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

Abstract

To provide a technique that eliminates the need for workers to mark shoe components during shoe manufacturing. [Solution] A shoe processing support device supports the processing of a shoe including a first shoe component and a second shoe component to be joined to the first shoe component. The shoe processing support device includes a dimension specifying unit that specifies, from three-dimensional shape data obtained from the first shoe component, dimensional data related to a joining surface of the first shoe component to be joined to the second shoe component, and a boundary specifying unit that specifies, in the three-dimensional shape data of the second shoe component, a boundary of the joining surface to be joined to the first shoe component by applying the specified dimensional data to the three-dimensional shape data obtained from the second shoe component.

Description

[Technical Field]

[0001] The present invention relates to a shoe processing support device, a shoe processing support method, and a computer program. [Background technology]

[0002] Shoe manufacturing involves joining the sole and upper together, in which workers draw lines on the upper to define where the sole will be attached, then buff the area enclosed by the lines, apply adhesive, and join the upper and sole together. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] US Patent Application Publication No. 2015 / 0135447 Summary of the Invention [Problem to be solved by the invention]

[0004] Although shoe manufacturing is becoming increasingly automated (see, for example, Patent Document 1), although the methods vary, the areas to be buffed or adhesive applied are determined by recognizing scribed lines drawn on the upper, which means that workers must draw the scribed lines manually. The scribed work requires skill and effort, as it is necessary to take into account individual differences in uppers and soles.

[0005] Such problems may occur not only when joining a sole and an upper, but also when joining other shoe components.

[0006] The present invention has been made in view of the above circumstances, and one exemplary purpose of an embodiment thereof is to provide a technique that eliminates the need for workers to mark shoe components in shoe manufacturing. [Means for solving the problem]

[0007] A shoe processing support device according to one embodiment of the present invention is a shoe processing support device that supports the processing of a shoe including a first shoe component and a second shoe component to be joined to the first shoe component, and includes: a dimension specifying unit that specifies, from three-dimensional shape data obtained from the first shoe component, dimensional data relating to the joining surface of the first shoe component to be joined to the second shoe component; and a boundary specifying unit that specifies the boundary of the joining surface to be joined to the first shoe component in the three-dimensional shape data of the second shoe component by applying the specified dimensional data to the three-dimensional shape data obtained from the second shoe component.

[0008] Another aspect of the present invention is a shoe processing support method for supporting the processing of a shoe including a first shoe component and a second shoe component to be joined to the first shoe component, the method comprising: a dimension data specifying step of specifying, from three-dimensional shape data obtained from the first shoe component, dimension data related to a joining surface of the first shoe component to be joined to the second shoe component; and a boundary specifying step of specifying, in the three-dimensional shape data of the second shoe component, a boundary of the joining surface to be joined to the first shoe component by applying the specified dimension data to the three-dimensional shape data obtained from the second shoe component.

[0009] Any combination of the above components, and any transformation of the present invention into a method, device, system, computer program, data structure, recording medium, etc., are also valid aspects of the present invention. [Effects of the Invention]

[0010] According to the present invention, a technique can be provided in shoe manufacturing that eliminates the need for workers to mark shoe components. [Brief explanation of the drawings]

[0011] [Figure 1] 1 is a schematic diagram showing the overall configuration of a shoe processing system according to an embodiment; [Figure 2]2 is a block diagram showing the functional configuration of the shoe processing support device of FIG. 1. FIG. [Figure 3] 3(a) to 3(c) are diagrams illustrating a method for specifying the cup height of the heel portion of the sole on the three-dimensional shape data of the sole. [Figure 4] 10A and 10B are diagrams illustrating a method for specifying the cup height on the medial side and the cup height on the lateral side at each of a plurality of positions on the sole in the foot length direction on the three-dimensional shape data of the sole. [Figure 5] Figures 5(a) and (b) are diagrams explaining a method for determining the foot width direction surface distance on the medial side and the foot width direction surface distance on the lateral side at each of multiple foot length direction positions of the sole on the three-dimensional shape data of the sole. [Figure 6] 6(a) to 6(c) are diagrams illustrating a method for identifying boundary points of the heel part of the upper on the three-dimensional shape data of the upper. [Figure 7] 10A and 10B are diagrams illustrating a method for identifying a boundary point on the medial side of the foot and a boundary point on the lateral side of the foot at each of a plurality of positions on the upper in the foot length direction. [Figure 8] 8(a) to 8(c) are diagrams for explaining a method for identifying the center point. [Figure 9] FIG. 10 is a diagram illustrating a first method for determining a travel route. DETAILED DESCRIPTION OF THE INVENTION

