Processing system with automatic monitoring of surface features of an object and method of processing thereof

Abstract

A processing system with automatic monitoring of surface features of an object is used to process a processing surface of an object to be processed, and at least one three-dimensional feature mark is provided on the processing surface. The processing system with automatic monitoring of surface features of an object includes an image capturing device, a computing device, and a surface processing device. The image capturing device is used to capture an image of the processing surface of the object to be processed. The computing device generates a three-dimensional image data corresponding to the processing surface according to the image captured by the image capturing device, and the three-dimensional image data has a three-dimensional mark corresponding to the three-dimensional feature mark. The surface processing device performs surface processing on the processing surface according to the three-dimensional mark of the three-dimensional image data. A processing method with automatic monitoring of surface features of an object is also disclosed.

Description

Technical Field

[0001] This invention relates to surface processing technology for objects, and specifically to a processing system and method for automatically monitoring the surface features of objects. Background Technology

[0002] In the production process of workpieces, such as sheet metal parts, shoe parts, or wooden products, it is often necessary to perform processing operations such as engraving, painting, laser cutting, and polishing on the surface of the workpiece. If the surface of the workpiece is flat, the surface treatment is relatively simple. It is only necessary to set up a surface treatment device to move and process on the flat surface of the workpiece. For the surface treatment of three-dimensional workpieces, the traditional method is to manually process each three-dimensional surface of the workpiece one by one.

[0003] With the advancement of automated processing technology, the efficiency of traditional manual processing of workpiece three-dimensional surfaces can be improved. Specifically, the current process of applying automated processing technology to the processing of workpiece three-dimensional surfaces requires designers to draw a three-dimensional drawing file corresponding to the shape of the workpiece in advance, and set the size parameters, preset processing positions and areas that match the workpiece in the three-dimensional drawing file. In this way, when the surface processing device performs surface processing on the workpiece, it can process the three-dimensional surface of the workpiece according to the parameter data on the aforementioned three-dimensional drawing file.

[0004] However, the aforementioned automated processing technology cannot be applied to the processing of workpieces with different shapes and sizes. For example, the size and shape of each shoe body are different. If each shoe body is to undergo surface processing, the designer needs to create a 3D drawing file for each shoe body and set corresponding processing parameters for the processing requirements of each shoe body. Only then can the surface processing device perform surface processing for each shoe body. This approach will place a heavy burden on the designer and will not improve the efficiency of the overall processing production line. Summary of the Invention

[0005] In view of this, the purpose of the present invention is to provide a processing system and processing method with automatic monitoring of the surface features of objects, which can perform image interpretation on the processing surface of various objects to be processed, and then perform surface processing of various patterns, sizes and shapes according to the preset three-dimensional feature marks on the objects to be processed, so as to achieve the effect of high-efficiency surface processing.

[0006] To achieve the above objectives, the present invention provides a processing system with automatic monitoring of object surface features, used to process a surface of an object to be processed, wherein at least one three-dimensional feature mark is preset on the surface of the object. The processing system with automatic monitoring of object surface features includes an image capturing device, a computing device, and a surface processing device. The image capturing device is used to capture an image of the surface of the object to be processed; the computing device is connected to the image capturing device, and the computing device generates a three-dimensional image data corresponding to the surface of the object based on the image captured by the image capturing device. The three-dimensional image data has a three-dimensional mark symbol corresponding to the three-dimensional feature mark. The computing device records a three-dimensional processing coordinate according to the position of the three-dimensional mark symbol, and calculates a processing path around the mark symbol; the surface processing device is connected to the computing device, and receives the three-dimensional image data from the computing device, and performs surface processing on the surface of the object to be processed according to the three-dimensional processing coordinate and the processing path in the three-dimensional image data.

[0007] Another preferred embodiment of the present invention provides a processing method with automatic monitoring of object surface features, used to process a processing surface of an object to be processed, wherein at least one three-dimensional feature mark is preset on the processing surface. The processing method with automatic monitoring of object surface features includes the following steps: Step S1, the object to be processed captures an image of the processing surface through an image capturing device; Step S2, a computing device generates a three-dimensional image data corresponding to the processing surface based on the image captured by the image capturing device; and Step S3, a surface processing device receives the three-dimensional image data and performs surface processing on the processing surface of the object to be processed based on the three-dimensional image data.

