基于轮廓提取的缝纫机器人运动轨迹规划研究进展

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

为有效解决服装行业工人短缺与生产效率低的问题,提高服装行业全自动化、无人化生产技术,对近年来工业协作型缝纫机器人研究中的2大核心技术(机器视觉轮廓提取算法与工业机器人运动轨迹优化)的最新研究进展进行综述,介绍了机器视觉轮廓提取中的几种算法和机器人运动轨迹的优化方法,分析了各轮廓提取算法的优缺点与其在服装行业中的实际应用、机器人各运动轨迹优化算法的精度与其对缝纫时的影响。指出基于轮廓提取的工业协作型缝纫机器人在服装生产、面料与缝纫头缝合时如何保护面料的平展性是下一步研究的重点,并对基于轮廓提取的工业协作型缝纫机器人在实现服装行业全自动化、无人化生产中的实际应用进行展望。

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.