CN110181365A - A kind of the sole polishing system and polishing process of view-based access control model - Google Patents
A kind of the sole polishing system and polishing process of view-based access control model Download PDFInfo
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- CN110181365A CN110181365A CN201910606045.6A CN201910606045A CN110181365A CN 110181365 A CN110181365 A CN 110181365A CN 201910606045 A CN201910606045 A CN 201910606045A CN 110181365 A CN110181365 A CN 110181365A
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- sole
- conveyer belt
- access control
- control model
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- 238000005498 polishing Methods 0.000 title claims abstract description 31
- 238000007517 polishing process Methods 0.000 title claims abstract description 13
- 230000003028 elevating effect Effects 0.000 claims abstract description 28
- 230000005540 biological transmission Effects 0.000 claims abstract description 17
- 238000000605 extraction Methods 0.000 claims description 12
- 238000006243 chemical reaction Methods 0.000 claims description 3
- 238000000034 method Methods 0.000 abstract description 5
- 239000000428 dust Substances 0.000 description 12
- 238000003860 storage Methods 0.000 description 5
- 230000008602 contraction Effects 0.000 description 3
- 238000001514 detection method Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000010009 beating Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 230000001627 detrimental effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007717 exclusion Effects 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 239000002245 particle Substances 0.000 description 1
- 239000013618 particulate matter Substances 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A43—FOOTWEAR
- A43D—MACHINES, TOOLS, EQUIPMENT OR METHODS FOR MANUFACTURING OR REPAIRING FOOTWEAR
- A43D8/00—Machines for cutting, ornamenting, marking or otherwise working up shoe part blanks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B19/00—Single-purpose machines or devices for particular grinding operations not covered by any other main group
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/005—Feeding or manipulating devices specially adapted to grinding machines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/06—Work supports, e.g. adjustable steadies
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
- B24B49/12—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation involving optical means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B51/00—Arrangements for automatic control of a series of individual steps in grinding a workpiece
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B55/00—Safety devices for grinding or polishing machines; Accessories fitted to grinding or polishing machines for keeping tools or parts of the machine in good working condition
- B24B55/06—Dust extraction equipment on grinding or polishing machines
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The present invention provides the sole polishing system and polishing process of a kind of view-based access control model, including conveyer belt, described conveyer belt one end is provided with driving wheel, the conveyer belt other end is provided with driven wheel, the transmission two sides are provided with first sliding groove, and several elevating levers are provided in the first sliding groove, and several described elevating lever one end are set in the first sliding groove and cooperate with the first sliding groove, several elevating lever other ends are connected with objective table, and fixed device is provided on the objective table；The transmission belt edge is additionally provided with sawtooth, and the objective table bottom is provided with the auxiliary block with the jigsaw fit；Described conveyer belt one end is additionally provided with mechanical arm, is provided with sander on the mechanical arm.This bruting process whole-course automation carries out, and reduces the labor intensity of worker, considerably increases grinding efficiency.
Description
Technical field
The present invention relates to sole manufacture fields, and in particular to a kind of the sole polishing system and polishing process of view-based access control model.
Background technique
It mainly leans on worker to hold upper of a shoe in the polishing work of general shoemaking processing workshop, sole, then sole is being beaten
Move back and forth realization polishing on grinding machine.This manual polishing mode not only low efficiency, but also large labor intensity, sole quality is not yet
It can be guaranteed well, dust caused by addition polishing can also be detrimental to health, based on artificial sole polishing process, and
It is not suitable for producing in enormous quantities.
Summary of the invention
It is an object of the invention to overcome in the prior art, provide a kind of view-based access control model sole polishing system and
Polishing process increases sole grinding efficiency.
The purpose of the present invention is achieved through the following technical solutions: a kind of sole polishing system of view-based access control model and beating
Mill method, including conveyer belt, described conveyer belt one end are provided with driving wheel, and the conveyer belt other end is provided with driven wheel, institute
It states transmission two sides and is provided with first sliding groove, several elevating levers, several described elevating lever one end are provided in the first sliding groove
It is set in the first sliding groove and cooperates with the first sliding groove, several elevating lever other ends are connected with objective table, institute
It states and is provided with fixed device on objective table；The transmission belt edge is additionally provided with sawtooth, and the objective table bottom is provided with and institute
State the auxiliary block of jigsaw fit；Described conveyer belt one end is additionally provided with mechanical arm, is provided with sander on the mechanical arm.