[0008] The advantage of this invention lies in the fact that the processing system and method for automatically monitoring the surface features of an object, wherein when the object to be processed is on the production line, the image capturing device first captures an image of the surface of the object to be processed. At this time, the computing device immediately generates the stereoscopic image data corresponding to the surface of the object to be processed based on the image captured by the image capturing device, and determines the position of the stereoscopic mark symbol on the stereoscopic image data. Then, the surface processing device performs surface processing on the surface of the object to be processed. This automated surface processing method can effectively save the cost of manual drawing and can perform image interpretation on the surface of the object to be processed for various types of objects. It can then perform surface processing of various patterns, sizes and shapes corresponding to the preset stereoscopic feature marks on the object to be processed, achieving the purpose of high-efficiency surface processing. Attached Figure Description

[0009] Figure 1This is a schematic diagram of a processing system with automatic monitoring of object surface features according to a preferred embodiment of the present invention.

[0010] Figure 2 This is a front view of a processing system with automatic monitoring of object surface features according to a preferred embodiment of the present invention.

[0011] Figure 3 This is a top view schematic diagram of a processing system with automatic monitoring of object surface features according to a preferred embodiment of the present invention.

[0012] Figure 4 This is a perspective view of the workpiece to be processed according to a preferred embodiment of the present invention.

[0013] Figure 5 This is a side view of the workpiece to be processed according to a preferred embodiment of the present invention.

[0014] Figure 6 This is a side view of the workpiece entering the first work area in a processing system with automatic monitoring of workpiece surface features according to a preferred embodiment of the present invention.

[0015] Figure 7 yes Figure 6 A front view diagram.

[0016] Figure 8 This is a functional block diagram of the computing device in a processing system for automatically monitoring the surface features of an object, according to a preferred embodiment of the present invention.

[0017] Figure 9 This is a schematic diagram of the structure of the stereoscopic image data in a processing system for automatically monitoring the surface features of an object, according to a preferred embodiment of the present invention.

[0018] Figure 10 yes Figure 9 The above-view diagram shows the stereoscopic image data with the processing parameters attached.

[0019] Figure 11 This is a side view of the workpiece entering the second work area in a processing system with automatic monitoring of workpiece surface features according to a preferred embodiment of the present invention.

[0020] Figure 12 This is a schematic diagram of the surface treatment device performing surface processing on the object to be processed in a processing system with automatic monitoring of object surface features according to a preferred embodiment of the present invention.

[0021] Figure 13 This is a three-dimensional structural diagram of the finished product according to a preferred embodiment of the present invention.

[0022] Figure 14This is a side view of the finished product according to a preferred embodiment of the present invention.

[0023] Figure 15 This is a flowchart of a preferred embodiment of the processing method for automatically monitoring the surface features of an object according to the present invention. Detailed Implementation

[0024] To more clearly illustrate the present invention, preferred embodiments are described in detail below with reference to the accompanying drawings. Please refer to... Figures 1-3 This invention provides a processing system 100 with automatic monitoring of object surface features, used to process a processing surface 2 of an object 1 to be processed, wherein at least one three-dimensional feature mark 3 is pre-formed on the processing surface 2, such as... Figure 4 , 5 As shown, the object to be processed 1 in this embodiment is illustrated in the form of a sports shoe. The processing surface 2 of the object to be processed 1 includes the upper and the circumferential surface of the sole, and the object to be processed 1 has multiple three-dimensional feature marks 3. Figure 4 , 5 The plurality of three-dimensional feature marks 3 are provided on the processing surface 2, such as the upper and sole of a shoe, and the positions of the plurality of three-dimensional feature marks 3 are relative to the processing surface 2 of the workpiece 1 to be processed in the future.

[0025] In this embodiment, the multiple three-dimensional feature marks 3 are designed with circular concave holes as an example, but this is not a limitation. In other embodiments, the multiple three-dimensional feature marks 3 can also be replaced with convex dots, and the shape of the multiple three-dimensional feature marks 3 can be replaced with any geometric pattern, as long as the multiple three-dimensional feature marks 3 are three-dimensional. The number and position of the three-dimensional feature marks 3 can be adjusted according to processing requirements. For example, there can be only one three-dimensional feature mark 3, and the three-dimensional feature mark 3 can also be set on one of the upper or sole circumference of the workpiece 1 to be processed.

[0026] In other embodiments, the workpiece 1 to be processed can be replaced with any workpiece, such as metal sheet, wooden ornaments, semiconductor and plastic products, etc. Any material component that needs to be surface treated can be used as the workpiece 1 to be processed, and the three-dimensional feature mark 3 is designed on the processing surface 2 required by the workpiece 1 to be processed.

