Alarm system for alignment deviation of upper and sole

Abstract

The invention discloses an upper and sole alignment deviation alarm system, which comprises an image acquisition module, an image processing module, a comparison alarm module and a unit control module, and relates to the technical field of deviation alarm. According to the upper and sole alignment deviation alarm system, the deviation condition between an upper and a sole is analyzed by means of a multi-point positioning algorithm on the basis of key edge features, the deviation value of contour features of the upper and the sole in a three-dimensional space is calculated, a deviation value result is transmitted, the alignment deviation of the upper and the sole is detected in real time, and an alarm is given in time, so that the safety of the upper and the sole is improved. The shoe quality problem caused by alignment deviation can be effectively avoided, the qualified rate of products is improved, the workload and errors of manual detection are reduced, the problem can be quickly found and processed in time, production delay caused by deviation accumulation is avoided, and the production efficiency is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of deviation alarm, in particular to a vamp and sole alignment deviation alarm system. BACKGROUND

[0002] In the shoe production process, accurate vamp and sole alignment is the key link to ensure the quality of shoes. In the traditional shoemaking process, the alignment of vamp and sole mainly relies on the experience and naked eye judgment of workers. This method has a large human error and is prone to cause vamp and sole alignment deviation.

[0003] The existing vamp and sole alignment mainly relies on the experience and naked eye judgment of workers. This method has a large human error and is prone to cause vamp and sole alignment deviation. Once the alignment deviation occurs, it will not only affect the appearance quality of the shoes, but also may cause the shoes to be uncomfortable to wear, reducing the product qualification rate. Although there are some automatic shoemaking equipment, there is a lack of effective vamp and sole alignment deviation detection and alarm mechanism, which cannot timely remind the operator to adjust when the deviation occurs, thereby affecting the production efficiency and product quality. Therefore, the present application provides a vamp and sole alignment deviation alarm system. SUMMARY

[0004] In view of the deficiencies of the prior art, the present application provides a vamp and sole alignment deviation alarm system, which solves the problem that automatic shoemaking equipment lacks effective vamp and sole alignment deviation detection and alarm mechanism, and cannot timely remind the operator to adjust when the deviation occurs, thereby affecting the production efficiency and product quality.

[0005] To achieve the above purpose, the present application is implemented by the following technical scheme: a vamp and sole alignment deviation alarm system, comprising:

[0006] An image acquisition module, which is installed at different angles of the vamp and sole bonding station through a wide-angle high-definition camera and a distance sensor, is used to acquire image information of the vamp and sole in the bonding process in real time, and realize data transmission and storage;

[0007] An image processing module, which receives the collected image data to perform clear preprocessing operation, extracts the key edge features of the vamp and sole from the preprocessed image, analyzes the deviation between the vamp and sole based on the key edge features, and calculates the deviation value of the vamp and sole contour features in the three-dimensional space, and transmits the deviation value result;

[0008] A comparison and alarm module, which compares the deviation value result with the set threshold to generate a corresponding comparison result to realize alarm reminding and generate a corresponding adjustment strategy;

[0009] A machine group control module transmits instructions to corresponding product conveyor groups and product alignment groups according to an adjustment strategy.

[0010] Preferably, the wide-angle high-definition camera in the image acquisition module is disposed as follows:

[0011] Wide-angle high-definition cameras and distance sensors vertically symmetrical are arranged above and below the upper and sole fitting station;

[0012] Wide-angle high-definition cameras and distance sensors horizontally symmetrical are arranged at the front and rear sides of the upper and sole;

[0013] Then the collected data is sorted by collection time, and then transmitted after summarizing.

[0014] Preferably, the image processing module receives the collected image data for clear preprocessing operation as follows:

[0015] The original image data is denoised, and non-local mean denoising is used to eliminate random noise in the image;

[0016] The color image is converted into a single-channel gray image, the gray image is converted into a black and white binary image through an adaptive threshold, and the feature part is determined according to the gray value of the image data;

[0017] Then the image data is integrated according to the collected orientation to form complete stereoscopic image data.

