TWI565429B - The positioning method of the front machine - Google Patents

Description

Position detection method for front machine

The invention relates to an automatic mechanical device, in particular to a positioning detection method for a front machine.

In recent years, labor wages have been rising, and the footwear industry has developed automatic manufacturing equipment for the footwear industry. However, most of the shoe-making machines are active control, and the feedback-type closed-circuit control is the true fully automated mode. For example, the automatic machine for the upper of the upper, it is still necessary to adjust the position of the last and the upper through the human eye detection and personnel operation, and then placed on the front help machine for the follow-up of the gang, the gang and the glue. Action, so a set of feedback detection mode is required to provide an operator or an automated machine to adjust the three-dimensional position.

For the procedure of the conventional operator to operate the front machine, please refer to FIG. 1 . First, step S91 is performed: a shoe upper is put on the shoe last, and the shoe last is clamped, and then step S92 is performed: the finger is tightened And, by visual inspection, the upper is placed at a predetermined position of the front machine, and then step S93 is performed: the computer of the front machine starts the claw to clamp the upper, and then, step S94 is performed: the front machine is started. The inner support rises and supports the fixed shoe last, so that the upper is tightly pressed against the surface of the last, and finally step S95 is performed: the front machine performs the glueing and bonding process.

However, when the inner support rises to support the shoe last, the operator will still observe again to determine whether the upper is still fixed at the predetermined position, but the standard of the naked eye varies from person to person and easily affects the quality of the final product. In fact, whether the upper is actually fixed at the predetermined position, often need to wait until the glue and bonding process, in other words, the quality of the shoe product can only be checked when finished, and the bonded upper is irreversible, thus eventually leading to the shoe Product scrapping, or improving the difficulty of subsequent rescue processing, which in turn affects manufacturing and performance.

Therefore, it is an urgent problem to be solved in the art to operate in a standardized manner and to effectively fix the upper to a predetermined position.

In view of the above-mentioned deficiencies, it is an object of the present invention to provide a positioning detection method for a front machine so that the upper can be effectively fixed at a predetermined position to improve production efficiency and reduce the generation of scrap.

In order to achieve the above object, the positioning detection method of the front machine of the present invention comprises the following steps: first, capturing a first image and a second image from two opposite sides of an upper; and then processing and defining the first image And a plurality of reference points of the second image coordinate system; subsequently, selecting a standard image corresponding to the upper, the standard image includes a plurality of standard feature points of the upper, each standard feature point has a standard coordinate; and then, comparing and judging Whether the reference points match the standard feature points; finally, if the reference points match the standard feature points, find a deviation value between the coordinates of each reference point and each standard coordinate.

Thus, the positioning detection method of the front machine of the present invention can provide the deviation value for the operator to refer to, or let the computer perform the wisdom judgment according to the deviation value, thereby improving the automatic production process of the front machine and reducing the generation of defective products.

The detailed flow, characteristics, composition or operation mode of the front-end machine for the positioning method of the previous machine provided by the present invention will be described in the detailed description of the subsequent embodiments. However, it should be understood by those of ordinary skill in the art that the present invention is not limited by the scope of the invention.

30‧‧‧ Front help machine

31‧‧‧Operating machine

32‧‧‧ computer

33‧‧‧First image capture device

34‧‧‧Second imaging device

35‧‧‧Laser light source

351‧‧‧ reference line

36‧‧‧ display

40‧‧‧shoes

50‧‧‧ vamp

51‧‧‧ reference point

10. Steps S11-S15, S21-S24, S91-S95‧‧

Figure 1 is a flow chart of the operation of a general front machine.

Fig. 2 is a flow chart showing the operation of the front machine of the present invention.

Fig. 3 is a schematic view showing the composition of the front machine of the present invention.

Figure 4 is a flow chart for the establishment of a standard image.

Figure 5 is a flow chart of the front-end machine applying the positioning detection method of the present invention.

Hereinafter, the components of the positioning detecting method of the front machine of the present invention and the achievement of the effect will be described with reference to the preferred embodiments of the drawings. In each figure The components, dimensions and appearance of the positioning detection method of the front machine are only used to illustrate the technical features of the present invention, and are not intended to limit the present invention.

