CN216931665U - Device for automatically cutting pig carcass - Google Patents
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- CN216931665U CN216931665U CN202220121416.9U CN202220121416U CN216931665U CN 216931665 U CN216931665 U CN 216931665U CN 202220121416 U CN202220121416 U CN 202220121416U CN 216931665 U CN216931665 U CN 216931665U
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Abstract
The utility model discloses a device for automatically cutting a pig carcass. The device includes: the image collector is used for collecting images of the pig carcasses; the processor is used for analyzing and processing the image information of the pig carcass collected by the image collector and determining the cutting position of the pig carcass according to the result of the analysis and processing; a cutter controller for receiving cutting position information about the hog carcass from the processor and controlling a cutter to move to the cutting position according to the cutting position information; and a cutter connected with the cutter controller and used for cutting the pig carcass along a cutting position under the control of the cutter controller. The cutting device adopts a visual algorithm to position the cutting position, and controls the cutter to automatically cut the pig carcass according to the cutting position, thereby improving the cutting quality and efficiency of the pig carcass and reducing the labor cost.
Description
Technical Field
The present invention relates generally to the field of livestock farming. More particularly, the present invention relates to a device or system for automatically cutting a hog carcass.
Background
Currently, in the live pig slaughtering industry, pig slaughtering procedures mainly include the steps of pre-slaughter quarantine, cleaning, stunning, licking and bloodletting, scalding and unhairing, head and hoof unloading, chamber opening and cleaning, carcass inspection and processing, carcass division, division product packaging, freezing, logistics delivery and the like. Further, in the pig carcass cutting process, at present, three-stage pig carcass cutting is generally adopted. The cutting scheme in the prior art is that two disc cutters are fixed in cutting equipment in a staggered mode respectively, and three sections of cutting positions of the pig carcass are aligned manually. Specifically, during the working process of the cutting device, the cutting position of the pig carcass and the position of the disc cutter on the production line are manually kept on the same horizontal straight line, and then the pig carcass is pushed, so that three-section segmentation of the pig carcass is completed.
As can be seen from the above description, this cutting solution of the prior art relies mainly on the practical experience of the operator to align the cutting position of the pig carcass with the disc cutter. Obviously, when different operators respectively perform cutting operations on the pig carcass, the scheme inevitably causes large cutting errors. Meanwhile, along with the extension of the working time of operators and the increase of the production line speed of a cutting workshop, the scheme easily causes the fatigue of eyes and limbs of the operators, further influences the accuracy of the cutting position of the pig carcass and finally causes the gain loss of pork products. In addition, such cutting solutions of the prior art typically require multiple persons to perform the alignment and cutting operations on the pig carcass, thus resulting in higher labor costs.
SUMMERY OF THE UTILITY MODEL
To solve one or more of the above problems in the background art, the present invention provides an apparatus for automatically cutting a hog carcass. The device firstly utilizes an industrial camera to collect image information of the pig carcass, and then a processor analyzes and processes the image information through a visual algorithm, so that an automatic cutting position is positioned. Then, the processor sends the cutting position information to the cutter controller, and then the two disc cutters are controlled to move to respective cutting positions from the original points, so that the pig carcass cutting operation is completed.
Particularly, the utility model discloses a device for automatically cutting a pig carcass. The device includes: the image collector is used for collecting images of the pig carcass; the processor is used for analyzing and processing the image information of the pig carcass collected by the image collector and determining the cutting position of the pig carcass according to the result of the analysis and processing; a cutter controller for receiving cutting position information about the hog carcass from the processor and controlling a cutter to move to the cutting position according to the cutting position information; and a cutter connected with the cutter controller and used for cutting the pig carcass along the cutting position under the control of the cutter controller.
In one embodiment, the apparatus of the present invention further comprises a conveyor belt for conveying the pig carcass to an image acquisition position of the image acquirer for image acquisition of the pig carcass.
In another embodiment, the apparatus of the present invention further comprises an auxiliary bracket installed above the conveyor belt so as to fix the image collector.
In yet another embodiment, the image collector includes: a light source installed on the auxiliary support for illuminating the hog carcass conveyed by the conveyor belt; and the industrial camera is arranged on the auxiliary bracket and is used for photographing the conveyed pig carcass so as to acquire the image information of the pig carcass.
