at filtering processing, clustering
Reason.Sole point cloud model is obtained after denoising, then trigonometric ratio processing is carried out to it, for example, using Delaunay triangle
Subdivision algorithm carries out trigonometric ratio processing, and by the processing of all point cloud data trigonometric ratios, construction obtains the three-dimensional space model of sole.Three
The detailed process of angling processing is the prior art, and this embodiment is not repeated.
Step 13 extracts sole outer profile according to the spatial model of the sole, and the sole outer profile is by multiple points
It constitutes.
Sole gluing track generating means are extracted sole outer profile, are extracted according to the sole three-dimensional space model of construction
Sole outer profile be to be made of multiple points, these points are points in sole profile.
Optionally, sole outer profile is extracted according to the spatial model of sole, a kind of method is longitudinal direction cutting extraction method: with institute
The center of gravity for stating the spatial model of sole is origin, by described in the origin and multiple plane cuttings perpendicular to the sole
The spatial model of sole obtains multiple longitudinal segmentation lines；The endpoint of the multiple longitudinal segmentation lines is determined as sole outer profile.
Specifically, the center of gravity of the spatial model of sole is determined, according to right-hand rule, using the center of gravity as origin O, with the behaviour of automatic glue spreaders
Making platform is XOY, using operating platform upwardly direction as Z axis forward direction, establishes space coordinates.To pass through origin O, perpendicular to
The spatial model of multiple plane cutting soles of XOY, obtains multiple longitudinal segmentation lines.Or be expressed as, using center of gravity as origin
O ° carries out the spatial model of rotation cutting sole about the z axis from 0 ° to 180, obtains multiple segmentation lines.Since the segmentation lines of sole are
The intersection of bisecting plane and sole spatial model, the endpoint at the intersection both ends are the two o'clock on sole outer profile.Basis as a result,
The endpoint of all longitudinal direction segmentation lines, that is, can determine sole outer profile.Optionally, angle when each cutting is equal, so that extracting
Sole outer profile all the points lateral distance it is equal, with improve extract sole outer profile accuracy.
Optionally, sole outer profile is extracted according to the spatial model of sole, another method is transversally cutting extraction method: with
It is parallel to the spatial model of sole described in multiple plane cuttings of the sole, obtains multiple transversally cutting lines；It will be the multiple
The endpoint of non-closed transversally cutting line is determined as sole outer profile in transversally cutting line.Specifically, determining the spatial mode of sole
The center of gravity of type, according to right-hand rule, using the center of gravity as origin O, the operating platform with automatic glue spreaders is XOY, with operating platform
Upwardly direction is that Z axis is positive, establishes space coordinates.To be parallel to multiple plane transversally cutting sole spatial models of XOY,
When transversally cutting line (i.e. transversal) is non-closed curve, the endpoint of the curve is the point on sole outer profile.As a result,
According to the endpoint of non-closed transversally cutting lines all in multiple transversally cutting lines, that is, it can determine sole outer profile.Optionally, institute
There is the spacing distance of bisecting plane equal, so that the fore-and-aft distance of all the points of the sole outer profile extracted is equal, to mention
The accuracy of the sole outer profile taken.
Certainly, the above two method for extracting sole outer profile is only for example, and extracts sole according to the spatial model of sole
Outer profile can also use other extracting modes, and the present embodiment is not specifically limited.
Optionally, after obtaining sole outer profile, further it can be handled, for example, by the institute on sole outer profile
It carries out curve fitting a little, a closed curve is connected as, then derivation is carried out to its Z value, since sole outer profile is continuous
Gradual change, singular point therein can be rejected by first derivation, sole outer profile can be made more smooth.
Step 14 determines the plane intersected with the spatial model according to the consecutive points on the sole outer profile, described
The vector that plane is formed perpendicular to the consecutive points, and by the starting point of the vector, obtain the plane and the spatial mode
The intersection of type.
Consecutive points on sole outer profile are connected in certain direction, obtain a vector, generate the starting point for passing through the vector, and
Perpendicular to the plane of the vector, the intersection of the generation plane and sole spatial model is obtained.For example, along up time on sole outer profile
There are consecutive points P in needle directionnAnd Pn+1, with PnIt is directed toward Pn+1The vector in direction is the normal vector of plane, with PnThe point passed through for plane
Plane is generated, which intersects with the spatial model of sole, obtains the intersection of intersection.
