CN110181365B - Sole polishing system and polishing method based on vision - Google Patents
Sole polishing system and polishing method based on vision Download PDFInfo
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- CN110181365B CN110181365B CN201910606045.6A CN201910606045A CN110181365B CN 110181365 B CN110181365 B CN 110181365B CN 201910606045 A CN201910606045 A CN 201910606045A CN 110181365 B CN110181365 B CN 110181365B
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- sole
- polished
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- mechanical arm
- objective table
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- 238000005498 polishing Methods 0.000 title claims abstract description 44
- 238000000034 method Methods 0.000 title claims abstract description 15
- 238000000605 extraction Methods 0.000 claims description 12
- 230000033001 locomotion Effects 0.000 claims description 10
- 230000005540 biological transmission Effects 0.000 claims description 8
- 238000000227 grinding Methods 0.000 claims description 8
- 239000000284 extract Substances 0.000 claims description 3
- 230000009466 transformation Effects 0.000 claims description 3
- 238000007517 polishing process Methods 0.000 abstract description 3
- 239000000428 dust Substances 0.000 description 19
- 238000010586 diagram Methods 0.000 description 4
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 210000001503 joint Anatomy 0.000 description 2
- 239000013618 particulate matter Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000005259 measurement Methods 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
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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
- 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
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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
- 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 invention provides a sole polishing system and a sole polishing method based on vision, comprising a conveyor belt, wherein one end of the conveyor belt is provided with a driving wheel, the other end of the conveyor belt is provided with a driven wheel, both sides of the conveyor belt are provided with first sliding grooves, a plurality of lifting rods are arranged in the first sliding grooves, one ends of the lifting rods are arranged in the first sliding grooves and are matched with the first sliding grooves, the other ends of the lifting rods are connected with an objective table, and the objective table is provided with a fixing device; the edge of the conveyor belt is also provided with saw teeth, and the bottom of the objective table is provided with auxiliary blocks matched with the saw teeth; the conveyer belt one end still is provided with the arm, be provided with the polisher on the arm. The polishing process is automatically carried out in the whole process, so that the labor intensity of workers is reduced, and the polishing efficiency is greatly increased.
Description
Technical Field
The invention relates to the field of sole processing, in particular to a sole polishing system and a sole polishing method based on vision.
Background
In a general shoemaking workshop, a polishing work of a sole mainly relies on a worker to hold an upper, and then the sole moves back and forth on a polishing machine to achieve polishing. The manual polishing mode is low in efficiency, high in labor intensity, not capable of guaranteeing the quality of soles, and harmful to human health due to dust caused by polishing, and is not suitable for mass production based on the manual sole polishing method.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, and provides a sole polishing system and a sole polishing method based on vision, which increase sole polishing efficiency.
The aim of the invention is realized by the following technical scheme: the sole polishing system based on vision and the sole polishing method comprise a conveyor belt, wherein one end of the conveyor belt is provided with a driving wheel, the other end of the conveyor belt is provided with a driven wheel, both sides of the conveyor belt are provided with first sliding grooves, a plurality of lifting rods are arranged in the first sliding grooves, one ends of the lifting rods are arranged in the first sliding grooves and are matched with the first sliding grooves, the other ends of the lifting rods are connected with an objective table, and the objective table is provided with a fixing device; the edge of the conveyor belt is also provided with saw teeth, and the bottom of the objective table is provided with auxiliary blocks matched with the saw teeth; the conveyer belt one end still is provided with the arm, be provided with the polisher on the arm.
Through the technical means, the sole to be polished is placed on the fixing device, the lifting rod is in a contracted state at the moment, the auxiliary block is meshed with the saw teeth at the edge of the conveying belt, the conveying belt drives the objective table to move due to the movement of the conveying belt, when the objective table moves to the bottom of the polishing machine, the lifting rod stretches, the saw teeth at the edge of the conveying belt are separated from the auxiliary block, the objective table does not move along with the conveying belt any more, the polishing machine polishes the sole according to the set lines, after polishing is completed, the lifting rod contracts, at the moment, the conveying belt is meshed with the auxiliary block, the objective table moves along with the conveying belt, the whole polishing process is automatically carried out, the labor intensity of workers is reduced, and the polishing efficiency is greatly increased.