As shown in Fig. 2, this figure is a flow chart of the positioning detecting method of the present invention applied to the front machine, and is partially the same as the first drawing of the prior art, so the flow is not described here. The positioning detecting method 10 of the present invention is performed when the inner support of the front machine is raised and fixed to the shoe last, and the position of the upper is confirmed before starting the glue application process. If the position of the upper is found to be incorrect, the operator can re-operate the front machine and adjust the position of the upper to avoid product scrapping.

As shown in Fig. 3, this figure is a schematic view of the front machine 30 of the present invention. The front machine 30 includes a running machine 31, a computer 32, a first image taking device 33, a second image capturing device 34, a laser light source 35, and a display 36. The operation machine 31 includes a sweeping blade, a claw plate, an inner support, a glue application module, and the like. However, the structure of the operation machine 31 is a conventional technique, and thus its structure, composition, and operation will not be described again. The computer 32 is connected to the first image capturing device 33, the second image capturing device 34, the laser light source 35, and the display 36, and provides various operations, storage, and signal processing.

The first image capturing device 33 and the second image capturing device 34 respectively capture an upper 50 that is sleeved on a last 40. The first image capturing device 33 is positioned on the right side of the upper 50, and a first image of the upper is photographed, the second image capturing device 34 is positioned on the left side of the upper 50, and a second image of the upper 50 is taken. . The first image and the second image respectively capture a portion of the upper 50 (as indicated by a dotted line), and the first image covers the front lower edge, the front side, the lower right edge, the right side, and the top surface of the upper 50, The second image covers the front lower edge, the front side, the lower left edge, the left side surface and the top surface of the upper 50. Therefore, the front lower edge, the front side surface and the top surface of the upper 50 belong to the pattern overlapping area of the first and second images. .

The first image and the second image may be processed or re-formed into an actual image or a stereo image of the corresponding upper 50 by image processing technology, and a plurality of reference points 51 may be defined from the actual image or the stereo image. In the present invention, the first and second images are constructed as a three-dimensional coordinate system, and the reference points 51 are defined therefrom. The reference points are preferably three-dimensional coordinates, but are not limited thereto. Furthermore, the reference point 51 of the three-dimensional coordinate system can be constructed by a software calculation program (X, Y, and Z) coordinate system.

Although in the embodiment, the first and second images are obtained by the image capturing device in a photographing manner, in practice, the upper 50 may be scanned by the three-dimensional scanner or more than two image capturing devices may be selected to obtain more. Image, therefore, the positioning detection method of the present invention is not The first and second image taking devices 33 and 34 are limited and are not limited to the shooting mode.

In addition, the first and second image coverage ranges are different according to the installation positions and angles of the first and second image capturing devices 33 and 34. Therefore, the first and second image coverage ranges are not the aforementioned upper 50. The area is limited.

The laser source 35 emits collimated laser light toward the upper 50, and a reference line 351 is formed on the upper 50. The reference line 351 is placed at the pattern overlap for the aforementioned image processing to define a reference for the three-dimensional coordinate system. Click to get reference point 51. In fact, the reference line 351 is formed on the upper 50. Other methods may be used. Therefore, the reference origin of the three-dimensional coordinate system of the virtual space may be other than the laser light generated by the laser light source 35. It is not limited to the generation of the reference line 351 on the upper.

As shown in FIG. 4, the standard image is created by first selecting a standard control shoe (step S21), and acquiring the image by the aforementioned photographing or scanning method (step S22), and then selecting the complete image of the standard image. Some standard feature points (step S23), the standard feature points are related to the pattern and texture of the upper, and therefore, the definition of the standard feature points is not fixed, but is matched with patterns and textures on various uppers. Depending on the configuration. Finally, the computer completes the complete pattern of the standard image and the standard feature points (step S24). In other words, the computer can store standard images generated by various uppers of different styles, sizes and configurations for subsequent production operations.

The standard feature points selected in step S23 can be defined by a computer or manually defined by an operator. Regardless of the manner in which the standard feature points are selected, the standard feature points are related to the pattern and configuration of the upper. The steps of the standard image in Fig. 4 can be established by using the front machine or by other devices. Therefore, the establishment of the standard image is not limited to the previous machine.

