Development Of Vision Guide System For Buttonhole Sewing Robot

In the domestic textile manufacturing,companies are expected to expand in the direction of high efficiency,high quality and low cost,provided that the manufacturing process of the textile industry is improved while reducing the amount of labor.The birth of the buttonhole machine has greatly improved the efficiency and quality of garment production,but there are still many non-intelligent processes.For example,in the process of industrial buttonhole sewing,manual loading and unloading is still required,and the quiltcut piece is placed at the designated position of the workbench and moved into the next process.With the extension of the working time,the manual efficiency is greatly reduced,and the error is Probability may also increase.In order to solve the problem that the buttonhole sewing of the garments in the textile manufacturing industry is difficult to be intelligent,and accelerate the automation process of the textile industry,this paper develops the visual guidance system for the buttonhole sewing robot.The main work is as follows:(1)The paper describes the imaging process of the camera and builds a visually guided buttonhole sewing robot hardware system.And adopting a closed-loop calibration method for adjusting the calibration step according to the threshold of imaging the pixel error of the buttonhole contour on the conveyor belt,considering the influence of external factors such as camera distortion,camera installation angle,and illumination during photographing on the pixel value of the buttonhole contour imaging,The six-degree-of-freedom robot and its vision system and conveyor belt are comprehensively calibrated.This method is also more suitable for practical use than the traditional method.The calibration method is used to improve the accuracy and effectiveness of the system.(2)The paper developed the intelligent visual guidance technology of the buttonhole sewing robot to let the robot track the buttonhole position of the fabric in real time,and then complete the buttonhole sewing work by the parameter setting of the sewing system.The process is divided into three parts: 1.buttonhole detection: using the AdaBoost structure classifier to detect the buttonhole area;2.buttonhole recognition: morphological filtering for edge detection;3.buttonhole positioning: using the CamShift method to locate the coordinates of the buttonhole in the current image.(3)The whole frame is designed to guide the robot to track the buttonholes: the image coordinates of the garment buttonholes on the assembly line are captured in real time by industrial cameras,and the coordinate system conversion matrix between the conveyor belt,the camera and the robot,and the DH model of the robot and the solid-high robot are used.The kinematics model calculates the trajectory,velocity and acceleration of each axis when the robot end effector reaches the grommets position,and finally controls the robot end effector to reach the croquet real-time position to achieve the goal of guiding the robot to sew the grommets.(4)The visual guidance of the buttonhole sewing robot control software requirements was analyzed.The control software was developed in C++ language,and the various modules of the software were designed and implemented.The feasibility of the skein sewing robot vision guidance system was verified by experiments.Summarize the current research work and forecast the future development trend of the project.Figure 51,Table 13,and 71 references.