CN113547568B

CN113547568B - Robot system for segmenting and sorting poultry meat

Info

Publication number: CN113547568B
Application number: CN202110846195.1A
Authority: CN
Inventors: 薛青铨
Original assignee: Tengzhou Heyi Food Co ltd
Current assignee: Tengzhou Heyi Food Co ltd
Priority date: 2021-07-26
Filing date: 2021-07-26
Publication date: 2023-04-11
Anticipated expiration: 2041-07-26
Also published as: CN113547568A

Abstract

The invention discloses a poultry meat dividing and sorting robot system, which comprises a sliding assembly and a guide piece in matched connection with the sliding assembly, wherein the sliding assembly comprises a first sliding piece and a second sliding piece, the first sliding piece and the second sliding piece are both arranged into arc-shaped structures, arc-shaped guide grooves are formed in the first sliding piece and the second sliding piece, arc-shaped racks are arranged on the arc-shaped guide grooves, sliding blocks are further arranged on the arc-shaped guide grooves, driving motors are arranged on the sliding blocks, couplers are connected with the driving motors in a matched mode, rotating shafts are connected with the couplers in a matched mode, the rotating shafts are connected with gears in a matched mode, the gears are mutually meshed with the arc-shaped racks, stop blocks are arranged on the arc-shaped guide grooves, and limiting pieces are arranged on the stop blocks, so that a manipulator can divide a plurality of regions of objects to be divided through a plurality of operation surfaces, the dividing modes are more flexible and diversified, the dividing and sorting processes can be efficiently and automatically completed, and the pollution condition is reduced.

Description

Robot system for segmenting and sorting poultry meat

Field of application

The invention relates to the field of robots, in particular to a poultry meat dividing and sorting robot system.

Background

The poultry slaughtering process comprises live poultry shelving, electric slaughtering, scalding and molting, anus cutting and eviscerating, cleaning and trimming, and acid discharge and precooling. In the current slaughtering link, mechanical automation is realized except that the poultry double claws need to be hung upside down on a rack in the first step. However, the subsequent processes of 'dividing and blocking' and 'sorting and packaging' of poultry meat still belong to manual intensive labor at present, a large amount of manpower is needed to complete the process of dividing wing tips, wing middle parts, wing roots, legs and feet of slaughtered poultry meat, and then sorting, classifying and packaging are completed for each part. Therefore, a plurality of technical problems exist in the segmentation and sorting of poultry meat at present, firstly, the poultry meat is segmented by adopting a manual segmentation mode, the segmentation labor intensity is high, and the segmentation efficiency is low; secondly, the poultry carcass structure is complex, and when the poultry carcass is manually cut, the loss is large when meat is cut, and the number of defective products is large; thirdly, the manual cutting and sorting process is long in time, and secondary pollution to meat is easily caused; fourthly, the environment for segmentation and sorting is poor, bacteria are easy to breed, and influence is caused on the human body; in addition, the poultry meat cutting and sorting link has the problems of high sanitary safety risk, outstanding labor cost, inconsistent products and the like. Therefore, by combining a robot technology and a computer vision technology and integrating key technologies such as accurate sensing, rapid segmentation and rapid sorting, the automatic segmentation and sorting production line of the poultry meat by the robot is expected to be formed, and unmanned operation of the whole production line for poultry meat production and processing is realized.

Disclosure of Invention

The invention overcomes the defects of the prior art and provides a poultry meat dividing and sorting robot system.

In order to achieve the aim, the invention adopts the technical scheme that: a robot system for separating and sorting poultry meat comprises a sliding assembly and a guide piece in fit connection with the sliding assembly;

the sliding assembly comprises a first sliding part and a second sliding part, and the first sliding part and the second sliding part are both arranged into arc-shaped structures;

the first sliding piece and the second sliding piece are both provided with arc-shaped guide grooves, arc-shaped racks are arranged on the arc-shaped guide grooves, sliding blocks are further arranged on the arc-shaped guide grooves, driving motors are arranged on the sliding blocks, the driving motors are connected with couplers in a matched mode, the couplers are connected with rotating shafts in a matched mode, and the rotating shafts are connected with gears in a matched mode;