The composition and configuration of the front machine of the present invention have been described above, and the standard image creation of the corresponding upper is explained. Subsequently, the flow of the step of applying the positioning detection method of the present invention to improve the production efficiency of the front machine is explained.

As shown in FIG. 5, the positioning detecting method of the present invention is executed by a computer (controller) of the front machine, and includes the following steps: First, step S11 is performed: first and second are taken from two opposite sides of the upper Second image, then step S12 is performed: processing and defining a plurality of reference points of the coordinate system of the first and second images, and then performing step S13: selecting a standard image corresponding to the upper, the standard image including the plurality of uppers Standard feature points, each standard feature point has a standard coordinate; Then, step S14 is performed: comparing and determining whether the reference points and the standard feature points match? If the reference points and the standard feature points match, step S15 is performed: finding a deviation value between the coordinate of each reference point and each standard coordinate, and whether the deviation value meets a preset threshold, if the deviation value meets When the threshold is preset, step S95: the process of applying glue and bonding is performed.

In this way, the front machine can effectively standardize the bonding and fixing of the upper by the positioning detection method of the invention, and can improve the production efficiency and reduce the occurrence of defective products.

The processing and definition in step S12 is to convert the first image and the second image of the two-dimensional coordinate system into the reference points of the three-dimensional coordinate system. Step S13 is to select a standard image corresponding to the upper from the computer.

If it is determined in step S14 that the reference points do not match the standard feature points, then the process returns to step S92 to re-adjust the upper position, or the pair of uppers needs to be replaced, and the computer returns a reminder message indicating that the current setting is The upper of the last may be the wrong pattern and needs to be replaced, so the operator can replace the upper.

In addition, if the step S15 determines that the deviation value does not meet the preset threshold, the feedback message is returned, so that the operator can also know that the position of the upper is still wrong and needs to be adjusted. The feedback message is generated by the computer based on actual judgment and displayed on the display. The reminder message can be sound, light, or a variety of ways to keep the operator informed.

Among them, the preset threshold has different specifications depending on different products. Therefore, the predetermined threshold is not a fixed value, but needs to be adjusted according to different product specifications. Therefore, through the three-dimensional positioning detection method applied to the front machine constructed by the present invention, the inner support of the front machine can be raised and supported to fix the shoe last, and the upper is tightened and completely attached to the shoe last. Accurate positioning in the process of the surface, reducing the quality of the product due to different standards of manual judgment.

Finally, it is emphasized that the constituent elements disclosed in the foregoing embodiments are merely illustrative and are not intended to limit the scope of the present invention, and alternatives or variations of other equivalent elements should also be the scope of the patent application of the present application. Covered.

10. Steps S91-S95‧‧

Claims (8)

A method for detecting a position of a front machine includes the steps of: capturing a first image and a second image from two opposite sides of an upper; processing and defining the first image and the second image coordinate system Reference point; select a standard image corresponding to the upper, the standard image includes a plurality of standard feature points of the upper, each standard feature point corresponds to the pattern of the upper, and has a standard coordinate; comparison and judgment Whether the reference points match the standard feature points; and if the reference points match the standard feature points, find a deviation value between the coordinates of each reference point and each standard coordinate. The method for detecting a position of a front machine according to claim 1, wherein if the reference points do not match the standard feature points, an alert message is returned. The method for detecting a position of a front machine according to claim 1, further comprising the steps of: feeding back an alert message if the deviation value does not meet a preset threshold; and if the deviation value meets the preset At the threshold, a glue and bond process is performed. The method for detecting a position of a front machine according to the first aspect of the invention, wherein the first image and the second image of the upper are respectively a first image capturing device and a second image capturing device. Device shooting. The positioning detection method of the front machine according to claim 1 or 4, wherein the standard coordinates and the reference coordinates are three-dimensional coordinates. The positioning detection method of the front machine according to the first aspect of the invention, further comprising: the first image and the second image are partially overlapped, and the reference points are distributed at the pattern overlap. The method for detecting a position of a front machine according to the first aspect of the invention, further comprising: generating a reference line on the upper to serve as a reference origin of the reference points. The method for detecting a position of a front machine according to claim 7, wherein the reference line is laser light.