Step 15, using the starting point of the vector as starting point, along the intersection direction offset preset value determine glue-applying point.
Glue-applying point is the point with the starting point of vector apart from preset value, and the point is a bit on sole.It is still above to be exemplified as
Example, with PnFor starting point, it is deviated into preset value L along the direction of intersection, obtains a point P on solenL, determine point PnL
For a glue-applying point, glue-applying point PnLWith PnDistance be preset value L.PnFor the point on sole outer profile, the i.e. marginal point of sole,
Therefore the direction of intersection is PnAlong intersection close to the direction at sole center.
Step 16, according to the sole outer profile, consecutive points determine that obtained glue-applying point generates sole gluing track two-by-two.
Using all the points on sole outer profile as starting point, using the adjacent point of same direction (for example, clockwise) as terminal,
Vector is established, the plane of institute's directed quantity and the generation of its starting point and the intersection of sole spatial model are obtained according to step 14, then by step
Rapid 15 determine all glue-applying points, obtained all glue-applying points are connected, which is sole gluing track.
Optionally, after step 16, the method for the present embodiment further includes, by the sole gluing under three-dimensional system of coordinate
Track is converted to the motion profile sprayed under body coordinate system a little.Since above-mentioned coordinate is established under three-dimensional coordinate system
, obtained track is the sole gluing track under three-dimensional system of coordinate, but the coordinate system of automatic glue spreaders is body coordinate system, is
The sole gluing track under three-dimensional system of coordinate is utilized Eulerian angles progress by the track for knowing the spraying point of automatic glue spreaders
Conversion obtains the motion profile of the spraying point of automatic glue spreaders.
The embodiment of the invention provides a kind of sole gluing track generation methods, comprising: obtains the point cloud data of sole, root
According to the spatial model of the point cloud data construction sole of the sole, sole outer profile is extracted according to the spatial model of the sole,
The sole outer profile is made of multiple points, is determined and the spatial model according to the consecutive points on the sole outer profile
The plane of intersection, the vector that the plane is formed perpendicular to the consecutive points, and by the starting point of the vector, it obtains described flat
The intersection in face and the spatial model, using the starting point of the vector as starting point, along the direction of the intersection, offset preset value is true
Determine glue-applying point, consecutive points determine that obtained glue-applying point generates sole gluing track two-by-two according to the sole outer profile, improve
The accuracy of sole outer profile is extracted, to improve the accuracy of sole gluing, solving can not accurately mention in the prior art
Existing spray gluing effect is poor, is also easy to produce the problem of defect ware when taking sole edge or using CAD model spraying sole.
Fig. 2 is the refinement step flow diagram of the step 14 of embodiment illustrated in fig. 1 one, as shown in Fig. 2, the present embodiment two
Described determines the plane intersected with the spatial model according to the consecutive points on the sole outer profile, comprising the following steps:
The distance between consecutive points in step 211, the acquisition sole outer profile.
According to step 13 extract sole outer profile, if sole outer profile somewhere changes comparatively fast, obtained consecutive points away from
From larger.In order to further extract more accurate sole outer profile, interpolated value processing is carried out to the biggish consecutive points of its spacing.
Firstly, sole gluing track generating means are according to the coordinate value of consecutive points on sole outer profile and space two o'clock distance
Calculation formula, calculate and obtain the distance between consecutive points.Such as, adjacent two o'clock P on outer profilenAnd Pn+1, coordinate is respectively Pn
(x1, y1, z1), Pn+1(x2, y2, z2), the distance between the consecutive points are expressed as formula (1):
Step 212, when the distance between consecutive points on the sole outer profile are greater than default spacing, consecutive points it
Between be inserted at least one auxiliary point, the consecutive points spacing between at least one described auxiliary point and described two consecutive points be less than or
Equal to the default spacing.
