KR102394323B1 - Apparatus and method for managing robotic tasks for applying adhesive to shoe soles - Google Patents

Abstract

A management device is provided. The providing device may include: an acquisition unit configured to acquire shoe sole information; an extraction unit for extracting a working point where an adhesive is to be applied through analysis of the shoe sole information; a generating unit for generating a constant velocity application trajectory of an application robot applying the adhesive so that the adhesive is applied to a plurality of the working points in a set amount; and an editing unit that modifies at least one of the work point and the constant velocity application trajectory according to a user's request, or simulates a process of applying the adhesive of the application robot to the work point.

Description

Apparatus and method for managing robotic tasks for applying adhesive to shoe soles}

The present invention relates to a management device and a management method for managing a robot operation of automatically applying an adhesive to a shoe sole and providing a user-friendly function.

Recently, under the influence of Adidas' Speed Factory, a German shoe manufacturer, shoe manufacturers with production bases abroad have been interested in returning to their home countries. Automation has been introduced, and research on intelligent shoe factories has been recently developed to provide customized shoes to users.

Korean Patent Application Laid-Open No. 2018-0076966 discloses a method of detecting a welding line of a work object on a welding robot, measuring a work object based on CAD data, converting it to a point in a rectangular coordinate system, and uniformizing the distribution of point groups to create a two-dimensional planar model was created and used to calculate the intersection and weld line, and the result was derived. However, it is difficult to apply this to shoes that require 3D shape information for robot work.

Korea Patent Publication No. 2018-0076966

An object of the present invention is to provide a management device and a management method for creating a robot job for custom shoe window adhesive application and implementing a user-friendly function implementation environment.

The management device of the present invention includes: an acquisition unit for acquiring shoe sole information; an extraction unit for extracting a working point where an adhesive is to be applied through analysis of the shoe sole information; a generating unit for generating a constant velocity application trajectory of the application robot applying the adhesive so that the adhesive is applied in a set amount to the application area determined by the plurality of working points; and an editing unit that modifies at least one of the work point and the constant velocity application trajectory according to a user's request, or simulates a process of applying the adhesive of the application robot to the work point.

The management method of the present invention includes an acquiring step of acquiring shoe sole information; an extraction step of extracting a working point to which an adhesive is to be applied through analysis of the shoe sole information; a generating step of generating a constant velocity application trajectory of an application robot applying the adhesive so that the adhesive is applied to a plurality of the working points in a set amount; an editing step of modifying at least one of the work point and the constant velocity application trajectory according to a user's request, or simulating the adhesive application process of the application robot for the work point; may include.

According to the management device and the management method of the present invention, the adhesive application of shoes made by hand can be implemented as a robot-based, user-friendly adhesive application automation environment that can respond to the manufacturing paradigm of a customized flexible production system.

According to the present invention, the operation of the application robot can be automatically planned in a user-friendly manner based on a three-dimensional graphic user interface without prior teacher operation of the robot through the teaching pendant.

In addition, according to the present invention, even if the user is not a robot for the planned adhesive application operation, it is possible to easily respond to the operation such as correction.

1 is a block diagram showing a management device of the present invention.
2 is a schematic diagram showing a working point.
3 is a flowchart illustrating a method of extracting a working point for an automatic adhesive application operation from 3D shape data of a shoe sole according to an embodiment of the present invention.
4 is a diagram illustrating a step of extracting a first point group having a maximum value in a vertical direction (Z-axis direction) in a working point extraction method according to an embodiment of the present invention.
5 is a diagram illustrating a method of removing unnecessary noise data in a method for extracting a working point according to an embodiment of the present invention.
6 is a diagram illustrating a method of obtaining a point satisfying a preset distance condition in a method for extracting a working point according to an embodiment of the present invention.
7 is an exemplary diagram illustrating a working point group extracted by the working point extraction method according to an embodiment of the present invention.
8 is a flowchart illustrating each step of the method for extracting working points according to an embodiment of the present invention and the number of points constituting a point group obtained through each step.
9 is a schematic diagram showing the operation of the generating unit.
10 is a graph showing an example of generating a constant-velocity coating operation trajectory.
11 is a schematic diagram showing the operation of the editing unit.
12 is a flowchart illustrating a management method of the present invention.
13 is a diagram illustrating a computing device according to an embodiment of the present invention.