[0012] The present invention will be described below based on preferred embodiments with reference to the accompanying drawings. In the embodiments and modifications, the same or equivalent components are designated by the same reference numerals, and redundant descriptions will be omitted where appropriate.

[0013] In the following, an example will be described in which the first shoe component is a sole and the second shoe component is an upper, but the first shoe component and the second shoe component may be any shoe component that is joined to each other, and are not limited to a sole and an upper. For example, the first shoe component may be an outsole and the second shoe component may be a midsole, or the first shoe component may be a sole and the second shoe component may be a truss.

[0014] 1 is a schematic diagram showing the overall configuration of a shoe processing support system 1 according to an embodiment. The shoe processing support system 1 is a system that supports the processing of shoes including a sole 6 and an upper 8. The shoe processing support system 1 includes a first camera 10, a second camera 12, a shoe processing support device 14, a buffing device 16, and an application device 18.

[0015] The sole 6 is placed on a not-shown table by an operator. The sole 6 is placed on the table with the joining surface 6a, to which the upper 8 is to be joined, facing upward. The first camera 10 photographs the sole 6 placed on the table.

[0016] The upper 8 is attached to a holding table (not shown) by an operator. The upper is held upside down, with the joining surface (bottom surface) 8a, to which the sole 6 is to be joined, facing upward. The second camera 12 photographs the upper 8 held on the holding table.

[0017] For example, the first camera 10 and the second camera 12 each capture images of the sole 6 and the upper 8 from multiple viewpoints. Note that instead of the first camera 10 and the second camera 12, a scanner such as a three-dimensional scanner may be used.

[0018] The shoe processing support device 14 generates three-dimensional shape data of the sole 6 based on an image of the sole 6 (hereinafter referred to as the sole image) captured by the first camera 10, and generates three-dimensional shape data of the upper 8 based on an image of the upper 8 (hereinafter referred to as the upper image) captured by the second camera 12. As will be described in detail later, the shoe processing support device 14 identifies the boundary of the joining surface 8a, where the sole should be joined, on the three-dimensional shape data of the upper based on the three-dimensional shape data of the sole 6 and upper 8.

[0019] The buffing device 16 buffs the upper based on a control signal from the shoe processing support device 14. "Buffing" is a process of polishing and roughening the surface. The buffing device 16 includes a buffing unit 20 and a moving mechanism 22. The buffing unit 20 includes polishing members such as grindstones and brushes, and buffs the upper. The moving mechanism 22 moves the buffing unit 20. The moving mechanism 22 may be an articulated (multi-axis) robot arm. The moving mechanism 22 moves the buffing unit 20 along a movement path determined by the shoe processing support device 14 based on the boundary. This causes the joining surface 8a, which is the area inside the boundary, to be buffed (i.e., the joining surface 8a becomes rough), making it easier for the adhesive to adhere to the joining surface 8a.

[0020] The application device 18 applies adhesive to the upper based on a control signal from the shoe processing support device 14. The application device 18 includes an application unit 24 and a movement mechanism 26. The application unit 24 discharges adhesive from a discharge port provided at its tip. The movement mechanism 26 is a mechanism for moving the application unit 24. The movement mechanism 26 may be an articulated (multi-axis) robot arm. The movement mechanism 26 moves the application unit 24 along a movement path determined by the shoe processing support device 14 based on the boundary. As a result, the adhesive is applied to the joining surface 8a, which is the area inside the boundary and has been buffed. The sole 6 is manually joined by an operator to the upper 8 with the adhesive applied to the joining surface 8a.

