CN113231910B - Method and system for acquiring polishing track of edge of sole - Google Patents
Method and system for acquiring polishing track of edge of sole Download PDFInfo
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- CN113231910B CN113231910B CN202110471617.1A CN202110471617A CN113231910B CN 113231910 B CN113231910 B CN 113231910B CN 202110471617 A CN202110471617 A CN 202110471617A CN 113231910 B CN113231910 B CN 113231910B
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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
- B24B9/00—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor
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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
- A43D8/32—Working on edges or margins
- A43D8/34—Working on edges or margins by skiving
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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
- 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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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
- G06T17/20—Finite element generation, e.g. wire-frame surface description, tesselation
- G06T17/205—Re-meshing
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T19/00—Manipulating 3D models or images for computer graphics
- G06T19/20—Editing of 3D images, e.g. changing shapes or colours, aligning objects or positioning parts
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/60—Analysis of geometric attributes
- G06T7/66—Analysis of geometric attributes of image moments or centre of gravity
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2219/00—Indexing scheme for manipulating 3D models or images for computer graphics
- G06T2219/20—Indexing scheme for editing of 3D models
- G06T2219/2012—Colour editing, changing, or manipulating; Use of colour codes
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2219/00—Indexing scheme for manipulating 3D models or images for computer graphics
- G06T2219/20—Indexing scheme for editing of 3D models
- G06T2219/2016—Rotation, translation, scaling
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2219/00—Indexing scheme for manipulating 3D models or images for computer graphics
- G06T2219/20—Indexing scheme for editing of 3D models
- G06T2219/2021—Shape modification
Abstract
The invention provides a method for obtaining a polishing track of the edge of a shoe sole, which comprises the steps of scanning three-dimensional grid data of a shoe body to generate a three-dimensional grid, dividing the three-dimensional grid data into a plurality of grid blocks according to the data characteristics of each vertex of the three-dimensional grid, setting an evaluation index based on the grid blocks and the vertices, reserving a target grid block which meets the index, abandoning the rest parts, reconstructing a new three-dimensional grid by using the target grid block, and performing subsequent processing by using one boundary line of the new three-dimensional grid as a reference to obtain the polishing track; the invention designs a method for acquiring the polishing track of the edge of the sole, develops a corresponding equipment system, constructs three-dimensional grids on a shoe body through scanning, and acquires the grid blocks of the edge of the sole by dividing the whole three-dimensional grid into a plurality of different grid blocks for screening, thereby efficiently and accurately acquiring the track line of the edge of the sole.
Description
Technical Field
The invention relates to the technical field of shoemaking processes, in particular to a method and a system for acquiring a polishing track of a sole edge.
Background
In the process of manufacturing shoes by leather shoes, in order to make the side edges of the soles more regular and polish the side edges to the specified thickness, the side edges are generally required to be manually grabbed to be contacted with a polishing rotary head, so that the side edges of the soles are polished to the specified thickness. At present, some shoe making equipment adopts a robot to finish automatic grinding, liquid medicine spraying and glue coating processes of the side edge of a sole, but the generation of a tracking track of the robot is mostly finished by adopting an off-line teaching mode. The process comprises the steps of firstly attaching the sole to the vamp, manually drawing the edge lines of the sole, drawing the vertical lines at certain intervals, and then teaching the robot to generate the tracking track by utilizing the intersection points of the edge lines of the sole and the vertical lines.
However, no matter the manual mode or the mode of teaching the robot, not only the error is very big, and even the sole of same specification can not obtain polishing of the same degree, and the product quality can not be guaranteed, and before polishing the process to the sole of different specifications, all need repeated loaded down with trivial details teaching process moreover, waste time and energy, inefficiency.
Disclosure of Invention
In view of the above, the present invention provides a method and system for quickly and accurately obtaining a polishing track of a sole edge, which is suitable for soles of different specifications.
The technical scheme of the invention is realized as follows: the invention provides a method for acquiring a polishing track of a sole edge, which comprises the following steps,
scanning to obtain three-dimensional grid data of a shoe body and generating a three-dimensional grid;
dividing the three-dimensional grid data into a plurality of grid blocks according to the data characteristics of each vertex of the three-dimensional grid, establishing an evaluation index based on the grid blocks and the vertices, reserving a target grid block meeting the index, and discarding the rest parts;
and step three, reconstructing a new three-dimensional grid by using the target grid block, and performing subsequent processing by using one boundary line of the new three-dimensional grid as a reference to obtain the polishing track.