[0018] Preferably, the image data integration operation is as follows:

[0019] Extract the image data of each orientation at the same time node, set the base point at the front side boundary of the device conveying surface and the left side of the product;

[0020] Then establish the X-axis along the conveying direction with the base point as the starting point, the Y-axis perpendicular to the rear boundary direction with the base point as the starting point, and the Z-axis vertically upward direction with the base point as the starting point, forming a space coordinate system;

[0021] Align the common corner points of the image data with the base point and sequentially fill the space coordinate system according to the shooting direction, set the reference point based on the feature part, and determine the three-dimensional coordinates of the reference point in the space coordinate system according to the coordinates of the reference point on different images, and restore the three-dimensional parameters of each feature to form the stereoscopic image data through multiple reference points.

[0022] Preferably, the image processing module extracts the key edge features of the upper and the sole as follows:

[0023] After the feature part is determined, the image with the upper and sole contour features is extracted, and the upper and sole contour features are enlarged;

[0024] The feature part located at the enlarged part is set with equidistant and uniform judgment points, and then the gray values of the judgment points located on the same line are compared. The adjacent judgment points with changed gray values are recorded, and the upper and lower boundary points are obtained according to the midpoints of the adjacent judgment points. Then, the upper boundary line and the lower boundary line are connected to obtain the boundary line of the upper and sole edge features, and the key edge features of the upper and sole are between the upper boundary line and the lower boundary line.

[0025] Preferably, the operation of analyzing the deviation between the upper and the sole based on the key edge features in the image processing module is as follows:

[0026] Determine whether the alignment direction of the upper corresponds to the direction of the sole according to the direction of the sole;

[0027] Set the first comparison points A1 and A2 on the key edge features of the sole as equidistant and relatively symmetrical, and then set the second comparison points B1 and B2 on the key edge features of the upper as corresponding to the first comparison points of the key edge features of the sole. The coordinates of the current first comparison points A1 and A2 and the second comparison points B1 and B2 in the spatial coordinate system are obtained, the deviation value between the upper and the sole is determined, and the adjustment instruction for the upper is generated.

[0028] Preferably, the operation of determining whether the alignment direction of the upper corresponds to the direction of the sole according to the direction of the sole is as follows:

[0029] Extract the image data with the sole features, and then divide the center of the sole features in the front and back directions. The maximum front and back width of the sole features in the divided left and right image data is calculated, and the calculated maximum front and back width is compared. The smaller width is the heel feature.

[0030] Extract the image data with the upper features, and determine the direction of the upper features in the same way as the direction determination of the sole features. When the upper features correspond to the sole features, no adjustment is needed. Otherwise, when the upper features are opposite to the sole features, the direction adjustment strategy of the upper product is generated to realize adjustment.

[0031] Preferably, the operation of determining the deviation value between the upper and the sole is as follows:

[0032] The coordinates of the first comparison points A1 and A2 are (x1, y1, 0) and (x2, y2, 0), and the coordinates of the second comparison points B1 and B2 are (x3, y3, z1) and (x4, y4, z2), respectively.

[0033] The comparison of the values of z1 and z2 in the comparison points B1 and B2 is implemented, and if the values of z1 and z2 are not equal, the required adjustment angle is calculated to generate an adjustment instruction for controlling the rotation point to adjust the upper product;

[0034] Then, the values of x3 and x1 in the adjusted comparison points B1 and B2 are compared, and the values of y3 and y1 in the adjusted comparison points B1 and B2 are compared at the same time, and if there is an inequality, the required displacement distance is calculated to generate an adjustment instruction for moving the upper product.

[0035] Preferably, the calculation of the required adjustment angle is as follows:

[0036] According to the device parameters, the height of the control rotation point of the upper product is z3, and the calculation formula of the required adjustment angle is θ=α-β, where θ is the required adjustment angle, α is the angle between the direction from the adjusted comparison point B1 to the rotation point and the plane where the rotation point is located in the Z-axis direction in the X-Z plane, and β is the angle between the direction from the unadjusted comparison point B1 to the rotation point and the plane where the rotation point is located in the Z-axis direction in the X-Z plane.

[0037] The calculation formula of the angle β is tanβ=[(x3+x4) / 2] / (z3-z1), where [(x3+x4) / 2] is the vertical distance from the comparison point B1 to the vertical position of the rotation point.