[0021] As a modified example, the shoe processing support system 1 may be configured not to include the buffing device 16. For example, if the upper 8 is formed of a material that adhesives easily adhere to, there is no need to buff the upper 8, and therefore the shoe processing support system 1 may not include the buffing device 16.

[0022] In addition, in this example, the shoe processing support device 14 directly controls the buffing device 16 and the application device 18, but a PLC (programmable logic controller) may be provided separately from the shoe processing support device 14 and these may be controlled via the PLC.

[0023] In addition, the movement mechanism 22 of the buffing device 16 may determine the movement path along which the buffing processing unit 20 moves based on the boundary identified by the shoe processing support device 14.

[0024] Similarly, the movement mechanism 26 of the application device 18 may determine the movement path along which the application unit 24 should move based on the boundary identified by the shoe processing support device 14.

[0025] The above is the overall configuration of the shoe processing support system 1. Next, the shoe processing support device 14 will be described in detail.

[0026] 2 is a block diagram showing the functional configuration of the shoe processing support device 14. Each block shown here can be realized in hardware by elements or mechanical devices such as a computer's CPU (Central Processing Unit), and in software by a computer program, etc., but the functional blocks shown here are realized by the cooperation of these elements. Therefore, those skilled in the art who have read this specification will understand that these functional blocks can be realized in various ways by combining hardware and software.

[0027] The shoe processing support device includes an image acquisition unit 30, a three-dimensional data generation unit 32, a dimension identification unit 34, a boundary identification unit 36, a buffing control unit 38, an application control unit 40, and a data storage unit 42. The data storage unit 42 includes a three-dimensional shape data storage unit 50, a dimension data storage unit 52, and a boundary data storage unit 54.

[0028] The image acquisition unit 30 acquires a sole image from the first camera 10. The image acquisition unit 30 also acquires an upper image from the second camera 12.

[0029] The three-dimensional shape data generation unit 32 generates three-dimensional shape data indicating the three-dimensional shape of the sole based on the sole image. The three-dimensional shape data generation unit 32 also generates three-dimensional shape data indicating the three-dimensional shape of the upper based on the upper image. Here, the three-dimensional shape data is assumed to be point cloud data, but is not limited to this and may be, for example, mesh data. The configuration of the three-dimensional shape data generation unit 32 is not particularly limited and may be configured using known or future available technology. The three-dimensional shape data generation unit 32 associates the generated three-dimensional shape data of the sole and upper with each other and stores them in the three-dimensional shape data storage unit 50.

[0030] The dimension specifying unit 34 specifies dimensional data related to the joint surface of the sole from the three-dimensional shape data of the sole. The dimension specifying unit 34 stores the specified dimensional data in the dimensional data storage unit 52. The dimensional data includes the "cup height" and the "foot width direction creepage distance" on the medial side and lateral side of the foot. The "cup height" is the height H of the annular protrusion (hereinafter referred to as cup 8b) formed along the periphery of the sole (see Figures 3 and 4 described below). The "foot width direction creepage distance" is the creepage distance L from the center point C along the joint surface in the foot width direction to the edge point E of cup 8b at each of multiple positions on the sole in the foot length direction (see Figure 5).

[0031] The method for determining the "cup height" and the "foot width direction creepage distance" on the medial and lateral sides of the foot will now be described. The dimension determination unit 34 applies a local coordinate system (Xs, Ys, Zs) to the three-dimensional shape data of the sole (see Figures 3 to 5). The Xs axis extends in the foot length direction, the Ys axis extends in the foot width direction, and the Zs axis extends vertically.

[0032] Figure 3(a) and (b) show the heel cup height H of the sole on the 3D shape data of the sole. heel As shown in FIG. 3(a), a plurality of (here, n) foot length direction positions Xs i Center point Cs at each of (i=1, 2, 3, . . . , n) i Xs1 is the Xs coordinate where the heel side end of the sole is located, and Xs n is the Xs coordinate where the tip of the sole is located.