Hereinafter, with reference to the accompanying drawings, the embodiments of the present invention will be described in detail so that those of ordinary skill in the art to which the present invention pertains can easily implement them. However, the present invention may be embodied in several different forms and is not limited to the embodiments described herein. And in order to clearly explain the present invention in the drawings, parts irrelevant to the description are omitted, and similar reference numerals are attached to similar parts throughout the specification.

In the present specification, duplicate descriptions of the same components will be omitted.

Also, in this specification, when it is said that a certain element is 'connected' or 'connected' to another element, it may be directly connected or connected to the other element, but other elements in the middle It should be understood that there may be On the other hand, in this specification, when it is mentioned that a certain element is 'directly connected' or 'directly connected' to another element, it should be understood that the other element does not exist in the middle.

In addition, the terms used herein are used only to describe specific embodiments, and are not intended to limit the present invention.

Also, in this specification, the singular expression may include the plural expression unless the context clearly dictates otherwise.

Also, in this specification, terms such as 'include' or 'have' are only intended to designate that the features, numbers, steps, operations, components, parts, or combinations thereof described in the specification exist, and one or more It is to be understood that the existence or addition of other features, numbers, steps, operations, components, parts, or combinations thereof, is not precluded in advance.

Also in this specification, the term 'and/or' includes a combination of a plurality of described items or any item of a plurality of described items. In this specification, 'A or B' may include 'A', 'B', or 'both A and B'.

Also, in this specification, detailed descriptions of well-known functions and configurations that may obscure the gist of the present invention will be omitted.

1 is a block diagram showing a management device of the present invention.

The sole of a shoe is subdivided into an insole, a midsole, and an outsole. Among them, the outsole and midsole can be assembled by applying adhesive, and the midsole can be assembled with the upper. In the intelligent shoe factory, instead of the 3D scanner system, which has problems such as high cost, frequent algorithm changes due to model changes, and noise caused by external conditions, the midsole is seated in a 3D mold manufactured by satisfying tolerances to secure precision and then 3D Based on the gauge line extracted from the 3D shape information of the mold, the adhesive application is planned.

The shoe sole adhesive application operation is one of the most important operations in the assembly process of the finished shoe product, which is composed of the bonding of the upper and the sole. As a key consideration when using a robot, it should be possible to apply a constant velocity adhesive to the end and to derive a meaningful robot work path from a shoe sole that is made entirely of curved surfaces.

Adhesive application for shoes using a robot is a solution to the extraction of the shoe sole application point made of a curved surface, the creation of a constant velocity trajectory of the robot for quantitative adhesive application, Measures to create an environment need to be prepared. As part of the countermeasure, the management device shown in FIG. 1 may include an acquisition unit 110 , an extraction unit 130 , a generation unit 150 , and an editing unit 170 .

In the management device, a user-friendly 3D graphic element can be provided that allows an operator who is unfamiliar with robot operation to easily create or modify a robot's adhesive application operation plan with only a predetermined training in the adhesive application operation of a shoe sole using a robot. .

The management device may be provided with a visual editing system so that the user can check or edit the work plan of the automatically generated robot in advance.

The management device may contain a constant velocity application algorithm at the end of the robot, which is not supported by existing commercial robots for quantitative adhesive application.

The acquisition unit 110 may acquire shoe sole information. The shoe sole information may include various information such as a length, a width, a shape of a sole, a protrusion protruding toward the sole, a groove recessed in the sole, and a hole. The shoe sole information may be implemented through a three-dimensional model including length, width, shape, etc., for example, a stereo lithography (STL) model. When the STL model is acquired by the acquisition unit 110 , a basic robot program for the adhesive application operation may be automatically generated.

