KR20090046394A - Robot vending machine for encleaning of shoes - Google Patents

Abstract

The present invention relates to a shoe shining robot vending machine, the shoe shining robot vending machine according to the present invention, a footrest on which the shoes can be placed, a payment processing unit for paying the shoe polishing fee and starting the operation of the device upon payment completion, and a brush A robot arm having an attached head part and an articulated joint that allows the head part to be coupled to one end to move the head part up, down, left, right, and front and back so that the shoe placed on the scaffold can be wiped with the brush. And a camera attached to the robot arm and moving up, down, left, right, and front and back together with the head, and electrically connected to the camera and the robot arm, through the image data transmitted by the camera. It is characterized in that it comprises an image processing and robot arm control unit for setting the operation path of the robot arm and controls the operation of the robot arm.

Shoe, Brush, Vending Machine, Robot Arm, Camera

Description

ROBOT VENDING MACHINE FOR ENCLEANING OF SHOES}

The present invention relates to a shoe shining robot vending machine, and more particularly, to a shoe shining robot vending machine that enables the user to accurately perform the operation of polishing and shining shoes when the user puts a shoe on a shoe foot and inserts a toll coin. will be.

Conventional automatic shoe polishers form an insertion groove into which the shoe can be fitted at the top of the main body, and install three motor brushes to protrude into the motor and the insertion groove in the main body, and then the motor shaft and the rotary shaft of each shoe brush and the belt When the user inserts the shoe into the insertion groove by connecting the power transmission through the gear connection of the pulley and the spur gear bevel gear, the operation switch of the motor is "on" to operate the motor, and the rotational force of the motor It is transmitted to each shoe brush through power transmission devices such as pulleys, spur gears, and bevel gears, so that the shoe brushes rotate to polish or polish the shoe surface.

However, the shoe shining robot vending machine does not consider the size or shape of each user's shoe, but the shoe brush rotates in a fixed position or the shoe brush moves only along the same path and rotates to clean the shoe. According to the size of the shoe, the shoe brush is too close to the shoe or too far to be wiped off so that it does not wipe properly, there is a problem that loses the confidence in the automatic shoe polishing device and does not use well.

In addition, the above-described shoe polishing robot vending machine uses only one type of shoe brush, and the cleaning shoe brush for cleaning various foreign matters on the shoe and the polished shoe brush for shining the shoe should be different from each other. Robot vending machines have the disadvantage that their utility is limited because it is impossible to properly perform both tasks such as cleaning shoes and polishing shoes.

The present invention has been made to solve the problems of the prior art, the present invention can clean all parts of the shoe in accordance with the size and shape of the shoes worn by the user, and clean the shoe and polish the shoe The goal is to provide a shoe shining robot vending machine that everyone can do.

Shoe polishing robot vending machine according to the present invention for achieving the above object is a footrest that can be put on the shoe, the payment processing unit for paying the shoe polishing fee and start the operation of the device when the payment is completed, the brush is attached A robot arm having a multi-joint head portion coupled to one end thereof so that the head portion can be moved up, down, left, right and front and back to wipe the shoe placed on the footrest with the brush; And a camera attached to the robot arm and moving up, down, left, right, and front and back together with the head, and electrically connected to the camera and the robot arm, through the image data transmitted by the camera. It is configured to include an image processing and robot arm control unit for setting the operation path of the arm and controls the operation of the robot arm.

In addition, the brush coupled to the head is two types of cleaning brush and polishing brush, it is preferable that each of the cleaning brush and the polishing brush is rotatably arranged in the head portion.

In addition, the head portion is rotatably connected by the robot arm and the rotating shaft, the cleaning brush and the polishing brush is preferably installed in a position symmetrical with respect to the extension line of the rotation axis, respectively.

In addition, it is preferable that a position sensor is attached to a part of the head or the robot arm.

In addition, it is preferable that a container containing a varnish is installed at the periphery of the robot arm so that the brush can contact the varnish.

As described above, according to the shoe polishing robot vending machine according to the present invention, the user can wipe every part of the shoe cleanly according to the size and shape of the shoes worn by the user, and can perform both shoe cleaning and polishing of the shoe. There is this.

