Methods of Generating Robot Spraying Trajectory Based on Shoe Sole Information

Robots and automation technology has been increasingly used in the production of leather shoes. How to get the work trajectory is one of the key problems. Methods that can generate robot spraying trajectory by extracting shoe sole information were presented. The information including shoe sole surface and contour line could be obtained by off-line program with CAD technology and on-line program with scanning shoe lasted upper. In on-line program system, a method based on computer vision with structured light is described. After scanning, basic information rendered by three-dimensional point-cloud can be extracted. The 3D scan curves and closed contour line could be interpolated as B-spline curves. The spraying trajectory is an offset curve of contour line on shoe sole surface. To pick up robot working points, trajectory is discretized. Finally, robot working points are successfully applied in a shoe upper spraying robot. Thus, presented methods are validated effectively and feasibly.