Method for controlling single-layer leather gluing based on binocular vision

A control method and binocular vision technology, which can be used in coatings, devices for coating liquid on surfaces, and image data processing, etc., which can solve problems such as low work efficiency, low precision, and unfavorable integration into assembly line processing.

Active Publication Date: 2011-06-29
ZHEJIANG UNIV OF TECH
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Problems solved by technology

[0004] In order to overcome the shortcomings of the existing pure manual leather gluing method, such as low work efficiency, unfavorable integration into assembly line processing, low precision, and harm to workers' health, the present

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  • Method for controlling single-layer leather gluing based on binocular vision
  • Method for controlling single-layer leather gluing based on binocular vision
  • Method for controlling single-layer leather gluing based on binocular vision

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[0065] The present invention will be further described below in conjunction with the accompanying drawings.

[0066] refer to Figure 1 to Figure 8 , a single-layer leather gluing control method based on binocular vision, the method adopts a binocular camera and a three-axis gluing mechanical arm, and the single-layer leather gluing control method includes the following steps:

[0067] 1) Stereo calibration of the fixed binocular camera;

[0068] 2), collect single-layer leather binocular image and extract its edge contour;

[0069] 3), carry out feature extraction according to the edge profile image of step 2):

[0070] The edge contour of a single layer of leather consists of a finite pair of two-dimensional coordinate points (x i ,y i ), i=1, 2, L, n means that the contour is composed of n pairs of coordinate points; for any pair of coordinate points on the contour (x i ,y i ), the curvature calculation formula is as (1), and the curvature K of all coordinate point pa...

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Abstract

The invention provides a method for controlling single-layer leather gluing based on binocular vision. As a binocular camera and a three-shaft gluing manipulator are adopted, the method comprises the following steps of: 1) performing three-dimensional calibration on the fixed binocular camera; 2) collecting a binocular image of single-layer leather and extracting an edge outline of the binocular image; 3) extracting characteristics according to the edge outline image in the step 2); 4) matching according to the characteristic points in the step 3); 5) reducing real coordinate values of a gluing platform system corresponding to the characteristic points in the step 4) according to a weight projection matrix value; and 6) inputting the real coordinate values of the characteristic points into a gluing coordinate queue of the three-shaft gluing manipulator to control the manipulator to finish the gluing. By the method, the working efficiency is improved, the single-layer leather is conveniently integrated to the processing of a production line, the precision is high, and harms to the health of workers can be avoided.

Description

technical field [0001] The present invention relates to the field of leather gluing methods, and relates to a single-layer leather gluing method based on binocular vision, in particular to a single-layer leather gluing method based on binocular vision including detection, identification, measurement and gluing. Control Method. Background technique [0002] In my country's current actual production, leather gluing is mainly done by hand, and the unevenness of manual gluing and the toxic gas emitted by paint are the main problems of leather gluing. The unevenness of manual gluing makes it difficult to suture the leather later, which will affect the efficiency of leather production, and because the toxic gas emitted during the gluing process will greatly affect the health of workers, so the use of mechanized gluing methods can not only improve The efficiency and craftsmanship of leather production can also effectively protect the health of workers. [0003] In the existing im...

Claims

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Application Information

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IPC IPC(8): B05D7/12B05C13/02B05C11/00G01B11/24G01B11/00G06T7/00
Inventor 赵燕伟杨威胡峰俊陈建吴茂敏金亦挺钟允辉陈胜勇
Owner ZHEJIANG UNIV OF TECH
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