By above-mentioned technological means, sole to be polished is placed on the securing means, and elevating lever is in contraction state at this time,
The engagement of the auxiliary block and the transmission belt edge, since conveyer belt is mobile, conveyer belt drives the objective table mobile,
When objective table is moved to the polishing motor spindle, elevating lever elongation, the sawtooth and the auxiliary block for transmitting belt edge at this time takes off
Mobile not followed by conveyer belt from, objective table, sander polishes to sole according to the lines of setting, after polishing after the completion of,
Elevating lever is shunk, and the conveyer belt is engaged with the auxiliary block at this time, and objective table follows the conveyer belt mobile, this bruting process
Whole-course automation carries out, and reduces the labor intensity of worker, considerably increases grinding efficiency.
Preferably, the fixed device includes bottom plate, and the bottom plate is hollow and is set to the upper surface of the objective table, institute
The both ends for stating bottom plate offer second sliding slot respectively, and two second sliding slots are oppositely arranged, in two second sliding slots
It is provided with support column；Two described support column one end are pierced by the plate upper surface, and two support column other ends are set to
The base plate interior and pass through spring be connected with each other.
By above-mentioned technological means, two support column lower ends are connected by spring, and the upper part of the supporting column is pierced by institute
Second sliding slot is stated, when sole to be polished is put between two support columns, the spring provides chucking power with fixed wait beat
The sole of mill, structure is simple, convenient to polish sole.
Preferably, fixed block and lower fixed block are additionally provided on the support column, the upper fixing block is set to described
The top of second sliding slot, the lower fixed block are set to the lower part of the second sliding slot, the upper fixing block and the lower fixation
Block is abutted with the second sliding slot.
By above-mentioned technological means, pushes against fixed block and lower fixed block and support column is avoided to move up and down in sliding,
Cause clamping effect bad
Preferably, described driving shaft one end is provided with chain, and the chain other end is provided with transmission shaft, the transmission shaft
It is connected with rotating electric machine.
It is described by driving rotating electric machine, the rotating electric machine and chain engaged transmission by above-mentioned technological means
Driving shaft described in chain-driving, the driving shaft drives the conveyer belt mobile, convenient to transmit to objective table.
Preferably, it is additionally provided with support frame on the conveyer belt, camera, the camera are provided on support frame as described above
For acquiring the location information of sole to be polished.
By above-mentioned technological means, the location information of sole to be polished is acquired by camera, then location information is carried out
Processing is transmitted to sander, increases grinding accuracy.
Preferably, be additionally provided with infrared distance sensor and controller on the mechanical arm, the controller with it is described red
Outer range sensor, mechanical arm, camera and elevating lever are electrically connected.
By above-mentioned technological means, the controller receives the range data of the infrared distance sensor detection, then will
Received range data is compared with preset threshold value, then controls elevating lever elongation less than preset threshold value, and
And the control sander polishes to sole.
It preferably, further include dust exhaust apparatus, the dust exhaust apparatus includes sweep-up pipe and dust storage chamber, and the dust storage chamber is set to
Described sander one end, described sweep-up pipe one end are connected with suction inlet, and the sweep-up pipe other end is connected with motor, the motor
It is set in the dust storage chamber.
By above-mentioned technological means, dust exhaust apparatus is set, the dust under polishing is cleared up, is conducive to protect worker strong
Health.
Filter chamber is additionally provided in the dust storage chamber, described filter chamber one end and the sweep-up pipe are far from the suction inlet
One end connection, filter chamber's other end are connect with the motor.
By above-mentioned technological means, the larger particles under filter chamber's collection sole polishing are set, easy cleaning is biggish
It particulate matter and prevents from blocking.
Preferably, the sole polishing process of a kind of view-based access control model, which comprises the following steps:
S1: establishing Binocular Stereo Vision System coordinate system and plane coordinate system, executes S2；
S2: will paste index point on the mechanical arm, execute S3；
S3: sole to be polished is placed on up on the objective table, starts the conveyer belt, executes S4；
S4: the pose data of the index point are acquired using the Binocular Stereo Vision System tracking mark point and wait polish
The image information of collected pose data and sole to be polished is transferred to controller, executes S5 by the image information of sole；
S5: the image information of pose data and sole to be polished is converted to the movement instruction of the mechanical arm by controller,
Execute S6；
S6: the infrared distance sensor detects the real-time range of the shoes to be polished and the mechanical arm, if apart from small
In the pre-set threshold value being equal in controller, S7 is executed, otherwise, executes S6；
S7: controller drives the mechanical arm, and the sander polishes to sole according to the movement instruction.
