A method and apparatus for automatic polishing of a contact finger

Abstract

The application relates to a finger automatic polishing method and device, and relates to the technical field of locomotive maintenance. The finger is placed in a 3D visual identification area, 3D visual identification is carried out on the finger, the shape characteristics of the finger are fitted according to the 3D visual identification result, the state of the finger is judged according to the shape characteristics, the polishing amount is calculated according to the shape characteristics and the state of the finger, the polishing amount information is transmitted to a polishing system for polishing, the problems that exist in the current finger polishing process, such as inaccurate judgment, high work intensity, time and labor consuming and difficult polishing effect guarantee, are solved, the automatic operation of the finger polishing is realized, the shape characteristics of the finger can be accurately identified through the 3D visual detection system, the problem of inaccuracy caused by the human eye observation is solved, the detection accuracy is effectively improved, and the polishing effect is guaranteed.

Description

Technical Field

[0001] This invention relates to the field of locomotive maintenance, and in particular to an automatic finger polishing method and apparatus. Background Technology

[0002] The locomotive uses a selector switch to switch the main circuit, control the traction motor, and realize the locomotive's traction, braking, and forward / reverse reversing. The selector switch controls the wiring method and current direction of the traction motor's excitation winding through different combinations of a rotating drum and contact fingers. The contact fingers are kept in contact with the rotating drum by spring pressing.

[0003] The contact finger consists of a main body and a contact part. During locomotive operation, the working conditions change frequently, and the friction between the drum and the contact finger is frequent, causing severe wear on the contact surface of the contact part. Therefore, during locomotive maintenance, the worn contact finger needs to be re-electroplated, and the contact surface needs to be polished before installation to ensure the surface roughness and cylindricity of the contact surface.

[0004] In the current polishing process, most of the polishing is done manually by workers who rely on their eyes to make judgments. This method has problems such as inaccurate judgment, high labor intensity, time and effort, and difficulty in guaranteeing the polishing effect. Summary of the Invention

[0005] This application provides an automatic finger polishing method and apparatus to solve the problems of inaccurate judgment, high workload, time and effort, and difficulty in guaranteeing polishing effect in the existing finger polishing process.

[0006] In a first aspect, this application provides an automatic finger polishing method, comprising:

[0007] Place the finger in the 3D visual recognition area;

[0008] Perform 3D visual recognition on the finger and fit the morphological features of the finger based on the result of the 3D visual recognition;

[0009] The state of the finger is determined based on the morphological characteristics;

[0010] The amount of polishing is calculated based on the morphological characteristics and the state of the finger.

[0011] The grinding amount information is transmitted to the grinding system for grinding.

[0012] In some embodiments, placing the finger in the 3D visual recognition area includes:

[0013] The finger is placed on a workbench, which is located within the 3D visual recognition area.

[0014] In some embodiments, performing 3D visual recognition on the finger and fitting the morphological features of the finger based on the result of the 3D visual recognition includes:

[0015] The finger is visually recognized using a 3D vision detection system.

[0016] Using the installation position of the 3D camera as a reference plane, the morphological features of the finger are fitted based on the results of the 3D visual recognition.

[0017] The morphological features include at least one of the following: thickness, curvature, shape, thickness at the arc, and surface quality.

[0018] In some embodiments, the 3D visual recognition of the finger using a 3D visual detection system includes:

[0019] Identify multiple views of the touch finger and data of the multiple views;

[0020] Collect data from the multiple views.

[0021] In some embodiments, determining the state of the finger based on the morphological features includes:

[0022] If the thickness is less than a preset thickness threshold, the touch finger is determined to be a scrapped part;

[0023] If the thickness is greater than or equal to the preset thickness threshold, then the touch finger is determined to be a normal component.

[0024] In some embodiments, determining the state of the finger based on the morphological features further includes:

[0025] If the touch finger is a normal part, and the difference between the thickness and the standard thickness is less than a preset thickness difference and the difference between the external dimensions and the standard external dimensions is less than a preset external dimension difference, then the touch finger is determined to be a new part.

[0026] If the touch finger is a normal part, the difference between the thickness and the standard thickness is greater than or equal to a preset thickness difference, the difference between the outer dimensions and the standard outer dimensions is greater than or equal to a preset outer dimension difference, and the flatness at the arc is greater than or equal to a preset flatness threshold, then the touch finger is determined to be a refurbished part.

