Study On Shoe Sole Roughing Based On Binocular Line Structured Light 3D Camera

As an important production and export base for the shoe industry,China’s current operating mode is generally dominated by handwork.Shoe sole roughing is one of the processes,the quality of manual roughing is unstable,and the dust generated during the roughing process poses a great threat to the health of workers,and it is urgent to change the status quo.Aiming at the industrial demand for automatic shoe sole roughing,this article has carried out research on the key technology of shoe sole inner elevation roughing based on the binocular line structured light three-dimensional measurement system.The main research contents are as follows:Researched and designed a binocular line structured light measurement system.According to the requirements of the measurement range required for the sole roughing scene,combined with the principle of line structured light imaging,the optical path design of the three-dimensional measurement system is carried out,and the relevant parameters of the binocular line structured light measurement system are determined;an improved light strip image processing is proposed The algorithm realizes the precise extraction of the central pixels of the light strip;the optical plane calibration method of the binocular line structured light measurement system is studied,and the homography mapping matrix of the camera image plane coordinates and the optical plane coordinates is obtained,and the sole point cloud data is realized no missing 3D reconstruction.An online planning method for the roughing trajectory of the inner elevation of the sole based on a three-dimensional point cloud is proposed.First,perform denoising and smoothing processing on the collected point cloud data;then,divide the point cloud data into two parts: the sole bottom surface point cloud and the sole inner elevation point cloud,and extract the sole bottom edge contour point cloud and the contour point cloud of the center edge of the inner elevation;finally,the point offset is performed on the bottom edge contour point cloud to obtain the actual roughing trajectory.Since the sanding trajectory of each sole is generated in real time according to the clamping position of the sole,without manual intervention and not affected by slight deformation of the sole,the trajectory planning algorithm proposed in this thesis has strong applicability.A six-joint robot roughing pose planning method based on the geometric characteristics of the sole is proposed.The coordinate systems and their conversion relationships in the sole roughing system are analyzed,the calibration method of the hand-eye conversion matrix is studied,and the point cloud of the roughing trajectory is converted to the robot workpiece coordinate system.Then,according to the characteristics of each part of the sole,the method of pre-defining the posture of the roughing tool in blocks and accurately offsetting the position of the roughing tool is used to complete the roughing work of the inner elevation of the sole by the six-joint robot.The software and hardware platforms of the sole roughing system have been built,and the visual calibration experiment and sole roughing experiment have been designed and completed,verifying the feasibility and applicability of the proposed method of online generation of roughing trajectory based on 3D point cloud and robot roughing of the inner elevation of the sole.