KR20030012711A - Method for generation of a ideal cementing trajectory and a cementing operation trajectory - Google Patents

Abstract

PURPOSE: Provided is an ideal path for applying paste at the bottom of shoes which utilizes generation algorithm for the path for applying paste and GUI to visualize the path for applying paste on window so that it raises workers' understanding. CONSTITUTION: In a system which uses information at the bottom of the shoes including an outer point of the shoes to generate the path for applying paste and transmit to a heel/side laster, the production process of the ideal path for applying paste at the bottom of the shoes comprises the steps of: (i) supplementing the outer point of the shoes to generate an outer line; (ii) taking the points of the path for applying paste distant in an inward normal direction of the outer line from each outer point; and (iii) supplementing the points of the path for applying paste to generate the path for applying paste.

Description

{Method for generation of a ideal cementing trajectory and a cementing operation trajectory}

The present invention relates to a method of generating an ideal pasting path and an actual pasting work path of various sole types of shoe soles, which are the main processes of a heel / side raster, and more specifically, the back of the shoe bottom and the heel of the shoe bottom. The present invention relates to a method of generating an ideal pasting path from shoe bottom information and a path for actual pasting work from the ideal pasting path for the cementing operation on the side.

The heel / side raster is a shoe production machine that forms an upper (leather) onto the shoe's heel and side by applying adhesive to the back and side of the shoe sole. Depending on the style and size of the shoe and the intention of the operator, the route of glue application on the sole of the shoe varies. Heel / side lasting in the production process of shoes is an important process to determine the quality and design of shoes, which takes a long time and requires high work proficiency.

In order to produce new style shoes in the existing production process, experienced workers manually created paste paths to match the shoe style. After applying several candidate paste paths one by one, they found the best paste paths and applied them to actual shoe production. Applied. This paste path creation process requires a long time, and can be done only by skilled workers with expertise and experience, and thus acts as a major cause of increasing production costs by lowering productivity and increasing dependency on workers. It was.

In order to solve this problem, it is necessary to create a paste path automatically whenever the style and size of shoes are changed, and to develop a technology that allows the operator to quickly and easily modify the paste path. The operator interface system, which selects, modifies and modifies, is being researched and developed by hill / side raster manufacturers in the United Kingdom, Japan, the United States and Taiwan.

Most heel / side rasters are operated using a PLC (Program Logic Controller), and an LCD (Liquid-crystal display) window is mainly used as an interface for checking the operation status of the system. Several function buttons are installed around the LCD window. By using this function button, the operator sets various initialization and operation status, and sets and changes the paste path. Recently, the LCD window of the heel / side raster has been equipped with a function to modify the paste path.

However, there is a limitation in visualizing shoe style information on the LCD window, and the work process is complicated because the input interface with the operator is made up of several function buttons. In addition, since the pasting path of the shoes to be created and modified is displayed only in numbers and English, it is difficult to obtain the actual pasting path and the shape of the pasting path can be identified only through the motion test. Therefore, even a skilled worker has a lot of difficulties in managing and modifying the paste path according to the shoe style using this heel / side raster.

An object of the present invention for solving the problems of the prior art as described above, by automatically adapting to changes in shoe style and size automatically generates an ideal paste path from the outline of the shoe sole, and by processing the ideal paste path to the actual paste operation By creating a work path for the purpose, to minimize the initial setting time and minimize the dependence of the skill of the operator to provide an ideal pasting path and the actual pasting work path of the shoe sole to increase the productivity of the shoe.

1 is an overall system configuration of the heel / side raster to which the present invention is applied,

2 is an operation flowchart illustrating a method for generating a path for performing a paste on a shoe sole surface from shoe style information according to the present invention;

3 is an exemplary diagram of a graphical user interface (GUI) screen showing a state of loading shoe data;

4 is a view showing for explaining the principle of generating a pasting path from the shoe outline,

5 is an exemplary diagram of a GUI screen for creating a paste path of a shoe sole surface and setting, changing, modifying, and visualizing a shoe style;

6 is an example of a GUI screen for shoe size adjustment work,

Figure 7 is an example of a GUI screen for fine-fixing the outline of the shoe and the pasting path,

8 is an example of a GUI screen for the overall position movement of the shoe,

9 is an operation flowchart illustrating a method of automatically generating a filling path according to an embodiment of the present invention;

10 is a view illustrating a method of finding an actual paste work path;

11 is a flowchart illustrating a method of finding an actual paste work path according to an embodiment of the present invention.

