CN110448919A - A kind of full-automatic hair implanter coordinate transformation method controlled based on programming - Google Patents
A kind of full-automatic hair implanter coordinate transformation method controlled based on programming Download PDFInfo
- Publication number
- CN110448919A CN110448919A CN201811628151.6A CN201811628151A CN110448919A CN 110448919 A CN110448919 A CN 110448919A CN 201811628151 A CN201811628151 A CN 201811628151A CN 110448919 A CN110448919 A CN 110448919A
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- China
- Prior art keywords
- computer
- scanning
- automatic hair
- hair implanter
- programming
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Classifications
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H3/00—Dolls
- A63H3/36—Details; Accessories
- A63H3/44—Dolls' hair or wigs; Eyelashes; Eyebrows
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H9/00—Special methods or compositions for the manufacture of dolls, toy animals, toy figures, or parts thereof
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F8/00—Arrangements for software engineering
- G06F8/30—Creation or generation of source code
Abstract
The present invention relates to full-automatic hair implanter technical fields, disclose a kind of full-automatic hair implanter coordinate transformation method controlled based on programming, toy head son is subjected to 3D scanning by 3D scanning device, the obj of toy head son is obtained after scanning, stl, stp model file, by above-mentioned scanning to model file import computer on the specific software write, the 3D figure of scanning is converted into the pulse data that automatic hair transplant function executes by computer, carry out coordinate conversion, computer can be by sending each arm motion of executing agency that corresponding order computer can control hair implanter to the point specified, by computer to the direct needle position programmed process of model, after needle position path has been got well in programming on computers, coordinate data is directly produced by computer software, coordinate data after production is downloaded to above automatic hair implanter.The present invention, to the direct needle position programmed process of model, simplifies tradition by mitigating artificial workload manually to the process of point by computer.
Description
Technical field
The present invention relates to full-automatic hair implanter technical field, in particular to a kind of full-automatic hair implanter controlled based on programming
Coordinate transformation method.
Background technique
Toy head son is numerous in the market, and the model of every money toy is also to have nothing in common with each other, and carries out for automatic hair implanter
The key of automatic hair transplant is exactly the position of every syringe needle hair on hair implanter, and existing producer is all to be carried out by artificial to each needle
It tunes up, the artificial position to each needle carries out coming out to behaviour from a head mould manually to point (namely artificial programming)
Machine personnel need differ the programmed time for 3-5 days, behaviour machine personnel stare at daily machine carry out point adjustment but also they
Visual impairment, bend over to cause lumbar muscle strain for a long time.
Summary of the invention
Invention is designed to provide a kind of full-automatic hair implanter coordinate transformation method controlled based on programming, and the present invention is logical
Computer is crossed to the direct needle position programmed process of model, tradition is simplified and passes through manually to the process of point, mitigate artificial workload,
To solve the problems mentioned in the above background technology.
To achieve the above object, the invention provides the following technical scheme:
A kind of full-automatic hair implanter coordinate transformation method controlled based on programming, includes the following steps:
Step 1: carrying out 3D scanning by 3D scanning device for toy head son, the obj of toy head son obtained after scanning,
Stl, stp model file；
Step 2: by above-mentioned scanning to model file import the specific software write on computer, computer is by the 3D of scanning
Figure is converted into the pulse data that automatic hair transplant function executes, and carries out coordinate conversion；
Step 3: each arm of executing agency that computer can control hair implanter by sending corresponding order computer
Move to specified point；
Step 4: by computer to the direct needle position programmed process of model, after needle position path has been got well in programming on computers,
Coordinate data is directly produced by computer software, the coordinate data after production is downloaded to above automatic hair implanter.
Further, computer software is used to observe head son's model after scanning, and can amplify to model, reduces,
Rotation, path planning add needle position.
Further, hair implanter arm control toy head son carries out the rotation of left-right and front-back, can also rotate in place.
Further, the pulse for the motor that coordinate conversion runs three-dimensional coordinate conversion city control robotic arm in step 2
Signal.
Further, computer connects automatic hair implanter by data line, carries out on-line debugging with hair implanter.