The extraction unit 130 may automatically extract the work point to which the adhesive is to be applied through the analysis of the shoe sole information. The work point may indicate a target point where the robot will apply the adhesive, or may indicate a work boundary point that the robot applying adhesive should not cross. The working point indicates the working point of the robot that automatically applies the adhesive, the point that should not be crossed, or the point to be followed, and must be set for the robot's automatic adhesive operation.

The generating unit 150 may generate the constant velocity application trajectory of the application robot applying the adhesive so that the adhesive is applied to the crystal application area in a set amount by the plurality of operation points.

A robot that is outputting adhesive can discharge a set amount of adhesive per unit time. At this time, in order to evenly apply the adhesive over the entire application area, the distal end of the robot that is outputting the adhesive, for example, a rod-shaped effector that guides the adhesive to the outside, needs to move the application area at an even speed. A trajectory of the effector moving or a trajectory of a constant velocity application operation determining a speed may be generated by the generating unit 150 .

In order to apply a fixed amount of adhesive, an effector constant velocity application algorithm that is not supported by existing robots may be embedded in the generating unit 150 .

The editing unit 170 may correct at least one of a work point and a constant velocity application work trajectory according to a user's request. Alternatively, the editing unit 170 may simulate the adhesive application process of the application robot 70 to the work point. The basic robot program automatically generated by the acquisition of the STL model may need to be modified according to the shape of the shoe, the adhesive viscosity, and the adhesive dispensing time. In the editing unit 170, various algorithms and conversion formulas that require complex calculations may be internalized so that a user can easily modify or edit a basic robot program.

2 is a schematic diagram showing a working point.

In the intelligent shoe factory, the customized shoe sole may be placed on the mold 90 (MOLD) and put into the line in order to minimize the work tolerance. The customized shoe sole is a shoe sole manufactured according to a user's order, and may have a unique shape optimized for each individual. The large number of shoe soles produced in a custom environment will have different shapes and sizes, which can be detrimental to automation. It is preferable that the adhesive application process to the shoe sole be performed in a guided state using a separate mold 90 so as to be optimized for automation. For example, the application of the adhesive may be performed while the shoe sole is seated on the mold 90 .

The target working point p for the adhesive application operation of the shoe sole may be determined along the mold 90 and the upper boundary line of the shoe.

Specifically, the extraction unit 130 is formed in the mold 90 and extracts the working point p along the boundary line between the entrance edge of the seating groove 99 in which the shoe sole is seated and the outer top of the shoe sole facing the entrance edge. can The inside of the seating groove 99 may correspond to the application area dr to which the adhesive may be applied. The outside of the seating groove 99 may correspond to a work defect area dx where an adhesive should not be applied.

The acquisition unit 110 may be provided with a data receiving unit 111 .

The extraction unit 130 may include a point cloud conversion unit 131 , a first point group obtainer 133 , a second point group obtainer 135 , and a third point group obtainer 137 .

A method of extracting the working point of the adhesive in FIGS. 3 to 7 will be described.

3 is a flowchart illustrating a working point extraction method (hereinafter, a working point extraction method) for automatic adhesive application from 3D shape data of a shoe sole according to an embodiment of the present invention, and FIG. 4 is an embodiment of the present invention. The step of extracting the first point group having the maximum value in the vertical direction (Z-axis direction) in the working point extraction method according to A method of removing noise data is illustrated, and FIG. 6 is a diagram illustrating a method of obtaining a point satisfying a preset distance condition in a method for extracting a working point according to an embodiment of the present invention, and FIG. 7 is this It is an exemplary diagram showing a working point group extracted by the working point extraction method according to an embodiment of the present invention.

As shown in FIG. 3 , in the method for extracting work points according to an embodiment of the present invention, a first step (S10) of receiving 3D shape data of a shoe sole, a second step (S20) of obtaining a point cloud data group , a third step (S30) of obtaining a first point group having a maximum value in a vertical direction (Z-axis direction), a fourth step (S40) of obtaining a second point group from which unnecessary noise data is removed, a preset distance and a fifth step (S50) of obtaining a third point group that satisfies the condition.

