Real-time edge detection for automated fibre-mat stitching

We present a closed process chain for robotic sewing from CAD design to the component model to realize a lot-size-one production. To achieve a better solidity and durability of two overlapping carbon fibre layers, an automated fibre mat stitching system was developed. At the moment, the stitching path is predefined and inflexible to minor changes. To enable a more flexible autonomous stitching process than given through teach-in programming, sensors are used to calculate the difference between the CAD sewing track and the actually required stitching position. The application of the sensor guided stitching process makes it possible for the robot to handle inaccuracies during inlaying of the fibre mats into the form autonomously. Additionally, possible obstacles and mat-ends are detected to realize a stable stitching process.