Robotic 3D Vision-Guided System for Half-Sheep Cutting Robot
Joint Authors
Mu, Shuai
Qin, Haibo
Wen, Qingkang
Liu, Sihan
Wang, Shucai
Xu, Shengyong
Wei, Jia
Source
Mathematical Problems in Engineering
Issue
Vol. 2020, Issue 2020 (31 Dec. 2020), pp.1-11, 11 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2020-10-05
Country of Publication
Egypt
No. of Pages
11
Main Subjects
Abstract EN
Sheep body segmentation robot can improve production hygiene, product quality, and cutting accuracy, which is a huge change for traditional manual segmentation.
With reference to the New Zealand sheep body segmentation specification, a vision system for Cartesian coordinate robot cutting half-sheep was developed and tested.
The workflow of the vision system was designed and the image acquisition device with an Azure Kinect sensor was developed.
Furthermore, a LabVIEW software with the image processing algorithm was then integrated with the RGBD image acquisition device in order to construct an automatic vision system.
Based on Deeplab v3+ networks, an image processing system for locating ribs and spine was employed.
Taking advantage of the location characteristics of ribs and spine in the split half-sheep, a calculation method of cutting line based on the key points is designed to determine five cutting curves.
The seven key points are located by convex points of ribs and spine and the root of hind leg.
Using the conversion relation between depth image and the space coordinates, the 3D coordinates of the curves were computed.
Finally, the kinematics equation of the rectangular coordinate robot arm is established, and the 3D coordinates of the curves are converted into the corresponding motion parameters of the robot arm.
The experimental results indicated that the automatic vision system had a success rate of 98.4% in the cutting curves location, 4.2 s time consumption per half-sheep, and approximately 1.3 mm location error.
The positioning accuracy and speed of the vision system can meet the requirements of the sheep cutting production line.
The vision system shows that there is potential to automate even the most challenging processing operations currently carried out manually by human operators.
American Psychological Association (APA)
Mu, Shuai& Qin, Haibo& Wei, Jia& Wen, Qingkang& Liu, Sihan& Wang, Shucai…[et al.]. 2020. Robotic 3D Vision-Guided System for Half-Sheep Cutting Robot. Mathematical Problems in Engineering،Vol. 2020, no. 2020, pp.1-11.
https://search.emarefa.net/detail/BIM-1193294
Modern Language Association (MLA)
Mu, Shuai…[et al.]. Robotic 3D Vision-Guided System for Half-Sheep Cutting Robot. Mathematical Problems in Engineering No. 2020 (2020), pp.1-11.
https://search.emarefa.net/detail/BIM-1193294
American Medical Association (AMA)
Mu, Shuai& Qin, Haibo& Wei, Jia& Wen, Qingkang& Liu, Sihan& Wang, Shucai…[et al.]. Robotic 3D Vision-Guided System for Half-Sheep Cutting Robot. Mathematical Problems in Engineering. 2020. Vol. 2020, no. 2020, pp.1-11.
https://search.emarefa.net/detail/BIM-1193294
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1193294