Working point extraction method according to an embodiment of the present invention, in a first step (S10), receives the 3D shape data 10 of the shoe sole. The 3D shape data may be an STL file. The STL file is one of the international standard formats for expressing 3D data and is widely used as an input file in most 3D printers. The STL file is a type of polygon format that expresses the surface of a three-dimensional object, that is, a three-dimensional shape with countless triangular faces.

In the method for extracting working points according to an embodiment of the present invention, in a second step ( S20 ), a point cloud data group 20 is obtained by performing point cloud conversion on 3D shape data. A point cloud is a kind of data set in a coordinate system, in which a point in a three-dimensional coordinate system is generally defined by X, Y, Z coordinates, and is intended to represent the external surface of an object. For example, if an STL file, which is a shoe sole 3D model file format, is converted into a point cloud, the outer surface of the shoe sole may be composed of countless points having X, Y, and Z coordinate values.

In the working point extraction method according to an embodiment of the present invention, in the third step (S30), the point cloud data group 20 is divided into a plurality of cells, and in the divided plurality of cells in a vertical direction (Z-axis direction) The first point group 30 having the maximum value is obtained.

More specifically, the point cloud data group 20 converted in the second step S20 is divided into quadrants based on the central point, and each divided quadrant is divided into a plurality of cells in a uniaxial direction.

For example, the point cloud data group 20 as shown in Fig. 4(a) is divided into four quadrants (I ~ IV) as shown in Fig. 4(b), and each quadrant is Again, it is divided into a plurality of cells having the same spacing in the uniaxial direction (x-axis direction example in FIG. 4). FIG. 4C illustrates that quadrant I is divided into a plurality of cells.

Then, points having a maximum value are extracted from each of the divided cells in a vertical direction (Z-axis direction) to obtain a first point group 30 . Since the point cloud data of the point cloud data group 20 has X, Y, and Z coordinate values, the first point group 30 is obtained by extracting the point cloud data having the largest Z coordinate value from the data in the cell. do.

Working point extraction method according to an embodiment of the present invention, in the fourth step (S40), the second point group by removing unnecessary noise data for the adhesive application operation from the extracted first point group 30 (Point Filtering) (40) is obtained. The noise data is data having a small relationship with the outer edge line of the shoe sole, and is removed by using the included angle relationship between three adjacent points in the first point group 30 .

The outer edge line of the shoe sole can be assumed to be in the form of an ellipse, and due to the characteristics of the shoe sole shape, on the assumption that the included angle between three adjacent points cannot be less than 90°, the intermediate point that makes the included angle less than 90° is noise removed with

For example, as shown in (a) of FIG. 5 , the angles θ ₃ and P ₈ -P ₉ -P ₁₀ formed by P ₂ -P ₃ -P ₄ at 10 points (P ₁ to P ₁₀ ) are Since the angle θ ₉ formed is 90° or less, P ₃ is removed from P ₂ -P ₃ -P ₄ , and P ₉ is removed from P ₈ -P ₉ -P ₁₀ As shown in FIG. , such that, as a whole, the included angle θ between all three adjacent points exceeds 90°.

In the method for extracting working points according to an embodiment of the present invention, in a fifth step (S50), a third point group 50 satisfying a preset distance condition from the second point group 40 from which noise data is removed is selected. acquire If the distance between two adjacent points in the second point group 40 is less than the preset distance, the third point group 50 is obtained by removing the latter point among the two adjacent points. The fifth step (S50) is to improve the robot's work efficiency by making the automatic adhesive application operation by the robot to be performed at substantially equal intervals. Here, the preset distance condition may be determined through repeated experiments in consideration of the working environment, the size of the shoe sole, the performance of the robot, the performance of the adhesive, and the like.

For example, in (a) of FIG. 6 (the same as in (b) of FIG. 5), the preset distance condition is 10 mm, and eight points (P ₁ , P ₂ , P ₄ , P ₅ , P ₆ , P ₇ , P ₈ , P ₁₀ ) to P ₅ -P ₆ and Let the distance between P ₆ -P ₇ be less than 10 mm and the rest are 10 mm. In this case, P ₆ is removed from P ₅ -P ₆ . After removing P ₆ , if the distance between P ₅ -P ₇ is still less than 10 mm, remove P ₇ , and if the distance between P ₅ -P ₇ is more than 10 mm, do not remove P ₇ . 6, the distance between P ₅ -P ₇ is assumed to be 10 mm or more.