On the basis of the above technical solution, preferably, in the second step, the curvature of each vertex in the three-dimensional mesh is obtained through calculation, and then the absolute value of the curvature value of each vertex is taken and normalized to the open interval of [0,1], so that the curvature of each vertex is divided into a plurality of intervals from low to high, and the data characteristics of each vertex are obtained.
Still more preferably, the curvature of each vertex in the three-dimensional mesh is obtained by calculating a gaussian curvature value, by,
preferably, in the second step, any vertex is taken as a seed vertex, the rest of vertices are traversed from the seed vertex until a vertex with a curvature higher than that of the seed vertex and belonging to another curvature interval is encountered, and a mesh block is extracted through several times of traversal; the process of extracting the grid blocks is repeated for a plurality of times, so that the whole three-dimensional grid is divided into a plurality of different grid blocks.
On the basis of the above technical solution, preferably, in the second step, vertex information of each mesh block is obtained, the principal direction of the mesh block is calculated, and vector point multiplication is performed according to the principal direction of each mesh block and a normal vector of one vertex in the mesh block to determine whether the mesh block meets the evaluation index, so as to screen out the target mesh block.
Further preferably, when the vector dot multiplication of the normal vector of any vertex in the mesh block and the main direction of the mesh block is positive, the mesh block is the target mesh block.
On the basis of the technical scheme, preferably, in the first step, a depth image of the shoe body is obtained through a three-dimensional laser scanner, a space voxel is constructed by adopting a TSDF algorithm, the weight and the SDF value of each vertex are calculated, and an isosurface is extracted through an MC algorithm, so that a three-dimensional grid is finally generated.
On the basis of the technical scheme, preferably, in the third step, the target grid block is reconstructed by using the half-edge data structure to generate a new three-dimensional grid, so that inner and outer boundary lines of the new three-dimensional grid are obtained, and the inner boundary line is used as a reference, is outwardly biased and rotated, and finally obtains a polishing track of the edge of the shoe sole.
In another aspect, the present invention provides a system for acquiring a polishing track of a sole edge, including an object placing table, a mechanical arm, a three-dimensional laser scanner and an analysis unit, wherein the object placing table is horizontally disposed, the object placing table is used for fixing a shoe body on a horizontal position and providing a positioning mark for the three-dimensional laser scanner, the mechanical arm is disposed on the object placing table, the three-dimensional laser scanner is disposed on the mechanical arm, the three-dimensional laser scanner is driven by the mechanical arm to move around the shoe body along the sole edge to perform scanning, so as to acquire a depth image of the shoe body, the analysis unit is electrically connected to the three-dimensional laser scanner and receives data obtained by the scanning, and the analysis unit processes and analyzes the obtained data by using the method of any one of claims 1 to 8.
Compared with the prior art, the method and the system for acquiring the polishing track of the sole edge have the following beneficial effects:
(1) The invention designs a method for acquiring the polishing track of the edge of the sole, develops a corresponding equipment system, constructs three-dimensional grids on a shoe body through scanning, and acquires the grid blocks of the edge of the sole by dividing the whole three-dimensional grid into a plurality of different grid blocks for screening, thereby efficiently and accurately acquiring the track line of the edge of the sole.
(2) According to the method, the vertexes in the three-dimensional grid are normalized into a plurality of intervals through the curvature characteristics, so that the whole three-dimensional grid can be efficiently traversed from the seed vertexes, the three-dimensional grid is divided into a plurality of grid blocks, and the target grid block is efficiently and accurately screened out.
(3) The method takes the vector point multiplication of any vertex in the grid block and the main direction of the grid block as the evaluation index, has high accuracy and universality, and is suitable for obtaining the sole track lines with different specifications.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic diagram of a target grid block of the present invention;
fig. 2 is a schematic diagram illustrating the principle of screening target grid blocks according to evaluation indexes in the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
The first embodiment is as follows:
the invention discloses a method for acquiring a polishing track of a sole edge, which comprises the following steps of,
acquiring a depth image of a shoe body through a three-dimensional laser scanner, constructing a space voxel by adopting a TSDF algorithm, calculating the weight and the SDF value of each vertex, and extracting an isosurface through an MC algorithm so as to finally generate a three-dimensional grid;
dividing the three-dimensional grid data into a plurality of grid blocks according to the data characteristics of each vertex of the three-dimensional grid, establishing an evaluation index based on the grid blocks and the vertices, reserving a target grid block meeting the index, and discarding the rest parts;
and step three, reconstructing the target grid block by using the half-edge data structure of the target grid block to generate a new three-dimensional grid so as to obtain inner and outer boundary lines of the new three-dimensional grid, and offsetting and rotating outwards by taking the inner boundary line as a reference so as to finally obtain a polishing track of the edge of the sole.
