CN114723697A

CN114723697A - System and method for automatically adjusting pettitoes posture

Info

Publication number: CN114723697A
Application number: CN202210323764.9A
Authority: CN
Inventors: 刘伟; 金航; 程蒙蒙; 吉昆鹏; 张传果
Original assignee: Muyuan Meat Food Co ltd
Current assignee: Muyuan Meat Food Co ltd
Priority date: 2022-03-29
Filing date: 2022-03-29
Publication date: 2022-07-08

Abstract

The invention relates to a system and a method for automatically adjusting the posture of pig trotters, wherein the system comprises at least one posture adjusting device, a control device and a control device, wherein the posture adjusting device is arranged at the production line of the pig trotters and is used for adjusting the posture of the pig trotters; the image acquisition device is arranged above the at least one posture adjusting device and is used for acquiring the image of the pig trotters at the posture adjusting device; and the control device is connected with the image acquisition device and each attitude adjusting device, is used for acquiring the image acquired by the image acquisition device and controls each attitude adjusting device to start or stop. By the scheme, the problems of poor posture stability of the pig trotter supplied materials and low processing efficiency of products in the existing pig trotter product processing process are solved.

Description

System and method for automatically adjusting pettitoes posture

Technical Field

The present invention relates generally to the field of product processing. More particularly, the present invention relates to a system and method for automatically adjusting the pose of a pig's hoof.

Background

This section is intended to provide a background or context to the embodiments of the invention that are recited in the claims. The description herein may include concepts that could be pursued, but are not necessarily ones that have been previously conceived or pursued. Thus, unless otherwise indicated herein, what is described in this section is not prior art to the description and claims in this application and is not admitted to be prior art by inclusion in this section.

The trotter, also called as the trotter and the pig's hand, contains rich collagen, has lower fat content than fat meat, can prevent and treat skin from being shriveled and wrinkled, can enhance the elasticity and toughness of the skin, and has great significance for delaying senility and promoting the growth and development of children. For this reason, the pig's feet are called "beauty food" and "delicacy similar to the bear's paw".

At present, the processing of domestic pig byproducts is mostly nonstandard process flow technology and belongs to manual intensive stations. In order to improve the appearance and added value of the pig trotters, the pig trotters need to be finely packaged, the front faces of the pig trotters are ensured to face upwards in the process, and then the pig trotters are stacked and packaged through a mechanical device. Because the pig trotters are different in size and shape, the difficulty in adjusting the posture of the pig trotters to be right side up through the traditional machine is high, a large amount of labor is consumed to complete the work, the labor cost is high, and the pig trotters are low in processing operation efficiency. Meanwhile, other procedures related to the processing of the pig trotters also need stable postures of the pig trotter supplied materials.

Therefore, the method solves the problems of poor posture stability of the pig trotter feed and low product processing efficiency in the existing pig trotter product processing process, and plays an important role in increasing the yield of pig by-products.

Disclosure of Invention

In order to solve one or more technical problems, the invention provides a method for processing pig trotters, which effectively improves the efficiency of pig trotters processing and enables the next processing procedure to realize stable pig trotters. To this end, the present invention provides aspects as follows.

In a first aspect, the present invention provides a system for automatically adjusting the pose of a pig's hoof, comprising: at least one posture adjusting device, which is arranged at the production line of the pig trotters and is used for adjusting the posture of the pig trotters; the image acquisition device is arranged above the at least one posture adjusting device and is used for acquiring the image of the pig trotters at the posture adjusting device; and the control device is connected with the image acquisition device and each attitude adjusting device, is used for acquiring the image acquired by the image acquisition device and controls each attitude adjusting device to start or stop.

In one embodiment, the posture adjusting device comprises two rollers which are arranged in parallel at intervals, and a driving device which is used for driving the two rollers to rotate so as to adjust the pig trotters to the set postures.

In one embodiment, the image acquiring device for acquiring the image of the pig's hoof at the posture adjusting device comprises: an image of the pig's hoof between the two rollers is acquired.

