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Two-dimensional modelling of pig carcass spines for robotic evisceration

Author

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  • Wadie, I.H.C.
  • Purnell, G.L.
  • Khodabandehloo, K.

Abstract

State-of-the-art slaughter techniques are still mainly manual. A few attempts have recently been made to automate the primary pig slaughter process focussing on the partial processes before and after the evisceration process. This paper deals with two-dimensional modelling of the spine of pig carcasses as a means of control of robotic evisceration of pigs by predicting the path needed to cut the connective tissue which attaches the intestines to the spine. A generic model has been produced based on a representative sample of geometrical measurements of 29 carcasses including the carcass length and depth. It is estimated that 99.8% of the predicted cut paths are accurate to within 14.2 mm which is sufficient to guide a compliant tool along the spine to severe the connective tissue. A concept to improve the path prediction by grouping the carcasses was tried. However, errors in predicting the group of a carcass negated the improved accuracy achieved. The best form of prediction of the carcass spine was found to determine the parameters of a single six-parameter model from the length and depth of the carcass.

Suggested Citation

  • Wadie, I.H.C. & Purnell, G.L. & Khodabandehloo, K., 1996. "Two-dimensional modelling of pig carcass spines for robotic evisceration," Mathematics and Computers in Simulation (MATCOM), Elsevier, vol. 41(5), pages 571-578.
    • Handle: RePEc:eee:matcom:v:41:y:1996:i:5:p:571-578
    DOI: 10.1016/0378-4754(95)00101-8
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