Shoe processing support device, shoe processing support method, and computer program

Abstract

The present invention provides a technique in which a shoe constituent part is not marked by a worker in the manufacture of a shoe. A shoe processing support device supports processing of a shoe including a first shoe constituent part and a second shoe constituent part to be joined to the first shoe constituent part. The shoe processing support device includes a dimension determination section that determines dimension data related to a joining surface of the first shoe constituent part to be joined to the second shoe constituent part, based on three-dimensional shape data obtained from the first shoe constituent part, and a boundary determination section that determines a boundary of a joining surface of the second shoe constituent part to be joined to the first shoe constituent part, in the three-dimensional shape data of the second shoe constituent part, by fitting the determined dimension data to the three-dimensional shape data obtained from the second shoe constituent part.

Description

Technical Field

[0001] This invention relates to a shoe processing support device, a shoe processing support method, and a computer program. Background Technology

[0002] In shoe manufacturing, there is a process of joining the sole and the upper. In this process, the worker draws etched lines on the upper to indicate the position where it will fit with the sole, polishes the area enclosed by the etched lines, applies adhesive, and then joins the upper and the sole together.

[0003] [Existing Technical Documents]

[0004] [Patent Literature]

[0005] [Patent Document 1] U.S. Patent Application Publication No. 2015 / 0135447 Summary of the Invention

[0006] [The problem the invention aims to solve]

[0007] While automation in shoe manufacturing is constantly evolving (e.g., see Patent Document 1), the methods differ, but all involve determining the extent of polishing or adhesive application by identifying the scribe lines drawn on the upper. Therefore, operators are required to draw these scribe lines. The scribe work requires skill and is time-consuming, as it takes into account individual differences in the upper or sole.

[0008] This problem is not limited to the joining of the sole and the upper; it can also occur when joining other shoe components.

[0009] The present invention was made in view of this situation, and one of the exemplary objects of a certain embodiment is to provide a technique in shoe manufacturing that eliminates the need for workers to scribble on shoe components.

[0010] [Technical means to solve the problem]

[0011] A shoe manufacturing support device according to one embodiment of the present invention supports the manufacturing of a shoe including a first shoe component and a second shoe component that engages with the first shoe component. The shoe manufacturing support device includes: a size determination unit that determines size data related to the engagement surface of the first shoe component that should engage with the second shoe component based on three-dimensional shape data obtained from the first shoe component; and a boundary determination unit that determines the boundary of the engagement surface that should engage with the first shoe component in the three-dimensional shape data of the second shoe component by applying the determined size data to the three-dimensional shape data obtained from the second shoe component.

[0012] Another embodiment of the present invention is a shoe manufacturing support method. The method supports the manufacturing of a shoe comprising a first shoe component and a second shoe component that engages with the first shoe component. The shoe manufacturing support method includes: a size data determination process, which determines size data related to a mating surface of the first shoe component that should engage with the second shoe component, based on three-dimensional shape data obtained from the first shoe component; and a boundary determination process, which determines the boundary of the mating surface in the three-dimensional shape data of the second shoe component that should engage with the first shoe component by applying the determined size data to the three-dimensional shape data obtained from the second shoe component.

[0013] Furthermore, any combination of the above-mentioned components, or any transformation of the present invention into methods, apparatus, systems, computer programs, data structures, recording media, etc., are also valid forms of the present invention.

[0014] [The effects of the invention]

[0015] This invention provides a technology that eliminates the need for workers to carve the components of shoes during the manufacturing process. Attached Figure Description

[0016] Figure 1 This is a schematic diagram showing the overall structure of the shoe processing system according to the implementation method.

[0017] Figure 2 It means Figure 1 A block diagram of the functional structure of the shoe processing support device.

[0018] Figure 3 (a)~ Figure 3 (b) is a diagram illustrating the method for determining the cup height of the heel portion of the sole based on the three-dimensional shape data of the sole.

[0019] Figure 4 This diagram illustrates the method for determining the cup height on the inner side and the cup height on the outer side at each position along multiple foot length directions on the three-dimensional shape data of the sole.

[0020] Figure 5 of (a), Figure 5 (b) is a diagram illustrating the method for determining the distance along the foot width direction on the inner side and the distance along the foot width direction on the outer side of the sole at each of the multiple foot length directions on the three-dimensional shape data of the sole.

[0021] Figure 6 (a)~ Figure 6 Figure (c) illustrates the method for determining the boundary points of the heel area of ​​the shoe upper based on the three-dimensional shape data of the shoe upper.

[0022] Figure 7 of (a), Figure 7 (b) is a diagram illustrating the method for determining the boundary points on the inner and outer sides of the shoe upper at each of the multiple foot-length positions.

