Processing system, processing method, and inspection method

Abstract

The application discloses a processing system, a processing method and a product inspection method. The processing system comprises an information extraction module, a calculation module and a processing module. The information extraction module is used to obtain first three-dimensional information of a processed object. The calculation module is used to simulate and calculate the first three-dimensional information in real time to generate second three-dimensional information of the processed object, and is used to generate a processing path according to the second three-dimensional information. The processing module is used to process the processed object according to the processing path.

Description

Technical Field

[0001] This invention relates to processing technology, and in particular to a processing system, processing method and quality inspection method for processing workpieces. Background Technology

[0002] In the footwear industry, finished shoes often vary greatly in order to meet the requirements of appearance and ergonomics. The uniqueness of each type of finished shoe means that the processing and quality inspection procedures of the processed materials during the shoemaking process are still carried out manually. This not only consumes labor costs, but is also prone to affecting the yield rate due to the unpredictability of human error.

[0003] For example, when sewing flexible materials such as leather or fabric for shoe uppers, it is not easy to control the size precisely, resulting in different error results for each shoe upper. This makes it difficult to standardize the automated production of finished shoes.

[0004] Therefore, how to propose a set of processing systems, methods and quality inspection methods applicable to various types of finished shoes, so as to solve the problems of low production efficiency, poor yield and difficulty in monitoring under manual operation in an automated way, is one of the urgent issues to be solved in this field. Summary of the Invention

[0005] This invention provides a processing system for processing a workpiece, comprising an information extraction module, a calculation module coupled to the information extraction module, and a processing module coupled to the calculation module. The information extraction module obtains first three-dimensional information of the workpiece. The calculation module performs real-time simulation calculations on the first three-dimensional information to generate second three-dimensional information of the workpiece, and generates a processing path based on the second three-dimensional information. The processing module processes the workpiece according to the processing path.

[0006] The present invention also provides a processing method, comprising providing a workpiece, obtaining first three-dimensional information of the workpiece through an information extraction module, performing real-time simulation calculation of the first three-dimensional information to generate second three-dimensional information of the workpiece through a calculation module, generating a processing path based on the second three-dimensional information, and processing the workpiece along the processing path through a processing module.

[0007] The present invention also provides a processing method for shoe uppers, comprising: obtaining first three-dimensional information of the shoe upper; marking reference features according to the first three-dimensional information by a reference feature marking unit and generating bite line positioning points according to the reference features; simulating and calculating the first three-dimensional information and bite line positioning points by a simulation unit to generate second three-dimensional information; extracting bite line information about the first three-dimensional information by a bite line extraction unit based on the second three-dimensional information; and generating a processing path for the shoe upper by a processing path generation unit based on the bite line information.

[0008] The present invention also provides a method for inspecting shoe uppers, comprising: measuring the inspection length according to reference features of the shoe upper and calculating the inspection length error between the inspection length and the reference distance; identifying the degree of defect of the shoe upper according to first or second three-dimensional information of the shoe upper; identifying the size of the corresponding shoe upper according to the first or second three-dimensional information of the shoe upper; matching the first or second three-dimensional information with the third three-dimensional information of another shoe upper according to the size and calculating the size length error between the shoe upper and the other shoe upper; comparing the degree of asymmetry of the bite line information of the first three-dimensional information with the bite line information of the other shoe upper according to the first and third three-dimensional information; and / or comparing the difference between the inspection length error, the degree of defect, the size length error and / or the degree of asymmetry and a predetermined threshold. Attached Figure Description

[0009] Figure 1 This is a modular architecture diagram of the processing system of the present invention;

[0010] Figure 2 This is a detailed structural diagram of the processing system of the present invention;

[0011] Figure 3A , Figure 3B and Figure 3C These are partial embodiment diagrams of the processing system of the present invention;

[0012] Figure 4 These are partial embodiment diagrams of the processing system of the present invention;

[0013] Figure 5 This is a configuration diagram of the processing system of the present invention;

[0014] Figure 6 This is a further configuration diagram of the processing system of the present invention;

[0015] Figure 7 This is a schematic diagram of an alternative configuration of the processing system of the present invention;

[0016] Figure 8 These are partial embodiment diagrams of the processing system of the present invention;

[0017] Figure 9 These are partial embodiment diagrams of the processing system of the present invention;

[0018] Figure 10 These are partial embodiment diagrams of the processing system of the present invention;

[0019] Figure 11 This is a flowchart of the processing method of the present invention;

[0020] Figure 12 A flowchart illustrating further steps of the processing method of the present invention; and

[0021] Figure 13 This is a flowchart of the quality inspection method of the present invention.

