Journal of Textile Research ›› 2021, Vol. 42 ›› Issue (04): 191-200.doi: 10.13475/j.fzxb.20200405010

• Comprehensive Review • Previous Articles    

Research progress of motion trajectory planning of sewing robot based on contour extraction

WU Liubo1,2, LI Xinrong1,2(), DU Jinli3   

  1. 1. School of Mechanical Engineering, Tiangong University, Tianjin 300387, China
    2. Key Laboratory of Modern Mechanical and Electrical Equipment Technology, Tiangong University, Tianjin 300387, China
    3. Tianfang Standard Testing & Certification Co., Ltd., Tianjin 300193, China
  • Received:2020-04-17 Revised:2021-01-15 Online:2021-04-15 Published:2021-04-20
  • Contact: LI Xinrong E-mail:lixinrong7507@hotmail.com

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Abstract:

In order to effectively solve the shortage of workers and low production efficiency in the clothing industry, to improve the garment production automation, and to pursue unmanned production technology, this paper reviews the recent research progress in two core technologies (machine vision contour extraction algorithm and industrial robot motion trajectory optimization) based on the research of industrial cooperative sewing robot in recent years. The review includes the algorithms in machine vision contour extraction, the method of robot motion trajectory optimization, analyzes the advantages and disadvantages of each contour extraction algorithm and its practical application in the clothing industry, the precision of each robot motion trajectory optimization algorithm and its influence on sewing. It is established that fabric spreading during sewing is one of the focus for future research, and the practical application of industrial cooperative sewing robot based on contour extraction is prospected.

Key words: contour extraction, industrial robot, trajectory planning, machine vision, motion inverse solution

CLC Number: 

  • TP317.4

Fig.1

Flow chart of traditional Canny algorithm"

Fig.2

Horizontal set structure curve method"

Fig.3

Position coordinate coding of pixels in eight neighborhood and coordinates of corresponding matrix of image. (a) Coordinate representation; (b) Code element; (c) Matrix coordinate representation"

Fig.4

Design steps of robot motion trajectory based on profile extraction"

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