Preferably, the S4 is further comprising the steps of:
S41: generating the 3 dimensional drawing of sole to be polished using laser scanner, executes S42；
S42: polishing tracing point is generated according to 3 dimensional drawing using CAM software, executes S43；
S43: the tracing point of polishing is coordinately transformed, and executes S44；
S44: the coordinate after conversion is input to controller, executes S45；
S45: the location information of the index point is passed through feature extraction by Binocular Stereo Vision System, executes S46；
S46: it carries out cartesian space three-dimensional coordinate and seeks, execute S5.
Preferably, the plane coordinate system includes image coordinate and pixel coordinate.
Preferably, the feature extraction includes color feature extracted, saturation degree feature extraction and lightness feature extraction.
The beneficial effects of the present invention are:
1. fixation device of the invention includes bottom plate, bottom plate is hollow and is set to the upper surface of objective table, the both ends of bottom plate
Second sliding slot is offered respectively, and two second sliding slots are oppositely arranged, and are provided with support column in two second sliding slots；Two supports
Column one end is pierced by plate upper surface, and two support column other ends are set to base plate interior and are connected with each other by spring.Two branch
Dagger lower end is connected by spring, and upper part of the supporting column is pierced by second sliding slot, when sole to be polished is put between two support columns,
Spring provides chucking power with fixed sole to be polished, and structure is simple, convenient to polish sole；
2. be additionally provided with infrared distance sensor and controller on mechanical arm of the invention, the controller with it is described infrared
Range sensor, mechanical arm, camera and elevating lever are electrically connected, and the controller receives the infrared distance sensor inspection
The range data of survey, then received range data is compared with preset threshold value, it is less than preset threshold value then
Elevating lever elongation is controlled, and controls the sander and polishes sole.
Detailed description of the invention
Fig. 1 is overall structure front view of the present invention；
Fig. 2 is fixture structure figure of the present invention；
Fig. 3 is dust exhaust apparatus structural schematic diagram of the present invention；
Fig. 4 is the department pattern figure of Binocular Stereo Vision System of the invention；
Fig. 5 is the department pattern figure of Binocular Stereo Vision System of the invention；
The position Fig. 6 logic chart of the invention.
In figure: 1, conveyer belt；2, driving wheel；3, driven wheel；4, first sliding groove；5, elevating lever；6, objective table；7, fixed dress
It sets；701, bottom plate；702, second sliding slot；703, support column；704, spring；705, upper fixed block；706, lower fixed block；8, it saws
Tooth；9, auxiliary block；10, mechanical arm；11, sander；12, chain；13, transmission shaft；14, support frame；15, camera；16, dust suction
Device；161, suction inlet；162, sweep-up pipe；163, filter chamber；164, motor；165, dust storage chamber；17, infrared distance sensor.
Specific embodiment
Technical solution of the present invention is described in further detail with reference to the accompanying drawing, but protection scope of the present invention is not limited to
Below.
Embodiment 1
As shown in Figure 1, the sole polishing system and polishing process of a kind of view-based access control model, including conveyer belt 1, conveyer belt 1 one
End is provided with driving wheel 2, and 1 other end of conveyer belt is provided with driven wheel 3, and transmission two sides are provided with first sliding groove 4, first sliding groove
Several elevating levers 5 are provided in 4, several 5 one end of elevating lever are set in first sliding groove 4 and cooperate with first sliding groove 4, Ruo Gansheng
Drop 5 other end of bar is connected with objective table 6, and fixed device 7 is provided on objective table 6；1 edge of conveyer belt is additionally provided with sawtooth 8, carries
6 bottom of object platform is provided with the auxiliary block 9 cooperated with sawtooth 8；1 one end of conveyer belt is additionally provided with mechanical arm 10, sets on mechanical arm 10
It is equipped with sander 11.
