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A kind of autonomous sorting method of fabric sorting robot

A technology of robots and fabrics, which is applied in the field of autonomous sorting of fabric sorting robots, and can solve problems such as inability to autonomously sort flexible fabrics

Inactive Publication Date: 2017-12-22
XI'AN POLYTECHNIC UNIVERSITY
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  • Abstract
  • Description
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  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to provide a fabric sorting robot autonomous sorting method to solve the problem in the prior art that flexible fabrics cannot be sorted autonomously

Method used

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  • A kind of autonomous sorting method of fabric sorting robot
  • A kind of autonomous sorting method of fabric sorting robot
  • A kind of autonomous sorting method of fabric sorting robot

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Embodiment Construction

[0054] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0055] The present invention takes a four-degree-of-freedom robot whose control system is in the form of a PC and a motion control card as an example.

[0056] A kind of autonomous sorting method of fabric sorting robot of the present invention, flow process is as follows figure 1 As shown, follow the steps below:

[0057] Step 1. First calibrate the binocular camera installed above the robot; the calibration adopts the classic Zhang Zhengyou calibration method. For the images collected by binocular vision, 6 points are taken for each image to calculate the internal and external parameters of the camera;

[0058] Step 2, collect the fabric image signal through the binocular camera installed above the robot, and then transmit it to the image processing unit on the PC in real time online;

[0059] Step 3, the image processing unit positioned ...

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Abstract

The invention discloses an independent sorting method of a fabric sorting robot. Digital images, acquired by the robot, of fabric on an assembly line are adopted as research objects, a weighting form is applied to a color component H and a color component S through image color spatial switching, and an Otsu self-adaption threshold value method is applied to achieve image segmentation; the contours of the fabric are extracted by applying wavelet edge detection and morphological contour compensation; and the actual positions of the fabric are obtained according to the calibration result of a camera. Meanwhile, the weighting form of the color component H and the color component S is adopted as a feature, and a minimum variance criterion is used for classifying K-mean clustering methods. Different kinds of fabric are arranged at corresponding placing positions, the robot reversely solves kinematical parameters of all joints according to the placing positions and a kinematical equation, and finally grabbing actions are implemented. According to the independent sorting method of the fabric sorting robot, manual intervention is not needed, and the fabric can be sorted automatically, efficiently, accurately, stably and enduringly.

Description

technical field [0001] The invention belongs to the technical field of machine vision and robot autonomous fabric sorting and sorting, and in particular relates to a fabric sorting robot autonomous sorting method. Background technique [0002] With the development of the national economy entering a new normal, the traditional development model of relying on resource consumption and continuous labor input has become unsustainable, and the endogenous power of the textile and garment industry must be continuously strengthened. With the opening of the "Industry 4.0" curtain and the disappearance of the demographic dividend, the gradual maturity of robot technology and the popularization of applications in various industries, robots will replace humans to reduce labor, and will eventually become a realistic choice for textile and garment enterprises. It is the best choice for the sustainable development of textile and garment enterprises to improve the level of information techno...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B07C5/342B07C5/36
CPCB07C5/3422B07C5/362
Inventor 王晓华李鹏飞张蕾张宏伟
Owner XI'AN POLYTECHNIC UNIVERSITY
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