[0023] Figure 8 (a)~ Figure 8 (c) is a diagram illustrating the method for determining the center point.

[0024] Figure 9 This diagram illustrates the first method for determining the movement path.

[0025] [Explanation of Symbols]

[0026] 1: Shoe processing support system

[0027] 6: Shoe sole

[0028] 6a: Joint surface

[0029] 6b: Cup

[0030] 6c: Rolled-up portion

[0031] 8: Shoe upper

[0032] 8a: Joint surface (bottom surface)

[0033] 10: The First Camera

[0034] 12: Second Camera

[0035] 14: Shoe processing support device

[0036] 16: Polishing equipment

[0037] 18: Coating device

[0038] 20: Polishing Department

[0039] 22, 26: Mobile mechanisms

[0040] 24: Coating Department

[0041] 30: Image Acquisition Department

[0042] 32: Three-dimensional shape data generation department

[0043] 34: Dimensioning Section

[0044] 36: Boundary Determination Section

[0045] 38: Polishing Process Control Department

[0046] 40: Coating Control Department

[0047] 42: Data Storage Department

[0048] 50: Three-dimensional shape data storage department

[0049] 52: Size Data Storage Department

[0050] 54: Boundary Data Storage Department

[0051] 60: Boundary

[0052] 62: Circular line

[0053] 64: Serrated lines

[0054] B heel B inner_i B outer_i Boundary point

[0055] Cr i Cs1~Cs n Cs i Cu1~Cu m Center point

[0056] E inner_i E outer_i E heel Edge point

[0057] H heel H inner_i H outer_i H outer_i' Cup height

[0058] L inner_i L outer_i Distance along the width of the foot

[0059] P inner_i P outer_i Ps heel Pu heel :starting point

[0060] Q inner_i' Q outer_i' :point

[0061] Xs, Xu: Local coordinate system (axes, coordinates)

[0062] Xs1, Xs a Xu1, Xu b Xu m :coordinate

[0063] Xs i Xs i' Xs n Xs n-k Xu iPosition along the length of the foot

[0064] Ys, Yu: axis

[0065] Zs, Zu: Axis (coordinates) Detailed Implementation

[0066] Hereinafter, the present invention will be described based on preferred embodiments and with reference to the accompanying drawings. In the embodiments and modifications, the same or equivalent constituent parts are labeled with the same symbols, and repeated descriptions are appropriately omitted.

[0067] The following explanation uses the case where the first shoe component is the sole and the second shoe component is the upper as an example. However, the first and second shoe components can be any shoe components that connect with each other; they are not limited to the sole and upper. For example, the first shoe component can be the outsole and the second shoe component can be the midsole, or the first shoe component can be the sole and the second shoe component can be the truss. In this specification, the terms "inner foot side" and "outer foot side" are sometimes used to indicate direction. The inner foot side refers to the inside side in the width direction of the foot, that is, the side of the big toe (first toe), and the outer foot side refers to the opposite side of the inner foot side along the width direction of the foot.

[0068] Figure 1 This is a schematic diagram showing the overall structure of the shoe processing support system 1 according to the embodiment. The shoe processing support system 1 is a system that supports the processing of shoes including soles 6 and uppers 8. The shoe processing support system 1 includes: a first camera 10, a second camera 12, a shoe processing support device 14, a polishing device 16, and a coating device 18.

[0069] The sole 6 is placed on a mounting platform (not shown) by the operator. Specifically, the sole 6 is placed on the mounting platform with the mating surface 6a, which is to be joined to the upper 8, facing upwards. A first camera 10 photographs the sole 6 placed on the mounting platform.

[0070] The upper 8 is installed by the operator on a holding platform (not shown). Specifically, the upper is held with the mating surface (bottom surface) 8a, which is to be joined to the sole 6, facing upwards, i.e., upside down. A second camera 12 photographs the upper 8 held on the holding platform.

[0071] For example, the first camera 10 and the second camera 12 take pictures of the sole 6 and the upper 8 from multiple viewpoints. Alternatively, a scanner such as a 3D scanner can be used instead of the first camera 10 and the second camera 12.

[0072] The shoe processing support device 14 generates three-dimensional shape data of the sole 6 based on the image of the sole 6 captured by the first camera 10 (hereinafter referred to as the sole image), and generates three-dimensional shape data of the upper 8 based on the image of the upper 8 captured by the second camera 12 (hereinafter referred to as the upper image). More specifically, as described later, the shoe processing support device 14 determines the boundary of the joint surface 8a to be joined to the sole on the three-dimensional shape data of the upper based on the three-dimensional shape data of the sole 6 and the upper 8.