As a result, as shown in (b) of FIG. 6 , the included angle θ between all three adjacent points as a whole exceeds 90°, and the distance between all points is equal to or greater than the preset distance 3 point group 50 can be obtained.

The points forming the third point group 50 obtained as described above form a working point group extracted by the working point extraction method according to an embodiment of the present invention, as illustrated in FIG. 7 .

8 is a flowchart illustrating each step of the method for extracting working points according to an embodiment of the present invention and the number of points constituting a point group obtained through each step.

In the first step (S10), the 3D shape data 10 of the shoe sole is received. 3D shape data is an STL file.

In the second step (S20), the point cloud (Point cloud) conversion is performed on the shoe sole STL file to obtain the point cloud data group 20 formed of 365580 points.

In the third step (S30), the point cloud data group 20 is divided into a plurality of cells, and the first point group ( 30) is obtained.

In the fourth step ( S40 ), noise data is removed in the included angle relationship between three adjacent points in the first point group 30 to obtain a second point group 40 formed of 231 points.

In a fifth step (S50), a third point group 50 formed of 54 points in which the distance between two adjacent points in the second point group 40 is equal to or greater than a preset distance is obtained.

According to an embodiment of the present invention as described above, it is possible to extract a working point for an automatic adhesive application operation from the 3D shape data of the shoe sole.

The data receiving unit 111 receives the 3D shape data 10 of the shoe sole. The 3D shape data may be an STL file.

The point cloud conversion unit 131 obtains the point cloud data group 20 by performing point cloud conversion on the 3D shape data 10 of the shoe sole received by the data receiving unit 111 .

The first point group acquisition unit 133 divides the point cloud data group 20 into a plurality of cells, and a first point group 30 having a maximum value in the vertical direction (Z-axis direction) in the divided plurality of cells. to acquire The first point group acquisition unit 133 divides the point cloud data group 20 into quadrants based on the center point, divides each divided quadrant into a plurality of cells in a uniaxial direction, and then divides the divided plurality of cells. A first point group 30 is obtained by extracting points having a maximum value in each of the vertical directions (Z-axis direction).

The second point group acquisition unit 135 removes noise data unnecessary for the adhesive application operation by using the included angle relationship between the three adjacent points in the previously extracted first point group 30 (Point Filtering) to perform a second point group (40) is obtained. The second point group acquisition unit 135 removes a point where the included angle between the three adjacent points is less than or equal to 90° as noise, so that the included angle θ between all three adjacent points as a whole exceeds 90°.

The third point group acquisition unit 137 acquires a third point group 50 satisfying a preset distance condition from the second point group 40 from which noise data is removed. When the distance between two adjacent points in the second point group 40 is less than a preset distance, the third point group acquisition unit 137 removes the latter point among the two adjacent points to obtain an overall included angle between all adjacent three points. A third point group 50 is obtained in which (θ) exceeds 90°, and the distance between all points is equal to or greater than the preset distance.

9 is a schematic diagram showing the operation of the generating unit 150 .

The extraction unit 130 may extract a plurality of work points at equal intervals along the outer edge of the shoe sole.

The generating unit 150 may automatically generate the constant velocity interpolation trajectory of the distal end of the application robot to which the adhesive is output.

The constant velocity interpolation trajectory may include a trajectory moving within a closed curve formed by a plurality of work points, or may include a trajectory formed along a plurality of work points.

In the case of a robot in which an effector in the shape of a rod is formed, the adhesive may be output through the effector. When the three-dimensional space formed by the three orthogonal coordinate axes, the x-axis, the y-axis, and the z-axis is defined, if the effector to which the adhesive is output moves along the x-axis and the y-axis, a virtual having the x-axis coordinate and the y-axis coordinate The adhesive may be applied along a trajectory that follows the line segment of . The adhesive application operation trajectory may be formed to pass through the plurality of work points p, or may be formed to pass through the application area dr surrounded by the plurality of work points p.

