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A Porcine Abdomen Cutting Robot System Using Binocular Vision Techniques Based on Kernel Principal Component Analysis

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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.

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Data Availability

All data, models generated or used during the study are available from the corresponding author by request.

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Funding

The research has not been funded.

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Authors and Affiliations

  1. School of Mechanical Engineering, Dalian University of Technology, Dalian City, Liaoning Province, China

    Ming Cong, Jiaqi Zhang, Yahui Wang & Dong Liu

  2. Dalian Dahuazhongtian Technology Co.Ltd, Yiyang Road, high-tech Zone, Dalian City, Liaoning Province, China

    Yu Du & Xu Yu

Authors
  1. Ming Cong
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  2. Jiaqi Zhang
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  3. Yu Du
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  4. Yahui Wang
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  5. Xu Yu
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  6. Dong Liu
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Contributions

Ming Cong and Jiaqi Zhang conceived and designed the study. Yu Du, Yahui Wang, and Xu Yu performed the experiments. Jiaqi Zhang and Dong Liu wrote the paper. Ming Cong, Jiaqi Zhang, Yu Du, Yahui Wang, Xu Yu, and Dong Liu reviewed and edited the manuscript. All authors read and approved the manuscript.

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Correspondence to Yu Du.

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Cong, M., Zhang, J., Du, Y. et al. A Porcine Abdomen Cutting Robot System Using Binocular Vision Techniques Based on Kernel Principal Component Analysis. J Intell Robot Syst 101, 4 (2021). https://doi.org/10.1007/s10846-020-01280-3

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  • DOI: https://doi.org/10.1007/s10846-020-01280-3

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