Preferably, the fixing device comprises a bottom plate, the bottom plate is hollow and is arranged on the upper surface of the objective table, second sliding grooves are respectively formed in two ends of the bottom plate, the two second sliding grooves are oppositely arranged, and supporting columns are arranged in the two second sliding grooves; one end of each supporting column penetrates out of the upper surface of the bottom plate, and the other ends of the supporting columns are arranged inside the bottom plate and are connected with each other through springs.
Through the technical means, the two support columns are connected through the spring, the second sliding groove is penetrated out of the upper parts of the support columns, when the sole to be polished is placed between the two support columns, the spring provides clamping force to fix the sole to be polished, and the sole polishing device is simple in structure and convenient to polish the sole.
Preferably, the support column is further provided with an upper fixing block and a lower fixing block, the upper fixing block is arranged on the upper portion of the second sliding groove, the lower fixing block is arranged on the lower portion of the second sliding groove, and the upper fixing block and the lower fixing block are in butt joint with the second sliding groove.
Through the technical means, the upper fixing block and the lower fixing block are abutted tightly to avoid the situation that the support column moves up and down during sliding, so that the clamping effect is poor
Preferably, a chain is arranged at one end of the driving shaft, a transmission shaft is arranged at the other end of the chain, and the transmission shaft is connected with a rotating motor.
Through above-mentioned technical means, through driving rotating electrical machines, rotating electrical machines with the chain meshing transmission, the chain drives the driving shaft, the driving shaft drives the conveyer belt removes, conveniently transmits the objective table.
Preferably, the conveyor belt is further provided with a supporting frame, the supporting frame is provided with a camera, and the camera is used for collecting position information of soles to be polished.
Through the technical means, the position information of the sole to be polished is acquired through the camera, and then the position information is processed and transmitted to the polisher, so that the polishing precision is improved.
Preferably, the mechanical arm is further provided with an infrared distance sensor and a controller, and the controller is electrically connected with the infrared distance sensor, the mechanical arm, the camera and the lifting rod.
Through the technical means, the controller receives the distance data detected by the infrared distance sensor, compares the received distance data with a preset threshold value, controls the lifting rod to extend when the received distance data is smaller than the preset threshold value, and controls the polisher to polish the sole.
Preferably, the dust collection device comprises a dust collection pipe and a dust collection chamber, wherein the dust collection chamber is arranged at one end of the grinding machine, one end of the dust collection pipe is connected with a dust collection port, the other end of the dust collection pipe is connected with a motor, and the motor is arranged in the dust collection chamber.
Through the technical means, dust collection device is arranged to clean the polished dust, so that the health of workers is protected.
The dust collecting chamber is also internally provided with a filter chamber, one end of the filter chamber is connected with one end of the dust collection pipe away from the dust collection port, and the other end of the filter chamber is connected with the motor.
Through above-mentioned technical means, set up the filter chamber and collect the great particulate matter under the sole is polished, conveniently clear up great particulate matter and prevent to block up.
Preferably, a vision-based sole polishing method is characterized by comprising the following steps:
s1: establishing a binocular stereoscopic vision system coordinate system and a plane coordinate system, and executing S2;
s2: attaching mark points to the mechanical arm, and executing S3;
s3: placing the sole to be polished on the objective table with the surface facing upwards, starting the conveyor belt, and executing S4;
s4: the binocular stereoscopic vision system is utilized to track mark points to acquire pose data of the mark points and image information of soles to be polished, the acquired pose data and the image information of the soles to be polished are transmitted to a controller, and S5 is executed;
s5: the controller converts pose data and image information of the sole to be polished into a motion instruction of the mechanical arm, and S6 is executed;
s6: the infrared distance sensor detects the real-time distance between the shoe to be polished and the mechanical arm, if the distance is smaller than or equal to a preset threshold value in the controller, S7 is executed, otherwise S6 is executed;
s7: the controller drives the mechanical arm, and the polisher polishes the sole according to the motion instruction.