[0033] Center point Cs i (i=1, 2, 3, . . . , n) is the foot length direction position Xs seen when the joint surface of the sole is viewed in the Zs axis direction. i Among the multiple points in the foot, the center point is the point located in the middle when counting from one end to the other in the foot width direction. Note that the center point Cs is only for the foot length direction position around the heel. i may be specified.

[0034] As a variant, the center point Cs i (i=1, 2, 3, . . . , n) is the foot length direction position Xs seen when the joint surface of the sole is viewed in the Zs axis direction. i Among the multiple points in the inner_i and the edge point of the cup on the outer foot side, edge point E outer_i (See Figure 4) The point in the middle when counting from one side to the other is the center point Cs i It may be specified as:

[0035] As shown in Figure 3(b), the starting point Ps of the heel cup of the sole heel Determine the starting point Ps heelare the center points Cs1 to Cs n It is determined from among, but not limited to, for example, Cs i+1 Cs i Vector (center point Cs i+1 From the center point Cs i The acute angle between the vector pointing to the Xs-Ys plane and the Xs-Ys plane is less than the first threshold angle, and Cs i Cs i-1 Vector (center point Cs i From the center point Cs i-1 If the acute angle between the vector pointing to the center point Cs and the Xs-Ys plane is equal to or greater than the first threshold angle, i Starting point Ps heel It may be determined that:

[0036] Also, as shown in Figure 3(b), the edge point E of the heel cup of the sole heel Determine the edge point E heel are the center points Cs1 to Cs n It is determined from among, but not limited to, for example, Cs i+1 Cs i Vector (center point Cs i+1 From the center point Cs i The acute angle between the vector pointing to the Xs-Ys plane and the Xs-Ys plane is equal to or greater than the second threshold angle, and Cs i Cs i-1 Vector (center point Cs i From the center point Cs i-1 If the acute angle between the vector pointing to the center point Cs and the Xs-Ys plane is less than the second threshold angle, i The edge point E heel It may be determined that:

[0037] As shown in Figure 3(b), the starting point Ps of the heel cup heel and edge point E heel The difference in Zs coordinate is the heel cup height H heel Identify as:

[0038] FIG. 4 shows a plurality of positions Xs of the sole in the foot length direction on the three-dimensional shape data of the sole. i The cup height H on the inner foot side for each of (i=a, a+1, a+2, . . . , n) innerand outer cup height H outer This is a diagram illustrating how to specify Xs a is the edge point E of the heel cup determined in Figure 3(b). heel is the Xs coordinate where it is located.

[0039] First, the starting point P of the cup on the inner side of the foot inner_i Determine the starting point P inner_i is the foot length direction position Xs i It is determined from multiple points aligned along the joint surface in the foot width direction. For example, the starting point P inner_i is the starting point of the heel cup Ps heel may be identified in a similar manner.

[0040] Next, the edge point E of the cup on the inner foot side inner_i Determine the edge point E inner_i is the foot length direction position Xs i The edge point E is determined from multiple points aligned along the joint surface in the foot width direction. inner_i is the edge point E of the heel cup heel may be identified in a similar manner.

[0041] Starting point P of the cup on the inner side of the foot inner_i and edge point E inner_i The difference in Zs coordinate is the cup height H inner_i Identify as:

[0042] On the outside of the foot, as with the inside of the foot, the starting point of the cup P outer_i and the edge point E of the cup outer_i The difference between these Zs coordinates is the cup height H on the outer foot side. outer Identify as:

[0043] 5(a) and (b) show the positions Xs of the sole in the foot length direction on the three-dimensional shape data of the sole. i The creepage distance L in the foot width direction on the inner foot side at each of (i=a, a+1, a+2, . . . , n) inner_i and creepage distance L in the foot width direction on the outer foot side outer_i FIG. 10 is a diagram illustrating a method for specifying the

[0044] As shown in FIG. 5(a), a plurality of foot length direction positions Xs i For each of (i=a, a+1, a+2, , n), the center point Cs i Identify Xs a is the edge point E of the heel cup determined in Figure 3(b). heel is the Xs coordinate where the center point Cs is located. i The method for specifying is as explained in FIG.

