Tool trajectory generation for shoe assembly
阅读说明:本技术 用于鞋装配的工具轨迹的产生 (Tool trajectory generation for shoe assembly ) 是由 帕特里克·科纳尔·里根 德拉甘·朱科维克 张之奇 琼明峰 于 2014-11-19 设计创作,主要内容包括:本发明涉及用于鞋装配的工具轨迹的产生。可以产生用于处理鞋面的工具轨迹以大体上仅仅处理以咬合线为边界的鞋的表面。咬合线可以被界定为对应于鞋面和鞋底部单元的联结点。可以组合利用咬合线数据和表示以咬合线为边界的鞋面的表面的至少一部分的三维轮廓数据以产生用于处理鞋面的表面的工具轨迹,例如将粘合剂自动施加到以咬合线为边界的楦制的鞋面的表面。(The bite line data and three-dimensional contour data representing at least portions of the surface of the upper bounded by the bite line may be utilized in combination to generate a tool trajectory for treating the surface of the upper, such as automatically applying adhesive to the surface of a lasted upper bounded by the bite line.)
A system for generating a tool trajectory for processing a partially assembled article of footwear, the system comprising:
a bite line component configured to collect bite line data representing a position of a bite line formed between a th shoe component and a second shoe component when the th shoe component and the second shoe component are assembled;
a three-dimensional scanning means configured to collect three-dimensional contour data about at least part of the portion of the shoe component to be covered by the second shoe component when assembling the shoe component and the second shoe component, and
a computing device configured to:
combining the bite line data and the three-dimensional contour data to generate a surface map of the portion of the shoe component to be covered by the second shoe portion;
generating a tool trajectory for processing said shoe part, the generated tool trajectory being contained within an area bounded by said bite line.
2. The system according to claim 1, further comprising an adhesive application system adapted to apply adhesive to the th shoe component using the generated tool trajectory.
3. The system of claim 1, wherein the bite line member is adapted to identify the bite line marked with a physical marking formed from a conditionally visible marking agent.
4. The system of claim 3, wherein the conditionally visible marking agent is of the marking agents that react to the ultraviolet light spectrum and the marking agents that react to the infrared light spectrum.
5. The system of claim 3, further comprising a vision system that makes the conditionally visible marking agent visible.
6. The system according to claim 5, further comprising a movement mechanism that moves the vision system around the shoe component while the vision system records a plurality of images.
7. The system of claim 6, wherein the moving mechanism:
rotating the vision system in a substantially circular manner around at least part of the third shoe component, or
Rotating the vision system in a substantially elliptical manner about at least portion of the third shoe component.
8. The system according to claim 1, further comprising a processing tool adapted to apply a process to the shoe component using the generated tool path, the process comprising at least of:
the suture is sewed up,
the polishing is carried out on the mixture of the raw materials,
cutting the mixture to obtain the finished product,
the paint is sprayed on the surface of the substrate,
gluing, and
and (4) marking.
9, a method of generating a tool trajectory for processing a partially assembled article of footwear, the method comprising:
gathering bite line data representing a location of a bite line formed between a th shoe component and a second shoe component when the th shoe component and the second shoe component are assembled;
collecting three-dimensional contour data regarding at least part of a portion of the shoe component to be covered by the second shoe component when assembling the shoe component and the second shoe component;
combining the bite line data and the three-dimensional contour data to generate a surface map of the portion of the shoe component to be covered by the second shoe component, and
generating a tool trajectory for processing said shoe part, the generated tool trajectory being contained within an area bounded by said bite line.
10. The method according to claim 9, further comprising applying adhesive to the th shoe component with an adhesive application system directed through the generated tool trajectory.
11. The method of claim 9, further comprising marking the bite line with a physical marking comprising a conditionally visible marking agent.
12. The method of claim 11, wherein the conditionally visible marking agent is of the marking agents that react to the ultraviolet light spectrum and the marking agents that react to the infrared light spectrum.
13. The method of claim 12, further comprising using a vision system to visualize the conditionally viewable marking agent.
14. The method according to claim 13, further comprising a moving mechanism that moves the vision system around the shoe component while the vision system records a plurality of images.