[0022] The reference numerals in the attached figures are explained as follows:

[0023] 1: Machining System

[0024] 2: Processing method

[0025] 3: Quality Inspection Methods

[0026] 100: Information Extraction Module

[0027] 200: Calculation Module

[0028] 201: Memory Unit

[0029] 202: Reference Feature Marker Unit

[0030] 20220, 20221, 20222, 20223: Reference Features

[0031] 20230, 20231: Occlusal line positioning points

[0032] 203: Simulation Unit

[0033] 204: Occlusal line extraction unit

[0034] 2041, 2041L, 2041R: Occlusal line information

[0035] 20411L, 20411R: Checkpoints

[0036] 205: Processing instruction generation unit

[0037] 300: Processing Module

[0038] 301, 3011, 3012: Moving Units

[0039] 3011P: Shoe last

[0040] 302: Processing Unit

[0041] 400: Quality Inspection Module

[0042] 401, 402: Height difference

[0043] 403: Preset Threshold

[0044] 500: Human-Machine Interface Module

[0045] 801: Defect

[0046] A~D、A 1 ~D 1 A2 ~D 2 A 3 ~D 3 A 4 ~D 4 Site

[0047] h1, h2, h3: Reference distances

[0048] h4: Inspection length

[0049] hL, hR: Height

[0050] M, M 1 ~M 4 :vamp

[0051] ML: Left shoe upper

[0052] MR: Right shoe upper

[0053] N: Sole

[0054] O: origin

[0055] T: Finished shoes

[0056] X, X 1 ~X 4 Processing path

[0057] Y: Auxiliary path

[0058] S1~S10, S31~S34: Steps Detailed Implementation

[0059] The present invention is illustrated by the following embodiments. Those skilled in the art can easily understand the advantages and effects of the present invention after reading its contents, and it can also be implemented or applied through other different embodiments. Therefore, the following embodiments can be modified and / or changed to implement the present invention without departing from its different forms and scope of application, and any element or method within the scope disclosed herein can be combined with any other element or method in any embodiment contained herein.

[0060] The proportions, structures, dimensions, and other features presented in the drawings of this invention are merely for illustrating the embodiments described herein, to enable those skilled in the art to read and understand this document, and are not intended to limit the scope of this invention. Any changes, modifications, or adjustments to the above features, without affecting the purpose and effectiveness of the inventive concept, should fall within the scope of the technical content of this invention.

[0061] As used herein, when an object is described as "including," "comprising," or "having" a particular element, other elements, components, structures, regions, parts, devices, systems, steps, connections, etc., may be included, rather than excluding, other particular elements, unless otherwise stated.

[0062] As used herein, sequential terms such as “first,” “second,” or “third” are used only for the purpose of describing or distinguishing specific elements such as components, parts, structures, regions, parts, devices, and systems, and are not intended to limit the scope of the invention or the spatial order of these specific elements. Furthermore, unless otherwise stated, the singular terms “a” and “the” used herein also include plural forms, and the terms “or” and “and / or” are used interchangeably.

[0063] Figure 1 The present invention is a modular architecture diagram of the processing system 1. The processing system 1 includes: an information extraction module 100, a calculation module 200, a processing module 300, a quality inspection module 400, and a human-machine operation module 500. Figure 2 This is a detailed component architecture diagram of processing system 1. The above modules and other detailed components can be interconnected through suitable wired or wireless means and are configured to perform processing on the workpiece, which may include the upper of the finished shoe.

[0064] The information extraction module 100 can be a three-dimensional imaging device, such as a three-dimensional camera, which can be used to obtain the first stereo information of the workpiece. The first stereo information can be the three-dimensional point cloud information obtained by the three-dimensional camera from the shoe upper (workpiece).

[0065] The calculation module 200 is coupled to the information extraction module 100 and is used to perform real-time simulation calculations on the first 3D information to generate the second 3D information of the workpiece, and to generate the processing path of the workpiece based on the second 3D information. In addition, the calculation module 200 can indicate the processing parameters for the workpiece. The second 3D information of the workpiece can be the 3D point cloud information of the finished shoe (finished product) after the upper and sole are attached, while the processing path can be the path information of the upper or processing tool to be moved during processing.

[0066] The calculation module 200 includes: a memory unit 201, a reference feature marking unit 202, a simulation unit 203, a bite line extraction unit 204, and a processing instruction generation unit 205. The memory unit 201 stores the first stereoscopic information obtained by the information extraction module 100 and / or the second stereoscopic information generated by the calculation module 200 based on the first stereoscopic information. The reference feature marking unit 202 identifies reference features of the workpiece on the first stereoscopic information. These reference features can be used to calculate bite line positioning points, serve as reference positions for the processing instruction generation unit 205 to adjust processing parameters, and / or serve as reference positions for the quality inspection module 400 when performing quality inspection. The reference features can be features on the appearance of the shoe upper (workpiece); the bite line positioning point is a marked position point extending a reference distance from the reference feature, which can be used by the simulation unit 203 to calculate the fit between the shoe upper and the sole; and the reference distance is a pre-specified length on the shoe upper that can be identified by the reference feature, used to generate bite line positioning points and / or check whether the calculated results of the fit between the shoe upper and the sole meet the length requirements. Simulation unit 203 generates second 3D information based on the first 3D information and the bite line positioning points. The second 3D information is the 3D point cloud information of the simulated shoe upper after processing and bonding with the corresponding sole. Bite line extraction unit 204 extracts bite line information related to the first 3D information based on the second 3D information. The bite line information is the bonding boundary between the shoe upper and the corresponding sole in the second 3D information. Processing instruction generation unit 205 generates a processing path based on the bite line information. The implementation of the operations performed by each component in calculation module 200 based on the first 3D information can be referenced below. Figure 3A , Figure 3B , Figure 3C and Figure 4 learn.

