Digitising the surface of an irregularly shaped article, e.g. a shoe last

Abstract: For digitising a last or other irregularly shaped article, an optical system is used comprising a laser device (14) fixed on a machine base (10) and directing a light beam at a last supported for rotation about an axis, perpendicular to which the light beam is directed. Two cameras (16) are also fixed to the base, one at each side of the laser device, and each comprising an array of cells for detecting the point of incidence of the light beam on the last surface. As the last is rotated, the point of incidence will vary in relation to a datum, e.g. the axis of rotation, and the point of maximum intensity of illumination on the array of cells will vary across the array accordingly. By a correlating technique, the distance of the point of incidence from the datum can be determined according to the point of maximum intensity on the array. Thus, for digitising the last, it is necessary merely to rotate it and also move it in a direction along its length for a large number of point positions to be detected, these being then stored as digitised coordinate axis values (R-theta-Z). Because the last is an irregularly shaped object, in certain circumstances it is necessary to provide more digitised point positions than in other areas. Such area requiring greater definition are boundary points of the last bottom, regions of high curvature and also "long arc" regions (i.e. regions where, because of the angle of the light beam to the last surface, the distance between consecutive points of incidence is large). These are all catered for either by flagging for a subsequent in-fill operation or by back- stepping over reduced angles of rotation of the last.

Description: This invention is concerned with digitising the surface of an irregularly shaped article, e.g. a shoe last, more particularly with improvements in or relating to apparatus for digitising the surface of an irregularly shaped article, e.g. a shoe last, and also with a method of digitising the surface of such an article. There is described in US-A 4817222 one apparatus for digitising the surface of an irregularly shaped article, e.g. a shoe last, comprising a support for supporting an article the surface of which is to be digitised, a digitising assembly comprising a light source by which a light beam can be directed along a path so as to strike the surface of such article, and means for detecting the point of incidence of the light beam with said surface, means for effecting relative rotational movement between the support and the digitising assembly about an axis of rotation which passes lengthwise through an article supported by the support and in the direction of which the path of the light beam extends perpendicularly thereto, and also for effecting relative lengthwise movement therebetween in a direction along said axis, means for monitoring the relative rotational position of the support and digitising assembly and also the relative lengthwise position thereof at regular intervals, means for supplying signals corresponding to each such monitored position and also for supplying a signal having a value corresponding to the distance of the point of incidence of the light beam from the axis of rotation at each such monitored position, whereby a succession of coordinate signals representing point positions, i.e. points of incidence in terms of relative rotational and lengthwise movements as well as distance, is derived, and means for converting such succession of signals to provide a set of data by which the surface of the article is defined. In said apparatus the means for detecting the points of incidence of the light beam with the surface is in the form of a so-called laser range sensor, utilising the principle of triangulation, which sensor is fixed in relation to the rotational movement of the shoe last but is movable linearly along an axis parallel to the axis of rotation of the last. Using such an arrangement, whereas for the most part the surface of the last can be adequately digitised, problems do arise where, for example, the point of incidence of the light beam with the shoe last surface cannot be "seen" by the detector; this occurs where, for example, the portion of the last surface upon which the light falls is cut away or is generally hidden by a more bulbous portion of the shoe last, such as can arise where the light is incident upon the side portions of the crown of the last. Thus, depending upon the particular shape of the shoe last it is not always possible, using a fixed sensor arrangement, to monitor each and every point of incidence of the light with the last surface. In order to avoid the sensor being thus "unsighted", it is proposed in WO-87/01194 to utilise an optical system including two mirrors by which each point of incidence of the light beam with the article surface to be digitised is looked at by both mirrors and the images thus received by the mirrors are superimposed upon one another and thus supplied to the sensor; in this way, if one of the mirrors is "unsighted", nevertheless the composite, i.e. overlapped, image is nevertheless complete. In this system, however, it is a question of using a line of light, rather than a point, and scanning the whole