KR101801546B1 - System and method for matching coordinate systems, specimen for the same, spray system and method using the same - Google Patents

System and method for matching coordinate systems, specimen for the same, spray system and method using the same Download PDF

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Publication number
KR101801546B1
KR101801546B1 KR1020150160591A KR20150160591A KR101801546B1 KR 101801546 B1 KR101801546 B1 KR 101801546B1 KR 1020150160591 A KR1020150160591 A KR 1020150160591A KR 20150160591 A KR20150160591 A KR 20150160591A KR 101801546 B1 KR101801546 B1 KR 101801546B1
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KR
South Korea
Prior art keywords
specimen
robot
coordinates
target
scanner
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KR1020150160591A
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Korean (ko)
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KR20170057514A (en
Inventor
주일양
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디아이티 주식회사
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Priority to KR1020150160591A priority Critical patent/KR101801546B1/en
Publication of KR20170057514A publication Critical patent/KR20170057514A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
    • B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
    • B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
    • B05B13/0221—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work characterised by the means for moving or conveying the objects or other work, e.g. conveyor belts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
    • B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
    • B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
    • B05B13/0431—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to 3D-surfaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05D—PROCESSES FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05D1/00—Processes for applying liquids or other fluent materials
    • B05D1/02—Processes for applying liquids or other fluent materials performed by spraying
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1671—Programme controls characterised by programming, planning systems for manipulators characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures

Abstract

A coordinate system matching system and method, a specimen used therefor, and a spray system and method using the same are provided. A coordinate system matching system in accordance with an exemplary embodiment of the present invention includes a target transportable on a path through which a workpiece is transported; A scanner capable of scanning a target at a first location in the path; A first robot capable of extracting coordinates of a target at a second position of the path; And a calculation unit for matching the scan coordinates of the target scanned by the scanner with the robot coordinates of the target extracted by the first robot.

Description

TECHNICAL FIELD The present invention relates to a coordinate system matching method and system, a specimen used therein, a spray system using the same, and a spray system and method using the same.

The present invention relates to a coordinate system matching method and system, a specimen used therein, and a spray system and method using the same.

In this case, the sole has various types, sizes and shapes. Depending on the type, size and shape of the sole, the sole may be painted on the side of the midsole of the sole.

However, since various types of shoe midsole exist depending on the kind, size and shape of the shoe midsole, it has not been easy to perform various coloring operations according to each other shoe midsole.

Therefore, it is necessary to develop an automated spray system capable of easily and accurately performing the painting operation of the shoe midsole according to the type, size and shape of various shoe midsole.

In addition, there are various objects to be painted using spray robots as well as the shoe midsole described above. In the case of painting a variety of objects to be painted in such a manner, the positions of the objects to be painted are accurately confirmed and painted using a spray robot. It is necessary to develop a system and method for precisely checking and matching the position of the spray robot with the spray robot.

An embodiment of the present invention is to provide a method and system for matching a coordinate system between a scanner for scanning a workpiece and a spray robot for performing a painting operation in order to paint a workpiece requiring a painting operation.

One embodiment of the present invention seeks to provide a specimen that can easily and quickly match the coordinates between the scanner and the spray robot.

An embodiment of the present invention seeks to provide a spray system and method capable of easily and quickly spraying a workpiece requiring spraying.

An embodiment of the present invention seeks to provide a spray system and method that can easily, quickly, and accurately perform a painting operation of a sole.

According to an aspect of the present invention, there is provided a target movable on a path through which a workpiece is transported; A scanner capable of scanning the target at a first position of the path; A first robot capable of extracting coordinates of the target at a second position of the path; And a calculation unit for matching the scan coordinates of the target scanned by the scanner with the target robot coordinates extracted by the first robot.

At this time, the target is a specimen, and the specimen may have a three-dimensional shape.

At this time, the specimen is in the form of a polyhedron, and includes at least one protrusion on one side, and the protrusion may include at least one slope and a vertical side adjacent to the slope.

At this time, the specimen has a rectangular parallelepiped shape, and the protrusions may be formed on both sides.

At this time, the projecting portion of the specimen may have a trapezoidal cross section.

And a conveying conveyor for conveying the workpiece.

At this time, the calculation unit may matrix-transform the scan coordinates of the target and match the scan coordinates of the target with the target robot coordinate system.