Sole to be polished is placed on fixed device 7, and elevating lever 5 is in contraction state, auxiliary block 9 and conveyer belt at this time
The sawtooth 8 at 1 edge engages, and since conveyer belt 1 is mobile, conveyer belt 1 is mobile with dynamic object stage 6, when objective table 6 is moved to sander
When 11 bottom, elevating lever 5 extends, and the sawtooth 8 at 1 edge of conveyer belt and auxiliary block 9 are detached from this time, and objective table 6 is not followed by transmission
Band 1 is mobile, and sander 11 polishes to sole according to the lines of setting, after polishing after the completion of, elevating lever 5 is shunk, and is passed at this time
Band 1 is sent to engage with auxiliary block 9, objective table 6 follows conveyer belt 1 mobile, this bruting process whole-course automation carries out, and reduces worker
Labor intensity, considerably increase grinding efficiency.
As shown in Fig. 2, fixed device 7 includes bottom plate 701, bottom plate 701 is hollow and is set to the upper surface of objective table 6, bottom
The both ends of plate 701 offer second sliding slot 702 respectively, and two second sliding slots 702 are oppositely arranged, in two second sliding slots 702
It is provided with support column 703；Two 703 one end of support column are pierced by 701 upper surface of bottom plate, and two 703 other ends of support column are set to
It is connected with each other inside bottom plate 701 and by spring 704.Two 703 lower ends of support column are connected by spring 704, on support column 703
Portion is pierced by second sliding slot 702, and when sole to be polished is put between two support columns 703, spring 704 provides chucking power with fixation
Sole to be polished, structure is simple, convenient to polish sole.
Fixed block 705 and lower fixed block 706 are additionally provided on support column 703, upper fixed block 705 is set to second sliding slot
702 top, lower fixed block 706 are set to the lower part of second sliding slot 702, and upper fixed block 705 and lower fixed block 706 are with second
Sliding slot 702 abuts.Pushing against fixed block 705 and lower fixed block 706 avoids support column 703 from moving up and down in sliding, causes
Clamping effect is bad.
Driving shaft one end is provided with chain 12, and 12 other end of chain is provided with transmission shaft 13, and transmission shaft 13 is connected with rotation
Motor.By driving rotating electric machine, 12 engaged transmission of rotating electric machine and chain, chain 12 drives driving shaft, and driving shaft, which drives, to be passed
Send band 1 mobile, it is convenient that objective table 6 is transmitted.
Be additionally provided with support frame 14 on conveyer belt 1, be provided with camera 15 on support frame 14, camera 15 for acquire to
The location information of polishing sole.
The location information of sole to be polished is acquired by camera 15, then location information is subjected to processing and is transmitted to sander
11, increase grinding accuracy.Infrared distance sensor 17 and controller are additionally provided on mechanical arm 10, controller and infrared distance pass
Sensor 17, mechanical arm 10, camera 15 and elevating lever 5 are electrically connected.Controller receives what infrared distance sensor 17 detected
Range data, then received range data is compared with preset threshold value, it is then controlled less than preset threshold value
Elevating lever 5 extends, and controls sander 11 and polish sole.
A kind of sole polishing process of view-based access control model, logical relation are as shown in Figure 6, comprising the following steps:
S1: establishing Binocular Stereo Vision System coordinate system and plane coordinate system, executes S2；
S2: will paste index point on the mechanical arm 10, execute S3；
S3: sole to be polished is placed on up on the objective table 6, starts the conveyer belt 1, executes S4；
S4: the pose data of the index point are acquired using the Binocular Stereo Vision System tracking mark point and wait polish
The image information of collected pose data and sole to be polished is transferred to controller, executes S5 by the image information of sole；
S5: controller refers to the movement that the image information of pose data and sole to be polished is converted to the mechanical arm 10
It enables, executes S6；
S6: the infrared distance sensor 17 detects the real-time range of the shoes to be polished and the mechanical arm 10, if away from
From the pre-set threshold value being less than or equal in controller, S7 is executed, otherwise, executes S6；
S7: controller drives the mechanical arm 10, and the sander 11 polishes to sole according to the movement instruction.