A constant velocity movement of the effector may be required so that a predetermined amount of adhesive is applied to the plurality of working points p. A rotational movement course as well as a linear movement course may be provided on the application trajectory. Even if the speed is the same, since the speed is changed when rotation is added, it is better to apply an interpolation operation that induces a constant speed motion in consideration of the motion direction of the effector.

The generating unit 150 may aim to form a constant velocity application trajectory in which the effector discharging the adhesive moves at a constant velocity. The generation unit 150 may automatically generate a constant velocity interpolation trajectory in which the coating operation trajectory is uniformly interpolated by applying a constant velocity interpolation algorithm such as a Catmull-Rom algorithm to the application operation trajectory. The constant velocity interpolation trajectory may be referred to as a constant velocity application trajectory.

The left graph of FIG. 9 shows the trajectory of the coating operation before the application of the constant velocity interpolation algorithm, and it can be seen that the speed is different every time it passes through each of the operation points 0, 1, 2, 3, 4, 5, and 6. Different rates may result in different amounts of adhesive being applied to each work point. The generating unit 150 may form a uniform velocity interpolation trajectory or a constant velocity application trajectory as shown in the graph on the right of FIG. 9 by applying a uniform velocity interpolation algorithm to the application operation trajectory. Looking at it, it can be seen that the speed is uniform at all working points 0, 1, 2, 3, 4, 5, and 6. Due to the uniform speed at each working point, at least the amount of adhesive applied to each working point may be all the same.

10 is a graph showing an example of generating a constant velocity coating operation trajectory.

In order to generate a constant velocity interpolation trajectory, interpolation for the posture (including position and angle) of the effector at the end of the robot from which the adhesive is discharged, interpolation for the velocity of the effector, and interpolation for the acceleration of the effector are performed by the generating unit 150 can be

By interpolation with respect to the posture of the effector shown in FIG. 10A , the effector may maintain the same angle and the same distance from the facing point in all working points or application areas.

The effector can move at the same speed and with the same acceleration within all working points or application areas by interpolation for the speed and acceleration of the effector shown in FIGS. 10(b) and 10(c).

11 is a schematic diagram showing the operation of the editing unit 170. As shown in FIG.

As described above, the generating unit 150 may generate a constant velocity application trajectory for the distal end of the effector 79 from which the adhesive is output from the application robot 70 . At this time, the generating unit 150 may generate the posture of the dispensing robot that realizes the constant velocity dispensing operation trajectory.

At least one of a display unit 171 , a correction unit 173 , and a simulation unit 175 may be provided in the editing unit 170 .

The display unit 171 may display the working point extracted by the extraction unit 130 or the constant velocity application operation trajectory generated by the generating unit 150 .

The correction unit 173 may correct the work point or the constant velocity application work trajectory.

The simulation unit 175 may simulate the posture or movement of the application robot that realizes the uniform velocity application operation trajectory generated along the operation point.

The display unit 171 , the correction unit 173 , and the simulation unit 175 may be displayed on the display in the form of various menus.

A plurality of work points are displayed on the display unit 171 of FIG. 11 according to a graphic user interface method. Modifications to some work points tp may be required.

In the correction unit 173 of FIG. 11 , information on each work point is displayed as numerical values or text. When the user selects a work point tp on the display unit 171 for correction, numerical information tt corresponding to the work point tp may be displayed to be distinguished from other information. The user can correct the position of the work point tp by changing the numerical information tt.

The robot and the mold 90 may be displayed in the 3D virtual space on the simulation unit 175 of FIG. 11 . The process of applying the adhesive to the mold 90 on which the shoe sole is seated may be performed while moving in a three-dimensional virtual space along the constant velocity application trajectory generated by the generating unit 150 . The user may monitor the simulation result of the simulation unit 175 and, if necessary, correct the working point or the constant velocity application trajectory through the correction unit 173 .