[0073] The polishing apparatus 16 performs polishing on the shoe upper based on control signals from the shoe processing support device 14. "Polishing" refers to the process of roughening the surface by grinding. The polishing apparatus 16 includes a polishing unit 20 and a moving mechanism 22. The polishing unit 20 is constructed including abrasive components such as a grinding wheel or brush, and performs polishing on the shoe upper. The moving mechanism 22 is a mechanism that moves the polishing unit 20. The moving mechanism 22 can be a multi-joint (multi-axis) robotic arm. The moving mechanism 22 moves the polishing unit 20 according to a movement path determined by the shoe processing support device 14 based on the boundary. As a result, the area surface inside the boundary, i.e., the mating surface 8a, is polished (i.e., the mating surface 8a becomes rough), making it easier for the adhesive to adhere to the mating surface 8a.

[0074] The coating apparatus 18 applies adhesive to the shoe upper based on control signals from the shoe processing support device 14. The coating apparatus 18 includes a coating section 24 and a moving mechanism 26. The coating section 24 sprays adhesive from a nozzle located at its front end. The moving mechanism 26 is a mechanism that moves the coating section 24. The moving mechanism 26 may also be a multi-joint (multi-axis) robotic arm. The moving mechanism 26 moves the coating section 24 according to a movement path determined by the shoe processing support device 14 based on a boundary. As a result, adhesive is applied to the inner surface of the boundary, specifically the polished surface, i.e., the mating surface 8a. Through manual operation by the operator, the sole 6 is joined to the shoe upper 8, on which adhesive has been applied to the mating surface 8a.

[0075] As a variation, the shoe processing support system 1 may also be designed to exclude the polishing device 16. For example, if the upper 8 is formed of a material that is easily bonded by adhesives, polishing of the upper 8 is not required, so the shoe processing support system 1 may also exclude the polishing device 16.

[0076] In addition, in the example described, the shoe processing support device 14 directly controls the polishing device 16 and the coating device 18, but a programmable logic controller (PLC) can also be installed separately from the shoe processing support device 14 to control them.

[0077] In addition, the moving mechanism 22 of the polishing processing device 16 can also determine the moving path of the polishing processing unit 20 based on the boundary determined by the shoe processing support device 14.

[0078] Similarly, the moving mechanism 26 of the coating apparatus 18 can also determine the moving path of the coating section 24 based on the boundary determined by the shoe processing support device 14.

[0079] The above describes the overall structure of the shoe processing support system 1. Next, the shoe processing support device 14 will be described in detail.

[0080] Figure 2 This is a block diagram illustrating the functional structure of the shoe processing support device 14. The various blocks shown here can be implemented in hardware as components or mechanical devices, such as a computer's central processing unit (CPU), and in software as computer programs, but this description focuses on functional blocks implemented through their collaboration. Therefore, those skilled in the art who have access to this specification will understand that these functional blocks can be implemented in various forms by a combination of hardware and software.

[0081] The shoe processing support device includes: an image acquisition unit 30, a three-dimensional shape data generation unit 32, a size determination unit 34, a boundary determination unit 36, a polishing processing control unit 38, a coating control unit 40, and a data storage unit 42. The data storage unit 42 includes: a three-dimensional shape data storage unit 50, a size data storage unit 52, and a boundary data storage unit 54.

[0082] The image acquisition unit 30 acquires an image of the sole from the first camera 10. Additionally, the image acquisition unit 30 acquires an image of the upper from the second camera 12.

[0083] The 3D shape data generation unit 32 generates 3D shape data representing the 3D shape of the sole based on the sole image. Additionally, the 3D shape data generation unit 32 generates 3D shape data representing the 3D shape of the upper based on the upper image. Here, the 3D shape data is set as point group data, but it is not limited to this; for example, it could also be mesh data. The structure of the 3D shape data generation unit 32 is not particularly limited, as long as it is constructed using known or future available technologies. The 3D shape data generation unit 32 stores the generated 3D shape data of the sole and upper in a corresponding manner in the 3D shape data storage unit 50.

[0084] The sizing unit 34 determines sizing data related to the mating surface of the sole based on the three-dimensional shape data of the sole. The sizing unit 34 stores the determined sizing data in the sizing data storage unit 52. The sizing data includes the "cup height" and the "foot width direction distance along the surface" for the inner and outer sides. The "cup height" is the height H of the annular ridge (hereinafter referred to as cup 6b) formed along the periphery of the sole (see description below). Figure 3 of (a), Figure 3 (b) Figure 4 "Foot width direction surface distance" refers to the surface distance L along the joint surface in the foot width direction from the center point C to the edge point E of cup 6b at each of the multiple foot length direction positions of the sole (refer to...). Figure 5 of (a), Figure 5 (b)

[0085] The method for determining the "cup height" and the "distance along the surface in the foot width direction" on the inner and outer sides of the foot is explained. Furthermore, the dimensional determination unit 34 applies a local coordinate system (Xs, Ys, Zs) to the three-dimensional shape data of the sole (see reference). Figure 3 (a)~ Figure 5 (b)). The Xs axis extends along the length of the foot, the Ys axis extends along the width of the foot, and the Zs axis extends along the vertical direction.