length of the line in one scanning operation. Moreover, the image from one of the mirrors must be reversed, using a further mirror which allows the image from the other mirror to pass therethrough and all three mirrors must be accurately maintained in alignment with one another and with the sensor in order to ensure that the two images are coincident, and furthermore each mirror must be so arranged that the angle subtended between the light beam directed from the light source towards the article surface and the light beam directed from the light source towards the article surface and the image directed towards the mirror is the same in the case of each of the two mirrors; otherwise the images from the two mirrors will not be coincident. Similarly in US-A4,343,553 is described a shape detecting apparatus, e.g. for testing for defects in a soldered area on a printed circuit board, comprising a support, in the form of an X-Y table, for a printed circuit board, a light source by which a slit light image can be projected or directed along a path so as to strike the surface of the board, and a pair of image detectors, arranged at an angle to the slit projector such that a "dead angle" is prevented, for detecting the area of incidence of the light beam with the board surface, there also being provided means for monitoring the relative positions of the support and the light source/image detectors along the X- and Y-axes at regular intervals, means for supplying signals corresponding to the monitored positions and also for calculating and supplying signals corresponding to the location of the area of incidence of the light beam with the board surface. Moreover, for calculating each of the last-mentioned signals, a signal from each image detector is received and processed to determine a centre position of the detected area (except where a dead angle arises and a zero value is attributed to the signal in such case) and values representative of such centre positions for both detectors are then added together and an average or mean value is calculated (except where one value is zero, in which case the other value is used without averaging), this calculated value then being utilised in determining whether it is acceptable (representing no defect in the surface of the area of the board being scanned) or not. It will be appreciated that such a shape detecting apparatus thus required a good deal of processing power and a number of data processing steps with a view to determining whether a surface portion being examined is defective or not. It is, of course, not proposed in this specification that the surface of the article as a whole be digitised for future reproduction and display on a screen. It is thus the object of the present invention to provide an improved apparatus for digitising the surface of an irregular shaped article, e.g. a shoe last, wherein the points of incidence of the light beam with the article surface can always be "seen", but without the need for complicated data processing procedures for determining each point position or for complicated setting up procedures for the optical arrangement. This object is resolved, in accordance with the present invention, in an apparatus as set out in the second paragraph above in that in a manner known per se the detecting means comprises at least two cameras positioned such that at least one of them will be capable of monitoring each point position, in that each camera comprises a line array of cells, the monitoring of point positions being effected, when the camera is operational, by one or more of its cells being illuminated by the light beam having struck the article surface, and in addition in response to such illumination of the cell(s) said signal corresponding to the distance of the point of incidence from the axis of rotation being caused to be supplied, and in that in the operation of the apparatus only one camera is operational at any one time, the arrangement being such that the operational camera remains operational until it fails to detect a point position, whereupon the other camera, or another of the cameras, as the case may be, becomes operational, and so on. It will thus be appreciated that, using the apparatus in accordance with the invention, simply by monitoring whether one of the cameras is "unsighted" and in response thereto switching to the other camera, in a simple but effective way each point of incidence of a light beam upon the surface of the shoe last can thus be detected and the surface thus readily be digitised. Moreover, in a preferred embodiment of the invention each camera is calibrated, independently of the other or each of the others, as the case may be, by positioning a surface successively at a plurality of known distances from the axis of rotation and for each such position recording the corresponding illumination of the cells in the array of said camera, and, by interpolation for intermediate distances, providing a look-up table or graph of distance against cell illumination. In this way the angle at which each camera is spaced from the light source about the axis of rotation can be selected without reference to the other or any other of the cameras, as the case may be, and thus the criterion for determining the position of each camera is