a stop block is arranged on the arc-shaped guide groove, a limiting piece is arranged on the stop block, first sensors are arranged on the arc-shaped guide groove at intervals, and the first sensors are used for detecting the position information of the sliding block;

a conveying line is arranged between the first sliding piece and the second sliding piece, a shunt line is connected to the conveying line, and second sensors are arranged on the conveying line at intervals;

the guide piece is provided with a connecting block, and the connecting block is connected with the sliding block in a matching manner; be provided with the spout on the guide, be provided with the slide rail on the spout, the cooperation is connected with first fixed block on the slide rail, the cooperation is connected with first manipulator on the first fixed block, the cooperation is connected with the second fixed block on the slide rail, the cooperation is connected with the second manipulator on the second fixed block, the cooperation is connected with the third fixed block on the slide rail, the cooperation of third fixed block is connected with the third manipulator.

Further, in a preferred embodiment of the present invention, the first manipulator and the second manipulator have the same structure, and the first manipulator and the second manipulator include a first manipulator and a second manipulator, an end of a free end of the second manipulator is cooperatively connected with a simulation hand, and the simulation hand and the second manipulator are cooperatively connected through a universal mechanism.

Further, in a preferred embodiment of the present invention, the third robot includes a third robot arm and a fourth robot arm, the fourth robot arm is provided with a tool cavity, the tool cavity is provided with a telescopic mechanism, the telescopic mechanism is cooperatively connected with a dividing tool, and the telescopic mechanism is used for pushing out or retracting the dividing tool along the tool cavity.

Further, in a preferred embodiment of the present invention, a sterilization mechanism is disposed on the tool cavity, the sterilization mechanism is configured to sterilize the cutting tool, and a first monitoring member is disposed on the tool cavity, and the first monitoring member is configured to monitor parameter information of the cutting tool.

Further, in a preferred embodiment of the present invention, the segmentation tool parameter information includes one or more combinations of tool position information, tool wear information, and tool sterilization information.

Further, in a preferred embodiment of the present invention, a first camera is disposed on the guide, the first camera is configured to capture real-time image information of the transmission line, and second cameras are disposed on the first manipulator, the second manipulator and the third manipulator.

Further, in a preferred embodiment of the present invention, the tool cavity has a cross-sectional shape identical to that of the cutting tool, the telescopic mechanism is provided with an air cylinder, the air cylinder is connected with a connector in a matching manner, the connector is connected with a push rod in a matching manner, and the push rod is connected with the cutting tool in a matching manner.

Further, in a preferred embodiment of the present invention, each of the first manipulator, the second manipulator and the third manipulator is provided with a third sensor, the third sensors are used for detecting position information of the first manipulator, the second manipulator and the third manipulator, and the first sensor, the second sensor and the third sensor are in signal connection.

The second aspect of the present invention provides a control method for a poultry meat dividing and sorting robot system, which is applied to any one of the poultry meat dividing and sorting robot systems, and comprises the following steps:

acquiring image information of a target object before segmentation, processing the image information of the target object before segmentation, and generating model information of the target object before segmentation;

transmitting the model information of the target object before segmentation to a processor to obtain segmentation data and generate a segmentation path;

controlling the robot to complete the segmentation of the target object;

acquiring image information of a segmented target object, and generating model information of the segmented target object;

comparing the segmented target object model information with preset model information to obtain pairing information;

and sorting the divided target objects to the specified positions according to the pairing information.

Further, in a preferred embodiment of the present invention, the processing the image information of the meat before the dividing further comprises the following steps:

carrying out smooth filtering processing on the image to eliminate random interference noise of the image;

carrying out image sharpening on the image so as to strengthen the edge and the detail of the image outline and improve the definition of feature identification;

and identifying the target object in the image to obtain the position information of the target object.