The distance between all consecutive points on calculating sole outer profile, the size of more each distance and default spacing, when
When the distance between consecutive points on sole outer profile are greater than default spacing, auxiliary point is inserted between consecutive points, auxiliary point
Number is related at a distance from consecutive points, when the distance is greater, more auxiliary point is inserted into therebetween, so that original two adjacent
Point is after all auxiliary point interpolations, and the obtained spacing between new consecutive points is not more than default spacing, thus to ensure to insert
After entering auxiliary point, sole outer profile is smooth enough.
For example, two consecutive points P on sole outer profilen(x1, y1, z1), Pn+1(x2, y2, z2The distance between) |
pnpn+1| it is greater than default spacing l, according to | pnpn+1| and l determines the number of insertion auxiliary point, specifically, rightIt takes upwards
Whole, obtained result is the number of auxiliary point, these auxiliary points are evenly distributed to consecutive points Pn(x1, y1, z1) and Pn+1(x2,
y2, z2) between, the insertion of auxiliary point can be completed.To all consecutive points for being greater than default spacing on sole outer profile, use
Aforesaid way carries out insertion auxiliary point processing.
The all the points of the sole outer profile and all auxiliary points are determined as revised sole outer profile by step 213.
According to all the points of sole outer profile and all auxiliary points for handling of insertion auxiliary point are carried out, after generating amendment
Sole outer profile, due to inserting similar point between the biggish point of spacing, making on the basis of original sole outer profile
It is more smooth compared to former sole outer profile to obtain revised sole outer profile, improves the accuracy for extracting sole outer profile, from
And improve the accuracy of sole gluing.
Step 214 determines according to the consecutive points on the revised sole outer profile and intersects with the spatial model
Plane.
Former sole outer profile is obtained revised sole outer profile by correcting process by sole gluing track generating means,
The plane intersected with the spatial model is determined further according to the consecutive points on revised sole outer profile, increases determining put down
Face number, so that being increased according to the intersection that plane is obtained with spatial model, to increase the number of glue-applying point, it is ensured that generation
Sole gluing track is more smooth, accurate, improves the accuracy of sole gluing, solving can not accurately extract in the prior art
Existing spray gluing effect is poor, is also easy to produce the problem of defect ware when sole edge or use CAD model spraying sole.
Fig. 3 is a kind of schematic diagram for sole gluing track generating means that the embodiment of the present invention three provides, as shown in figure 3,
The sole gluing track generating means of the present embodiment comprise the following modules:
Module 31 is obtained, for obtaining the point cloud data of sole；
Constructing module 32, for constructing the spatial model of sole according to the point cloud data of the sole；
Extraction module 33, for extracting sole outer profile according to the spatial model of the sole, the sole outer profile is
It is made of multiple points；
The acquisition module 31 is also used to according to the consecutive points determination and the spatial model phase on the sole outer profile
The plane of friendship, the vector that the plane is formed perpendicular to the consecutive points, and by the starting point of the vector, obtain the plane
With the intersection of the spatial model；
Determining module 34, for using the starting point of the vector as starting point, offset preset value to be true along the direction of the intersection
Determine glue-applying point；
Generation module 35, for consecutive points to determine that obtained glue-applying point generates sole and applies two-by-two according to the sole outer profile
Glue track.
A kind of sole gluing track generating means that the present embodiment three provides, for realizing the painting of sole described in embodiment one
Glue orbit generation method, wherein the function of modules can with reference to being described in embodiment of the method accordingly, realization principle and
Technical effect is similar, and details are not described herein again.
Fig. 4 is the schematic diagram for the terminal device that the embodiment of the present invention four provides, as shown in figure 4, the terminal of the embodiment is set
Standby 4 include: processor 40, memory 41 and are stored in the meter that can be run in the memory 41 and on the processor 40
Calculation machine program 42, such as sole gluing track generate program.The processor 40 is realized when executing the computer program 42
State the step in each sole gluing track generation method embodiment, such as step 11 shown in FIG. 1 is to 16.Alternatively, the place
Reason device 40 realizes the function of each module in above-mentioned each Installation practice, such as mould shown in Fig. 3 when executing the computer program 42
The function of block 31 to 35.