[0045] In addition, the foot length direction position Xs n So, at the tip of the toe roll-up part 6c, the center point Cs is located at a position far away from the actual position. n Therefore, the foot length direction position Xs n Among the multiple points in, for example, Xs n Xs on the heel side nーk Center point Cs nーk The point with the same y-coordinate as the center point Cs n It may be specified as follows.

[0046] In addition, multiple foot length direction positions Xs i At each of (i=a, a+1, a+2, . . . , n), the edge point E of the cup on the inner foot side inner_i Identify the edge point E inner_i can be identified in the same manner as the edge points of the heel cup.

[0047] In addition, multiple foot length direction positions Xs i At each of (i=a, a+1, a+2, . . . , n), the edge point E of the cup on the outer foot side Outer_i Identify the edge point E Outer_i can be identified in the same manner as the edge points of the heel cup.

[0048] As shown in FIG. 5(b), a plurality of foot length direction positions Xs i For each of (i=a, a+1, a+2, , n), the center point Cs i to the edge point E on the inner side of the foot inner_iThe creepage distance L in the foot width direction is the distance along the joint surface in the foot width direction. inner_i Specify the creepage distance L in the foot width direction. inner_i is the center point Cs i to the edge point E on the inner side of the foot inner_i Foot length direction position Xs i The identification can be performed using known techniques based on multiple points in the above.

[0049] Similarly, as shown in FIG. 5(b), a plurality of foot length direction positions Xs i For each of (i=a, a+1, a+2, , n), the center point Cs i Edge point E on the outside foot Outer_i The creepage distance L in the foot width direction is the distance along the joint surface in the foot width direction. Outer_i Specify the creepage distance L in the foot width direction. Outer_i is the center point Cs i Edge point E on the outside foot Outer_i The foot length direction position x that exists up to i The identification can be performed using known techniques based on multiple points in the above.

[0050] Returning to FIG. 2 , the boundary identification unit 36 ​​identifies the boundary of the joining surface to be joined with the sole in the three-dimensional shape data of the upper. In particular, the boundary identification unit 36 ​​identifies the boundary as a set of multiple boundary points (i.e., a boundary point group). The boundary identification unit 36 ​​stores data of the identified boundary, i.e., data of the multiple boundary points, in the boundary data storage unit 54.

[0051] The boundary specifying unit 36 ​​specifies the boundary of the joint surface on the three-dimensional shape data of the upper by applying the dimensional data relating to the joint surface of the sole stored in the dimensional data storage unit 52 to the three-dimensional shape data of the upper.

[0052] In detail, the boundary specifying part 36 is the cup height H of the heel part of the sole. heelThe boundary specifying unit 36 ​​specifies the boundary point of the heel portion in the three-dimensional shape data of the upper by applying the above to the cup (standing wall portion) of the heel portion of the upper on the three-dimensional shape data of the upper. In addition, the boundary specifying unit 36 ​​specifies the creeping distance L in the foot width direction of the inner sole at each of a plurality of positions in the foot length direction. inner The boundary specifying unit 36 ​​specifies the boundary point on the medial side of the sole in the foot width direction by applying the above equation to the upper on the three-dimensional shape data of the upper. Similarly, the boundary specifying unit 36 ​​specifies the creeping distance L outer The boundary points on the medial side of the foot in the 3D shape data of the upper are identified by applying the above to the upper on the 3D shape data of the upper. A set of the identified boundary points of the heel and the boundaries on the medial side and lateral side of the foot at each of a plurality of positions in the foot length direction constitutes a boundary point group.

[0053] The method for identifying the boundary will now be described in detail. The boundary identifying unit 36 ​​applies a local coordinate system (Xu, Yu, Zu) to the three-dimensional shape data of the upper (see FIGS. 6 and 7). The Xu axis extends in the lengthwise direction of the foot, the Yu axis extends in the widthwise direction of the foot, and the Zu axis extends in the vertical direction.