Hereinafter, specific embodiments of the present invention will be described in detail with reference to the accompanying drawings. 1 is a perspective view showing a shoeshine robot vending machine according to the present invention, Figure 2 is a side view showing a shoeshine robot vending machine according to the present invention.

Shoe shining robot vending machine is configured to include a footrest 700, the main body 100, the robot arm 200, the head portion 300, the varnish container 800 and the camera 400.

The footrest 700 is provided to put the shoes on the foot. Instead of installing the footrest separately, a predetermined range may be displayed as a line on the ground so that the foot is placed therein.

The main body 100 is provided with a payment processing unit 110, the payment processing unit 110 is a computer chip for judging whether the coin input port, bill input slot, change out withdrawal device, display and payment processing is completed, and instructs operation upon payment processing completion. And the like.

The main body 100 is fixed on the bottom surface, one end of the robot arm 200 is coupled to the upper end of the main body 100. Joint between the main body 100 and the robot arm 200 is attached to the axis of rotation 600 in the vertical direction is configured so that the entire robot arm 200 360 ° horizontal rotation. In addition, a hinge joint 210 is provided at three middle portions of the robot arm 200, and a step motor 220 is attached to each hinge joint 210 to between the hinge joint 210 and the hinge joint 210. Each node is configured to bend or straighten by rotating the robot arm 200 on a vertical plane about the joint.

The other end of the robot arm 200, the head portion 300 is connected by the robot arm 200 and the rotating shaft 600 is rotatable with respect to the robot arm 200.

The container 800 containing the polish is fixedly installed on the bottom surface to which the robot arm 200 next to the footrest 700 can reach. The top surface of the varnish container 800 is configured to be always open or automatically open when needed. The manager regularly manages the device, and when the device is checked, if the amount of polish contained in the polish container 800 is exhausted by a certain amount, the polish is refilled into the polish container 800 as necessary.

The camera 400 is coupled to the node coupled with the head 300 of the nodes of the robot arm 200 is moved in accordance with the movement of the robot arm 200. The camera 400 is a three-dimensional scanning camera.

The robot arm 200 and the camera 400 are electrically connected to each other by an image processing and a robot arm controller and a cable 20 provided inside the main body. The image processing and robot arm control unit is a computer device specialized for functions such as digital image processing and robot arm operation control. The digital image processing is performed according to an image processing program that is installed in advance. In addition, the control of the robot arm 200 is made by precisely controlling the step motor 220 installed in each joint of the robot arm 200, at this time the robot arm by the continuous interaction with the position sensor 500 200 can be moved accurately along the set path.

Figure 3 is a side cross-sectional view showing the head portion 300 of the shoeshine robot vending machine according to the present invention.

The head unit 300 includes a housing 310, a head motor 320, a cleaning brush 330, and a polishing brush 340. The housing 310 is connected by the robot arm 200 and the rotation shaft 610 so that the entire head portion 300 can be rotated about the rotation shaft 610. The head motor 320 is a DC motor and is installed in the housing 310. Bevel gears are coupled to the ends of the rotating shaft of the head motor 320, and two bevel gears are engaged with the bevel gears to make the rotational force of the head motor 320 perpendicular to the longitudinal direction of the rotating shaft of the head motor 320. And distribute in both lateral directions.

On both sides of the head part 300, a cleaning brush 330 and a polishing brush 340 are installed to face opposite directions to each other, and the cleaning brush 330 and the polishing brush 340 each rotate their respective axes of rotation. It is configured to rotate by receiving the rotational force of the rotating shaft of the head motor 400 to the center. The cleaning brush 330 is a brush for removing dust and the like, and the hair of the brush is rough as compared to the polishing brush 340, and the polishing brush 340 is a brush for polishing the shoes. ) Is softer than the gloss brush 340.

The position detecting sensor 500 is coupled to a portion near the head portion 300 and the rotation shaft 610. As the position sensor 500 used herein, an ultrasonic sensor, an RFID sensor, or the like may be used.

Referring to the operation of the shoeshine robot vending machine configured as described above are as follows.

The user who wants to use the shoe shining robot vending machine starts the operation of the apparatus by inserting a coin or a bill into a coin slot or a bill slot.