Preferably, the step S4 further includes the steps of:
s41: generating a three-dimensional perspective view of the sole to be polished by using a laser scanner, and executing S42;
s42: generating polishing track points according to the three-dimensional stereogram by utilizing CAM software, and executing S43;
s43: performing coordinate transformation on the polished track points, and executing S44;
s44: inputting the converted coordinates to a controller, and executing S45;
s45: the binocular stereoscopic vision system extracts the position information of the mark points through characteristics and executes S46;
s46: and (5) carrying out Cartesian space three-dimensional coordinate calculation, and executing S5.
Preferably, the planar coordinate system includes image coordinates and pixel coordinates.
Preferably, the feature extraction includes color feature extraction, saturation feature extraction, and brightness feature extraction.
The beneficial effects of the invention are as follows:
1. the fixing device comprises a bottom plate, wherein the bottom plate is hollow and is arranged on the upper surface of the objective table, two ends of the bottom plate are respectively provided with a second chute, the two second chutes are oppositely arranged, and support columns are arranged in the two second chutes; one end of each support column penetrates out of the upper surface of the bottom plate, and the other ends of the support columns are arranged inside the bottom plate and are connected with each other through springs. The lower ends of the two support columns are connected through the springs, the upper parts of the support columns penetrate out of the second sliding grooves, when the sole to be polished is placed between the two support columns, the springs provide clamping force to fix the sole to be polished, and the sole polishing machine is simple in structure and convenient to polish the sole;
2. the mechanical arm is further provided with an infrared distance sensor and a controller, the controller is electrically connected with the infrared distance sensor, the mechanical arm, the camera and the lifting rod, the controller receives distance data detected by the infrared distance sensor, the received distance data is compared with a preset threshold value, the lifting rod is controlled to extend when the received distance data is smaller than the preset threshold value, and the polishing machine is controlled to polish soles.
Drawings
FIG. 1 is a front view of the overall structure of the present invention;
FIG. 2 is a block diagram of a fixture according to the present invention;
FIG. 3 is a schematic view of a dust collector according to the present invention;
FIG. 4 is a partial model diagram of a binocular stereo vision system of the present invention;
FIG. 5 is a partial model diagram of a binocular stereo vision system of the present invention;
FIG. 6 is a logic diagram of the present invention.
In the figure: 1. a conveyor belt; 2. a driving wheel; 3. driven wheel; 4. a first chute; 5. a lifting rod; 6. an objective table; 7. a fixing device; 701. a bottom plate; 702. a second chute; 703. a support column; 704. a spring; 705. an upper fixing block; 706. a lower fixing block; 8. saw teeth; 9. an auxiliary block; 10. a mechanical arm; 11. a grinding machine; 12. a chain; 13. a transmission shaft; 14. a support frame; 15. a camera; 16. a dust collection device; 161. a dust collection port; 162. a dust collection pipe; 163. a filtering chamber; 164. a motor; 165. a dust collection chamber; 17. an infrared distance sensor.
Detailed Description
The technical scheme of the present invention is described in further detail below with reference to the accompanying drawings, but the scope of the present invention is not limited to the following.
Example 1
As shown in fig. 1, the sole polishing system and polishing method based on vision comprise a conveyor belt 1, wherein one end of the conveyor belt 1 is provided with a driving wheel 2, the other end of the conveyor belt 1 is provided with a driven wheel 3, both sides of the conveyor belt are provided with a first chute 4, a plurality of lifting rods 5 are arranged in the first chute 4, one end of each lifting rod 5 is arranged in the first chute 4 and matched with the first chute 4, the other end of each lifting rod 5 is connected with an objective table 6, and a fixing device 7 is arranged on the objective table 6; the edge of the conveyor belt 1 is also provided with saw teeth 8, and the bottom of the objective table 6 is provided with auxiliary blocks 9 matched with the saw teeth 8; one end of the conveyor belt 1 is also provided with a mechanical arm 10, and the mechanical arm 10 is provided with a grinding machine 11.