[0086] Figure 3 of (a), Figure 3 (b) refers to the cup height H at the heel of the sole, based on the three-dimensional shape data of the sole. heel A diagram illustrating the method for determining [the method / method]. For example... Figure 3 As shown in (a), multiple (n in this case) foot length direction positions Xs are determined. i The center point Cs at each position of (i = 1, 2, 3, ..., n) i Furthermore, Xs1 represents the Xs coordinate of the heel side end of the shoe sole, and Xs... n Let Xs be the coordinate of the toe-side end of the shoe sole. Figure 3 In (b), only the length-direction position Xs of the heel area is displayed. i The center point Cs i (Subscripts omitted).

[0087] Center point Cs i (i = 1, 2, 3, ..., n) represents the foot length position Xs as seen when observing the joint surface of the sole along the Zs axis. i The point Cs is the exact center point among multiple points along the width of the foot, counted from one end to the other. Alternatively, the center point Cs can be determined by examining only the perimeter of the heel along the length of the foot. i .

[0088] As a variation, regarding the center point Cs i (i = 1, 2, 3, ..., n), or the following point, i.e., the position of the foot along the length direction Xs as seen when observing the joint surface of the sole in the Zs axis direction. i From the multiple points at the inner foot of the cup, point E is determined as described later. inner_i and the edge point E of the cup on the outer foot side outer_i (Refer to Figure 4 When one of them counts towards the other, the point located exactly in the middle is determined as the center point Cs. i .

[0089] like Figure 3 As shown in (b), the starting point Ps of the cup at the heel of the shoe sole is determined. heel Starting point Ps heel From center point Cs1 to center point Cs n The decision is made in the middle. There are no specific limitations, but for example in Cs i+1 Cs i Vector (from center point Cs) i+1 Towards the center point Cs i The acute angle formed by the vector ( ) and the Xs-Ys plane is less than the first threshold angle and Cs i Cs i-1 Vector (from center point Cs) i Towards the center point Cs i-1 If the acute angle between the vector and the Xs-Ys plane is greater than or equal to the first threshold angle, the center point Cs can also be used. i The decision was made to use Ps as the starting point. heel .

[0090] In addition, such as Figure 3 As shown in (b), the edge point E of the cup at the heel of the sole is determined. heel Edge point E heel It is determined from the center point Cs1 to the center point Csn. There is no particular limitation, but for example, in Cs... i+1 Cs i Vector (from center point Cs) i+1 Towards the center point Cs i The acute angle formed by the vector ( ) and the Xs-Ys plane is above the second threshold angle and Cs i Cs i-1 Vector (from center point Cs) i Towards the center point Cs i-1 If the acute angle between the vector and the Xs-Ys plane is less than the second threshold angle, the center point Cs can also be used. i The decision is made for edge point E. heel .

[0091] like Figure 3 As shown in (b), the starting point Ps of the cup at the heel is... heel With edge point E heel The difference in Zs coordinates is determined as the cup height H of the heel. heel .

[0092] Figure 4 It refers to the three-dimensional shape data of the shoe sole, specifically the multiple foot-length orientation positions Xs of the shoe sole. i The cup height H on the inner side of each position (i = a, a+1, a+2, ..., n) inner_i and the cup height H on the outer side outer_i The diagram illustrates the method for determining Xs. a In order to be in Figure 3 The edge point E of the cup at the heel determined in (b) heel The Xs coordinates of the location.

[0093] First, determine the starting point P of the cup on the inner side. inner_i Starting point P inner_i From the position Xs in the length direction of the foot i The starting point P is determined by multiple points arranged along the joint surface in the width direction of the foot. inner_i It can also be achieved by using the cup at the starting point Ps of the heel. heel The same method was used to determine this.

[0094] Next, determine the edge point E of the cup on the inner foot side. inner_i Edge point E inner_i From the position Xs in the length direction of the foot i It is determined by multiple points arranged along the joint surface in the leg width direction. For example, edge point E inner_i Alternatively, it can be achieved by touching the edge of the cup at the heel. heel The same method was used to determine this.

