CN114943982A - Poultry processing apparatus and processing method - Google Patents

Abstract

The present application relates to the field of poultry processing apparatus, and in one aspect an embodiment provides a poultry processing apparatus comprising a poultry restraining device for restraining at least a portion of a bird to be processed; the mechanical arm is provided with an execution end and can drive the execution end to move relative to the poultry restraint device; the image collector is used for collecting images of the poultry restrained by the poultry restraining device and generating images; the processing module is in communication connection with the image collector and the mechanical arm and is configured to receive and process the image generated by the image collector and indicate the action of the mechanical arm; the operation efficiency and the treatment effect are improved through mechanized and precise treatment, and the poultry treatment method has the advantages of being clear in control logic and efficient in control mechanism while having the beneficial effects of the structure, so that the problem that the position to be treated of poultry is not accurately and efficiently found manually is solved.

Description

Poultry processing apparatus and processing method

Technical Field

The application relates to the field of poultry restraint equipment, in particular to poultry processing equipment and a processing method.

Background

In the livestock and poultry industry, most of treatment operations such as vaccine injection, sex identification, disease diagnosis and treatment and the like for poultry are manually performed, and the manual operation causes different treatment methods each time due to factors such as human eyesight, experience and the like, so that problems such as different treatment positions on the poultry body and the like are caused, and the manual operation has many uncertain factors, so that the treatment result is not ideal.

Disclosure of Invention

The present application is directed to solving at least one of the problems in the prior art. To this end, the present application proposes a poultry processing apparatus and a poultry processing method,

according to an embodiment of the first aspect of the application poultry processing apparatus comprises: a bird restraint device for restraining at least a portion of a bird to be treated; a robotic arm having an actuating end, the robotic arm capable of actuating the actuating end to move relative to the bird restraint device; the image collector is used for collecting images of the poultry restrained by the poultry restraining device and generating image information; and the processing module is in communication connection with the image collector and the mechanical arm, and is configured to receive and process the image information generated by the image collector and indicate the action of the mechanical arm.

The poultry processing apparatus of the embodiment of the first aspect of the application has at least the following advantages:

1. the processing module receives the processing image to indicate the mechanical arm action to realize the mechanized processing of the poultry, which is beneficial to improving the operation efficiency;

2. the image acquisition device can realize accurate processing, and the image acquisition device has higher position identification accuracy rate than human eyes, so that the processing position error of the execution module is smaller, and the processing effect is improved.

A method of treating poultry according to an embodiment of the second aspect of the application, comprising: configuring poultry processing equipment, wherein the poultry processing equipment comprises a poultry restraining device, a mechanical arm, an image collector and a processing module, and the processing module is in communication connection with the image collector and the mechanical arm; the bird restraint device is placed on the bird; the poultry restraining device at least restrains the poultry to be treated; the image collector collects image information of the poultry; the processing module generates a control instruction according to the image information; and the mechanical arm moves to a processing position according to the control instruction.

The poultry processing method of the embodiment of the second aspect of the present application has at least the following beneficial effects:

1. the logic of the poultry processing method is clear, the image collector generates image information according to the part to be processed, the execution module executes processing aiming at the part to be processed, and no miscellaneous information is input;

2. the poultry processing method has an efficient control mechanism, good execution of the execution module depends on processing of the image information of the image collector by the processing module, the acquired image information of the poultry part to be processed is provided for the processing module, the processing module provides a control instruction for the movable mechanical arm, and finally the execution module on the mechanical arm executes processing operation on the poultry part to be processed, so that the control mode is simple and efficient.

Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.

Drawings

Fig. 1 is a schematic view of the overall structure of a bird processing apparatus according to an embodiment of the present application;

FIG. 2 is a schematic view of a part of the structure of a bird processing apparatus according to an embodiment of the present application;

FIG. 3 is a schematic view of a part of the structure of a bird processing apparatus according to an embodiment of the present application;

fig. 4 is a schematic view of the overall structure of the bird restraint device according to the embodiment of the present application;

fig. 5 is a schematic view showing the overall construction of the poultry processing apparatus according to the embodiment of the present application;

FIG. 6 is a schematic diagram illustrating the principle of the method of treating poultry according to the embodiment of the present application;

reference numerals:

1. poultry processing equipment;

10. a bird restraint device; 20. a mechanical arm; 30. an image collector; 40. an execution module; 11. a body restraint device; 12. a head restraint; 13. an ankle restraint device;

110. a femoral restraint mechanism; 111. a support mechanism; 112. a back restraint mechanism; 130. a card slot; 131. a locking assembly; 201. an execution end;

1101. a restraint; 1102. a holding portion; 1120. a back plate;

s1, a first image; s2, processing the part image; d1, first width; d2, second width; d3, third width; d4, fourth width; m1, a first difference; m2, the second difference.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

In the description of the embodiments of the present invention, if there are first and second descriptions for distinguishing technical features, the descriptions are not to be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features or implicitly indicating the precedence of indicated technical features.

