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CN106920225A - Positioning detection method of toe lasting machine - Google Patents

Positioning detection method of toe lasting machine Download PDF

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Publication number
CN106920225A
CN106920225A CN201510988107.6A CN201510988107A CN106920225A CN 106920225 A CN106920225 A CN 106920225A CN 201510988107 A CN201510988107 A CN 201510988107A CN 106920225 A CN106920225 A CN 106920225A
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image
standard
detection method
vamp
those
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许千昱
杨育峰
洪崇舜
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Pou Chen Corp
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Pou Chen Corp
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    • GPHYSICS
    • G06COMPUTING; CALCULATING OR COUNTING
    • G06TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00Image analysis
    • G06T7/0002Inspection of images, e.g. flaw detection
    • G06T7/0004Industrial image inspection
    • G06T7/001Industrial image inspection using an image reference approach
    • GPHYSICS
    • G06COMPUTING; CALCULATING OR COUNTING
    • G06TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00Indexing scheme for image analysis or image enhancement
    • G06T2207/30Subject of image; Context of image processing
    • G06T2207/30108Industrial image inspection
    • G06T2207/30164Workpiece; Machine component

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  • Engineering & Computer Science (AREA)
  • Quality & Reliability (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Image Analysis (AREA)
  • Image Processing (AREA)

Abstract

The positioning detection method of the toe lasting machine comprises the following steps: firstly, collecting a first image and a second image from two opposite side edges of a vamp; then, processing and defining a plurality of reference points of the first image coordinate system and the second image coordinate system; then, selecting a standard image corresponding to the vamp, wherein the standard image comprises a plurality of standard characteristic points of the vamp, and each standard characteristic point has a standard coordinate; then, comparing and judging whether the reference points are matched with the standard characteristic points; finally, if the reference points are matched with the standard characteristic points, the coordinate of each reference point and a deviation value of each standard coordinate are found.

Description

前帮机的定位检测方法The positioning detection method of the front upper machine

技术领域technical field

本发明与自动化机械设备有关,特别是指一种前帮机的定位检测方法。The invention relates to automatic mechanical equipment, in particular to a positioning detection method for a front upper machine.

背景技术Background technique

近年来劳工工资不断攀升,制鞋业纷纷发展鞋业自动化制造设备,但是制鞋机大多数是主动式的控制,在于反馈式闭回路控制才是真正走向全自动化的模式。例如鞋面的帮机自动化机台,目前仍需要通过人眼检测与人员操作来调整鞋楦与鞋面位置,之后再摆放于前帮机台上作拉帮、结帮与涂胶的后续动作,所以需要一套反馈检测模式,提供操作人员或自动化机台进行调整三维位置。In recent years, labor wages have continued to rise, and the shoemaking industry has developed automatic manufacturing equipment for the shoe industry. However, most of the shoemaking machines are actively controlled, and the feedback closed-loop control is the real mode of full automation. For example, the upper machine automation machine for shoe upper still needs to adjust the position of shoe last and shoe upper through human eye inspection and human operation, and then put it on the front upper machine for the follow-up of pulling, knotting and gluing Action, so a set of feedback detection mode is needed to provide operators or automated machines to adjust the three-dimensional position.

传统操作人员操作前帮机的流程,请参阅图1所示,首先,执行步骤S91:将一鞋面穿套在鞋楦上,并托夹鞋楦,接着执行步骤S92:手指拉紧鞋面,并藉由肉眼观察而让鞋面放置于前帮机的一预定位置,然后,执行步骤S93:前帮机的计算机启动爪盘夹紧鞋面,接着,执行步骤S94:前帮机启动内撑台上升支撑固定鞋楦,而使鞋面被拉紧而完全贴抵于鞋楦表面,最后执行步骤S95:前帮机执行涂胶及粘合流程。Please refer to Figure 1 for the process of traditional operators operating the upper machine. First, perform step S91: put a shoe upper on the shoe last, and clamp the shoe last, and then perform step S92: tighten the shoe upper with your fingers , and allow the upper to be placed on a predetermined position of the upper machine by visual observation, then execute step S93: the computer of the upper machine starts the claw plate to clamp the upper, and then execute step S94: start the upper machine The supporting platform rises to support and fix the shoe last, so that the shoe upper is stretched and completely attached to the shoe last surface, and finally step S95 is performed: the front upper machine executes the gluing and bonding process.