In one embodiment, the system further comprises a light source device, which is disposed below the image acquisition device and is used for adjusting the brightness of the acquired image.

In one embodiment, the system further comprises a clamping device, wherein the clamping device is connected with the control device and is used for clamping the pig trotters with set postures when the posture adjusting device is stopped.

In one embodiment, the posing comprises a nail of the pig's hoof facing upwards.

In a second aspect, the invention also provides a method for automatically adjusting the posture of pig trotters, which comprises the steps of controlling at least one posture adjusting device to operate so as to adjust the posture of the pig trotters therein; collecting an image of the pig's hoof at the at least one attitude adjustment device; detecting the image to determine the pose of the pig trotters; and in response to the pig's hoof's pose matching the set pose, controlling a corresponding pose adjustment device to shut down.

In one embodiment, wherein detecting the image to determine the pose of the pig's hoof comprises: inputting the image into an image detection model to output a detection result, wherein the detection result comprises the posture and the position of the at least one pig hoof.

In one embodiment, the image detection model comprises a neural network-based target detection model, and the detection targets of the target detection model comprise the orientation of the nail of the pig trotter, the deflection angle of the pig trotter and the corresponding position of the pig trotter.

In one embodiment, further comprising: and responding to the halt of the posture adjusting device, and controlling the clamping device to clamp the pig trotters with the set postures.

By adopting the technical scheme, the posture of the pig trotters in the posture adjusting device can be recognized, so that the posture adjusting device is controlled to stop when the posture of the pig trotters reaches the set state, the automatic pig trotter posture alignment is realized, the pig trotters alignment efficiency is effectively improved, the labor cost is reduced, and the stability of the pig trotters processing procedure is improved. Further, when the posture adjusting device is stopped, the clamping device is used for clamping the pig trotters with set postures, so that the pig trotters can be quickly and accurately processed.

Drawings

The above and other objects, features and advantages of exemplary embodiments of the present invention will become readily apparent from the following detailed description read in conjunction with the accompanying drawings. Several embodiments of the present invention are illustrated by way of example, and not by way of limitation, in the figures of the accompanying drawings and in which like reference numerals refer to similar or corresponding parts and in which:

fig. 1 is a schematic view schematically showing the structure of a system for automatically adjusting the posture of a pig's hoof according to an embodiment of the present invention;

FIG. 2 is a schematic diagram schematically illustrating one of the structures of a system for automatically adjusting the pose of a pig's hoof, according to an embodiment of the present invention;

FIG. 3 is a top view schematically illustrating a system for automatically adjusting the pose of a pig hoof, in accordance with an embodiment of the present invention;

FIG. 4 is a flow chart that schematically illustrates a method for automatically adjusting the pose of a pig hoof, in accordance with an embodiment of the present invention;

among them, in fig. 1 to 3, 11, the attitude adjusting device; 12. an image acquisition device; 13. a control device; 14. a light source device; 15. a gripping device; 21. a first limiting device; 22. a camera; 23. a second limiting device; 24. a light source; 25. a drive device; 26. a roller; 27. a base.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The following detailed description of embodiments of the invention refers to the accompanying drawings.

Fig. 1 is a schematic view schematically showing the structure of a system for automatically adjusting the posture of a pig's hoof according to an embodiment of the present invention.

As shown in fig. 1, the system for automatically adjusting the pose of a pig's hoof according to the aspect of the present invention may include at least one pose adjustment device 11, an image capture device 12, and a control device 13. The posture adjustment device 11 may be disposed at a production line of the pig's feet for adjusting the posture of the pig's feet. In some embodiments, for example, the posture adjustment device 11 may fix the posture adjustment device 11 to one side of the conveyor belt of the pig's hoof, thereby facilitating the adjustment of the posture of the pig's hoof.

