US20190159553A1 - Roughing System - Google Patents
Roughing System Download PDFInfo
- Publication number
- US20190159553A1 US20190159553A1 US16/169,082 US201816169082A US2019159553A1 US 20190159553 A1 US20190159553 A1 US 20190159553A1 US 201816169082 A US201816169082 A US 201816169082A US 2019159553 A1 US2019159553 A1 US 2019159553A1
- Authority
- US
- United States
- Prior art keywords
- roughing
- image
- camera module
- robotic arm
- path
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Abandoned
Links
Images
Classifications
-
- A—HUMAN NECESSITIES
- A43—FOOTWEAR
- A43D—MACHINES, TOOLS, EQUIPMENT OR METHODS FOR MANUFACTURING OR REPAIRING FOOTWEAR
- A43D37/00—Machines for roughening soles or other shoe parts preparatory to gluing
-
- A—HUMAN NECESSITIES
- A43—FOOTWEAR
- A43D—MACHINES, TOOLS, EQUIPMENT OR METHODS FOR MANUFACTURING OR REPAIRING FOOTWEAR
- A43D37/00—Machines for roughening soles or other shoe parts preparatory to gluing
- A43D37/005—Machines for roughening soles or other shoe parts preparatory to gluing characterised by constructional details of the rotative tools used therewith
-
- A—HUMAN NECESSITIES
- A43—FOOTWEAR
- A43D—MACHINES, TOOLS, EQUIPMENT OR METHODS FOR MANUFACTURING OR REPAIRING FOOTWEAR
- A43D119/00—Driving or controlling mechanisms of shoe machines; Frames for shoe machines
-
- A—HUMAN NECESSITIES
- A43—FOOTWEAR
- A43D—MACHINES, TOOLS, EQUIPMENT OR METHODS FOR MANUFACTURING OR REPAIRING FOOTWEAR
- A43D23/00—Single parts for pulling-over or lasting machines
- A43D23/02—Wipers; Sole-pressers; Last-supports; Pincers
- A43D23/025—Last-supports
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/698—Control of cameras or camera modules for achieving an enlarged field of view, e.g. panoramic image capture
-
- A—HUMAN NECESSITIES
- A43—FOOTWEAR
- A43B—CHARACTERISTIC FEATURES OF FOOTWEAR; PARTS OF FOOTWEAR
- A43B13/00—Soles; Sole-and-heel integral units
- A43B13/28—Soles; Sole-and-heel integral units characterised by their attachment, also attachment of combined soles and heels
- A43B13/32—Soles; Sole-and-heel integral units characterised by their attachment, also attachment of combined soles and heels by adhesives
-
- A—HUMAN NECESSITIES
- A43—FOOTWEAR
- A43D—MACHINES, TOOLS, EQUIPMENT OR METHODS FOR MANUFACTURING OR REPAIRING FOOTWEAR
- A43D25/00—Devices for gluing shoe parts
- A43D25/18—Devices for applying adhesives to shoe parts
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S451/00—Abrading
- Y10S451/912—Shoe abrading
Definitions
- the disclosure relates to an imaging apparatus and a roughing system for generating a panoramic image of a rough trace on an upper of a shoe.
- the upper is roughened to enhance mechanical bonding between the upper and the sole before the upper i s stuck to the sole using adhesive.
- a roughing machine 1 includes a grinding wheel 11 that is movable along a path around an upper 2 of a shoe and that roughs the upper 2 to form a rough trace 21 thereon.
- a depth and a width of the rough trace 21 significantly affect the strength of adhesion between the upper and the sole.
- Some shoes manufacturers may employ inspector personnel to inspect a roughened upper to determine whether a depth and a width of a rough trace formed on the upper are qualified.
- Some shoes manufacturers, for each upper take successive pictures of the upper or film a video of the upper as a grinding wheel is roughing the upper, and have the pictures or the video displayed to an inspector who subsequently determines whether a depth and a width of a rough trace on the upper are qualified.
- the abovementioned inspections are both labor intensive and time consuming.
