The present invention relates to an apparatus for the automatic control of a machine, particularly of a shoe making machine.

Machines are known for making shoes, in particular for the lasting of the shoes, having mechanical members, substantially constituted by pincers actuated by pneumatic valves and adapted to arrange the hide, constituting the upper, in the required position for the subsequent gluing operation.

These machine have the disadvantage of depending from the ability of the operator for a correct assembly of the shoe and for a constant repetition of the shapes, however even the most skilful of the operators cannot constantly arrange the hide in exactly the same manner.

The aim of the present invention is therefore to provide an apparatus adapted to detect and store some of the features of a shoe, such as the "neckline" or opening, for example, during the lasting operation on the machine and subsequen ly to automatically control the mechanical members of the machine for arranging the hide in the required position according to the stored shapes.

Within this aim, an object of the invention, is that of providing an apparatus adapted to create a file of different shapes from which to choose for starting production and for changing size.

A further object of the invention is that of providing an apparatus adapted to be applied to any type of machine, even already existing ones, for making shoes.

The above aim, as well as these and other objects that will be more apparent later, are achieved by an apparatus for the automatic control of a machine, particularl of a shoe making machine, comprising a plurality of arranging members for at least one object to be worked, characterized in that it comprises optical detecting means of the shape and position of said object, first computer means connected to said detecting means and adapted to process and store said shape and said position of said object, actuator means controlled by said first computer means for actuating said arranging members, said first computer means controlling said arranging members for arranging said object according to a stored position, said detecting means being adapted to provide said first computer means with the position of said object, said first computer means being adapted to compare said detected position with said stored position, if said detected position does n I correspond to said stored position, said first, computer means actuates said arranging members for arranging said object according to said stored position.

Further characteristics and advantages of the invention will be more apparent by the following description of an embodiment of the invention, illustrated, by way of example, in the enclosed drawings in which:

Fig. 1 is a schematic view of the apparatus, according to the invention, applied to a shoe making machine;

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Fig. 2 is a diagram of the reading pattern of an upper by the apparatus.

With reference to the above figures, the apparatus will be schematically illustrated as applied to a machine 1 for the lasting of the upper, which will not be described in detail, as it is per- se known, and substantially comprises an array of members for arranging a hide 2 , constituted by pincers 4 actuated by valves 6, in turn operated by an electrical apparatus which is controlled by an operator- through the usual switches.

The apparatus according to the invention comprises a detecting means or sensor 8, a computer means 10, having a monitor 12 and connected with the detecting means, and actuator means 14 controlled by the computer means and adapted to actuate the arranging members 4.

The detecting means 8 comprises a CCD circuit having about 10000 sensitive points, associated with a lens adapted to foctts on the correct position and, by means of an adapted contrast circuit, to sensitize the sensor pixels exclusively on the outline of the object arranged on the model.

The computer means may be constituted by a usual Personal

Computer, while the actuator means 14 comprises a PLC system Tor the electrical management of the machine 1.

The last detected by sensor 8 may be stored and transformed into 4 digit coordinates which define the shape and may be changed into a left or right shoe by simply switching their sign (+ or -) .

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In special cases it is possible to obtain a shape from mdtiiem tical data, i.e. without having a model to start f o .

Once the Personal Computer has stored the data, on a selected size for example, it is possible to define the shape and dimensions of the various sizes by means of an adapted software.

It is therefore possible to electronically photograph every shoe model to obtain a file of shapes and their- constant repetition even after very long period of time and several workings.

The operation of the apparatus is the following.

The visual information detected by the CCD sensor are transformed into electrical signals that, once processed by the electronic circuit of the sensor, are subsequently transformed into analogical-digi al pulses.

When the operator determines the desired shape (opening) , by means of a set button, the whole array of pulses is sent to the PC, which processes, visualizes, a d stores the shape which is also given a code comprising several references.

If the PC software also comprises the system for computing the different sizes, all the shapes related to that specific model are also stored, with the different dimensions.

In order to allow a constant repetition of the shape, the hide 2 must be arranged automatically because it is

impossible that a human operator, even a skilful one, may arrange the hide every time in the same position.

According to the invention, the upper is arranged in positi by means of the per se known pincer system of the machine, however the pincers are not manually operated but they are operated by means of the PLC system managed by the processo 10.

To this purpose, the detecting means 8, previously used to store the shape, are now used to verify that the arrangement, of the hide 2 is correct according to what is established by the PC 10.

Fig. 2 schematically shows a vector measurement pattern of the position of upper 2, comprising a central vector 16, for measuring the upper edge and the toe-end, and a series of vectors 18 for determining the distance of the upper edge fr the center; the monitor 12 shows both the image of the object and the data relating to the measuring vector-..

In this manner there is a continuous interaction between sensor 8, computer 10 and the PLC system 14 operating the pincers 4, until the desired arrangement of the upper is obtained.

