Abstract: To rapidly and effectively extract the information of shoe upper and generate the spraying trajectory, a method for scanning shoe upper based on linear structured light is proposed. On the principle of the 3D measurement with linear structured light, after scanning a lasted shoe upper, the information of shoe sole is rendered by point clouds data. 3D scan curves are fitted as B-spline curves, and a closed contour line of shoe sole is interpolated. By calculating the offset curve of shoe upper contour on the shoe upper, the spraying trajectory is obtained. The experimental facility for scanning shoe upper with linear structured light is constructed, and its measurement errors in x, y and z directions are calculated to be 0.094, 0 and 0.015 mm respectively, which satisfies the requirement of system precision. Finally, the generated trajectory after coordinate transformation is applied in shoe upper spraying system with Stäubli industrial robot. The results prove that the proposed method is effective and feasible.

Key words: B-spline, Interpolation, Linear structured light, Trajectory