Illustratively, the computer program 42 can be divided into one or more module/units, it is one or
Multiple module/units are stored in the memory 41, and are executed by the processor 40, to complete the present invention.Described one
A or multiple module/units can be the series of computation machine program instruction section that can complete specific function, which is used for
Implementation procedure of the computer program 42 in the terminal device 4 is described.For example, the computer program 42 can be divided
It is cut into and obtains module, constructing module, extraction module, determining module and generation module (unit module in virtual bench), each mould
Block concrete function is as follows:
Module is obtained, for obtaining the point cloud data of sole；
Constructing module, for constructing the spatial model of sole according to the point cloud data of the sole；
Extraction module, for according to the spatial model of the sole extract sole outer profile, the sole outer profile be by
What multiple points were constituted；
The acquisition module is also used to be determined according to the consecutive points on the sole outer profile and intersect with the spatial model
Plane, the vector that the plane is formed perpendicular to the consecutive points, and by the vector starting point, obtain the plane with
The intersection of the spatial model；
Determining module, for using the starting point of the vector as starting point, offset preset value to be determined along the direction of the intersection
Glue-applying point；
Generation module, for consecutive points to determine that obtained glue-applying point generates sole gluing two-by-two according to the sole outer profile
Track.
The terminal device 4 can be the calculating such as desktop PC, notebook, palm PC and cloud server and set
It is standby.The terminal device 4 may include, but be not limited only to, processor 40, memory 41.It will be understood by those skilled in the art that figure
4 be only the example of terminal device 4, does not constitute the restriction to terminal device 4, may include than illustrating more or fewer portions
Part perhaps combines certain components or different components, such as the terminal device 4 can also include input-output equipment, net
Network access device, bus etc..
Alleged processor 40 can be central processing unit (Central Processing Unit, CPU), can also be
Other general processors, digital signal processor (Digital Signal Processor, DSP), specific integrated circuit
(Application Specific Integrated Circuit, ASIC), ready-made programmable gate array (Field-
Programmable Gate Array, FPGA) either other programmable logic device, discrete gate or transistor logic,
Discrete hardware components etc..General processor can be microprocessor or the processor is also possible to any conventional processor
Deng.
The memory 41 can be the internal storage unit of the terminal device 4, such as the hard disk or interior of terminal device 4
It deposits.The memory 41 is also possible to the External memory equipment of the terminal device 4, such as be equipped on the terminal device 4
Plug-in type hard disk, intelligent memory card (Smart Media Card, SMC), secure digital (Secure Digital, SD) card dodge
Deposit card (Flash Card) etc..Further, the memory 41 can also both include the storage inside list of the terminal device 4
Member also includes External memory equipment.The memory 41 is for storing needed for the computer program and the terminal device 4
Other programs and data.The memory 41 can be also used for temporarily storing the data that has exported or will export.
It is apparent to those skilled in the art that for convenience of description and succinctly, only with above-mentioned each function
Can unit, module division progress for example, in practical application, can according to need and by above-mentioned function distribution by different
Functional unit, module are completed, i.e., the internal structure of the terminal device is divided into different functional unit or module, to complete
All or part of function described above.Each functional unit in embodiment, module can integrate in one processing unit,
It is also possible to each unit to physically exist alone, can also be integrated in one unit with two or more units, above-mentioned collection
At unit both can take the form of hardware realization, can also realize in the form of software functional units.In addition, each function
Unit, module specific name be also only for convenience of distinguishing each other, the protection scope being not intended to limit this application.Above-mentioned system
The specific work process of unit in system, module, can refer to corresponding processes in the foregoing method embodiment, details are not described herein.
In the above-described embodiments, it all emphasizes particularly on different fields to the description of each embodiment, is not described in detail or remembers in some embodiment
The part of load may refer to the associated description of other embodiments.
Those of ordinary skill in the art may be aware that list described in conjunction with the examples disclosed in the embodiments of the present disclosure
Member and algorithm steps can be realized with the combination of electronic hardware or computer software and electronic hardware.These functions are actually
It is implemented in hardware or software, the specific application and design constraint depending on technical solution.Professional technician
Each specific application can be used different methods to achieve the described function, but this realization is it is not considered that exceed
The scope of the present invention.
