TWI584752B - The printing method of the upper substrate and the printing equipment - Google Patents

Description

Printing method of upper substrate and printing device thereof

The invention relates to printing technology, in particular to a printing method of a shoe upper substrate and a printing device thereof.

In recent years, automation equipment has developed many diversified equipment, and the manufacturing and application of the footwear industry has become more and more widely used. Among them, the difficulty of printing on materials that are curved or easily deflected naturally cannot be achieved by a simple input and output controller.

For a long time, the pattern of the upper substrate printing pattern can only be printed at a fixed position, but as the comfort requirement is increased, the upper material of the upper is mostly soft and breathable. After the upper substrate is stretched by the front-end process, the upper substrate itself is more likely to be deformed when the printing process is completed. Therefore, the stretched substrate is placed on the printing platform for printing and multiple layers. When the pattern is sprayed, the traditional printing equipment only prints the pattern according to the fixed manner and the position, and the printing position cannot be adjusted appropriately according to the slight deformation of the upper material. Therefore, the printed upper is easy to be printed. The location is wrong, causing problems with poor product yield.

In addition, in order to improve the yield problem, it is usually confirmed by the on-site operator observation and identification before the printing to confirm whether the upper substrate is in the fixed printing position, so that not only more manpower is required, but the personnel experience still affects the spraying. Yield after printing.

Therefore, at present, the upper can only passively accept the quality of the upper after printing, and can not finely adjust the printing position and area according to the position and slight deformation of the actual upper substrate. Moreover, the upper material of the upper is irreversible after being printed, in other words, the upper substrate which is not printed on the predetermined position of the upper, such as the pattern and the color, eventually becomes a defective product, resulting in waste of the upper material.

In view of the above-mentioned deficiencies, the object of the present invention is to provide a method for printing a shoe upper substrate, which can finely adjust the nozzle position of the printing device in accordance with the micro-deformation of the position of the upper substrate. The placement of the upper substrate and the inaccurate placement of the upper substrate result in poor printing to improve product productivity.

To achieve the above object, the printing method of the upper substrate of the present invention comprises the steps of: first, capturing an actual upper image of an upper substrate; and then providing a standard upper image corresponding to the upper substrate, The standard upper image includes an upper contour and at least one printing position on the contour of the upper; the upper contour of the standard upper image is matched with the contour of the upper of the actual upper image to confirm the shoe Position and orientation of the surface substrate; then, the upper contour of the standard upper image is not deformed to match the contour of the upper of the actual upper image to confirm the printing position of the upper substrate after deformation; finally, A nozzle of the printing device is controlled to move to a printing position of the deformed upper substrate.

In order to achieve the above object, the present invention also provides a printing apparatus for a shoe upper substrate, which comprises a conveying device, an image capturing device, a printing device and a computer. The delivery device is configured to transport at least one upper substrate, the upper substrate including an upper contour and at least one printing position on the upper contour. The image capture device is adapted to capture an actual upper image of the upper substrate of the delivery device. The printing device is used to print the upper substrate on the conveying device. The computer is connected to the transport device, the image capture device and the print device, and stores at least one standard upper image. The computer processes and compares the actual upper image and the standard upper image to confirm the printing position of the upper substrate after the deformation, and controls the printing device to print according to the deformation of the printing position of the upper substrate after the deformation.

Thus, since the printing method of the upper substrate of the present invention and the printing apparatus thereof first confirm the placement position and direction of the upper substrate, the placement position of the upper substrate is not strictly restricted, and the shoes are The deformation of the surface substrate is corrected to confirm the printing position, and the position of the nozzle of the mobile printing device is fine-tuned to reduce the defective product caused by the wrong printing position.

The detailed construction, steps, features, or modes of operation of the upper substrate and the printing apparatus 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.

10‧‧‧Printing equipment

11‧‧‧ computer

12‧‧‧Printing device

13‧‧‧Image capture device

131‧‧‧Light source

14‧‧‧Conveyor

121‧‧‧ Robotic arm

122‧‧‧ sprinkler

20‧‧‧Sole substrate

50, 60‧‧ ‧ upper contour

51‧‧‧Black block

61‧‧‧dotted blocks

S31-S36‧‧‧Steps

Figure 1 is a schematic view of a printing apparatus of the present invention.

