【摘要】 为提高三维编织复合材料预制件缝合机器人的灵活性和智能性,应用结构光视觉跟踪技术设计了三维预制件缝合机器人的视觉跟踪系统。使用CCD和激光器设计了跟踪传感器;基于VC++6.0平台编制了系统软件;针对三维纺织复合材料中毛刺和花节引起噪声多的特点,采用二值化、中值滤波、开启数学形态处理对纺织复合材料激光图像进行预处理;采用纵坐标比较法快速检测接缝特征点位置;用三角原理计算缝合头偏移量。试验结果表明,该跟踪系统精度高,性能稳定,可以满足机器人缝合系统的要求。更多还原

【Abstract】 To improve the flexibility and intelligent performance of the 3-D textile composite preform stitching robot,this paper develops a vision tracking system of 3-D perform stitching robot according to the vision tracking technology based on structure light.A tracking sensor is designed by using of CCD and laser.A software system is developed under Microsoft Visual C++6.0.Considering the noises caused by burrs and braided pitches,binarization,median filtering and opening algorithms are used to preprocess the textile composite laser image;feature points are detected more quickly by the way of comparing vertical coordinates;stitching head excursion computation is realized based on the principle of optical triangulation.The test results show that the tracking system has high accuracy and good reliability,which can meet the demand of the robot stitching system.更多还原