An image capturing device 12 may be arranged above at least one pose adjustment device 11 for capturing an image of the pig's hoof at said pose adjustment device 11. In some embodiments, the image capturing device 12 may capture an image within a set range, the image may include a plurality of posture adjustment devices 11, for example, a pig's hoof is placed in each posture adjustment device 11, so that the image capturing device 12 may capture the posture of the pig's hoof in each posture adjustment device 11, and thus recognize the current posture of the pig's hoof. The image capturing device 12 may, for example, employ a camera to capture images of the pig's hooves. The image capturing device 12 may also be a camera to capture images of the pig's hooves by capturing image information from the video stream.

In some embodiments, the capturing device may be installed above each posture adjustment device 11 to capture an image of the pig's hoof in the corresponding posture adjustment device 11. The image capturing device 12 may be installed above the plurality of posture adjustment devices 11 to capture images of the trotters on the plurality of posture adjustment devices 11 in the detection area. In order to ensure the measurement accuracy, the images acquired with the image acquisition device 12 are not allowed to have visible ghosts.

The control device 13 may be connected to the image capturing device 12 and each of the posture adjusting devices 11, and is configured to acquire an image captured by the image capturing device 12 and control each of the posture adjusting devices 11 to start or stop. In some embodiments, after the pig's feet are fed from the upper end of the pig's feet processing line, the control device 13 may control the operation of each posture adjustment device 11, so as to adjust the posture of the pig's feet in each posture adjustment device 11. Meanwhile, the control device 13 acquires and recognizes the postures of the pig trotters in the posture adjusting devices 11 through the image acquisition device 12, so that when the posture of a certain pig trotter is detected to be a set posture, the posture adjusting devices 11 are controlled to stop, and the pig trotters with the set postures can be acquired in the subsequent process conveniently.

The control device 13 in the present invention, as an information processing center, may be implemented as a computing unit or module, and is used for performing processing of information (including fusion operation of various data, comparison operation, etc.) and optionally performing a master control operation on various devices interconnected. In operation, the control device 13 may extract a measurement region of the pig's feet according to the image collected by the image collecting device 12, and detect the pose of the pig's feet in the measurement region by using a visual algorithm model to obtain the current pose information of the pig's feet. Therefore, the scheme of the invention provides a reliable scheme for identifying the pig trotter posture.

In an application scenario, a material receiving station at the upper end of a pig trotter processing production line transfers pig trotters to a pig trotter posture adjusting and processing procedure, the pig trotters are transferred to a posture adjusting device 11, and the posture adjusting device 11 synchronously starts to operate so as to adjust the postures of the pig trotters. The control device 13 recognizes the pose of the pig's feet in the pose adjusting device 11 through the image collecting device 12, thereby determining whether the pose of the pig's feet reaches a set state.

As previously mentioned, when the image capturing device 12 is a camera or video camera, the information it captures may be an image or video of the pig's hoof. For example, video stream data of the pig trotters in the current pig trotter posture adjusting process can be shot in real time, and corresponding images are intercepted from the data and input into a neural network model so as to recognize the pig trotter posture. When the pig trotter posture is detected to reach the set posture, the posture adjusting device 11 can be controlled to stop, so that the pig trotter posture is kept at the set posture, and at the moment, the pig trotter can be transferred to the next procedure to further deeply process the pig trotter. Such as cutting, packaging, etc. of the pig trotters.

In some embodiments, an auxiliary light source device 14 may be further provided for the image capturing device 12, so as to supplement light for the image capturing device 12. The light source device 14 is connected to the control device 13, and the time for supplementing light to the image pickup device 12 can be controlled. In an application scenario, the control device 13 may control the light source device 14 to be turned on within a set time period, so as to supplement light to the shooting area of the image capturing device 12. For example, at 9 o 'clock to 10 o' clock in the morning or 4 o 'clock to 6 o' clock in the afternoon of each day, the control device 13 may control the light source device 14 to be turned on for supplementing light. Similarly, the control device 13 may also receive a control command from a remote end in real time by communicating with an external device, so as to implement light supplement by remotely controlling the light source device.

Further, after the attitude adjusting device 11 is stopped, the pig's feet reach the set attitude, and the pig's feet are required to be transferred to the next relevant station. Based on the material, the material transferring mechanism is also arranged in the invention to transfer the pig trotters with set postures. In one application scenario, the material diverting mechanism in the system of the present invention may comprise, for example, a gripper 15. The grasping apparatus 15 is connected to the control apparatus 13 so as to grasp the pig's hoof of the set posture when the posture adjusting apparatus 11 is stopped. The clamping device 15 can quickly transfer the pig trotters adjusted to the set postures to the next relevant station when the posture adjusting device 11 stops working, so that manpower is liberated, and the efficiency of pig trotters product processing is effectively improved. And utilize the device 15 of getting to get the pig's hoof, can reduce the contact of staff and product to the food security has been promoted.

The scheme of the pig's hoof posture adjustment of the present invention is briefly described above with reference to fig. 1. It is understood that the above-described circulation process is only exemplary and not restrictive, and those skilled in the art can make adjustments according to actual needs.

Fig. 2 is a schematic diagram schematically illustrating one of the structures 200 of the system for automatically adjusting the pose of a pig's hoof according to an embodiment of the present invention. Fig. 3 is a top view schematically illustrating a system for automatically adjusting the pose of a pig's hoof, according to an embodiment of the present invention. It should be noted that the configuration shown in fig. 2 and 3 can be understood as one possible exemplary implementation of the system 100 for automatically adjusting the pose of a pig's hoof in fig. 1. Therefore, the same applies to the following description in connection with fig. 1.

As shown in fig. 2, each posture adjustment means 11 of the system for automatically adjusting the posture of a pig's hoof according to the aspect of the present invention may include two rollers 26, and the two rollers 26 are spaced in parallel and fixed to a base 27. Thus, the pig's feet can be placed between the two rollers 26 when the posture of the pig's feet is adjusted, so that the posture of the pig's feet can be adjusted to a set posture by the rotation of the two rollers 26. In some embodiments, the posing of the pig's hooves may include the pig's hooves facing upward. For example, the orientation of the nail of the pig's hoof and the deflection angle of the pig's hoof can be judged to determine the posture of the pig's hoof. Specifically, the nail of the pig's hoof may be directed upward as the set posture of the pig's hoof.

In some embodiments, a driving device 25 for driving the two rollers 26 to rotate may be further provided in the system to adjust the pig's feet to a set posture. The drive means 25 may be a motor, for example. The two rollers 26 are driven by a motor to rotate in the same direction, thereby adjusting the posture of the pig's hoof.

It is understood that the use of the roller 26 as the posture adjustment device 11 in the present invention is merely illustrative and not restrictive, and those skilled in the art can select a suitable manner according to actual needs, for example, the structure of a roller set can also be used. In particular, two roller shafts arranged in parallel may be provided, with one roller mounted on each roller shaft. The roller shaft is driven to rotate by the driving device 25, so that the posture of the pig trotters is adjusted.

In one embodiment, the system of the present invention may further comprise a light source device 14. The light source device 14 is disposed below the image capturing device 12 so as to adjust the brightness of the captured image. In practice, a bracket may be disposed on the base 27, and the first position-limiting device 21 and the second position-limiting device 23 are respectively mounted on the bracket from top to bottom, wherein the first position-limiting device 21 is used for fixing the camera 22. The second limiting means 23 is used to fix a light source 24, for example the light source 24 may be an annular aperture. In one application scenario, when the position of the camera 22 needs to be adjusted, the first position limiting device 21 can be adjusted to adjust the camera 22 to the middle position of the two rollers 26. Similarly, when the position of the light source device 14 needs to be adjusted, the second limiting device 23 can be adjusted to adjust the light source device 14 to be right below the camera 22 and influence the camera 22 to capture the image of the pig's trotters.

Further, in order to ensure a good shooting effect and obtain a clear image, the heights of the first limiting device 21 and the second limiting device 23 on the bracket can be adjusted. Similarly, the lengths of the first and second

position limiting devices

21 and 23 can also be adjusted to adjust the area photographed by the camera.

As shown in fig. 3, the camera 22 can take an image of the pig's hoof located in the middle of the two rollers 26 through the through aperture. Carry out the quality that the light filling can effectively promote the picture of shooing to the environment of shooing through this light ring to acquire more clear and the higher image of luminance.

Fig. 4 is a flow chart that schematically illustrates a method 400 for automatically adjusting the pose of a pig hoof, in accordance with an embodiment of the present invention. It should be noted that the method 400 for automatically adjusting the pose of a pig's hoof can be implemented according to the system described in fig. 1 to 3. Therefore, the description above in connection with fig. 1 to 3 also applies hereinafter.

As shown in fig. 4, according to the scheme of the invention, at step S401, at least one attitude adjusting device is controlled to operate to adjust the attitude of the pig trotters therein. In one embodiment, in the pig trotter processing production line, after the front end of the production line is fed, the pig trotters can be fed into the posture adjusting device, and the posture adjusting device is controlled to start to operate, so that the posture of the pig trotters can be adjusted.

At step S402, an image of the pig' S hoof at the at least one pose adjustment device is acquired. In some embodiments, an image of the pig's hoof in the pose adjustment apparatus may be captured by a camera or a video camera to facilitate recognition of the pose of the pig's hoof in the pose adjustment apparatus. Because a plurality of attitude adjusting devices can be usually arranged in a pig hoof processing production line, images of pig hoofs at each attitude adjusting device can be respectively collected, images of a plurality of attitude adjusting devices can be shot simultaneously, and the corresponding relation between the pig hoofs and the attitude adjusting devices in the images is determined according to the incidence relation between the attitude adjusting devices and the positions in the images.

At step S403, the image is detected to determine the pose of the pig' S hoof. In some embodiments, the image may be input to an image detection model to output a detection result. The detection result may include a pose and a position of the at least one pig hoof.

In some embodiments, the pose of the pig hoof in the image may be identified based on an image detection model of the neural network. The image detection model can comprise a target detection model based on a neural network, and detection targets of the target detection model comprise the orientation of the nail of the pig trotter, the deflection angle of the pig trotter, the corresponding position of the pig trotter and the like. And training an image feature extraction algorithm or a target detection model based on deep learning by using a large number of pig hoof images to obtain an image detection model capable of identifying the posture of the pig hoofs. And inputting the shot image into the image detection model to recognize the pose of the pig trotters, so as to judge whether the pose of the pig trotters is matched with the set pose.

When the postures of the pig trotters are matched, firstly, key points in the images can be positioned based on an image detection model realized by matching a deep convolution neural network with a full connection network so as to determine the positions of the pig trotters in the images. And then extracting the detection area of the pig trotters according to the positions of the pig trotters in the image so as to facilitate the subsequent identification of the posture of the pig trotters. For example, images of a set length may be respectively cut out above, below, left, and right of a detected key point of a pig's hoof as image detection areas. Meanwhile, the image detection area is associated with the corresponding posture adjusting device, so that when the pig trotters are recognized to reach the set posture, the corresponding posture adjusting device can be controlled to stop.

Then, the posture of the pig's hoof is detected based on the image detection area, and the deflection angle of the pig's hoof and the orientation of the nail in the image are obtained. Whether the posture of the pig trotter reaches a set state can be determined through the deflection angle of the pig trotter and the orientation of the nail.

At step S404, in response to the pig 'S hoof' S posture matching the set posture, the corresponding posture adjustment device is controlled to stop. In some embodiments, the pose of the pig's hoof may include, for example, nail up of the pig's hoof. If the image detection model is used for detecting that the posture of the pig trotters is the set posture, the posture adjusting device can be immediately controlled to stop, so that the pig trotters with the adjusted postures can be conveniently operated to the next station, and the next processing flow can be carried out.

Further, according to the scheme of the invention, after the pig trotter posture is adjusted to the set posture, the posture adjusting device is controlled to stop. At this time, the clamping device can be controlled to clamp the pig trotters with set postures so as to move the pig trotters to the next working position.

By the system and the method for automatically adjusting the postures of the pig trotters, the postures of the pig trotters in the pig trotter processing production line can be regular, and the processing operation in the lower end procedure is facilitated. Through quick, timely and safe pig trotters of adjusting to setting for the gesture, can standardize the process flow of relevant process of pig trotters, promote the standardization level of relevant process of pig trotters.

In the above description of the present specification, the terms "fixed," "mounted," "connected," or "connected," and the like, are to be construed broadly unless otherwise expressly specified or limited. For example, with the term "coupled", it can be fixedly coupled, detachably coupled, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship. Therefore, unless the specification explicitly defines otherwise, those skilled in the art can understand the specific meaning of the above terms in the present invention according to specific situations.

In light of the foregoing description of the present specification, those skilled in the art will also understand that terms used to indicate orientation or positional relationship, such as "upper", "lower", "front", "rear", "length", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise" or "counterclockwise", etc., are based on the orientation or positional relationship shown in the drawings of the present specification, which are for the purpose of convenience in explaining aspects of the present invention and simplifying the description, and do not explicitly show or imply that the devices or elements involved must have the specific orientation, be constructed in a specific orientation, and be operated, and therefore the above-described orientation or positional relationship terms should not be interpreted or construed as limiting the aspects of the present invention.

In addition, the terms "first" or "second", etc. used in this specification are used to refer to numbers or ordinal terms 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" or "second" may explicitly or implicitly include at least one of the feature. In the description of the present specification, "a plurality" means at least two, for example, two, three or more, and the like, unless specifically defined otherwise.

While various embodiments of the present invention have been shown and described herein, it will be obvious to those skilled in the art that such embodiments are provided by way of example only. Numerous modifications, changes, and substitutions will occur to those skilled in the art without departing from the spirit and scope of the present invention. It should be understood that various alternatives to the embodiments of the invention described herein may be employed in practicing the invention. It is intended that the following claims define the scope of the invention and that the module composition, equivalents, or alternatives falling within the scope of these claims be covered thereby.

Claims

1. A system for automatically adjusting the pose of a pig's hoof, comprising:

at least one posture adjusting device arranged at the production line of the pig trotters and used for adjusting the postures of the pig trotters;

the image acquisition device is arranged above the at least one posture adjusting device and is used for acquiring the image of the pig trotters at the posture adjusting device;

and the control device is connected with the image acquisition device and each attitude adjusting device, and is used for acquiring the image acquired by the image acquisition device and controlling each attitude adjusting device to start or stop.

2. The system of claim 1, wherein the attitude adjustment means comprises two rollers spaced apart in parallel and drive means for driving the two rollers in rotation to adjust the pig trotters to a set attitude.

3. The system of claim 2, wherein the image capturing device for capturing the image of the pig's hoof at the pose adjustment device comprises:

an image of the pig's hoof between the two rollers is acquired.

4. The system of claim 1, further comprising a light source device disposed below the image capturing device for adjusting the brightness of the captured image.

5. The system of claim 1, further comprising a grasping device connected to the control device for grasping the pig's hoof with a set posture when the posture adjustment device is stopped.

6. The system of any one of claims 1-5, wherein the posed comprises a nail-up of the pig's hoof.

7. A method of using the system of any one of claims 1-6,

controlling at least one attitude adjusting device to operate so as to adjust the attitude of the pig trotters therein;

acquiring an image of the pig's hoof at the at least one attitude adjustment device;

detecting the image to determine the posture of the pig trotters; and

and controlling a corresponding attitude adjusting device to stop in response to the pig trotter attitude being matched with the set attitude.

8. The method of claim 7, wherein detecting the image to determine the pose of the pig's hoof comprises:

inputting the image into an image detection model to output a detection result, wherein the detection result comprises the posture and the position of the at least one pig hoof.

9. The method of claim 8, wherein the image detection model comprises a neural network-based object detection model, and the detection objects of the object detection model comprise the orientation of the nail of the pig's hoof, the deflection angle of the pig's hoof, and the corresponding position of the pig's hoof.

10. The method of claim 7, further comprising:

and responding to the halt of the posture adjusting device, and controlling the clamping device to clamp the pig trotters with the set postures.