According to the poultry meat dividing and sorting robot system, under the matched work of the guide piece, each mechanical arm and the sliding assembly, the mechanical arms can divide objects to be divided into multiple regions through multiple operation surfaces, the first mechanical arm and the second mechanical arm can be matched with the third mechanical arm to complete the dividing process of the objects to be divided, the dividing modes are more flexible and various, and the dividing and sorting processes can be efficiently and automatically completed; the cutting tool and the manipulator are of an integrated structure, the cutting tool can be disinfected before and after cutting, pollution is reduced, meanwhile, the pushing and withdrawing functions of the cutting tool can be completed through the telescopic mechanism, different cutting tools can be replaced according to different cutting parts and different cutting conditions, and the whole cutting process is more intelligent; carry out image acquisition and processing through the piece of making a video recording, can high-efficient accurate discernment wait to cut apart the positional information of thing and can discern the categorised information of cutting apart back article, then through the mechanical handle article letter sorting after cutting apart to specific position on, the letter sorting process is cut apart in quick completion, has reduced meat secondary pollution's the condition.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the prior art descriptions will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that drawings of other embodiments can be obtained according to the drawings without creative efforts.

FIG. 1 is a schematic diagram of the overall structure of a robot;

FIG. 2 is a schematic view of the inner structure of the arc-shaped guide groove;

FIG. 3 is a schematic view of the guide construction;

FIG. 4 is a schematic view of the internal structure of the tool cavity;

FIG. 5 is a flowchart of a control method of the robot;

FIG. 6 is a flow chart of an image processing method;

the reference numerals are explained below: 101. a first slider; 102. a second slider; 103. an arc-shaped guide groove; 104. a conveyor line; 105. a shunt line; 106. a guide member; 107. a first manipulator; 108. a second manipulator; 109. a third manipulator; 201. an arc-shaped rack; 202. a slider; 203. a drive motor; 204. a gear; 301. a first robot arm; 302. a second mechanical arm; 303. a universal mechanism; 304. simulating a hand; 305. a third mechanical arm; 306. a fourth mechanical arm; 401. a tool cavity; 402. a segmentation tool; 403. a cylinder; 404. a connector; 405. a push rod; 406. a sterilizing mechanism; 407. a first monitoring member;

Detailed Description

In order that the above objects, features and advantages of the present invention can be more clearly understood, the present invention will be further described in detail with reference to the accompanying drawings and the detailed description, wherein the drawings are simplified schematic drawings and only the basic structure of the present invention is illustrated schematically, so that only the structure related to the present invention is shown, and it is to be noted that the embodiments and features of the embodiments in the present application can be combined with each other without conflict.

In the description of the present application, it is to be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientation or positional relationship indicated in the drawings for convenience in describing the present application and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated in a particular manner, and are not to be considered limiting of the scope of the present application. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the invention, the meaning of "a plurality" is two or more unless otherwise specified.

In the description of the present application, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art through specific situations.

To facilitate an understanding of the invention, the invention will now be described more fully with reference to the accompanying drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

The first embodiment is as follows:

as shown in fig. 1 and 2, in a first aspect, the present invention provides a robot system for dividing and sorting poultry meat, comprising a sliding assembly and a guide member cooperatively connected with the sliding assembly.

The sliding assembly comprises a first sliding part 101 and a second sliding part 102, and both the first sliding part 101 and the second sliding part 102 are arranged into arc-shaped structures;

the first sliding part 102 and the second sliding part 102 are both provided with arc-shaped guide grooves 103, arc-shaped racks 201 are arranged on the arc-shaped guide grooves 103, sliding blocks 202 are further arranged on the arc-shaped guide grooves 103, driving motors 203 are arranged on the sliding blocks 202, the driving motors 203 are connected with couplers in a matching mode, the couplers are connected with rotating shafts in a matching mode, the rotating shafts are connected with gears 204 in a matching mode, and the gears 204 are meshed with the arc-shaped racks 201;

a conveying line 104 is arranged between the first sliding piece 101 and the second sliding piece 102, a shunt line 105 is arranged on the conveying line 104, and second sensors are arranged on the conveying line 104 at intervals;

a connecting block is arranged on the guide member 106 and is in fit connection with the sliding block 202; be provided with the spout on the guide 106, be provided with the slide rail on the spout, the cooperation is connected with first fixed block on the slide rail, the cooperation is connected with first manipulator 107 on the first fixed block, the cooperation is connected with the second fixed block on the slide rail, the cooperation is connected with second manipulator 108 on the second fixed block, the cooperation is connected with the third fixed block on the slide rail, the cooperation of third fixed block is connected with third manipulator 109.