15. The method of claim 14, wherein the moving mechanism:
rotating the vision system in a substantially circular manner around at least part of the third shoe component, or
Rotating the vision system in a substantially elliptical manner about at least portion of the third shoe component.
16, a system for handling partially assembled articles of footwear, the system comprising:
a light source projecting light across at least a portion of a marked bite line on a shoe component, the bite line defining an interface on the shoe component between the shoe component and a second shoe component, the interface formed when the shoe component and the second shoe component are assembled;
at least cameras, said at least cameras recording or more images of said shoe component, each of said or more images representing:
a plurality of points where the light intersects the bite line of the mark, and
light reflected from at least part of the portion of the shoe component to be covered by the second shoe component when the shoe component and the second shoe component are assembled, a computing system, the computing system
Processing the or more images to generate bite line data and three-dimensional contour data, an
Generating a tool trajectory for processing the shoe component using the bite line data and the three-dimensional contour data, the generated tool trajectory being contained within the portion of the shoe component that was covered by the second shoe component when the second shoe component was assembled and remaining within an area bounded by the marked bite line.
17. The system according to claim 16, further comprising an adhesive application system adapted to apply adhesive to the th shoe component using the generated tool trajectory.
18. The system of claim 16, wherein the light source is a laser and the projected light is a laser beam.
19. The system of claim 16, further comprising a vision system that makes visible the marked bite line, the vision system including the at least cameras.
20. The system according to claim 19, further comprising a movement mechanism that moves the vision system around the shoe component while the vision system records a plurality of images.
21. The system of claim 15, further comprising a tool configured to be guided by the generated tool trajectory, the tool coupled to a multi-axis robot.
22, , a method of generating a tool trajectory for processing a partially assembled article of footwear, the method comprising:
collecting boundary line data representing the location of a boundary line formed between the shoe component and the second shoe component when the shoe component and the second shoe component are assembled;
collecting three-dimensional contour data regarding at least part of a portion of the shoe component to be covered by the second shoe component when assembling the shoe component and the second shoe component;
combining said boundary line data and said three-dimensional contour data to generate a surface map of said portion of said shoe component to be covered by said second shoe component, and
generating a tool trajectory for processing said th shoe part, the generated tool trajectory being contained within an area bounded by said boundary line.
23. The method according to claim 22, further comprising applying adhesive to the th shoe component with an adhesive application system directed through the generated tool trajectory.
24, , a method of generating a tool trajectory for processing a partially assembled article of footwear, the method comprising:
collecting bite line data defining portions of an upper to be covered by a corresponding bottom unit when the article of footwear is assembled;
collecting three-dimensional contour data about at least a portion of the portion of the upper to be covered by the respective bottom unit when the article of footwear is assembled;
combining the bite line data and the three-dimensional profile data; and
generating the tool trajectory for processing the upper using the combined bite line data and three-dimensional contour data, the generated tool trajectory being contained within the portion of the upper to be covered by the respective bottom unit when the article of footwear is assembled.
25. The method according to claim 24, further comprising generating a surface map of the at least part of the portion of the upper to be covered by the respective bottom unit.
26. The method of claim 25, wherein the tool trajectory is generated to allow a production process to be applied within an area of the upper bounded by the bite line and represented by the surface map.
27. The method according to claim 26, wherein combining the bite line data and the three-dimensional contour data comprises interpolating and/or inferring supplemental three-dimensional contour data representing or more regions of the upper not captured by a three-dimensional scanning member.
28, , a method of processing a component of an article of footwear, the method comprising:
providing an upper;
providing a base unit;
placing the upper on a last, wherein the last applies a predetermined amount of force to hold the upper against the base unit;
contacting the base unit and the upper with a marking mechanism at a junction between the upper and the base unit; and
removing the upper from the base unit.
29. The method according to claim 28, wherein the marking mechanism is configured to apply a conditionally visible marking on the upper at a junction between the upper and the base unit using a conditionally visible marking agent applicable through a marking tip.
30. The method of claim 28 or 29, wherein the marking mechanism comprises a marking mechanism having of a fluorescent marking tip and an IR marking tip.