但在内撑台上升支撑鞋楦时,操作人员仍会再次观察以确定鞋面是否仍固定在预定位置,但是肉眼判断标准亦因人而异,容易影响最终产品的质量。实际上,鞋面是否被确实固定在预定位置,往往需等到涂胶及粘合流程后,换言之,鞋产品的质量只能在完成时才能检查,且粘合后的鞋面是不可逆,因此最终导致鞋产品报废,或者提高后续挽救处理的困难度,进而影响到生产制造及效能。However, when the inner support platform 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 visual judgment standard also varies from person to person, which is likely to affect the quality of the final product. In fact, whether the shoe upper is actually fixed in the predetermined position often needs to wait until after the gluing and bonding process. Lead to the scrapping of shoe products, or increase the difficulty of subsequent rescue and treatment, thereby affecting manufacturing and performance.

因此,标准化地操作,且可有效让鞋面固定在预定位置已是本领域亟待解决的问题。Therefore, it is an urgent problem to be solved in this field to standardize the operation and effectively fix the shoe upper at the predetermined position.

发明内容Contents of the invention

有鉴于上述缺失,本发明的目的在于提供一种前帮机的定位检测方法,以使鞋面能被有效固定在预定位置,来提高生产效率,及减少报废品的产生。In view of the above shortcomings, the purpose of the present invention is to provide a positioning detection method for the upper machine, so that the upper can be effectively fixed at a predetermined position, so as to improve production efficiency and reduce the generation of scrap products.

为达成上述目的,本发明的前帮机的定位检测方法包括下列步骤:首先,自一鞋面的两相对侧边采集一第一影像及一第二影像;接着,处理及定义第一影像及第二影像坐标系的多个参考点;随后,选择对应鞋面的一标准影像,标准影像包括鞋面的多个标准特征点,每一标准特征点有一标准坐标;然后,比对及判断该些参考点与该些标准特征点是否匹配;最后,若该些参考点与该些标准特征点相匹配,则找出每一参考点的坐标与每一标准坐标的一偏差值。In order to achieve the above object, the positioning detection method of the front upper machine of the present invention includes the following steps: first, collect a first image and a second image from two opposite sides of a shoe upper; then, process and define the first image and A plurality of reference points in the second image coordinate system; then, select a standard image corresponding to the vamp, the standard image includes a plurality of standard feature points of the vamp, each standard feature point has a standard coordinate; then, compare and judge the Whether the reference points match the standard feature points; finally, if the reference points match the standard feature points, find out a deviation value between the coordinates of each reference point and each standard coordinate.

如此,本发明的前帮机的定位检测方法可提供偏差值供操作人员参考,或者让计算机依据偏差值执行智能判断,来提升前帮机的自动化生产流程,并减少不良品的产生。In this way, the positioning detection method of the front top machine of the present invention can provide deviation values for the operator's reference, or allow the computer to perform intelligent judgment based on the deviation values, so as to improve the automatic production process of the front top machine and reduce the generation of defective products.

有关本发明所提供的前帮机的定位检测方法的详细流程、特点、前帮机的组成或运作方式,将于后续的实施方式详细说明中予以描述。然而,在本发明领域中具有通常知识者应能了解,该等详细说明以及实施本发明所列举的特定实施例,仅用于说明本发明,并非用以限制本发明的权利要求范围。The detailed flow, features, composition or operation mode of the front top machine positioning detection method provided by the present invention will be described in the subsequent detailed description of the implementation. However, those skilled in the field of the present invention should understand that the detailed description and the specific embodiments listed for implementing the present invention are only for illustrating the present invention, and are not intended to limit the scope of claims of the present invention.

附图说明Description of drawings

图1是一般前帮机的操作流程图。Figure 1 is a flow chart of the operation of a general upper machine.

图2是本发明的前帮机的操作流程图。Fig. 2 is a flow chart of the operation of the upper machine of the present invention.

图3是本发明的前帮机的组成示意图。Fig. 3 is a schematic diagram of the composition of the upper machine of the present invention.