It should be noted that, the radians of the first sliding part 101 and the second sliding part 102 are not greater than 2 pi/3, and the radian of the first sliding part 101 is not greater than the radian of the second sliding part 102, preferably, the radian of the first sliding part 101 is pi/3, and the radian of the second sliding part 102 is 2 pi/3. Guide 106 sets up to arcuation structure, guide 106 bottom both ends are provided with the connecting block respectively, two connecting blocks are connected with the slider 202 cooperation on first slider 101 and the second slider 102 respectively, the connecting block is connected for dismantling with slider connected mode, thus, guide 106 just can be followed first slider 101 and second slider 102 and go up to slide, form the operating area of sphere, to complicated poultry trunk, the position is cut apart in change that can be nimble, improved to cut apart, the flexibility of letter sorting, reduced to cut apart, the time of letter sorting.

It should be noted that a conveying line 104 is arranged between the first slider 101 and the second slider 102, the first slider 101 and the second slider 102 are both arc-shaped structures and are provided with an arc-shaped guide groove 103, an arc-shaped rack 201 is arranged on the arc-shaped guide groove 103, a plurality of teeth are arranged on the arc-shaped rack 201, and the teeth on the arc-shaped rack 201 can be meshed with the teeth on the slider 202 for transmission. Under the drive of the driving motor 203, the speed is reduced by the speed reducer, the shaft coupling drives the rotating shaft to rotate together, and the rotating shaft is connected with the gear in a matching way, so that the rotating shaft can rotate together with the gear, and then the sliding block can move along the rack by depending on the meshing transmission relation of the gear and the rack.

It should be noted that the arc-shaped guide slot 103 is provided with the first sensors at intervals, the first sensors can be infrared sensors or photoelectric sensors, the first sensors can detect the position information of the sliding block in real time, that is, the position information of the guiding element in real time, and then adjust the position of the guiding element in real time according to the image information shot by the first camera element and the second camera element in real time, so as to more efficiently and intelligently complete the segmentation sorting process. The limiting part is further arranged on the stop block of the arc-shaped guide groove, the limiting part can be a limiting switch, and when the guide part moves to the limiting position, the limiting part switch can be triggered, so that the controller controls the guide part to stop moving continuously, collision is avoided, and the safety of the device is guaranteed. In addition, still be provided with the second sensor on the transmission, the second sensor can be infrared sensor or photoelectric sensor, and the second sensor can real-time detection meat position information, and after meat arrived specified position, the second sensor feedback information was to the controller on, the controller control robot accomplished and cut apart the letter sorting action.

It should be noted that, a sliding groove is formed in the guide member 106, a sliding rail is formed in the sliding groove, a first fixing block, a second fixing block, and a third fixing block are connected to the sliding rail in a matching manner, a first manipulator 107, a second manipulator 108, and a third manipulator 109 are respectively connected to the first fixing block, the second fixing block, and the third fixing block in a matching manner, the first fixing block, the second fixing block, and the third fixing block can slide along the sliding rail, and the manipulators are guided by the guide member, and can be operated according to a specific path among the manipulators, and can operate a plurality of areas, and the dividing manner is more flexible.

As shown in fig. 1 and 3, the first manipulator 107 and the second manipulator 108 have the same structure, the first manipulator 107 and the second manipulator 108 include a first manipulator 301 and a second manipulator 302, a simulation hand 304 is fittingly connected to an end of a free end of the second manipulator 302, and the simulation hand 304 is fittingly connected to the second manipulator 302 through a universal mechanism 303.

It should be noted that the first robot 107 and the second robot 108 are used to assist in dividing the meat, for example, the first robot 107 and the second robot 108 can pull the wings of the poultry meat apart to assist the third robot 109 in smoothly completing the dividing process, the first robot 107 and the second robot 108 are flexible and changeable as if they are human hands, the third robot 109 is a knife, and the first robot 107, the second robot 108 and the third robot 109 can cooperate with each other to efficiently complete the dividing process. Meanwhile, the first mechanical arm 107 and the second mechanical arm 108 also have a sorting function, and after the division is completed, the first mechanical arm 107 and the second mechanical arm 108 can place the divided meat on a specified shunting line, and then the packaging process is completed through the packaging system. The first robot 107 and the second robot 108 also have functions of turning meat, pressing meat, and the like.

