【摘要】：以豬肉生產(chǎn)線為研究背景,對(duì)豬腹剖切工位的自動(dòng)化改造進(jìn)行了研究.自動(dòng)化剖切系統(tǒng)的組成包括6自由度工業(yè)機(jī)器人、定制工具、PC、攝像機(jī)以及懸掛支架等.通過對(duì)工業(yè)機(jī)器人工具坐標(biāo)系、用戶坐標(biāo)系以及攝像機(jī)的標(biāo)定,建立起"手-目標(biāo)-眼"之間的空間位姿關(guān)系.特征識(shí)別算法可以將豬腹輪廓曲線從圖像中提取出來并用五次樣條曲線對(duì)其進(jìn)行擬合.結(jié)合豬腹膜腔生物特征和改進(jìn)的遺傳算法(GA)對(duì)樣條曲線進(jìn)行分段軌跡規(guī)劃.最終將軌跡規(guī)劃結(jié)果按照空間位姿關(guān)系轉(zhuǎn)換到笛卡兒空間進(jìn)行編程.實(shí)驗(yàn)?zāi)康氖抢盟扑]的方法高效地將豬腹剖開且不損壞臟腹膜,便于酮體與內(nèi)臟的后續(xù)處理.實(shí)驗(yàn)結(jié)果表明,工業(yè)機(jī)器人豬腹剖切方法在切割質(zhì)量與效率上超越了手工切割,可以滿足豬肉生產(chǎn)線要求.
[Abstract]:Based on the research background of pork production line, the automatic transformation of porcine abdominal cutting position was studied. The automatic cutting system consists of 6 DOF industrial robot, custom tool, PC, camera and suspension support. By calibrating the tool coordinate system, the user coordinate system and the camera of the industrial robot, the spatial position and pose relationship between the hand, the target and the eye is established. The feature recognition algorithm can extract the porcine abdominal contour curve from the image and fit it with the quintic spline curve. Combined with pig peritoneal cavity biometrics and improved genetic algorithm (GA), the spline curve was segmented trajectory planning. Finally, the trajectory planning results are converted to Cartesian space according to the spatial position and pose relationship. The aim of the experiment is to dissect the pig abdomen efficiently without damaging the viscera, and to facilitate the subsequent treatment of ketone body and viscera. The experimental results show that the cutting quality and efficiency of the industrial robot pig belly cutting method is higher than that of manual cutting method, which can meet the requirements of pork production line.
【作者單位】： 大連理工大學(xué)機(jī)械工程學(xué)院;
【基金】：遼寧省科技創(chuàng)新重大專項(xiàng)(2015106011)
【分類號(hào)】：TP18;TP242.2;TP391.41

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本文編號(hào)：2324742