Abstract：To solve the problems of complex structure and low efficiency in traditional brush head feeding system, the brush head feeding system was developed based on visual detection and positioning. The image of brush head was segmented by OTSU method， and the moment of image was calculated to obtain the gesture of brush head. The ellipse fitting of the brush head was carried out, and the center of the ellipse was taken as the position of brush head to judge the two sides of brush head by support vector machine. The robot trajectory was determined by 3-4-5 polynomial motion law to control the robot running smoothly，and the brush head feeding system was established. The test results show that the designed system can quickly and accurately realize the position determination of brush head， and the error is less than 0.3 mm. The system can work at the speed of 5 seconds per unit， which meets the demand of brush head feeding.
王化明， 朱雄伟， 杨雪峰， 徐轲， 于金龙. 基于视觉检测定位的刷头上料系统设计[J]. 江苏大学学报（自然科学版）, 2023, 44(4): 431-436.
WANG Huaming, ZHU Xiongwei, YANG Xuefeng, XU Ke, YU Jinlong. Design of brush head feeding system based on visual detection and positioning[J]. Journal of Jiangsu University(Natural Science Eidtion)
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2023, Vol. 44 