[0027] In some embodiments, calculating the amount of polishing based on the morphological features and the state of the finger includes:

[0028] If the contact finger is a new part, then the contact finger is polished according to the preset values;

[0029] If the touch finger is a refurbished part, then the arc surface fitted according to the first identification point identified by the 3D vision inspection system is polished.

[0030] In some embodiments, transmitting the grinding amount information to the grinding system for grinding further includes:

[0031] Perform 3D visual recognition on the polished finger;

[0032] The morphological features of the polished finger are fitted based on the 3D visual recognition results.

[0033] The polishing of the finger is judged based on the morphological characteristics.

[0034] Secondly, this application also provides an electronic device, the electronic device comprising:

[0035] Processor and memory;

[0036] The processor executes the steps of the method as described in any of the above embodiments by invoking programs or instructions stored in the memory.

[0037] Thirdly, this application also provides an automatic finger polishing device, comprising:

[0038] A grasping system is used to place the finger in a 3D visual recognition area;

[0039] A 3D vision inspection system is used to perform 3D vision recognition on the finger and fit the morphological features of the finger based on the 3D vision recognition results, determine the state of the finger based on the morphological features, and calculate the amount of polishing based on the morphological features and the state of the finger.

[0040] The host computer system is used to transmit the grinding amount information to the grinding system for grinding.

[0041] A polishing system for polishing the finger.

[0042] Compared with existing technologies, this application solves the problems of inaccurate judgment, high workload, time and labor costs, and difficulty in guaranteeing the polishing effect in existing finger polishing processes by placing the finger in a 3D visual recognition area, performing 3D visual recognition on the finger, fitting the morphological features of the finger based on the 3D visual recognition results, judging the state of the finger based on the morphological features, calculating the polishing amount based on the morphological features and the state of the finger, and transmitting the polishing amount information to the polishing system for polishing. This achieves automated operation of finger polishing, and the 3D visual detection system can accurately identify the morphological features of the finger, solving the problem of inaccuracy in relying on human observation, effectively improving the accuracy of detection, and ensuring the polishing effect. Attached Figure Description

[0043] The invention will now be described in more detail with reference to embodiments and the accompanying drawings.

[0044] Figure 1 This is a flowchart of an automatic finger polishing method provided in an embodiment of the present invention;

[0045] Figure 2 This is a flowchart of an automatic finger polishing method provided in another embodiment of the present invention;

[0046] Figure 3 This is a schematic diagram of an electronic device provided in an embodiment of the present invention;

[0047] Figure 4 This is a schematic diagram of the structure of a finger provided in an embodiment of the present invention;

[0048] Figure 5 This is a front view of a finger identified by a 3D vision detection system provided in an embodiment of the present invention;

[0049] Figure 6 This is a left view of a finger identified by a 3D vision detection system provided in an embodiment of the present invention;

[0050] Figure 7 This is a right view of a finger identified by a 3D vision detection system provided in an embodiment of the present invention; Detailed Implementation

[0051] The present application will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, only the parts relevant to the invention are shown in the accompanying drawings.

[0052] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0053] After disassembly, the existing contact fingers are all manually polished using sandpaper and flat files. The workpieces polished by hand are highly arbitrary, with rough surfaces and poor cylindricity. Furthermore, the process of checking whether the workpieces are qualified after polishing is complicated. It requires the cooperation of related workpieces to check whether the length of the contact part meets the standard. If it does not meet the standard, it is necessary to repeat the repair until it meets the qualified standard. The specific number of repairs is uncertain, which is time-consuming and labor-intensive.

[0054] To solve the above problems, such as Figure 1 As shown, in a first aspect, one embodiment of this application provides an automatic finger polishing method, comprising:

[0055] S101: Place the finger in the 3D visual recognition area;

[0056] It should be noted that, as Figure 4 As shown, the contact finger includes a main body and a contact part. The main body has a reference hole, and the contact part is arc-shaped. During locomotive operation, the working conditions change frequently, and the friction between the drum and the contact finger is frequent, causing severe wear on the contact surface of the contact part. Therefore, during locomotive maintenance, the worn contact finger needs to be re-electroplated, and before installation, the contact surface needs to be polished to ensure the surface roughness and cylindricity of the contact surface.

[0057] It should be noted that the 3D visual recognition area is usually the area that a 3D visual detection system can recognize. After placing the finger in the 3D visual recognition area, the finger can be recognized accordingly.

[0058] In some embodiments, placing the finger in the 3D visual recognition area includes:

[0059] The finger is placed on a workbench, which is located within the 3D visual recognition area.