[0038] The calculation formula of the angle α is: ;

[0039] z3-z1-z2 is the vertical distance from the rotation point to the vertical position of the comparison point B1 in the X-Z plane after adjustment, is the distance from the rotation point to the comparison point B1 in the X-Z plane after adjustment;

[0040] The deviation distance in the X-axis direction is |x3-x1|, and the deviation distance in the Y-axis direction is |y3-y1|.

[0041] Then, the corresponding product movement adjustment instruction is generated and transmitted.

[0042] Preferably, the comparison alarm module comprises:

[0043] A threshold setting module for setting the alarm threshold of the upper and sole alignment deviation, the threshold is adjusted according to different shoe styles and production requirements, and the operator inputs different threshold parameters through the interactive interface;

[0044] A comparison and judgment module compares the calculated alignment deviation value with the alarm threshold set by the threshold setting module, and if the deviation value exceeds the set threshold, it is determined that the upper and sole alignment deviation is out of standard.

[0045] The alarm module sends an alarm signal when the comparison and judgment module determines that the deviation of the upper and the sole exceeds the standard, and the alarm signal adopts a combination of sound alarm and light alarm, and when the deviation exceeds the standard, the buzzer sends an alarm sound and the red warning light flashes.

[0046] The application provides an upper and sole alignment deviation alarm system.

[0047] 1. The upper and sole alignment deviation alarm system is based on key edge features and uses a multi-point positioning algorithm to analyze the deviation between the upper and the sole, calculates the deviation value of the upper and sole contour features in the three-dimensional space, transmits the deviation value result, detects the alignment deviation of the upper and the sole in real time and timely alarms, effectively avoids the quality problems of shoes caused by alignment deviation, improves the product qualification rate, reduces the workload and error of manual detection, quickly finds problems and timely handles them, avoids production delay caused by deviation accumulation, and improves production efficiency.

[0048] 2. The upper and sole alignment deviation alarm system sets equidistant and uniform judgment points through the feature part located at the enlarged part, then compares the gray values of the judgment points located on the same line in the vertical direction, records the adjacent judgment points with changed gray values, obtains the upper and lower boundary points according to the midpoints of the adjacent judgment points, then draws the boundary lines of the upper and sole edge features through the upper boundary point connecting line and the lower boundary point connecting line, and the key edge features of the upper and sole are between the upper boundary line and the lower boundary line, thereby effectively realizing the identification of the specific position of the product features, avoiding the problem that the deviation comparison points set later have deviation from the beginning, and the subsequent data cannot be corrected, and effectively improving the identification of the product features and ensuring the accuracy of the deviation alarm.

[0049] 3. The upper and sole alignment deviation alarm system compares the calculated alignment deviation value with the alarm threshold set by the threshold setting module, the alarm module sends an alarm signal, and the alarm signal adopts a combination of sound alarm and light alarm, so that the operator can timely adjust the alignment of the upper and the sole according to the alarm signal, and also can realize automatic adaptive adjustment operation, effectively reducing the influence caused by deviation. DETAILED DESCRIPTION

[0050] Figure 1 It is a principle block diagram of the deviation alarm system of the application;

[0051] Figure 2 It is a schematic diagram of key edge feature extraction of the application;

[0052] Figure 3Schematic diagram for adjusting the angle of the upper product of the present application;

[0053] Figure 4 Schematic diagram for adjusting the displacement of the upper product of the present application. DETAILED DESCRIPTION

[0054] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the scope of protection of the present application.

[0055] Please refer to Figures 1-4 The present application provides a technical solution: a deviation alarm system for upper and sole alignment, comprising:

[0056] An image acquisition module, through a wide-angle high-definition camera and a distance sensor, is respectively installed at different angles of the upper and sole bonding station, used for real-time acquisition of image information of the upper and sole in the bonding process, and realizing data transmission and storage;

[0057] An image processing module receives the collected image data to perform clear preprocessing operations, extracts key edge features of the upper and sole from the preprocessed image, analyzes the deviation between the upper and sole based on the key edge features by relying on a multi-point positioning algorithm, calculates the deviation value of the upper and sole contour features in the three-dimensional space, and transmits the deviation value result;

[0058] A comparison and alarm module realizes comparison operation of the deviation value result with a set threshold, generates a corresponding comparison result to realize alarm reminding, and generates a corresponding adjustment strategy;

[0059] A machine group control module transmits instructions to corresponding product conveyors and product alignment groups for regulation and control according to the adjustment strategy.