essentially what is convenient for ensuring that each point of incidence will be viewed by at least one of the cameras and not by the need for ensuring coincidence of images received thereby. In a method of digitising a surface of an article using an apparatus in accordance with the invention, as set out above, desirably in effecting relative rotational movement and relative lengthwise movement as aforesaid, an increased number of point positions is stored in the data set for each region of the article surface detected as being of high curvature (as hereinafter defined) thus to ensure adequate definition of the article surface. More particularly during such relative movement regions of the article surface detected as being of high curvature (as hereinafter defined) are initially flagged and thereafter an increased number of point positions is determined in each such region thus to ensure adequate definition of the article surface. The phrase "of high curvature" where used herein in relation to a region of an article surface is to be understood as indicating a region in which a corner or other relatively shaped curve is to be found. In accordance with the invention conveniently the requisite degree of curvature required to be designated a region of high curvature is set arbitrarily and is detected by calculating the angle subtended by a line drawn between three successive points. A similar situation arises, essentially caused by using one or more fixed cameras, where, because of the angle of the particular article surface portion in relation to the light beam, the distance between that point of incidence and the next exceeds a pre-set value (indicating a "long arc"). It will be appreciated that, bearing in mind that in displaying a shoe last on the monitor screen based upon the information obtained in this digitising operation, the interpolation technique used is based upon connecting the point positions using curves or arcs and an excessive distance between two points, which will often indicate a relatively flat surface, is thus drawn on the screen as a curved surface. In order to overcome this problem, in accordance with the invention preferably the region of such "long arc" is also flagged and thereafter a greater number of point positions is detemined as aforesaid in said region. In this way adequate information is received in respect of such regions in order to ensure adequate definition of the article surface in such regions. As already mentioned, in carrying out the method in accordance with the invention the determination of point positions preferably occurs initially at regular intervals during the rotation of the article. There is then a question as to when the greater number of point positions to be detected in respect of a region of high curvature or a region of a long arc are to be determined. It would of course be possible to effect the determination of such additional points together with the regularly spaced points, e.g. by reversing the direction of rotation of the article. Preferably, however, in carrying out the method in accordance with the invention the determination of point positions at regular intervals is first completed at least for one complete rotation of the article before said greater number of point positions is determined for a flagged region. If considered desirable, furthermore, the initial determination of point positions for the whole of the article at regular intervals as aforesaid may be completed before a greater number of point positions is determined for a flagged region. Thereafter each flagged region is addressed in turn to provide the additional point positions required. To this end, furthermore, conveniently the or each flagged region is defined in terms of the angle through which the article has been rotated from a start position, this angle being stored as a flag value to facilitate the subsequent determination of a greater number of point positions as aforesaid. The method referred to above is especially, but not exclusively, useful where the article is a shoe last. Such an article, though irregularly shaped, has a generally "standard" shape, including a defined last bottom (which will generally have some contour both lengthwise and widthwise), but which nevertheless is defined in relation to the remainder of the last by a sharp corner (except in the inside waist region), and is also defined by a relatively long tapered "crown" terminating in a flat surface, also defined by a sharp corner, extending along the top of the last. Thus, it will be appreciated, the periphery of the last bottom and also the periphery of the top of the crown constitute regions of high curvature while the long tapered crown portion of the last is likely to constitute a region of long arcs. Moreover, further regions of high curvature are likely to be found especially in the toe region of the last where the top surface thereof effectively runs parallel with the last bottom, being spaced from the last bottom by side wall portions between which and the top of the last in the toe region further corners or areas of sharp curvature are to be found. In digitising a shoe last it has been found desirable to treat the last bottom as a definable separately identifiable part of the shoe last and consequently the