In embodiment provided by the present invention, it should be understood that disclosed device/terminal device and method, it can be with
It realizes by another way.For example, device described above/terminal device embodiment is only schematical, for example, institute
The division of module or unit is stated, only a kind of logical function partition, there may be another division manner in actual implementation, such as
Multiple units or components can be combined or can be integrated into another system, or some features can be ignored or not executed.Separately
A bit, shown or discussed mutual coupling or direct-coupling or communication connection can be through some interfaces, device
Or the INDIRECT COUPLING or communication connection of unit, it can be electrical property, mechanical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of software functional units.
If the integrated module/unit be realized in the form of SFU software functional unit and as independent product sale or
In use, can store in a computer readable storage medium.Based on this understanding, the present invention realizes above-mentioned implementation
All or part of the process in example method, can also instruct relevant hardware to complete, the meter by computer program
Calculation machine program can be stored in a computer readable storage medium, the computer program when being executed by processor, it can be achieved that on
The step of stating each embodiment of the method.Wherein, the computer program includes computer program code, the computer program generation
Code can be source code form, object identification code form, executable file or certain intermediate forms etc..The computer-readable medium
It may include: any entity or device, recording medium, USB flash disk, mobile hard disk, magnetic that can carry the computer program code
Dish, CD, computer storage, read-only memory (Read-Only Memory, ROM), random access memory (Random
Access Memory, RAM), electric carrier signal, telecommunication signal and software distribution medium etc..It should be noted that the meter
The content that calculation machine readable medium includes can carry out increase and decrease appropriate according to the requirement made laws in jurisdiction with patent practice,
It such as does not include electric carrier signal and telecommunications according to legislation and patent practice, computer-readable medium in certain jurisdictions
Signal.
It should be understood that the size of the serial number of each step is not meant that the order of the execution order in above-described embodiment, each process
Execution sequence should be determined by its function and internal logic, the implementation process without coping with the embodiment of the present invention constitutes any limit
It is fixed.
Each technical characteristic of above embodiments can be combined arbitrarily, for simplicity of description, not to above-described embodiment
In each technical characteristic it is all possible combination be all described, as long as however, the combination of these technical characteristics be not present lance
Shield all should be considered as described in this specification.
The several embodiments of the application above described embodiment only expresses, the description thereof is more specific and detailed, but simultaneously
The limitation to the application the scope of the patents therefore cannot be interpreted as.It should be pointed out that for those of ordinary skill in the art
For, without departing from the concept of this application, various modifications and improvements can be made, these belong to the guarantor of the application
Protect range.Therefore, the scope of protection shall be subject to the appended claims for the application patent.
Claims (10)
1. a kind of sole gluing track generation method characterized by comprising
Obtain the point cloud data of sole；
The spatial model of sole is constructed according to the point cloud data of the sole；
Sole outer profile is extracted according to the spatial model of the sole, the sole outer profile is made of multiple points；
The plane intersected with the spatial model is determined according to the consecutive points on the sole outer profile, the plane is perpendicular to institute
The vector of consecutive points formation is stated, and by the starting point of the vector, obtains the intersection of the plane Yu the spatial model；
Using the starting point of the vector as starting point, along the direction of the intersection, offset preset value determines glue-applying point；
According to the sole outer profile, consecutive points determine that obtained glue-applying point generates sole gluing track two-by-two.
2. sole gluing track generation method according to claim 1, which is characterized in that the point cloud number for obtaining sole
According to, comprising:
The point cloud data of sole is obtained using three-dimensional laser sensor scanning sole；
Or
The multi-angle point cloud data for obtaining the sole under different positions and pose, merges the multi-angle point cloud data, obtains sole
Point cloud data.
3. sole gluing track generation method according to claim 1, which is characterized in that the point according to the sole
The spatial model of cloud data configuration sole, comprising:
Denoising is carried out to the point cloud data of the sole, obtains sole point cloud model；
Trigonometric ratio processing is carried out to the sole point cloud model, constructs the spatial model of sole.
4. sole gluing track generation method according to claim 1, which is characterized in that the sky according to the sole
Between model extraction sole outer profile, comprising:
Using the center of gravity of the spatial model of the sole as origin, by the origin and perpendicular to multiple planes of the sole
The spatial model of sole described in cutting obtains multiple longitudinal segmentation lines；
The endpoint of the multiple longitudinal segmentation lines is determined as sole outer profile.