Left camera 15 and right camera 15 are installed, two cameras 15 shoot sole to be polished, by two width figures
As the calculating of parallax, range measurement is carried out to the object of shooting, is the figure shot due to two cameras 15 to the same object
As having differences, also referred to as " parallax ".Object distance is remoter, and parallax is smaller；Conversely, parallax is bigger, the size of parallax corresponds to object
The distance of distance, imaging model are as shown in Figure 4 and Figure 5 between body and camera 15.
According to correspondence theorem:
It is solved equation by formula 1:
Wherein f is the focal length of camera, and b is the baseline of left and right camera, and d is parallax, i.e. d=xl-xr。
The S4 is further comprising the steps of:
S41: generating the 3 dimensional drawing of sole to be polished using laser scanner, executes S42；
S42: polishing tracing point is generated according to 3 dimensional drawing using CAM software, executes S43；
S43: the tracing point of polishing is coordinately transformed, and executes S44；
S44: the coordinate after conversion is input to controller, executes S45；
S45: the location information of the index point is passed through feature extraction by Binocular Stereo Vision System, executes S46；
S46: it carries out cartesian space three-dimensional coordinate and seeks, execute S5.The plane coordinate system includes image coordinate and picture
Plain coordinate.The feature extraction includes color feature extracted, saturation degree feature extraction and lightness feature extraction.
Implementation principle of the invention: sole to be polished is placed on fixed device 7 first, elevating lever 5 is at this time
Contraction state, auxiliary block 9 are engaged with the sawtooth 8 at 1 edge of conveyer belt, and since conveyer belt 1 is mobile, conveyer belt 1 is moved with dynamic object stage 6
It is dynamic, the real-time range of infrared distance sensor 17 detection mechanical arm 10 and objective table 6, and feed back to controller, when detection away from
When from being less than the threshold value being arranged in controller, controller controls elevating lever 5 and extends, at this time the sawtooth 8 at 1 edge of conveyer belt and auxiliary
Block 9 is detached from, and objective table 6 is not mobile followed by conveyer belt 1, and left camera 15 and right camera 15 are respectively by collected wait polish
Sole position information be transmitted to controller, the image information of pose data and sole to be polished is converted to the machine by controller
The movement instruction of tool arm 10, while the infrared distance sensor 17 detects the real-time of the shoes to be polished and the mechanical arm 10
Distance, if distance is less than or equal to the pre-set threshold value in controller, sander 11 carries out sole according to the lines of setting
Polishing, after polishing after the completion of, controller control elevating lever 5 shrink, conveyer belt 1 is engaged with auxiliary block 9 at this time, and objective table 6 follows
Conveyer belt 1 is mobile.
The above is only the preferred embodiment of the present invention, it should be understood that the present invention is not limited to shape described herein
Formula should not be regarded as an exclusion of other examples, and can be used for other combinations, modifications, and environments, and can be herein
In contemplated scope, modifications can be made through the above teachings or related fields of technology or knowledge.And what those skilled in the art were carried out changes
Dynamic and variation does not depart from the spirit and scope of the present invention, then all should be within the scope of protection of the appended claims of the present invention.
Claims (10)
1. a kind of sole polishing system of view-based access control model, which is characterized in that including conveyer belt (1), described conveyer belt (1) one end is set
It is equipped with driving wheel (2), conveyer belt (1) other end is provided with driven wheel (3), and the transmission two sides are provided with first sliding groove
(4), it is provided with several elevating levers (5) in the first sliding groove (4), several described elevating lever (5) one end are set to described first
Cooperate in sliding slot (4) and with the first sliding groove (4), several elevating lever (5) other ends are connected with objective table (6), described
Fixed device (7) are provided on objective table (6)；Conveyer belt (1) edge is additionally provided with sawtooth (8), objective table (6) bottom
Portion is provided with the auxiliary block (9) with the sawtooth (8) cooperation；Described conveyer belt (1) one end is additionally provided with mechanical arm (10), described
Sander (11) are provided on mechanical arm (10).
2. a kind of sole polishing system of view-based access control model according to claim 1, which is characterized in that the fixed device
It (7) include bottom plate (701), the bottom plate (701) is hollow and is set to the upper surface of the objective table (6), the bottom plate (701)
Both ends offer respectively second sliding slot (702), two second sliding slots (702) are oppositely arranged, two second sliding slots
(702) support column (703) are provided in；Two described support column (703) one end are pierced by the bottom plate (701) upper surface, and two
A support column (703) other end is set to the bottom plate (701) inside and is connected with each other by spring (704).
