A Porcine Abdomen Cutting Robot System Using Binocular Vision Techniques Based on Kernel Principal Component Analysis
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(2021) 101:4
A Porcine Abdomen Cutting Robot System Using Binocular Vision Techniques Based on Kernel Principal Component Analysis Ming Cong 1 & Jiaqi Zhang 1 & Yu Du 2
&
Yahui Wang 1 & Xu Yu 2 & Dong Liu 1
Received: 23 March 2020 / Accepted: 27 October 2020 # Springer Nature B.V. 2020
Abstract The purpose of this paper is to provide details on the implementation of an accurate and intelligent automation solution to achieve the abdomen cutting operation of the porcine carcass. The system consists of an industrial robot, a binocular camera, an end effector, and an industrial computer. Threshold segmentation is used to detect the contour of the porcine carcass. Based on the contour, the kernel principal component analysis (KPCA) is used to identify the cutting line position. A binocular camera completes the depth extraction of the centerline, and the robot trajectory is adjusted based on the curve of the porcine abdomen centerline. The results of the experiment show that the system could successfully open the porcine abdomen without viscera damage. The constructed system can improve process quality, hygiene standards efficiency, and save a lot of labor. Keywords Robot porcine abdomen cutting system . Binocular vision . KPCA . Industrial robot . Porcine automation;
1 Introduction FAOSTAT provided that, with the increasing number of people worldwide and the shifting in dietary habits, pork is the most popular meat product in the world [1]. The pork products account for nearly 40% of the world’s total meat products. However, the pork slaughtering workshop has a harsh environment. The operators of the pork slaughtering workshop perform heavy, boring, and repetitive work. So the slaughter industry urgently needs revolutionary technology to subvert traditional processing methods, improve processing quality, and reduce labor. The automated porcine carcass processing unit can meet the above requirements. However, the inconsistency of the porcine carcass and the harsh environment bring great difficulties to the automation of the slaughter industry. With the development of science and technology, machine vision, robotics, and computer technology have gradually emerged in the field of automated slaughter. The automated slaughter of porcine includes stunning, unhairing, viscera removing, carcass cutting, etc. Abdomen cutting is a pretreatment for viscera removing. Therefore, the * Yu Du [email protected] 1
School of Mechanical Engineering, Dalian University of Technology, Dalian City, Liaoning Province, China
2
Dalian Dahuazhongtian Technology Co.Ltd, Yiyang Road, high-tech Zone, Dalian City, Liaoning Province, China
integrity of the viscera must be ensured to avoid cross-infection. The traditional manual process heavily relies on labors’ experience. The visceral damage rate is relatively high. Therefore, the establishment of the porcine abdomen cutting system has practical research significance. To accurately obtain the carcass processing parameters or inspect the sample quality, machine vision is widely used in the
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