Automatic lacing method and apparatus capable of fast and accurately measuring the coordinate position of the shoe holes to enhance the automatic lacing efficiency

An automatic lacing method uses a robotic arm carrying a shoelace to insert the shoelace into a plurality of shoe holes of a shoe. The method comprises: step (A), placing a light emitting device inside the shoe, wherein the light emitted by the light emitting device emits through the plurality of shoe holes making each shoe hole formed into a lighting spot; step (B), using at least two image acquisition devices disposed at different locations outside the shoe to capture images of the lighting spots, and providing the images of the lighting spots to a computer device; and step (C), using the computer device to analyzes the coordinate position of the images relative to the robotic arm based on the images of the lighting spots and to control the robotic arm to approach the shoe holes to insert the shoelace into the shoe holes.