In the system for generating a pasting path of the shoe sole surface using the shoe sole surface information consisting of the information of the shoe outer points according to the present invention for achieving the above object, and transmitting to the heel / side raster, the shoe sole surface A method of generating a pasting path from information includes: generating an outline by interpolating the shoe outline points; Obtaining a pasting path point spaced at a predetermined distance from each outside point in an inward normal direction of the outside line; And generating a pasting path by interpolating the pasting path points.

According to the present invention, there is provided a computer-readable recording medium having recorded thereon a program for causing a computer to execute a method for generating a pasting path from the above-described outline information of a shoe sole.

In addition, in the system for generating the actual pasting work path consisting of a plurality of straight paths from the ideal pasting path of the shoe sole to the heel / side raster, the method for generating the actual pasting work path, the above Setting operating points to form the straight paths in the second path; Linearly connecting the operating points with a neighboring operating point, and obtaining a maximum path error between a line segment connecting two adjacent operating points and an ideal pasting path between the two operating points; Adjusting the positions of the operating points on the ideal pasting path such that the maximum path error of any two operating points for all the operating points is less than a set value; And linearly connecting neighboring operating points with respect to the adjusted operating points to generate an actual pasting work path composed of a plurality of straight paths.

According to the present invention, there is provided a computer-readable recording medium having recorded thereon a program for causing a computer to execute a method of generating an actual pasting work path from the ideal pasting path of the shoe sole surface described above.

In addition, by using the shoe bottom surface information consisting of the information of the shoe outer points to create an ideal paste path of the shoe bottom surface, and from the ideal paste paths to create a real paste work path consisting of a plurality of straight paths hill / side la In the system for delivering to the potter, the method for generating the actual paste work path, the step of generating an outline by interpolating the shoe outline points; Obtaining a pasting path point spaced a predetermined distance apart from each outside point in an inward normal direction of the outside line; Generating a pasting path by interpolating the pasting path points; Setting operating points for forming the straight paths on the ideal paste path; Linearly connecting the operating points with a neighboring operating point, and obtaining a maximum path error between a line segment connecting two adjacent operating points and an ideal pasting path between the two operating points; Adjusting the positions of the operating points on the ideal pasting path such that the maximum path error of any two operating points for all the operating points is less than a set value; And linearly connecting neighboring operating points with respect to the adjusted operating points to generate an actual pasting work path composed of a plurality of straight paths.

According to the present invention, there is provided a computer-readable recording medium having recorded thereon a program for causing a computer to execute a method of generating an actual pasting work path from the above-described outline information of a shoe sole.

Hereinafter, with reference to the accompanying drawings will be described in more detail "method of generating an ideal pasting path and the actual pasting work path of the shoe sole" according to an embodiment of the present invention.

1 is an overall system configuration to which the present invention is applied. The system consists of control devices 11, 12, 13 for generating control signals for heel / side lasting operations and heel / side raster 14 for performing actual heel / side lasting operations. This control device includes an industrial computer 11 with integrated control program, a database 12 storing shoe style information, and a dedicated controller for generating a control signal for driving an actual heel / side raster under the control of an industrial computer. It consists of a board 13.

The operator performs the heel / side raster work by the GUI program embedded in the industrial computer 11. When the worker selects the shoe style to be worked on, the industrial computer 11 displays the corresponding shoe style information in the database 12. The shoe outline is visualized on the GUI screen using this shoe style information, and an ideal paste path is generated from the data information of the shoe bottom and visualized on the GUI screen along with the shoe bottom outline. And during the actual pasting work, the industrial computer 11 processes the ideal pasting path into data for the actual pasting work by the internal program and transfers it to the heel / side raster 14 through the dedicated board 13.

