Vision tracking system of 3-D preform stitching robot

To improve the flexibility and intelligent performance of the 3-D textile composite preform stitching robot,this paper develops a vision tracking system of 3-D perform stitching robot according to the vision tracking technology based on structure light.A tracking sensor is designed by using of CCD and laser.A software system is developed under Microsoft Visual C++6.0.Considering the noises caused by burrs and braided pitches,binarization,median filtering and opening algorithms are used to preprocess the textile composite laser image;feature points are detected more quickly by the way of comparing vertical coordinates;stitching head excursion computation is realized based on the principle of optical triangulation.The test results show that the tracking system has high accuracy and good reliability,which can meet the demand of the robot stitching system.