Microsoft Kinect V2 vision system in a manufacturing application

Caruso, Luigi; Russo, Riccardo; Savino, Sergio

doi:10.1016/j.rcim.2017.04.001

Cited by 39 publications

(18 citation statements)

References 22 publications

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“…For this reason, the future of automation in footwear industry will require promoting the use of robots [6]. In state of the art, there are innovative solutions combining image processing [1,7] or 3D visual perception with robots [8], e.g., to generate trajectories to cut leather [9] or for robot shoe-groove tracking from feature extraction on the surface of a scanned shoe upper [10]. Furthermore, we can find shoe glue application systems based on visual techniques using shape reconstruction and guided by robotic end-effectors [11,12], and kinematic control of robots to perform buffing and roughing operations on shoe uppers [13,14].…”

Section: Introductionmentioning

confidence: 99%

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Towards footwear manufacturing 4.0: shoe sole robotic grasping in assembling operations

Oliver

Gil

Gómez

et al. 2021

Int J Adv Manuf Technol

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In this paper, we present a robotic workcell for task automation in footwear manufacturing such as sole digitization, glue dispensing, and sole manipulation from different places within the factory plant. We aim to make progress towards shoe industry 4.0. To achieve it, we have implemented a novel sole grasping method, compatible with soles of different shapes, sizes, and materials, by exploiting the particular characteristics of these objects. Our proposal is able to work well with low density point clouds from a single RGBD camera and also with dense point clouds obtained from a laser scanner digitizer. The method computes antipodal grasping points from visual data in both cases and it does not require a previous recognition of sole. It relies on sole contour extraction using concave hulls and measuring the curvature on contour areas. Our method was tested both in a simulated environment and in real conditions of manufacturing at INESCOP facilities, processing 20 soles with different sizes and characteristics. Grasps were performed in two different configurations, obtaining an average score of 97.5% of successful real grasps for soles without heel made with materials of low or medium flexibility. In both cases, the grasping method was tested without carrying out tactile control throughout the task.

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Section: Introductionmentioning

confidence: 99%

“…RGBD cameras and robots were successfully used for glue application on shoe soles as shown in [8]. Our proposal allows a robotic arm endowed with a gripper and a RGBD camera to grasp any type of sole regardless of size and model.…”

Section: Introductionmentioning

confidence: 99%

Towards footwear manufacturing 4.0: shoe sole robotic grasping in assembling operations

Oliver

Gil

Gómez

et al. 2021

Int J Adv Manuf Technol

View full text Add to dashboard Cite

show abstract

“…To increase the manufacturing productivity, a gluing machine, called Ulisse, was developed [1]; compared to the existing ones, it can identify shape and position of soles, resting on the worktop, without the comparison with previously stored geometries. The information is adopted to define the areas in which the glue must be dispensed and to plan the corresponding trajectory of the glue gun driven by a Cartesian robot.…”

Section: Introductionmentioning

confidence: 99%

A Smart Gluing Process by a Vision Guided Robotic System

Pagano

Russo

Savino

2020

Mechanisms and Machine Science

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The paper describes the improvement of an automatic machine that dispenses glue on objects placed on a worktop; in particular, the machine was developed to glue the upper and the rubber inserts on the soles of the shoes. The system is characterized by the presence of a vision system which has the purpose of locating the position of the soles lying on the worktop and of reconstructing their geometries. This information is used to plan the trajectory of a Cartesian robot that drives the glue gun with an error that can be considered acceptable for this operation. The paper reports the procedures used to perform these operations which differ depending on whether the sole can be treated as a flat object, characterized by negligible height variations or if it has a three-dimensional geometry with significant variations in height. In the latter case, the gluing path performed by the robot must consider the height variation to keep the glue gun at the same distance from the sole along the entire gluing path.

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“…A very relevant enhancement of this research also consists of the possibility to define automatically the robot path based on the outcome of visual techniques [7,8,17,19], also able to identify the sole shape and position.…”

Section: Introductionmentioning

confidence: 99%

A Feasibility Study of a Robotic Approach for the Gluing Process in the Footwear Industry

et al. 2020

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Manufacturing processes in the shoe industry are still characterized to a large extent by human labour, especially in small and medium craft enterprises. Even when machinery is adopted to support manufacturing operations, in most cases an operator has to supervise or carry out the task. On the other hand, craft footwear industries are called to respond to continuous challenges to face the globalization effects, so that a rapid adaptability to customer needs is required. The industry 4.0 paradigms, which are taking place in the industrial environments, represent an excellent opportunity to improve the efficiency and quality of production, and a way to face international competitors. This paper analyses and proposes a robotic cell to automatize the process of glue deposition on shoe upper, which exploits a new means of depositing the glue compared to State-of-Art applications. While the latter mainly adopt glue gun spraying systems or pneumatic syringes, the proposed robotic cell is based on an extrusion system for the deposition of molten material originally in the form of a filament, similar to all extent to those adopted for Fused Deposition Modeling (FDM). Two cell solutions are designed and tested. In the former the extruder is the robot end effector and the shoe upper is grounded to the cell frame. In the second, being the reciprocal, the shoe last is clamped to the robot wrist and the extruder is fixed to the cell frame. The peculiarities of the two solutions are pointed out and compared in terms of cell layout, hardware, programming software and possibility to develop collaborative applications. A self developed slicing software allows designing the trajectories for glue deposition based on the CAD model of the shoe upper, also allowing driving the inclination of the extruder nozzle with respect to the vectors normal to the upper surface. Both the proposed cell layouts permit to achieve good quality and production times. The solution with the mobile extruder is able to deposit glue at highest end-effector speed (up to 200 mm/s). On the other hand, the solution with the mobile shoe upper and fixed extruder seems to be more appropriate to enhance collaborative applications.

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Microsoft Kinect V2 vision system in a manufacturing application

Cited by 39 publications

References 22 publications

Towards footwear manufacturing 4.0: shoe sole robotic grasping in assembling operations

Towards footwear manufacturing 4.0: shoe sole robotic grasping in assembling operations

A Smart Gluing Process by a Vision Guided Robotic System

A Feasibility Study of a Robotic Approach for the Gluing Process in the Footwear Industry

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