Research on the generation of trajectory for shoe upper spraying based on structured light

The key problem in automatic shoe upper spraying system is how to get a reliable trajectory for spraying. To extract information of shoe upper and generate the trajectory for shoe upper spraying quickly, a method based on computer vision with structured light is described. After scanning a shoe lasted upper with the sensor of structured light and CCD camera, basic information of shoe upper rendered by three-dimensional point-cloud, which are located on the underside of shoe upper, can be extracted. To render the underside of shoe upper more obviously, 3D scan curves and a closed contour line are interpolated as B-spline curves. After approximately calculating the offset curve of contour line on the underside of shoe upper, the trajectory for shoe upper spraying could be generated. According to the above mentioned method, an experimental facility system is constructed and corresponding software is developed. Results show that the trajectory can be generated quickly and steadily. Moreover, the trajectory is successfully applied in a shoe upper spraying system with Stäubli industrial robot. Thus, this method is validated effectively and feasibly.