12 is a flowchart illustrating a management method of the present invention. The management method illustrated in FIG. 12 may be performed by the management apparatus illustrated in FIG. 1 .

The management method may include an acquisition step (S510), a basic job automation step (S520), an editing step (S530), a robot job transmission step (S540), and an adhesive application operation step (S550).

In the acquiring step (S510), shoe sole information may be acquired. This may be performed by the acquisition unit 110 .

The basic task automation step (S520) may include an extraction step (S521), a generation step (S522), and a posture conversion step (S523).

The extraction step (S 521) may extract the work point to which the adhesive is to be applied through the analysis of the shoe sole information. may be performed by the extraction unit 130 .

In the generating step ( S522 ), a constant velocity application trajectory of the application robot applying the adhesive may be generated such that the adhesive is applied to the plurality of operation points in a set amount. This may be performed by the generating unit 150 .

The posture conversion step (S 523) may extract the posture of the robot required to follow the uniform velocity application trajectory.

In the editing step (S530), at least one of a work point and a constant velocity application work trajectory may be corrected according to a user's request. Alternatively, the editing step ( S530 ) may simulate the adhesive application process of the application robot for the work point.

At least one of the constant velocity application trajectory generated in the generating step (S 522), the position of the robot extracted in the attitude transformation step (S 523), and the work point or constant velocity application trajectory modified in the editing step (S 530) is a robot operation It may be transmitted to the robot through the transmission step (S540).

The robot that has received at least one of the constant velocity application trajectory, the robot's posture, and the working point automatically performs the adhesive application operation, and the adhesive application operation process may correspond to the adhesive application operation step ( S550 ).

The acquiring step ( S510 ) may include a first step of receiving 3D shape data of the shoe sole.

The extraction step (S 521) is a second step of obtaining a point cloud data group by performing point cloud transformation on the 3D shape data, dividing the point cloud data group into a plurality of cells, and in the vertical direction (Z) in the divided plurality of cells A third step of obtaining a first point group having a maximum value in the axial direction), a fourth step of obtaining a second point group from which noise data unnecessary for an adhesive application operation is removed from the extracted first point group, the noise data is The method may include a fifth step of acquiring a third point group that satisfies a preset distance condition from the removed second point group.

13 is a diagram illustrating a computing device according to an embodiment of the present invention. The computing device TN100 of FIG. 13 may be a device (eg, a management device, etc.) described herein.

In the embodiment of FIG. 13 , the computing device TN100 may include at least one processor TN110 , a transceiver device TN120 , and a memory TN130 . Also, the computing device TN100 may further include a storage device TN140 , an input interface device TN150 , an output interface device TN160 , and the like. Components included in the computing device TN100 may be connected by a bus TN170 to communicate with each other.

The processor TN110 may execute a program command stored in at least one of the memory TN130 and the storage device TN140. The processor TN110 may mean a central processing unit (CPU), a graphics processing unit (GPU), or a dedicated processor on which methods according to an embodiment of the present invention are performed. The processor TN110 may be configured to implement procedures, functions, and methods described in connection with an embodiment of the present invention. The processor TN110 may control each component of the computing device TN100 .

Each of the memory TN130 and the storage device TN140 may store various information related to the operation of the processor TN110. Each of the memory TN130 and the storage device TN140 may be configured as at least one of a volatile storage medium and a nonvolatile storage medium. For example, the memory TN130 may include at least one of a read only memory (ROM) and a random access memory (RAM).

The transceiver TN120 may transmit or receive a wired signal or a wireless signal. The transceiver TN120 may be connected to a network to perform communication.

On the other hand, the embodiment of the present invention is not implemented only through the apparatus and/or method described so far, and a program for realizing a function corresponding to the configuration of the embodiment of the present invention or a recording medium in which the program is recorded may be implemented. And, such an implementation can be easily implemented by those skilled in the art from the description of the above-described embodiment.

Although the embodiments of the present invention have been described in detail above, the scope of the present invention is not limited thereto, and various modifications and improvements by those skilled in the art using the basic concept of the present invention as defined in the following claims are also presented. It belongs to the scope of the invention.