A program for generating an ideal pasting path from the shoe style information according to the present invention and for generating an actual pasting work path from the ideal pasting path is performed by the industrial computer 11, and the actual pasting work path data is heel / side la. To the stud 14.

2 is an operation flowchart illustrating a process of generating a working path to be glued to the actual shoe sole surface from the shoe style information according to the present invention.

The present invention is roughly divided into the process of calculating the ideal paste path from the shoe style information (S21 to S24) and the process of processing the calculated ideal paste path for the actual paste work (S25 to S28). The former ideal pasting path calculation process is described in detail in the flowchart of FIG. 9, and the pasting process for the latter actual pasting process is described in detail in the flowchart of FIG. 11.

Referring to FIG. 2, shoe style information stored in a shoe database provided from a manufacturer is read or a user directly inputs or generates (S21). An example of a GUI screen for recalling shoe data stored in a shoe database is shown in FIG. 3. The import window lists a list of shoe style names (31) stored in the database, and includes a load key (LOAD) 32, a delete key (33), and a cancel key (Cancel) 34. Allows you to select and load or delete the name of the shoe style you wish to work on.

In general, since the shoe database stores the position information of a plurality of outline points forming the outline of the shoe sole according to the shoe style and the shoe size, the shoe style information read in step S21 is transferred to the position information of the plurality of outer points and the transfer. Information about the pasting path points created in. At this time, if there is no information about previously generated pasting path points, the pasting path is automatically generated (S22). The pasting path is generated in the pasting area 42 which is the center portion in the longitudinal direction of the shoe 41 as shown in FIG. 4, and is inwardly directed to the outside of each outside point 43 belonging to the pasting area 42. The paste paths 44 are found at regular intervals 45 in the normal direction, and the paste paths are interpolated to generate paste paths. Here, the pasting path is generated only in the middle part of the shoe length direction, because the front part and the back part of the shoe is pasted in a separate process using separate equipment. The process of generating this paste path is described in detail in the flowchart of FIG. 9, which will be described later.

The shoe outlines and paste paths, which are called or generated in steps S21 and S22, are visualized on the screen (S23). That is, a GUI screen for automatically generating a paste path as shown in FIG. 5 and setting / changing / modifying / visualizing shoe styles is displayed. The GUI screen is largely divided into a shoe display window and a key input window. The shoe display window displays a shoe style name 51 in operation, an outline 52 of the bottom of the shoe, and a paste path 53 generated from the outline. In addition, the key input window, the job completion button 54, the job cancel button 55, the window 56 showing the magnification of the applied shoe size, shoe size reduction button 57, shoe size expansion button 58, the bottom Fine adjustment buttons (59, 60) for moving the whole or a point of the line to the left / right, a button (61) for recalling the shoe style stored in the database, work shoe storage button (62), paste work test button (63), The operation method setting button 64 of the paste control motor and the rotation direction setting button 65 of the motor are provided.

In addition, when the user wants to modify the shoe outline and the paste path, the user moves the arbitrary points constituting the outline and the paste path, and corrects and stores the position information of the corresponding moved position.

That is, the user may enlarge the shoe style displayed on the shoe display window by using the shoe size reduction button 57 and the shoe size enlarge button 58 in the GUI environment as shown in FIG. 5. As described above, the magnification requested to be reduced or enlarged is displayed on the magnification display window 56, and the shoe outline 66 and the pasting path 67 that are scaled are displayed on the shoe display window by reducing or expanding the shoe style by the requested magnification.

In addition, the user may fine-tune or move the shape of the outline of the shoe and the pasting path using the fine adjustment buttons 59 and 60, as shown in FIG. 7 by the user at a specific point 68 of the shoe outline or the like. When the specific point of the paste path is selected and the fine control buttons 59 and 60 are operated, the selected specific point 68 is moved and stored as much as the user manipulates. At this time, if the user manipulates the shoe's outline is adjusted with the paste path, if the user has manipulated the shoe's paste path is also adjusted with the outline. In the past, there were many difficulties in securing a variety of new styles because shoe styles can only be obtained through raster manufacturers. However, using the GUI developed in the present invention, it is easy to build and secure a new style through size and fine adjustment. In addition, as shown in FIG. 8, when the user selects the entire shoe and operates the fine adjustment buttons 59 and 60, the shoe outline and the pasting path of the shoe are moved and displayed on the shoe display window.