In one embodiment, the device of the present invention further comprises a photoelectric sensor mounted on the auxiliary support and used for sending an electrical signal to the industrial camera when sensing the pig carcass conveyed by the conveyor belt, so as to trigger the industrial camera to take a picture of the pig carcass.
In another embodiment, the processor comprises an industrial personal computer electrically connected with the industrial camera so as to be used for analyzing and processing the image information of the pig carcass acquired by the industrial camera.
In yet another embodiment, the industrial personal computer performing analysis processing on the image information of the pig carcass comprises: determining a posterior segment cutting position of the pig carcass by the analysis processing; and/or determining the position of the forepart cut of the pig carcass by the analysis processing.
In one embodiment, in determining the back end cut location of the hog carcass by the analysis process, the industrial control computer is configured to: calculating the actual length of the pig carcass; determining inflection points on the left side and the right side of the pig carcass; and determining the back section cutting position of the pig carcass based on the actual length of the pig carcass, the inflection point positions of the left side and the right side of the pig carcass and the plane calibration conversion coefficient of the industrial camera.
In another embodiment, in determining the forepart cutting position of the pig carcass via the analysis process, the industrial personal computer is configured to: performing learning training on the deep learning algorithm model by using a pre-labeled pig carcass quality data set; and acquiring the front section cutting position information of the pig carcass based on the deep learning algorithm model after the learning training.
In yet another embodiment, the tool controller comprises: the PLC module is electrically connected with the industrial personal computer and is used for receiving the front-section cutting position information and the rear-section cutting position information sent by the industrial personal computer so as to control the cutter to move according to the position information; a mechanical structure connected with the PLC module and used for moving the cutter to the front and rear section cutting positions under the control of the PLC module; and a servo motor electrically connected with the PLC module and operated according to the instructions of the PLC module so as to drive the cutter to perform the cutting operation on the pig carcass along the front and rear cutting positions.
Based on the above embodiments, it can be seen that the device for automatically cutting a pig carcass according to the present invention obtains the actual length of the pig carcass by using a planar calibration technique, and simultaneously obtains the profile information of the pig carcass by using a self-threshold segmentation technique. On the basis, the actual cutting position of the rear section of the pig carcass is obtained by positioning and detecting the side turning point of the front leg and the cutting position of the pre-opening knife edge. Further, the device utilizes the pre-labeled pig carcass quality data set to train and learn the deep learning algorithm model, thereby obtaining the actual cutting position of the front end of the pig carcass. Finally, the device of the utility model controls the cutter to move to the rear section and the front end cutting position of the pig carcass, and realizes the three-section cutting operation of the pig carcass under the driving of the motor.
The device of the utility model realizes automatic cutting operation of the pig carcass by controlling the cutting knife to move, and overcomes the defect that the cutting position is aligned with the disc knife because the pig carcass needs to be straightened by manual experience during cutting in the traditional method. Further, the device uses a plurality of deep learning algorithm models obtained through training and learning when determining the actual cutting position of the pig carcass, so that the device is quick and accurate in determining the cutting position. In addition, the device disclosed by the utility model has the advantages of simple structure, lower cost, higher cutting efficiency and the like.
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. In the accompanying drawings, several embodiments of the present invention are illustrated by way of example and not by way of limitation, and like reference numerals designate like or corresponding parts throughout the several views, in which:
fig. 1 is a schematic block diagram illustrating an apparatus for automatically cutting a pig carcass according to an embodiment of the present invention;
fig. 2 is a structural view illustrating an apparatus for automatically cutting a pig carcass according to an embodiment of the present invention; and
fig. 3 is a flow chart illustrating the working principle of the apparatus for automatically cutting a pig carcass according to an embodiment of the present invention.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any inventive step on the basis of the embodiments of the present invention, fall within the scope of protection of the present invention.
Fig. 1 is a schematic block diagram illustrating an apparatus 100 for automatically cutting a hog carcass according to an embodiment of the present invention.
As shown in fig. 1, the apparatus 100 for automatically cutting a pig carcass according to the present invention may include an image collector 101, a processor 102, a cutter controller 103, and a cutter 104. Specifically, the image collector may include a camera or a video camera, so as to be used for taking a picture or a video of the pig carcass, thereby obtaining an image or video information of the pig carcass. The processor may be constituted by a chip having analysis, judgment and calculation capabilities, and may be a general-purpose CPU, a dedicated CPU, or other execution units that can perform information processing and program execution. In one embodiment, the processor may be, for example, a PC, which is used for analyzing the image information of the pig carcass collected by the image collector and determining the cutting position of the pig carcass according to the result of the analysis.