It is to be understood that the positional descriptions referred to, such as the directions of up, down, front, rear, left, right, etc., are based on the directions or positional relationships shown in the drawings, and are only for convenience of describing the embodiments of the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific direction, be constructed and operated in a specific direction; unless explicitly defined otherwise, terms such as setting, installing, connecting and the like should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the terms in the embodiments of the present invention by combining the specific contents of the technical solutions.

Reference to the description of the terms "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples," or the like, means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention, and thus, the illustrative representation of the term above does not necessarily refer to the same embodiment or example, and the particular feature, structure, material, or characteristic described may be combined in any suitable manner in any one or more embodiments or examples.

Referring to fig. 1, a poultry processing apparatus 1 provided in an embodiment of the present application includes a poultry restraining device 10, a mechanical arm 20, an image collector 30, and a processing module, where the poultry restraining device 10 is configured to restrain at least a portion to be processed of a poultry, and the portion to be processed of the poultry is selected according to actual needs, and is primarily restrained on an anus of the poultry when operations such as artificial insemination, male and female identification, cloaca spraying, dropping, internal organ defect inspection, or rectal injection are performed on the poultry as needed, and it can be understood that the manner of restraining the anus of the poultry by the poultry restraining device 10 is not only to fix the anus alone, but also includes restraining multiple portions of the poultry body, such as legs, trunk, and even head, and restraining the abdomen or back around the anus to a certain extent, so as to restrain and expose the anus; then, if the operations such as neck injection, eye-drop injection, nose-drop injection, beak-breaking and the like are required to be carried out on the poultry, the head of the poultry is restrained firstly, and it can be understood that the restraint mode of the poultry restraint device 10 on the head of the poultry can be only for the head and the neck, and the whole body of the poultry can be restrained to achieve a better restraint effect; similarly, when feather color recognition, fast and slow feather recognition or poultry body part excision and other operations are performed on the feathers, the part to be processed, the peripheral part of the part to be processed or the whole body of the poultry can be restrained and fixed according to the situation.

Further, the mechanical arm 20 has an actuating end 201, and the mechanical arm 20 can drive the actuating end 201 to move relative to the poultry restraining device 10; in particular, the robotic arm 20 is configured to have at least 2 degrees of freedom, and the robotic arm may be a two-axis, three-axis, four-axis, five-axis, six-axis or higher degree of freedom robotic arm, and more flexible actions may be implemented using a multi-axis robotic arm, and more complex automated processes may be implemented, and in particular, the robotic arm 20 functions to drive the actuator 201 to move in a space to approach or move away from the part of the bird to be processed.

In particular, the implementation of the above different functions requires the image collector 30 and the processing module to continuously collect images of the part to be processed to assist in completing the processing function, and therefore, a separate processing module may also be provided, in some embodiments, the poultry processing apparatus 1 includes an execution module 40, the execution module 40 is connected with the execution end 201, the execution module 40 is used for performing the processing operation on the part to be processed of the poultry, in some embodiments, the execution module 40 includes an injection needle, a beak-breaking scissors, an image sensor, a sperm tube, a drip tube, and other functional modules for fulfilling the actual requirements, it can be understood that the execution module 40 is provided on the execution end 201, and the execution end 201 plays a role of connecting and carrying the execution module, therefore, the execution end 201 includes a structure connected and supported with the execution module 40, and in some embodiments, the execution end 201 further includes a buffer structure such as a buffer spring to prevent the execution module 40 from being in hard contact with the body of the poultry to cause the processing function to be processed Furthermore, the executing end 201 may further include a driving mechanism, the driving mechanism drives the executing module 40 to perform operations such as stretching and retracting, for example, when injecting, the driving mechanism drives the executing module 40 to penetrate into the skin of the poultry, and after the injection is completed, the driving mechanism drives the executing module 40 to leave the skin of the poultry.

Specifically, the execution end 201 is intended to move to a to-be-processed part of the bird for the execution module 40 to perform the processing operation, and needs to identify the position of the to-be-processed part of the bird, in this embodiment, a manner that the image collector 30 is matched with the processing module is adopted, the image collector 30 is used for collecting an image of the bird restrained by the bird restraining device 10 and generating the image, and the processing module is configured to receive and process the image generated by the image collector 30, specifically, the processing module is communicatively connected to the image collector 30 and the mechanical arm 20 and indicates the motion of the mechanical arm 20, so the processing module may be a separate independent module, such as a computer, or a single chip or a processing chip disposed in the mechanical arm 20.

