Design And Experiment Of Poultry Eviscerator System Based On Machine Vision

Evisceration is an important part of the poultry slaughtering and processing process.In developed countries such as Europe and America,the automatic eviscerating technology has been matured and widely used,but most poultry slaughtering and processing companies in China still use artificial auxiliary work methods.Therefore,it is an irresistible trend to develop automatic eviscerating technology and equipment that meet the national conditions of poultry slaughter and processing in our country.Based on the research status of automatic poultry eviscerating technology at home and abroad,a system of poultry slaughtering robot based on machine vision was designed.The system consists of three parts: the poultry eviscerating mechanical device,the poultry eviscerating visual system,and the poultry eviscerating control system.The main research contents and conclusions are as follows:(1)The machine vision technology was introduced on the basis of the existing poultry automatic eviscerating technology,by obtaining the coordinate information of the poultry carcass in the transmission line to guide the eviscerated manipulator to enter the fowl's abdominal cavity accurately,the manipulator follows the poultry carcass synchronously and realizes the on-line evisceration.The machine vision technology makes the system have low requirement for consistency of eviscerating objects,and poultry with different size could be well eviscerated.(2)According to the system's eviscerating scheme,the poultry eviscerating device was designed and manufactured.It includes the poultry carcass conveying device,the poultry eviscerating mechanical arm assembly,the adjustable poultry body clamping unit and the three-finger poultry eviscerating manipulator terminal actuator.The structure have been designed and optimized by 3D modeling,it was carried out to verify the feasibility of each executive organization of the poultry eviscerating device.(3)Aiming at the vision task requirement of the system,the poultry eviscerating vision system was designed.In the hardware design part,the type and parameters of the industrial camera and lens were determined;In the software design part,we have used OpenCV 2.4.11 machine vision library to complete the image processing module on VS2012.We got the centroid coordinates of the ducks which were removed wings and legs by threshold method,got the muzzle center coordinates by the maximum internal circle method.Prepare for the follow-up poultry eviscerating work.(4)According to the structural characteristics of the system mechanical device,the control system which suitable for the poultry eviscerating system was designed.The control system chooses PLC as the main controller,the manual and automatic operation control mode according to requirement was set up.According to the poultry technology,the motion path of the automatic eviscerating manipulator was planned and the PLC programming was finished by the ladder diagram.At the same time,a good human-machine interaction interface was designed which facilitated human-machine interaction.(5)The prototype test which verified the rationality of the system's mechanical structure,the feasibility and accuracy of the visual system,and the stability of the control system were carried out.The visual repetition positioning accuracy test and the visceral residual rate and breakage rate test were conducted.The test results show that,the repeatable positioning accuracy of profile centroid coordinates and muzzle center coordinates,the visceral residual rate and the damage rate were ±1.60pixel?±1.52pixel?7.63% and 23%.Visual repetition positioning accuracy and visceral residual rate basically meet production requirement,the visceral damage rate should be further reduced through the optimization of parameters and structure.