利用 3D 激光点云对猪肉切割机器人进行在线路径规划

Yi Liu, Rui Ning, Mingxin Du, Shuanghe Yu, Yan Yan
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引用次数: 0

摘要

本文旨在提出一种新的猪腹部切割在线路径规划方法。随着猪肉生产自动化系统需求的激增,开发高效、稳健的切肉算法成为热点问题。在线猪肚切割的不确定性和动态性给机器人高效准确地识别和切割带来了挑战。研究结果实验结果分析表明,与机器视觉相比,基于激光传感器的机器人切割具有更多优势,而且可以处理不同尺寸的胴体。通过对向外切割误差和向内切割误差的详细分析,发现向外切割误差是分割算法减少分割段的限制条件。
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Online path planning of pork cutting robot using 3D laser point cloud

Purpose

The purpose of this paper is to propose an new online path planning method for porcine belly cutting. With the proliferation in demand for the automatic systems of pork production, the development of efficient and robust meat cutting algorithms are hot issues. The uncertain and dynamic nature of the online porcine belly cutting imposes a challenge for the robot to identify and cut efficiently and accurately. Based on the above challenges, an online porcine belly cutting method using 3D laser point cloud is proposed.

Design/methodology/approach

The robotic cutting system is composed of an industrial robotic manipulator, customized tools, a laser sensor and a PC.

Findings

Analysis of experimental results shows that by comparing with machine vision, laser sensor-based robot cutting has more advantages, and it can handle different carcass sizes.

Originality/value

An image pyramid method is used for dimensionality reduction of the 3D laser point cloud. From a detailed analysis of the outward and inward cutting errors, the outward cutting error is the limiting condition for reducing the segments by segmentation algorithm.

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