[0054] 6(a) to 6(c) are diagrams illustrating a method for identifying boundary points of the heel portion of the upper on the three-dimensional shape data of the upper. As shown in FIG. 6(a), on the three-dimensional shape data of the upper, a plurality of (here, m) foot length direction positions Xu i The center point Cu at each of (i=1, 2, 3, . . . , m) i Xu1 is the Xu coordinate where the heel side end of the upper is located, and Xu m is the Xu coordinate where the tip of the upper is located.

[0055] Center point Cu i (i=1, 2, 3, . . . , m) is the foot length direction position Xu seen when the upper joint surface is viewed in the Zu axis direction. iAmong the multiple points in the foot, the center point Cu is the point located in the middle when counting from one end to the other in the foot width direction. i may be specified.

[0056] As shown in FIG. 6(b), the starting point Pu of the cup 6b in the heel part of the upper heel Determine the starting point Pu heel is the center point Cu1~Cu m The starting point Pu is determined from heel For example, the starting point Ps of the cup 8b in the heel portion of the sole described in FIG. heel It may be specified in the same way.

[0057] As shown in Figure 6(c), the boundary point B heel Identify the boundary point B. heel is the center point Cu1~Cu m In detail, the center points Cu1 to Cu m Among them, the starting point Ps heel The Zu coordinate of the sole is the heel cup height H heel The center point with the Zu coordinate closest to the sum of heel The sole is generally made of a soft material, and when it is pressed together with the upper, it undergoes elastic deformation. heel Instead, a cup height corrected to take deformation into account may be used.

[0058] FIG. 7 shows the upper at multiple positions Xu i Boundary point B on the inner foot side for each of (i=b, b+1, b+2, . . . , m) inner_i and boundary point B on the outside of the foot outer_i This is a diagram illustrating a method for specifying Xu. b is the boundary point B of the heel determined in Figure 6(c). heel is the Xu coordinate where

[0059] As shown in FIG. 7(a), the foot length direction position Xu in the local coordinate system Xu of the upper iand the foot length direction position Xs in the sole's local coordinate system Xs i’ It should be noted that i and i' may satisfy the relationship expressed by the following formula (1). i' = (n' - a) × (i / (mb)) (1) Here, n' (for example, n'=n×0.95) is used instead of n to exclude the rolled-up portion 6c of the sole at the toe.

[0060] As shown in FIG. 7(b), the upper is i Boundary point B on the inner foot side at each of (i=b, b+1, b+2 m) inner_i is the creepage distance L of the sole in the width direction of the foot on the inner side of the foot inner_i’ Only the center point Cr i Similarly, the upper is identified as a point spaced apart along the joint surface of the upper on the medial side of the foot in the foot width direction from the position Xu i Boundary point B on the outside of the foot at (i=b, b+1, b+2 m) outer_i is the creepage distance L of the sole in the foot width direction on the outer side of the foot outer_i’ Only the center point Cr i The sole is generally made of a soft material, and is elastically deformed when pressed together with the upper. inner_i’ ,L outer_i’ Instead of the above, a creepage distance in the foot width direction corrected by taking deformation into consideration may be used.

[0061] By the way, the center point Cr i = center point Cu i In that case, the center point Cr near the midfoot i Therefore, the center point Cr is i 8(a) to (c) show the center point Cr i 8(a) is a diagram illustrating a method for identifying a plurality of foot length direction positions Xu i For each of (i=b, b+1, b+2···m), the temporary center point Cu iIdentify the center point Cu i The method for specifying is as explained in FIG. 6(a).

[0062] As shown in FIG. 8(b), multiple foot length direction positions Xu i For each of (i=b, b+1, b+2...m), the foot length direction position Xu i Among the multiple points in the i The Zu coordinate of the sole is the cup height H on the outer side of the foot. outer_i’ The point Q on the outside of the foot that has the Zu coordinate closest to the value obtained by adding outer_i’ Although not shown in FIG. 8(b), a plurality of foot length direction positions Xu i In each of these, the foot length direction position Xu i Among the multiple points in the i The Zu coordinate of the sole is the cup height H on the inner side of the foot. inner_i’ The point Q on the inside of the foot that has the Zu coordinate closest to the value obtained by adding inner_i’ Identify.

