基于线激光扫描的鞋底点胶路径规划方法

以三维视觉检测速度快、机器人喷胶效率高和通用性强等特点,提出了一种基于线激光扫描的鞋底点胶路径规划方法。首先,利用线激光扫描鞋底工件,通过全局高度阀值来分离出鞋底信息。其次,采用法向量的偏置算法提取鞋底的边缘轮廓,且对轮廓曲线进行最小二乘法多项式的平滑处理。最后,运用手眼标定变换矩阵将获取的轨迹坐标转换为点胶机器人的运动坐标,以自动生成点胶机器人运动轨迹线。实验表明,采用的点胶机器人运动轨迹规划方法实现了鞋底点胶自动化,具有一定的工业应用价值。

PATH PLANNING MESHOD FOR SHOE SOLE DISPENSING BASED ON LINE LASER SCANNING

Based on faster speed of 3D visual measurement and high efficiency of robot spraying and strong commonality, this paper presents the line laser scanning path method of shoe sole dispensing. Firstly, a line laser sensor was used to scan the sole artifacts to get the sole information through the global height threshold. Secondly, using the offset algorithm of the normal vector the edge contour of the sole was extracted, and the contour curve was smoothed by least square polynomial. Finally, the transformation matrix of a hand-eye calibration was used to convert the coordinates of a acquired trajectory into the motion coordinates of the dispensing robot, which automatically generate the motion trajectory of the dispensing robot. It showed that the trajectory planning method of dispensing robot realized the automation of sole dispensing and had certain industrial application value.