Path Planning and Optimization for Shoe Glue Spraying

This paper proposes a method to generate glue spraying path on 3D sole surfaces for automating the sole glue spraying,which is capable to handle variant types of 3D scanning shoe surfaces.First,we calculate the geodesic distances on sole surface and obtain isolines of its exterior contour.Second,we disconnect and reconnect isolines to form a continuous spiral path.During the reconnection,we determine the optimal disconnection position for the shape characteristics of the sole and propose an approach to make adjacent equidistant lines connection smoother.Finally,to make the spiral path more suitable for the actual spraying,we construct an energy function to optimize the path position and the nozzle orientation,containing the smoothing energy term,and solve it with the Lagrange multiplier method.Experimental results have shown the feasibility and practicability of our method.