刘冬

个人信息Personal Information

副教授

博士生导师

硕士生导师

性别:男

毕业院校:大连理工大学

学位:博士

所在单位:机械工程学院

学科:机械电子工程. 机械制造及其自动化. 机械设计及理论

办公地点:机械学院6116

电子邮箱:liud@dlut.edu.cn

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Porcine automation: Robotic abdomen cutting trajectory planning using machine vision techniques based on global optimization algorithm

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论文类型:期刊论文

发表时间:2017-12-01

发表刊物:COMPUTERS AND ELECTRONICS IN AGRICULTURE

收录刊物:SCIE、EI、Scopus

卷号:143

页面范围:193-200

ISSN号:0168-1699

关键字:Machine vision; Trajectory planning; Industrial robot; Porcine automation; Global optimization algorithm

摘要:The purpose of this paper is to provide details on implementation of accurate and intelligent automation solution for porcine abdomen cutting while a pig is hung up by rear legs. The system developed utilized a 6-DOF industrial manipulators, customized tools, 2D camera and PC. Eye-to-hand calibrations built coordinate transformation relations of units in Cartesian space. The porcine abdomen curve was identified and fitted into quintic spline curve from image. Under cavum peritonaei constrains, optimal sectional trajectory was planned based on genetic algorithm (GA) by comparing several kinds of optimization algorithms. The results of experimental replications show that the system was successful both in following the varied position carcass and cutting open abdominal cavity without haslet damage. The system can enhance the quality, hygienic standard and efficiency of the process.