[0063] As shown in Figure 8(c), the two points Q identified in Figure 8(b) outer_i’ ,Q inner_i’ The foot length direction position Xu i Among the multiple points in the inner_i’ and point Q outer_i’ The point in the middle when counting from one side to the other is the center point Cr i Identify as:

[0064] 2, the buffing control unit 38 controls the buffing device 16 based on the boundary on the three-dimensional shape data of the upper identified by the boundary identification unit 36, and buffs the joining surface, which is the area surface inside the boundary. More specifically, the buffing control unit 38 determines a movement path based on the boundary, and controls the movement mechanism 22 so that the buffing unit 20 moves according to the determined movement path.

[0065] A method for determining the movement path will now be described. Figure 9 is a diagram illustrating a first method for determining the movement path. Because the polishing member has a width, if the buffing unit 20 is moved along the boundary, i.e., so that the center of the polishing member passes through the boundary, buffing will occur beyond the boundary. Therefore, the buffing control unit 38 determines, as the movement path, a circular line 62 obtained by offsetting the circular boundary 60 inward along the joining surface by a distance corresponding to the width of the polishing member, and a zigzag line 64, for example, running inside the circular line 62.

[0066] Next, a second method for determining the movement path will be described. A reference boundary (hereinafter referred to as the reference boundary) based on, for example, the design values ​​of the upper, and a corresponding movement path (hereinafter referred to as the reference movement path) are stored in the data storage unit 42. The buffing process control unit 38 compares the shape of the boundary identified by the boundary identification unit 36 ​​with the shape of the reference boundary stored in the data storage unit 42, deforms the reference movement path according to the comparison result, and determines it as the movement path.

[0067] More specifically, a known algorithm such as an ICP algorithm is used to align the position of the boundary identified by the boundary identification unit 36 ​​with the reference boundary stored in the data storage unit 42. The degree to which the reference boundary deviates from the boundary identified by the boundary identification unit 36 ​​is calculated. For example, the closest points from the points dividing the identified boundary into n equal parts to the reference boundary are found, and a vector between those points is calculated. Based on the calculated vector, the point on the movement path corresponding to that point is moved, thereby deforming the movement path.

[0068] Returning to FIG. 2, the application control unit 40 controls the application device 18 based on the boundary in the 3D shape data of the upper identified by the boundary identification unit 36, and applies adhesive to the joining surface, which is the area surface inside the boundary. More specifically, the buffing process control unit 38 determines a movement path based on the boundary and controls the movement mechanism so that the application unit moves according to the determined movement path. The movement path may be determined in the same way as the movement path of the buffing process unit.

[0069] According to this embodiment, the boundaries of the joining surfaces are identified on the three-dimensional shape data of the upper, so that buffing and adhesive application can be performed based on the boundaries on this three-dimensional shape data, eliminating the need for workers to draw marking lines.

[0070] Furthermore, according to this embodiment, the boundaries are identified by applying the dimensional data determined from the three-dimensional shape data of the sole to the three-dimensional shape data of the upper, which reduces calculation costs compared to identifying the boundaries by directly applying the three-dimensional shape data of the sole to the three-dimensional shape data of the upper.

[0071] The present invention has been described above based on an embodiment. This embodiment is merely an example, and it will be understood by those skilled in the art that various modifications are possible in the combination of the components and treatment processes, and that such modifications are also within the scope of the present invention. [Explanation of symbols]

[0072] 1 shoe processing support system, 6 sole, 8 upper, 10 first camera, 12 second camera, 14 shoe processing support device, 16 buffing device, 18 application device, 34 dimension identification unit, 36 boundary identification unit.