[0095] The starting point P of the cup on the inner side of the foot. inner_i With edge point E inner_i The difference between the Zs coordinates is determined as the cup height H on the inner foot side. inner_i .

[0096] For the outer leg side, the same principle applies as for the inner leg side, determining the starting point P of the cup. outer_i Point E on the edge of the cup outer_i The difference between their Zs coordinates is determined as the cup height H on the outer side. outer_i .

[0097] Figure 5 of (a), Figure 5 (b) refers to the three-dimensional shape data of the sole, specifically the multiple foot-length positions Xs of the sole. iThe distance L along the plane on the inner side of the foot at each position (i = a, a+1, a+2, ..., n) inner_i and the distance L along the width of the foot on the outer side outer_i The diagram illustrates the method for determining [the method].

[0098] like Figure 5 As shown in (a), at multiple leg length positions Xs i For each position (i = a, a+1, a+2, ..., n), determine the center point Cs. i (i=a, a+1, a+2,···,n). Xs a In order to be in Figure 3 The edge point E of the cup at the heel determined in (b) heel The Xs coordinates of the location. The center point Cs. i The method of determination is as follows: Figure 3 As explained in (a).

[0099] In addition, at position Xs in the length direction of the foot n At the point where the toe curls up (6c) is located, the center point Cs is determined. n The tendency to be located in a position significantly deviating from the actual position. Therefore, the position Xs along the length of the foot can also be considered. n Among multiple points, for example, the y-coordinate and the X-coordinate. n As for Xs, which is located several points closer to the heel side n-k The center point Cs n-k The same points are determined as the center point Cs n .

[0100] Additionally, at multiple foot length positions Xs i At each position (i = a, a+1, a+2, ..., n), determine the edge point E of the cup on the inner foot side. inner_i Edge point E inner_i Simply determine the point by using the same method as the edge of the cup at the heel.

[0101] Additionally, at multiple foot length positions Xs i At each position (i = a, a+1, a+2, ..., n), determine the edge point E of the cup on the outer side. outer_i Edge point E outer_i Simply determine the point by using the same method as the edge of the cup at the heel.

[0102] like Figure 5 As shown in (b), at multiple leg length positions Xs i For each position (i = a, a+1, a+2, ..., n), determine the path from the center point Cs. iPoint E on the inner side of the foot inner_i The distance along the joint surface in the foot width direction, i.e., the distance L along the surface in the foot width direction. inner_i The distance L along the surface in the foot width direction. inner_i As long as it is based on the center point Cs i Point E on the inner side of the foot inner_i Existing foot length direction position Xs i Multiple points can be determined using well-known techniques.

[0103] Similarly, as Figure 5 As shown in (b), at multiple leg length positions Xs i For each position (i = a, a+1, a+2, ..., n), determine the path from the center point Cs. i Point E on the outer edge of the foot outer_i The distance along the joint surface in the foot width direction, i.e., the distance L along the surface in the foot width direction. outer_i The distance L along the surface in the foot width direction. outer_i As long as it is based on the center point Cs i Point E on the outer edge of the foot outer_i Existing foot length direction position x i Multiple points can be determined using well-known techniques.

[0104] Return to Figure 2 The boundary determination unit 36 ​​determines the boundary of the mating surface that should be joined with the sole from the three-dimensional shape data of the upper. Specifically, the boundary determination unit 36 ​​defines the boundary as a set of multiple boundary points (i.e., a group of boundary points). The boundary determination unit 36 ​​stores the data of the determined boundary, i.e., the multiple boundary points, in the boundary data storage unit 54.

[0105] The boundary determination unit 36 ​​determines the boundary of the joint surface on the three-dimensional shape data of the upper by applying the size data related to the joint surface of the sole stored in the size data storage unit 52 to the three-dimensional shape data of the upper.

[0106] In detail, the boundary defining part 36 determines the height H of the cup at the heel of the sole by... heel The cup (raised wall) for the heel portion of the shoe upper is overlaid onto the three-dimensional shape data of the shoe upper to determine the boundary points of the heel portion in the three-dimensional shape data of the shoe upper. Additionally, at each of multiple foot-length directions, the boundary determination unit 36 ​​determines the distance L along the foot width direction of the sole on the inner side of the shoe. inner The three-dimensional shape data of the shoe upper is overlaid onto the shoe upper to determine the boundary points of the inner foot side in the three-dimensional shape data of the shoe upper. Similarly, at each of the multiple foot length direction positions, the boundary determination unit 36 ​​determines the foot width direction of the sole on the outer foot side along the surface distance L. outerThe 3D shape data of the shoe upper is overlaid onto the shoe upper to determine the boundary points of the inner foot side in the 3D shape data of the shoe upper. The determined boundary points of the heel and the set of the boundaries of the inner and outer feet side at each position along multiple foot length directions constitute a boundary point group.