- an object of the disclosure is to provide an imaging apparatus and a roughing system capable of alleviating at least the drawbacks mentioned above.
- a roughing system including a roughing machine and an imaging apparatus.
- the roughing machine is configured to rough an upper of a shoe along a path so as to form a rough trace thereon.
- the imaging apparatus includes a camera module and a processing module.
- the camera module is configured to be moved parallel to the path and to repeatedly capture an image of a portion of the upper having a segment of the rough trace thereon each time when one of a first condition that the camera module has been moved by a predetermined length and a second condition that the camera module has been moved for a predetermined time duration is satisfied.
- the processing module electrically connected to the camera module for receiving the images respectively of different portions of the upper that are sequentially captured by the camera module, and is configured to generate a panorama based on the images.
- FIG. 1 is a schematic diagram of a conventional roughing machine roughing an upper of a shoe
- FIG. 2 is a schematic diagram of a roughing system according to one embodiment of this disclosure.
- FIG. 3 is a schematic view illustrating a path along which a roughing machine of the roughing system is to be moved along;
- FIG. 4 illustrates an image of a portion of an upper captured by the roughing system and an image portion extracted from the image
- FIG. 5 is a panoramic image generated by the roughing system according to one embodiment of this disclosure.
- FIG. 6 is a schematic diagram of a roughing system according to another embodiment of this disclosure.
- a roughing system 100 is provided to include a roughing machine 4 , and an imaging apparatus that includes a camera module 5 , a processing module 6 and a display unit 7 .
- the roughing machine 4 is configured to rough an upper 3 of a shoe along a path (L) so as to form a rough trace 31 on the upper 3 .
- the roughing machine 4 includes a robotic arm 42 , a grinding wheel 41 and a motor 43 .
- the grinding wheel 41 is co-movably mounted on the robotic arm 42 so that the robotic arm 42 brings the grinding wheel 41 to move along the path (L).
- the motor 43 is mounted on the robotic arm 42 for driving the grinding wheel 41 to rotate for roughing the upper 3 to form the rough trace 31 ).
- the imaging apparatus for generating a panoramic image of the rough trace 31 on the upper 3 .
- the camera module 5 includes a supporting frame 51 and a camera 52 .
- the supporting frame 51 is mounted co-movably on one end of the robotic arm 42 where the grinding wheel 41 is mounted.
- the camera 52 is for capturing an image of a portion of the upper 3 having a segment of the rough trace 31 thereon, and is co-movably mounted on the supporting frame 51 to be moved parallel to the path (L) as the roughing machine 4 roughs the upper 3 along the path (L).
- the camera 52 captures an image of a portion of the upper 3 , e.g., the left image 8 in FIG.
- the camera 52 captures an image of a portion of the upper 3 each time when the camera 52 has been moved by 2.8 centimeters (cm). In one embodiment, the camera 52 captures an image of a portion of the upper 3 every ten seconds.
- the processing module 6 is electrically connected to the camera 52 for receiving the images respectively of different portions of the upper 3 that are sequentially captured by the camera 52 and is configured to perform image processing on the images.
- the camera 52 may transmit to the processing module 6 each image upon capturing the same, or transmit the images all at once after having captured the images for the entire rough trace 31 .
- the processing module 6 is configured to extract an image portion from each image by performing, e.g., edge detection and background subtraction on the image.
- the left image 8 is an example image captured by the camera 52 and has a portion of the upper 3 having a segment 310 of the rough trace 31 thereon.
- the processing module 6 performs the above-mentioned image processing on the image 8 (the left image in FIG.
- the processing module 6 is programmed to define the image portion 81 as a portion of the image 8 that has the segment 310 as a centerline of the image portion 81 and top and bottom edges spaced apart from the segment 310 by a predetermined distance.
- the processing module 6 is further configured to combine the image portions respectively extracted from the images by sequentially stitching the image portions of the images in an order of the images being captured by the camera 52 , so as to generate a panoramic image 9 shown in FIG. 5 .