And a second robot capable of extracting the coordinates of the target at a third position of the path.

At this time, the scanner may be a 3D scanner.

At this time, the first robot includes a plurality of arms rotatably coupled to each other and a tip portion formed at an end of an arm which is located outermost among the plurality of arms, and the tip portion is connected to at least three The coordinates of the target can be extracted by contacting the surface.

According to another aspect of the present invention, there is provided a method for scanning a target, comprising: (a) scanning a target located at a first position using a scanner to extract scan coordinates of the target; (b) (C) extracting robot coordinates of the target located at the second position using the robot; And (d) matching the scan coordinates of the target scanned by the scanner with the robot coordinates of the target extracted by the robot.

At this time, the target is formed in a three-dimensional polyhedron shape, and at least one side surface includes a protrusion, and the protrusion may include at least one inclined surface and a vertical side surface adjacent to the inclined surface.

In step (d), the scan coordinates of the target may be matrix-transformed to match the robot coordinates of the target.

In this case, in the step (c), the robot may include a plurality of arms rotatably coupled to each other and a tip portion formed at an end of the arm located outermost among the plurality of arms, The coordinates of the target can be extracted by contacting on at least three non-parallel surfaces.

According to another aspect of the present invention, there is provided a specimen for matching coordinates between a scanner and a spray robot, the specimen including a three-dimensional polyhedral body and a protrusion formed on at least one side of the body, And a vertical side surface adjacent to the inclined surface.

At this time, the body may have a rectangular parallelepiped shape, and the protrusions may be formed on both sides.

At this time, the projecting portion may have a trapezoidal cross section.

According to another aspect of the present invention, there is provided a spray system including: a transfer unit for transferring a workpiece and a specimen; A scanner capable of scanning the workpiece and the specimen conveyed by the conveyance unit at a first position; A first spray robot capable of extracting or spraying the coordinates of the specimen conveyed by the conveyance unit at a second position; And a calculation unit for matching the scan coordinates of the specimen scanned by the scanner with the robot coordinates of the specimen extracted by the first spray robot.

In this case, the transfer unit may include: a loading unit for loading the workpiece; A conveyor for transferring the workpiece loaded on the loading unit; And an unloading unit for unloading the workpiece painted by the first spray robot while passing through the conveyor.

At this time, the specimen is in the form of a polyhedron, and includes at least one protrusion on one side, and the protrusion may include at least one slope and a vertical side adjacent to the slope.

At this time, the calculation unit may matrix-transform the scan coordinates of the target and match the scan coordinates of the target with the target robot coordinate system.

In this case, the second spray robot may further include a second spray robot capable of extracting the coordinates of the target at a third position of the path of the specimen.

At this time, the first spray robot includes a plurality of arms rotatably coupled to each other and a nozzle unit formed at an end of an arm located outermost among the plurality of arms, and the end is connected to at least one 3 < / RTI > surface, the coordinates of the target can be extracted.

According to another aspect of the present invention, there is provided a method of operating a spray robot, comprising the steps of: (a) matching a coordinate system of a spray robot that sprays a workpiece in a second position with a scanner that scans a workpiece in a first position; (b) scanning the workpiece using the scanner at the first position, and (c) spraying the workpiece at the second position according to scan information of the workpiece scanned by the scanner A spray method is provided.

The step (a) may include: (a-1) extracting scan coordinates of a specimen by scanning the specimen using the scanner at the first position; (a-2) moving the specimen from the first position to a second position; (a-3) extracting the robot coordinates of the specimen positioned at the second position using the spray robot; (a-4) matching the scan coordinates of the specimen scanned by the scanner with the robot coordinates of the specimen extracted by the spray robot.

In this case, the step (a-1) may include scanning the specimen using the scanner at the first position; Finding a detection region of the specimen; Identifying a plurality of faces formed by the specimen; And generating 3D coordinates of an intersection formed by a plurality of surfaces of the specimen.

The step (a-3) may include measuring three points of the three surfaces by bringing the tip of the robot into contact with three points of at least three surfaces of the specimen not parallel to each other, Determining the shape of the specimen by defining the three faces; And generating corner point coordinates of the specimen.

At this time, in step (a-4), the scan coordinates of the specimen may be matrix-transformed and matched with the robot coordinates of the specimen.