When the user puts one foot of the shoe on the footrest 700, the camera 400 attached to the robot arm 200 is moved by the command of the image processing and the robot arm controller, so that the camera 400 changes the shoe. By photographing in the direction, the front picture and the side picture are acquired, and the photographed picture data is transferred to the image processing and the robot arm controller.

The image processing and robotic arm control unit detects the rim of the shoe by performing binary processing, that is, digitization of the photographed picture. Then, the image processing and robot arm controller sets the path 10 to which the position sensor 500 moves, as shown in FIG. 4, by a predetermined distance from the rim of the shoe. The reason why the movement path of the position sensor 500 is formed apart from the rim of the shoe reflects this because the position sensor 500 is separated by a predetermined distance from the distal end of the brush for cleaning the shoe.

Then, the image processing and the robot arm controller drives the robot arm 200 and controls the operation so that the position sensor 500 moves along the set path 10. At this time, the brush touches the surface of the shoe and rotates to wipe the shoe. At first, the cleaning brush 330 moves while rotating to wipe the shoe surface.

After the entire shoe is wiped by the cleaning brush 330, the head part 300 rotates 180 °, and the robot arm 200 moves so that the polishing brush 340 touches the polish in the varnish container 800. After the polish is applied to the polishing brush 340, the robot arm 200 is moved again to its original position. Then, once again, the image processing and the robot arm controller drives the robot arm 200 and controls the operation so that the position sensor 500 moves along the set path, in which case the brush 340 rotates. Polishes the surface of the shoe by moving it.

As such, first, the entire surface of the shoe is cleaned with the cleaning brush 330, and then a process of shining the entire surface of the shoe with the polish brush 340 is completed, thus completing the process of wiping a single shoe. The shoe is placed on the footrest 700 in place of the shoe that is not yet polished instead of the shoe that is polished, so that the above process is repeated, thereby cleaning both the shoe worn on both feet.

As described above, the present invention has been described only with respect to specific examples, but it will be apparent to those skilled in the art that various changes and modifications can be made within the technical spirit of the present invention based on the above specific examples. And modifications belong to the appended claims.

1 is a perspective view showing a shoeshine robot vending machine according to an embodiment of the present invention.

Figure 2 is a side view showing a shoeshine robot vending machine according to an embodiment of the present invention.

Figure 3 is a side cross-sectional view showing a head portion according to an embodiment of the present invention.

Figure 4 is a plan view showing a shoe photograph taken with a camera and a set path according to an embodiment of the present invention.

※ Explanation of symbols for main parts of drawing

10: path 20: cable

100: main body 200: robot arm

210: hinge joint 220: step motor

300: head portion 330: cleaning brush

340: polishing brush 400: camera

500: position sensor 600, 610: rotation axis

700: scaffold

Claims (5)

Footrest that can put shoes on; A payment processing unit for paying a shoe polishing fee and starting the operation of the device when the payment is completed; A head attached to the brush; A robot arm having a multi-joint coupled to one end of the head to move the head up, down, left, right, and forward and back to wipe the shoe placed on the footrest with the brush; A camera attached to the robot arm such that the camera moves up, down, left, right, and before and after the head unit; And And an image processing and a robot arm controller electrically connected to the camera and the robot arm to set an operation path of the robot arm through the image data transmitted by the camera and to control the operation of the robot arm. Shoe Shine Robot Vending Machine. The method of claim 1, The brush coupled to the head unit includes two types of cleaning brush and polishing brush, wherein each of the cleaning brush and the polishing brush is rotatably arranged in the head part. The method of claim 2, The head part is connected to the robot arm and the rotating shaft so as to be rotatable, and the cleaning brush and the polishing brush are respectively installed in a position symmetrical with respect to the extension line of the rotary shaft, vending machine. The method according to any one of claims 1 to 3, Shoe polishing robot vending machine, characterized in that the position sensor is attached to the head portion or part of the robot arm. The method according to any one of claims 1 to 3, A shoe polishing robot vending machine, characterized in that the container containing the polish is installed in the periphery of the robot arm so that the brush is in contact with the polish.

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