light beam is preferably initially directed towards the bottom of the last at the start of a digitising operation and, as an initial operation, by monitoring the point of incidence of the light beam with the last bottom surface a region of high curvature (as hereinbefore defined) is detected, whereupon the direction of rotation is reversed and the monitoring step is then repeated in the reverse direction for a number of more closely spaced point positions until said region of high curvature is again detected, thereby determining the location of the boundary point position, each boundary point position being thereafter similarly detected. It will thus be appreciated that, whereas with other regions of high curvature it is merely a question of flagging and subsequently determining a greater number of point positions in the region, the last bottom is treated as a special case and preferably the boundary point positions are digitised before any further digitising of other point positions on the last surface is effected. Where the relative movement between the support and the light source and camera is effected step-by-step (as will be referred to hereinafter), the boundary point positions at opposite sides of the last may be detected alternately and indeed such boundary point positions may first be detected and thereafter the determination of other point positions for that step of movement may be effected before moving to the next step. Alternatively, it may be more desirable for all the boundary points of the last bottom to be digitised, thus defining the whole of the periphery of the last bottom, before any other points are digitised, and indeed it may be more convenient for the boundary point positions to be detected progressively along the periphery of the last bottom, e.g. starting from the toe and progressing along one side to the heel and thereafter back along the other side to the toe, all the boundary point positions thus being detected and corresponding coordinate axis values stored before the determination of other point positions is effected. Moreover, conveniently the coordinate axis values for the point positions relating to the last bottom are stored in one file and the remaining values in another file. As already mentioned above, the relative movement between the support and the light source and camera may be effected step-by-step (although within the broader aspects of the invention such relative movement may be continuous). In the "step-by-step" approach the digitising will produce effectively slices of the last, whereas in the "continuous" approach a spiral will be created. Either digitising approach can be accommodated in a computer controlling the display of the shoe last in accordance with such information. In a preferred embodiment of the invention the article (shoe last) is movable in a direction along said axis of rotation step-by-step and is rotated through 360° about said axis at each such step, thereby providing a set of coordinate axis values defining the periphery of a "slice" of the article (shoe last). It will be appreciated that the light beam, and more particularly the light falling on the article surface, must be sufficient distinctly to illuminate one area of the array of cells of the camera at the appropriate position, and in particular must be distinguishable by the camera from ambient light and preferably should have a characteristic to which the array of cells is particularly sensitive. It has been found convenient therefore to provide a light source in the form of a laser device which emits a narrow beam the point of incidence of which with the article surface is readily detectable by the camera(s). It will of course be appreciated that, although reference is made herein to a "light source", other forms of energy beams may find use in carrying out the invention and the term "light source" where used herein is intended to cover other forms of energy radiation. There now follows a detailed description, to be read with reference to the accompanying drawings, of one method and one apparatus in accordance with the invention. It will of course be appreciated that this method and this apparatus have been selected for description merely by way of exemplification of the invention and not by way of limitation thereof. In the accompanying drawings:- Figure 1 is a schematic plan view of the apparatus in accordance with the invention; Figure 2 is a schematic view indicating the manner in which a camera of the apparatus shown in Fig. 1 operates to detect the point of incidence of a light beam with an article surface; and Figures 3A to 3D together form a flow chart indicating the mode of operation of the apparatus. The apparatus in accordance with the invention is especially, but not exclusively, for digitising a shoe last for subsequent display upon a monitor screen. The apparatus thus comprises a base 10 on which is mounted a rotary support 12 for a shoe last, said support comprising a pin (not shown) which can be accommodated within an aperture formed in the backseam region of a shoe last to be digitised placed thereupon. The pin is mounted on a plate (not shown) which is capable of tilting and is lockable in a desired tilted position, the degree of tilt being sufficient to ensure that the toe