At this time, the spray robot includes a plurality of arms rotatably coupled to each other, and a nozzle portion formed at an end portion of the arm positioned outermost among the plurality of arms, and the end portion is connected to at least three surfaces The coordinates of the specimen can be extracted.

In this case, the step (a) may be performed only once at the beginning in order to match the coordinate system of the scanner and the spray robot.

In this case, (d) confirming whether the workpiece is sprayed well after the step (c), and (e) finely adjusting the workpiece if the workpiece is not sprayed well in the step (d) .

At this time, it is possible to return to the step (b) and repeat the steps below the step (b) until the spraying of the workpiece is good after the step (e).

The coordinate system matching system according to an embodiment of the present invention can match scan coordinates and robot coordinates more quickly and accurately by matching the coordinates of the scanner with the coordinates of the robot using a three-dimensional specimen.

The specimen used in the coordinate system matching system according to an embodiment of the present invention has a three-dimensional shape and has a polyhedral body and protrusions protruding from the side of the body, so that the scanner can easily scan and acquire scan coordinates, The coordinates of the specimen can be obtained easily and precisely.

The spraying system according to the embodiment of the present invention performs the spraying operation after matching the coordinates of the scanner and the spray robot scanning the workpiece using the specimen before spraying the workpiece, You can spray quickly and accurately.

1 is a schematic configuration diagram of a spray system according to an embodiment of the present invention;
2 is a perspective view of a transfer part of a spray system according to an embodiment of the present invention,
3 is a perspective view of a spray robot of a spray system according to an embodiment of the present invention,
FIGS. 4A through 4C are a perspective view, a side view, a plan view, and a side view, respectively, of a specimen used in a spray system according to an embodiment of the present invention;
5 is a flowchart of a spray method using a spray system according to an embodiment of the present invention,
6 is a flowchart of a step of scanning specimens in a spraying method according to an embodiment of the present invention to match scan coordinates of a scanner and robot coordinates of a spray robot,
FIG. 7 is a flowchart of a step of scanning a specimen and extracting scan coordinates of a specimen in a spraying method according to an embodiment of the present invention;
8 is a front view of a specimen used in a spray system according to an embodiment of the present invention;
FIG. 9 is a flowchart of a step of extracting robot coordinates of a specimen using a spray robot in the spray method according to an embodiment of the present invention; FIG.
10 is a perspective view showing a state in which a spray robot extracts robot coordinates of a specimen in a spray method according to an embodiment of the present invention,
FIG. 11A is a view showing a good example in which the spray robot acquires the data of the specimen, FIG. 11B is a drawing showing a good example of the data of the specimen acquired by the spray robot,
12A and 12B illustrate a process of finely adjusting a sole of a sole, FIG. 12A is a view illustrating a process of fine adjustment by moving a sole in the x-axis direction, FIG. FIG.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings, which will be readily apparent to those skilled in the art to which the present invention pertains. The present invention may be embodied in many different forms and is not limited to the embodiments described herein. In order to clearly illustrate the present invention, parts not related to the description are omitted, and the same or similar components are denoted by the same reference numerals throughout the specification.

1 is a schematic configuration diagram of a spray system according to an embodiment of the present invention. 2 is a perspective view of a transfer part of a spray system according to an embodiment of the present invention.

Referring to FIGS. 1 and 2, a spray system 10 according to an embodiment of the present invention includes a scanner 110, first and second spray robots 120 and 130, a calculation unit 140, 200).

The spray system 10 according to one embodiment of the present invention may be a spray system for painting the side of a workpiece, for example a shoe midsole 30 of a shoe.

In this way, in order to paint the side surface of the shoe midsole, the spray system 10 has a transfer unit 200 for transferring the shoe midsole 30.

The first and second spray robots 120 and 130 positioned on the side of the transfer unit 200 are moved along the shoe midsole 30 while the shoe midsole 30 is being transported along the transfer unit 200. [ To perform a painting operation.

In the state where the first and second spray robots 120 and 130 are arranged side by side, the first spray robot 120 and the second spray robot 130 simultaneously spray the two shoe midsole, Accordingly, the efficiency of operation can be improved by a factor of two as compared with the case where one spray robot is installed.