31, a treatment tool for treating an article of footwear, the treatment tool comprising a nozzle configured to spray adhesive onto a surface of a th surface area of a lasting upper along a tool trajectory, wherein the tool trajectory comprises information describing movement and control of the nozzle.
32. The processing tool according to claim 31, wherein the tool trajectory is configured to hold the nozzle at a distance and/or angle relative to the surface of the th surface area.
33. The processing tool according to claim 31 or 32, wherein the information of the tool trajectory comprises a nozzle angle substantially perpendicular to the surface of the th surface area.
34. The processing tool according to claim 31 or 32, wherein the information of the tool trajectory includes a relatively constant or varying nozzle distance from the surface of the upper within the surface area.
Technical Field
Aspects herein relate to automated production of articles of footwear. More particularly, aspects herein relate to the generation of tool paths for handling parts in the automated production of shoes.
Background
The inherent nature of the materials used in constructing articles of footwear and, more particularly, athletic footwear results in an optimal tool trajectory for performing the process on the footwear components or partially assembled footwear components varying from shoe to shoe.
Disclosure of Invention
More particularly, aspects herein relate to the generation of tool trajectories for applying adhesive to an upper for use in joining the upper to a corresponding base unit or sole assembly.
The upper may be lasted (lasted) with a predetermined amount of force and held against a corresponding base unit or, more likely, a representation (representation) of a corresponding base unit (it should be noted that, when processed, a representation of a corresponding base unit may often be utilized rather than the base unit itself, such that a single base unit representation may be utilized to process multiple uppers.) force may be applied to the lasted upper at or more points using or more mechanical means.
The second surface area defined by the bite line may correspond to a portion of the surface of the lasted upper that is not covered by the bottom unit representation when the lasted upper is held against the bottom unit representation with a predetermined amount of force.
The bite line marked according to the systems and methods herein may take various forms.A bite line may be marked by forming a marking on the lasted shoe upper while holding the lasted shoe upper against the corresponding base unit with a predetermined amount of force, for example, a pen, pencil, scribing tool that makes an indentation in the material of the shoe upper, or any other type of marking may be used to create such a perceptible bite line.
Another examples of creating a virtual bite line may utilize light sources that project across the junction between the lasted upper, the respective bottom unit representation, and the lasted upper and the respective bottom unit representation.
As another measurements representing the th surface area of the surface of the lasted upper to be processed by a subsequently generated tool trajectory, at least portions of the surface of the lasted upper may be scanned to generate profile data representing at least the th surface area in three dimensions, for example, after the lasted upper has been removed from the respective bottom unit representation, a light source may project across at least portions of the th surface area of the surface of the lasted upper, at least cameras may detect light reflected by the surface of the lasted upper from at least 7 portions of the th surface area, data representing the bite line may then be combined with the three dimensional surface data, and data for including, excluding or otherwise noting or ignoring the surface of the lasted upper either inside or outside the surface area when the tool trajectory is generated, for example, the projected three dimensional light may be compared with data corresponding to the intersection of the detection surface of the last line disposed on the upper by a camera surface of the virtual camera surface of the last surface, with data for detecting the reflection of the camera surface of the virtual camera surface of the last surface from the surface of the last surface, which may be processed by using at least one of the camera reflection of the virtual camera detection of the reflection of the virtual camera surface of the last surface, which may be processed by the camera, more detail, with the detection of the virtual camera surface of the virtual camera, when the virtual camera, which may be processed by using at least the virtual camera, for example, when the virtual camera, when the virtual.
Systems and methods according to this document may utilize a computing system executing computer-readable code to generate data representing a surface of a lasted upper and/or virtual bite line data from three-dimensional contour data provided by at least cameras detecting light reflected from a surface of a th surface area the same or different computing systems may execute computer-executable code to perform methods that generate tool trajectories based on a combination of the bite line data representing a boundary of the th surface area and the three-dimensional data representing a surface of the lasted upper within a th surface area different types of tools performing different types of processing on different types of shoes made of different types of materials may require different tool trajectories in examples the tools may include nozzles that apply glue sprays to the lasted upper for ultimately bonding the upper to a corresponding bottom unit.