Only when the pincers have arranged the upper in the positio established by the computer, the glue and pressure will be applied for the lasting of the upper.

It is oC course convenient to establish a tolerance between the image recorded by the sensor a d that established by the

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PC, in the practical working. This tolerance will also enable an alarm to operate in case the shape selected by the PC does not correspond to the upper being used; in this manner a continuous oscillation of the pincers is prevented when they cannot find the arrangement corresponding to the image verified by the sensor.

Advantageously, the actuator means 14 of the apparatus are connected with the arranging members constituted by valves 6 and pincers 4, in parallel with the conventional manual commands of the machine.

It is also possible to connect the PLC system 14 with a second computer means, constituted by a "Host Computer" 20, which monitors the various steps of working and which may also provide working data.

The illustrated apparatus can be advantageously applied to a machine for automatically lasting the upper on the last. The apparatus arranges and stretches the upper in order to obtain an opening, in the upper part of the shoe, identical to that of a model made manually by a skilled operator and recorded by the sensor 8.

The following is a more detailed example of an embodimen of the apparatus according to the invention.

Sensor 8 comprises a video-camera with automatic gain control and having an adapted lens, preferably a 16mm lens, a lighting system, and an image acquisition card, bus compatible with PC type processors.

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The computer means 10 may be constituted by a PC-AT-386-SX class processor with the following configuration: AT-386-SX, Clock of at least 36 Mhz, 1 MByte memory; 20 MByte disk for the model file,; 1.2 MByte floppy; VGA video controller. Th monitor 12 may be a monochromatic VGA type and is advantageously provided with its own keyboard 22 for controlling the system.

The control panel of the apparatus may comprise sever;ιI functions, the main ones are described hereinafter.

A TYPE function, for defining the light or dark color of the sole to be attached, the type of worked shoe (right or left) , or the type of shoe manually lasted and to be used as a model for the subsequent shoe lasting operations.

A SIZE function for varying the size of the shoe.

A SAMPLE STORE function for storing the opening line (LTNE function) or the opening line plus the separating line ol the two types of upper sewn together in the shoe being lasted (TOP LINE function).

A MODE function, for switching the operating mode of the machine from automatic, i.e. under the sensor system control, to manual, i.e. into the traditional working process (AUT/MAN function) . This function also enables to retrieve the stored opening shape to be reproduced (MODEL function) and it is used with the above mentioned SAMPLE STORE function, for storing an opening shape.

A further numerical keyboard is advantageously provided for

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manuall gauging an upper model under the automatic control s tem.

A model can be stored by the apparatus in the following manner.

The machine must be set in the manual mode to allow the operator to work in the traditional way on the shoe. He/She arranges the object (upper and last) on the machine and completes the pulling operation, without gluing it, and depresses one of the two buttons of the function STORE; by depressing the function LINE only the opening line is stored; by depressing the function TOP LINE, both the opening line and the line of sewing of the upper at the toe- end are stored. After this operation the apparatus asks the operator to define the model and whether it is a right or left shoe.

The apparatus, according to the illustrated embodiment, may store up to 9999 different models.

After one or more models have been stored, the apparatus can operate automatically pulling the upper on the shoe last.

To start the operation, the operator has to select the file number of the item to be produced, the desired size, and has to establish whether it is a left or right shoe. He can then arrange the last with its upper in the operation area, fastening the edge of the hide to the pincers for the subsequent stretching and lasting operation.

When the apparatus is started, it acquires the scene of the

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upper, automatically and continuously, and compares the stretching vectors, for each of the stretching pincers, with the stored model vectors.

During the operation the apparatus continuously informs on the intermediate steps of the working and finally informs the operator at the end of the working, allowing him/her to start the gluing operation.

It has been seen in practice that the invention achieves the intended aim and objects by providing a versatile and effective apparatus which guarantees high performances and is adapted for complex workings.

The apparatus according to the invention has no mechanical parts subject to considerable friction and wear.

A further advantage of the invention is the possibility of precisely repeating a model, and of modifying the size on stored images, as well of storing t.he models of all. that has been worked.

The automation of this important step in the shoe making process, saves considerable production time and also allows this operation to be performed by unskilled personnel.

A further advantage of the invention is that the apparatus may be provided for any type of machine for lasting the upper, thanks to the gauging system that allows the apparatus to learn the number and direction of stretching of the pincers of the machine on which it is applied.

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The apparatus according to the invention may have numerous modifications a d variations, all within the inventive concept; furthermore, all the details may be substituted with technically equivalent elements.

The materials employed, as well as the dimensions, may be any according to the specific needs and the state of the art.

Where technical features mentioned in any claim are followed by reference signs, those reference signs have been included for the sole purpose of increasing the intelligibility of the claims a d accordingly, such reference signs do not have any limiting effect on the scope of each element identified by way of example by such reference signs.