In this embodiment, the first and second spray robots 120 and 130 spray the sides of the shoe midsole 30. However, the number of the spray robots is not limited to the spraying operation Depending on the work space in which the work is performed, or may be two or more. In the following description of the spray robot, when it is described as "spray robot" without first or second, it is defined to include both spray robots.

Referring to FIGS. 1 and 2, the transfer unit 200 includes a conveyor belt 220 for conveying the shoe midsole 30 in the x-axis direction as viewed in FIG.

2, the left end of the conveyor belt 220, that is, the input end thereof is provided with a loading unit 210 for placing the shoe midsole 30 on the pedestal 240 moving along the conveyor belt 220, The unloading unit 230 for unloading the shoe midsole 30 completed by the spray robots 120 and 130 is provided at the right end of the belt 220, that is, at the output end.

2, the upper conveyor belt 222 and the lower conveyor belt 224 can be disposed in the vertical direction between the loading unit 210 and the unloading unit 230, have.

At this time, a camera may be installed on the upper side of the loading unit 210. The camera captures an object to be loaded on the loading unit 210, that is, the shoe midsole 30, so as to check which shoe midsole 30 is currently loaded on the work table. After the shoe midsole 30 is loaded on the upper conveyor belt 222, the shoe midsole 30 is moved in the x-axis direction as viewed in Fig. 2 to perform the painting operation. The midsole 30 is unloaded at the unloading portion 230 and then transported for the next operation.

The lower conveyor belt 224 may be in the form of an endless track with the upper conveyor belt 222. The shoe midsole 30 can be loaded after the shoe midsole 30 is unloaded and the unloaded pedestal 240 is moved along the lower conveyor belt 224 to the loading part 210 side.

The upper and lower conveyor belts 222 and 224 are formed between the loading unit 210 and the unloading unit 230 in an infinite orbit shape. However, the loading unit 210, the unloading unit 230, The structure of the conveyor belt 220 disposed therebetween is formed of various known conveying structures, and the arrangement and the shape of the conveyor belt 220 may be variously changed.

Since the spraying system 10 according to the embodiment of the present invention has various sizes, shapes and shapes of the shoe midsole 30 to be painted, the first and second spray robots 120 and 130 The shape of the shoe midsole 30 is scanned with the scanner 110 before spraying on the shoe midsole 30 so as to perform the spraying operation according to the size, shape and shape of the shoe midsole 30 more accurately and quickly The shoe midsole 30 is formed to scan the shoe midsole 30 according to the information of the shoe midsole 30 scanned by the scanner 110.

To accomplish this, the upper conveyor belt 222 of the transfer part 200 is moved along the upper conveyor belt 222 to scan and spray the shoe midsole 30 while the shoe midsole 30 is placed on the pedestal 240 1, the scanner 110, the first spray robot 120, and the second spray robot 130 are spaced apart from the left side of the upper conveyor belt 222 in a side view.

In this case, according to an embodiment of the present invention, the scanner 110 may scan a three-dimensional solid shape of a scanned object, for example, a specimen 20 or a workpiece positioned in front of the scanner 110, as a 3D scanner Respectively.

At this time, when the scanner 110 scans the workpiece, for example, the shoe midsole 30 to obtain the information about the three-dimensional shape of the workpiece, the workpiece is transferred to the first spray robot 120, And is painted by the first spray robot 120 or the second spray robot 130 and then unloaded.

3, the first spray robot 120 and the second spray robot 130 are configured such that a plurality of arms 121, 122 and 123 are rotatable relative to each other, and a plurality of arms 121, 122 and 123, the tip portion 124 is formed at the end portion of the arm located at the first end side. At this time, the spray nozzles are disposed on the tips 124 of the spray robots 120, 130. The configuration of the first and second spray robots 120 and 130 may be generally composed of a robot having many degrees of freedom, and a detailed description thereof will be omitted.

In order to move the first spray robot 120 and the second spray robot 130 in the x-axis direction and the y-axis direction on the plane, a first spray robot 120 and a second spray robot 130 are provided under the first spray robot 120 and the second spray robot 130, Moving means for moving each of the spray robot and the second spray robot may be installed. At this time, the moving means may be configured to include a moving guide capable of moving the first spray robot or the second spray robot in the x-axis and y-axis directions, for example, an LM guide, but the configuration is not limited thereto.