[0067] Figure 3A According to one embodiment of the present invention, the reference feature marking unit 202 identifies the reference feature 20220 and the bite line positioning point 20230 of the shoe upper M (workpiece) from the first stereo information (which is three-dimensional point cloud information). Figure 3A To illustrate that the appearance pattern of the shoe upper M is identified as reference feature 20220 by the reference feature marking unit 202 and marked on the first three-dimensional information of the shoe upper M according to its position, the reference feature marking unit 202 may further extend a reference distance in a default specified direction after marking the position of the reference feature 20220, and generate an interlocking line positioning point 20230 on the shoe upper M. For example, Figure 3AAs can be seen, after reference feature 20220 is marked on the shoe upper M, reference feature marking unit 202 can extend a reference distance h1 from the position of reference feature 20220 towards the bottom direction to obtain the position of the bite line positioning point 20230. The bite line positioning point 20230 represents the point through which the bonding boundary line contained in the bite line information 2041 must pass when the subsequent simulation unit 203 simulates the bonding between the shoe upper and the sole.

[0068] Figure 3B According to another embodiment of the present invention, the reference feature marking unit 202 identifies the reference feature 20221 and the bite line positioning point 20231 of the toe area of ​​the upper M from the first stereo information. Figure 3B To illustrate that the appearance features of the toe area are identified as reference feature 20221 by the reference feature marking unit 202 and marked on the first three-dimensional information of the shoe upper M according to their position, it can be seen that after the position of reference feature 20221 is marked on the shoe upper M, the reference feature marking unit 202 can extend a reference distance h2 from the position of reference feature 20221 towards the set toe direction to generate the bite line positioning point 20231. In some embodiments, the reference distance h2 can be calculated by deducing the size of the corresponding finished shoe from the first three-dimensional information of the shoe upper M. For example, the reference feature marking unit 202 can initially use the reference distance h2 of the reference feature 20221 of the size 7 shoe upper M relative to the bite line positioning point 20231 as the calculation standard. When the first stereoscopic information determines that the finished shoe size to be produced from the current shoe upper M is a size 9 shoe, the reference feature marking unit 202 can directly calculate the reference distance h2 of the reference feature 20221 of the toe area of ​​the size 9 shoe upper M relative to the bite line positioning point 20231 from the difference between the size 9 and size 7 shoes, and then generate the bite line positioning point 20231 and mark it on the first stereoscopic information. The bite line positioning point 20231 also represents the point that the bonding boundary line contained in the bite line information 2041 must pass through when the subsequent simulation unit 203 simulates the bonding between the shoe upper and the sole.

[0069] Figure 3C According to another embodiment of the present invention, the stitching line of the shoe upper M is identified as reference feature 20222 by the reference feature marking unit 202 and marked on the first three-dimensional information of the shoe upper M according to its position, for the processing instruction generation module 205 to use for subsequent processing parameter adjustment. For example, after the reference feature marking unit 202 marks the position of a stitching line on the shoe upper M, the processing instruction generation module 205 instructs to reduce the processing intensity of the area where the stitching line is located to avoid the stitching line in the processing area towards the sole of the interlocking line information 2041 being worn through.

[0070] The identifiable reference features of the reference feature marking unit 202 are not limited to appearance patterns, appearance features, and stitching lines, but may also include reference features such as trademark patterns, leather boundaries, and surface defects on the surface of the shoe upper M, as well as their locations. The method by which the reference feature marking unit 202 generates the interlocking line positioning points is not limited to the above, and may include other suitable calculation methods. Furthermore, any area on the shoe upper M with reference features can be used... Figure 3A or Figure 3B The method described is used to identify the occlusal line location point.

[0071] Figure 4 To illustrate, the simulation unit 203 simulates and calculates the first 3D information of the upper M and the bite line positioning points to generate the second 3D information, and then the bite line extraction unit 204 extracts the bite line information about the first 3D information from the second 3D information obtained from the simulation. It can be seen that the simulation unit 203: pre-stores the 3D point cloud information of the sole N, or obtains the 3D point cloud information of the sole N corresponding to the upper M from other sources (e.g., captured by a 3D camera); obtains the bite line positioning points 20230 and 20231 generated by the reference feature marking unit 202 on the first 3D information of the upper M; and simulates and calculates the first 3D information and the bite line positioning points 20230 and 20231 to generate the finished shoe T shape where the upper M and the sole N are bonded, thus obtaining the second 3D information; at this time, the bonding boundary between the upper M and the sole N must pass through the bite line positioning points 20230 and 20231 to ensure that the finished shoe T conforms to the product design shape and specifications. Next, the bite line extraction unit 204 can extract the bonding boundary line from the second three-dimensional information and mark it on the first three-dimensional information as bite line information 2041. The bite line information 2041 can be used by the processing instruction generation module 205 to generate a processing path for the processing operation area that needs to be performed on the current shoe upper M. The processing operation area can be the area of ​​the shoe upper M below the bite line information 2041, which will be covered by the sole N and needs to be sanded or glued.

