Research on Drawing Robot Based on Image Edge Detection

Abstract

This paper selects the outer contour method to describe the image's features and uses industrial robots to draw. Based on the minimum description length, the Gaussian filter in the Canny operator is improved adaptively to ensure edge recognition accuracy. To highlight the primary contour in the process of drawing the image, delete the small areas. We propose an edge thinning algorithm to avoid drawing the same contour twice and obtain the edges with single-pixel width. The broken contours are connected to reduce the time of lifting the pen when the robot is drawing. To avoid contour tracking error resulting in incomplete image rendering, removing the burr points in the image. Finally, we use Robotstudio simulation software and ABB IRB1200 robot to simulate and experiment with the obtained contour image. The results show that the proposed method can effectively filter out noise and irrelevant details. We realize the goal of edge thinning and improve the integrity of each section contour. Reduce the number of robot lift pens, and improve the efficiency of drawing.