Next, the modified specific points are visualized in a continuous curve form using an interpolation algorithm, and a split point is determined (S25). In addition, the operating point for minimizing the position error reflecting the acceleration / deceleration section is determined in order to generate the paste path to actually apply the adhesive (S26). From this data, the paste path data to be transmitted to the three motors for controlling the position of the adhesive device for applying the adhesive is generated and transmitted (S27). The adhesive device moves while being controlled by one forward driving motor and two widthwise driving motors to apply an adhesive to the bottom of the actual shoe (S28).

Now, a process of automatically generating a paste path from the shoe outline point information will be described in detail with reference to FIG. 9.

In the database, the position information of the outer points forming the outline of the shoe sole is read (S91), and the outer points existing in the paste area are selected from the entire shoe outer points (S92). Then, the entire shoe outline points are interpolated by an interpolation algorithm such as NURBS (Non-Uniform Ratio B-Spline) (S93) to generate an outline. As shown in FIG. 4, the inward normal direction of the outline is obtained from each shoe outline point belonging to the pasting region (S94), and the pasting path point spaced apart by a predetermined interval 45 in the inward normal direction is obtained (S95). Finally, the pasting path points thus obtained are interpolated to generate a pasting path (S96).

The operator judges whether the relationship between the outline displayed on the shoe display window and the pasting path and the positional relationship of the external shape of the pasting path is appropriate (S97), and when the further modification is required, the pasting path is appropriately used using the fine adjustment buttons (45, 60). And the regeneration of the paste path modified by the operator is displayed on the screen (S98). At this time, if the user maintains the modified paste path or returns to the previous paste path, the user may return to the past paste path if the problem occurs such that the modified paste path is too stuck to the outline or leaves the outline. Let go (S99). When the pasting path generation is completed, the outline information and pasting path information are stored in a file so that the next time the execution is performed, the file is immediately read and used (S100).

The pasting path generated by the pasting path generation method of FIG. 9 is input to two widthwise driving motors and one forward driving motor as described above, and the pasting path is composed of curves with a large curvature change. For this reason, the speed of the motor must be changed rapidly in order to control the curvature of the curvature with three drive motors. do.

Accordingly, in the present invention, the ideal paste path generated by the flow chart of FIG. 9 is processed in order to minimize the smooth operation and position error of the driving motors, thereby generating an actual paste work path composed of a plurality of straight paths, and the actual paste work path. The three drive motors are controlled to be glued along. At this time, in this specification, the contacts of the straight paths constituting the actual paste work path are called operating points.

A method of finding the location information of these operating points will be described with reference to FIGS. 10 and 11 as follows.

First, a method of finding position information of an operating point will be briefly described with reference to FIG. 10. In the drawing, the solid line 101 indicates an ideal pasting path, and the dashed line 102 indicates a real pasting work path newly generated by P1 to P5. P1 to P5 are operating points obtained by dividing the ideal paste path at equal intervals.

Between the operating points P1 and P2 is the section where the curvature change of the ideal paste path is very large, and the line segment obtained by the operating points P1 and P2 is Since the maximum path error between and ideal paste path is larger than the set value (the thickness of adhesive), the operating points P1 and P2 are moved in the direction closer to each other. And move the position until the maximum path error with the ideal pasting path becomes smaller than the set value and store the position information of the newly set operating points P1 and P2. On the other hand, since the path error is close to zero between the operating points P2 and P3, and P3 and P4, the original position is maintained, and the line segment between the operating points P4 and P5 is also maintained. Although there exists a path error between the ideal pasting path and the path error is smaller than the set value (the thickness of the adhesive), the operating points P4 and P5 maintain their original positions.

That is, even if a position error occurs between the ideal pasting path and the actual pasting work path, if the position error is smaller than the thickness of the adhesive, the position error between the ideal pasting path and the actual pasting work path is sufficient. By selecting a finite number of operating points within a range smaller than the thickness and linearly connecting adjacent operating points, an actual pasting work path is generated and actual pasting is performed according to the actual pasting work path.

