Abstract: The accurate positioning of the leather edge gripping point is a key aspect of automatic leather toggling. In order to achieve accurate gripping of irregularly shaped and irregularly placed crust leather, this paper proposes a method for locating leather edge gripping points based on computer vision technology in the automatic crust leather toggling process. The camera is first calibrated using a tessellation grid, and the single-pixel contour of the image is extracted by pre-processing the acquired image, then the target gripping point is selected using the coordinate system conversion and contour point - centre of mass angle algorithm, and finally the actual distance between the gripping point and the centre of mass is calculated by combining the calibrated camera pixel accuracy. The experimental results show that the average running time of this method is 32.48 ms, the average positioning angle error is 0.16°, and the average positioning distance error is 0.56 mm, which indicates that this method can accurately achieve the positioning of leather edge grasping points and meet the demand of crust leather automatic toggle positioning.