[0060] It should be noted that the finger can be placed on the worktable, which is located within the 3D vision recognition area, so that the finger can be recognized subsequently. The worktable and the 3D vision detection system can move relative to each other to meet the recognition requirements from multiple angles. That is, the worktable can move relative to the 3D vision detection system, or the 3D vision detection system can move relative to the worktable, or both the worktable and the 3D vision detection system can move.

[0061] S102: Perform 3D visual recognition on the finger and fit the morphological features of the finger based on the result of the 3D visual recognition;

[0062] It should be noted that if the finger is to be polished, it is necessary to understand the current morphological characteristics of the finger.

[0063] In some embodiments, performing 3D visual recognition on the finger and fitting the morphological features of the finger based on the result of the 3D visual recognition includes:

[0064] The finger is visually recognized using a 3D vision detection system.

[0065] Using the installation position of the 3D camera as a reference plane, the morphological features of the finger are fitted based on the results of the 3D visual recognition.

[0066] The morphological features include at least one of the following: thickness, curvature, shape, thickness at the arc, and surface quality.

[0067] It should be noted that the 3D vision inspection system includes a 3D camera. The 3D vision inspection system uses the 3D camera to perform 3D visual recognition of the finger. To facilitate fitting, the installation position of the 3D camera is usually selected as the reference plane for fitting.

[0068] In some embodiments, the 3D visual recognition of the finger using a 3D visual detection system includes:

[0069] Identify multiple views of the touch finger and data of the multiple views;

[0070] Collect data from the multiple views.

[0071] It should be noted that, in order to obtain the morphological characteristics of the contact finger more accurately, it is usually necessary to identify multiple angle views of the contact finger, i.e., six views. However, if multiple views of the contact finger are identical, or if the operating conditions require it, only some views may be identified, such as... Figure 5 , Figure 6 , Figure 7 As shown, these are the front view, left view, and right view of the touch, respectively.

[0072] It should be noted that by extracting a sufficient number of points from the multiple views, calculating the height value of each point relative to the 3D camera, and comparing the height values ​​of each point to find the maximum difference, the amount of grinding can be determined and the flatness and curvature of the workpiece can be detected.

[0073] S103: Determine the state of the finger based on the morphological characteristics;

[0074] It should be noted that before polishing the finger, it is usually necessary to determine the condition of the finger in order to classify the finger and determine whether the finger needs to be polished.

[0075] In some embodiments, determining the state of the finger based on the morphological features includes:

[0076] If the thickness is less than a preset thickness threshold, the touch finger is determined to be a scrapped part;

[0077] If the thickness is greater than or equal to the preset thickness threshold, then the touch finger is determined to be a normal component.

[0078] It should be noted that it is necessary to first determine whether the contact finger is in a scrapped state. If the contact finger is in a scrapped state, no further operation is required. If the contact finger is a normal part, then the subsequent operation can be performed.

[0079] In some embodiments, determining the state of the finger based on the morphological features further includes:

[0080] If the touch finger is a normal part, and the difference between the thickness and the standard thickness is less than a preset thickness difference and the difference between the external dimensions and the standard external dimensions is less than a preset external dimension difference, then the touch finger is determined to be a new part.

[0081] If the touch finger is a normal part, the difference between the thickness and the standard thickness is greater than or equal to a preset thickness difference, the difference between the outer dimensions and the standard outer dimensions is greater than or equal to a preset outer dimension difference, and the flatness at the arc is greater than or equal to a preset flatness threshold, then the touch finger is determined to be a refurbished part.

[0082] It should be noted that wear is inevitable during use. Generally, when the wear is within a certain range, the touch finger can be considered as a new part. The preset thickness difference can be 0.5mm, 0.6mm, etc., and the preset shape difference can be 0.5mm, 0.6mm, etc. This application does not specify the specific values ​​of the preset thickness difference and the preset shape difference, and they can be set according to actual needs.

[0083] It should be noted that after the touch finger is worn, not only will its thickness and dimensions change, but its originally curved surface will also become flat. Therefore, the flatness of the curved area can be used to further determine whether it is a refurbished part. The specific value of the preset flatness threshold can be set according to actual needs.

[0084] S104: Calculate the amount of polishing based on the morphological characteristics and the state of the finger;

[0085] It should be noted that after determining the state of the finger based on the morphological characteristics, the amount of polishing required for the finger needs to be further calculated.