图4是标准影像的建立流程图。Fig. 4 is a flow chart of creating a standard image.

图5是前帮机应用本发明定位检测方法的流程图。Fig. 5 is a flow chart of the application of the positioning detection method of the present invention to the front lasting machine.

其中附图标记为:Wherein reference sign is:

30前帮机30 front upper machine

31运作机台 32计算机31 Operating machine 32 Computer

33第一取像装置 34第二取像装置33 The first imaging device 34 The second imaging device

35激光光源 351参考线35 laser light source 351 reference line

36显示器 40鞋楦36 display 40 shoe last

50鞋面 51参考点50 upper 51 reference point

10、S11-S15、S21-S24、S91-S95步骤10. S11-S15, S21-S24, S91-S95 steps

具体实施方式detailed description

以下,兹配合各图式列举对应的较佳实施例来对本发明的前帮机的定位检测方法的组成构件及达成功效来作说明。然各图式中前帮机的定位检测方法的构件、尺寸及外观仅用来说明本发明的技术特征,而非对本发明构成限制。Hereinafter, corresponding preferred embodiments are listed in conjunction with each figure to illustrate the constituent components and the achieved effects of the positioning detection method of the front machine of the present invention. However, the components, dimensions and appearance of the positioning detection method of the front upper machine in each drawing are only used to illustrate the technical characteristics of the present invention, rather than constituting a limit to the present invention.

如图2所示,该图是本发明的定位检测方法应用于前帮机的流程图,部分与现有技术的图1相同,所以相同之处于此不再赘述流程。本发明的定位检测方法10是于前帮机的内撑台上升固定鞋楦时进行,并在启动涂胶流程前确认鞋面的位置。若发现鞋面的位置放置不正确时,操作人员可重新操作前帮机及调整鞋面位置,来避免产品报废。As shown in Figure 2, this figure is a flow chart of the positioning detection method of the present invention applied to the front end machine, part of which is the same as Figure 1 of the prior art, so the process is not repeated here. The positioning detection method 10 of the present invention is carried out when the inner support platform of the upper machine is raised to fix the shoe last, and the position of the upper is confirmed before starting the gluing process. If the position of the upper is found to be incorrect, the operator can re-operate the upper machine and adjust the position of the upper to avoid scrapping the product.

如图3所示,该图是本发明的前帮机30的示意图。前帮机30包括一运作机台31、一计算机32、一第一取像装置33、一第二取像装置34、一激光光源35及一显示器36。运作机台31包括扫刀、爪盘、内撑台及涂胶模块等,但运作机台31的结构已为现有技术,因此不再赘述其结构、组成及运作。计算机32连接第一取像装置33、第二取像装置34、激光光源35及显示器36,且提供各种运算、储存及讯号处理。As shown in FIG. 3 , this figure is a schematic diagram of the front lasting machine 30 of the present invention. The front upper machine 30 includes an operating machine 31 , a computer 32 , a first imaging device 33 , a second imaging device 34 , a laser light source 35 and a display 36 . The operating machine 31 includes a sweeping knife, a claw plate, an inner support platform and a gluing module, etc., but the structure of the operating machine 31 is already in the prior art, so its structure, composition and operation will not be described again. The computer 32 is connected to the first imaging device 33 , the second imaging device 34 , the laser light source 35 and the display 36 , and provides various operations, storage and signal processing.

第一取像装置33及第二取像装置34分别拍摄套设在一鞋楦40上的一鞋面50。第一取像装置33位于鞋面50的右侧,且拍摄鞋面的一第一影像,第二取像装置34位于鞋面50的左侧,且拍摄鞋面50的一第二影像。其中,第一影像及第二影像分别拍摄鞋面50的局部(如虚线绘示),第一影像涵盖鞋面50的前下缘、前侧面、右下缘、右侧面及顶面,第二影像涵盖鞋面50的前下缘、前侧面、左下缘、左侧面及顶面,所以,鞋面50的前下缘、前侧面及顶面就属于第一及第二影像的图案重叠区域。The first image capturing device 33 and the second image capturing device 34 respectively photograph a shoe upper 50 sleeved on a shoe last 40 . The first imaging device 33 is located on the right side of the shoe upper 50 and takes a first image of the shoe upper. The second image taking device 34 is located on the left side of the shoe upper 50 and takes a second image of the shoe upper 50 . Wherein, the first image and the second image respectively capture a part of the shoe upper 50 (as shown by a dotted line), the first image covers the front lower edge, the front side, the right lower edge, the right side and the top surface of the shoe upper 50, and the second The two images cover the front lower edge, front side, left lower edge, left side and top surface of the vamp 50, so the front lower edge, front side and top surface of the vamp 50 belong to the pattern overlap of the first and second images area.