In examples where a lasting upper is bonded to a corresponding base unit using a spray adhesive, the tool tracks may provide treatment to the perimeter of the th surface area to establish a secure bond proximate the edge of the base unit with less covering disposed in the interior of the th surface area where bonding is less critical.
The following items are also contemplated herein:
item (1) a system for generating a tool trajectory for processing a partially assembled article of footwear, the system comprising:
a bite line component that facilitates collection of bite line data relating to a location of a bite line defining an interface junction on an upper between the upper and a corresponding bottom unit when the article of footwear is assembled;
a three-dimensional scanning component that facilitates collection of three-dimensional contour data regarding at least a portion of portions of the upper to be covered by the respective base unit when the article of footwear is assembled, and
a computing system for generating the tool trajectory using the bite line data and the three-dimensional profile data.
Item (2): the system of item (1), further comprising an adhesive application system adapted to apply adhesive to the upper based on the generated tool trajectory.
Item (3): the system of item (1), wherein the bite line component is adapted to identify the bite line marked with a physical marking formed from a conditionally visible marking agent.
Item (4) the system of item (3), wherein the conditionally visible marking agent is of the marking agents that are reactive to the ultraviolet light spectrum and the marking agents that are reactive to the infrared light spectrum.
Item (5): the system of item (3), further comprising a vision system that renders the conditionally visible marking agent visible.
Item (6): the system of item (5), wherein the vision system comprises:
a light source projecting structured light across at least portions of the marked bite line at an angle that is not parallel to the marked bite line;
a th camera, the th camera recording a th plurality of images representing a plurality of points where the structured light intersects the marked bite line, and
a second camera that records a second plurality of images representing the plurality of points where the structured light intersects the marked bite line,
wherein the computing system processes the th plurality of images and the second plurality of images to generate the bite line data.
Item (7): the system of item (6), wherein the light source is a laser adapted to provide structured light that reflects from the upper as a straight line.
Item (8) the system of item (6), further comprising a movement mechanism that moves the vision system around the upper while the vision system records the th and second plurality of images.
Item (9) the system of item (8), wherein the movement mechanism rotates the vision system in a substantially circular manner around at least portions of the upper.
Item (10) the system of item (8), wherein the mobile mechanical device rotates the vision system in a substantially elliptical manner about at least portions of the upper, wherein the upper is positioned relative to at least foci of the ellipse through which the vision system rotates.
Item (11) the system of item (1), wherein the three-dimensional scanning means comprises at least cameras, the at least cameras recording a plurality of images representing light reflected from at least a portion of the portion of the upper to be covered by the respective bottom unit when the article of footwear is assembled.
Item (12): the system according to item (11), wherein the three-dimensional scanning means comprises:
a th camera, said th camera recording a th series of images representing light reflected from at least a portion of said portion of said upper to be covered by said respective base unit when said article of footwear is assembled, and
a second camera that records a second series of images representing light reflected from at least a portion of the portion of the upper to be covered by the respective bottom unit when the article of footwear is assembled,
wherein the computing system processes at least the th series of images to create x y z information for a portion of a surface of the upper, the x y z information usable to determine the three-dimensional contour data.
Item (13) a method of generating a tool trajectory for processing a partially assembled article of footwear, the method comprising:
collecting bite line data defining portions of an upper to be covered by a corresponding bottom unit when the article of footwear is assembled;
collecting three-dimensional contour data about at least a portion of the portion of the upper to be covered by the respective bottom unit when the article of footwear is assembled;
combining the bite line data and the three-dimensional profile data; and
generating a tool trajectory for processing the upper using the combined bite line data and three-dimensional contour data, the generated tool trajectory being contained within the portion of the upper to be covered by the respective bottom unit when the article of footwear is assembled.
Item (14): the method of item (13), wherein collecting the bite line data comprises:
maintaining the upper against the representation of the respective bottom unit with a predetermined amount of force such that the representation of the respective bottom unit covers the portion of the upper to be covered by the respective bottom unit when the article of footwear is assembled;
marking a boundary line between the upper and the representation of the respective bottom unit, the boundary line defining a th portion and a second portion of the upper, the th portion corresponding to the portion of the upper covered by the representation of the respective bottom unit, and
removing the upper from the representation of the respective bottom unit.
