Research On The Technology Of Carpet Cutting System Based On Visual Servo

Carpet is essential to modern people in daily life,cutting is a very important process in carpet production.For the complex shape carpet,its cutting way is mainly artificial,this mode of production is inefficient and labor intensive.The technology of visual servoing has the advantage of non-contact,real-time and flexibility,so the use of visual servo technology for cutting of complex shapes of carpet is a kind of effective method.It is an effective method to realize cutting the complex shapes of carpet using the technology of visual sevoing.The purpose of this subject is introducing the machine vision technology to the system of carpet cutting,building a system based on visual servoing,realizing the function of the on-line identification and cutting the pattern of carpet.In order to control the cutting robot through visual servo,the acquisted image needs to be processed,extract the effective information which can be converted to commands that control the movement of manipulator.The contents of this paper mainly studied are the image preprocessing,contour extraction and tracking identification,raster to vector conversion and path planning for the manipulator,etc.Firstly,this paper puts forward the basic concepts and theoretical knowledge of digital image processing,and makes some basic image processing to the carpet image such as image gray,filtering de-noising,binarization to separate the background and objectives.Secondly,analyses the common principles of contour tracking algorithms and its defects,according to the characteristics of the binary image.The boundaries of goals are tracked through 8 neighborhood boundary tracking algorithm,and ensures that the correct target boundary contour tracking identification,avoid the contour distortion caused by tracking error pattern.This paper introduces the representation method of the target boundary contour coordinates,and uses the representation mode of the coordinate sequence to save the data.Thirdly,to improve the efficiency of mechanical cutting,make the boundary of the goal more smooth,reflect geometric features of the boundary,this paper puts forward an improved linear-arc hybrid fitting algorithm according to linear interpolation and circular interpolation motion forms of the manipulator,realize raster to vector conversion by fitting a straight line and arc fitting.Finally,in order to reduce spare travel distance and improve efficiency of cutting,the cutting path of the manipulator for is planned by path planning.