其中,第一影像及第二影像可藉由图像处理技术处理或重制成对应鞋面50的一实际影像或一立体影像,并可从实际影像或立体影像中定义多个参考点51。本发明将第一及第二影像建构为三维坐标系,并从中定义该些参考点51。该些参考点较佳系三维坐标,但不以此为限。更进一步说明,三维坐标系的参考点51可藉由软件演算程序来建构(X、Y及Z)坐标系达成。Wherein, the first image and the second image can be processed or reconstructed into an actual image or a stereoscopic image corresponding to the shoe upper 50 by image processing technology, and a plurality of reference points 51 can be defined from the actual image or the stereoscopic image. The present invention constructs the first and second images as a three-dimensional coordinate system, and defines the reference points 51 therefrom. These reference points are preferably three-dimensional coordinates, but not limited thereto. To further illustrate, the reference point 51 of the three-dimensional coordinate system can be achieved by constructing the (X, Y, and Z) coordinate system through a software calculation program.

虽然本实施例中是以取像装置以拍摄方式取得第一及第二影像,但实际上,也可以利用三维扫描仪对鞋面50进行扫描或选用大于两个取像装置的方式取得更多影像,因此,本发明的定位检测方法不以第一及第二两取像装置33、34为限,且不以拍摄方式为限。Although in this embodiment, the first and second images are captured by means of imaging devices, in fact, it is also possible to use a three-dimensional scanner to scan the shoe upper 50 or to obtain more than two imaging devices. Therefore, the positioning detection method of the present invention is not limited to the first and second image capturing devices 33 and 34, and is not limited to the shooting method.

此外,第一及第二影像涵盖范围是随着第一及第二取像装置33、34安装位置及角度而有差异,因此,第一及第二影像涵盖范围不以前述的鞋面50区域为限。In addition, the coverage of the first and second images varies with the installation positions and angles of the first and second imaging devices 33 and 34. Therefore, the coverage of the first and second images is not the same as the aforementioned shoe upper 50 area. limit.

激光光源35是朝鞋面50发射准直的激光,而使鞋面50上产生一参考线351,参考线351位于图案重叠处,以供前述的图像处理定义三维坐标系的参考原点以取得参考点51。实际上,于鞋面50上形成参考线351也可以采用其他方式,故不以激光光源35产生的激光为限,又建构虚空间的三维坐标系的参考原点也可以采用其他方式,而不以于鞋面上产生参考线351为限。The laser light source 35 emits collimated laser light toward the shoe upper 50, so that a reference line 351 is generated on the shoe upper 50, and the reference line 351 is located at the overlap of the patterns for the aforementioned image processing to define the reference origin of the three-dimensional coordinate system for reference. Point 51. In fact, other methods can also be used to form the reference line 351 on the shoe upper 50, so it is not limited to the laser light generated by the laser light source 35, and the reference origin of the three-dimensional coordinate system for constructing the virtual space can also be used in other ways, instead of using The reference line 351 is generated on the shoe surface.