Figure 2 is a flow chart showing the steps of the printing method of the present invention.

Figure 3 is a schematic illustration of a standard upper image of a shoe sole substrate.

Figure 4 is a schematic illustration of the actual upper image of an unprinted upper substrate.

Figure 5 is a schematic illustration of the overlay of the standard upper image with the actual upper image.

Hereinafter, the steps of the printing method of the upper substrate of the present invention, the composition of the printing apparatus, and the achievement of efficacy will be described with reference to the preferred embodiments of the drawings. The steps, components, dimensions and appearance of the method of printing the upper substrate of the drawings are merely illustrative of the technical features of the present invention and are not intended to limit the invention.

As shown in FIG. 1, the printing apparatus 10 includes a computer 11, a printing device 12, an image capturing device 13, and a conveying device 14. The printing device 12, the image capturing device 13, and the conveying device 14 are connected to the computer 11. The image capturing device 13 captures an actual upper image of an upper substrate 20 on the transport device 14. The image capturing device 13 can capture images by scanning or scanning. The computer 11 receives and processes the actual upper image of the upper substrate 20 and controls the printing device 12 to print according to the actual upper image of the upper substrate 20. The delivery device 14 is used to transport the upper substrate 20. The material of the upper substrate 20 may be cloth, mesh, leather, etc., and the upper contour thereof varies depending on the shoe product. The manner in which the computer 11 processes the actual upper image of the upper substrate 20 and controls the printing device according to the actual upper image of the upper substrate is described in detail later.

In this embodiment, the delivery device 14 can provide a negative pressure gas during delivery to flatten the upper substrate 20 to the surface of the conveyor belt of the delivery device 14, thus avoiding excessive deformation of the upper substrate 20. For example, the edges or corners of the upper substrate are curled. Moreover, the transport device 14 can also determine whether the upper substrate 20 is moved into the recognition range of the image capturing device 13 by a position sensor or a visual image recognition technology. If so, it can be illuminated by a light source 131 of the image capturing device 13. The range is identified to make the upper contour of the upper substrate 20 more visible.

The printing device 12 includes a multi-axis robot arm 121 and a head 122 connected to the robot arm 121. The robot arm 121 can move the head 122 position in accordance with the deformation of the upper substrate 20.

As shown in Fig. 2, the printing method of the upper substrate of the present invention is used for printing The computer is equipped with a computer to calculate the printing position of the printing device by the arithmetic processing of the computer, thereby improving the production efficiency of the printing device.

The printing method of the upper substrate comprises the following steps: First, step S31 is performed: capturing the actual upper image of the upper substrate. Step S32 is performed to provide a standard upper image corresponding to the upper substrate, the standard upper image including the upper contour and at least one printing position on the upper contour. The actual upper image is the image of the upper substrate on the actual imaging device of the image capture device. Then, step S33 is performed to perform image processing and binarization processing on the standard upper image and the actual upper image. This step is well known in the industry and will not be described herein. Subsequently, step S34 is performed: positioning by matching the upper contour of the standard upper image with the upper contour of the actual upper image to determine the position and orientation of the upper substrate. Next, step S35 is performed: image warping is performed on the mismatch between the standard upper image and the actual upper image to confirm the printing position of the upper substrate after deformation. Finally, step S36 is performed: controlling the nozzle of the printing apparatus to move to the printing position of the deformed upper substrate, and performing a printing operation.

In step S31, the actual upper image of the upper substrate is obtained by photographing or photographing by the above-mentioned image capturing device. The standard upper image of step S32 is stored in the computer.

In step S34, the matching means that the feature values of the images are the same or conform to an error tolerance value. In addition, the features of the two images can completely overlap and belong to the matching. The method of judging whether the standard upper image matches the actual upper image (comparison), the computer can convert the standard upper image and the upper contour of the actual upper image into multiple characteristic values, and then the computer is based on the entire standard shoe. The facial image and the feature values obtained by the entire actual upper image are compared one by one to find matching feature values (ie, the feature values of the actual upper image image having the same feature value as the standard upper image) and the unmatched features. The value (ie, the feature value of the actual upper image that is different from the characteristic value of the standard upper image), determines whether the upper contour of the standard upper image and the upper contour of the actual upper image match to define the deformation Printing area.