Further, the cutter controller can comprise a chip with a control function and a mechanical structure capable of driving the cutter to move. The cutter controller is used for receiving the cutting position information about the pig carcass from the processor and controlling the cutter to move to the cutting position according to the cutting position information. Specifically, during the operation, firstly, the chip with the control function receives the actual cutting position information of the pig carcass sent by the processor. Then, the chip control mechanism drives the cutter to move to an actual cutting position of the pig carcass, so that the cutter starts to perform cutting operation on the pig carcass along the actual cutting position.
In one embodiment, the knife of the present invention may be a cutting tool having a variety of forms and shapes. The cutter may be, for example, a serrated cutter having a disk shape fixed to the rotating shaft. In operation, the motor is operated to drive the rotating shaft to rotate, so that the disc cutter is rotated, and the pig carcass cutting operation is completed. Further, the cutter can be connected with a mechanical structure of the cutter controller, so that the cutter controller controls the mechanical structure to move after receiving the cutting position information, and the mechanical structure drives the cutter connected with the mechanical structure to move to the cutting position. After the pig carcass cutting operation is executed, the cutter controller controls the mechanical structure to move so as to drive the cutter to return to the initial position and wait for the next cutting operation.
Fig. 2 is a block diagram illustrating an apparatus 200 for automatically cutting a pig carcass according to an embodiment of the present invention. It will be appreciated that fig. 2 is an embodiment of fig. 1, and therefore the description of fig. 1 with respect to apparatus 100 is equally applicable to the description of fig. 2 with respect to apparatus 200.
As shown in fig. 2, the apparatus 200 for automatically cutting a pig carcass according to the present invention may include a conveyor belt 201, an auxiliary support 202, a light source 203, an industrial camera 204, a light barrier 205, a photoelectric sensor 206, an industrial personal computer 207, a cutter controller 208, a cutter 209, and a cutter origin 210. The structures and the operating principles of these constituent elements described above are described below, respectively.
In one embodiment, the conveyor belt of the utility model is used for conveying the pig carcass to an image acquisition position of an image acquirer so as to acquire an image of the pig carcass. In particular, the conveyor belt may be made of a material, such as anti-slip and wear-resistant, which may run on a track and may be put in tension by a tensioning device. In operation, the pig carcass is placed on a conveyor belt, and the conveyor belt conveys the pig carcass along a track to an image acquisition position under the drive of a drive device, wherein the drive device can comprise a motor, a speed reducer and other devices for controlling the running speed of the conveyor belt.
In one embodiment, the apparatus of the present invention may further comprise an auxiliary bracket 202 made of metal, which may be composed of 4 posts fixedly installed at the edge of the rail and maintained perpendicular to the rail. Further, a tray may be arranged at the top end of the 4 columns for fixing the image collector. In addition, the auxiliary support can also be used for assisting in fixing the track for the running of the conveyor belt, so that the running of the conveyor belt is more stable. In operation, the height of the auxiliary support is designed to be a suitable height to avoid the hog carcass from touching any part of the auxiliary support when the conveyor belt conveys the hog carcass through the auxiliary support.
Further, the image collector may include a light source 203 and an industrial camera 204, wherein the light source may be mounted on the auxiliary stand, preferably, it may be mounted on a tray on the top of the auxiliary stand, so as to better illuminate the pig carcass conveyed by the conveyor belt. Further, the industrial camera can be installed on the auxiliary support and used for photographing the conveyed pig carcass so as to acquire the image information of the pig carcass. In some application scenarios, according to actual needs, the device of the present invention can install multiple industrial cameras at different positions of the auxiliary support, so that different image information of the pig carcass can be obtained from multiple angles. An industrial camera to which the present invention is applied will be briefly described below.
Industrial cameras have been widely used as core components of machine vision, and are different from ordinary cameras in that the industrial cameras have higher performance and more reliable stability. In particular, the compact structure of industrial cameras gives them the advantages of being sturdy, not fragile and easy to install, and of having a long continuous working time, and of being usable in poor environments, which are not comparable to ordinary cameras. Further, the frame rate of the industrial camera is far higher than that of a common camera, ten to hundreds of pictures can be shot per second, the common camera can only shoot 2-3 images, and the difference between the two images is large. In addition, the industrial camera outputs naked data, and the spectral range of the naked data is often wider, so that the image information shot by the industrial camera is more suitable for being processed by a high-quality image processing algorithm. In contrast, pictures taken by a common camera have a spectral range suitable only for human vision, and the pictures are usually subjected to MGPEG compression, which has poor image quality and is therefore not conducive to further analysis.