[0027] Figure 1 The basic structure of the processing system 100 with automatic monitoring of object surface features described in this embodiment is shown, including a housing 10, an image capturing device 20, and a computing device 30 (see figure). Figure 8 ) and a surface treatment device 40.

[0028] The housing 10 is mainly used to provide mounting space for the image capturing device 20 and the surface treatment device 40, such as... Figures 1-3 As shown, the housing 10 defines a first working area A and a second working area B. The first working area A is located in the external space 11 of the housing 10, and the second working area B is located in the internal space 12 of the housing 10. The housing 10 is provided with a conveying port 13 to connect the first working area A and the second working area B. In addition, Figure 1 and Figure 3 The machine housing 10 is equipped with a conveyor track 14 that passes through the conveyor port 13 and is located between the first working area A and the second working area B. Figure 3 The conveying track 14 has a placement surface 141 for placing the workpiece 1 to be processed. When the workpiece 1 to be processed is placed on the placement surface 141 of the conveying track 14, the workpiece 1 to be processed can be driven by the conveying track 14 from the first working area A through the conveying port 13 and into the second working area B.

[0029] The image capturing device 20 is used to capture an image of the processing surface 2 of the workpiece 1 to be processed, such as... Figures 1-3 As shown, the image capturing device 20 of this embodiment is disposed in the first working area A of the housing 10, and the image capturing device 20 includes a three-dimensional imaging module 21 and a driving module 22. The three-dimensional imaging module 21 is suspended in the first working area A, and the driving module 22 is connected to the three-dimensional imaging module 21 and can drive the three-dimensional imaging module 21 to move within the first working area A. In this embodiment, the driving module 22 has an arc-shaped slide rail 221 and a driver 222. Please refer to... Figure 6 , 7 The arc-shaped slide rail 221 defines a central axis L projected onto the placement surface 141 of the conveying track 14, and the arc-shaped slide rail 221 extends downward in an arc towards both sides of the conveying track 14 based on the central axis L. The driver 222 is disposed on the arc-shaped slide rail 221 and connected to the three-dimensional imaging module 21, and is used to control the three-dimensional imaging module 21 to move along the trajectory of the arc-shaped slide rail 221. As a result, the three-dimensional imaging module 21 can move and capture images in the first working area A under the action of the driver 222.

[0030] In other embodiments, the image capturing device 20 can also be replaced by multiple camera modules (not shown in the figure). The multiple camera modules are fixed in the first working area A and face the conveyor track 14. When the workpiece 1 to be processed enters the first working area A, the multiple camera modules capture the shape of the processing surface 2 from different aspects of the workpiece 1. Therefore, the form of the image capturing device 20 is not limited to using the three-dimensional photography module 21 and the driving module 22, as long as it can capture the image of the processing surface 2 of the workpiece 1.

[0031] The computing device 30 is connected to the image capturing device 20. In this embodiment, the computing device 30 is a data processor, which can generate a stereoscopic image data P (refer to the image data of the processing surface 2 of the workpiece 1) based on the image captured by the image capturing device 20. Figure 9 The stereo image data P has a stereo marker symbol t corresponding to the stereo feature mark 3. The computing device 30 records a stereo processing coordinate according to the position of the stereo marker symbol t, and calculates a processing path around the stereo marker symbol t.

[0032] like Figures 8-10 As shown, the functions of each module in the computing device 30 are explained in more detail. In this embodiment, the computing device 30 has an image processing module 31, a marker recognition module 32, a processing database 33, a processing path calculation module 34, and an editing module 35 that are interconnected by signals.

[0033] The image processing module 31 is used to receive the image captured by the image capturing device 20, and to process the image to obtain the stereoscopic image data P, which corresponds to the overall appearance of the processing surface 2 of the workpiece 1 to be processed. The stereoscopic image data P has the stereoscopic mark symbol t. The mark recognition module 32 obtains the stereoscopic image data P from the image processing module 31, and is used to identify the stereoscopic mark symbol t on the stereoscopic image data P. At the same time, it records the stereoscopic processing coordinates corresponding to the position of the stereoscopic mark symbol t on the stereoscopic image data P.