Claims

1. A shoe processing assist device that assists in processing a shoe including a first shoe component and a second shoe component joined to the first shoe component, a dimension specifying unit for specifying, from three-dimensional shape data obtained from the first shoe component, dimension data relating to a joining surface of the first shoe component to be joined with the second shoe component; a boundary specifying unit that specifies a boundary of a joining surface to be joined with the first shoe component in the three-dimensional shape data of the second shoe component by applying the specified dimension data to three-dimensional shape data obtained from the second shoe component; Equipped with the first shoe component is a shoe sole and the second shoe component is a shoe upper; The specified dimensional data includes a cup height of a heel portion of the first shoe component; The boundary specifying unit specifies the boundary of the heel portion in the three-dimensional shape data of the second shoe component based on the cup height of the heel portion.

2. The specified dimensional data includes a creepage distance from a center to an edge of the first shoe component along a joint surface of the first shoe component in a foot width direction at each of a plurality of positions of the first shoe component in a foot length direction, 2. The shoe processing support device according to claim 1, wherein the boundary identification unit identifies, at each of a plurality of foot length direction positions of the second shoe component, a point that is away from the center of the second shoe component along the joint surface of the second shoe component in the foot width direction by a distance based on the creepage distance at the corresponding foot length direction position of the first shoe component as a point on the boundary.

3. The specified dimension data includes two cup heights, one on the medial side and one on the lateral side, at each of a plurality of positions in the foot length direction of the first shoe component, 3. The shoe processing support device according to claim 2, wherein for each of a plurality of positions of the second shoe component in the foot length direction, the position of the center of the second shoe component is a position between two points on the joint surface of the second shoe component that are specified based on the two cup heights at the corresponding positions of the first shoe component in the foot length direction.

4. A shoe processing support method for supporting processing of a shoe including a first shoe component and a second shoe component joined to the first shoe component, comprising: a dimension data specifying step of specifying dimension data relating to a joining surface of the first shoe component to be joined with a second shoe component from the three-dimensional shape data obtained from the first shoe component; a boundary specifying step of specifying a boundary of a joining surface to be joined with the first shoe component in the three-dimensional shape data of the second shoe component by applying the specified dimension data to three-dimensional shape data obtained from the second shoe component; Equipped with the first shoe component is a shoe sole and the second shoe component is a shoe upper; The specified dimensional data includes a cup height of a heel portion of the first shoe component; In the boundary specifying step, the boundary of the heel portion in the three-dimensional shape data of the second shoe component is specified based on the cup height of the heel portion.

5. applying adhesive to the joining surface of the second shoe component based on the identified boundary; a joining step of joining the first shoe component to the second shoe component; The shoe processing support method according to claim 4, further comprising:

6. The shoe processing support method according to claim 5, further comprising a buffing step of polishing the joining surface of the second shoe component based on the identified boundary before the applying step.

7. The method further comprises a step of determining a movement path for moving an application unit that applies adhesive within a range obtained by offsetting the specified boundary inward along the joining surface of the second shoe component, 6. The shoe processing support method according to claim 5, wherein in the applying step, the adhesive is applied to the joining surface of the second shoe component by moving the applicator along the determined movement path.

8. The method further includes a step of determining an application trajectory by converting the reference application trajectory stored in a predetermined storage unit in accordance with a comparison result between the specified boundary and a reference boundary stored in a predetermined storage unit, 6. The shoe processing support method according to claim 5, wherein in the application step, the adhesive is applied according to the determined application path.

9. 1. A computer program for assisting in the fabrication of a shoe including a first shoe component and a second shoe component joined to the first shoe component, the computer program comprising: A function of specifying, from the three-dimensional shape data obtained from the first shoe component, dimensional data relating to a joining surface of the first shoe component to be joined with the second shoe component; A function of specifying a boundary of a joining surface to be joined with the first shoe component in the three-dimensional shape data of the second shoe component by applying the specified dimension data to the three-dimensional shape data obtained from the second shoe component; This is realized on a computer, the first shoe component is a shoe sole and the second shoe component is a shoe upper; The specified dimensional data includes a cup height of a heel portion of the first shoe component; The function of identifying the boundary is a computer program that identifies the boundary of the heel portion in the three-dimensional shape data of the second shoe component based on the cup height of the heel portion.

Images