Automated 3-D modeling of shoe parts

• US 10,393,512 B2
• Filed: 08/26/2014
• Issued: 08/27/2019
• Est. Priority Date: 11/18/2011
• Status: Active Grant

• Current Assignee: Nike, Inc.
• Original Assignee: Nike, Inc.
• Inventors: Regan, Patrick C., Chang, Chih-Chi, Lee, Kuo-Hung, Jean, Ming-Feng
• Primary Examiner(s): Gebresilassie, Kibrom K
• Application Number:
  US14/468,521
• Publication Number:
  US 20140362079A1
• Time in Patent Office: 1,827 Days
• Field of Search: None
• CPC Class Codes: A43D 1/08 Measuring devices for shoe parts
• CPC Class Codes: A43D 2200/60 Computer aided manufacture of footwear, e.g. CAD or CAM
• CPC Class Codes: A43D 25/06 Devices for gluing soles on shoe bottoms A43D25/18, A43D25/20 take precedence
• CPC Class Codes: A43D 8/00 Machines for cutting, ornamenting, marking or otherwise working up shoe part blanks pulling-over or lasting A43D9/00 - A43D23/00; making or fastening soles, heels or welts A43D25/00 - A43D83/00
• CPC Class Codes: A43D 95/00 Shoe-finishing machines
• CPC Class Codes: B25J 9/1684 Tracking a line or surface by means of sensors
• CPC Class Codes: G01B 11/02 for measuring length, width or thickness G01B11/08 takes precedence
• CPC Class Codes: G01B 11/03 by measuring coordinates of points
• CPC Class Codes: G01B 11/24 for measuring contours or curvatures
• CPC Class Codes: G01B 11/2518 Projection by scanning of the object
• CPC Class Codes: G01B 11/2522 the position of the object changing and being recorded
• CPC Class Codes: G05B 2219/37205 Compare measured, vision data with computer model, cad data
• CPC Class Codes: G05B 2219/37555 Camera detects orientation, position workpiece, points of workpiece
• CPC Class Codes: G05B 2219/39393 Camera detects projected image, compare with reference image, position end effector
• CPC Class Codes: G06F 30/00 Computer-aided design [CAD]
• CPC Class Codes: G06T 17/00 Three dimensional [3D] modelling, e.g. data description of 3D objects
• CPC Class Codes: G06T 19/00 Manipulating 3D models or images for computer graphics
• CPC Class Codes: G06T 2207/10016 Video; Image sequence
• CPC Class Codes: G06T 2207/10028 Range image; Depth image; 3D point clouds
• CPC Class Codes: G06T 2207/10144 Varying exposure
• CPC Class Codes: G06T 2207/30108 : Industrial image inspection
• CPC Class Codes: G06T 7/521 : from laser ranging, e.g. using interferometry; from the projection of structured light
• CPC Class Codes: G06T 7/543 : from line drawings

Abstract

Manufacturing of a shoe is enhanced by creating 3-D models of shoe parts. For example, a laser beam may be projected onto a shoe-part surface, such that a projected laser line appears on the shoe part. An image of the projected laser line may be analyzed to determine coordinate information, which may be converted into geometric coordinate values usable to create a 3-D model of the shoe part. Once a 3-D model is known and is converted to a coordinate system recognized by shoe-manufacturing tools, certain manufacturing steps may be automated.

Claims

1. A method for analyzing scans of a shoe part to generate dimension data, which is useable to model three-dimensional (3-D) features of the shoe part, the method comprising:

modifying a setting of a camera and/or a laser based on a color of the shoe part;

projecting a laser beam from the laser onto a shoe-part surface of the shoe part, which is comprised of a surface topography, such that a projected laser line extends across at least a portion of the shoe-part surface;

recording a first image of the projected laser line using the camera, wherein the first image comprises a first representation of the projected laser line;

recording a second image of the projected laser line using the camera, wherein the second image comprises a second representation of the projected laser line;

determining a first set of coordinate points that define the first representation of the projected laser line from the first image;

determining a second set of coordinate points that define the second representation of the projected laser line from the second image;

combining the first and second sets of coordinate points to generate a combined set of coordinate points that represent at least a portion of the surface topography;

converting the combined set of coordinate points into a set of geometric coordinate points that represents a 3-D model of the at least a portion of the surface topography; and

generating a tool path for a manufacturing process to be applied to the shoe-part surface, the tool path generated based at least in part on the 3-D model.

2. The method of claim 1, further comprising applying the manufacturing process to the shoe-part surface using a shoe-manufacturing tool based on the generated tool path, wherein the manufacturing process comprises at least one of:

adhesive-application, and

buffing.

3. The method of claim 1, wherein modifying the setting of the camera and/or the laser comprises modifying an exposure setting of the camera based on the color of the shoe part.

4. The method of claim 1, wherein the shoe part comprises a midsole portion comprised of the shoe-part surface, and wherein the set of geometric coordinate points maps a concave surface topography.

5. The method of claim 1, wherein the shoe part comprises a lasted shoe upper comprised of the shoe-part surface in combination with a midsole portion, and wherein the set of geometric coordinate points maps a partially convex surface topography.

6. The method of claim 5, wherein the lasted shoe upper and the midsole portion are moved in a toe-to-heel or a heel-to-toe direction while the laser beam is projected.