According to one embodiment of the present invention, in order to perform the spraying operation using the three-dimensional information about the shoe midsole 30 after three-dimensional scanning of the shoe midsole 30, And the first and second spray robots 120 and 130 must be matched. In this case, the matching between the scanner 110 and the first spray robot 120 and the matching between the scanner 110 and the second spray robot 130 are performed separately, but can be performed in the same manner.

At this time, the calculation unit 140 connected to the scanner 110 and the first and second spray robots 120 and 130 for coordinate system matching of the scanner 110 and the first and second spray robots 120 and 130 / RTI >

Meanwhile, the spray system 10 according to an embodiment of the present invention may be used to detect the positions of the scanner 110 and the first and second spray robots 120 and 130 using a target, for example, The spraying operation is performed on the shoe midsole 30 in a state where the coordinate system of the scanner 110 and the first and second spray robots 120 and 130 are matched.

4A to 4C, the specimen 20 may include a body 22 having a three-dimensional shape and a protrusion 24 formed on both sides of the body 22.

In this case, the body 22 may be a polyhedron, for example, a rectangular parallelepiped, and may have a square shape when viewed from the front.

4A, protrusions 24 are formed on the front and back surfaces of the body 22 at the center.

At this time, the protruding portion 24 may have a shape of a trapezoidal section, and a square vertical side surface 26 is formed at an end protruding forwardly and arranged in a direction perpendicular to the bottom surface.

At this time, the protruding portion 24 has four inclined surfaces 28a, 28b, 28c and 28d inclined in the outward direction toward the body 22 at four corners of the vertical side surface 26. [ Accordingly, the protruding portion 24 can be formed to have a trapezoidal cross section as shown in FIG. 4B. At this time, the protrusion 24 may be formed on only one side of the body 22, but it may be formed as a pair on two opposite sides as in the present embodiment.

As a target for matching the coordinates of the scanner 110 and the first spray robot 120 or the second spray robot 130 in the spray system 10 according to the embodiment of the present invention, The reason why the specimen of the spray robot 120 is used is that the scanner 110 and the spray robots 120 and 130 can more accurately confirm the shape of the specimen so that more accurate matching can be performed.

In an embodiment of the present invention, the body 22 of the specimen 20 is formed in a rectangular parallelepiped shape, and protrusions having a trapezoidal cross section are protruded on both sides, that is, the front surface and the rear surface. And the shape of the test piece 20 is not limited to the form described in the present embodiment, provided that the spray robot 120 and the spray robot 120 can easily and accurately recognize it. A more detailed description of coordinate matching between the scanner 110 and the spray robots 120 and 130 using the test piece 20 will be described later.

5 is a flow diagram of a spray method using a spray system 10 in accordance with an embodiment of the present invention.

Referring to FIG. 5, a spray method according to an embodiment of the present invention includes matching (S 10) a scan coordinate of a scanner at a first position with a robot coordinate of a spray robot at a second position (S 10) (S20) of scanning the workpiece using the scanner, and spraying the workpiece at the second position according to the scan information of the workpiece scanned by the scanner (S30) (S40), and fine-tuning (S50) if the workpiece is not sprayed well.

6, in the step S10 of matching the robot coordinates of the spray robot at the scan coordinates of the scanner at the first position with the robot coordinates of the spray robot at the second position, the specimen is scanned using the scanner at the first position, (S61). After the specimen is moved from the first position to the second position, the robot coordinates of the specimen positioned at the second position are extracted by using a spray robot (S62).

Thereafter, the scan coordinates of the specimen scanned by the scanner and the robot coordinates of the specimen extracted by the spray robot are matched (S63).

 In this case, a step S61 of scanning the specimen using the scanner at the first position and extracting the scan coordinates of the specimen is as follows.

First, the specimen 20 is scanned using the scanner 110 while the specimen 20 is positioned in the first position, for example, in front of the scanner 110. (S71)

While the scanner 110 scans the test piece 20, the detection area of the test piece 20 is searched. (S72)

The scanner 110 confirms (fitting) a plurality of faces, for example, six faces formed by the test piece 20, from the detection area of the test piece 20. (S73)

 At this time, "confirming" or "fitting" a plurality of surfaces formed by the specimen means estimating an approximation to a plurality of surfaces formed by the specimen. In this case, the term " estimation of approximate value "is to calculate an approximate value by calculating a value that best matches a model as a design standard. For example, if we know the information on three sides and the three sides are three sides on a six-sided specimen, we can approximate the position and posture of the corresponding hexahedron.