In one embodiment, the processing module includes a first processing module and a second processing module, the first processing module is in communication connection with the second processing module, specifically, the first processing module is connected through an electrical signal or a wireless signal, the first processing module is configured to receive and process the image generated by the image collector 30, and the second processing module is configured to generate a control command for driving the robot arm 20.

Referring to fig. 1 to 2, the image capturing device 30 is disposed in at least two ways, one way is independent of the robot arm 20 and not disposed on the robot arm 20, and the other way is disposed at the executing end 201 of the robot arm 20.

When the image collector 30 is arranged separately from the robot arm 20, the image collector 30 is arranged close to the bird restraint device 10 to facilitate image collection of the part to be treated of the birds, and in one embodiment, the bird processing apparatus 1 further comprises a base to which the bird restraint device 10 is connected, and the image collector 30 is connected to the bird restraint device 10 and/or the base, wherein the processing module is configured to receive and process the image and instruct the robot arm 20 to drive the execution module 40 to align with the part to be treated, and the execution module 40 is used to perform a processing operation on the part to be treated of the birds.

In one embodiment, the image collector 30 collects a whole image of the bird body and the first processing module recognizes and calculates the image position of the bird to-be-processed part, the second processing module outputs a control signal to the mechanical arm 20 and controls the mechanical arm 20 to move to the bird to-be-processed part,

specifically, the image collector 30 continuously collects image information of the to-be-processed part of the poultry and transmits the image information to the processing module, and the processing module analyzes the continuously collected image information and continuously outputs a control signal continuously adjusted according to the image information to the mechanical arm 20, so as to control the mechanical arm 20 to move and align to the to-be-processed part of the poultry.

In another embodiment, the image collector 30 continuously collects images of the poultry part to be processed and simultaneously continuously collects images including the execution module 40, the image collector 30 transmits the images including the poultry part to be processed and the images including the execution module 40 to the processing module, the processing module analyzes the position information of the execution module 40 relative to the poultry part to be processed by the image data, and outputs a control signal to the mechanical arm 20 to move the mechanical arm 20 to be aligned with the poultry part to be processed, so that the execution module 40 executes corresponding functions, and it is understood that the images of the poultry part to be processed and the images of the execution module 40 may not be divided images but images collected by one image collector 30.

In another embodiment, the image collector 30 is disposed close to the execution module 40 and is commonly disposed on the execution end 201, and the image collected by the image collector 30 is transmitted to the processing module for image data analysis to realize the motion control of the robot arm 20, because the image collector 30 is close to the execution module 40 and moves together with the execution module 40 along with the execution end 201, the image collector 30 can more accurately know the position of the execution module 40 relative to the portion to be processed, and therefore the execution module 40 can more accurately and more quickly align the proper position of the portion to be processed.

Referring to fig. 3, the image collector 30 is connected to the execution end 201 of the robot arm 20 and moves along with the movement of the execution end 201, the image collector 30 is used for collecting an image of a portion to be processed and generating an image, wherein the processing module is configured to receive and process the image and instruct the robot arm 20 to drive the image collector 30 to align with the portion to be processed. Specifically, when the image collector 30 is disposed at the executing end 201 of the mechanical arm 20, the image collector 30 moves along with the driving of the mechanical arm 20, the image collector 30 collects images of the birds and outputs the images to the processing module, the processing module analyzes the image data and outputs a control signal to the mechanical arm 20, the mechanical arm 20 drives the image collector 30 to move to search for the parts to be processed of the birds, and finally the executing module 40 can execute corresponding functions to the parts to be processed of the birds.

In one embodiment, the image collected by the image collector 30 is not only used for providing to the processing module to output a control command to adjust the mechanical arm 20, but also used for performing recognition and resolution to satisfy specific functions such as disease recognition and gender recognition, i.e. at this time, the image collection function performed by the image collector 30 is used for track search of the mechanical arm 20 on the one hand, and is used for specific function processing on the other hand, it can be understood that, if the image collected by the image collector 30 is to perform specific functions such as disease recognition and gender recognition, a processing device for performing recognition and resolution on the image is also required to be provided, in one embodiment, the processing device includes a memory and a processor, the memory is used for storing a functional program and various data information, the processor can execute the stored functional program and analyze the collected image information and the stored data information, for example, the image collector 30 can extend into the intestinal tract of poultry, the acquired image information is the poultry intestinal tract with foreign matters, the data information stored in the memory is the healthy poultry intestinal tract, the processor can compare the poultry intestinal tract with foreign matters with the healthy poultry intestinal tract to diagnose intestinal tract diseases, and specifically, the processing device can directly receive the images acquired by the image acquisition device 30 and can also transmit the images to the processing device after the images are identified and analyzed by the processing module.

Referring to fig. 4, the bird restraining device 10 is arranged to better secure the birds for processing, and further the bird restraining device 10 comprises a body restraining device 11 to restrain the torso of the birds, in particular the body restraining device 11 is arranged to restrain the torso of the birds in at least one of a first direction, a second direction and a third direction.