[0060] Among them, based on the key edge features, the multi-point positioning algorithm is used to analyze the deviation between the upper and sole, and the deviation value of the upper and sole contour features in the three-dimensional space is calculated, and the deviation value result is transmitted. Through real-time detection of the alignment deviation of the upper and sole and timely alarm, the quality problems of shoes caused by alignment deviation can be effectively avoided, the qualified rate of products is improved, the workload and errors of manual detection are reduced, problems can be quickly found and timely handled, production delay caused by deviation accumulation is avoided, and production efficiency is improved.

[0061] And the product conveying unit in the unit control module is the conveying equipment for the upper and the sole, which is used for conveying to the designated alignment production area, and can be controlled by a conveying belt or personnel, which is a mature existing equipment technology, and the product alignment unit is also a mature existing equipment technology, but the product alignment unit can realize the clamping and placing of the upper product, and realize the horizontal, vertical and vertical displacement control operation, and can also realize the horizontal rotation and vertical rotation operation of the product, so as to keep the final product position corresponding to the characteristics of the sole product, so as to complete the alignment deviation compensation of the upper and the sole.

[0062] In the embodiment of the application, the deployment operation of the wide-angle high-definition camera in the image acquisition module is:

[0063] The wide-angle high-definition camera and the distance sensor vertically symmetrical are arranged above and below the upper and the sole fitting station;

[0064] And the wide-angle high-definition camera and the distance sensor horizontally symmetrical are arranged at the front and rear sides of the upper and the sole;

[0065] Then the collected data is sorted according to the collection time, and then transmitted after summarizing.

[0066] In the embodiment of the application, the clear preprocessing operation of the received image data in the image processing module is:

[0067] The original image data is denoised, and the non-local mean denoising is used to realize the elimination of random noise in the image;

[0068] The color image is converted into a single-channel gray image, the gray image is converted into a black and white binary image through an adaptive threshold, and the feature part is determined according to the gray value of the image data;

[0069] Then the image data is integrated according to the collection direction to form complete stereoscopic image data.

[0070] In the embodiment of the application, the integration operation of the image data is:

[0071] The image data of each direction at the same time node is extracted, and a base point is set at the left side of the product at the front side boundary of the equipment conveying surface;

[0072] Then the X-axis is established along the conveying direction with the base point as the starting point, the Y-axis is established perpendicular to the rear boundary direction with the base point as the starting point, and the Z-axis is established vertically upward with the base point as the starting point, forming a space coordinate system;

[0073] Aligning the common corner points of the image data with the base points, sequentially filling into the space coordinate system according to the shooting direction, setting reference points based on the feature part, and determining the three-dimensional coordinates of the reference points in the space coordinate system according to the coordinates of the reference points on different images, and sequentially restoring the three-dimensional parameters of each feature to form the stereoscopic image data through multiple reference points.

[0074] In the embodiment of the application, the operation of extracting the key edge features of the upper and the sole in the image processing module is:

[0075] After the feature part is determined, the image with the contour features of the upper and the sole is extracted, and the contour features of the upper and the sole are enlarged;

[0076] The feature part located at the enlarged position is set with equidistant and uniform judgment points, and then the gray values of the judgment points located on the same line in the vertical direction are compared, the adjacent judgment points with changed gray values are recorded, the upper and lower boundary points are obtained according to the midpoints of the adjacent judgment points, and then the boundary lines of the key edge features of the upper and the sole are obtained by connecting the upper boundary points and the lower boundary points, and the key edge features of the upper and the sole are between the upper boundary line and the lower boundary line.

[0077] The feature part located at the enlarged position is set with equidistant and uniform judgment points, and then the gray values of the judgment points located on the same line in the vertical direction are compared, the adjacent judgment points with changed gray values are recorded, the upper and lower boundary points are obtained according to the midpoints of the adjacent judgment points, and then the boundary lines of the key edge features of the upper and the sole are obtained by connecting the upper boundary points and the lower boundary points, and the key edge features of the upper and the sole are between the upper boundary line and the lower boundary line.