Compared with prior art, the beneficial effects of the present invention are: the full-automatic plant proposed by the present invention controlled based on programming
Hair machine coordinate transformation method is led the model file scanned by the way that toy head son is carried out 3D scanning by 3D scanning device
Enter the specific software write on computer, the 3D figure of scanning is converted into the pulse data that automatic hair transplant function executes, electricity by computer
The pulse signal for the motor that brain software runs three-dimensional system of coordinate conversion and control robotic arm, computer are connected automatic by data line
Hair implanter, with hair implanter carry out on-line debugging, will be calculated pulse number issues automatic hair transplant machine controller, can be complete
Automatically control machine carries out mutually deserved movement, and computer can control holding for hair implanter by sending corresponding order computer
The each arm motion of row mechanism realizes automatic Programming to specified point, instead of to point, it is logical manually to simplify tradition
It crosses manually to the process of point, mitigates artificial workload.
Detailed description of the invention
Fig. 1 is coordinate flow path switch figure of the invention；
Fig. 2 is that coordinate of the invention converts initial graph；
Fig. 3 is that coordinate transfer point of the invention is displaced dynamic schematic diagram；
Fig. 4 is that coordinate of the invention converts a point perspective view；
Fig. 5 is that coordinate of the invention converts b point perspective view；
Fig. 6 is that hair implanter arm of the invention controls toy head son rotation schematic diagram.
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.
Referring to Fig. 1, a kind of full-automatic hair implanter coordinate transformation method controlled based on programming, includes the following steps:
Step 1: toy head son is subjected to 3D scanning by 3D scanning device and is swept for obtaining the 3D rendering of toy head son
The obj of toy head son, stl, stp model file are obtained after retouching；
Step 2: the model file that above-mentioned steps scan is imported into the specific software write on computer, in this software
It can be seen that head son's model after scanning, and model can be amplified, it reduces, rotation, path planning, the behaviour such as addition needle position
Make, the 3D figure of scanning is converted into the pulse data that automatic hair transplant function executes by computer, is related to the conversion of coordinate system, is such as schemed
Shown in 2, (x, y, z) is shown in a point on toy head son's spherical surface, the coordinate of the point in software；But on machine because
The reason of executing agency, what is leaned on is the rotation of arm to carry out fixed point location, so machine recognition is not three-dimensional system of coordinate,
So the key of the software is exactly by the pulse signal of the motor of three-dimensional system of coordinate conversion and control robotic arm operation, transfer algorithm
It is as follows；
Assuming that fastening in the three-dimensional coordinate that head carries there are a point a, its coordinate is (x, y, z), in moving process, first will
Point is moved to point b from a, then moves to tip position point c (such as Fig. 3), does projection of a point to X-Y coordinate, and past b point
It is rotated, the rotation angle R1 (such as Fig. 4) of available first time rotation r1, R1=arctan (x/y) will rotate into three-dimensional seat
B point in mark system is projected toward X-Z coordinate system, and rotates to c point, and the rotation angle R2 of available second of rotation r2 is (as schemed
5) one week pulse digit of motor movement, 3600 pulse is arranged, then according to rotation in, R2=arctan (X1/Z1) on the controller
The value of corner R 1 and R2 can extrapolate corresponding pulse number:
F1=R1/360*3600=R1*10
F2=R2/360*3600=R2*10
Step 3: computer connects automatic hair implanter by data line, carries out on-line debugging with hair implanter, will be calculated
Pulse number issues automatic hair transplant machine controller, can fully automatically control machine and carry out mutually deserved movement, computer can lead to
It crosses and sends corresponding order computer and can control each arm motion of executing agency of hair implanter to specified point；Hair implanter hand
Arm control toy head son carries out the rotation of left-right and front-back, can also be rotated in place (such as Fig. 6)；
Step 4: by computer to the direct needle position programmed process of model, simplifying tradition by manually to the process of point,
After needle position path has been got well in programming on computers, coordinate data is directly produced by computer software, by the coordinate data after production
It downloads to above automatic hair implanter, so that it may automatic Programming is realized, instead of manually to point, mitigating artificial work
Amount.