of the last lies on the axis of rotation of the support. To this end a gauging pin (also not shown) is provided which is slidable heightwise manually by the operator and which lies on the axis of rotation, the arrangement being such that the toe of the last supported by the support 12 is aligned with the pin and the plate is then locked in tilted position. Also supported on the base is a laser device 14 constituting a light source by which a light beam can be directed along a path extending perpendicularly to the axis of rotation of the support 12. In addition, two cameras 16 are mounted, one at either side of the laser device 14, on the base and are directed generally towards the axis of rotation. Each camera is of the so-called line-scan camera type and comprises a line array of cells 18 (in casu 2048 pixels) onto which light is projected through a lens (not shown). The array is scanned regularly and frequently and the maximum intensity of illumination is detected. Thus, depending upon the point of incidence of the light beam on the surface of the last supported by the support 12 the point of maximum intensity will move across the array, so that there is a correlation between the point of incidence and the point of maximum intensity as detected. Thus the cameras 16 and the light source 14 can be fixed on the base 10. Whereas, as discussed above, it is unnecessary for the angles subtended by the cameras with the light beam from the light source to be equal, it is however desirable that the cameras are at the same height as each other and preferable that they are also at the same height as the light source, thereby eliminating any distortions which could affect the readings obtained. For rotating the support 12 a suitable stepping motor (not shown but referred to as SM1) is provided, together with a monitoring system for determining the degree of rotation about the axis. Similarly, the support 12 is mounted for heightwise movement relative to the laser device 14 and cameras 16, such movement in the embodiment now being described being step-by-step and being effected by a second stepping motor (also not shown, but referred to as SM2), together with means for monitoring the operation of the stepping motor SM2 and thus the distance moved heightwise by the shoe last supported by the support 12. From the foregoing it will be apparent that signals are provided by the array 18 (R), the monitoring means for stepping motor SM1 (theta) and the monitoring means for stepping motor SM2 (Z), said three signals relating to the three-dimensional position of the point of incidence of the light beam with the shoe last at any given time, and the signals thus readily being convertible to digitised coordinate axis values for such point of incidence. In order to achieve a correlation between the point of maximum intensity of illumination of the array 18 and the distance of the point of incidence of the light beam with the article surface from the datum point, it is necessary to calibrate each camera 16. By calibrating each camera independently, furthermore, it is ensured that the signals received from each array will be interpreted in the same manner. For calibrating each camera, therefore, a calibration plate or block is placed on the support 12, the surface of which, against which the light beam is directed, is a known distance from the axis of rotation, e.g. 25mm. The point of maximum intensity on the array of the camera being calibrated is then noted and the calibration step is then repeated with a plate or block at certain other distances, typically 50mm, 75mm and 100mm from the datum, and each value for a point of maximum intensity of illumination is again recorded. From these four points intermediate values are interpolated and a look-up table or graph created. A similar calibration is effected for each camera. It will thus be appreciated that it is not important that the cameras are aligned at equal angles from the path of the light beam and indeed the reading from the two arrays can be different, but the interpretation of the values in terms of distance from the datum will nevertheless be the same. The apparatus is so constructed and arranged that only one camera is operational at any one time, that is to say only one of the cameras supplies signals (R) as aforesaid at any one time. In the event that the array of cells 18 of the camera which has been operational ceases to be illuminated by the light beam reflected from the last surface, it ceases to be operational and the other camera thereupon becomes operational, supplying the signals (R) in its place. This other camera, moreover, then remains operational unless and until its array of cells 18 is no longer illuminated by the reflected light beam, Whereupon the first camera then once more becomes operational. This switching between cameras as the need arises continues throughout the last digitising operation. Moreover, since the two cameras 16 are independently calibrated, as already mentioned above, each signal (R) is interpreted in the same manner whichever camera it is provided by; that is to say, the system operates in the same manner as a single camera system, but with the facility to avoid being "unsighted", and thus avoids the need for the separate step of compiling