The sole that waits to polish is placed on fixing device 7, lifter 5 is in the shrink state this moment, auxiliary block 9 meshes with sawtooth 8 at conveyer belt 1 edge, because conveyer belt 1 removes, conveyer belt 1 drives objective table 6 and removes, when objective table 6 removes the polisher 11 bottom, lifter 5 extension, sawtooth 8 at conveyer belt 1 edge and auxiliary block 9 break away from this moment, objective table 6 no longer follows conveyer belt 1 and removes, polisher 11 is polished the sole according to the line of setting, after polishing, lifter 5 shrink, conveyer belt 1 and auxiliary block 9 mesh this moment, objective table 6 follows conveyer belt 1 and removes, this whole automation of polishing process goes on, workman's intensity of labour has been reduced, the efficiency of polishing has been greatly increased.
As shown in fig. 2, the fixing device 7 includes a bottom plate 701, the bottom plate 701 is hollow and is disposed on the upper surface of the stage 6, two ends of the bottom plate 701 are respectively provided with a second chute 702, the two second chutes 702 are disposed opposite to each other, and support columns 703 are disposed in the two second chutes 702; one end of each support column 703 penetrates out of the upper surface of the base plate 701, and the other ends of the support columns 703 are arranged inside the base plate 701 and are connected with each other through springs 704. The lower ends of the two support columns 703 are connected through the springs 704, the upper parts of the support columns 703 penetrate out of the second sliding grooves 702, when soles to be polished are placed between the two support columns 703, the springs 704 provide clamping force to fix the soles to be polished, and the polishing device is simple in structure and convenient to polish the soles.
The support column 703 is further provided with an upper fixing block 705 and a lower fixing block 706, the upper fixing block 705 is arranged on the upper portion of the second chute 702, the lower fixing block 706 is arranged on the lower portion of the second chute 702, and the upper fixing block 705 and the lower fixing block 706 are both in butt joint with the second chute 702. The upper fixing block 705 and the lower fixing block 706 are abutted tightly to avoid the situation that the support column 703 moves up and down when sliding, so that the clamping effect is poor.
One end of the driving shaft is provided with a chain 12, the other end of the chain 12 is provided with a transmission shaft 13, and the transmission shaft 13 is connected with a rotating motor. Through driving the rotating electrical machines, the rotating electrical machines and the chain 12 are meshed and transmitted, the chain 12 drives the driving shaft, and the driving shaft drives the conveyor belt 1 to move, so that the object stage 6 is conveniently transmitted.
The conveyor belt 1 is also provided with a support frame 14, the support frame 14 is provided with a camera 15, and the camera 15 is used for collecting the position information of the sole to be polished.
The position information of the sole to be polished is acquired through the camera 15, and then is processed and transmitted to the polisher 11, so that the polishing precision is increased. The mechanical arm 10 is also provided with an infrared distance sensor 17 and a controller, and the controller is electrically connected with the infrared distance sensor 17, the mechanical arm 10, the camera 15 and the lifting rod 5. The controller receives the distance data detected by the infrared distance sensor 17, compares the received distance data with a preset threshold value, controls the lifting rod 5 to extend when the received distance data is smaller than the preset threshold value, and controls the polisher 11 to polish the sole.
A vision-based sole polishing method, the logical relationship of which is shown in fig. 6, comprising the steps of:
s1: establishing a binocular stereoscopic vision system coordinate system and a plane coordinate system, and executing S2;
s2: attaching mark points to the mechanical arm 10, and executing S3;
s3: placing the sole to be polished face up on the objective table 6, starting the conveyor belt 1, and executing S4;
s4: the binocular stereoscopic vision system is utilized to track mark points to acquire pose data of the mark points and image information of soles to be polished, the acquired pose data and the image information of the soles to be polished are transmitted to a controller, and S5 is executed;
s5: the controller converts pose data and image information of the sole to be polished into a motion instruction of the mechanical arm 10, and S6 is executed;
s6: the infrared distance sensor 17 detects the real-time distance between the shoe to be polished and the mechanical arm 10, if the distance is smaller than or equal to a preset threshold value in the controller, the step S7 is executed, otherwise, the step S6 is executed;
s7: the controller drives the mechanical arm 10, and the polisher 11 polishes the sole according to the movement instruction.