[0034] The processing database 33 includes a symbol item 331 and a processing item 332. The symbol item 331 has multiple stereoscopic mark symbol data preset. In this embodiment, the multiple stereoscopic mark symbol data are preset to correspond to the predetermined stereoscopic feature mark 3 (see reference) on the object to be processed 1. Figure 4 , 5The processing item 332 can be configured with multiple processing parameters, which correspond to the multiple three-dimensional mark symbol data in the symbol item 331. In this embodiment, the multiple processing parameters include processing size, angle, processing pattern, and processing depth, etc. The processing pattern is not limited to being the same as the pattern of the three-dimensional feature mark 3. For example, Figure 4 The three-dimensional feature mark 3 is a circular concave hole. The symbol item 331 presets the three-dimensional mark symbol data as a three-dimensional symbol corresponding to the three-dimensional feature mark 3. The processing parameters set by the processing item 332 can be adjusted to a circular perforation pattern, a star-shaped perforation pattern, or a heart pattern as needed.

[0035] The processing path calculation module 34 reads the stereo mark symbol t on the stereo image data and matches the stereo mark symbol t with the symbol item 331 of the processing database 33. If the stereo mark symbol t matches one of the symbol items 331, the processing path calculation module 34 obtains the processing parameters that match the symbol item 331 from the processing items 332 of the processing database 33, and sets the processing pattern of the processing parameters on the stereo mark symbol t. The processing path calculation module 34 generates a processing start coordinate on the stereo mark symbol t corresponding to the processing start point of the processing pattern. In this embodiment, the processing start coordinate is the starting position of surface processing and does not necessarily correspond to the stereo processing coordinate of the stereo mark symbol t. The processing path calculation module 34 calculates the processing path based on the processing start coordinate corresponding to the processing pattern, and the stereo processing coordinate of the stereo mark symbol t is located on the processing path.

[0036] The editing module 35 is used to pre-set the matching conditions between the symbol items 331 and the processing items 332 in the processing database 33, providing customized editing and processing functions. For example, the editing module 35 can select multiple 3D mark symbols t on the 3D image data P corresponding to the side of the shoe. At this time, the editing module 35 can edit the 3D mark symbol data of the symbol item 331 corresponding to the selected multiple 3D mark symbols t, and can set various processing parameters of the processing item 332. In addition, the editing module 35 can also select multiple 3D mark symbols t on the 3D image data P corresponding to different processing surfaces 2 of the object to be processed 1, in order to set the processing parameters of the processing item 332, for example (and refer to...). Figure 4 , 9And 13), the editing module 35 can set the processing parameters of the plurality of three-dimensional mark symbols t to rectangular perforations on the three-dimensional image data P corresponding to the position of the top surface of the shoe of the object to be processed 1; set the processing parameters of the plurality of three-dimensional mark symbols t to star-shaped perforations on the three-dimensional image data P corresponding to the position of the side surface of the shoe of the object to be processed 1; and set the processing parameters of the plurality of three-dimensional mark symbols t to letter patterns on the three-dimensional image data P corresponding to the position of the circumferential surface of the sole of the object to be processed 1, so that the processing parameters on the three-dimensional image data P corresponding to the side surface and the top surface of the shoe are different from each other, providing a variety of customized processing effects.

[0037] Furthermore, the editing module 35 can also set an editing block on the stereoscopic image data P (see reference). Figure 10 The editing and processing block contains the plurality of three-dimensional marker symbols t, and the editing module 35 retrieves at least one processing parameter from the processing database 33 and sets the processing pattern of the processing parameter in the editing and processing block. Figure 10 The processing pattern is displayed as a heart image. The editing module 35 can set the heart image in the editing processing block, so that the heart image coincides with the plurality of 3D marker symbols t in the editing processing block. The processing path calculation module 34 calculates the processing path in the editing processing block, and the 3D processing coordinates of the plurality of 3D marker symbols t are located on the processing path. The processing path calculation module 34 can also set the order of the processing path for the positions of the plurality of 3D marker symbols t in the editing processing block.

[0038] The surface treatment device 40 is connected to the computing device 30. The surface treatment device 40 receives the stereoscopic image data P from the computing device 30 and performs surface treatment on the stereoscopic feature marks 3 on the processing surface 2 of the workpiece 1 according to the stereoscopic processing coordinates and processing path recorded by the computing device 30; for example Figure 8 , 11 As shown in Figure 12, the surface treatment device 40 includes a control module 41 and a surface treatment module 42. The control module 41 receives the stereoscopic image data P and can interpret the stereoscopic processing coordinates and processing path information recorded on the stereoscopic image data P. The control module 41 controls the surface treatment module 42 to move to the position corresponding to the stereoscopic feature mark 3 on the processing surface 2, so that the surface treatment module 42 can perform surface treatment on the stereoscopic feature mark 3 on the processing surface 2 of the workpiece 1.