Thereafter, the 3D coordinates of the intersection formed by the plurality of surfaces of the test piece 20 are generated. (S74) The 3D coordinates of the intersection of the specimen 20 thus generated are matched with the robot coordinates of the specimen to be described later As shown in FIG.

For example, in a spray system 10 according to an embodiment of the present invention, when the scanner 110 scans a specimen while the specimen 20 shown in Figs. 4A to 4C is positioned in front of the scanner 110 When the detection region of the test piece is confirmed, as shown in FIG. 8, the scanner 110 confirms six surfaces formed on the front side of the test piece.

In this case, if the intersection point where the six surfaces meet each other is defined as P1 to P8, the positions P1 to P8 within the scan coordinates defined by the scanner 110 can be defined as follows.

point Fitting surface P1 1, 2, 3 P2 1, 3, 4 P3 1, 4, 5 P4 1, 5, 2 P5 6, 2, 3 P6 6, 3, 4 P7 6, 4, 5 P8 6, 5, 2

After the scan coordinates of the specimen 20 are extracted, the specimen is moved from the first position to the second position where the first spray robot 120 is located or to the third position where the second spray robot 130 is located , The robot coordinates of the specimen 20 located at the second position or the third position are extracted. Hereinafter, the process of extracting the robot coordinates by the first spray robot 120 at the second position will be described.

9 and 10, in the step S62 of extracting the robot coordinates, the tip portion 124 of the robot is first brought into contact with at least three points of each of three surfaces of the specimen 20 which are not parallel to each other, Measure three points on the face. (S91)

In this case, when three points on each surface are measured, it is possible to arrange three points as shown in FIG. 11A so as to form a wide triangular shape as shown in FIG. 11B, Measure the point where it is.

In this way, the three points should be made as wide triangular shapes as possible, so that the surface including the three points can be more accurately measured.

At this time, it is preferable that the three surfaces to be measured using the robot tip portion 124 are composed of at least three surfaces which are not parallel to each other. It is difficult to accurately measure the shape of the test piece 20 if the three surfaces to be measured using the robot tip portion 124 are parallel to each other.

Therefore, the surface to be measured using the tip portion 124 of the robot is, for example, a surface that is horizontal with respect to the bottom surface, a surface that is inclined with respect to the bottom surface, Can be defined as a vertical plane with respect to the plane.

When three surfaces are defined by using the tip portion 124 of the robot, the position information of the specimen 20 including three surfaces is compared with the shape information of the specimen 20 originally stored, The shape and position of the specimen 20 can be confirmed and the specimen having a hexahedron as a whole can be identified (fitting). (S92)

As described above, by fitting the specimen 20 in the robot coordinate system by defining the three faces of the specimen 20 and confirming the shape and position thereof, the coordinates of the corner point of the specimen 20 in the robot coordinate system, The intersection coordinates can be generated (S93)

The intersection coordinates of the specimen 20 within the scan coordinate system defined by the scanner 110 are obtained and the specimen 20 in the robot coordinate system defined by the spray robots 120, The scanner coordinate system, which is a relative coordinate system, and the relative coordinates of the same point of the specimen 20 in the robot coordinate system are known, so that the scanner coordinate system can be matched with the robot coordinate system.

More specifically, in a state in which the relationship between the origin of the scanner coordinate system and the origin of the robot coordinate system is known, one point of the specimen positioned in the scanner coordinate system with respect to the origin of the scanner coordinate system and a position in the robot coordinate system with reference to the origin of the robot coordinate system After matching one point of the specimen with each other, the scanner coordinate system can be matrix-transformed into a robot coordinate system. At this time, a method of matrix-transforming and matching two different relative coordinate systems is a well-known method, and a detailed description thereof will be omitted.

When the scan coordinate system is matched with the robot coordinate system, the setting of the basic spray system 10 for spraying the shoe midsole 30 is completed, and the coordinate system matching of the scanner 110 and the spray robots 120, The work may be carried out only once during the spraying operation.

The shoe midsole 30 is first scanned using the scanner 110 while the shoe midsole 30 is conveyed using the conveyor belt 220 and the shape of the shoe midsole 30 scanned by the scanner 110 And spray the shoe midsole 30 using the spray robots 120 and 130 according to the information.

