Sheep carcass robot autonomous segmentation method and system

Abstract

The invention discloses a sheep carcass robot autonomous segmentation method which comprises the following steps of collecting depth images of a sheep carcass at different shooting angles and images of sheep carcass bones, and performing fitting to form a stereoscopic image model of the sheep carcass; obtaining an initial segmentation track of the sheep carcass; performing simulated segmentation on the stereo image model according to the initial segmentation track; predicting the grading of each segmented product after simulated segmentation; adjusting the initial segmentation track; outputting the segmentation track with the optimal overall grading of each segmented product as an effective segmentation track; and controlling a segmentation robot to segment the sheep carcass according to the effective segmentation track. The method has the beneficial effects that the initial segmentation track is optimized, and the sheep carcass can be automatically and finely segmented. A sheep carcass robot autonomous segmentation system is provided, comprises a carcass digitization module, an autonomous segmentation track planning module and a robot segmentation module, and can be used for automatically and finely segment the sheep carcasses.

Description

technical field [0001] The invention relates to the technical field of sheep carcass segmentation. More specifically, the present invention relates to a sheep carcass robot autonomous segmentation method and system. Background technique [0002] With the development of science and technology, the cost of robots is gradually reduced, but their working skills are becoming more and more refined. Intelligent robots will gradually replace humans in processing plants. At present, my country's mutton sheep slaughtering and processing industry is still a labor-intensive industry. Although the slaughtering and processing mode has gradually developed from manual to semi-mechanized and mechanized, it has not yet achieved automation and intelligence, especially in the segmentation process, which still requires manual operations. The carcass is divided. [0003] In the prior art, a sheep carcass segmentation system based on an information database is proposed in the sheep carcass comput...

AI Technical Summary

Problems solved by technology

At present, my country's mutton sheep slaughtering and processing industry is still a labor-intensive industry. Although the slaughtering and processing mode has gradually developed from manual to semi-mechanized and mechanized, it has not yet achieved automation and intelligence, especially in the segmentation process, which still requires manual operations. carcass for splitting

[0003] In the prior art, a sheep carcass segmentation system based on an information database is proposed in the sheep carcass computer vision-assisted segmentation system and its segmentation device (application number: 201610847356.8), which improves the accuracy and efficiency of segmentation, but this technology Among them, the segmentation operation still belongs to the traditional manual or semi-mechanized method, which requires operators to judge the carcass segmentation parts. Although there is a map reference, there are still some human judgment errors, and the operating efficiency is affected by humans.

A sheep carcass segmentation equipment (application number: 201910608552.3) discloses that a scanning device is used to transmit the scanned image to a PC, and the PC can obtain cutting parameters based on the image, and control the work of the mechanical arm according to the cutting parameters to realize automatic segmentation; However, this technology does not use a conveyor belt. Although it occupies a small area and saves space, it is not conducive to large-scale industrial production. At the same time, the advantage of this technology lies in the large-scale segmentation of carcass. However, most of the mutton segmentation products in my country are refined segmentation products. Difficult to achieve with a split device

Carcass cutting method and equipment (application number: 201080020754.3) discloses a fully automated flow control system suitable for large-scale commercial slaughter operations, which can realize fully automatic cutting of carcasses and avoid contact between humans and carcasses, but the method is fixed The splitting process is adopted, and the types of splitting products are fixed, without deboning products, in line with Western eating habits and cooking methods, and only suitable for sheep carcasses of a single breed and similar weight

However, the eating habits and cooking methods of fried, stewed, boiled, rinsed, and roasted mutton in my country are different from those in the West. There are more than 40 varieties of commercial mutton sheep, and their quality characteristics are different from those in the West. And standards are not suitable for the characteristics of mutton sheep carcasses in my country

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