纺织学报 ›› 2021, Vol. 42 ›› Issue (04): 191-200.doi: 10.13475/j.fzxb.20200405010

• 综合述评 • 上一篇    

基于轮廓提取的缝纫机器人运动轨迹规划研究进展

吴柳波1,2, 李新荣1,2(), 杜金丽3   

  1. 1.天津工业大学 机械工程学院, 天津 300387
    2.天津市现代机电装备技术重点实验室, 天津 300387
    3.天纺标检测认证股份有限公司, 天津 300193
  • 收稿日期:2020-04-17 修回日期:2021-01-15 出版日期:2021-04-15 发布日期:2021-04-20
  • 通讯作者: 李新荣
  • 作者简介:吴柳波(1995—),男,硕士生。主要研究方向为服装缝合装备智能化。
  • 基金资助:
    国家重点研发计划资助项目(2018YFB1308801)

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

WU Liubo1,2, LI Xinrong1,2(), DU Jinli3   

  1. 1. School of Mechanical Engineering, Tiangong University, Tianjin 300387, China
    2. Key Laboratory of Modern Mechanical and Electrical Equipment Technology, Tiangong University, Tianjin 300387, China
    3. Tianfang Standard Testing & Certification Co., Ltd., Tianjin 300193, China
  • Received:2020-04-17 Revised:2021-01-15 Online:2021-04-15 Published:2021-04-20
  • Contact: LI Xinrong

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摘要：

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。

关键词: 轮廓提取, 工业机器人, 轨迹设计, 机器视觉, 运动逆解

Abstract:

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.

Key words: contour extraction, industrial robot, trajectory planning, machine vision, motion inverse solution

中图分类号: 

  • TP317.4

图1

传统Canny算法流程图"

图2

水平集构造曲线法"

图3

八邻域内像素的位置坐标编码及图像所对应矩阵的坐标"

图4

基于轮廓提取的机器人运动轨迹设计步骤"

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