[0086] In some embodiments, calculating the amount of polishing based on the morphological features and the state of the finger includes:

[0087] If the contact finger is a new part, then the contact finger is polished according to the preset values;

[0088] If the touch finger is a refurbished part, then the arc surface fitted according to the first identification point identified by the 3D vision inspection system is polished.

[0089] It should be noted that when the contact finger is a new part, the preset value for polishing is usually determined in advance. When the contact finger is a new part, there is usually a plating layer left on the contact finger. At this time, the plating layer can be polished off. At the same time, if the usage requirements are met, only part of the plating layer can be removed.

[0090] It should be noted that 3D vision inspection systems typically identify multiple recognition points and fit multiple arc surfaces. To ensure rapid and successful polishing, the arc surface fitted by the lowest recognized point (i.e., the first recognition point) can usually be selected for polishing. Of course, it is also possible to select arc surfaces fitted by different recognition points for polishing.

[0091] S105: Transmit the grinding amount information to the grinding system for grinding.

[0092] It should be noted that after calculating the grinding amount information, it is usually necessary to transmit the grinding amount information to the grinding system for grinding.

[0093] In some embodiments, transmitting the grinding amount information to the grinding system for grinding further includes:

[0094] Perform 3D visual recognition on the polished finger;

[0095] The morphological features of the polished finger are fitted based on the 3D visual recognition results.

[0096] The polishing of the finger is judged based on the morphological characteristics.

[0097] It should be noted that after the polishing system has finished polishing, the polished fingers need to be inspected to verify whether the polished fingers meet the usage requirements. When the fingers meet the usage requirements, the polishing ends; when the fingers do not meet the usage requirements, a new round of identification and polishing processes is performed.

[0098] This embodiment solves the problems of inaccurate judgment, high workload, time and labor costs, and difficulty in guaranteeing the polishing effect in the existing finger polishing process by placing the finger in a 3D vision recognition area, performing 3D vision recognition on the finger, fitting the morphological features of the finger based on the morphological features, determining the state of the finger based on the morphological features and the state of the finger, calculating the polishing amount based on the morphological features and the state of the finger, and transmitting the polishing amount information to the polishing system for polishing. It realizes the automation of finger polishing operation, and the 3D vision detection system can accurately identify the morphological features of the finger, solving the problem of inaccuracy of relying on human observation, effectively improving the accuracy of detection, and ensuring the polishing effect.

[0099] Figure 2 A flowchart of an automatic finger polishing method provided in another embodiment of this application is included, the method comprising:

[0100] S201: Place the finger in the 3D visual recognition area;

[0101] It should be noted that the 3D visual recognition area is usually the area that a 3D visual detection system can recognize. After placing the finger in the 3D visual recognition area, the finger can be recognized accordingly.

[0102] S202: The finger is subjected to 3D visual recognition by a 3D visual inspection system. The morphological features of the finger are fitted based on the installation position of the 3D camera as the reference plane and the result of the 3D visual recognition.

[0103] It should be noted that if the finger is to be polished, it is necessary to understand the current morphological characteristics of the finger.

[0104] The morphological features include at least one of the following: thickness, curvature, shape, thickness at the arc, and surface quality.

[0105] It should be noted that the 3D vision inspection system includes a 3D camera. The 3D vision inspection system uses the 3D camera to perform 3D visual recognition of the finger. To facilitate fitting, the installation position of the 3D camera is usually selected as the reference plane for fitting.

[0106] S203: Identify multiple views of the touch finger and data of the multiple views, and collect data of the multiple views;

[0107] It should be noted that in order to obtain the morphological characteristics of the finger more accurately, it is usually necessary to identify multiple angle views of the finger, i.e., six views. When multiple views of the finger are the same or when the working condition requires it, only some views can be identified, such as three views, front view, left view and top view.

[0108] S204: If the thickness of the fitted finger is greater than or equal to the preset thickness, then the finger is determined to be a normal component;

[0109] If the thickness of the fitted finger is less than the preset thickness, the finger is determined to be a scrapped part.

[0110] It should be noted that it is necessary to first determine whether the contact finger is in a scrapped state. If the contact finger is in a scrapped state, no further operation is required. If the contact finger is a normal part, then the subsequent operation can be performed.

[0111] S205: If the difference between the thickness and the standard thickness is less than the preset thickness difference and the difference between the external dimensions and the standard external dimensions is less than the preset external dimensions difference, then the touch finger is determined to be a new part.

[0112] S206: If the difference between the thickness and the standard thickness is greater than or equal to the preset thickness difference, the difference between the external dimensions and the standard external dimensions is greater than or equal to the preset external dimensions difference, and the flatness at the arc is greater than or equal to the preset flatness threshold, then the touch finger is determined to be a refurbished part.