Item (15): the method of item (14), wherein marking the interface between the upper and the representation of the respective bottom unit comprises physically marking the interface with a conditionally visible marking agent.
Item (16) the method of item (15), wherein the conditionally visible marking agent is of the marking agents that are reactive to the ultraviolet light spectrum and the marking agents that are reactive to the infrared light spectrum.
Item (17): the method of item (14), wherein collecting the bite line data comprises:
projecting light at an angle that is not parallel to the marked boundary line across at least portions of the marked boundary line;
recording th plurality of images representing a plurality of points where the light intersects the marked boundary line;
recording a second plurality of images representing the plurality of points at which the light intersects the marked boundary line; and
combining the th plurality of images and the second plurality of images to generate the bite line data.
Item (18) the method of item (13), wherein collecting the three-dimensional contour data comprises recording at least series of images representing light reflected from the upper to create x y z information of portion of the upper, the x y z information usable to determine the three-dimensional contour data.
Item (19) a system for processing partially assembled components of an article of footwear, the system comprising:
a marking mechanism for marking a physical mark on an upper at a bite line that defines an interface between the upper and a corresponding base unit on the upper when the article of footwear is assembled;
a light source that projects light across at least portions of the marked bite line at an angle that is not parallel to the marked bite line;
an th camera, the th camera recording a th series of images representing a plurality of points at which the light intersects the marked bite line and representing light reflected from at least a portion of the portion of the upper to be covered by the respective bottom unit when the article of footwear is assembled;
a second camera that records a second series of images representing the plurality of points where the light intersects the marked bite line; and
a computing system that processes the th series of images and the second series of images to generate bite line data and three dimensional profile data and uses the bite line data and the three dimensional profile data to generate a tool trajectory for processing.
Item (20) the system of item (19), further comprising a retaining mechanism to retain the upper against a representation of the respective bottom unit with a predetermined amount of force such that the representation of the respective bottom unit covers the portion of the upper to be covered by the respective bottom unit when the article of footwear is assembled, the retaining mechanism to retain the upper while the marking mechanism marks a physical marking on the upper at the bite line.
Item (21): the system of item (19), further comprising an adhesive application system adapted to apply adhesive to the upper based on the generated tool trajectory.
Drawings
The invention is described in detail herein with reference to the accompanying drawings, wherein:
fig. 1 is a schematic diagram illustrating an example of a lasted upper and corresponding base unit, according to aspects herein;
fig. 2 is a schematic diagram illustrating an example of a bite line on a lasted upper, according to aspects herein;
FIG. 3 is a schematic diagram illustrating an example of scanning a surface of a lasted upper, according to aspects herein;
fig. 4 is a top view illustrating additional examples of scanning a surface of a lasted upper, in accordance with aspects herein;
fig. 5 is a top view illustrating additional examples of scanning a surface of a lasted upper, in accordance with aspects herein;
fig. 6A illustrates an example of a tool trajectory for processing a surface of a lasting upper, produced in accordance with aspects herein;
6B-6D illustrate examples of tool portions having varying positional and positional arrangements for a generated tool trajectory according to aspects herein.
Fig. 7 illustrates an example of creating a virtual bite line on a lasted upper in accordance with aspects herein.
FIG. 8 is a schematic diagram illustrating an exemplary system for generating a tool trajectory, in accordance with aspects herein;
FIG. 9 is a schematic diagram illustrating another exemplary systems for generating tool trajectories, in accordance with aspects herein;
FIG. 10 is a schematic diagram illustrating another exemplary systems for generating tool trajectories, in accordance with aspects herein;
FIG. 11 is a flow chart illustrating an exemplary method for treating a surface of an article of footwear according to aspects herein;
FIG. 12 is a flow chart illustrating an exemplary method for treating a surface of an article of footwear according to aspects herein;
FIG. 13 is a flow diagram illustrating an exemplary method for generating a tool trajectory according to aspects herein;
FIG. 14 is a depiction of a three-dimensional point cloud representation in combination with a three-dimensional digital bite line representation of a surface map (surface mapping) of a lasted upper in accordance with aspects hereof;
FIG. 15 is a graphical flow diagram illustrating an exemplary method for capturing a three-dimensional surface map of a lasted upper and for three-dimensional digital bite line representations for use in generating robotic tool trajectories according to aspects herein; and
fig. 16 is a cross-sectional view of an exemplary lasted upper as captured by an occlusal line scanning system and a three-dimensional scanning system, according to aspects herein.