[0078] In the embodiment of the application, the operation of analyzing the deviation between the upper and the sole based on the key edge features in the image processing module is:

[0079] Determine whether the alignment direction of the upper corresponds to the direction of the sole according to the direction of the sole;

[0080] Set the first comparison points A1 and A2 on the key edge features of the sole as equidistant and symmetrical, and then set the second comparison points B1 and B2 on the key edge features of the upper as corresponding and fitting with the first comparison points of the key edge features of the sole, and obtain the coordinates of the current first comparison points A1 and A2 and the second comparison points B1 and B2 in the space coordinate system, determine the deviation value between the upper and the sole, and generate an adjustment instruction for the upper.

[0081] In the embodiment of the present application, the operation of determining whether the alignment direction of the upper corresponds to the direction of the sole according to the direction of the sole is as follows:

[0082] The image data with the sole feature is extracted, then the sole feature is divided at the center of the front-rear direction, the maximum front-rear width of the sole feature in the divided left and right image data is calculated, and the calculated maximum front-rear width is compared, and the smaller width is the heel feature;

[0083] The image data with the upper feature is extracted, and the direction of the upper feature is determined in the same way as the direction determination of the sole feature. When the upper feature corresponds to the sole feature, no adjustment is needed. When the upper feature is opposite to the sole feature, the direction adjustment strategy of the upper product is generated to realize adjustment.

[0084] In the embodiment of the present application, the operation of determining the deviation value between the upper and the sole is as follows:

[0085] That is, the coordinates of the first comparison points A1 and A2 are (x1, y1, 0) and (x2, y2, 0), and the coordinates of the second comparison points B1 and B2 are (x3, y3, z1) and (x4, y4, z2) respectively;

[0086] The comparison of the values of z1 and z2 in the comparison points B1 and B2 is realized. If the values of z1 and z2 are not equal, the required adjustment angle is calculated to generate the adjustment instruction for controlling the rotation point to adjust the upper product;

[0087] Then, the values of x3 and x1 in the adjusted comparison points B1 and B2 are compared, and the values of y3 and y1 in the adjusted comparison points B1 and B2 are compared at the same time. If there is an inequality, the required displacement distance is calculated to generate the adjustment instruction for moving the upper product.

[0088] In the embodiment of the present application, the operation of calculating the required adjustment angle is as follows:

[0089] According to the device parameters, the height of the control rotation point of the upper product is z3, and the calculation formula of the required adjustment angle is θ=α-β, where θ is the required adjustment angle, α is the included angle between the direction of the comparison point B1 to the rotation point in the X-Z plane after adjustment and the plane where the rotation point is located in the Z direction, and β is the included angle between the direction of the comparison point B1 to the rotation point in the X-Z plane before adjustment and the plane where the rotation point is located in the Z direction;

[0090] The calculation formula of the angle β is tanβ=[(x3+x4) / 2] / (z3-z1), and [(x3+x4) / 2] is the vertical distance between the comparison point B1 and the vertical position of the rotation point;

[0091] The calculation formula of the angle α is: ;

[0092] z3-z1-z2 is the vertical distance of the adjusted vertical position of the rotating point in the X, Z axis plane to the comparison point B1, is the distance of the adjusted rotating point in the X, Z axis plane to the comparison point B1;

[0093] The deviation value distance in the X axis direction is |x3-x1|, and the deviation value distance in the Y axis direction is |y3-y1|;

[0094] Then the corresponding product movement adjustment instruction is generated and transmitted.

[0095] In the embodiment of the application, the comparison alarm module comprises:

[0096] A threshold setting module is configured to set an alarm threshold for the deviation of the upper and the sole, the threshold being adjusted according to different shoe styles and production requirements, and different threshold parameters being input by an operator through an interactive interface;

[0097] A comparison and judgment module is configured to compare the calculated deviation value with the alarm threshold set by the threshold setting module, and determine that the deviation of the upper and the sole exceeds the standard if the deviation value exceeds the set threshold.

[0098] An alarm module is configured to send an alarm signal when the comparison and judgment module determines that the deviation of the upper and the sole exceeds the standard, the alarm signal being in the form of a combination of sound alarm and light alarm, the buzzer emitting an alarm sound and the red warning light flashing when the deviation exceeds the standard, the production line being paused for transmission, and the deviation repair and compensation operation for the alignment of the upper and the sole being completed, a certain time being given for strategy implementation.