- edge detection and background subtraction on each image to extract the image portion of the image are commonly used techniques in the field of image processing, thus the details of the same are omitted for the sake of brevity and the present disclosure is not limited to this example.
- the processing module 6 may refer to any device or portion of a device that processes electronic data from registers and/or memory to transform that electronic data into other electronic data.
- the processing module 6 includes, but not limited to, a single core processor, a multi-core processor, a dual-core mobile processor, a microprocessor, a microcontroller, a digital signal processor (DSP), a field-programmable gate array (FPGA), an application specific integrated circuit (ASIC), a radio-frequency integrated circuit (RFIC) etc.
- DSP digital signal processor
- FPGA field-programmable gate array
- ASIC application specific integrated circuit
- RFIC radio-frequency integrated circuit
- the display unit 7 is communicatively connected to the processing module 6 for displaying the panoramic image 9 generated by the processing module 6 .
- the display unit 7 is a monitor for displaying the panoramic image 9 .
- an inspector can simply look at the display unit 7 to inspect one upper at a time and to determine whether the rough trace included in the panorama is qualified. For example, the inspector determines whether a depth of the rough trace 31 is not greater or smaller than a predetermined depth and/or a width of the rough trace 31 is not greater or smaller than a predetermined width based on experience.
- the determination of whether the rough trace 31 is qualified can be made by the processing module 6 , for example, comparing the rough trace 31 with a reference trace that is predetermined to be a qualified trace, to determine whether the rough trace 31 is qualified, rather than determined by a human inspector. Since the feature of this disclosure does not reside in how the determination is made and such techniques are well known in the art, further details of the same are omitted for the sake of brevity.
- the camera module 5 includes a supporting frame 53 configured to track movement of one end of the robotic arm 42 where the grinding wheel 41 is mounted so as to move parallel to the path (L).
- the camera 52 is co-movably mounted on the supporting frame 53 .
- the supporting frame 53 is connected co-movably to a robotic arm (not shown) which is driven by, e.g., the processing module 6 to track the movement of said end of the robotic arm 42 .
- the supporting frame 53 is mounted slidably on a rail (not shown) that is arranged in a loop having a shape substantially the same as the path (L) so as to track the movement of said end of the robotic arm 42 along the path (L).
- the imaging apparatus that generates a panoramic image of a rough trace formed on the upper, the entire rough trace formed on one upper can be inspected at once since there is no need to flip the upper around or to determine whether a rough trace on one upper is qualified from a large number of pictures or video.
Landscapes
- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
- Studio Devices (AREA)
- Manipulator (AREA)
- Footwear And Its Accessory, Manufacturing Method And Apparatuses (AREA)
- Image Processing (AREA)
- Grinding And Polishing Of Tertiary Curved Surfaces And Surfaces With Complex Shapes (AREA)
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
TW106141300A TWI642902B (zh) | 2017-11-28 | 2017-11-28 | 鞋面打粗的視覺檢測裝置 |