[0039] In this embodiment, the surface treatment module 42 includes a multi-axis robotic arm 421 and a laser processing head 422. The multi-axis robotic arm 421 has a multi-axis rotation function and can drive the laser processing head 422 to rotate in all directions according to the instructions of the control module 41, so that a processing axis Z of the laser processing head 422 is aligned with the three-dimensional feature mark 3 on the workpiece 1 to be processed. The processing axis Z is relatively perpendicular to the processing surface 2 of the workpiece 1 to be processed, so that the laser processing head 422 can laser process the processing surface 2 into a straight hole, thereby improving the yield of surface laser processing.

[0040] In addition, the surface treatment device 40 includes a lifting seat 43, which is connected to the multi-axis robotic arm 421. The lifting seat 43 can drive the multi-axis robotic arm 421 and the laser processing head 422 to move up and down relative to the workpiece 1 to be processed. The height of the multi-axis robotic arm 421 can be adjusted according to processing requirements. However, the structure of the surface treatment module 42 is not limited to this. In other embodiments, the surface treatment module 42 can be replaced with other existing surface processing components, such as deburring machines or glue coating machines, as needed. The lifting seat 43 can also be omitted, as long as the surface treatment module 42 has surface treatment function.

[0041] The following describes a processing method for automatically monitoring the surface features of an object, implemented using the processing system 100 of the above embodiment. The object to be processed, 1, will be used as an example in the following description. Please refer to [reference needed] for the processing method. Figures 6-15 It includes the following steps:

[0042] Step S1: The workpiece 1 to be processed acquires an image of the processing surface 2 through the image capturing device 20. (See also...) Figure 6 , 7 When the workpiece 1 to be processed enters the first working area A of the housing 10 through the conveying track 14, the workpiece 1 to be processed is first stopped below the image capturing device 20. The driving module 22 of the image capturing device 20 then drives the three-dimensional photography module 21 to move along the trajectory of the arc-shaped slide rail 221, so that the three-dimensional photography module 21 can be controlled by the driving module 22 to capture the three-dimensional shape of the processing surface 2 from different aspects of the workpiece 1.

[0043] In step S2, the computing device 30 generates stereoscopic image data P corresponding to the processing surface 2 based on the image captured by the image capturing device 20. The image processing method of the computing device 30 is as described in the previous embodiment. After receiving the image captured by the image capturing device 20, the image processing module 31 of the computing device 30 processes the image into stereoscopic image data P corresponding to the processing surface 2, and marks the stereoscopic image data P with stereoscopic marker symbols t corresponding to the stereoscopic feature markers 3. Then, the marker recognition module 32 identifies each stereoscopic marker symbol t on the stereoscopic image data P, and the marker recognition module 32 records the stereoscopic processing coordinates corresponding to the positions of each stereoscopic marker symbol t.

[0044] Subsequently, the processing path calculation module 34 extracts each stereo marker symbol t from the stereo image data P, and matches each stereo marker symbol t with multiple stereo marker symbol data in the symbol item 331 of the processing database 33. If the stereo marker symbol t matches one of the symbol items 331, the processing path calculation module 34 can obtain the corresponding processing parameters matching the symbol item 331 from the processing item 332 of the processing database 33, and set the processing pattern of the processing parameters on the corresponding stereo marker symbol t. The processing path calculation module 34 generates the processing start coordinates on the stereo marker symbol t corresponding to the processing start point of the processing pattern, and calculates the processing path based on the processing start coordinates. The stereo processing coordinates of the stereo marker symbol t are located on the processing path.

[0045] Furthermore, the editing module 35 of the computing device 30 can also set an editing block on the stereoscopic image data P (see reference). Figure 10 In the middle dashed area), the editing module 35 retrieves a processing parameter from the processing database 33 and sets the processing pattern of the processing parameter on the 3D mark symbol t of the editing processing block. The processing path calculation module 34 calculates the processing path in the editing processing block, and the 3D processing coordinates of the plurality of 3D mark symbols t are located on the processing path.