如图4所示,标准影像的建立是先选定标准对照鞋(步骤S21),并藉由前述的拍摄或扫描方式取得影像(步骤S22),接着,于该标准影像的完整图案中选择该些标准特征点(步骤S23),该些标准特征点与鞋面的图案及纹路等有关,因此,标准特征点的定义是非固定的,而是配合各式鞋面上的图案及纹路等配置而定。最后由计算机储存标准影像的完整图案及该些标准特征点(步骤S24)。换言之,计算机中可储存由各种不同款式、尺寸及配置的鞋面对应产生的标准影像,以供后续生产作业使用。As shown in Figure 4, the establishment of the standard image is to first select the standard comparison shoe (step S21), and obtain the image by the aforementioned shooting or scanning method (step S22), and then select the shoe in the complete pattern of the standard image Some standard feature points (step S23), these standard feature points are related to the patterns and textures of the vamp, etc. Therefore, the definition of the standard feature points is not fixed, but is matched with the configurations such as patterns and textures on the vamp. Certainly. Finally, the complete pattern of the standard image and the standard feature points are stored by the computer (step S24). In other words, the computer can store standard images corresponding to various styles, sizes and configurations of shoe uppers for use in subsequent production operations.

其中,步骤S23中选择标准特征点可由计算机来定义或者由操作人员手动定义,无论采用何种方式选择标准特征点,标准特征点都与鞋面的图案及配置有关。图4标准影像的步骤可应用前帮机来建立或者由其他设备建立,因此,标准影像的建立不以前帮机为限。Wherein, the selection of standard feature points in step S23 can be defined by a computer or manually by an operator. No matter which method is used to select the standard feature points, the standard feature points are related to the pattern and configuration of the shoe upper. The steps of the standard image in Fig. 4 can be established by applying the front machine or by other equipment, therefore, the establishment of the standard image is not limited to the front machine.

以上说明了本发明的前帮机的组成及配置,并说明对应鞋面的标准影像建立,随后,说明前帮机应用本发明的定位检测方法来提高生产效率的步骤流程。The composition and configuration of the upper machine of the present invention are described above, and the establishment of a standard image corresponding to the shoe upper is explained. Then, the procedure for improving production efficiency by applying the positioning detection method of the present invention to the upper machine is explained.

如图5所示,本发明的定位检测方法是前帮机的计算机(控制器)执行,且包括下列步骤:首先,执行步骤S11:自鞋面的两相对侧边采集第一及第二影像,接着,执行步骤S12:处理及定义第一及第二影像的坐标系的多个参考点,随后,执行步骤S13:选择对应鞋面的一标准影像,标准影像包括鞋面的多个标准特征点,每一标准特征点有一标准坐标;然后,执行步骤S14:比对及判断该些参考点及该些标准特征点是否匹配?若该些参考点及该些标准特征点匹配,则执行步骤S15:找出每一参考点的坐标与每一标准坐标的偏差值,并偏差值是否符合一预设阀值,若偏差值符合预设阀值时,执行步骤S95:涂胶及粘合的流程。As shown in Figure 5, the positioning detection method of the present invention is executed by the computer (controller) of the upper machine, and includes the following steps: first, execute step S11: collect the first and second images from two opposite sides of the vamp , then, execute step S12: process and define a plurality of reference points of the coordinate system of the first and second images, then execute step S13: select a standard image corresponding to the upper, the standard image includes a plurality of standard features of the upper point, each standard feature point has a standard coordinate; then, execute step S14: compare and judge whether these reference points match these standard feature points? If these reference points and these standard feature points match, then execute step S15: find out the deviation value between the coordinates of each reference point and each standard coordinate, and whether the deviation value meets a preset threshold value, if the deviation value meets When the threshold value is preset, step S95: the flow of gluing and bonding is performed.

如此,前帮机可藉由本发明的定位检测方法有效标准化鞋面的粘合固定,并可提高生产效率及降低不良品的发生。In this way, the upper machine can effectively standardize the bonding and fixing of the shoe upper by the positioning detection method of the present invention, and can improve production efficiency and reduce the occurrence of defective products.

步骤S12中的处理及定义是将二维坐标系的第一影像及第二影像转换为三维坐标系的该些参考点。步骤S13从计算机中选择对应鞋面的标准影像。The processing and definition in step S12 is to transform the first image and the second image in the two-dimensional coordinate system into the reference points in the three-dimensional coordinate system. Step S13 selects a standard image corresponding to the shoe upper from the computer.