On the other hand, the system for acquiring the polishing track of the edge of the sole comprises an object placing table, a mechanical arm, a three-dimensional laser scanner and an analysis unit, wherein the object placing table is horizontally arranged, the object placing table is used for fixing the shoe body on the position of a horizontal plane and providing a positioning mark for the three-dimensional laser scanner, the mechanical arm is arranged on the object placing table, the three-dimensional laser scanner is arranged on the mechanical arm, the three-dimensional laser scanner is driven by the mechanical arm to move around the shoe body along the edge of the sole to perform scanning, so that a depth image of the shoe body is acquired, the analysis unit is electrically connected with the three-dimensional laser scanner and receives data acquired by scanning, and the analysis unit processes and analyzes the acquired data by adopting the method.
It should be noted that, the shoe body is formed by attaching and sewing the sole and the vamp, in order to facilitate the attaching and sewing processes of the sole and the vamp, a certain space is required to be left between the edge of the sole and the sewing part of the vamp, and the edge of the sole is polished, while a part of the space is kept, the edge of the sole is made to approach the sewing part as much as possible, so that the polishing track of the edge of the sole is consistent with the boundary track of the edge of the sole.
Referring to fig. 1, when the construction of the three-dimensional mesh of the whole shoe body is completed, it can be seen that the whole three-dimensional mesh can be actually regarded as being formed by seamlessly splicing a plurality of mesh blocks, and what we need to obtain is that the mesh blocks are the parts where the intervals between the edge of the sole and the vamp stitching positions are located, and independently, the mesh blocks are an annular region with the same shape as the boundary track of the sole edge, and the annular region has an inner boundary line and an outer boundary line.
The first objective of the present technical solution is to divide the whole three-dimensional grid into a plurality of grid blocks. In the first step, the depth image of the shoe body is obtained through the three-dimensional laser scanner, the space voxel is constructed by adopting the TSDF algorithm, the weight and the SDF value of each vertex are calculated, and the isosurface is extracted through the MC algorithm, so that the three-dimensional grid is finally generated, and the data information and the data characteristics of each vertex in the three-dimensional grid can be obtained in detail.
It should be noted that, constructing a three-dimensional mesh by combining a depth image with a TSDF algorithm and an MC algorithm is already a common three-dimensional construction means at present, can achieve a speed of generating a mesh in real time, and is widely applied to a plurality of related fields.
Through analyzing the data information and the data characteristic of every summit, combine half the notion of data structure, index vertex data and inquiry topology information that can the high efficiency to know the relation of three-dimensional mesh mid point, limit and face, specifically speaking, exactly which limit has been used which point, which face has been used which limit or adjacent which limit, which two faces are adjacent each other.
Therefore, assuming that the grid block of the annular region is S2, and two grid blocks adjacent to the grid block S2 and respectively attached to the inner and outer boundary lines of the grid block S2 are S1 and S3, the grid block S2 is a target grid block to be obtained by screening; since the data characteristics of the three mesh zones and the data information of each vertex are different, we can effectively divide the different mesh zones S1, S2 and S3.
When the whole three-dimensional grid is divided into a plurality of different grid blocks, the second objective of the technical scheme is to screen out a target grid block, namely the grid block S2, from the numerous grid blocks. From the above analysis, each mesh block and the vertex therein have different data characteristics and data information, so we can preset a screening standard based on the data characteristics and the data information of the vertex of the mesh block, and the target mesh block is obtained as long as one mesh block meets the preset standard.
And step three, reconstructing the target grid block by using a half-edge data structure by using the target grid block to generate a new three-dimensional grid so as to obtain inner and outer boundary lines of the new three-dimensional grid, taking the inner boundary line as a reference, offsetting outwards, rotating, and finally obtaining the polishing track of the edge of the sole through means of curve smoothing, equidistant thinning algorithm and the like.
However, the data characteristics included in the three-dimensional mesh and the data information included in the vertexes thereof are very complicated and wide, and in order to accurately and efficiently analyze the three-dimensional mesh and the vertexes and to enable the method to be suitable for obtaining the edge tracks of the soles with different specifications, the technical scheme of the first embodiment is further improved, so that the technical scheme of the second embodiment is obtained.
