Design And Experiment Of Intelligent Segmentation Line For Sheep Skeleton

The mutton segmentation is a key link to maximize the value of mutton.Developed countries have achieved automatic segmentation of beef and mutton carcasses,and the manual auxiliary assembly line is still used in China.Among them,sheep skeleton segmentation is the most difficult part to achieve mechanization in mutton segmentation.In this study,an efficient and intelligent sheep skeleton segmentation pipeline was designed to solve the problem that sheep skeleton is difficult to be mechanically segmented.Using two-step segmentation method,the skeleton is easy to separate parts to achieve flow operation,and it is difficult to separate parts quickly.The precise positioning of cervical spine and clavicle is realized by introducing visual system.The vacuum adsorption system is used in conjunction with the profiling internal model to solve the problem that the skeleton is difficult to clamp.The main research contents and conclusions of this paper are as follows:(1)The shape characteristics and segmentation line information of sheep skeleton are analyzed.According to the segmentation process requirements of sheep skeleton,the segmentation scheme is established: The sheep skeleton was segmented by disc saw,and the segmentation was divided into two parts.The first part used the form of flow operation to complete the segmentation of cervical clavicle and caudal vertebrae,and retained the thoracic part of the skeleton.The second part completes the thoracic segmentation.(2)According to the segmentation scheme,the overall mechanical mechanism design and key components design of the device were completed,including the conveying part,the cutting part,the profiling fixed plate,the pressing mechanism,the profiling internal model,the vacuum adsorption system,and the sawing table mechanism.The threedimensional model of the device is drawn by Solid Works,and the important parts are analyzed by ANSYS.(3)According to the mechanical structure characteristics and process requirements of the sheep skeleton segmentation pipeline,the control system is designed.The selection and wiring of the hardware part of the selected control system are completed.Specially,the control program is developed based on TIA PORTAL V15.1 ladder diagram,and the Simple and effective human-computer interaction interface is designed.According to cutting accuracy,the skeleton segmentation vision system is designed.The image processing program is developed based on Open CV,and the communication with PLC is realized by Modbus protocol.(4)The assembly drawings of all parts of the device are drawn by Auto CAD,and the prototype processing,debugging and air operation are completed.The segmentation loss rate,segmentation efficiency and segmentation accuracy of sheep skeleton were tested on the prototype.Through the test,the average segmentation loss rate of the sheep skeleton segmentation pipeline is 1.26 %,the theoretical segmentation efficiency is 95 / h,and the average segmentation error is 3.65 mm,which fully meets the industry requirements.This study provides a new method for sheep skeleton segmentation,which has reference significance for realizing automatic segmentation of mutton.