In another embodiment, the apparatus of the present invention may further include a light blocking plate 205 installed on the auxiliary support and located at a rear side of the light source in a direction in which the conveyor belt advances. The light barrier is used for condensing light emitted by the light source so as to enable the industrial camera to better photograph the pig carcass. At the same time, the light barrier can also be used to prevent light pollution to other areas and workers in the cutting operation room. In addition, the height of the lowest part of the light barrier is designed to ensure that the pig carcasses on the conveyor belt can pass through smoothly.
In yet another embodiment, the apparatus of the present invention may further comprise a photosensor 206 mounted on the auxiliary stand and electrically connected to the industrial camera. The photoelectric sensor is used for sending an electric signal to the industrial camera when sensing the pig carcass conveyed by the conveyor belt so as to trigger the industrial camera to photograph the pig carcass. Preferably, a photoelectric sensor may be mounted at a side of the rail and in front of the industrial camera in a direction of belt advance so as to sense the moving pig carcass in advance. Further, the photoelectric sensor can be composed of a light source, an optical circuit and a photoelectric element. In the work, when the pig carcass passes through, photoelectric sensor passes through the light signal change of optical circuit perception pig carcass to light signal with this change passes through photoelectric element and converts the signal of telecommunication into, and then passes through the wire with this signal of telecommunication and convey industry camera, thereby trigger industry camera work, and then shoot the pig carcass.
In one embodiment, the apparatus of the present invention may further comprise an industrial personal computer 207 electrically connected to the industrial camera for analyzing and processing the image information of the pig carcass acquired by the industrial camera. Specifically, the industrial personal computer may be installed at a lower portion of the conveyor belt guide, and electrically connected with the industrial camera through a twisted pair. In addition, the industrial personal computer can be also provided with various external interfaces, for example, the interfaces can comprise interfaces such as USB, HDMI, VGA, RJ-45 and the like, so that the communication with external equipment can be realized through the interfaces. In an application scene, the industrial personal computer can be externally connected with a display screen so as to observe and control the cutting process of the device for the pig carcass through the display screen.
Further, the above industrial personal computer may analyze and process the pig carcass image information collected by the industrial camera, and may include: determining the posterior segment cutting position of the pig carcass by the analysis processing and/or determining the anterior segment cutting position of the pig carcass by the analysis processing. Specifically, on one hand, in the process of determining the rear section cutting position of the pig carcass, the industrial personal computer firstly calculates the actual length of the pig carcass; then, determining the positions of inflection points on the left side and the right side of the pig carcass; and finally, determining the back-end cutting position of the pig carcass based on the actual length of the pig carcass, the inflection point positions of the left side and the right side of the pig carcass and the plane calibration conversion coefficient of the industrial camera. On the other hand, in the process of determining the front section cutting position of the pig carcass, the industrial personal computer firstly uses a pre-labeled pig carcass quality data set to carry out learning training on the deep learning algorithm model; and then, acquiring the front section cutting position information of the pig carcass based on a deep learning algorithm model after learning training.
In one embodiment, the tool controller 208 of the present invention may comprise: a PLC ("programmable logic controller") module, a mechanical structure, and a servo motor. Further, the PLC module can be electrically connected with the industrial personal computer and is used for receiving front-section cutting position information and rear-section cutting position information which are sent by the industrial personal computer and positioned by the industrial personal computer, so that the cutting tool is controlled to move according to the cutting position information. The mechanical structure is connected with the PLC module and is used for moving the cutter to the front and rear section cutting positions under the control of the PLC module. The servo motor is electrically connected with the PLC module and operates according to the instructions of the PLC module so as to drive the cutter to execute the cutting operation on the pig carcass along the front and rear cutting positions.
In another embodiment, the apparatus of the present invention may further comprise a connecting shaft 210 fixedly connected to the cutter 209. Further, the connecting shaft may be fixedly connected to the cutter, for example, by interference connection, and the connecting shaft may also be connected to the aforementioned mechanical structure, so that the cutter is driven to move to the front and rear cutting positions by the movement of the mechanical structure. It will be appreciated that the cutters of the present invention may include left and right disc-shaped cutters corresponding to the front and rear cutting positions. In the standby state, the left and right disk-shaped cutters can be located at the cutter origin positions 211 shown in fig. 2, and when the cutting operation is performed, the two cutters are driven by the mechanical structure to move to the front and rear cutting positions respectively. After the cutting operation is completed, the left and right disc-shaped cutters are restored and moved to the original position 211 under the control of the PLC, so as to wait for the next cutting operation.