Now, a process of generating an actual paste work path will be described in detail with reference to the operation flowchart of FIG. 11.

First, when an ideal pasting path is generated from an outline through the algorithm of FIG. 9 (S111), since the ideal pasting path is composed of finite point data, interpolation is performed using an interpolation algorithm such as NURBS algorithm (S112). . The ideal interpolation paths interpolated with curves are cut into finite equal intervals (S113). The cut point is then set as an operating point (S114). In this case, the number of cutting the ideal paste path is a preset number according to the shoe style, and the number of the operating points is large, and if the number of the operating points is large, the path error between the ideal paste path and the actual paste work path is reduced and the number of operating points is small. If you do, the path difference will increase.

Next, the operating points are applied to a finite impulse response (FIR) filter to generate an acceleration / deceleration section between the operating point and the operating point. In addition, linearly connect any two neighboring operating points, and compare the ideal pasting path between the two operating points and the line segment connecting the two operating points (S115) to obtain the maximum path error between the two paths (S116). If the maximum path error is larger than the set value (the thickness of the adhesive), the two operating points are close to each other (S117), and if the maximum path error is smaller than the set value, the distance between the two operating points is increased. When the path error between all the operating points is smaller than the set value by performing the above operation for all operating points (S118), the three driving motors of the heel / side raster are driven using the position information of the operating points. .

While the invention has been described above based on the preferred embodiments thereof, these embodiments are intended to illustrate rather than limit the invention. It will be apparent to those skilled in the art that various changes, modifications, or adjustments to the above embodiments can be made without departing from the spirit of the invention. Therefore, the protection scope of the present invention will be limited only by the appended claims, and should be construed as including all such changes, modifications or adjustments.

As described above, according to the present invention, unlike the conventional heel / side raster controller using a PLC, the automatic creation of the paste path that plays a key function among the integrated sequence control program for windows with various icons and functions that are easy for the operator to understand. And a GUI for modifying and managing them. Therefore, using the pasting path generation algorithm and GUI developed in the present invention, the pasting path can be visualized on the window according to the selected shoe style to improve the understanding of the operator, and the adaptive adjustment ability can be improved more quickly with the fine tuning and the self test function. You can.

Claims (16)