Matching feature values in the standard upper image and the actual upper image can be considered as overlapping of the upper contours, so this location can also be considered as a location where the upper substrate is not easily deformed or has a matching position. The unmatched feature values in the standard upper image and the actual upper image are considered to be deformed or have no matching position of the upper profile of the upper substrate. Therefore, the deformation region should be deformed according to the defined principle to confirm the shoe. The printing position after the surface substrate is deformed. Deformation processing includes The actual upper image is zoomed, moved, and rotated. The deformation processing is to compare the characteristic value of the corresponding upper image with the characteristic value of the standard upper image, and according to the corresponding characteristic value of the actual upper image and The position difference of the characteristic values of the standard upper image confirms the printing position of the actual upper image after the deformation.

In the deformation process, an image conversion matrix is obtained according to the position difference between the coordinate of the feature value of the corresponding standard upper image and the coordinate value of the feature value of the actual upper image, and the computer is based on the position difference or the vector difference. The spray path of the moving nozzle. The subsequent deformation process further comprises dividing the two images (ie, the standard upper image and the actual upper image) into a plurality of small regions by using the same standard (including size and position, etc.), and respectively comparing the plurality of small regions. The feature values are used to find the feature values of the matched small regions and the feature values of the small regions that do not match, and then find the feature values of the unmatched feature values in each small region and the corresponding feature values of the standard upper image. The vector difference between. The feature values in this embodiment are coordinates or specific values converted by coordinates.

Although in the present embodiment, the computer moves the spray path of the head according to the position difference or the vector difference, in practice, the deformation processing may be performed only for the position difference processing, and the vector difference processing may be omitted. Or if the positional relationship between the standard upper image and the actual upper image is not much different, the comparison of the small areas can be directly performed without calculating the image conversion matrix.

It is confirmed that the printing position of the upper substrate after deformation is based on the characteristic value of the actual upper image, in other words, the computer can calculate the characteristic value of the actual upper image to obtain the position difference and the vector difference. In addition, the soft upper substrate is easily affected by the environment, causing slight deformation of the upper substrate. Therefore, the deformation algorithm is used for the adjustable treatment, and the deformation or deformation state of the material is used to obtain a small amount of deformation. The deformed print position of the upper substrate.

The print job is a preset process in the computer and varies with different shoe products. The printing operation includes the order of printing colors and the moving distance and direction of the nozzle at the printing position, so that the nozzle can smoothly complete the printing of the printing position.

As shown in Figures 3 and 4, Figure 3 is a schematic view of a standard upper image, and Figure 4 is a schematic view of an actual upper image. The upper contours 50 and 60 refer to the solid lines in FIGS. 3 and 4, and the printing position of the upper substrate in FIG. 3 refers to the blackened block 51, and the blackened block 51 corresponds to the fourth. The dashed block 61 of the figure, in fact, the dashed block 61 is on the upper profile 60 of the upper substrate. In other words, the actual upper image of Figure 4 is an image of the upper substrate prior to printing.

As shown in FIG. 5, the figure is a schematic diagram of overlapping the standard upper image of FIG. 3 with the actual upper image of FIG. 4, and the upper contour of the standard upper image can be found 50 (real) The line) matches the front section of the upper profile 60 (chain line) of the actual upper image, so this portion is considered to be a region that is not easily deformed, or a region that is not deformed. The upper contour 50 (solid line) of the standard upper image does not match the middle and rear sections of the upper contour 60 (chain line) of the actual upper image, so this portion is considered to have a slightly deformed area, so Deformation treatment to confirm the position of the print after the slight deformation of the upper material. The manner of the deformation processing is as described above, and will not be described herein.

In this embodiment, the printing position of the upper substrate is a bilaterally symmetrical pattern, but in fact, the number of printing positions on the upper substrate may be only one or two, and the pattern is not left or right. The limit is called.

