关键词: 皮革, 视觉识别, 边缘识别, 角点检测算法

Abstract: 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.

Key words: leather, visual recognition, edge recognition, corner detection algorithm