70...Robot 79...Effector
90...Mold 99...Seating groove
110...Acquisition unit 111...Data receiver
130...Extraction unit 131...Point cloud conversion unit
133...First point group acquisition unit 135...Second point group acquisition unit
137...3rd point group acquisition unit 150...generating unit
170...Editing unit 171...Display part
173...the Revision Department 175...the Simulator Department

Claims (7)

an acquisition unit for acquiring shoe sole information;
an extraction unit for extracting a working point to which an adhesive is to be applied through analysis of the shoe sole information;
a generating unit for generating a constant velocity application trajectory of an application robot applying the adhesive so that the adhesive is applied in a set amount to the application area determined by the plurality of operation points;
an editing unit that modifies at least one of the work point and the constant velocity application trajectory according to a user's request, or simulates a process of applying the adhesive of the dispensing robot to the work point;
A management device comprising a.
According to claim 1,
When the adhesive is applied while the shoe sole is seated on the mold,
The extraction unit is formed in the mold and extracts the work point along a boundary line between an entrance edge of a seating groove in which the shoe sole is seated and an outer upper end of the shoe sole facing the entrance edge.
According to claim 1,
The acquisition unit is provided with a data receiving unit for receiving the 3D shape data of the shoe sole,
The extraction unit is provided with a point cloud conversion unit, a first point group acquisition unit, a second point group acquisition unit, and a third point group acquisition unit,
The point cloud conversion unit obtains a point cloud data group by performing point cloud conversion on the 3D shape data,
The first point group acquisition unit divides the point cloud data group into a plurality of cells, and acquires a first point group having a maximum value in the vertical direction (Z-axis direction) from the divided plurality of cells,
The second point group acquisition unit acquires a second point group from which noise data unnecessary for an adhesive application operation is removed from the extracted first point group,
The third point group acquisition unit acquires a third point group satisfying a preset distance condition from the second point group from which the noise data is removed.
According to claim 1,
The extraction unit extracts a plurality of the working points at equal intervals along the outer edge of the shoe sole,
The generating unit automatically generates a constant velocity interpolation trajectory of the distal end of the application robot to which the adhesive is output,
The interpolation trajectory includes a trajectory moving within a closed curve formed by a plurality of the working points, or includes a trajectory formed along a plurality of the working points.
According to claim 1,
The generating unit generates the constant velocity application trajectory for the end of the effector to which the adhesive is output from the application robot,
the generating unit generates the posture of the dispensing robot that realizes the constant velocity dispensing operation trajectory,
The editing unit includes a display unit for displaying the working point extracted by the extraction unit or the constant velocity application trajectory generated by the generating unit, a correction unit for correcting the working point or the constant velocity application trajectory, and the working point A management device in which at least one of a simulation unit for simulating the posture or movement of the dispensing robot that realizes the uniform velocity dispensing operation trajectory generated according to the trajectory is provided.
A management method performed by a management device, comprising:
an acquiring step of acquiring shoe sole information;
an extraction step of extracting a work point to which an adhesive is to be applied through analysis of the shoe sole information;
a generating step of generating a constant velocity application trajectory of an application robot applying the adhesive so that the adhesive is applied to a plurality of the working points in a set amount;
an editing step of modifying at least one of the working point and the constant velocity application trajectory according to a user's request, or simulating an adhesive application process of the application robot for the working point;
management methods including
7. The method of claim 6,
The acquiring step includes a first step of receiving 3D shape data of the shoe sole,
The extraction step is a second step of obtaining a point cloud data group by performing point cloud transformation on the 3D shape data, dividing the point cloud data group into a plurality of cells, and in the vertical direction (Z axis) in the divided plurality of cells direction) a third step of obtaining a first point group having a maximum value, a fourth step of obtaining a second point group from which noise data unnecessary for an adhesive application operation is removed from the extracted first point group, the noise data and a fifth step of acquiring a third point group that satisfies a preset distance condition from the second point group from which is removed.

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