[0107] The method for determining the boundary is described in detail. Furthermore, the boundary determination section 36 applies a local coordinate system (Xu, Yu, Zu) to the three-dimensional shape data of the shoe upper (see reference). Figure 6 (a)~ Figure 7 (b)). The Xu axis extends along the length of the foot, the Yu axis extends along the width of the foot, and the Zu axis extends vertically.

[0108] Figure 6 (a)~ Figure 6 Figure (c) illustrates the method for determining the boundary points of the heel area of ​​the shoe upper based on the three-dimensional shape data. For example... Figure 6 As shown in (a), multiple (m in this case) foot-length positions Xu are determined based on the three-dimensional shape data of the shoe upper. i The center point Cu at each position (i = 1, 2, 3, ..., m) i Furthermore, Xu1 represents the Xu coordinate of the heel side end of the shoe upper. m The Xu coordinates are the positions of the toe side end of the shoe upper.

[0109] Center point Cu i (i = 1, 2, 3, ..., m) represents the foot-length position Xu as seen when observing the joint surface of the shoe upper along the Zu axis. i The point Cu is the exact center point among multiple points located at the heel, when counted from one end to the other along the width of the foot. Alternatively, the center point Cu can be determined solely based on the length-of-the-foot position of the area around the heel. i .

[0110] like Figure 6 As shown in (b), the starting point Pu of cup 8b at the heel of the shoe upper is determined. heel Starting point Pu heel From center point Cu1 to center point Cu m The decision was made in the middle. The starting point is Pu. heel For example, it can also be done through... Figure 4 The description refers to the starting point Ps of the cup 6b at the heel of the sole. heel The same method is used to determine this.

[0111] like Figure 6 As shown in (c), determine the boundary point B of the heel area of ​​the shoe upper. heel Boundary point B heel From center point Cu1 to center point Cu mThe center point Cu1 to the center point Cu are determined. Specifically, the center point Cu1 to the center point Cu are determined. m It has the same characteristics as at the starting point Ps heel Add to the Zu coordinates Figure 3 The cup height H of the heel of the sole is determined in (b). heel The center point of the Zu coordinates closest to the value is determined as the boundary point B. heel Furthermore, since shoe soles are generally made of soft raw materials, they will elastically deform when pressed together with the upper. Therefore, a cup height modified to account for deformation can be used instead of the cup height H. heel .

[0112] Figure 7 of (a), Figure 7 (b) refers to the multiple foot-length positions of the shoe upper. i B, the boundary point on the inner side of each position of (i = b, b+1, b+2, ..., m), inner_i and the boundary point B on the outer foot side outer_i The diagram illustrates the method for determining this. (Xu) b In order to be in Figure 6 The boundary point B of the heel determined in (c) heel The coordinates of the location (Xu).

[0113] like Figure 7 As shown in (a), the foot length direction position Xu in the local coordinate system Xu of the shoe upper i The position of the foot along the length direction in the local coordinate system Xs of the shoe sole. i' Correspondingly. In addition, i and i' can also satisfy the relationship expressed by the following equation (1).

[0114] i'=(n'-a)×(i / (mb))···(1)

[0115] Here, to exclude the rolled-up part 6c of the toe of the sole, n' (e.g., n' = n × 0.95) is used instead of n.

[0116] like Figure 7 As shown in (b), the multiple foot-length positions of the shoe upper, Xu i B, the boundary point on the inner side of each position of (i = b, b+1, b+2, ..., m), inner_i Determined to be from the center point Cr i The distance L along the inner side of the foot in the foot-width direction, along the joint surface of the shoe upper, from the inner side of the sole in the foot-width direction. inner_i' Similarly, the multiple foot-length positions of the shoe upper are also considered. i B, the boundary point on the outer side of (i = b, b+1, b+2, ..., m). outer_i Determined to be from the center point Cri The distance L along the outer side of the foot in the foot-width direction, along the joint surface of the shoe upper, from the outer side of the sole in the foot-width direction. outer_i' Furthermore, as mentioned above, the sole is generally made of soft raw material, which will elastically deform when pressed together with the upper. Therefore, the foot width direction surface distance, which has been corrected to take deformation into account, can be used instead of the foot width direction surface distance L. inner_i' Distance L along the width of the foot outer_i' .

