Automatic Hole Pattern Recognition And Loading Technologies Of Leather Surface Punching Machine

In this paper,the machine vision algorithm for hole pattern recognition and robotic control technology for automatically loading are developed for an automatic leather surface punching machine.According to the principle of hardware selection of machine vision system,a vision hardware platform is built.According to the characteristics of the leather template image,a smoothing filter is used to waken or eliminate the high frequency components of the Fourier space,and a template matching algorithm is used to recognize holes contour automatically.Based on the analysis of punching process,the paper designed a pick-and-place robots system.Based on VC ++ 6.0 development environment,therelevant software is coded.Firstly,the machine vision system experimental platform is built consist of camera,camera lens and light source.According to the characteristics of the leather material,median filter algorithm is used to smooth the leather template image,which not only eliminates the noise,but also preserves the key details of the image.A bimodal method is used to segment the image and a Canny edge detector is used to extract the contour of a hole.The normalized cross correlation algorithm is used to match the pattern of the punched leather image,and recognize the contour of holes on the surface of a piece of leather.Then,based on the requirements of the punching process,the control technology of the machine is determined,and the machine system integration is realized.Based on the St?ubli TX90 robot,the pick-and-place robots device is designed to achieve picking leather material automatically.The robot trajectories are designed based on the SRS software.Finally,based on VC ++ 6.0,the human-machine interface of image identification is coded by means of the modular programming method.It includes function modules,such as image identification,tool management,basic parameters setting.After trial and improvement,the developed equipment is running in a good condition.the developed techniques in this paper improves the holing efficiency and intellectualization level.