[0113] It should be noted that wear is inevitable during use. Generally, when the wear is within a certain range, the touch finger can be considered as a new part. The preset thickness difference can be 0.5mm, 0.6mm, etc., and the preset shape difference can be 0.5mm, 0.6mm, etc. This application does not specify the specific values ​​of the preset thickness difference and the preset shape difference, and they can be set according to actual needs.

[0114] It should be noted that after the touch finger is worn, not only will its thickness and dimensions change, but its originally curved surface will also become flat. Therefore, the flatness of the curved area can be used to further determine whether it is a refurbished part. The specific value of the preset flatness threshold can be set according to actual needs.

[0115] S207: If the touch finger is a new part, then polish the touch finger according to the preset value.

[0116] It should be noted that when the contact finger is a new part, the preset value for polishing is usually determined in advance. When the contact finger is a new part, there is usually a plating layer left on the contact finger. At this time, the plating layer can be polished off. At the same time, if the usage requirements are met, only part of the plating layer can be removed.

[0117] S208: If the touch finger is a refurbished part, then the arc surface fitted according to the first identification point identified by the 3D vision inspection system is polished.

[0118] It should be noted that 3D vision inspection systems typically identify multiple recognition points and fit multiple arc surfaces. To ensure rapid and successful polishing, the arc surface fitted by the lowest recognized point (i.e., the first recognition point) can usually be selected for polishing. Of course, it is also possible to select arc surfaces fitted by different recognition points for polishing.

[0119] In summary, this embodiment solves the problems of inaccurate judgment, high workload, time-consuming and labor-intensive processes, and difficulty in guaranteeing the polishing effect in existing finger polishing processes by placing the finger in a 3D visual recognition area, performing 3D visual recognition on the finger, fitting the morphological features of the finger based on the morphological features, determining the state of the finger based on the morphological features and the state of the finger, calculating the polishing amount based on the morphological features and the polishing amount information to the polishing system for polishing. This achieves automated operation of finger polishing, and the 3D visual detection system can accurately identify the morphological features of the finger, solving the problem of inaccuracy in relying on human observation, effectively improving the accuracy of detection and ensuring the polishing effect.

[0120] Figure 3This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. For example... Figure 3 As shown, the electronic device 300 includes one or more processors 301 and memory 302.

[0121] The processor 301 may be a central processing unit (CPU) or other form of processing unit with data processing and / or instruction execution capabilities, and may control other components in the electronic device 300 to perform desired functions.

[0122] The memory 302 may include one or more computer program products, which may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may include, for example, random access memory (RAM) and / or cache memory. The non-volatile memory may include, for example, read-only memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 301 may execute the program instructions to implement the battery health status assessment method of any embodiment of this application described above and / or other desired functions. Various contents such as initial external parameters and thresholds may also be stored in the computer-readable storage medium.

[0123] In one example, the electronic device 300 may further include an input device 303 and an output device 304, these components being interconnected via a bus system and / or other forms of connection mechanisms (not shown). The input device 303 may include, for example, a keyboard, a mouse, etc. The output device 304 may output various information to the outside, including warning messages, braking force, etc. The output device 304 may include, for example, a display, a speaker, a printer, and a communication network and its connected remote output devices, etc.

[0124] Of course, for the sake of simplicity, Figure 3 Only some of the components of the electronic device 300 relevant to this application are shown in this illustration; components such as buses, input / output interfaces, etc., are omitted. In addition, the electronic device 300 may include any other suitable components depending on the specific application.

[0125] In addition to the methods and devices described above, embodiments of this application may also be computer program products, which include computer program instructions that, when executed by a processor, cause the processor to perform the steps of the battery health status assessment method provided in any embodiment of this application.

[0126] The computer program product can be written in any combination of one or more programming languages ​​to perform the operations of the embodiments of this application. The programming languages ​​include object-oriented programming languages ​​such as Java and C++, as well as conventional procedural programming languages ​​such as C or similar languages. The program code can be executed entirely on the user's computing device, partially on the user's computing device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0127] This application also provides an automatic finger polishing device, comprising:

[0128] A grasping system is used to place the finger in a 3D visual recognition area;

[0129] A 3D vision inspection system is used to perform 3D vision recognition on the finger and fit the morphological features of the finger based on the 3D vision recognition results, determine the state of the finger based on the morphological features, and calculate the amount of polishing based on the morphological features and the state of the finger.