TW106141300 | 2017-11-28 |
Publications (1)
Publication Number | Publication Date |
---|---|
US20190159553A1 true US20190159553A1 (en) | 2019-05-30 |
Family
ID=65431918
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US16/169,082 Abandoned US20190159553A1 (en) | 2017-11-28 | 2018-10-24 | Roughing System |
Country Status (5)
Country | Link |
---|---|
US (1) | US20190159553A1 (zh) |
JP (1) | JP6687705B2 (zh) |
KR (1) | KR102129686B1 (zh) |
DE (1) | DE102018218306A1 (zh) |
TW (1) | TWI642902B (zh) |
Citations (19)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5101528A (en) * | 1989-06-15 | 1992-04-07 | British United Shoe Machinery Ltd. | Machine for roughing side walls portions of a shoe |
EP0512773A1 (en) * | 1991-05-08 | 1992-11-11 | British United Shoe Machinery Limited | Apparatus for operating progressively along selected portions of shoe uppers |
GB2259265A (en) * | 1991-09-04 | 1993-03-10 | Ind Tech Res Inst | Computerized numerical control automatic roughening apparatus for the sole edge of a footwear piece |
EP0655207A1 (en) * | 1993-10-29 | 1995-05-31 | OFFICINA MECCANICA B.D.F. s.r.l. | Automatic machine for the controlled roughening of the edge of an upper |
US6065911A (en) * | 1994-12-22 | 2000-05-23 | Almblad; Robert | Method and apparatus for automatically making keys |
JP2002372498A (ja) * | 2001-06-13 | 2002-12-26 | Kanto Auto Works Ltd | 車両用塗面検査装置 |
US6656014B2 (en) * | 2001-03-12 | 2003-12-02 | Alan P. Aulson | Mobile bridge cutting arrangement |
JP2010076056A (ja) * | 2008-09-26 | 2010-04-08 | Denso Wave Inc | ロボット |
US20140071299A1 (en) * | 2012-09-12 | 2014-03-13 | Google Inc. | Methods and Systems for Removal of Rolling Shutter Effects |
US9085084B2 (en) * | 2010-12-01 | 2015-07-21 | Abb Ag | Robot manipulator system |
US9278454B2 (en) * | 2013-07-04 | 2016-03-08 | Canon Kabushiki Kaisha | Production apparatus |
US20160150156A1 (en) * | 2013-03-26 | 2016-05-26 | Entaniya Co., Ltd. | Panoramic-imaging digital camera, and panoramic imaging system |
US20170134713A1 (en) * | 2015-11-06 | 2017-05-11 | Toppano Co., Ltd. | Image calibrating, stitching and depth rebuilding method of a panoramic fish-eye camera and a system thereof |
US10021297B2 (en) * | 2015-07-21 | 2018-07-10 | Lg Electronics Inc. | Mobile terminal and control method thereof |
US20180343980A1 (en) * | 2017-05-31 | 2018-12-06 | Nike, Inc. | Controlling the Quality of a Manufactured Article |
US20190067057A1 (en) * | 2017-08-31 | 2019-02-28 | Taiwan Semiconductor Manufacturing Co., Ltd. | Apparatus and method for inspecting wafer carriers |
US20190069483A1 (en) * | 2017-09-04 | 2019-03-07 | Amrita Vishwa Vidyapeetham | Method and Apparatus for Wireless Network-Based Control of a Robotic Machine |
US20190163045A1 (en) * | 2017-11-28 | 2019-05-30 | Pou Chen Corporation | System for capturing panoramic image of shoe sole |
US10552551B2 (en) * | 2011-11-18 | 2020-02-04 | Nike, Inc. | Generation of tool paths for shore assembly |
Family Cites Families (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
TW356668U (en) * | 1998-04-16 | 1999-04-21 | Ten Sheeg Machinery Co Ltd | Sticking machine for sole |
KR100656743B1 (ko) | 2005-10-12 | 2006-12-13 | 주식회사 극동기계 | 신발 갑피 버핑 장치 |
TWI632876B (zh) * | 2013-11-19 | 2018-08-21 | 耐克創新有限合夥公司 | 用於處理鞋類物品之部分組裝的系統、用於生成用於處理部分組裝之鞋類物品的工具路徑之系統及方法 |
CN105686219A (zh) * | 2014-07-31 | 2016-06-22 | 黑金刚(福建)自动化科技股份公司 | 一种基于点云识别技术的鞋类自动化生产线 |
JP6413811B2 (ja) * | 2015-01-30 | 2018-10-31 | 富士通株式会社 | 円筒製品検査装置および円筒製品検査方法 |
US20170172259A1 (en) * | 2015-12-17 | 2017-06-22 | Pou Chen Corporation | Multi-Axis Automatic Shoe Sole Processing Apparatus and Method of the Same |