[0117] Furthermore, it can also be set as the center point Cr. i =Center point Cu i However, in this case, the center point Cr near the midfoot i It will be closer to the inner side of the foot. Therefore, the center point Cr can also be determined as follows. i . Figure 8 (a)~ Figure 8 (c) is relative to the center point Cr i A diagram illustrating the method for determining [the method / method]. For example... Figure 8 As shown in (a), at multiple leg length positions Xu i For each position (i = b, b+1, b+2, ..., m), determine a temporary center point Cu. i Center point Cu i The method of determination is as follows: Figure 6 As explained in (a).

[0118] like Figure 8 As shown in (b), at multiple leg length positions Xu i At each position (i = b, b+1, b+2, ..., m), determine the position Xu in the leg length direction. i Among multiple points at a given location, there exists a connection with the temporary center point Cu. i Add the cup height H on the outer side of the sole to the Zu coordinate. outer_i' The point Q on the outer side of the Zu coordinate closest to the value of the Zu coordinate. outer_i' Additionally, in Figure 8 The illustration is omitted in (b), but similarly, at multiple leg-length positions Xu i At each position, determine the position of the foot along its length. i Among multiple points at a given location, there exists a connection with the temporary center point Cu. i Add the cup height H on the inner side of the shoe sole to the Zu coordinate. inner_i' The point Q on the inner side of the Zu coordinate closest to the value of the Zu coordinate. inner_i' .

[0119] like Figure 8 As shown in (c), the location will be Figure 8 The two points Q determined in (b) outer_i'Q inner_i' The position of the leg length direction between Xu i Among multiple points at point Q, in the foot width direction... inner_i' and point Q outer_i' When one counts towards the other, the point located exactly in the middle is determined as the center point Cr. i .

[0120] Return to Figure 2 The polishing control unit 38 controls the polishing device 16 based on the boundary of the three-dimensional shape data of the shoe upper determined by the boundary determination unit 36, and performs polishing on the area surface inside the boundary, i.e., the joint surface. In detail, the polishing control unit 38 determines the movement path based on the boundary and controls the movement mechanism 22 so that the polishing unit 20 moves according to the determined movement path.

[0121] The method for determining the movement path is explained. Figure 9 This diagram illustrates the first method for determining the movement path. Since the grinding member has a width, when the polishing processing unit 20 moves along the boundary, i.e., through the boundary with the center of the grinding member, the polishing process will cross the boundary. Therefore, the polishing processing control unit 38 determines the movement path as an annular line 62 that offsets the annular boundary 60 inward along the mating surface by a distance corresponding to the width of the grinding member, and a line 64, for example, a serrated line, that travels inside the annular line 62.

[0122] Next, the second method for determining the movement path will be explained. The data storage unit 42 stores, for example, a reference boundary (hereinafter referred to as the reference boundary) based on the design values ​​of the shoe upper, and its corresponding movement path (hereinafter referred to as the reference movement path). The polishing process control unit 38 compares the boundary determined by the boundary determination unit 36 ​​with the shape of the reference boundary stored in the data storage unit 42, deforms the reference movement path based on the comparison result, and determines it as the movement path.

[0123] In detail, for example, a known algorithm such as the Iterative Closest Point (ICP) algorithm is used to ensure that the boundary determined by the boundary determination unit 36 ​​is aligned with the reference boundary stored in the data storage unit 42. The degree of offset of the reference boundary relative to the boundary determined by the boundary determination unit 36 ​​is calculated. For example, the closest point from the point dividing the determined boundary line into n equal parts to the reference boundary line is found, and the vector between these points is calculated. Based on the calculated vector, the movement path is deformed by moving the points on the movement path corresponding to those points.

[0124] Return to Figure 2The coating control unit 40 controls the coating apparatus 18 based on the boundary of the three-dimensional shape data of the shoe upper determined by the boundary determination unit 36, and applies adhesive to the area surface inside the boundary, i.e., the bonding surface. More specifically, the polishing processing control unit 38 determines the movement path based on the boundary and controls the movement mechanism to move the coating unit according to the determined movement path. The method for determining the movement path can be the same as that used for the movement path of the polishing processing unit.

[0125] According to this embodiment, since the boundary of the joint surface is determined on the three-dimensional shape data of the shoe upper, it is only necessary to perform polishing or apply adhesive based on the boundary on the three-dimensional shape data, and the operator does not need to draw engraving lines.

[0126] Furthermore, according to this embodiment, by applying the size data determined based on the three-dimensional shape data of the sole to the three-dimensional shape data of the upper to determine the boundary, the computational cost can be suppressed compared to the case where the three-dimensional shape data of the sole is directly applied to the three-dimensional shape data of the upper to determine the boundary.

[0127] The present invention has been described above based on embodiments. These embodiments are illustrative, and those skilled in the art will understand that the combination of the constituent components or processing techniques can have various modifications, and such modifications are also within the scope of the present invention.

