Cutting of sheep carcass using 3D point cloud with dual-robot system  

作　　者：Xiulan Bao Junsong Leng Jincheng Mao Biyu Chen 

机构地区：[1]College of Engineering,Huazhong Agricultural University,Wuhan 430070,China [2]School of Artificial Intelligence and Automation,Huazhong University of Science and Technology,Wuhan 430074,China [3]School of Mechanical and Electrical Engineering,Wuhan Institute of Technology,Wuhan 430073,China

出　　处：《International Journal of Agricultural and Biological Engineering》2022年第5期163-171,共9页国际农业与生物工程学报（英文）

基　　金：financially supported by the Natural Science Foundation of Hubei Province,China(Grant No.2021CFB 471);the National Key Research and Development Program of China(Grant No.2020YFD1000105-04).

摘　　要：The precise and automatic cutting of sheep carcasses can improve the quality of mutton.Robots are widely used in meat processing because of their good repeatability and high precision.Two essential problems encountered in robot working of sheep carcass processing are robot calibration and cutting trajectory planning.A method of cutting sheep carcasses based on 3D point clouds with a dual-robot system was proposed in this study.The dual-robot system consists of a 3D scanning system,a fixing device for sheep carcasses,and a cutting robot.The calibration of the dual-robot system was completed by solving the matrix problem AXB=YCZ using the iterative method and the closed-form method.The 3D model of a sheep carcass was constructed using a 3D scanner.The cutting scheme of the cutting robot was planned based on the processed 3D point clouds.To show the feasibility of the proposed sheep carcass processing scheme,practical experiments were carried out.The results of the experiments show that the cutting robot can accurately perform the cutting actions according to the planned cutting scheme.The system proposed in this study can improve the efficiency and precision of sheep carcass cutting.

关 键 词：sheep carcass trajectory planning point cloud dual-robot system 3D 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]