若步骤S14判断该些参考点与该些标准特征点不匹配,则回至步骤S92,即重新调整鞋面位置,或需更换对的鞋面,且计算机反馈一提醒信息,表示,目前套设在鞋楦的鞋面可能是错的图案,而需更换,因此,操作人员就可以就可更换对的鞋面。If step S14 judges that these reference points do not match these standard feature points, then return to step S92, that is, to readjust the position of the vamp, or to replace the correct vamp, and the computer feeds back a reminder message, indicating that the current set The shoe upper on the shoe tree may have the wrong pattern and needs to be replaced, so the operator can just replace the right shoe upper.

此外,若步骤S15判断偏差值不符合预设阀值时,反馈提醒信息,如此,操作人员也可以知道鞋面的位置仍有误,而需要进行调整。反馈信息是由计算机依据实际判断产生并显示在显示器。提醒信息可以是声音、光线或各种足以让操作人员知悉的方式。In addition, if step S15 determines that the deviation value does not meet the preset threshold value, a reminder message is fed back, so that the operator can also know that the position of the vamp is still wrong and needs to be adjusted. The feedback information is generated by the computer based on actual judgment and displayed on the monitor. The reminder information can be sound, light or various ways enough to let the operator know.

其中,预设阀值是随不同产品而有不同的规范,因此,预定阀值不是固定值,而需随不同产品规范来调整。是以,本发明所建构的应用于前帮机的的三维定位检测方式,可使前帮机的内撑台上升支撑固定鞋楦,而使鞋面被拉紧而完全贴抵于鞋楦表面的过程中精准定位,减少因人工判断标准不同,所产生的产品质量问题。Wherein, the preset threshold value has different specifications according to different products, therefore, the predetermined threshold value is not a fixed value, but needs to be adjusted according to different product specifications. Therefore, the three-dimensional positioning detection method applied to the upper machine constructed by the present invention can make the inner support platform of the upper machine rise to support and fix the shoe last, so that the upper is pulled tightly and completely attached to the surface of the last Accurate positioning in the process, reducing product quality problems caused by different standards of manual judgment.

最后,再次强调,本发明于前揭实施例中所揭露的构成元件,仅为举例说明,并非用来限制本案的范围,其他等效元件的替代或变化,亦应为本案的权利要求范围所涵盖。Finally, it is emphasized again that the constituent elements disclosed in the foregoing embodiments of the present invention are only for illustration and are not intended to limit the scope of this case. The substitution or change of other equivalent elements should also be within the scope of the claims of this case. cover.

Claims (8)

1. a kind of position finding and detection method of lasting pincers, it is characterised in that comprise the following steps:
One first image and one second image are gathered from the two opposite sides side of a vamp;
Process and define first image and multiple reference points of second coordinate systems in image;
Select to should vamp a standard video, multiple standard feature points of the standard video including the vamp, each standard Characteristic point has a standard coordinate;
Compare and judge whether those reference points match with those standard feature points;And
If those reference points match with those standard feature points, the coordinate and each standard coordinate of each reference point are found out One deviation.
2. the position finding and detection method of lasting pincers as claimed in claim 1, it is characterised in that if those reference points and those standards Characteristic point is mismatched, then feed back a prompting message.
3. the position finding and detection method of lasting pincers as claimed in claim 1, it is characterised in that also comprise the following steps:
If the deviation does not meet a pre-set threshold value, a prompting message is fed back;And
If the deviation meets the pre-set threshold value, a gluing and bonding flow are performed.
4. the position finding and detection method of lasting pincers as claimed in claim 1, it is characterised in that gather one first image of the vamp And one second image shot with one first image-taking device and one second image-taking device respectively.
5. the position finding and detection method of the lasting pincers as described in claim 1 or 4, it is characterised in that those standard coordinates and those Reference frame three-dimensional coordinate.
6. the position finding and detection method of lasting pincers as claimed in claim 1, it is characterised in that also include, first image and should Second image has partial pattern to overlap, and those reference points are distributed at pattern overlapping.
7. the position finding and detection method of lasting pincers as claimed in claim 6, it is characterised in that also include, in being produced on the vamp One reference line as those reference points reference origin.
8. the position finding and detection method of lasting pincers as claimed in claim 7, it is characterised in that the reference line is laser.
CN201510988107.6A 2015-12-24 2015-12-24 Positioning detection method of toe lasting machine Pending CN106920225A (en)

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Application publication date: 20170704