The Self-tracing Cutting Robot Path Planning Research Based On Image

According to the self-tracing robot from cutting precision tracing, using strict theory and computer vision research production of digital photogrammetry, based on successful experience, inheritance, development on the existing image sequences, the introduction of the self tracing robot cutting cutting path of measurement, the image of the self seeking track cutting robot path planning algorithm based on polynomial curve fitting. The algorithm uses the CCD sensor to obtain the cutting path image, and the image preprocessing, and then using the differential operator and SUSAN operator to extract the edge cutting path, the path edge compared to find the optimal. Through the expansion and refinement of the operation, the cutting path centerline extraction, finally combined with least square method and the polynomial fitting algorithm is used to fit the cutting path, and by using the generalized point error theory, the error of fitting path and actual path correction model, simulation results show that the cutting path in the effective fitting at the same time, correct the error of the cutting path, the cutting accuracy is greatly improved, providing security for the control of cutting robot cutting head posture.