For the convenience of understanding, the structure and function of each part of the body adjusting device according to the embodiment of the present application may be described by taking an X-Y-Z coordinate system as a reference, wherein the first direction, the second direction and the third direction correspond to the Y axis, the X axis and the Z axis, respectively. In operation, the birds are constrained in the body adjusting device, the head and tail of the birds can be placed in a first direction, the thighs at two sides of the body can be placed in a second direction, and the chest, abdomen and back of the body can be placed in a third direction, it can be understood that due to the particularity of the body structure of the birds, the head, tail and body and other parts are not in strict axial correspondence, so that the first direction, the second direction and the third direction can be in a non-strict axial range in some embodiments, namely, the X-axis, Y-axis and Z-axis in an X-Y-Z coordinate system are not strictly vertical, and the body parts corresponding to the first direction, the second direction and the third direction can also correspond to different axes according to requirements when the birds are placed in different modes, and in another embodiment, the first direction, the second direction and the third direction are not defined by the X-Y-Z coordinate system but include directions such as along an arc direction, for convenience of explanation, the correspondence of the above-described X-Y-Z coordinate system is taken as an example in the present application.

The bird restraint 10 may further comprise a head restraint 12 to restrain the head of the bird, the head restraint 12 being adapted to restrain the head of the bird in at least a first direction towards a direction away from the torso of the bird and to cause the neck of the bird to be stretched and held in a stretched condition in at least the first direction.

In some embodiments, the bone restraining device 11 comprises a femur restraining mechanism 110, the femur restraining mechanism 110 comprises a restraint 1101, the restraint 1101 is correspondingly arranged at a set position and configured to restrain the femur of the bird in the second direction and/or the first direction, the femur restraining mechanism 110 comprises a restraint 1101, the restraint 1101 is provided with two abutting portions 1102, in one embodiment, the two abutting portions 1102 can be arranged in a connected manner, the interval between the abutting portions 1102 can accommodate the bone of the bird, the abutting portions 1102 can abut against the side of the femur of the bird facing the head, the position of the femur is restrained, and the position of the femur is determined and has enough strength, compared with the current commonly used scheme of fixing through limbs and/or heads, and compared with the restraining scheme of covering the back of the bird by a cover plate to limit the range of motion of the bone of the bird, the direct constraint of the body can be realized, and the positioning accuracy is improved. In addition, the femur restraint mechanism 110 of the embodiment of the present application can cooperate with the restraint of the head and/or the limbs, etc., to achieve effective restraint of the birds, thereby facilitating smooth proceeding of the subsequent treatment operation.

The bone distribution characteristics of the poultry show that the thighbone of the poultry can form obvious bulges on two sides of the body, and due to the convex characteristics of the position of the thighbone, the abutting part 1102 can be arranged on one side of the thighbone facing the head, so that the abutting part 1102 can abut against the thighbone on one side of the thighbone facing the head, and the restraint of the thighbone in the direction is realized. The femur constraint mechanism 110 of the embodiment of the present application may also be used in combination with other mechanisms, for example, may be used in combination with a mechanism for stretching the neck, so as to achieve the constraint of the position of the femur and the stretching of the neck, or may also be used in combination with an urging mechanism capable of urging the body toward the head, so as to urge the femur toward the abutting portion 1102 of the constraint component 1101 to achieve the constraint of the position of the femur; or the body is pushed forwards manually, so that the femur can be abutted against the abutting part 1102 to effectively restrict the position of the femur of the poultry, and the processing efficiency is improved.

The body restraint further comprises a support mechanism 111, at least a part of which is arranged on the side of the femur restraint mechanism 110 facing away from the back of the bird for supporting the abdomen and/or chest of the bird in at least a third direction, the support mechanism 111 providing a supporting force to the chest and abdomen body position of the bird while performing an effectively defined restraint of axial movement and circumferential rotation.

Specifically, the body-restraining device further comprises a back-restraining mechanism 112, the back-restraining mechanism 112 is disposed on one side of the femur-restraining mechanism 110 along the third direction or one side of the femur-restraining mechanism 110 along the second direction, and is used for restraining the back of the body of the bird in at least the third direction and restraining the back position of the bird, the back-restraining mechanism 112 may take various forms as long as it can restrain the back of the body of the bird in the third direction, in one embodiment, the supporting mechanism 111 may move along the third direction to lift the chest and/or abdomen of the bird and lift the back of the bird to abut against the back-restraining mechanism 112, so as to realize back restraint and effective restraint of the body in the third direction; in another embodiment, the back constraint mechanism 112 is provided with a back plate 1120 capable of being lifted, and the back plate 1120 is lifted to approach or separate from the support mechanism 111, so as to be capable of abutting against the back of the poultry constrained on the support mechanism 111; in another embodiment, the back restraint mechanism 112 may also achieve the restraint of the back of the birds by other means, such as by suction attaching the back of the birds to the back plate 1120.