Detailed Description
Aspects herein provide systems and methods for processing shoe components and generating tool trajectories for processing components in a shoe production process. In the examples described herein, the tool trajectory generated is used when joining an upper to a sole assembly or base unit. However, aspects herein may be used to generate other types of tool trajectories and to process other portions of an article of footwear. For example, aspects herein may be used to generate tool trajectories to polish, wash, brush, paint, or otherwise treat surfaces during the production of soft goods, such as shoes.
Although examples of uppers and sole units are presented in a simplified manner for purposes of illustration herein, in practice the uppers may include a large number of separate components that are typically formed of different types of materials, the members of the uppers may be joined at using various adhesives, stitches, and other types of joining members the sole units may typically include a sole assembly having multiple members.
Referring now to fig. 1, an exemplary system according to aspects herein is shown and generally designated 100. in the illustrated
In the example shown in FIG. 1, the
Since the lasted upper 110 and/or the corresponding
Referring now to fig. 2, the lasted upper 110 has been removed from the respective
Still referring to fig. 2, conditionally
For shoe designs, the bottom unit represented by
The shape of upper 110 at the junction between upper 110 and
Referring now to FIG. 3, an exemplary three-dimensional surface scan is shown with a
Still referring to fig. 3, at least cameras 380 (shown in fig. 3 as
In various aspects, each of the
It is contemplated that the
The
The
For example, the color of the laser beam may be set or adjusted based on the color of the shoe component-that is, some combination of laser beam color (e.g., wavelength) and shoe component color may allow the projected
In addition, the power level of the
For example, the data representation may be merely a mathematical expression, a mathematical model, series of coordinates, or other non-visual representation of data that is not necessarily graphically depicted by a computing device or other means of presenting a perceptible depiction of the data representation.
Referring now to FIG. 4, examples of scanning at least the
Still referring to fig. 4, the lasted upper 110 may be moved relative to the projected light 372, or alternatively it is also contemplated that the projected light 372 may be moved relative to the lasted upper 110 such that at least a substantial entirety of at least the
As shown in FIG. 4, a
Also depicted in fig. 4 is an
Referring now to fig. 5, another example is shown using a light source that projects light to scan the surface of at least the
As discussed with respect to fig. 4, it is contemplated that or more portions of the
Referring now to fig. 6A, a
The
Fig. 6B-6D illustrate additional examples of parameters that may be part of a tool trajectory generated according to aspects herein, for example, a tool may be
Referring now to fig. 7, an example of the generation of a virtual bite line is shown. Additional disclosure relating to the capture of digital bite lines is provided in concurrently filed U.S. application No. 14/084,359 entitled "conditioning visual bit lines for foorwear," which is incorporated by reference herein in its entirety. A predetermined amount of force may be used to hold lasting upper 110 against
light source 730 (e.g., a laser) projects light 735 such that portion 734 of light 735 projects at least portion across the surface of marked lasting upper 110 more specifically, at least portion 734 of light 735 from light source 730 may reflect from
In aspects herein, the wavelength of the light 735 emitted from the light source 730 is such that the conditionally
While at least light sources make the
As described more fully below, the intersection of reflected light 734 and
Referring now to fig. 8, a system for generating tool trajectories according to aspects herein is shown and generally designated as reference numeral 800. the system 800 includes a
The three-
The configuration shown in FIG. 8 of system 800 for handling shoe components is merely examples of configurations that system 800 may assume in FIG. 8, members of the system are moved to another by conveyor belt 840. however, the order of the members, particularly bite
Additionally, although not explicitly depicted, it is contemplated that or more of the components of the
Fig. 9 and 10 illustrate alternative system configurations that fall within the scope of aspects hereof, for example, the
The
Referring now to fig. 11, a
In
In step 1130, the bite line data and the three-dimensional profile data may be combined to generate a tool trajectory for further steps of processing of the upper, the tool trajectory may be generated based on the combined data the tool trajectory generated in step 1130 may ensure that surfaces outside the digital bite line are not processed and may be further steps to maintain the tool at a desired distance, orientation, or other condition relative to the surface.