[0072] Figure 1 and Figure 2The processing module 300 is coupled to the calculation module 200 and is used to process the workpiece along the processing path. The processing module 300 may include a moving unit 301 and a processing unit 302. The moving unit 301 is coupled to the calculation module 200 and is used to move the shoe upper along the processing path. The processing unit 302 is coupled to the calculation module 200 and is positioned at various stations along the processing path generated by the calculation module 200. Processing the workpiece may include operations such as drawing the stitch lines of the shoe upper, sanding, surface treatment, and applying glue. The processing path may also include a motion path where the moving unit 301 moves the shoe upper for processing, or a motion path where the moving processing unit 302 processes the shoe upper. Furthermore, the processing module 300 may adjust the processing parameters executed by the processing instruction generation module 205 according to the processing parameters, including at least one of the sanding speed, sanding direction, sanding pressure, sanding depth, surface treatment, and glue application for processing the shoe upper. (See reference...) Figures 5 to 7 Understand the configuration of the moving unit 301 and the processing unit 302.

[0073] exist Figure 5 In this embodiment, the moving unit 301 can be a robotic arm, and each of stations A to D is equipped with a corresponding processing unit 302. When processing each shoe upper M, the moving unit 301 can first move the shoe upper M to the origin O so that the information extraction module 100 can obtain the first three-dimensional information of the shoe upper M (for example, the robotic arm can grasp the shoe upper M and rotate it within the shooting range of the information extraction module 100 to scan and obtain the three-dimensional point cloud information of the shoe upper M), so that the calculation module 200 can generate the second three-dimensional information and the bite line information in real time, and then generate the processing path X. The moving unit 301 moves the shoe upper M sequentially to stations A, B, C, and D where the processing unit 302 is located according to the processing path X, so that each processing unit 302 can process the shoe upper M. In some embodiments, the processing units 302 located at stations A to D may be tools required for processing the upper M, such as a drawing pen (for drawing bite lines on the upper), a sanding device (for sanding the upper according to the bite lines), a surface treatment device (for cleaning the upper), and an adhesive application device (for spraying adhesive onto the upper according to the bite lines), but are not limited to these. In other embodiments, the number and type of processing units 302 and corresponding stations A to D may be increased or decreased according to the operational requirements of processing the upper M (for example, when the processing of the upper can be directly based on the bite line information marked on the first stereoscopic information, without the need for the drawing pen to actually draw the bite lines on the upper, the drawing pen can be omitted); or, the way in which the moving unit 301 indicated by the processing path X moves the upper M to the corresponding stations A to D may also be adjusted according to the operational requirements of processing the upper M (for example, skipping one of stations A to D during the processing of the upper M, or processing the upper M at stations A to D in different orders).

[0074] exist Figure 6In some embodiments, the moving unit 301 may include moving the shoe upper M respectively. 1 M 2 M 3 M 4 The robotic arm operates with each moving unit 301 having a movement range that at least partially overlaps with the shooting range of the information extraction module 100 at the same origin O. That is, based on the partial overlap between the movement ranges of the multiple moving units 301 and the shooting range of the same information extraction module 100, it is possible to simultaneously capture images of multiple shoe uppers M. 1 M 2 M 3 M 4 Multi-task processing of the manufacturing process. For each shoe upper M... 1 M 2 M 3 M 4 During processing, the movable unit 301 can move the shoe upper M 1 M 2 M 3 M 4 The information extraction module 100 obtains the shoe upper M at the same origin O. 1 M 2 M 3 M 4 Each component provides its own initial 3D information, which is then used by the calculation module 200 to generate the corresponding processing path X in real time. 1 X 2 X 3 X 4 The moving unit 301 moves according to the processing path X. 1 X 2 X 3 X 4 Moving shoe upper M 1 M 2 M 3 M 4 At the corresponding site A 1 To D 1 A 2 To D 2 A 3 To D 3 A 4 To D 4 Each part performs its respective processing operation. In some embodiments, the shoe upper M... 1 M 2 M 3 M 4 It can be for processed items of the same size or type, while site A 1 To D 1 A 2 To D 2 A 3 To D3 A 4 To D 4 The processing unit 302 provided at the location can be a set of identical tools designed to meet the operational needs of processing shoe uppers of the same size or type. In other embodiments, the shoe upper M 1 M 2 M 3 M 4 It can process items of different sizes or types, and site A 1 To D 1 A 2 To D 2 A 3 To D 3 A 4 To D 4 The processing unit 302 provided can be a set of different tools to meet the operational needs of processing shoe uppers of different sizes or types.