Further, an ankle restraining device 13 may be provided for restraining the ankles of the birds in at least the first and/or second direction, the ankle restraining device 13 being provided to the side of the support mechanism for restraining the ankles of the birds. Ankle restraint device 13 includes two slots 130 and a locking assembly 131, slot 130 is configured to receive an ankle of a bird, slot 130 has an opening for receiving the ankle, and locking assembly 131 is configured to close the opening of slot 130 to restrain the ankle within slot 130.

Referring to fig. 5, the present application also provides a poultry processing method, in which the apparatus, device or structure used in the poultry processing method can be the same as or function the same as the above-mentioned poultry processing apparatus, including: configuring poultry processing equipment 1, wherein the poultry processing equipment comprises a poultry restraining device 10, a mechanical arm 20, an image collector 30 and a processing module, and the processing module is in communication connection with the image collector 30 and the mechanical arm 20;

the bird restraint device 10 is placed on the bird;

the bird restraint device 10 restrains at least a portion to be treated of the birds;

the image collector 30 collects image information of the birds;

the processing module generates a control instruction according to the image information;

the robot arm 20 moves to a processing position according to the control instruction.

Further, a bird restraint device 10 is placed on the bird, the bird restraint device 10 restraining at least a portion of the bird to be treated, comprising:

in one embodiment, the bird is fully secured in the bird restraint device 10, with both the head and torso restrained.

In another embodiment, the bird is restrained only at a peripheral portion of the area to be treated, such as the anus, the peripheral portion may be the body of the bird, or specifically the abdomen and back of the bird.

In one embodiment, at least one of the torso, head or ankle of the bird is restrained by the bird restraining device 10.

In one embodiment, the position of the femur of the bird is constrained by a femoral constraining mechanism on the bird constraining apparatus while the position of the torso of the bird is constrained by the bird constraining device 10.

In one embodiment, the position of the hip joint on the femur of the bird is constrained by a femur constraint mechanism on the bird constraint device, it being understood that limiting the femur may constrain and secure the lower limb and main torso of the bird, while limiting the hip joint is a more preferred choice for limiting the femur.

Further, the image collector 30 collects image information for the birds, including:

in one embodiment, the image information of the portion to be processed is captured at the processing position by the image capture device 30, wherein the image capture device 30 is disposed at the execution end 201 of the robotic arm 20.

In one embodiment, the image information comprises appearance information of the region to be treated.

In one embodiment, the image information includes position information of the region to be processed.

Further, the poultry processing method provided by this embodiment may further include: the processing operation is performed on the site to be processed by the execution module 40 at the processing position, wherein the execution module 40 is disposed at the execution end 201 of the robot 20.

In one embodiment, before the image of the portion to be processed is captured, the execution module 40 on the robot arm 20 is located at an initial position, the execution module 40 is located at the initial position so that a set initial distance is formed between the execution module 40 and the portion to be processed, and then the execution module 40 is controlled to move from the initial position to the processing position.

In one embodiment, the initial position is a position of the execution module 40 close to the poultry restriction device 10, in particular, the execution module 40 can conveniently find the part to be processed according to the track, the initial position is set such that the mechanical arm 20 has a position returning function, the mechanical arm 20 automatically returns to the position after the execution of the function of the execution module 40 is completed, and the limitation of the initial position can improve the operation efficiency of the execution module 40.

In one embodiment, during the process of controlling the execution module 40 to move from the initial position to the processing position, the image collector 30 generates image information in real time according to the portion to be processed, the processing module generates control instructions in real time according to the image information, and the mechanical arm 20 adjusts the motion trajectory in real time according to the control instructions, so that the execution module 40 on the execution end 201 is aligned with and close to the portion to be processed.

Referring to fig. 5 and fig. 6, further, the processing module generates a control command according to the image information, including:

in an embodiment, the control instruction generated by the processing module is a position error correction instruction, and when the image information acquired by the image acquirer 30 is provided to the processing module, and the processing module analyzes that the position in the image information is incorrect, the processing module outputs a position error correction instruction to the mechanical arm 20 to adjust the movement trajectory until the image information acquired by the image acquirer 30 is provided to the processing module, and the processing module analyzes the image information to determine that the position is correct, and then the execution module 40 is aligned and close to the part to be processed.

In one embodiment, the processing module sets a reference center in the image information, and the processing module calculates position data of the image of the part to be processed in the image information, which is deviated from the reference center, and generates the control command according to the position data.

In one embodiment, the image information is continuously acquired and provided to the processing module.

In one embodiment, control commands are continuously provided to the robotic arm 20.

In one embodiment, the processing module generates a first image S1 from image information captured by the image capture device 30, wherein the image information includes a to-be-processed region image S2; the processing module generates a control instruction from the first image S1.

For ease of understanding, an a-b-c axis coordinate system may be used as a reference for the description, wherein the a axis and the b axis are perpendicular to each other, and the c axis is perpendicular to and intersects the a axis and the b axis. Specifically, in some embodiments, the a-axis corresponds to the X-axis, the b-axis corresponds to the Z-axis, and the c-axis corresponds to the Y-axis, it being understood that the robotic arm 20 is generally adjusted to move in space in the axial direction.

The processing module generates control commands based on the first image S1, and in one embodiment, identifies the region image to be processed S2 in the first image S1; calculating a shift rate of the to-be-processed region image S2 in the first image S1; the motion control command of the robot arm 20 is generated according to the offset rate.

The shift rate of the to-be-processed region image S2 in the first image S1 is calculated, and in one embodiment, a reference point A is determined in the first image S1, and the reference point A can be located at the intersection of the a-axis and the b-axis or at any point in the plane of the first image S1. The center point of the to-be-processed region image S2 has a first length in the a-axis direction from the reference point a, and the center point of the to-be-processed region image S2 has a second length in the b-axis direction from the reference point a; the center point of the first image S1 is a third length in the a-axis direction from the reference point a, and the center point of the first image S1 is a fourth length in the b-axis direction from the reference point a.

The first length is different from the third length by a first difference m1, and the second length is different from the fourth length by a second difference m 2; and calculating the offset rate according to the first difference m1 and the second difference m 2.

Calculating a shift rate according to the first difference m1 and the second difference m2, wherein in one embodiment, the first image S1 has a first width d1 in the a-axis direction, and the first image S1 has a second width d2 in the b-axis direction; the offset ratio includes a first ratio of the first difference m1 to the first width d1, and a second ratio of the second difference m2 to the second width d 2.

Generating motion control commands for the robotic arm 20 based on the rate of deflection, in one embodiment, includes: setting a first threshold range and a second threshold range; when the first ratio is not within the first threshold range, generating a motion control instruction of the mechanical arm 20 according to the offset rate; or when the first ratio is within a set first threshold range, generating a motion stop command of the mechanical arm 20, wherein the motion stop command is used for instructing the mechanical arm 20 to stop moving in the a-axis direction; when the second ratio is not within the second threshold range, generating a motion control instruction of the mechanical arm 20 according to the offset rate; or when the second ratio is within a set second threshold range, generating a motion stop command of the robot arm 20, wherein the motion stop command is used for instructing the robot arm 20 to stop moving in the b-axis direction.

In particular, the first threshold range is 0-0.08, preferably one of 0.02, 0.03, 0.04, 0.05, 0.06; the second threshold range is 0-0.08, preferably one of 0.02, 0.03, 0.04, 0.05, 0.06; the range interval is selected to enable the processing efficiency of the processing module to be higher and the processing accuracy to be higher.

In another embodiment, the processing module generates the control instruction according to the first image S1, including: calculating the proportion of the to-be-processed region image S2 in the first image S1; the motion control command of the robot arm 20 is generated according to the ratio.

Calculating the ratio of the region image to be processed S2 in the first image S1. in one embodiment, the first image S1 has a first width d1 in the a-axis direction, and the first image S1 has a second width d2 in the b-axis direction; the to-be-processed region image S2 has a third width d3 in the a-axis direction, and the to-be-processed region image S2 has a fourth width d4 in the b-axis direction; calculating a third ratio according to the first width d1 and the third width d3, and calculating a fourth ratio according to the second width d2 and the fourth width d 4; the ratio includes a third ratio and a fourth ratio.

Generating a motion control command for the robotic arm 20 based on the ratio, and in one embodiment, setting a third threshold range; when the larger of the third ratio and the fourth ratio is not within the set third threshold range, generating a motion control instruction of the mechanical arm 20 according to the ratio; or when the larger of the third ratio and the fourth ratio is within the set third threshold range, generating a motion stop command of the robot arm 20, wherein the motion stop command is used for instructing the robot arm 20 to stop moving in the c-axis direction.

Specifically, the third threshold range is 0-0.8, preferably one of 0.3, 0.35, 0.4, 0.45, 0.5, 0.55, 0.6; the range interval is selected, so that the processing efficiency of the processing module is higher, and the processing module is higher in accuracy.

The poultry processing method provided by the embodiment of the application further comprises the following steps: the part to be treated is the cloaca of the poultry.

In one embodiment, the image collector 30 generates image information from the cloaca of the bird;

in one embodiment, the execution module 40 is configured to identify and align a cloaca of a bird, and the method of processing a bird includes: the image collector 30 is arranged at the execution end 201 of the mechanical arm 20, the image collector 30 is used as an execution module 40, the cloaca of the poultry is used as a part to be processed, and the image collector 30 generates image information according to the cloaca;

in one embodiment, the image information includes appearance information of the cloaca.

In one embodiment, the image information includes information on the position of the cloaca.

In one embodiment, the robotic arm 20 drives the image collector 30 to move relatively to the treatment position according to the control instruction, so that the image collector 30 on the execution end 201 is aligned with the cloaca; the cloaca of the bird is identified and aligned by the image collector 30.

In one embodiment, aligning the cloaca refers to a hollow location toward the cloaca.

In one embodiment, the image collector 30 comprises an endoscope that extends into the cloaca.

In one embodiment, an endoscope on the execution end 201 is aligned with and adjacent to the cloaca and an insertion operation is performed on the cloaca through the endoscope to insert the endoscope into a set position within the cloaca.

In some embodiments, the real-time adjustment of the movement trajectory of the executing end 201 of the robot arm 20 according to the position deviation ratio includes:

respectively setting the threshold values of the position deviation ratios of the center of the part to be processed and the execution module 40 on the a axis, the b axis and the c axis, and respectively marking as an a axis deviation threshold value, a b axis deviation threshold value and a c axis deviation threshold value;

respectively acquiring the position offset ratios of the center of the part to be processed and the execution module 40 on the a axis, the b axis and the c axis, and respectively recording the position offset ratios as the a axis offset ratio, the b axis offset ratio and the c axis offset ratio;

judging whether the a-axis offset ratio is smaller than an a-axis offset threshold value in real time, if so, stopping controlling the motion of the execution end 201 of the mechanical arm 20 along the a-axis, and if not, continuing controlling the motion of the execution end 201 of the mechanical arm 20 along the a-axis;

judging whether the b-axis deviation ratio is smaller than a b-axis deviation threshold value in real time, if so, stopping controlling the motion of the execution end 201 of the mechanical arm 20 along the b-axis, and if not, continuing controlling the motion of the execution end 201 of the mechanical arm 20 along the b-axis;

and judging whether the c-axis deviation ratio is smaller than a c-axis deviation threshold value in real time, if so, stopping controlling the motion of the execution end 201 of the mechanical arm 20 along the c axis, and if not, continuing controlling the motion of the execution end 201 of the mechanical arm 20 along the c axis.

The embodiments of the present application have been described in detail with reference to the drawings, but the present application is not limited to the embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the present application. Furthermore, the embodiments and features of the embodiments of the present application may be combined with each other without conflict.

Claims (25)

1. Poultry processing apparatus, comprising:

a bird restraint device for restraining at least a portion of a bird to be treated;

a robotic arm having an actuating end, the robotic arm capable of actuating the actuating end to move relative to the bird restraint device;

the image collector is used for collecting images of the poultry restrained by the poultry restraining device and generating image information;

and the processing module is in communication connection with the image collector and the mechanical arm, and is configured to receive and process the image information generated by the image collector and indicate the action of the mechanical arm.

2. The bird processing apparatus of claim 1, further comprising: the execution module is connected with the execution end and is used for executing processing operation on the part to be processed of the poultry.

3. The bird processing apparatus of claim 2, further comprising: a base to which the bird restraint is attached, the image collector being attached to the bird restraint and/or the base, wherein:

the processing module is configured to receive and process the image and instruct the robotic arm to drive the execution module to align with the site to be processed.

4. The bird processing apparatus of claim 1, wherein the image collector is disposed at an actuation end of the robotic arm and moves with movement of the actuation end.

5. The bird processing apparatus of claim 4, wherein the image collector is configured to image-collect and generate an image of the region to be processed, wherein,

the processing module is configured to receive and process the image and instruct the mechanical arm to drive the image collector to align with the part to be processed.

6. The bird processing apparatus of claim 1, wherein the bird restraint device comprises a body restraint device for restraining a body of the bird in at least one of a first orientation, a second orientation, and a third orientation, the image collector is configured to image a defined location on the body of the bird and generate image information, and the robotic arm is configured to actuate the actuator relative to the body restraint device.

7. The bird processing apparatus of claim 6, wherein the somatic restraint device comprises a femoral restraint mechanism comprising a restraint member disposed in a set position configured to restrain the femur of the bird in the second and/or first direction.

8. The bird processing apparatus of claim 7, wherein the torso restraint device further comprises a back restraint mechanism disposed on one side of the femoral restraint mechanism in the third direction or one side in the second direction for restraining the back of the torso of the bird in at least a third direction.

9. The bird handling device of claim 8, wherein the somatic restraint further comprises a support mechanism, at least a portion of which is provided on a side of the femoral restraint mechanism facing away from the back of the bird, for supporting the abdomen and/or chest of the bird in at least a third direction.

10. The bird handling apparatus of claim 1, wherein the bird restraining device comprises a head restraining device for restraining the head of the bird in at least a first direction towards a direction away from the body of the bird and causing the neck of the bird to be stretched and held in a stretched condition in at least the first direction.

11. The bird handling apparatus of claim 1, further comprising an ankle restraint device for restraining the ankles of the birds.

12. A method of treating poultry comprising:

configuring poultry processing equipment, wherein the poultry processing equipment comprises a poultry restraining device, a mechanical arm, an image collector and a processing module, and the processing module is in communication connection with the image collector and the mechanical arm;

the bird restraint is placed on the bird;

the poultry restraining device at least restrains the poultry to be treated;

the image collector collects image information of the poultry;

the processing module generates a control instruction according to the image information;

and the mechanical arm moves to a processing position according to the control instruction.

13. The method of treating poultry according to claim 12, characterized in that the method further comprises: and processing the part to be processed at the processing position through an execution module, wherein the execution module is arranged at an execution end of the mechanical arm.

14. The method of treating poultry according to claim 12, characterized in that the method further comprises: and acquiring the image information of the part to be processed at the processing position through the image collector, wherein the image collector is arranged at the execution end of the mechanical arm.

15. A method of processing birds as claimed in any of claims 12 to 14, wherein the processing module generates control instructions from the image information, comprising:

the processing module generates a first image according to the image information, wherein the image information comprises a to-be-processed part image;

the processing module generates a control instruction according to the first image.

16. The bird processing method of claim 15, wherein the processing module generates control instructions from a first image comprising:

the processing module identifies the image of the part to be processed in the first image;

calculating the offset rate of the part image to be processed in the first image;

and generating a motion control instruction of the mechanical arm according to the offset rate.

17. The bird processing method of claim 16, wherein the calculating the shift rate of the image of the portion to be processed in the first image comprises:

a reference point is determined in the first image,

the center point of the to-be-processed part image has a first length from the reference point in the direction of the axis a, and the center point of the to-be-processed part image has a second length from the reference point in the direction of the axis b;

the center point of the first image has a third length in the a-axis direction from the reference point, and the center point of the first image has a fourth length in the b-axis direction from the reference point;

the first length and the third length have a first difference, and the second length and the fourth length have a second difference;

and calculating the migration rate according to the first difference and the second difference.

18. The bird processing method of claim 17, wherein calculating the skewing rate from the first difference and the second difference comprises:

the first image has a first width in the a-axis direction and a second width in the b-axis direction;

the offset ratio includes a first ratio of the first difference to the first width and a second ratio of the second difference to the second width.

19. The bird processing method of claim 18, wherein generating a motion control command for a robotic arm based on the offset rate comprises:

setting a first threshold range and a second threshold range;

when the first ratio is not within a first threshold range, generating a motion control instruction of the mechanical arm according to the offset rate; or when the first ratio is within a set first threshold range, generating a motion stop instruction of the mechanical arm, wherein the motion stop instruction is used for indicating the mechanical arm to stop moving in the direction of the a axis;

when the second ratio is not within a second threshold range, generating a motion control instruction of the mechanical arm according to the offset rate; or when the second ratio is within a set second threshold range, generating a motion stop command of the mechanical arm, wherein the motion stop command is used for indicating the mechanical arm to stop moving in the b-axis direction.

20. The bird processing method of claim 15, wherein the processing module generates control instructions from the first image comprising:

calculating the proportion of the to-be-processed part image in the first image;

and generating a motion control instruction of the mechanical arm according to the proportion.

21. The bird processing method of claim 20, wherein the calculating comprises calculating a scale of the image of the portion to be processed in the first image; the method comprises the following steps:

the first image has a first width in the a-axis direction and a second width in the b-axis direction;

the image of the part to be processed has a third width in the direction of the a axis, and the image of the part to be processed has a fourth width in the direction of the b axis;

calculating to obtain a third ratio according to the first width and the third width, and calculating to obtain a fourth ratio according to the second width and the fourth width;

the ratio includes the third ratio and the fourth ratio.

22. The bird processing method of claim 21, wherein generating motion control instructions for the robotic arm according to the ratio comprises:

setting a third threshold range;

when the larger of the third ratio and the fourth ratio is not in the set third threshold range, generating a motion control instruction of the mechanical arm according to the ratio; or when the larger of the third ratio and the fourth ratio is within a set third threshold range, generating a motion stop instruction of the mechanical arm, wherein the motion stop instruction is used for instructing the mechanical arm to stop moving in the c-axis direction.

23. The bird treatment method of claim 12, wherein at least one of the torso, head or ankle of the bird is restrained by the bird restraining device.

24. The method of treating poultry according to claim 12, wherein the site to be treated is the cloaca of the poultry.

25. The method of poultry processing according to claim 24, wherein the image collector comprises an endoscope, the method further comprising: the endoscope extends into the cloaca.

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