基于改进遗传算法与机器视觉的工业机器人猪腹剖切轨迹规划

Trajectory Planning for Porcine Abdomen Cutting Based on an Improved Genetic Algorithm and Machine Vision for Industrial Robot

以猪肉生产线为研究背景,对猪腹剖切工位的自动化改造进行了研究.自动化剖切系统的组成包括6自由度工业机器人、定制工具、PC、摄像机以及悬挂支架等.通过对工业机器人工具坐标系、用户坐标系以及摄像机的标定,建立起"手-目标-眼"之间的空间位姿关系.特征识别算法可以将猪腹轮廓曲线从图像中提取出来并用五次样条曲线对其进行拟合.结合猪腹膜腔生物特征和改进的遗传算法(GA)对样条曲线进行分段轨迹规划.最终将轨迹规划结果按照空间位姿关系转换到笛卡儿空间进行编程.实验目的是利用所推荐的方法高效地将猪腹剖开且不损坏脏腹膜,便于酮体与内脏的后续处理.实验结果表明,工业机器人猪腹剖切方法在切割质量与效率上超越了手工切割,可以满足猪肉生产线要求.

For pork production line, an automation method of porcine abdomen cutting is studied. The automatic cutting system consists of a 6-DOF industrial manipulator, customized tools, PC, 2D camera and rack. By calibrating the tool frame,user frame and camera, the spatial position and orientation relations of hand-target-eye are established. With the feature identification algorithm, the porcine abdomen curve can be extracted from the image and fitted with quintic spline curve.Sectional trajectories of the spline curve are planned based on the biological features of porcine cavum peritonaei and the improved genetic algorithm(GA). Finally, the trajectory planning results are transformed into Cartesian space according to their spatial relations for programming. The purpose of the experiment is to use the proposed method to perform efficient abdomen cutting without organ damage, which is benefit for subsequent treatment of carcase and tharm. The experiment results show that the porcine abdomen cutting method for industrial robot is superior to manual cutting in efficiency and precision, and meets the demands of pork production line.