The left camera 15 and the right camera 15 are installed, the two cameras 15 shoot soles to be polished, and the distance measurement is carried out on a shot object by calculating parallax of two images because the two cameras 15 have differences on images shot by the same object, which is also called parallax. The farther the object is, the smaller the parallax; conversely, the larger the parallax corresponds to the distance between the object and the camera 15, and the imaging model is shown in fig. 4 and 5.
According to the similar theorem:
solving the equation from equation 1:
where f is the focal length of the camera, b is the baseline of the left and right cameras, d is the parallax, i.e. d=x l -x r 。
The step S4 further comprises the following steps:
s41: generating a three-dimensional perspective view of the sole to be polished by using a laser scanner, and executing S42;
s42: generating polishing track points according to the three-dimensional stereogram by utilizing CAM software, and executing S43;
s43: performing coordinate transformation on the polished track points, and executing S44;
s44: inputting the converted coordinates to a controller, and executing S45;
s45: the binocular stereoscopic vision system extracts the position information of the mark points through characteristics and executes S46;
s46: and (5) carrying out Cartesian space three-dimensional coordinate calculation, and executing S5. The planar coordinate system includes image coordinates and pixel coordinates. The feature extraction includes color feature extraction, saturation feature extraction, and brightness feature extraction.
The implementation principle of the invention is as follows: firstly, the sole to be polished is placed on a fixing device 7, at the moment, a lifting rod 5 is in a contracted state, an auxiliary block 9 is meshed with saw teeth 8 at the edge of a conveyor belt 1, the conveyor belt 1 drives an object stage 6 to move due to the movement of the conveyor belt 1, an infrared distance sensor 17 detects the real-time distance between a mechanical arm 10 and the object stage 6 and feeds back the real-time distance to a controller, when the detected distance is smaller than a threshold value set in the controller, the controller controls the lifting rod 5 to stretch, at the moment, the saw teeth 8 at the edge of the conveyor belt 1 are separated from the auxiliary block 9, the object stage 6 does not move along with the conveyor belt 1, a left camera 15 and a right camera 15 respectively transmit acquired sole position information to be polished to the controller, the controller converts pose data and image information of the sole to be polished into a movement instruction of the mechanical arm 10, at the same time, the infrared distance sensor 17 detects the real-time distance between the sole to be polished and the mechanical arm 10, and if the distance is smaller than or equal to a preset threshold value in the controller, the polisher 11 polishes according to a preset grain pair, after polishing is completed, the controller controls the lifting rod 5 to be contracted with the conveyor belt 1 to move along with the auxiliary block 9.
The foregoing is merely a preferred embodiment of the invention, and it is to be understood that the invention is not limited to the form disclosed herein and is not to be considered as excluding other embodiments, but is capable of numerous other combinations, modifications and environments and is capable of modifications within the scope of the inventive concept, either by the foregoing teachings or by the teaching of the relevant art. And that modifications and variations which do not depart from the spirit and scope of the invention are intended to be within the scope of the appended claims.
Claims (5)
1. The utility model provides a sole polishing system based on vision, its characterized in that, including conveyer belt (1), conveyer belt (1) one end is provided with action wheel (2), the conveyer belt (1) other end is provided with from driving wheel (3), the conveying both sides all are provided with first spout (4), be provided with a plurality of lifter (5) in first spout (4), a plurality of lifter (5) one end set up in first spout (4) and with first spout (4) cooperation, a plurality of lifter (5) other end is connected with objective table (6), be provided with fixing device (7) on objective table (6); the edge of the conveyor belt (1) is also provided with saw teeth (8), and the bottom of the objective table (6) is provided with auxiliary blocks (9) matched with the saw teeth (8); one end of the conveyor belt (1) is also provided with a mechanical arm (10), and the mechanical arm (10) is provided with a grinding machine (11);
the fixing device (7) comprises a bottom plate (701), the bottom plate (701) is hollow and is arranged on the upper surface of the objective table (6), two ends of the bottom plate (701) are respectively provided with a second chute (702), the two second chutes (702) are oppositely arranged, and support columns (703) are arranged in the two second chutes (702); one end of each supporting column (703) penetrates out of the upper surface of the base plate (701), and the other ends of the two supporting columns (703) are arranged in the base plate (701) and are connected with each other through springs (704);