information from a plurality of signals. Referring now to Figures 3A to 3D a typical last digitising operation using the above-described apparatus will be described, such operation constituting the method in accordance with the present invention. In practice the digitising operation begins at the toe end of the shoe last which is positioned heightwise by the operation of stepping motor SM2 and further is positioned at the axis of rotation of the support 12 by the gauging pin (step 100). The support is then rotated by motor SM1 step-by-step through a predetermined angle (in casu 7°) (step 102) and at each such position the R-theta-Z data is read (step 104). In order to detect a corner or region of high curvature (as hereinbefore defined) three points are necessary and thus at step 106 the question is asked whether data for the three points has been read. If "no", then steps 102 onwards are repeated. If (and when) the answer is "yes", then at step 108 the question is asked whether a corner or region of high curvature has been detected. As already mentioned above, in order to detect such a region or corner the angle subtended by a line joining the last three successive points is examined and if the angle exceeds a pre-determined threshold then a corner is designated. If the answer is "no", then steps 102 onwards are repeated. If the answer is "yes", then the direction of rotation of the support 12 is reversed (step 110) and the rotation of the support is then stepped at smaller angles, typically 1 1 / 2° (step 112), the R-theta-Z values for each point position being again read as at step 104 and the routine involving steps 106, 108 is repeated at steps 116 and 118, a "no" answer to either of these latter questions causing a loop back to step 112. When a "yes" answer is received at step 118 the coordinate axis values for the corner or boundary point position are stored. At step 122 the question is asked whether this is the second boundary point position recorded for the particular heightwise position of the support. If the answer is "no" then firstly the support is rotated, still in its reverse direction, back to its initial position (step 124) and thereafter, still in reverse direction, the sequence of steps beginning at step 102 is repeated, in said reverse direction, for the opposite boundary point position. It will of course be appreciated that in this case the reversing of direction at step 110 means that the last support will then be rotating in the same direction as that in which it initially moved. In the event that the answer at step 122 is "yes" then again the support is returned, this time in its initial direction of rotation, and at step 128 the support 12 is rotated in said original direction in steps of 7° and the data for each position is read (step 130) and stored (step 132). Where a region of high curvature is met on the last surface it is necessary, in order to obtain adequate definition of the curvature in that region, to take more point positions than generally over the last surface. Thus, as in the case of the corners of the last bottom, at step 134 the question is asked whether three points have already been stored. If the answer is "yes", then at step 136 the curvature of the region being digitised is questioned, generally in the same manner as the corners of the last bottom, but in this case, since a lesser degree of curvature is envisaged, the threshold is less than in the case of the corner. If the answer at step 136 is "yes" then the angle through which the support has rotated to the position is recorded as a flag for a subsequent in- filling operation, to be described hereinafter, in which a greater number of intermediate point positions are digitised and stored. Because of the irregularity of the shape of the last it may be that the angle at which the light beam strikes the last surface is relatively narrow so that an excessive distance arises between successive point positions. As already discussed above, in such circumstances the interpolation technique used will not give a true definition to the last surface in that region (referred to herein as a "long arc" region). If therefore the answer to either one of steps 134, 136 is "no", then at step 140 the question as to whether a long arc region arises is posed. If the answer to that question is also "no", then the system loops back to step 128. In the event of a "yes" answer, on the other hand, then the system loops to step 138 at which the angle through which the support 12 has rotated to arrive at the position digitised is again recorded as a flag for subsequent in-filling. At step 142 the question is asked whether the support 12 has rotated through 360°. If "no", then the system again loops to step 128. In the event of a "yes" answer, on the other hand, the programme moves to the in-filling procedure, now to be described. At step 144 the instruction "move to the next in-fill position" is given; this is of course for the particular "slice" of the last being treated. This instruction involves the nearest flag to the present position of the support 12 being selected and the support 12 being rotated accordingly. At step 148 the in-fill operation is then effected, this operation being generally similar to that effected in the determination of boundary