[0046] In step S3, the surface treatment device 40 receives the stereoscopic image data P from the computing device 30, and the surface treatment device 40 performs surface treatment on the processing surface 2 of the workpiece 1 based on the stereoscopic image data P; for example... Figure 10 , 11As shown, when the workpiece 1 to be processed enters the second work area B from the first work area A through the conveyor 13, the workpiece 1 to be processed is pre-stopped below the surface treatment device 40. The control module 41 of the surface treatment device 40 has received the stereoscopic image data P from the computing device 30, and the control module 41 can determine the processing path on the stereoscopic image data P. The surface treatment module 42 is displaced by the control module 41 to the position of each stereoscopic feature mark 3 on the processing surface 2. The control module 41 can control the surface treatment module 42 to immediately perform laser processing on the processing surface 2 of the workpiece 1 to process the workpiece 1 into a finished product 1'. Finally, the finished product 1' is sent out of the second work area B through the conveyor track 14 of the housing 10.

[0047] Please refer to Figure 4 , 5 as well as Figure 13 , 14 The processing comparison between the object to be processed 1 and the finished product 1' shows that after the original three-dimensional feature marks 3 on the shoe surface of the object to be processed 1 are laser-processed, multiple rectangular perforations are formed on the top surface of the finished product 1', multiple star-shaped perforations are formed on the side surface of the shoe, and letter patterns are formed on the circumference of the sole. Furthermore, the editing module 35 of the computing device 30 can set editing processing blocks and various processing parameters on the three-dimensional image data P, so that the side area of ​​the finished product 1' has heart-shaped perforations, making the finished product 1' present a variety of patterns and further improving the variability of the processing editing.

[0048] Therefore, the processing system 100 and processing method of the present invention with automatic monitoring of the surface features of an object are as follows: when the object to be processed 1 is on the processing production line, the image capturing device 20 first captures an image of the processing surface 2 of the object to be processed 1. The image capturing device 20 can capture images of the processing surface 2 of various objects to be processed 1. At this time, the computing device 30 immediately generates the stereoscopic image data P corresponding to the processing surface 2 based on the image captured by the image capturing device 20, and determines the position of the stereoscopic mark symbol t on the stereoscopic image data P and the processing parameters. Then, the surface processing device 40 performs surface processing on the processing surface 2 of the object to be processed 1. This automated surface processing method can effectively save the cost of manual drawing and can perform image interpretation on the processing surface 2 of various objects to be processed 1. It can then perform various patterns, sizes and shapes of surface processing corresponding to the preset stereoscopic feature marks 3 on the object to be processed 1, achieving the purpose of high-efficiency surface processing.

[0049] In addition, the multi-axis robotic arm 421 in the surface treatment device 40 can also drive the laser processing head 422 to rotate in all directions, so that the processing axis Z of the laser processing head 422 is relatively perpendicular to the processing surface 2 of the workpiece 1 to be processed, so that the laser processing head 422 can laser process the processing surface 2 into a straight hole, improve the problem of burrs generated during processing, and further improve the processing yield.

[0050] Furthermore, the processing system 100 with automatic monitoring of object surface features can also intelligently train various predetermined three-dimensional feature marks 3 on the object to be processed 1. For example, the computing device 30 can also learn to interpret various burr shapes of the three-dimensional image data P and build symbol items 331 of the various burr shapes in the processing database 33. Thus, the processing system 100 with automatic monitoring of object surface features can automatically monitor the burr shape and position of the object to be processed 1, thereby achieving the purpose of automatic burr cutting.

[0051] The above description is only a preferred embodiment of the present invention. Any equivalent changes made by applying the present invention specification and the claims should be included within the patent scope of the present invention.

[0052] Explanation of reference numerals in the attached figures

[0053] [This invention]

[0054] 1: Objects to be processed

[0055] 2: Machined surface

[0056] 3: Three-dimensional feature marking

[0057] 1': Finished product

[0058] 100: A machining system with automatic monitoring of the surface features of an object.

