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.
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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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