point positions (steps 122 et seq) except that the direction of rotation is not reversed and the in-filling operating is terminated upon the flagged point position being reached. After each storing of digitised data the question at step 148 is addressed, namely whether the flagged position has been reached (and thus the in-fill operation has been completed). If the answer is "no" then the system loops back to step 146. If the answer is "yes" then the question is asked at step 150 whether the whole of the in- filling operations for the particular "slice" has been completed. If not, then the system loops back to step 144 and the next in-fill position as flagged is found. If the answer is "yes" then at step 152 the question is addressed as to whether the whole digitising operation for the shoe last has been completed. In the event that a "no" answer is given, then the system loops back to step 100. If the answer is "yes" then the digitising operation is completed and the system stops (step 154). It will be appreciated that various other ways of programming the last digitising operation may be utilised without going outside the scope of this invention. In particular, while retaining the general method of determination of boundary point positions, it may be desirable, instead of determining each pair of positions as a portion of each particular "slice" being digitised, to digitise all the boundary point positions first, or indeed all the last bottom points terminating at opposite boundary point positions first. Moreover, instead of digitising the boundary points at opposite sides of the last bottom alternately, it may be preferable to determine all the boundary point positions along one side of the last first and then along the opposite side. Again, the boundary point position determination could be effected in the same manner as the detection of regions of high curvature, namely by flagging the boundary point positions and effecting an in-fill operation subsequently. With regard to the movement of the last, furthermore, in the embodiment described above it is rotated step-by- step, but alternatively in accordance with the invention it can be rotated continuously. Similarly instead of the heightwise movement of the support 12 being effected step-by-step, that too could be effected continuously for the general digitising operation (but not of course for the in-fill operations, and certainly not for boundary point position determination as described above; if the movement were continuous, then boundary point position determination would have to be by way of an in-fill operation as proposed above). When the digitising of the last is complete, a set of digitised coordinate axis values (R-theta-Z) are in the computer memory. At this stage desirably this information is transferred to a non-volatile memory e.g. a hard disc. If desired, at this stage the last bottom data is transferred to a "last bottom data file" while the remainder is stored in a "last upper data file". It has been found that, using a laser device as a light source, nevertheless spurious reflected light is undesirable and further preferably the colour of the whole of the last should be constant. Consequently, preferably in carrying out a method in accordance with the invention the last used is preferably painted a single colour, e.g. white, but with a matt finish. APPENDIX 100 - LASTPOS - Move last to next position. 102 - LASTROT - Rotate support step-by-step through 7° intervals. 104 - DATA - Read R-theta-Z values for point position. 106 - 3? - Has data for three successive points been read? 108 - CORDET? - Has corner been detected? 110 - REV - reverse direction of rotation of support 12. 112 - LASTROTRED - reduce step size of rotation of support to 1 1 / 2°. 114 - DATA - Read R-theta-Z values for point position. 116 - 3? - Has data for three successive points been read. 118 - CORDET? - Has corner been detected? 120 - POSTOR - Store coordinate axis values for boundary point position. 122 - SEC? - Is this the second boundary point position stored for this heightwise support position? 124 - REPOS - return support 12 to its initial position. 126 - REPOS - return support 12 to its initial position. 128 - LASTROT - Rotate support step-by-step through 7° invervals. 130 - DATA - Read R-theta-Z values for point position. 132 - POSTOR - Store coordinate axis values for boundary point position. 134 - 3? - Has data for three successive points been read? 136 - HICURV - Has region of high curvature been detected? 138 - RECANG - Record angle through which the support 12 has been rotated (flag for subsequent in-fill) 140 - LONGARC? - Is the distance beteen the present and immediately preceding point longer than the pre-determined acceptable distance? 142 - COMPROT? - Has support 12 been rotated through 360°? 144 - INFIL - Move to next in-fill position as flagged. 146 - INFILOP - Carry out in-fill operation; rotate last at reduced step size from point position immediately preceding flagged position until flagged position is reached. 148 - INFILCOMP? - Has the flagged position been reached? 150 - INFILTOT? - Have all the in-fill operations for the "slice" been completed? 152 - LASTCOMP? - Has the whole of the last been digitised? 154 - STOP - Terminate digitising operation.