[0059] 10: Chassis

[0060] 11: External Space

[0061] 12: Interior Space

[0062] 13: Conveyor Port

[0063] 14: Conveyor Track

[0064] 141: Placement surface

[0065] 20: Image capturing device

[0066] 21: 3D Photography Module

[0067] 22: Driver Module

[0068] 221: Curved slide rail

[0069] 222: Driver

[0070] 30: Computing device

[0071] 31: Image Processing Module

[0072] 32: Tag Recognition Module

[0073] 33: Processing Database

[0074] 331: Symbolic Items

[0075] 332: Processing Projects

[0076] 34: Processing Path Calculation Module

[0077] 35: Editing Module

[0078] 40: Surface treatment device

[0079] 41: Control Module

[0080] 42: Surface treatment module

[0081] 421: Multi-axis robotic arm

[0082] 422: Laser processing head

[0083] 43: Adjustable seat

[0084] A: First work area

[0085] B: Second Work Area

[0086] L: Central axis

[0087] P: Stereoscopic image data

[0088] t: 3D marking symbol

[0089] Z: Machining axis

[0090] S1~S3: Steps

Claims

1. A machining system for automatically monitoring the surface features of an object, used to process a surface of an object to be processed, wherein at least one three-dimensional feature mark is pre-set on the surface of the object, the machining system for automatically monitoring the surface features of the object comprising: An image capturing device is used to capture an image of the processing surface of the workpiece to be processed; A computing device is connected to the image capturing device. The computing device generates a stereoscopic image data corresponding to the processing surface based on the image captured by the image capturing device. The stereoscopic image data has a stereoscopic marker symbol corresponding to the stereoscopic feature mark. The computing device records a stereoscopic processing coordinate based on the position of the stereoscopic marker symbol and calculates a processing path around the marker symbol. The computing device includes a processing database and a processing path calculation module. The processing database has a symbol item and a processing item. The symbol item can preset multiple stereoscopic marker symbol data. The processing item can set multiple processing parameters corresponding to the multiple stereoscopic marker symbol data. The multiple processing parameters respectively have… A processing pattern is defined, and a processing start point is set on the processing pattern. The processing path calculation module reads the stereoscopic marker symbols on the stereoscopic image data and matches them with the symbol items in the processing database. If the stereoscopic marker symbol matches one of the symbol items, the processing path calculation module obtains the processing parameters corresponding to the matching symbol item from the processing items in the processing database, and sets the processing pattern on the matching stereoscopic marker symbol. The processing path calculation module generates a processing start coordinate on the stereoscopic marker symbol corresponding to the processing start point of the processing pattern, and calculates the processing path based on the processing start coordinate. The stereoscopic processing coordinates of the stereoscopic marker symbol lie on the processing path. A surface treatment device is connected to the computing device. The surface treatment device receives the stereoscopic image data from the computing device and performs surface treatment on the processing surface of the object to be processed according to the stereoscopic processing coordinates and the processing path of the stereoscopic image data.

2. The processing system with automatic monitoring of object surface features as described in claim 1, wherein, The computing device has an image processing module, which receives the image captured by the image capturing device and processes the image to form the stereoscopic image data corresponding to the processing surface, and has the stereoscopic mark symbol on the stereoscopic image data.

3. The processing system with automatic monitoring of object surface features as described in claim 1 or 2, wherein, The computing device has a marker recognition module to acquire the stereo image data, so as to identify the stereo marker symbols on the stereo image data, and the marker recognition module records the stereo processing coordinates corresponding to the position of the stereo marker symbols.

4. The processing system with automatic monitoring of object surface features as described in claim 1, wherein, The computing device has an editing module that can set an editing block on the stereo image data. The editing block has the plurality of stereo marker symbols. The editing module retrieves at least one processing parameter from the processing database and sets the processing pattern of the processing parameter on the stereo marker symbol of the editing block. The processing path calculation module calculates the processing path in the editing block, and the stereo processing coordinates of the plurality of stereo marker symbols are located on the processing path.

5. The processing system with automatic monitoring of object surface features as described in claim 1 or 4, wherein, The surface treatment device includes a control module and a surface treatment module. The control module receives the stereoscopic image data and can determine the predetermined processing path on the stereoscopic image data to control the surface treatment module to perform surface treatment on the surface of the workpiece to be processed.

6. The processing system for automatically monitoring the surface features of an object as described in claim 5, wherein, The surface treatment module includes a multi-axis robotic arm and a laser processing head. The multi-axis robotic arm can move according to the instructions of the control module and drive a processing axis of the laser processing head to align with the three-dimensional feature mark. The processing axis is perpendicular to the processing surface of the workpiece.

7. The processing system for automatically monitoring the surface features of an object as described in claim 6, wherein, The surface treatment device includes a lifting platform connected to the multi-axis robotic arm, which drives the multi-axis robotic arm and the laser processing head to move up and down relative to the workpiece to be processed.