[0099] The calculated deviation value is compared with the alarm threshold set by the threshold setting module, and the alarm module sends an alarm signal, the alarm signal being in the form of a combination of sound alarm and light alarm, so that the operator can adjust the alignment of the upper and the sole in time according to the alarm signal, and the adaptive adjustment operation can also be realized automatically, effectively reducing the impact of the deviation.

[0100] Meanwhile, the contents not described in detail in the specification all belong to the prior art known to those skilled in the art.

[0101] It is to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting; it is not intended to exclude myriad other embodiments of the present application that other inventors can develop based on the same general inventive concepts embodied by the described embodiments. That is, although the present application is described in terms of particular embodiments and illustrative figures, it should be apparent that the scope of the present application is not limited to these specific embodiments.

[0102] While the embodiments of the application have been shown and described herein, it will be understood by those skilled in the art that many changes, modifications, substitutions and alterations to these embodiments can be made without departing from the principles and spirits of the application, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An alarm system for misalignment between the upper and the sole, characterized in that: The method comprises the following steps: An image acquisition module, through wide-angle high-definition cameras and distance sensors, is installed at different angles of the upper and sole fitting station to collect image information of the upper and sole in the fitting process in real time, and to realize data transmission and storage; An image processing module receives the collected image data to perform clear preprocessing operations, extracts the key edge features of the upper and sole from the preprocessed images, analyzes the deviation between the upper and sole based on the key edge features, calculates the deviation value of the upper and sole contour features in the three-dimensional space, and transmits the deviation value result; A comparison and alarm module compares the deviation value result with the set threshold to generate a corresponding comparison result to realize alarm reminding and generate a corresponding adjustment strategy; A machine group control module transmits instructions to the corresponding product conveyor group and product alignment group for regulation and control according to the adjustment strategy.

2. The upper-to-sol e registration deviation alarm system of claim 1, wherein: The deployment operation of the wide-angle high-definition camera in the image acquisition module is as follows: Wide-angle high-definition cameras and distance sensors are arranged in the vertical direction on the upper and sole fitting station; Wide-angle high-definition cameras and distance sensors are arranged in the horizontal direction on the front and rear sides of the upper and sole; Then, the collected data is sorted according to the collection time, and then transmitted after being summarized.

3. The upper-to-sol e registration deviation alarm system of claim 1, wherein: The clear preprocessing operation of the image processing module receiving the collected image data is as follows: Denoising operation is performed on the original image data, and non-local mean denoising is used to eliminate random noise in the image; Color images are converted into single-channel grayscale images, grayscale images are converted into black and white binary images through adaptive thresholding, and feature parts are determined according to the grayscale values of the image data; Then, the image data is integrated according to the collection direction to form complete three-dimensional image data.

4. The upper-to-sol e registration deviation alarm system of claim 3, wherein: The integration operation of the image data is as follows: Extract the image data at the same time node, set a base point at the left side of the product on the front side boundary of the equipment conveying surface; Then, establish an X-axis along the conveying direction from the base point, a Y-axis perpendicular to the rear side boundary direction from the base point, and a Z-axis vertically upward from the base point to form a space coordinate system; Align the common corner points of the image data with the base point, sequentially fill the space coordinate system in the shooting direction, set reference points based on the feature parts, determine the three-dimensional coordinates of the reference points in the space coordinate system according to the coordinates of the reference points on different images, and restore the three-dimensional parameters of each feature in turn to form three-dimensional image data through multiple reference points.

5. The upper-to-sol e registration deviation alarm system of claim 1, wherein: The operation of extracting the key edge features of the upper and sole in the image processing module is as follows: After determining the feature part, the image with the upper and sole contour features is extracted, and the upper and sole contour features are enlarged; And the feature part located in the amplification part carries out the equidistant and uniform setting judgment point, and then realizes the comparison of the gray value of the judgment points which are longitudinally located on the same line, records the adjacent judgment points which produce the change of the gray value, and obtains the upper and lower boundary points according to the midpoint of the adjacent judgment points, and then connects the upper boundary point and the lower boundary point to obtain the boundary line of the upper and the sole edge feature, and the boundary line between the upper boundary line and the lower boundary line is the key edge feature of the upper and the sole.