Working principle: carrying out 3D scanning by 3D scanning device for toy head son first, obtain the 3D rendering of toy head son,
The model file scanned is imported into the specific software write on computer, the 3D figure of scanning is converted into automatic hair implanter by computer
The pulse data that can be executed, the pulse signal for the motor that computer software runs three-dimensional system of coordinate conversion and control robotic arm, electricity
Brain connects automatic hair implanter by data line, with hair implanter carry out on-line debugging, will be calculated pulse number is issued automatically
Hair transplant machine controller can fully automatically control machine and carry out mutually deserved movement, and computer can be by sending corresponding order
Computer can control each arm motion of executing agency of hair implanter to specified point, complete automatic Programming.
In conclusion the full-automatic hair implanter coordinate transformation method proposed by the present invention controlled based on programming, by that will play
Have head son and 3D scanning is carried out by 3D scanning device, the model file scanned is imported into the specific software write on computer, electricity
The 3D figure of scanning is converted into the pulse data that automatic hair transplant function executes by brain, and computer software is by three-dimensional system of coordinate conversion and control
The pulse signal of the motor of robotic arm operation, computer connect automatic hair implanter by data line, carry out online tune with hair implanter
Examination, will be calculated pulse number issues automatic hair transplant machine controller, can fully automatically control machine carry out it is mutually deserved
Movement, computer can be by sending each arm motion of executing agency that corresponding order computer can control hair implanter to specifying
Point, automatic Programming is realized, instead of manually to point, simplifying tradition by manually to the process of point, mitigating people
The workload of work.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
Anyone skilled in the art within the technical scope of the present disclosure, according to the technique and scheme of the present invention and its
Inventive concept is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.
Claims (5)
1. the full-automatic hair implanter coordinate transformation method that one kind controls based on programming, which comprises the steps of:
Step 1: carrying out 3D scanning by 3D scanning device for toy head son, obj, the stl of toy head son obtained after scanning,
Stp model file；
Step 2: by above-mentioned scanning to model file import the specific software write on computer, computer is by the 3D figure of scanning
It is converted into the pulse data that automatic hair transplant function executes, carries out coordinate conversion；
Step 3: each arm motion of executing agency that computer can control hair implanter by sending corresponding order computer
To specified point；
Step 4: the direct needle position programmed process of model is passed through after needle position path has been got well in programming on computers by computer
Computer software directly produces coordinate data, and the coordinate data after production is downloaded to above automatic hair implanter.
2. the full-automatic hair implanter coordinate transformation method that one kind according to claim 1 controls based on programming, feature exist
In, computer software is used to observe head son's model after scanning, and can amplify to model, it reduces, rotation, path planning,
Add needle position.
3. the full-automatic hair implanter coordinate transformation method that one kind according to claim 1 controls based on programming, feature exist
In hair implanter arm control toy head son carries out the rotation of left-right and front-back, can also rotate in place.
4. the full-automatic hair implanter coordinate transformation method that one kind according to claim 1 controls based on programming, feature exist
In the pulse signal for the motor that coordinate conversion runs three-dimensional coordinate conversion city control robotic arm in step 2.
5. the full-automatic hair implanter coordinate transformation method that one kind according to claim 1 controls based on programming, feature exist
In computer connects automatic hair implanter by data line, carries out on-line debugging with hair implanter.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811628151.6A CN110448919A (en) | 2018-12-28 | 2018-12-28 | A kind of full-automatic hair implanter coordinate transformation method controlled based on programming |
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| CN201811628151.6A CN110448919A (en) | 2018-12-28 | 2018-12-28 | A kind of full-automatic hair implanter coordinate transformation method controlled based on programming |
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| CN208193658U (en) * | 2018-05-08 | 2018-12-07 | 东莞市诺诚自动化科技有限公司 | A kind of control device of hair implanter |
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|---|---|---|---|---|
| CN1399925A (en) * | 2000-04-28 | 2003-03-05 | 保知宏 | Fully automatic wig making machine and method |
| CN101065745A (en) * | 2004-10-22 | 2007-10-31 | 菲利普·L·吉尔登伯格 | System and method for robotic assisted wig construction |
| EP1834755B1 (en) * | 2006-03-17 | 2008-06-11 | Hans Oxenfarth | Welding method and apparatus for compensation of position and angle |
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Application publication date: 20191115 |
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