-
2017
- 2017-11-28 TW TW106141300A patent/TWI642902B/zh not_active IP Right Cessation
-
2018
- 2018-10-24 US US16/169,082 patent/US20190159553A1/en not_active Abandoned
- 2018-10-25 DE DE102018218306.6A patent/DE102018218306A1/de not_active Withdrawn
- 2018-11-06 JP JP2018208731A patent/JP6687705B2/ja not_active Expired - Fee Related
- 2018-11-23 KR KR1020180145958A patent/KR102129686B1/ko active IP Right Grant
Patent Citations (19)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5101528A (en) * | 1989-06-15 | 1992-04-07 | British United Shoe Machinery Ltd. | Machine for roughing side walls portions of a shoe |
EP0512773A1 (en) * | 1991-05-08 | 1992-11-11 | British United Shoe Machinery Limited | Apparatus for operating progressively along selected portions of shoe uppers |
GB2259265A (en) * | 1991-09-04 | 1993-03-10 | Ind Tech Res Inst | Computerized numerical control automatic roughening apparatus for the sole edge of a footwear piece |
EP0655207A1 (en) * | 1993-10-29 | 1995-05-31 | OFFICINA MECCANICA B.D.F. s.r.l. | Automatic machine for the controlled roughening of the edge of an upper |
US6065911A (en) * | 1994-12-22 | 2000-05-23 | Almblad; Robert | Method and apparatus for automatically making keys |
US6656014B2 (en) * | 2001-03-12 | 2003-12-02 | Alan P. Aulson | Mobile bridge cutting arrangement |
JP2002372498A (ja) * | 2001-06-13 | 2002-12-26 | Kanto Auto Works Ltd | 車両用塗面検査装置 |
JP2010076056A (ja) * | 2008-09-26 | 2010-04-08 | Denso Wave Inc | ロボット |
US9085084B2 (en) * | 2010-12-01 | 2015-07-21 | Abb Ag | Robot manipulator system |
US10552551B2 (en) * | 2011-11-18 | 2020-02-04 | Nike, Inc. | Generation of tool paths for shore assembly |
US20140071299A1 (en) * | 2012-09-12 | 2014-03-13 | Google Inc. | Methods and Systems for Removal of Rolling Shutter Effects |
US20160150156A1 (en) * | 2013-03-26 | 2016-05-26 | Entaniya Co., Ltd. | Panoramic-imaging digital camera, and panoramic imaging system |
US9278454B2 (en) * | 2013-07-04 | 2016-03-08 | Canon Kabushiki Kaisha | Production apparatus |
US10021297B2 (en) * | 2015-07-21 | 2018-07-10 | Lg Electronics Inc. | Mobile terminal and control method thereof |
US20170134713A1 (en) * | 2015-11-06 | 2017-05-11 | Toppano Co., Ltd. | Image calibrating, stitching and depth rebuilding method of a panoramic fish-eye camera and a system thereof |
US20180343980A1 (en) * | 2017-05-31 | 2018-12-06 | Nike, Inc. | Controlling the Quality of a Manufactured Article |
US20190067057A1 (en) * | 2017-08-31 | 2019-02-28 | Taiwan Semiconductor Manufacturing Co., Ltd. | Apparatus and method for inspecting wafer carriers |
US20190069483A1 (en) * | 2017-09-04 | 2019-03-07 | Amrita Vishwa Vidyapeetham | Method and Apparatus for Wireless Network-Based Control of a Robotic Machine |
US20190163045A1 (en) * | 2017-11-28 | 2019-05-30 | Pou Chen Corporation | System for capturing panoramic image of shoe sole |
Also Published As
Publication number | Publication date |
---|---|
DE102018218306A1 (de) | 2019-05-29 |
TWI642902B (zh) | 2018-12-01 |
JP2019098159A (ja) | 2019-06-24 |
KR20200068041A (ko) | 2020-06-15 |
TW201925726A (zh) | 2019-07-01 |
JP6687705B2 (ja) | 2020-04-28 |
KR102129686B1 (ko) | 2020-07-03 |
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Owner name: POU CHEN CORPORATION, TAIWAN Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:HSU, CHIEN-YU;CHEN, YING-CHIH;CHUANG, TING-HSUEH;REEL/FRAME:047292/0356 Effective date: 20181017 |
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