In the system for generating a pasting path of the bottom of the shoe using the shoe bottom surface information consisting of the information of the shoe outer points to the heel / side raster, a method for generating a pasting path from the shoe bottom surface information, Generating an outline by interpolating the shoe outlines; Obtaining a pasting path point spaced at a predetermined distance from each outside point in an inward normal direction of the outside line; And And a step of generating a pasting path by interpolating the pasting path points. The method of claim 1, wherein the generating of the outline comprises: A method of creating a pasting path for shoe soles, characterized in that for generating outlines by applying the outline points to a NURBS interpolation algorithm. The method of claim 1, wherein the generating of the paste path is performed by: A method of generating a paste path of a shoe sole surface, wherein the paste path points are applied to a NURBS interpolation algorithm to generate a paste path. The method of claim 1, Set the middle portion in the longitudinal direction of the shoe paste area, And a paste path and a paste path for each of the outer points in the paste area. On your computer, Generating shoe outlines by interpolating the shoe outer points when the shoe bottom information including the shoe outer points is input; Obtaining a pasting path point spaced at a predetermined distance from each outside point in an inward normal direction of the outside line; And And a program for executing a step of generating a pasting path by interpolating the pasting path points. In the system for generating the actual pasting work path consisting of a plurality of straight paths from the ideal pasting path of the shoe sole to the heel / side raster, the method of generating the actual pasting work path, Setting operating points for forming the straight paths on the ideal paste path; Linearly connecting the operating points with a neighboring operating point, and obtaining a maximum path error between a line segment connecting two adjacent operating points and an ideal pasting path between the two operating points; Adjusting the positions of the operating points on the ideal pasting path such that the maximum path error of any two operating points for all the operating points is less than a set value; And And linearly connecting adjacent operating points with respect to the adjusted operating points to generate an actual pasting work path consisting of a plurality of straight paths. The method of claim 6, wherein the step of adjusting the position of the operating points, If the maximum path error of the two operating points is greater than the set value, the two operating points are moved in a direction that the distance between the two operating points is narrowed until the maximum path error is smaller than the set value, and the maximum path of the two operating points is moved. If the error is smaller than the set value, the two operating points are moved in the direction in which the distance between the two operating points is widened so that the maximum path error is not larger than the set value, so that all the maximum path errors are lower than the set value. How to create a work path for pasting shoe soles, characterized in that for adjusting the spacing. The method of claim 6, wherein the set value, Method of producing a pasting work path of the bottom of the shoe, characterized in that the thickness of the adhesive applied to the pasting work path. On your computer, Setting operating points for forming the straight paths on the ideal paste path when the ideal paste path information of the shoe sole surface is input; Linearly connecting the operating points with a neighboring operating point, and obtaining a maximum path error between a line segment connecting two adjacent operating points and an ideal pasting path between the two operating points; Adjusting the positions of the operating points on the ideal pasting path such that the maximum path error of any two operating points for all the operating points is less than a set value; And And a step of linearly connecting adjacent operating points to the adjusted operating points to generate an actual pasting work path consisting of a plurality of straight paths. Create an ideal paste path of the shoe bottom surface using the shoe bottom information comprising the information of the shoe outer points, and generate an actual paste work path composed of a plurality of straight paths from the ideal paste path to the heel / side raster. In a system for delivering, in the method for generating the actual paste work path, Generating an outline by interpolating the shoe outlines; Obtaining a pasting path point spaced a predetermined distance apart from each outside point in an inward normal direction of the outside line; Generating a pasting path by interpolating the pasting path points; Setting operating points for forming the straight paths on the ideal paste path; Linearly connecting the operating points with a neighboring operating point, and obtaining a maximum path error between a line segment connecting two adjacent operating points and an ideal pasting path between the two operating points; Adjusting the positions of the operating points on the ideal pasting path such that the maximum path error of any two operating points for all the operating points is less than a set value; And And linearly connecting adjacent operating points to the adjusted operating points to generate an actual pasting work path consisting of a plurality of straight paths. The method of claim 10, wherein generating the outline comprises: A method of generating a work path for pasting shoe soles, characterized in that for generating an outline by applying the outline points to a NURBS interpolation algorithm. The method of claim 10, wherein the generating of the paste path comprises: A method of generating a work path for pasting a shoe sole, characterized in that for generating a pasting path by applying the pasting path points to a NURBS interpolation algorithm. The method of claim 10, Set the middle portion in the longitudinal direction of the shoe paste area, And a paste path and a paste path for each of the outer points in the paste area. The method of claim 10, wherein the step of adjusting the position of the operating points, If the maximum path error of the two operating points is greater than the set value, the two operating points are moved in a direction that the distance between the two operating points is narrowed until the maximum path error is smaller than the set value, and the maximum path of the two operating points is moved. If the error is smaller than the set value, the two operating points are moved in the direction in which the distance between the two operating points is widened so that the maximum path error is not larger than the set value, so that all the maximum path errors are lower than the set value. How to create a work path for pasting shoe soles, characterized in that for adjusting the spacing. The method of claim 10, wherein the set value, Method of producing a pasting work path of the bottom of the shoe, characterized in that the thickness of the adhesive applied to the pasting work path. On your computer, Generating shoe outlines by interpolating the shoe outer points when the shoe bottom information including the shoe outer points is input; Obtaining a pasting path point spaced a predetermined distance apart from each outside point in an inward normal direction of the outside line; Generating a pasting path by interpolating the pasting path points; Setting operating points for forming the straight paths on the ideal paste path; Linearly connecting the operating points with a neighboring operating point, and obtaining a maximum path error between a line segment connecting two adjacent operating points and an ideal pasting path between the two operating points; Adjusting the positions of the operating points on the ideal pasting path such that the maximum path error of any two operating points for all the operating points is less than a set value; And And a step of linearly connecting adjacent operating points to the adjusted operating points to generate an actual pasting work path consisting of a plurality of straight paths.