In order to accomplish aspects, such as the method provided in FIG. 11, it is contemplated that a system for processing partially assembled components of an article of footwear includes a marking mechanism for marking physical markings on the upper at the bite line, in an exemplary aspect, the markings may be marked with a conditionally visible marking agent, the system may then utilize a light source that projects light that traverses at least a portion of the marked bite line at an angle that is not parallel to the marked bite line, in order to capture the intersection of the light and the markings, a camera may be used, a camera records a plurality of points representing the intersection of the light with the marked bite line and a series of images representing the reflection of at least portions of the light off the portion of the upper to be covered by the corresponding bottom unit when the shoe is assembled, in addition, to achieving depth information through stereo vision, it is contemplated that a second camera may also be used, the second camera records a second series of images representing the plurality of points where the light intersects the marked bite line, in addition, the three dimensional series of images may be generated using a visualization system (for example, a visualization system) that generates three dimensional visualization of the image data representing the coordinate data of the shoe surface.
Referring now to FIG. 12, there is shown an additional example of a
In
The tool trajectory may be generated by software based on Computer Aided Design (CAD) and Computer Aided Manufacturing (CAM) concepts that employ data from the three-dimensional profile data and the digital bite line data to determine appropriate aspects of the tool trajectory (e.g., position, velocity, angle, flow, etc.) for example, it is contemplated that the software provides information regarding constraints associated with a desired process (e.g., application of adhesive). In an exemplary aspect, the constraints may include desired coverage, applicator information, cycle time constraints, and other variables used in determining the appropriate tool trajectory.
Referring now to FIG. 13, a further
In
In
FIG. 14 is a depiction of a combined
FIG. 15 is a graphical flow diagram illustrating an
The three-dimensional representation of the bite line captured from the lasted upper may be stored as sets of spatial points that may be input into a vision system software package for final generation of a tool trajectory.
As provided herein, it is contemplated that or more cameras in combination with or more light sources may be used in conjunction to develop a three-dimensional identification of the surface of the lasted upper.
As provided herein, contemplated exemplary aspects allow the data captured in
Step 1510 combines data representing a digital bite line with data representing a three-dimensional surface map to form a more complete three-dimensional model of the surface area over which the tool will be swept for processing at step , such as applying adhesive.
As previously discussed, it is contemplated that the tool trajectory will allow the multi-axis robotic control tool to operate in multiple dimensions to process (e.g., apply adhesive) the portion of the lasted upper.
Step 1514 depicts performing the tool trajectory generated at step 1512, in this example, the tool trajectory allows for application of material (e.g., adhesive) to a lasting upper within a surface region bounded by a digital bite line.
Although
FIG. 16 is a
In this example, the
An
Although the three-
For example, the creation of a virtual bite line may occur at station using the th computing system, while the scanning of the surface of the lasted upper to collect three-dimensional contour data may occur at a second station, and may be controlled by the second computing system.
In addition, in examples, the corresponding bottom unit (or representation thereof) used to mark the bite line (whether numerical or containing perceptible indicia) may be different from the bottom unit that is ultimately bonded to a given upper.
In an example of a base unit that includes a compressible foam material (e.g., in a midsole), using less pressure when fitting the upper to the base unit to create a bite line may allow the bite line to easily encompass all zones that will ultimately be covered by the sole when the sole is bonded to the lasted shoe.
From the foregoing, it will be seen that this invention is best inventions adapted to attain all ends and objects hereinabove set forth together with other advantages which are obvious and which are inherent to the structure.
It will be understood that certain features and subcombinations are of utility and may be employed without reference to other features and subcombinations. This is contemplated and within the scope of the claims.
Since many possible embodiments may be made of the invention without departing from the scope thereof, it is to be understood that all matter herein set forth or shown in the accompanying drawings is to be interpreted as illustrative and not in a limiting sense.
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