8. The processing system for automatically monitoring the surface features of an object as described in claim 1, wherein, The device includes a housing for mounting the image capturing device and the surface processing device. The housing defines a first working area located in the outer space of the housing and a second working area located in the inner space of the housing. The image capturing device is located in the first working area and the surface processing device is located in the second working area.

9. The processing system for automatically monitoring the surface features of an object as described in claim 8, wherein, The machine casing is provided with a conveyor track for placing the workpiece to be processed and for moving the workpiece between the first working area and the second working area.

10. The processing system for automatically monitoring the surface features of an object as described in claim 9, wherein, The image capturing device includes a three-dimensional photography module and a driving module. The three-dimensional photography module is suspended in the first working area, and the driving module can drive the three-dimensional photography module to move within the first working area. When the workpiece to be processed enters the first working area, the three-dimensional photography module is controlled by the driving module to capture the three-dimensional shape of the processing surface from different aspects of the workpiece.

11. The processing system for automatically monitoring the surface features of an object as described in claim 10, wherein, The drive module has an arc-shaped slide rail and a driver. The arc-shaped slide rail defines a central axis that is projected onto the placement surface of the conveying track, and the arc-shaped slide rail extends downward in an arc based on the central axis toward both sides of the conveying track. The driver is disposed on the arc-shaped slide rail and can control the movement of the 3D imaging module along the trajectory of the arc-shaped slide rail.

12. The processing system for automatically monitoring the surface features of an object as described in claim 9, wherein, The image capturing device includes multiple camera modules, which are respectively fixed in the first working area and facing the conveyor track. When the workpiece to be processed enters the first working area, the multiple camera modules capture the shape of the processing surface from different aspects of the workpiece to be processed.

13. A processing method with automatic monitoring of object surface features, used to process a processing surface of an object to be processed, wherein at least one three-dimensional feature mark is preset on the processing surface, the processing method with automatic monitoring of object surface features comprising the following steps: Step S1: The object to be processed acquires an image of the surface to be processed using an image capturing device; Step S2: A computing device generates a stereoscopic image data corresponding to the processing surface based on the image captured by the image capturing device. An image processing module of the computing device receives the image captured by the image capturing device, processes the image into stereoscopic image data corresponding to the processing surface, and marks the stereoscopic image data with a stereoscopic marker symbol corresponding to the stereoscopic feature mark. The computing device uses a marker recognition module to identify the stereoscopic marker symbol on the stereoscopic image data, and the marker recognition module records a stereoscopic processing coordinate corresponding to the position of the stereoscopic marker symbol. A processing path calculation module of the computing device calculates the stereoscopic image data... The 3D mark symbol is extracted and matched with multiple 3D mark symbol data in a processing database. If the 3D mark symbol matches one of the symbol items, the processing path calculation module obtains a processing parameter corresponding to the matching symbol item from the processing database, sets the processing pattern of the processing parameter on the 3D mark symbol, generates a processing start coordinate on the 3D mark symbol corresponding to the processing start point of the processing pattern, and calculates the processing path based on the processing start coordinate. The 3D processing coordinate of the 3D mark symbol lies on the processing path. Step S3: A surface treatment device receives the stereoscopic image data and performs surface treatment on the surface of the workpiece to be processed based on the stereoscopic image data.

14. The processing method for automatically monitoring the surface features of an object as described in claim 13, wherein, In step S1, the image capturing device uses a three-dimensional photography module to capture the shape of the processing surface of the object to be processed, and a driving module of the image capturing device can drive the three-dimensional photography module to move, so that the three-dimensional photography module can capture the three-dimensional shape of the processing surface from different aspects of the object to be processed under the control of the driving module.

15. The processing method for automatically monitoring the surface features of an object as described in claim 13, wherein, In step S2, an editing module of the computing device can set an editing processing block on the stereo image data. The editing module retrieves at least one processing parameter from the processing database and sets the processing pattern of the processing parameter on the stereo marker symbol of the editing processing block. The processing path calculation module calculates the processing path in the editing processing block, and the stereo processing coordinates of the plurality of stereo marker symbols are located on the processing path.

16. The processing method for automatically monitoring the surface features of an object as described in claim 13 or 15, wherein, In step S3, the surface treatment device uses a control module to receive the stereoscopic image data and read the predetermined processing path on the stereoscopic image data, so as to control a surface treatment module of the surface treatment device to perform surface treatment on the processing surface of the object to be processed.

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