As shown in fig. 1, 3 and 4, the third robot 109 includes a third robot arm 305 and a fourth robot arm 306, a tool cavity 401 is disposed on the fourth robot arm 306, a telescopic mechanism is disposed on the tool cavity 401, the telescopic mechanism is cooperatively connected with a dividing tool 402, and the telescopic mechanism is used for pushing out or retracting the dividing tool 402 along the tool cavity 401; the cross-sectional shape of the tool cavity 401 is the same as that of the dividing tool 402, the telescopic mechanism is provided with an air cylinder 403, the air cylinder 403 is connected with a connector 404 in a matched mode, the connector 404 is connected with a push rod 405 in a matched mode, and the push rod 405 is connected with the dividing tool 402 in a matched mode.

It should be noted that one or more tool cavities may be provided, each tool cavity is correspondingly provided with a segmentation tool, and when segmenting, the controller can select different segmentation tools according to different segmentation parts. Under the drive of cylinder, the push rod can accomplish flexible action to drive and cut apart the instrument and accomplish along the instrument chamber and release or withdraw the action, quick completion tool changing process.

As shown in fig. 4, a sterilization mechanism 406 is disposed on the tool cavity 401, the sterilization mechanism 406 is configured to sterilize the segmentation tool, a first monitoring member 407 is disposed on the tool cavity 401, and the first monitoring member 407 is configured to monitor parameter information of the segmentation tool; the segmentation tool parameter information comprises one or more combinations of tool position information, tool wear information and tool disinfection information.

It should be noted that the tool cavity 401 is provided with a sterilizing mechanism 406, and the sterilizing mechanism 406 can sterilize the dividing tool 402 before and after dividing, so as to avoid the meat contamination. The first monitoring member 407 can monitor the sterilization information of the dividing tool 402, and when the sterilization information reaches a set threshold value, the first monitoring member 407 feeds back the information to the control end, and the control end controls the sterilization mechanism 406 to stop sterilization.

The guide piece is provided with a first camera shooting piece, the first camera shooting piece is used for shooting real-time image information of the transmission line, and the first mechanical arm, the second mechanical arm and the third mechanical arm are all provided with second camera shooting pieces; the first mechanical arm, the second mechanical arm and the third mechanical arm are provided with third sensors, the third sensors are used for detecting position information of the first mechanical arm, the second mechanical arm and the third mechanical arm, and signal connection is achieved among the first sensors, the second sensors and the third sensors.

The first camera element is used for acquiring images of the transmission line in real time, so that the position and shape information of an object to be segmented can be efficiently and accurately identified, the identified information is transmitted to the processor, the processor calculates the optimal segmentation route and the optimal segmentation mode, and then the controller is used for controlling the manipulator to complete the segmentation process; the second camera is used for collecting image information of the divided articles, the divided articles are classified through the image information, the controller controls the mechanical handle to sort the divided articles to a specific position, and the dividing and sorting process is rapidly completed.

Example two:

the second aspect of the present invention provides a control method for a poultry meat dividing and sorting robot system, which is applied to any one of the poultry meat dividing and sorting robot systems, as shown in fig. 5, and includes the following steps:

s102: acquiring image information of a target object before segmentation, processing the image information of the target object before segmentation, and generating model information of the target object before segmentation;

s104: transmitting the model information of the target object before segmentation to a processor to obtain segmentation data and generate a segmentation path;

s106: controlling the robot to complete the segmentation of the target object;

s108: acquiring image information of the segmented target object, and generating model information of the segmented target object;

s110: comparing the segmented target model information with preset model information to obtain pairing information;

s112: and sorting the divided target objects to the specified positions according to the pairing information.

The method comprises the following steps that image acquisition is carried out on a target object on a transmission line through a camera, and the acquired image is transmitted to a computer processor to complete image processing; after the visual recognition algorithm is operated, the position and posture information of a target object is obtained, then the optimal segmentation path of the robot and a segmentation tool required to be used are calculated according to the information of the target object, and then the controller controls the robot to complete the segmentation process; after the meat is cut, the meat is sorted to the designated position through a mechanical handle.

