Robot Binocular Vision Location Method For Customized Wooden Furniture Manufacturing

In recent years,With the improvement of living standards,people’s demand for furniture tends to be diversified,and customized wooden furniture becomes popular.However,at this stage,the assembly,painting and other processes of wooden furniture are mainly completed manually,with low production efficiency and uneven quality.The intelligent assembly of wooden furniture production can greatly improve the production efficiency of wooden furniture,which is the main trend of customized wooden furniture manufacturing.To complete the intelligent assembly of wooden furniture,the positioning of furniture materials is an indispensable part.This paper studies the binocular vision positioning method for custom wooden furniture manufacturing scene.The research contents mainly include the following:First,the binocular stereo matching method is studied,and a region-based binocular disparity calculation method for manufacturing furniture scenes is proposed.The characteristics of the board in the wooden furniture manufacturing scene are analyzed,the region segmentation method based on edge connection is used to segment and extract the board,and the significant feature points on the board area contour are selected to calculate the feature descriptor,and the feature point disparity is obtained through feature matching,and then we calculate The disparity of the area border and the disparity of the whole area.It is proved by experiments that the binocular disparity of wooden furniture boards can be calculated completely and effectively.Secondly,through the research on the binocular vision positioning method,a board positioning method based on the combination of coarse positioning and accurate positioning is proposed.According to the characteristics of the board,using the coarse positioning binocular camera to collect the complete image of the board,and calculate the rough position of the board;Using the board positioning camera to collect the image of the corner of the board and the marker,calculate the deviation of the corner of the board and the marker,and obtain the accurate position of the board.Through the experimental test,the accurate position error of the board is satisfy positioning requirements.Finally,a robot binocular vision system for wooden furniture assembly is designed.The binocular vision positioning hardware system is constructed,the binocular vision positioning software system is developed,and the effectiveness of the binocular vision positioning system for wooden door assembly is verified by experiment.