6. The upper-to-sol e registration deviation alarm system of claim 5, wherein: The operation of the image processing module based on the key edge feature is as follows: Determine whether the alignment direction of the upper corresponds to the direction of the sole according to the direction of the sole; Set the first comparison points A1 and A2 which are equidistant and symmetrical on the key edge feature of the sole, and then set the second comparison points B1 and B2 which correspond to the first comparison points on the key edge feature of the upper, and obtain the coordinates of the current first comparison points A1 and A2 and the second comparison points B1 and B2 in the space coordinate system to determine the deviation value between the upper and the sole, and generate the adjustment instruction for the upper.

7. The upper-to-sol e registration deviation alarm system of claim 6, wherein: The operation of determining whether the alignment direction of the upper corresponds to the direction of the sole according to the direction of the sole is as follows: Extract the image data with the sole feature, and then divide the image data from the center of the sole feature in the front and back direction, and calculate the maximum front and back width of the sole feature in the divided left and right image data, and compare the calculated maximum front and back width, and the smaller width is the heel feature; Extract the image data with the upper feature, and determine the direction of the upper feature in the same way as the direction determination of the sole feature, and if the upper feature corresponds to the sole feature, no adjustment is needed, otherwise, if the upper feature is opposite to the sole feature, generate the direction adjustment strategy of the upper product to realize the adjustment.

8. The upper-to-sol e registration deviation alarm system of claim 6, wherein: The operation of determining the deviation value between the upper and the sole is as follows: The coordinates of the first comparison points A1 and A2 are (x1, y1, 0) and (x2, y2, 0), and the coordinates of the second comparison points B1 and B2 are (x3, y3, z1) and (x4, y4, z2) respectively; Compare the values of z1 and z2 in the comparison points B1 and B2, if the values of z1 and z2 are not equal, calculate the required adjustment angle to generate the adjustment instruction for controlling the rotation point to adjust the upper product; Then compare the values of x3 and x1 in the adjusted comparison points B1 and B2, and at the same time compare the values of y3 and y1 in the adjusted comparison points B1 and B2, if there is an inequality, calculate the required displacement distance to generate the adjustment instruction for moving the upper product.

9. The upper-to-sol e registration deviation alarm system of claim 8, wherein: The calculation operation of the required adjustment angle is as follows: According to the device parameters, determine the height z3 of the upper product at the control rotation point, and the required adjustment angle calculation formula is θ=α-β, θ is the required adjustment angle, α is the angle between the direction of the comparison point B1 to the rotation point in the XZ plane after adjustment and the plane where the rotation point is located in the Z axis direction, and β is the angle between the direction of the comparison point B1 to the rotation point in the XZ plane before adjustment and the plane where the rotation point is located in the Z axis direction. The calculation formula of the angle β is tan β = [ (x3+x4) / 2] / (z3-z1), and [ (x3+x4) / 2] is the vertical distance between the comparison point B1 and the vertical position of the rotating point; The calculation formula of the angle a is: ; z3-z1-z2 is the vertical distance of the vertical position of the adjusted rotating point in the X, Z axis plane to the comparison point B1, is the distance of the adjusted rotating point in the X, Z axis plane to the comparison point B1; The deviation distance in the X-axis direction is |x3-x1|, and the deviation distance in the Y-axis direction is |y3-y1|; Then, the corresponding product movement adjustment instruction is generated and transmitted.

10. The upper-to-sol e registration deviation warning system of claim 1, wherein: The comparison alarm module comprises: A threshold setting module is configured to set an alarm threshold for the deviation of the upper and the sole, and the threshold is adjusted according to different shoe styles and production requirements, and an operator inputs different threshold parameters through an interactive interface; A comparison and judgment module is configured to compare the calculated deviation value with the alarm threshold set by the threshold setting module, and if the deviation value exceeds the set threshold, it is determined that the deviation of the upper and the sole exceeds the standard. An alarm module is configured to send an alarm signal when the comparison and judgment module determines that the deviation of the upper and the sole exceeds the standard, and the alarm signal adopts a combination of sound alarm and light alarm, and when the deviation exceeds the standard, the buzzer emits an alarm sound and the red warning light flashes.

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