Example two:
on the basis of the first embodiment, in the second step, in order to obtain the data characteristics of each vertex, the curvature of each vertex in the three-dimensional mesh is obtained through calculation, the characteristics of the edge angle, the curved surface and the like where a certain vertex is located can be extracted, the absolute value of the curvature value of each vertex is taken and normalized to the open interval of [0,1], and therefore the curvature of each vertex is divided into a plurality of intervals from low to high, and the purpose of inducing and classifying numerous vertex data is achieved, so that subsequent indexing and processing are facilitated. In practical operation, the vertex is generally divided into three sections, namely a low curvature section, a middle curvature section and a high curvature section, and the three sections are respectively rendered by three colors, namely blue, yellow and red in three-dimensional software.
Furthermore, the curvature characteristic adopted in the technical scheme is Gaussian curvature.
The gaussian curvature of a point on a curved surface is the product of two principal curvatures of the point. The vertex on the curved surface is mapped to the center of a unit sphere, and the end point of the normal is mapped to the spherical surface, namely, the point on the curved surface and the point on the spherical surface are in correspondence, namely, the spherical surface representation of the curved surface and the Gaussian mapping are also called. The geometrical significance of the gaussian curvature, i.e. the area on the sphere/the limit of the local area of the curved surface, shows that the gaussian curvature does reflect the degree of local curvature of the curved surface.
Then, by using the positive and negative of the gaussian curvature, the structure of the curved surface near one point can be conveniently researched, the gaussian curvature K >0 is an elliptic point, K <0 is a hyperbolic point, and K =0 is a plane or a parabolic point.
When solving the Gaussian curvature of the surface of the triangular mesh, discrete differential geometry is needed, and the integral of the discrete Gaussian curvature to the local curved surface under the geometric meaning of Gaussian mapping is used to obtain a calculation formula,
the geometric meaning of the formula is that the bending degree of the point curved surface is embodied by considering the area of the normal line of a certain point neighborhood mapped on a unit sphere, namely the sum of angles from 2 pi to the corresponding triangle of the point neighborhood, and dividing the sum by the area of the corresponding area.
Another reason why the present invention adopts gaussian curvature is that in most three-dimensional software, the distribution of gaussian curvature of a curved surface is usually expressed by using the color distribution and change of the surface of the curved surface, as is the case with ProE software, for example, the change of gaussian curvature of a curved surface can be intuitively known through the change of colors, and the abrupt change of colors represents the abrupt change of gaussian curvature, so that the change of curvature of each grid block can be more intuitively represented.
To more intuitively embody the function of the above technical means, referring to fig. 1, it can be clearly found that the distance from the edge of the sole to the stitching portion, i.e. the target mesh region S2 has a relatively flat surface, and the two mesh regions S2 and S3 adjacent to the mesh region S1 have curved surfaces, so that the vertex in the target mesh region S2 is necessarily divided into a low curvature region, and the vertices in the mesh regions S2 and S3 are necessarily divided into a middle or high curvature region.
On the basis, by using a breadth-first traversal method, taking any vertex as a seed vertex, traversing the rest of vertexes from the seed vertex until encountering a vertex with a curvature higher than that of the seed vertex and belonging to another curvature interval, namely starting from a certain vertex in a relatively lower curvature interval and traversing to another vertex in a relatively higher curvature interval, and extracting a complete mesh block through a plurality of traversals, wherein all vertexes in the mesh block are divided into the same curvature interval; the process of extracting the grid blocks is repeated for a plurality of times, so that the whole three-dimensional grid can be divided into a plurality of different grid blocks.
In addition, the principle of the technical scheme utilizes the concept of a half-side data structure, so that the information of the side and the triangular surface adjacent to the three-dimensional point can be quickly acquired, and various curvature information including but not limited to geodesic curvature, main curvature, gaussian curvature or average curvature and the like can be conveniently and quickly calculated and can be selected according to actual conditions.
However, the number of the grid blocks divided by the three-dimensional grid is large, and the feature information of each grid block is complicated, so that an effective and accurate judgment standard needs to be preset to realize the screening of the target grid block S2.
On the basis of the second embodiment, the invention is further improved, so that the technical scheme of the third embodiment is obtained.
Example three:
on the basis of the second embodiment, in the second step, vertex information of each mesh block is obtained, the main direction of each mesh block is calculated, and vector point multiplication is performed according to the main direction of each mesh block and a normal vector of one vertex in the mesh block to judge whether the mesh block meets the evaluation index, so that the target mesh block is screened out.
In practice, since the target object of the present invention is leather shoes, which are a product that can be customized uniformly, it has a distinct feature that the leather shoe edge line is always upward, i.e. the main direction of the target grid block S2 is determined.
For each grid block, after corresponding vertex information is obtained, the principal direction of the grid block can be calculated by combining a principal component analysis technology; while at the same time the normal vector of a certain vertex is already known.