Fig. 3 is a flow diagram 300 illustrating the working principle of an apparatus for automatically cutting a hog carcass according to an embodiment of the present invention. The working principle of the device of the utility model is described in detail below with reference to fig. 2 and 3.
As shown in fig. 3, when the apparatus for automatically cutting a pig carcass according to the present invention is activated, the process 300 starts at step S301. At this step, the pig carcass horizontal pose moves with the line. It will be appreciated that the apparatus of the utility model is located in the middle of a pig slaughtering line. After the live pigs are subjected to the processes of pre-slaughter quarantine, cleaning, stunning, licking and bloodletting, scalding and unhairing, head and hoof unloading, chamber opening and cleaning, carcass inspection and processing and the like, the pig carcasses are placed on a transmission belt and are transmitted to the position of the photoelectric sensor of the utility model along with the transmission belt. Next, the flow 300 executes step S302. At this step, the photosensor triggers the industrial camera. Specifically, photoelectric sensor senses the light signal of the pig carcass that conveys to convert this light signal into the signal of telecommunication, and then send this signal of telecommunication to industrial camera, thereby trigger industrial camera work.
Next, after the industrial camera receives the trigger signal transmitted from the photosensor, the flow 300 proceeds to step S303. At this step, the industrial camera performs image acquisition. Specifically, the industrial camera performs clear image acquisition on the pig carcass under the irradiation of the light source, and can photograph or make a video recording of the pig carcass in different directions, so as to acquire an image or image information of the pig carcass. It should be noted that, before image acquisition, the industrial camera first performs a solution (or linear calibration/one-dimensional calibration) of the scaling coefficient of the physical size/number of pixels. Specifically, under the condition that the relative position of the camera and the target object is fixed, the camera is used for collecting the image of the target object, the actual length of the target object corresponding to each pixel value in the image can be obtained through calculation processing, and the conversion coefficient is defined as K. Based on this, the actual size of the target, that is, the target image pixel value K, can be obtained.
Subsequently, the industrial camera sends the image or video information of the pig carcass acquired by the industrial camera to the industrial personal computer, and based on this, the process 300 executes step S304. At this step, the industrial personal computer performs a threshold segmentation operation on the image acquisition information so as to acquire contour information of the pig carcass. The threshold segmentation is a common image segmentation technology based on regions, has the characteristics of simple realization, small calculated amount, stable and reliable performance and the like, and is based on the principle that image pixel points are divided into a plurality of classes by setting different characteristic thresholds, and then the outline boundary of the pig carcass on a conveyor belt is extracted. Further, at step S305, the industrial personal computer calculates the actual length of the pig carcass according to the correlation algorithm. Specifically, the industrial personal computer obtains the minimum vertical rectangle of the pig carcass boundary through a boundingRec () algorithm, and the length of the rectangle is multiplied by an industrial camera hand-eye calibration conversion coefficient K to obtain the actual length H of the pig carcass.
After obtaining the profile information of the pig carcass, the process 300 executes step S306. At this step, the front leg side inflection point and the pre-opening edge cutting position positioning detection are performed. Specifically, the industrial personal computer extracts the pig carcass edge information through a findContours () algorithm and stores the edge information in an ordered pixel point coordinate set. And then, traversing left and right boundary pixel points of the binary image of the pig carcass respectively, and storing pixel coordinates of row-column coordinate information of edge positions of pixel points on two sides of the pig carcass from 0 to 255 in a set A (front leg side) and a set B (backfat side) respectively.