[0130] The host computer system is used to transmit the grinding amount information to the grinding system for grinding.

[0131] A polishing system for polishing the finger.

[0132] Although the invention has been described with reference to preferred embodiments, various modifications can be made and components can be replaced with equivalents without departing from the scope of the invention. In particular, the technical features mentioned in the various embodiments can be combined in any manner as long as there is no structural conflict. The invention is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. An automatic finger polishing method, characterized in that, include: Place the finger in the 3D visual recognition area; Perform 3D visual recognition on the finger and fit the morphological features of the finger based on the result of the 3D visual recognition; It includes: The finger is visually recognized using a 3D vision detection system. Using the installation position of the 3D camera as a reference plane, the morphological features of the finger are fitted based on the results of the 3D visual recognition. The morphological features include at least one of the following: thickness, curvature, shape, thickness at the arc, and surface quality. Determining the state of the touch finger based on its morphological characteristics includes: if the thickness is less than a preset thickness threshold, then determining that the touch finger is a scrapped part; If the thickness is greater than or equal to the preset thickness threshold, then the touch finger is determined to be a normal component; If the touch finger is a normal part, and the difference between its thickness and the standard thickness is less than a preset thickness difference and the difference between its external dimensions and the standard external dimensions is less than a preset external dimension difference, then the touch finger is determined to be a new part. If the touch finger is a normal part, the difference between the thickness and the standard thickness is greater than or equal to a preset thickness difference, the difference between the outer dimensions and the standard outer dimensions is greater than or equal to a preset outer dimension difference, and the flatness at the arc is greater than or equal to a preset flatness threshold, then the touch finger is determined to be a refurbished part. The amount of polishing is calculated based on the morphological characteristics and the state of the finger, wherein... If the contact finger is a new part, then the contact finger is polished according to the preset values; If the touch finger is a refurbished part, then the arc surface fitted according to the first identification point identified by the 3D vision inspection system is polished. The grinding amount information is transmitted to the grinding system for grinding.

2. The automatic finger polishing method according to claim 1, characterized in that, Placing the finger in the 3D visual recognition area includes: The finger is placed on a workbench, which is located within the 3D visual recognition area.

3. The automatic finger polishing method according to claim 1, characterized in that, The 3D visual recognition of the finger is performed using a 3D visual inspection system, including: recognizing multiple views of the finger and data of the multiple views; Collect data from the multiple views.

4. The automatic finger polishing method according to claim 1, characterized in that, The step of transmitting the grinding amount information to the grinding system for grinding also includes: Perform 3D visual recognition on the polished finger; The morphological features of the polished finger are fitted based on the 3D visual recognition results. The polishing of the finger is judged based on the morphological characteristics.

5. An electronic device, characterized in that, The electronic device includes: Processor and memory; The processor executes the steps of the method as described in any one of claims 1 to 4 by invoking programs or instructions stored in the memory.

6. An automatic finger polishing device, characterized in that, include: A grasping system is used to place the finger in a 3D visual recognition area; A 3D vision inspection system is used to perform 3D visual recognition on the finger and fit the morphological features of the finger based on the results of the 3D visual recognition. The system then determines the state of the finger based on the morphological features and the state of the finger, and calculates the amount of polishing required based on the morphological features and the state of the finger. When determining the state of the touch finger, the 3D vision inspection system is configured as follows: if the thickness of the touch finger is less than a preset thickness threshold, the touch finger is determined to be a scrap part; if the thickness of the touch finger is greater than or equal to the preset thickness threshold, the touch finger is determined to be a normal part; if the touch finger is a normal part, and the difference between the thickness of the touch finger and the standard thickness is less than a preset thickness difference, and the difference between the external dimensions and the standard external dimensions is less than a preset external dimension difference, the touch finger is determined to be a new part; if the touch finger is a normal part, and the difference between the thickness of the touch finger and the standard thickness is greater than or equal to a preset thickness difference, the difference between the external dimensions and the standard external dimensions is greater than or equal to a preset external dimension difference, and the flatness at the arc is greater than or equal to a preset flatness threshold, the touch finger is determined to be a refurbished part; and when calculating the amount of polishing, if the touch finger is a new part, a polishing instruction is generated according to a preset value; if the touch finger is a refurbished part, a polishing instruction is generated according to the arc surface fitted by the first identification point identified by the 3D vision inspection system. The host computer system is used to transmit the grinding amount information to the grinding system for grinding. A polishing system for polishing the finger.

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