Thereafter, in a state in which the shoe midsole 30 is sprayed, it is confirmed whether or not the shoe midsole 30 is sprayed well.

At this time, when the shoe midsole 30 is well sprayed, the spray paths of the spray robots 120 and 130 are accurately sprayed along the spray line of the shoe midsole 30. [

If the spray path of the spray robots 120, 130 is not accurately sprayed along the spray line of the shoe midsole 30, i.e., if the spraying operation fails to be performed properly, then a fine tuning step is performed. (S50)

In the fine adjustment step S50, after confirming the spray path of the spray robots 120 and 130 and the position of the shoe midsole 30, in order to allow the spray path to perform the spraying operation along the spray line of the shoe midsole 30, The spray path may be adjusted to linearly move in the x-, y-, and z-axis directions as shown in Fig. 12A, or the spray path may be rotated on the x-, y-, and z-axes .

After finishing the fine adjustment, the shoe midsole 30 is scanned again. Then, the spraying operation is performed using the spray robot according to the scan information of the shoe midsole 30 scanned by the scanner 110.

As a result of the spraying operation, if the spray of the sole is well done, the spraying operation of the shoe midsole 30 can be terminated (S60)

According to an embodiment of the present invention, since the sole of various shapes, sizes, and types can be continuously sprayed by a plurality of spray robots on the spray system according to an embodiment of the present invention, Can be improved.

According to the embodiment of the present invention, since the coordinate system of the scanner and the spray robot is matched by using the specimen which is easily recognizable three-dimensionally by both the scanner and the spray robot, the scanner and the spray robot can be easily and accurately A matching operation can be performed.

In addition, according to the embodiment of the present invention, since the matching operation of the scanner and the spray robot is performed only once at the first time, the entire system setting time for the operation can be saved and the spraying process can be speeded up and the working efficiency can be improved.

The system and method for matching the coordinate system matching between the scanner and the spray robot for spraying the sole of the shoe window have been described in the embodiments of the present invention. However, the present invention is not limited thereto, It will be clear to those skilled in the art that during the course of the work, it is possible to apply the same to a system of the same type when it is necessary to match the coordinate system in order to ascertain the position of the workpiece moving on the moving conveyor.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.

10 Spray System 20 Specimen
30 shoe midsole 100 working frame
110 Scanner 120 1st spray robot
130 second spray robot 140 calculation unit
200 transfer unit 210 loading unit
220 conveying conveyor 230 unloading portion
240 pedestal

Claims (32)