3. a kind of sole polishing system of view-based access control model according to claim 2, which is characterized in that the support column
(703) fixed block (705) and lower fixed block (706) are additionally provided on, it is sliding that the upper fixing block (705) is set to described second
The top of slot (702), the lower fixed block (706) are set to the lower part of the second sliding slot (702), the upper fixing block
(705) it is abutted with the second sliding slot (702) with the lower fixed block (706).
4. a kind of sole polishing system of view-based access control model according to claim 1, which is characterized in that described driving shaft one end
It is provided with chain (12), chain (12) other end is provided with transmission shaft (13), and the transmission shaft (13) is connected with electric rotating
Machine.
5. a kind of sole polishing system of view-based access control model according to claim 2, which is characterized in that the conveyer belt (1)
On be additionally provided with support frame (14), be provided on support frame as described above (14) camera (15), the camera (15) is for acquiring
The pictorial information of sole to be polished.
6. a kind of sole polishing system of view-based access control model according to claim 5, which is characterized in that the mechanical arm (10)
On be additionally provided with infrared distance sensor (17) and controller, it is the controller and the infrared distance sensor (17), mechanical
Arm (10), camera (15) and elevating lever (5) are electrically connected.
7. a kind of sole polishing process of view-based access control model, which comprises the following steps:
S1: establishing Binocular Stereo Vision System coordinate system and plane coordinate system, executes S2；
S2: will paste index point on the mechanical arm (10), execute S3；
S3: sole to be polished is placed on up on the objective table (6), is started the conveyer belt (1), and S4 is executed；
S4: using the Binocular Stereo Vision System tracking mark point acquire the index point pose data and sole to be polished
Image information, the image information of collected pose data and sole to be polished is transferred to controller, executes S5；
S5: the image information of pose data and sole to be polished is converted to the movement instruction of the mechanical arm (10) by controller,
Execute S6；
S6: the infrared distance sensor (17) detects the real-time range of the shoes to be polished and the mechanical arm (10), if away from
From the pre-set threshold value being less than or equal in controller, S7 is executed, otherwise, executes S6；
S7: controller drives the mechanical arm (10), and the sander (11) polishes to sole according to the movement instruction.
8. a kind of sole polishing process of view-based access control model according to claim 7, which is characterized in that the S4 further include with
Lower step:
S41: generating the 3 dimensional drawing of sole to be polished using laser scanner, executes S42；
S42: polishing tracing point is generated according to 3 dimensional drawing using CAM software, executes S43；
S43: the tracing point of polishing is coordinately transformed, and executes S44；
S44: the coordinate after conversion is input to controller, executes S45；
S45: the location information of the index point is passed through feature extraction by Binocular Stereo Vision System, executes S46；
S46: it carries out cartesian space three-dimensional coordinate and seeks, execute S5.
9. a kind of sole polishing process of view-based access control model according to claim 7, which is characterized in that the plane coordinate system
Including image coordinate and pixel coordinate.
10. a kind of sole polishing process of view-based access control model according to claim 7, which is characterized in that the feature extraction
Including color feature extracted, saturation degree feature extraction and lightness feature extraction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910606045.6A CN110181365B (en) | 2019-07-05 | 2019-07-05 | Sole polishing system and polishing method based on vision |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910606045.6A CN110181365B (en) | 2019-07-05 | 2019-07-05 | Sole polishing system and polishing method based on vision |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110181365A true CN110181365A (en) | 2019-08-30 |
| CN110181365B CN110181365B (en) | 2024-01-02 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910606045.6A Active CN110181365B (en) | 2019-07-05 | 2019-07-05 | Sole polishing system and polishing method based on vision |
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| CN (1) | CN110181365B (en) |
Cited By (3)
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| CN111037398A (en) * | 2019-12-26 | 2020-04-21 | 安徽科大智能物联技术有限公司 | Manipulator system of polishing based on vision guide |
| CN111578055A (en) * | 2020-04-18 | 2020-08-25 | 青岛奥利普自动化控制系统有限公司 | Electronic batch recording equipment and method |
| CN115431132A (en) * | 2021-06-01 | 2022-12-06 | 广东天机智能系统有限公司 | Automatic grinding device |
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| CN110181365B (en) | 2024-01-02 |
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