[0075] exist Figure 7 In this embodiment, the moving unit 301 may include a moving unit 3011 for moving the shoe upper M and a moving unit 3012 for moving the processing unit 302. The moving unit 3011 can be implemented by a conveyor belt, while the moving unit 3012 can be implemented by a robotic arm. When processing each shoe upper M, the shoe upper M can be fixed by the shoe last 3011P on the moving unit 3011, and the information extraction module 100 obtains the first three-dimensional information of the shoe upper M at the origin O of the moving unit 3011 (for example, the shoe last 3011P is rotated within the shooting range of the information extraction module 100 for scanning and obtaining the three-dimensional point cloud information of the shoe upper M), and then the calculation module 200 generates a processing path X in real time, so that the moving unit 3011 moves the shoe upper M sequentially to the predetermined stations A and B, and then the moving unit 3012 at stations A and B moves the processing unit 302 according to the processing path X to process the shoe upper M. In this case, the processing path X may also include an auxiliary path Y that rotates the shoe last 3011P. This is configured to rotate the shoe upper M along with the movement of the moving unit 3012 during processing by the processing unit 302, thus facilitating the moving unit 3012 to move the processing unit 302 with minimal movement and process the shoe upper M. In this embodiment, only two stations A and B, the corresponding two moving units 3012, and the corresponding two processing units 302 are shown for ease of explanation. However, for processing a single shoe upper M, more than two stations may be provided. In some embodiments, reference may also be made to... Figure 6 The described environment replaces the movement unit 301 with multiple movement units 3011 to move the shoe upper M. 1 M 2 M 3 M 4And make its movement range partially overlap with the shooting range of the information extraction module 100 at the same origin O (for example, set the starting point of each conveyor belt at the origin O) to realize the shooting range of multiple shoe uppers M 1 M 2 M 3 M 4 Multi-task processing.

[0076] Back Figure 1 and Figure 2 The quality inspection module 400 is coupled to the calculation module 200 and is mainly used to perform quality inspection on the workpiece after the calculation module 200 simulates the second 3D information of the workpiece and before generating the processing path. The quality inspection can determine the quality of the shoe upper based on the reference features, bite line positioning points, first 3D information, and / or second 3D information of the workpiece obtained from the calculation module 200; and can be used to promptly suspend the processing of the shoe upper (workpiece) when poor quality is detected, thereby preventing the production of defective finished shoes. The quality inspection module 400 performs the quality inspection through... Figure 8 , Figure 9 and Figure 10 learn.

[0077] Figure 8 The following describes an implementation method for the quality inspection module 400 to determine that a workpiece is defective, using the degree of defect on the shoe upper as an example. In this case, after obtaining the first or second three-dimensional information of the current shoe upper from the calculation module 200, the quality inspection module 400 first identifies the defect 801 and its severity on the shoe upper M based on the first or second three-dimensional information. When the severity of the defect 801 exceeds a predetermined threshold, it is determined to be a defective product, and the processing module 300 terminates its processing of the shoe upper M.

[0078] Figure 9 This document illustrates an implementation method for the quality inspection module 400 to determine a workpiece as defective, using reference features of the shoe upper and the bite line positioning points as examples. For instance, when inspecting the heel area of ​​the shoe upper M, the quality inspection module 400 can: obtain the reference feature 20223 marked by the reference point marking unit 202; obtain a pre-set reference distance h3 based on the reference feature 20223; obtain the bite line information 2041 extracted by the bite line extraction unit 204; calculate the shortest distance from the reference feature 20223 towards the sole relative to the bite line information 2041 to obtain the inspection length h4; and determine that the simulation calculation of the shoe upper M and sole fit by the simulation unit 203 has failed when the error between the inspection length h4 and the reference distance h3 exceeds a predetermined threshold. Figure 9 As shown, when the difference between the reference distance h3 and the inspection length h4 is too large, it indicates that the upper M is a defective product and will not fit the sole well. At this time, the quality inspection module 400 will terminate the processing module 300 from processing the upper M.

[0079] The quality inspection module 400 can also determine defective products based on the first and / or second three-dimensional information of the shoe upper. For example, the quality inspection module 400 can: obtain the first and / or second three-dimensional information of the shoe upper from the calculation module 200; measure the size length based on the first and / or second three-dimensional information to determine the size of the shoe upper, where the size length can be the shoe length, shoe width, shoe circumference, etc., measured from the first and / or second three-dimensional information; pair the shoe upper with another shoe upper of the same size and check the size length error between the shoe upper and the other shoe upper; and determine that the pairing has failed when the size length error exceeds a predetermined threshold, and terminate the processing module 300's processing of the shoe upper. For another example, the quality inspection module 400 can: obtain the first three-dimensional information of the shoe upper from the calculation module 200; pair the shoe upper with another shoe upper; identify the degree of asymmetry of the bite line information of the shoe upper relative to the other shoe upper based on the bite line information marked on the first three-dimensional information; and terminate the processing of the shoe upper by the processing module 300 when the degree of asymmetry exceeds a predetermined threshold.