Claims: Apparatus for digitising the surface of an irregularly shaped article, e.g. a shoe last, comprising a support (12) for supporting an article the surface of which is to be digitised, a digitising assembly comprising a light source (14) by which a light beam can be directed along a path so as to strike the surface of such article, and means (16) for detecting the point of incidence of the light beam with said surface, means (SM1, SM2) for effecting relative rotational movement between the support (12) and the digitising assembly (14, 16) about an axis of rotation which passes lengthwise through the article supported by the support (12) and in the direction of which the path of the light beam extends perpendicularly thereto, and also for effecting relative, lengthwise movement therebetween in a direction along said axis, means for monitoring the relative rotational position of the support and digitising assembly and also the relative lengthwise position thereof at regular intervals, means for supplying signals (theta, 2) corresponding to each such monitored position and also for supplying a signal (R) having a value corresponding to the distance of the point of incidence of the light beam to the axis of rotation at each such monitored position, whereby a succession of coordinate signals (R, 2, theta) representing point positions, i.e. points of incidence in terms of relative rotational and lengthwise movements as well as distance, is derived, and means for converting such succession of signals to provide a set of data by which the surface of the article is defined, whereby the detecting means comprises at least two cameras (16) positioned such that at least one of them will be capable of monitoring each point position, said apparatus being characterized in that each camera (16) comprises a line array of cells (18), the monitoring of point positions being effected, when the camera is operational, by one or more of its cells being illuminated by the light beam having struck the article surface, and in addition in response to such illumination of the cell(s) said signal (R) corresponding to the distance of the point of incidence from the axis of rotation being caused to be supplied, and in that in the operation of the apparatus only one camera (16) is operational at any one time, the arrangement being such that the operational camera remains operational until it fails to detect a point position, whereupon the other camera, or another of the cameras, as the case may be, becomes operational and so on. Apparatus according to Claim 1 characterised in that each camera (16) is calibrated, independently of the other or each of the others, as the case may be, by positioning a surface successively at a plurality of known distances from the axis of rotation and for each such position recording the corresponding illumination of the cells in the array of said camera, and, by interpolation for intermediate distances, providing a look-up table or graph of distance against cell illumination. Apparatus according to Claim 1 or Claim 2, characterised in that in effecting relative rotational movement and relative lengthwise movement as aforesaid, an increased number of point positions is stored in the data set for each region of the article surface detected as being of high curvature thus to ensure adequate definition of the article surface. Apparatus according to Claim 3 characterised in that such region of the article surface detected as being of high curvature is initially flagged and thereafter an increased number of point positions is determined for each such region. Apparatus according to Claim 3 or Claim 4 characterised in that the distance between successive points of incidence on the article surface is calculated and for each region where said calculated distance exceeds a pre-set value, thus indicating a "long arc", an increased number of point positions is stored in the data set. Apparatus according to Claim 5 characterised in that each region of "long arc" is also flagged and thereafter an increased number of point positions is determined for each such region. Method of digitising the surface of an irregularly shaped article using an apparatus according to any one of the preceding Claims, wherein said article is a shoe last, characterised in that the light beam is initially directed towards the bottom of the last and, as an initial operation, by monitoring the point of incidence of the light beam with the last bottom surface a region of high curvature is detected, whereupon the direction of rotation is reversed and the monitoring step is then repeated in the reverse direction for a number of more closely spaced point positions until said region of high curvature is again detected, thereby determining the location of the boundary point position, each boundary point position being thereafter similarly detected. Method according to Claim 7 characterised in that the boundary point positions at opposite sides of the last bottom are alternately detected as aforesaid. Method according to Claim 7 or Claim 8 characterised in that the boundary point positions are detected progressively along the periphery of the last bottom, all said point positions being detected and corresponding coordinate axis values stored before the determination of other point positions is effected. Method according to any one of Claims 3 to 9 characterised in that data relating to last bottom point positions are stored in one file and relating to the other point positions in another file.

Inventors: MARSHALL STEPHEN JOHN LAURENCE, REEDMAN DAVID CREYKE, SASSE HUGH GRANVILLE, WITTY PETER MARTIN, MARSHALL, STEPHEN JOHN LAURENCE, REEDMAN, DAVID CREYKE, SASSE, HUGH GRANVILLE, WITTY, PETER MARTIN
Applicants: BRITISH UNITED SHOE MACHINERY, USM ESPANA SA, BRITISH UNITED SHOE MACHINERY LIMITED, USM ESPANA, S.L.
Application year: 1990
Main classification: G05B19
IPC codes: A43D1, G05B19, H04N13