A target transportable on a path through which the workpiece is transported;
A scanner capable of scanning the target at a first position of the path;
A first robot capable of extracting coordinates of the target at a second position of the path;
And a calculation unit for matching the scan coordinates of the target scanned by the scanner with the target robot coordinates extracted by the first robot,
The target is a specimen,
Wherein the specimen is in the form of a polyhedron and comprises a projection on at least one side, the projection including at least one inclined surface and a vertical side adjacent to the inclined surface,
Wherein the first robot includes a plurality of arms rotatably coupled to each other and a tip portion formed at an end of an arm located outermost among the plurality of arms, the tip portion being provided on at least three surfaces And extracting coordinates of the target by making contact with the coordinate system. delete delete The method according to claim 1,
Wherein the specimen has a rectangular parallelepiped shape and the protrusions are formed on both sides thereof. 5. The method of claim 4,
Wherein the projection of the specimen has a trapezoidal cross-section. The method according to claim 1,
And a conveying conveyor for conveying the workpiece. The method according to claim 1,
Wherein the calculation unit matrix-converts scan coordinates of the target to match the target robot coordinate system. The method according to claim 1,
And a second robot capable of extracting coordinates of the target at a third position of the path. The method according to claim 1,
Wherein the scanner is a 3D scanner. delete (a) scanning a target located at a first position using a scanner to extract scan coordinates of the target;
(b) moving the target from the first position to a second position
(c) extracting robot coordinates of the target located at the second position using the robot;
(d) matching the scan coordinates of the target scanned by the scanner with the robot coordinates of the target extracted by the robot,
Wherein the target is in the form of a three-dimensional polyhedron, the at least one side including a projection on at least one side, the projection including at least one sloped surface and a vertical side adjacent to the sloped surface,
In the step (c), the robot may include a plurality of arms rotatably coupled to each other and a tip portion formed at an end of the arm positioned outermost among the plurality of arms, Wherein the coordinates of the target are extracted by contacting on at least three surfaces. delete 12. The method of claim 11,
Wherein the scan coordinates of the target are matrix-transformed and matched with the robot coordinates of the target in the step (d). delete delete delete delete As a spray system,
A transfer unit for transferring the workpiece and the specimen;
A scanner capable of scanning the workpiece and the specimen conveyed by the conveyance unit at a first position;
A first spray robot capable of extracting or spraying the coordinates of the specimen conveyed by the conveyance unit at a second position;
And a calculation unit for matching the scan coordinates of the specimen scanned by the scanner with the robot coordinates of the specimen extracted by the first spray robot,
Wherein the specimen is in the form of a polyhedron and comprises a projection on at least one side, the projection including at least one inclined surface and a vertical side adjacent to the inclined surface,
Wherein the first spray robot includes a plurality of arms rotatably coupled to each other and a nozzle portion formed at an end of an arm located outermost among the plurality of arms, the end portion being disposed on at least three surfaces And extracting the coordinates of the target by contact. 19. The method of claim 18,
The transfer unit
A loading unit for loading the workpiece;
A conveyor for transferring the workpiece loaded on the loading unit;
And an unloading portion for unloading the workpiece painted by the first spray robot while passing through the conveyor. delete 19. The method of claim 18,
Wherein the calculation unit matrix-converts the scan coordinates of the specimen to match the robot coordinates of the specimen. 19. The method of claim 18,
And a second spray robot capable of extracting coordinates of a target at a third position of the path of the specimen. delete (a) matching scan coordinates of a scanner at a first position and robot coordinates of a spray robot at a second position;
(b) scanning the workpiece using the scanner at the first position, and
(c) spraying the workpiece at the second position according to scan information of the workpiece scanned by the scanner,
The step (a)
(a-1) scanning the specimen using the scanner at the first position to extract scan coordinates of the specimen;
(a-2) moving the specimen from the first position to a second position;
(a-3) extracting the robot coordinates of the specimen positioned at the second position using the spray robot;
(a-4) matching the scan coordinates of the specimen scanned by the scanner with the robot coordinates of the specimen extracted by the spray robot,
The step (a-1)
Scanning the specimen using the scanner at the first position;
Finding a detection region of the specimen;
Identifying a plurality of faces formed by the specimen;
Generating 3D coordinates of an intersection formed by a plurality of surfaces of the specimen,
The step (a-3)
Measuring three points of the three surfaces by bringing the tip of the robot into contact with three points of each of three surfaces of at least three non-parallel surfaces of the specimen;
Determining the shape of the specimen by defining the three faces;
And generating corner point coordinates of the specimen,
Wherein the spray robot includes a plurality of arms rotatably coupled to each other and a nozzle portion formed at an end of an arm which is located at an outermost position of the plurality of arms, the end portion being contacted with at least three surfaces To extract the coordinates of the specimen. delete delete delete 25. The method of claim 24,
In the step (a-4), the scan coordinates of the specimen are matrix-transformed and matched with the robot coordinates of the specimen. delete 25. The method of claim 24,
Wherein the step (a) is performed only once at the beginning to match the coordinate system of the scanner and the spray robot. 25. The method of claim 24,
(d) checking whether the workpiece is sprayed after the step (c);
(e) fine-tuning if the workpiece is not sprayed well in the step (d). 32. The method of claim 31,
Wherein the step (b) is repeated after the step (e) until the spraying of the workpiece is completed.
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KR102191328B1 (en) * 2020-03-10 2020-12-15 김형일 automatic painting system multiaxial joint robot type using AI

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CN112337675B (en) * 2020-10-29 2021-10-15 北京曲线智能装备有限公司 Spraying control method and device for spraying robot and electronic equipment

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JP2005271103A (en) * 2004-03-23 2005-10-06 Tookin:Kk Working robot and calibration method thereof
KR100743144B1 (en) * 2006-01-18 2007-07-27 주식회사 로보스타 Tracking method and system for moving object of robot

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JP2005271103A (en) * 2004-03-23 2005-10-06 Tookin:Kk Working robot and calibration method thereof
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