双臂拉伸铺展皮革的方法设计与算法实现  

Method Design and Algorithm Realization of Stretching Leather with Two Arms

作　　者：刘书磊 任工昌[1] 桓源 刘朋[1] 张衡 LIU Shulei;REN Gongchang;HUAN Yuan;LIU Peng;ZHANG Heng(College of Mechanical and Electrical Engineering,Shaanxi University of Science and Technology,Xi’an 710021,China)

机构地区：[1]陕西科技大学机电工程学院,陕西西安710021

出　　处：《皮革科学与工程》2023年第1期21-25,共5页Leather Science and Engineering

摘　　要：为推动皮革工业的智能化发展,解决皮革加工过程中自动拉伸铺展的难题,提出了一种皮革拉伸铺展的方法,并设计出了检测抓取点的算法。该算法利用视觉识别技术获取皮革的图像信息,通过Harris角点检测算法确定抓取拉伸点后,使用双机械臂协同作业进行皮革的拉伸和铺展。视觉传感器获得皮革的图像信息后,首先利用边缘识别和角点检测算法获取皮革的两个角点,通过双机械臂抓取两个角点将皮革初步铺展在绷板上,然后根据皮革的颜色差异展开重叠的皮革,从而实现皮革的完全铺展。最后,通过实验验证所提出方法的有效性。In order to promote the intelligent development of leather industry and solve the problem of automatic stretching and spreading in leather processing,a method of leather stretching and spreading was put forward,and an algorithm for detecting grab points was designed.In this algorithm,the image information of leather was obtained by visual recognition technology,and the stretching point was determined by Harris corner detection algorithm.Then,the leather was stretched and spread by the cooperation of two robotic arms.After the visual sensor collected the image information of leather by vision,two corners of leather were obtained by edge recognition and corner detection algorithm,and then the leather was preliminarily spread on the stretching board by grabbing the two corners with double mechanical arms.Finally,the overlapping part of leather was spread according to the color difference of leather,so as to realize the complete spreading of leather.Furthermore,the effectiveness of the proposed method was verified by experiments.

关 键 词：皮革 视觉识别 边缘识别 角点检测算法 

分 类 号：TS531[轻工技术与工程—皮革化学与工程]