5. sole gluing track generation method according to claim 1, which is characterized in that the sky according to the sole
Between model extraction sole outer profile, comprising:
To be parallel to the spatial model of sole described in multiple plane cuttings of the sole, multiple transversally cutting lines are obtained；
The endpoint of transversally cutting line non-closed in the multiple transversally cutting line is determined as sole outer profile.
6. sole gluing track generation method according to claim 1, which is characterized in that described according to the sole foreign steamer
Consecutive points on exterior feature determine the plane intersected with the spatial model, comprising:
Obtain the distance between the consecutive points on the sole outer profile；
When the distance between the consecutive points on the sole outer profile are greater than default spacing, at least one is inserted between consecutive points
A auxiliary point, the consecutive points spacing between at least one described auxiliary point and described two consecutive points are less than or equal to described default
Spacing；
The all the points of the sole outer profile and all auxiliary points are determined as revised sole outer profile；
The plane intersected with the spatial model is determined according to the consecutive points on the revised sole outer profile.
7. sole gluing track generation method according to any one of claims 1 to 6, which is characterized in that described according to institute
After stating sole outer profile consecutive points determining that obtained glue-applying point generates sole gluing track two-by-two, further includes:
The sole gluing track under three-dimensional system of coordinate is converted into the motion profile sprayed under body coordinate system a little.
8. a kind of sole gluing track generating means characterized by comprising
Module is obtained, for obtaining the point cloud data of sole；
Constructing module, for constructing the spatial model of sole according to the point cloud data of the sole；
Extraction module, for extracting sole outer profile according to the spatial model of the sole, the sole outer profile is by multiple
What point was constituted；
The acquisition module is also used to determine that is intersected with the spatial model puts down according to the consecutive points on the sole outer profile
Face, the vector that the plane is formed perpendicular to the consecutive points, and by the vector starting point, obtain the plane with it is described
The intersection of spatial model；
Determining module, for using the starting point of the vector as starting point, offset preset value to determine gluing along the direction of the intersection
Point；
Generation module, for consecutive points to determine that obtained glue-applying point generates sole gluing rail two-by-two according to the sole outer profile
Mark.
9. a kind of terminal device characterized by comprising memory, processor and storage are in the memory and can be
The computer program run on the processor, the processor realize such as claim 1 to 7 when executing the computer program
The step of any one the method.
10. a kind of computer readable storage medium characterized by comprising the computer-readable recording medium storage has meter
Calculation machine program is realized when the computer program is executed by processor such as the step of any one of claim 1 to 7 the method.
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| CN201910376398.1A CN110226806B (en) | 2019-05-07 | 2019-05-07 | Sole gluing track generation method and device |
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| CN112405123A (en) * | 2020-11-19 | 2021-02-26 | 泉州华中科技大学智能制造研究院 | Shoe sole roughing track planning method and device based on clustering algorithm |
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| CN112871587B (en) * | 2021-01-08 | 2021-12-10 | 昂纳工业技术(深圳)有限公司 | Gluing path planning method and gluing system based on 3D visual guidance |
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| CN113643282A (en) * | 2021-08-31 | 2021-11-12 | 歌尔光学科技有限公司 | Workpiece gluing track generation method and device, electronic equipment and storage medium |
| CN114373012A (en) * | 2021-12-21 | 2022-04-19 | 中科新松有限公司 | Method for generating special-shaped plane spraying operation track |
| WO2024087121A1 (en) * | 2022-10-27 | 2024-05-02 | Abb Schweiz Ag | Method, electronic device and computer program product for generating a path |
| CN116076835A (en) * | 2023-02-10 | 2023-05-09 | 易麦斯智能科技(无锡)有限公司 | Method for replacing custom shoe tree by traditional shoe tree based on 3D vision technology |
| CN116076835B (en) * | 2023-02-10 | 2023-11-24 | 宁波点云智慧科技有限公司 | Method for replacing custom shoe tree by traditional shoe tree based on 3D vision technology |
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