[0080] Figure 10The following is an example illustrating how the quality inspection module 400 determines a workpiece as defective, using the asymmetry of the interlocking line information of two shoe uppers as an example. In this case, the current shoe upper of the workpiece is the left shoe upper ML, and the other shoe upper that can be paired with it is the right shoe upper MR of the same size as the left shoe upper ML. The three-dimensional point cloud information (first or second stereoscopic information) of the left shoe upper ML and the three-dimensional point cloud information (third stereoscopic information) of the right shoe upper MR have their own interlocking line information 2041L and 2041R, symmetrically positioned inspection points 20411L and 20411R on the interlocking line information 2041L and 2041R, and the heights hL and hR of the inspection points 20411L and 20411R relative to the sole plane. The third stereoscopic information can be reference data of the right shoe upper MR of the same size as the left shoe upper ML, pre-set by the quality inspection module 400, or three-dimensional point cloud information of any right shoe upper MR of the same size stored in the memory unit 201. Therefore, the degree of asymmetry of the interlocking line information 2041L and 2041R of the left shoe upper ML and the right shoe upper MR can be determined by the following conditions: when the height difference 401 of the interlocking line information 2041L and 20411R of the left shoe upper ML and the right shoe upper MR at a specific symmetrical position (taking the check points 20411L and 20411R on the heel area as an example) relative to the sole plane exceeds a predetermined threshold 403 (set to 1.5mm here), the left shoe upper ML is determined to be defective and the processing module 300 is terminated; or when the height difference 402 (set to the maximum height difference here) of any pair of symmetrical points on the interlocking line information 2041 of the left shoe upper ML and the right shoe upper MR exceeds a predetermined threshold 403 (set to 1.5mm here), the left shoe upper ML is determined to be defective and the processing module 300 is terminated. The inspection module 400 can determine the degree of asymmetry in ways not limited to those described above. For example, it can also determine the degree of asymmetry by the symmetry of the appearance patterns on the left shoe upper ML and the right shoe upper MR, or perform the inspection operation in other ways.

[0081] Back Figure 1 and Figure 2 The human-machine interface module 500 is coupled to the quality inspection module 400 and provides a human-machine interaction interface to facilitate user operation of the processing system 1 and observation of the quality status of the processed workpiece during the quality inspection process. In some embodiments, the human-machine interface can visualize the first or second three-dimensional information of the shoe upper (processed workpiece) in conjunction with its reference features and / or bite line information. Users can perform operations such as zooming, rotating, and selecting images on the shoe upper through the human-machine interface to observe defects present on the shoe upper and their locations. In other embodiments, such as... Figure 10As shown in the image, the human-machine interface can also synchronously visualize the first or second 3D information of the shoe upper with the third 3D information of another shoe upper, allowing users to observe the symmetry between the shoe upper and the other shoe upper during the inspection process. In an additional embodiment, the human-machine interface is also used to allow users to observe defects or problems on the shoe upper that have not been identified by the quality inspection module 400, and can provide an operation interface to allow users to manually terminate the processing module 300 on the shoe upper according to their own judgment.

[0082] like Figure 11 As shown, the processing method 2 implemented by the processing system 1 of the present invention may include the following steps:

[0083] S1: Provide the work to be processed, which may be the upper of the shoe to be made into a finished shoe;

[0084] S2: The information extraction module 100 obtains the first stereoscopic information of the workpiece, which may be the three-dimensional point cloud information of the workpiece obtained by using a three-dimensional imaging device.

[0085] S3: The calculation module 200 simulates and calculates the first stereo information to generate the second stereo information of the workpiece. The second stereo information can be the three-dimensional point cloud information of the simulated shoe upper after it is processed and attached to the sole to form the finished shoe.

[0086] S4: The calculation module 200 generates processing instructions for the workpiece based on the second stereoscopic information. These instructions may include processing paths and parameter adjustments for the shoe upper.

[0087] S5: The processing module 300 executes processing instructions and processes the workpiece.

[0088] Figure 12 The detailed process of step S3 in processing method 2 is further illustrated, which includes:

[0089] S31: The reference feature marking unit 202 can identify the reference features of the workpiece based on the first three-dimensional information of the workpiece stored in the memory unit 201. The reference features of the workpiece can be any feature of the appearance shape of the shoe upper.

[0090] S32: The reference feature marking unit 202 can extend from the reference feature by a reference distance to generate the bite line positioning point. The reference distance can be set according to the size and appearance requirements of the shoe upper.

[0091] S33: Simulation unit 203 can simulate and calculate the first three-dimensional information and the bite line positioning point to obtain the second three-dimensional information of the workpiece. The second three-dimensional information represents the state when the upper and sole are bonded, and the bonding boundary when the upper and sole are bonded must pass through the bite line positioning point; and

[0092] S34: The bite line extraction unit 204 can extract bite line information about the first three-dimensional information from the second three-dimensional information and mark it on the first three-dimensional information. The bite line information includes the bonding boundary between the upper and the sole after the upper and sole are bonded together as simulated in step S33.

[0093] Figure 13 The following diagram illustrates a quality inspection method 3 implemented using the processing system 1 of the present invention. The quality inspection method 3 may include:

[0094] S6: The quality inspection module 400 can measure the inspection length of the reference feature of the workpiece relative to the bite line information, and calculate the error between the inspection length and the corresponding reference distance;

[0095] S7: The quality inspection module 400 can identify the degree of defects in the workpiece from the first or second three-dimensional information of the workpiece.

[0096] S8: The quality inspection module 400 can measure the size of the workpiece according to the first or second three-dimensional information of the workpiece, and calculate the size length error when the workpiece and another workpiece of the same size are paired left and right.