The robot system comprises a controller, a processor and a preset model (a model trained in advance), wherein the controller, the processor and the preset model are important information processing modules of the robot system, image information is collected through a camera, the processor carries out preprocessing operation on the collected image, the whole module calculates world coordinates of a target by combining the positioned target position information, then calculates the grabbing positions of a first manipulator and a second manipulator and the segmentation position of a third manipulator, then transmits the coordinate information to the robot controller, and the controller controls the manipulators to move to corresponding positions according to a planned track to complete segmentation tasks. And then calling the trained deep learning model to identify the segmented target object, and controlling the first mechanical arm or the second mechanical handle to store the segmented target object to an appointed position by the controller.

Further, in a preferred embodiment of the present invention, the processing the image information of the meat before the dividing, as shown in fig. 6, further comprises the following steps:

s202: carrying out smooth filtering processing on the image to eliminate random interference noise of the image;

s204: carrying out image sharpening on the image so as to strengthen the edge and the detail of the image outline and improve the definition of feature identification;

s206: and identifying the target object in the image to obtain the position information of the target object.

When processing an image, it is necessary to perform morphological synthesis processing on each received frame of image, that is, smooth filtering and image sharpening processing on the image, so as to obtain two-dimensional coordinates, an angle, and time of the target object.

While the foregoing is directed to embodiments of the present invention, other and further embodiments of the invention may be devised without departing from the basic scope thereof, and the scope thereof is determined by the claims that follow. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. The utility model provides a be used for poultry meat to cut apart letter sorting robot system, includes sliding assembly and the guide of being connected with sliding assembly cooperation, its characterized in that:

the guide piece is provided with a connecting block, and the connecting block is connected with the sliding block in a matching way; the guide part is provided with a sliding groove, the sliding groove is provided with a sliding rail, the sliding rail is connected with a first fixed block in a matching mode, the first fixed block is connected with a first manipulator in a matching mode, the sliding rail is connected with a second fixed block in a matching mode, the second fixed block is connected with a second manipulator in a matching mode, the sliding rail is connected with a third fixed block in a matching mode, and the third fixed block is connected with a third manipulator in a matching mode;

the third mechanical arm comprises a third mechanical arm and a fourth mechanical arm, a tool cavity is formed in the fourth mechanical arm, a telescopic mechanism is arranged on the tool cavity, the telescopic mechanism is connected with a cutting tool in a matched mode, and the telescopic mechanism is used for pushing out or retracting the cutting tool along the tool cavity;

the guide piece is provided with a first camera shooting piece, the first camera shooting piece is used for shooting real-time image information of the transmission line, and the first mechanical arm, the second mechanical arm and the third mechanical arm are all provided with second camera shooting pieces;

third sensors are arranged on the first manipulator, the second manipulator and the third manipulator, the third sensors are used for detecting position information of the first manipulator, the second manipulator and the third manipulator, and the first sensor, the second sensor and the third sensor are in signal connection;

the tool cavity is provided with a disinfection mechanism used for disinfecting the segmentation tool, and the tool cavity is provided with a first monitoring piece used for monitoring the parameter information of the segmentation tool;

the segmentation tool parameter information comprises one or more of tool position information, tool wear information and tool disinfection information.

2. The poultry meat dividing and sorting robot system according to claim 1, wherein: the first mechanical arm and the second mechanical arm are the same in structure, the first mechanical arm and the second mechanical arm comprise a first mechanical arm and a second mechanical arm, the end part of the free end of the second mechanical arm is connected with a simulation hand in a matched mode, and the simulation hand is connected with the second mechanical arm in a matched mode through a universal mechanism.

3. The poultry meat dividing and sorting robot system according to claim 1, wherein: the tool cavity cross-sectional shape is the same as the cutting tool cross-sectional shape, the telescopic mechanism is provided with an air cylinder, the air cylinder is connected with a connector in a matched mode, the connector is connected with a push rod in a matched mode, and the push rod is connected with the cutting tool in a matched mode.

4. A control method for a poultry meat dividing and sorting robot system, which is applied to the poultry meat dividing and sorting robot system as claimed in any one of claims 1-3, and is characterized by comprising the following steps:

controlling the robot to complete the segmentation of the target object;

5. The control method for the poultry meat segmentation and sorting robot system according to claim 4, wherein the image information of the meat before segmentation is processed, further comprising the following steps: