Design And Realization Of Porcine Abdomen Cutting Robot System

With the growth of world population and the transition of eating habits,the demand for pork products is increasing gradually.Looking towards the processing workshops of domestic slaughtering enterprises,many still rely on the operators present to perform heavy,boring and repetitive jobs.The working form will bring threats to the health of operators on the one hand and stand for the increase of labor cost that the enterprises have to face and shortage of employees.Aimed at the porcine abdomen cutting operation in the real process of slaughtering,a porcine abdomen cutting robot system based on binocular vision is designed in the paper.Firstly,the whole design scheme of porcine abdomen cutting robot system is presented from the aspects of system composition,realized functions,time tick and site layout.Then,the detailed design is carried out in the executing components about the end effector,clamping mechanism and robot base.The control system is designed in detail and the relevant contents about composition of hardware,connection type,communication protocol and control flow are presented.Then,the kinematic model of SIASUN SR50 A industrial robot is established by using Denavit-Hartenberg method(D-H method).The forward kinematics of robot is analyzed according to the normalized procedure.And the equation of forward kinematics is utilized to calculate the equations of inverse kinematics.The projection model and distortion model of camera are established by combining the fundamental of camera calibration.The steps of implementation and experimental result of camera calibration are presented by adopting Zhang Zhengyou calibration method.Calibration system of eye-to-hand type is established and the hand-eye calibration problem is described as a matrix solution problem of equation with particular form in maths.Computational work of hand-eye calibration is achieved by using many different algorithms and the final results are compared respectively.Next,the outline of porcine carcass in the image is extracted by adopting Canny edge detection method.The position of central point and feature vector are acquired using principle component analysis method based on the point set of the outline,so that the equation of carcass central line is obtained.Bumblebee camera's two lens are utilized to capture the carcass images respectively.The disparity is acquired by means of image registration and the depth values of path points on the central line are calculated according to the established imaging model of binocular camera.Aimed at the trajectory planning of robot,the follow-upmovement along the direction of production line is taken into full consideration on the basis of rational planning for the movement of porcine abdomen cutting.Finally,the experimental platform of porcine abdomen cutting robot system is built and test experiments about image edge detection,robot follow-up scheme and structure of end effector are performed.And in the end,porcine abdomen cutting experiment based on the binocular vision is accomplished.The experimental result shows that the designed system can achieve pubis splitting and abdomen cutting operations successfully and will not cause damage to visceral organs,which proves the great processibility and practicability.