[0097] S9: The quality inspection module 400 can pair the first or second three-dimensional information of the workpiece with the third three-dimensional information of another workpiece of the same size, and determine the degree of asymmetry of the bite line information between the workpiece and the other workpiece based on the bite line information marked on the first three-dimensional information; and / or

[0098] S10: The quality inspection module 400 can compare the difference between the inspection length error measured in step S6, the degree of defect identified in step S7, the size length error measured in step S8, and / or the degree of asymmetry identified in step S9 and a predetermined threshold. When the difference is too large (i.e., the result of step S10 is "yes"), the quality inspection module 400 can terminate the processing of the workpiece in a timely manner; or when it is determined that the quality of the workpiece is good (i.e., the result of step S10 is "no"), it can return to step S4 to continue processing the workpiece.

[0099] The aforementioned processing system 1, processing method 2, and inspection method 3 are not limited to processing only shoe uppers. For example, with the same purpose of producing finished shoes, the workpiece can be set as a shoe sole, the first stereoscopic information can be set as the three-dimensional point cloud information obtained after scanning the shoe sole, the second stereoscopic information can be set as the three-dimensional point cloud information of the simulated shoe sole and the corresponding shoe upper after bonding, the processing instructions can be set as processing paths and processing parameter adjustment operations applicable to shoe sole processing, and the inspection operation can be set as the identification of the degree of defects in the shoe sole and / or the dimensional errors of a pair of shoe soles. Alternatively, the workpiece can be set as a sub-component of the shoe upper or shoe sole, and then the processing system 1, processing method 2, and inspection method 3 can be applied to the processing of the sub-component.

[0100] In summary, the processing system, processing method, and quality inspection method of the present invention provide an automated solution. By using the three-dimensional information obtained from scanning the workpiece, the finished product state of the workpiece can be simulated in real time, thereby indicating the subsequent processing path and / or adjustment of processing parameters. It can also detect potential defects in a timely manner and terminate the processing of the workpiece early. Therefore, it is applicable to the production of any type of finished product and improves the shortcomings of low production efficiency, poor yield, and difficulty in monitoring under manual processing.

[0101] The above description is only a preferred embodiment of the present invention. All equivalent changes and modifications made within the scope of the claims of the present invention should be included in the scope of the present invention.

Claims

1. A processing system for performing processing on a workpiece, characterized in that, The processing system includes: An information extraction module is used to obtain a first three-dimensional information of the workpiece; A calculation module, coupled to the information extraction module, is used to perform real-time simulation calculations on the first 3D information to generate a second 3D information of the workpiece, and to generate a processing path based on the second 3D information; and A processing module, coupled to the computing module, is used to process the workpiece according to the processing path. The workpiece being processed is a shoe upper, and the calculation module includes: A memory unit is used to store the first stereoscopic information; A reference feature marking unit is used to mark a reference feature according to the first stereo information and generate a bite line positioning point according to the reference feature; A simulation unit is used to simulate and calculate the first stereoscopic information and the occlusal line positioning points to generate the second stereoscopic information; A bite line extraction unit is used to extract bite line information about the first stereo information based on the second stereo information; and A processing instruction generation unit is used to generate the processing path based on the bite line information.

2. The processing system as described in claim 1, characterized in that, The processing module includes a first moving unit coupled to the computing module and a processing unit coupled to the computing module. The first moving unit is used to move the workpiece according to the processing path so that the processing unit can process the workpiece.

3. The processing system as described in claim 2, characterized in that, The processing module further includes a second moving unit coupled to the computing module, used to move the processing unit according to the processing path to process the workpiece.

4. The processing system as described in claim 2, characterized in that, The information extraction module is a three-dimensional imaging device, and the movement range of the first moving unit overlaps with the field of view of the three-dimensional imaging device.

5. The processing system as described in claim 1, characterized in that, It also includes an inspection module, coupled to the calculation module, for: An inspection length is measured based on the reference feature of the shoe upper, and an inspection length error between the inspection length and a reference distance is calculated. The degree of a defect in the shoe upper is identified based on the first or second stereoscopic information; Identify a shoe size corresponding to the upper based on the first or second 3D information; Based on the size, the first 3D information or the second 3D information is paired with a third 3D information of another shoe upper stored in the memory unit, and a size length error between the shoe upper and the other shoe upper is calculated; Based on the first or second three-dimensional information and the third three-dimensional information, the degree of asymmetry of the bite line information relative to another bite line information on the other shoe upper is compared; and / or Processing is terminated when the inspection length error, the degree of defect, the size length error, and / or the degree of asymmetry exceed a predetermined threshold.

6. The processing system as described in claim 1, characterized in that: The bite line information represents a bonding boundary line between the shoe upper and the sole in the second three-dimensional information. The occlusal line positioning point is a location point extending a reference distance from the reference feature; and The fitting boundary line is located at the occlusal line positioning point.

7. The processing system as described in claim 1, characterized in that, The reference feature marking unit is used to calculate a reference distance based on a size of the shoe upper represented by the first stereo information, thereby extending the reference distance from the reference feature to obtain the bite line positioning point.

