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US 10,442,086 B2Granted
Method and system of automatic shoe lacing
AssigneeSolomon Technology Corporation
InventorsCheng-Lung Chen, Wen-Chih Tai
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Abstract
A method of automatic shoe lacing is proposed to include steps of: (a) capturing, by a camera system, at least two images of shoelace holes of a shoe from different positions relative to the shoe; (b) acquiring, by a computer device through conducting an analysis according to the at least two images of the shoe, coordinates of the shoelace holes relative to a robotic arm; and (c) the robotic arm lacing the shoe according to the coordinates acquired in step (b).
Claims14
A method of automatic shoe lacing, comprising steps of:
- (a) capturing, by a camera system, at least two images of shoelace holes of a shoe from different positions relative to the shoe;
- (b) acquiring, by a computer device through conducting an analysis according to the at least two images of the shoe, coordinates of the shoelace holes relative to a robotic arm;
- (c) the robotic arm lacing the shoe according to the coordinates acquired in step (b);
- and
- (d) placing a light source, such that light emitted by the light source passes through the shoelace holes to form a plurality of light spots which respectively correspond to the shoelace holes;
- wherein, in step (a), each of the at least two images contains the light spots indicative of the shoelace holes.
3 more elements
A system of automatic shoe lacing, comprising:
- a camera system for capturing at least two images of shoelace holes of a shoe from different positions relative to the shoe;
- a robotic arm for lacing the shoe;
- a light source to be disposed such that light emitted by said light source passes through the shoelace holes to form a plurality of light spots which respectively correspond to the shoelace holes;
- and
- a computer device coupled to said camera system for receiving therefrom the at least two images each containing the light spots indicative of the shoelace holes, coupled to said robotic arm, and configured to acquire, by conducting an analysis according to the at least two images of the shoe, coordinates of the shoelace holes relative to said robotic arm, and to control said robotic arm to lace the shoe according to the coordinates thus acquired.
2 more elements
Dependencies are inferred from the claim text.