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Design of Porcine Abdomen Cutting Robot System Based on Binocular Vision
- Source :
- ICCSE
- Publication Year :
- 2019
- Publisher :
- IEEE, 2019.
-
Abstract
- 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.
- Subjects :
- 0209 industrial biotechnology
Robot kinematics
Robot calibration
Computer science
business.industry
Coordinate system
ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION
02 engineering and technology
Robot end effector
law.invention
Industrial robot
020901 industrial engineering & automation
law
0202 electrical engineering, electronic engineering, information engineering
Trajectory
Robot
020201 artificial intelligence & image processing
Computer vision
Artificial intelligence
business
Binocular vision
Subjects
Details
- Database :
- OpenAIRE
- Journal :
- 2019 14th International Conference on Computer Science & Education (ICCSE)
- Accession number :
- edsair.doi...........fa0922025993ebd9ee0ad12ddecbe627