Therefore, referring to fig. 2, since the target mesh block S2 is a low curvature region, the vector dot product of the normal vector of any vertex in the region and the main direction of the mesh block S2 is necessarily positive, so as to screen the target mesh block S2 from a plurality of mesh blocks.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (8)
1. A method for acquiring a polishing track of a sole edge is characterized by comprising the following steps: comprises the following steps of (a) carrying out,
scanning to obtain three-dimensional grid data of a shoe body and generating a three-dimensional grid;
dividing the three-dimensional grid data into a plurality of grid blocks according to the data characteristics of each vertex of the three-dimensional grid, acquiring vertex information of each grid block, calculating the main direction of each grid block, and performing vector dot multiplication according to the main direction of each grid block, the normal vector of one vertex in the grid block and the main direction of a target block to judge whether the grid block meets evaluation indexes or not, so that the target grid block is screened out, and the rest part is discarded;
and step three, reconstructing a new three-dimensional grid by using the target grid block, and performing subsequent processing by using one boundary line of the new three-dimensional grid as a reference to obtain the polishing track.
2. A method of obtaining a sole edge grinding trajectory according to claim 1, wherein: in the second step, the curvature of each vertex in the three-dimensional grid is obtained through calculation, and then the absolute value of the curvature value of each vertex is taken and normalized to an open interval of [0,1], so that the curvature of each vertex is divided into a plurality of intervals from low to high, and the data characteristics of each vertex are obtained.
3. A method of obtaining a sole edge grinding trajectory according to claim 2, wherein: the curvature of each vertex in the three-dimensional mesh is obtained through calculation, and the curvature is a Gaussian curvature value, the calculation method is,
4. a method of obtaining a sole edge grinding trajectory according to claim 2, wherein: in the second step, any vertex is taken as a seed vertex, the rest of vertexes are traversed from the seed vertex until encountering a vertex with a curvature higher than that of the seed vertex and belonging to another curvature interval, and a grid block is extracted through a plurality of times of traversal; the process of extracting the grid blocks is repeated for a plurality of times, so that the whole three-dimensional grid is divided into a plurality of different grid blocks.
5. A method of obtaining a sole edge grinding trajectory according to claim 1, wherein: and when the vector point multiplication is carried out on the normal vector of any vertex in the grid block and the main direction of the target grid block to be a positive value, the grid block is the target grid block.
6. The method for obtaining a sole edge grinding trajectory according to claim 1, wherein: in the first step, a depth image of a shoe body is obtained through a three-dimensional laser scanner, a space voxel is constructed through a TSDF algorithm, the weight and the SDF value of each vertex are calculated, and an isosurface is extracted through an MC algorithm, so that a three-dimensional grid is finally generated.
7. A method of obtaining a sole edge grinding trajectory according to claim 1, wherein: and in the third step, reconstructing the target grid block by using the half-edge data structure to generate a new three-dimensional grid so as to obtain inner and outer boundary lines of the new three-dimensional grid, and offsetting and rotating outwards by taking the inner boundary line as a reference so as to finally obtain the polishing track of the edge of the sole.
8. A system for obtaining a sole edge grinding track is characterized in that: including putting thing platform, arm, three-dimensional laser scanner and analysis unit, it sets up to put thing platform level, it is used for fixing the shoes body on the position of horizontal plane and for three-dimensional laser scanner provides the alignment, the arm sets up on putting the thing platform, three-dimensional laser scanner sets up on the arm, three-dimensional laser scanner scans around shoes body motion along the sole edge under the arm drives to obtain the degree of depth image of shoes body, analysis unit electric connection three-dimensional laser scanner and the data that the receipt was scanned, analysis unit has adopted any one of claim 1 to 7 the method handle and the analysis to the data that obtain.
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| CN106373168A (en) * | 2016-11-24 | 2017-02-01 | 北京三体高创科技有限公司 | Medical image based segmentation and 3D reconstruction method and 3D printing system |
| CN109410260A (en) * | 2018-09-27 | 2019-03-01 | 先临三维科技股份有限公司 | Meshing point cloud data method, apparatus, computer equipment and storage medium |
| CN110039538A (en) * | 2019-04-03 | 2019-07-23 | 华中科技大学 | A kind of method for planning track of robot based on complex large-scale component point cloud information |
| CN110412941A (en) * | 2019-08-07 | 2019-11-05 | 合肥学院 | Helical surface digital control enveloped milling method and its integrated control system |
| CN112405123A (en) * | 2020-11-19 | 2021-02-26 | 泉州华中科技大学智能制造研究院 | Shoe sole roughing track planning method and device based on clustering algorithm |
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