Design of Porcine Abdomen Cutting Robot System Based on Binocular Vision

摘要

On the background of process automation for slaughtering enterprises, a robot system for porcine abdomen cutting based on binocular vision is established. The system is composed of industrial robot, end effector, binocular camera, IPC and hanging bracket, etc. The study firstly builds transforming relations among coordinate systems by robot calibration. Then, carcass image is taken by using binocular camera, depth information of image is obtained, central line of carcass is recognized and coordinate values of path points are acquired in the end. Finally, moving trajectory of robot can be planned for guiding robot to complete abdomen cutting operation. The experiment shows that the designed system can achieve the scheduled task well and obtain comparatively ideal cutting effect.