Claims

1. A shoe manufacturing support device for supporting the manufacturing of a shoe comprising a first shoe component and a second shoe component engaging with the first shoe component. The shoe processing support device includes: The size determination unit determines, based on the three-dimensional shape data obtained from the first shoe component, the size data related to the mating surface of the first shoe component that should be mated with the second shoe component; as well as The boundary determination unit determines the boundary of the mating surface in the three-dimensional shape data of the second shoe component that should engage with the first shoe component by applying the determined dimensional data to the three-dimensional shape data obtained from the second shoe component. The first shoe component is the sole, and the second shoe component is the upper. The determined dimensional data includes the distance along the joint surface of the first shoe component from its center to its edge at each of the multiple foot-length positions of the first shoe component. The boundary determining unit determines, at each of the plurality of foot-length direction positions of the second shoe component, a point that is a distance along the joint surface of the second shoe component in the foot-width direction from the center of the second shoe component away from the surface distance based on the corresponding foot-length direction position of the first shoe component as a point on the boundary.

2. The shoe processing support device according to claim 1, wherein, The determined size data includes the cup height of the heel portion of the first shoe component. The boundary determination unit determines the boundary of the heel portion in the three-dimensional shape data of the second shoe component based on the cup height of the heel portion.

3. The shoe processing support device according to claim 1, wherein, The determined size data includes the heights of the two cups on the inner and outer sides of the foot at each of the multiple foot-length positions of the first shoe component. For each of the multiple foot-length positions of the second shoe component, the position of the center of the second shoe component is determined based on the two cup heights at the corresponding foot-length position of the first shoe component, and is the position between two points on the mating surface of the second shoe component.

4. A shoe manufacturing support method for supporting the manufacturing of a shoe comprising a first shoe component as a sole and a second shoe component as an upper that engages with the first shoe component. The shoe processing support method includes: The size data determination process involves determining the size data related to the mating surface of the first shoe component that should be joined with the second shoe component, based on the three-dimensional shape data obtained from the first shoe component. as well as The boundary determination process involves applying the determined dimensional data to the three-dimensional shape data obtained from the second shoe component to determine the boundary of the mating surface in the three-dimensional shape data of the second shoe component that should engage with the first shoe component. The determined dimensional data includes the distance along the joint surface of the first shoe component from its center to its edge at each of the multiple foot-length positions of the first shoe component. The shoe manufacturing support method determines, at each of the plurality of foot-length direction positions of the second shoe component, a point that is a distance from the center of the second shoe component away from the surface distance based on the corresponding foot-length direction position of the first shoe component along the joint surface of the second shoe component in the foot-width direction.

5. The shoe processing support method according to claim 4, further comprising: In the coating process, an adhesive is applied to the mating surfaces of the second shoe component based on the defined boundaries; as well as The joining process involves joining the first shoe component with the second shoe component.

6. The shoe processing support method according to claim 5 further includes a polishing process, wherein, prior to the coating process, the mating surfaces of the second shoe component are ground based on the determined boundary.

7. The shoe processing support method according to claim 5 further includes a movement path determination process, said movement path determination process determining a movement path for moving the coating portion of the adhesive coating within a range that causes the determined boundary to offset inward along the mating surface of the second shoe component. During the coating process, adhesive is applied to the mating surface of the second shoe component by moving the coating part along the determined moving path.

8. The shoe processing support method according to claim 5 further includes the following process: determining a coating trajectory by converting the coating trajectory of the reference stored in the predetermined storage unit based on a comparison result between the determined boundary and the boundary of the reference stored in the predetermined storage unit. During the coating process, the adhesive is applied according to the determined coating trajectory.

9. A computer program for supporting the processing of a shoe comprising a first shoe component as a sole and a second shoe component as an upper and engaged with the first shoe component. The computer program enables the computer to perform the following functions: The function of determining dimensional data related to the mating surface of the first shoe component that should engage with the second shoe component, based on three-dimensional shape data obtained from the first shoe component; and By applying the determined dimensional data to the three-dimensional shape data obtained from the second shoe component, the function of determining the boundary of the mating surface in the three-dimensional shape data of the second shoe component that should engage with the first shoe component is achieved. The determined dimensional data includes the distance along the joint surface of the first shoe component from its center to its edge at each of the multiple foot-length positions of the first shoe component. The computer program enables the computer to determine, at each of the plurality of foot-length positions of the second shoe component, a point that is a distance along the joint surface of the second shoe component in the foot-width direction from the center of the second shoe component away from the surface distance based on the corresponding foot-length position of the first shoe component, as a point on the boundary.

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