8. The processing system as described in claim 1, characterized in that, The processing instruction generation unit is further configured to set a processing parameter adjustment operation performed by the processing module on the processing path for the reference feature during processing; and The processing parameter adjustment operation includes adjusting at least one of the following: the grinding speed, grinding direction, grinding pressure, grinding depth, surface treatment of the shoe upper, and the application of adhesive to the shoe upper by the processing module.

9. A processing method, characterized in that, include: Provide a workpiece; A first three-dimensional information of the workpiece is obtained through an information extraction module; A calculation module performs real-time simulation calculations on the first 3D information to generate a second 3D information of the workpiece, and generates a processing path based on the second 3D information; and The workpiece is processed via a processing module along the processing path. Wherein, the work being processed is a shoe upper; and The calculation module performs real-time simulation calculations to generate the second three-dimensional information of the workpiece, and generates the processing path based on the second three-dimensional information, including: A reference feature is marked based on the first stereoscopic information; A bite line positioning point is generated based on the reference features; The first 3D information and the occlusal line positioning point are simulated and calculated to generate the second 3D information; Based on the second stereoscopic information, extract a bite line information related to the first stereoscopic information; and The processing path is generated based on the bite line information.

10. The processing method as described in claim 9, characterized in that, Processing the workpiece via the processing module along the processing path includes: The workpiece is moved according to the processing path by a first moving unit of the processing module; and The workpiece is processed by a processing unit of the processing module.

11. The processing method as described in claim 10, characterized in that, The processing of the workpiece via the processing module along the processing path also includes: The processing module moves the processing unit according to the processing path via a second moving unit to process the workpiece.

12. The processing method as described in claim 10, characterized in that, The information extraction module is a three-dimensional imaging device, and the movement range of the first moving unit overlaps with the field of view of the three-dimensional imaging device.

13. The processing method as described in claim 9, characterized in that, Also includes: An inspection length is measured based on the reference feature of the shoe upper, and an inspection length error between the inspection length and a reference distance is calculated. The degree of a defect in the shoe upper is identified based on the first or second stereoscopic information; Identify a shoe size corresponding to the upper based on the first or second 3D information; Based on the size, the first 3D information or the second 3D information is paired with a third 3D information of another shoe upper, and a size length error between the shoe upper and the other shoe upper is calculated; Based on the first or second three-dimensional information and the third three-dimensional information, the degree of asymmetry of the bite line information relative to another bite line information on the other shoe upper is compared; and / or Processing is terminated when the inspection length error, the degree of defect, the size length error, and / or the degree of asymmetry exceed a predetermined threshold.

14. The processing method as described in claim 9, characterized in that: The bite line information represents a bonding boundary line between the shoe upper and the sole in the second three-dimensional information. The occlusal line positioning point is a location point extending a reference distance from the reference feature; and The fitting boundary line is located at the occlusal line positioning point.

15. The processing method as described in claim 9, characterized in that, Generating the occlusal line positioning points based on the reference features includes: Calculate a reference distance based on a size of the shoe upper represented by the first 3D information; and The reference distance is extended from the reference feature to obtain the occlusal line positioning point.

16. The processing method as described in claim 9, characterized in that, Also includes: The processing module is configured to perform a processing parameter adjustment operation on the processing path for the reference feature during processing, wherein, The processing parameter adjustment operation includes adjusting at least one of the following: the grinding speed, grinding direction, grinding pressure, grinding depth, surface treatment of the shoe upper, and the application of adhesive to the shoe upper by the processing module.

17. A processing method for processing a shoe upper, characterized in that, include: Obtain a first three-dimensional information of the shoe upper; A reference feature is marked by a reference feature marking unit based on the first stereo information, and a bite line positioning point is generated based on the reference feature. A simulation unit is used to simulate and calculate the first stereo information and the occlusal line positioning point to generate a second stereo information. An occlusal line extraction unit extracts occlusal line information about the first three-dimensional information based on the second three-dimensional information; and A processing path generation unit generates a processing path for the shoe upper based on the bite line information.

18. The processing method as described in claim 17, characterized in that: The bite line information represents a bonding boundary line between the shoe upper and the sole in the second three-dimensional information. The occlusal line positioning point is a location point extending a reference distance from the reference feature; and The fitting boundary line is located at the occlusal line positioning point.

19. A quality inspection method for inspecting a shoe upper processed using the processing system as described in any one of claims 1 to 8 or the processing method as described in any one of claims 9 to 18, characterized in that, include: An inspection length is measured based on a reference feature of the shoe upper, and an inspection length error between the inspection length and a reference distance is calculated. The degree of a defect in the shoe upper is identified based on a first three-dimensional information or a second three-dimensional information of the shoe upper; Identify a shoe size corresponding to the shoe upper based on the first or second three-dimensional information of the shoe upper; Based on the size, the first 3D information or the second 3D information is paired with a third 3D information of another shoe upper, and a size length error between the shoe upper and the other shoe upper is calculated; Based on the first or second stereoscopic information and the third stereoscopic information, compare the degree of asymmetry between a bite line information of the first stereoscopic information and another bite line information of the other shoe upper; and / or Compare the difference between the inspection length error, the degree of defect, the size length error, and / or the degree of asymmetry and a predetermined threshold.

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