an upper fixing block (705) and a lower fixing block (706) are further arranged on the support column (703), the upper fixing block (705) is arranged on the upper portion of the second chute (702), the lower fixing block (706) is arranged on the lower portion of the second chute (702), and the upper fixing block (705) and the lower fixing block (706) are both abutted to the second chute (702); one end of the driving shaft is provided with a chain (12), the other end of the chain (12) is provided with a transmission shaft (13), and the transmission shaft (13) is connected with a rotating motor;
the conveyor belt (1) is also provided with a supporting frame (14), the supporting frame (14) is provided with a camera (15), and the camera (15) is used for collecting picture information of soles to be polished;
the mechanical arm (10) is also provided with an infrared distance sensor (17) and a controller, and the controller is electrically connected with the infrared distance sensor (17), the mechanical arm (10), the camera (15) and the lifting rod (5);
firstly, placing soles to be polished on a fixing device (7), wherein a lifting rod (5) is in a contracted state, an auxiliary block (9) is meshed with saw teeth (8) at the edge of a conveying belt (1), the conveying belt (1) drives an objective table (6) to move due to the fact that the conveying belt (1) moves, an infrared distance sensor (17) detects the real-time distance between a mechanical arm (10) and the objective table (6) and feeds back to a controller, when the detected distance is smaller than a threshold value set in the controller, the controller controls the lifting rod (5) to stretch, at the moment, the saw teeth (8) at the edge of the conveying belt (1) are separated from the auxiliary block (9), the objective table (6) does not move along the conveying belt (1), the left camera (15) and the right camera (15) respectively transmit acquired sole position information to the controller, the pose data and the image information of the soles to be polished are converted into motion instructions of the mechanical arm (10), meanwhile, the infrared distance sensor (17) detects the distance between the soles to be polished and the mechanical arm (10), if the detected distance is smaller than the threshold value set in the controller, and the polishing rod (1) is meshed with the auxiliary block (9) after the polishing is completed according to the preset distance between the two pairs of the control blocks (11), the object stage (6) moves along with the conveyor belt (1).
2. A vision-based sole grinding method, characterized in that it employs the vision-based sole grinding system according to claim 1, comprising the steps of:
s1: establishing a binocular stereoscopic vision system coordinate system and a plane coordinate system, and executing S2;
s2: attaching mark points to the mechanical arm (10), and executing S3;
s3: placing the sole to be polished face up on the objective table (6), starting the conveyor belt (1), and executing S4;
s4: the binocular stereoscopic vision system is utilized to track mark points to acquire pose data of the mark points and image information of soles to be polished, the acquired pose data and the image information of the soles to be polished are transmitted to a controller, and S5 is executed;
s5: the controller converts pose data and image information of the sole to be polished into a motion instruction of the mechanical arm (10), and S6 is executed;
s6: the infrared distance sensor (17) detects the real-time distance between the shoe to be polished and the mechanical arm (10), if the distance is smaller than or equal to a preset threshold value in the controller, S7 is executed, otherwise S6 is executed;
s7: the controller drives the mechanical arm (10), and the polisher (11) polishes the sole according to the motion instruction.
3. The vision-based shoe sole polishing method as set forth in claim 2, wherein said S4 further comprises the steps of:
s41: generating a three-dimensional perspective view of the sole to be polished by using a laser scanner, and executing S42;
s42: generating polishing track points according to the three-dimensional stereogram by utilizing CAM software, and executing S43;
s43: performing coordinate transformation on the polished track points, and executing S44;
s44: inputting the converted coordinates to a controller, and executing S45;
s45: the binocular stereoscopic vision system extracts the position information of the mark points through characteristics and executes S46;
s46: and (5) carrying out Cartesian space three-dimensional coordinate calculation, and executing S5.
4. A vision-based sole grinding method according to claim 2, characterized in that the planar coordinate system comprises image coordinates and pixel coordinates.
5. A vision-based sole grinding method as claimed in claim 3, wherein the feature extraction includes color feature extraction, saturation feature extraction, and brightness 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 |
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| 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 |
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| Publication Number | Publication Date |
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| CN110181365A CN110181365A (en) | 2019-08-30 |
| CN110181365B true CN110181365B (en) | 2024-01-02 |
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