In summary, the printing method of the upper substrate of the present invention can automatically adjust the position of the nozzle of the printing device when the upper surface of the upper surface is slightly deformed, and the computer can also be based on the actual upper substrate on the conveyor belt. The displacement and deformation are judged and processed in an instant. Therefore, when the upper substrate is placed on the conveying device, it is not necessary to pay special attention to whether the placement position and direction of the upper substrate are in conformity with the regulations or whether the upper substrate is related to the material. Deformation to improve the production process of automated upper substrate printing and reduce the occurrence of printing errors.

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.

S31-S36‧‧‧Steps

Claims (10)

A printing method for a shoe upper substrate, which is used in a printing device, the printing method of the upper substrate comprises the following steps: capturing an actual upper image of an upper substrate; providing a corresponding upper base A standard upper image of the material, the standard upper image including an upper contour and at least one printing position on the upper contour; the upper contour of the standard upper image and the actual upper image The upper contour matching is positioned to confirm the position and orientation of the upper substrate; the upper contour of the standard upper image is not deformed with the upper contour of the actual upper image, Determining the printing position of the upper substrate after deformation; and controlling a printing position of the upper substrate after the nozzle of the printing device is moved to be deformed. The printing method of the upper substrate according to claim 1, wherein the deformation processing comprises scaling, moving, and rotating the actual upper image. The printing method of the upper substrate according to claim 1 or 2, wherein determining whether the standard upper image matches the actual upper image comprises the following steps: the standard upper image and the actual The upper contour of the upper image is converted into a plurality of characteristic values respectively; and the characteristic value of the upper upper image is compared with the characteristic value of the actual upper image to find the characteristic value of the standard upper image Matching the feature values of the actual upper image and finding the feature values of the actual upper image that do not match the feature values of the standard upper image. The printing method of the upper substrate according to claim 3, wherein the deformation processing compares the characteristic value of the actual upper image with the characteristic value of the standard upper image, and Corresponding to the difference between the characteristic value of the actual upper image and the characteristic value of the standard upper image, the printing position of the actual upper image after the deformation is confirmed. The printing method of the upper substrate according to claim 4, wherein the deformation processing further divides the actual upper image and the standard upper image into a plurality of small regions by the same standard, and respectively Compare the feature values in the small regions to find out the mismatch in each small region. A vector difference between the eigenvalue and the corresponding eigenvalue of the standard upper image. A printing apparatus for a shoe upper substrate, comprising: a conveying device for conveying at least one upper substrate, the upper substrate comprising an upper contour and at least one printing position on the upper contour An image capturing device for capturing an actual upper image of the upper substrate of the conveying device; a printing device for printing the upper substrate on the conveying device; and a computer Connecting the conveying device, the image capturing device and the printing device, and storing at least one standard upper image, the computer processing and comparing the actual upper image and the standard upper image to confirm the deformation of the shoe The printing position of the surface substrate, and controlling the printing position of the printing substrate to conform to the printing position of the upper substrate. The printing apparatus of the upper substrate of claim 6, wherein the computer processes the actual upper image and the standard upper image to respectively generate a plurality of characteristic values of the actual upper image and the a plurality of characteristic values of the standard upper image, the computer comparing the characteristic values of the standard upper image with the characteristic values of the actual upper image to find out that the actual upper image and the standard upper image are not Matching at least one feature value, and deforming the unmatched feature value to confirm the printing position of the upper substrate after the deformation. The printing apparatus of the upper substrate according to claim 7, wherein the computer performs the deformation processing to scale, move and rotate the actual upper image. The printing apparatus of the upper substrate according to claim 7, wherein the computer performs the deformation processing system to match the characteristic value of the actual upper image and the characteristic value of the standard upper image. And confirming the printing position of the actual upper image after the deformation according to the corresponding difference between the characteristic value of the actual upper image and the characteristic value of the standard upper image. The printing apparatus of the upper substrate according to claim 9, wherein the computer performs the deformation processing to divide the actual upper image and the standard upper image into a plurality of small areas by the same standard. And separately comparing the feature values in the small regions to find out that each small region does not A vector difference between the matched feature value and the corresponding feature value of the standard upper image.