7. The method of claim 1, further comprising:

projecting an additional laser beam onto the shoe-part surface, such that an additional projected laser line extends across at least a portion of the shoe-part surface;

recording an additional image of the additional projected laser line, wherein the additional image comprises a representation of the additional projected laser line;

determining an additional set of coordinate points that define the representation of the additional projected laser line; and

combining the additional set of coordinate points with the first and second sets of coordinate points to generate the combined set of coordinate points.

8. The method of claim 1, wherein modifying the setting of the camera and/or the laser comprises adjusting a power level of the laser based on the color of the shoe part.

9. A method for analyzing scans of shoe parts to generate dimension data, which is useable to model three-dimensional (3-D) features of the shoe parts for use in generating tool paths, the method comprising:

positioning a first shoe part on at least a portion of a second shoe part, wherein an edge where the first shoe part meets the second shoe part comprises an interface line;

projecting a laser beam onto the first shoe part and the second shoe part such that a first segment of a projected laser line extends on the first shoe part and a second segment of the projected laser line extends on the second shoe part;

recording an image of the projected laser line that depicts a first-segment representation and a second-segment representation, wherein an interface region between the first-segment representation and the second-segment representation represents a portion of the interface line between the first shoe part and the second shoe part;

identifying a coordinate point of the interface region that defines a position of the interface region as depicted in the image;

converting the coordinate point to a geometric coordinate point that defines in part the interface line between the first shoe part and the second shoe part; and

generating a tool path for a manufacturing process based at least in part on the interface line, the tool path generated so that the manufacturing process can be applied to an area of the first shoe part enclosed by the interface line that is to be covered by the second shoe part upon assembly of the first shoe part and the second shoe part.

10. The method of claim 9, wherein the first shoe part comprises a first portion of a shoe upper and the second shoe part comprises a second portion of the shoe upper.

11. The method of claim 10, wherein the shoe upper is lasted.

12. The method of claim 9, wherein the image of the projected laser line is recorded using a camera.

13. The method of claim 12, further comprising:

projecting additional laser beams onto the first shoe part and the second shoe part; and

recording additional images of projected laser lines formed by the additional laser beams.

14. The method of claim 13, wherein the additional images are recorded by one or more other cameras.

15. The method of claim 14, wherein the one or more other cameras include at least a first camera positioned at an orientation directly opposite a second camera.

16. The method of claim 13, further comprising:

deriving a respective coordinate point from each image of the additional images; and

converting each respective coordinate point to a respective geometric coordinate point that further define the interface line between the first shoe part and the second shoe part.

17. The method of claim 9, further comprising modifying a setting of a camera used to record the image and/or a laser used to project the laser beam based on a color of the first shoe part and/or the second shoe part.

18. The method of claim 9, further comprising applying the manufacturing process to the first shoe part using a shoe-manufacturing tool based on the generated tool path, wherein the manufacturing process comprises at least one of adhesive-application and buffing.

19. A system for analyzing scans of shoe parts to generate dimension data that is useable to model three-dimensional (3-D) features of the shoe parts for generating tool paths for automated shoe manufacturing processes, the system comprising:

a shoe-part moving apparatus that retains at least a first shoe part against a second shoe part and moves the first shoe part and the second shoe part in a line of travel, wherein the first shoe part is positioned such that an edge where the first shoe part meets the second shoe part comprises an interface line;

one or more lasers that project laser beams onto the first shoe part and the second shoe part, each of the one or more lasers positioned such that a first segment of a respective projected laser line extends on the first shoe part and a second segment of the respective projected laser line extends on the second shoe part;

at least a first camera and a second camera that record a plurality of images of the projected laser lines, wherein each one of the plurality of images depicts a first-segment representation and a second-segment representation, and wherein an interface region between the first-segment representation and the second-segment representation represents the interface line between the first shoe part and the second shoe part; and

computer storage media having stored thereon computer-executable instructions that, when executed by a computing device, cause the computing device to;

(1) derive coordinate points from the plurality of images that define a position of the interface region;

(2) compile the coordinate points into a set of coordinate points;

(3) convert the set of coordinate points into geometric coordinate points that define the interface line between the first shoe part and the second shoe part; and

generate a tool path based at least in part on the geometric coordinate points that define the interface line, the tool path generated so that a manufacturing process can be applied to an area of the first shoe part enclosed by the interface line.

20. The system of claim 19, wherein the first camera is positioned in a directly opposite orientation to the second camera with respect to the line of travel.

21. The system of claim 19, wherein the shoe-part moving apparatus comprises a conveyor and wherein the line of travel is along a straight axis.

22. The system of claim 21, wherein the laser beams overlap one another, thereby creating an overlapping curtain, and wherein the overlapping curtain is perpendicular to a belt of the conveyor.

23. The system of claim 19, wherein the shoe-part moving apparatus comprises a turntable apparatus that rotates the first shoe part and the second shoe part by 360 degrees.

24. The system of claim 19, wherein the first camera and the second camera are configured such that one or more camera settings can be adjusted based on a color of the first shoe part and/or the second shoe part.

25. The system of claim 19, further comprising a shoe-manufacturing tool adapted to apply the manufacturing process to the first shoe part within the area enclosed by the interface line utilizing the generated tool path, wherein the manufacturing process comprises at least one of adhesive-application and buffing.