基于四自由度视觉机器人的织物分拣方法

Fabric Sorting Method Based on Vision Robot with Four Degrees of Freedom

针对人工分拣织物效率低,劳动成本高,而且对工人身体产生危害的问题,提出机器视觉与机器人相结合代替人工分拣织物的方法,从而解决了人工分拣织物存在的缺陷。构造RBF神经网络的颜色分类器将不同颜色织物分类,利用阈值分割对目标织物进行分割;使用遍历中心扩散法求取机器人抓取织物的抓取点;经过摄像机标定和机器人轨迹规划实现机器人对纯色织物的自主分拣。实验结果表明,该方法分拣织物的准确率能够满足纺织业的实际应用需求。

In view of the low efficiency of manual sorting fabric, high labor costs, and the problem of physical harm to the worker, a method of the machine vision combined with a robot to replace the manual sorting fabric is put forward, so as to solve the weak- ness of manual sorting fabric effectively. Firstly, the color classification of RBF neural network was constructed to classify different colored fabrics, and threshold segmentation was applied to segment the target fabric. Secondly, the crawl point of the robot was obtained by using the method of traverse the center diffusion. Finally, the camera calibrated and robot trajectory planning were used to achieve robot autonomous sorting for solid color fabrics. Experimental results show that the sorting accuracy of the proposed method can meet the application requirements of the textile industry.