Then, continuously taking 3 points with interval step length i in the set A and the set B respectively (wherein the interval step length i can be freely changed according to the characteristic concave-convex degree): ck+i、Ck、Ck-iThe corresponding coordinates are respectively M (X)k+i,Yk+i)、N(Xk,Yk)、G(Xk-i,Yk-i) In which C iskThe extreme value at the inflection point of the point is: | actan ((Y)k+i-Yk)/(Xk+i-Xk))/actan((Yk-Yk-i)/(Xk-Xk-i) ) |. Furthermore, according to the above calculation method, extreme values at each point on the left and right sides of the pig carcass can be respectively obtained, wherein the maximum extreme point is the inflection point position, and the maximum extreme point is respectively defined as NA(Xk,Yk)、 NB(Xk,Yk)。
After step S306 is performed, the flow 300 proceeds to step S307. At this step, the industrial personal computer positions the carcass front and rear segment dividing positions. In particular, under the condition that the relative position of the industrial camera and the target object is fixed, the actual length H of the carcasses in the same batch has little difference,therefore, the difference between the rear cutting position and the ordinate of the inflection point on both sides of the carcass can be calculated, and the difference is defined as an approximate fixed deviation Y. Further, the actual carcass length H, the pixel size conversion coefficient K, and the inflection point positions N on the left and right sides of the carcass calculated based on the above step S305 are calculatedA(Xk,Yk)、NB(Xk,Yk) And a fixed deviation Y, and the actual cutting position of the rear section can be calculated to be [ N ]B(Yk)-NA(Yk)+Y]*K。
Further, for the positioning of the front-end segmentation position, the deep learning algorithm model can be trained and learned by using a pre-labeled carcass quality data set based on the deep learning algorithm model. Specifically, in the training and learning process, the segmentation position between the third rib and the fourth rib which are positioned to be visible to the naked eye is obtained by acquiring the information characteristics of the ribs in the chest of the pig carcass and marking the acquired seam information characteristics. It should be noted that the algorithm here may be implemented by using a deep learning algorithm, but is not limited to this method.
After the pig carcass front and rear segment splitting positions are located, the process 300 proceeds to step S308 and step S309. At these two steps, first, the industrial personal computer sends the division position information to the tool controller. Next, the tool is moved from the origin to be collinear with the split position under the control of the tool controller. Specifically, a PLC module in the cutter controller receives front-section cutting position information and rear-section cutting position information sent by the industrial personal computer. And then, according to the position information, the PLC controls the mechanical structure to move, and further drives the cutter connected with the mechanical structure to move from the original position to a position collinear with the segmentation position.
Finally, the process 300 ends at step S310. At this step, the cutter performs a cutting operation under the drive of the servo motor. Specifically, when the cutter is moved to a position collinear with the dividing position, the PLC transmits a start cutting instruction to the servo motor. After receiving the instruction, the servo motor starts to rotate and drives the disc sawtooth cutter connected with the shaft of the servo motor to rotate, so that the pig carcass cutting operation is completed. Further, after the cutting operation is completed, the disc-shaped cutter is restored and moved to the original position by the mechanical structure under the control of the PLC so as to wait for the next cutting operation to be performed.
Based on the above description, it can be seen that the device for automatically cutting a pig carcass according to the present invention can accurately and quickly locate the cutting position by training and learning a plurality of detection models during the process of determining the cutting position of the pig carcass. Meanwhile, the cutting device can realize automation of the cutting process, so that the defects of inaccurate manual alignment position, easy fatigue of workers and increased labor cost in the traditional cutting mode are overcome. In addition, the cutting device also has the advantages of simple design, easy realization, lower cost and the like.
It should be understood that when the terms first, second, third, fourth, etc. are used in the claims, the specification, and the drawings of the present invention, they are used only for distinguishing different objects and not for describing a particular order. The terms "comprises" and "comprising," when used in the specification and claims of this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It is also to be understood that the terminology used in the description of the utility model herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the utility model. As used in the specification and claims of this application, the singular form of "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should be further understood that the term "and/or" as used in the specification and claims of this specification refers to any and all possible combinations of one or more of the associated listed items and includes such combinations.
As used in this specification and claims, the term "if" may be interpreted contextually as "when", "upon" or "in response to a determination" or "in response to a detection". Similarly, the phrase "if it is determined" or "if a [ described condition or event ] is detected" may be interpreted contextually to mean "upon determining" or "in response to determining" or "upon detecting [ described condition or event ]" or "in response to detecting [ described condition or event ]".
Although the embodiments of the present invention are described above, the descriptions are only examples for facilitating understanding of the present invention, and are not intended to limit the scope and application scenarios of the present invention. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the utility model as defined by the appended claims.
Claims (8)
1. A device for automatically cutting a hog carcass, comprising: a conveyor belt, an image collector, an auxiliary bracket, a processor, a cutter and a cutter controller, wherein
The conveying belt is used for sequentially conveying the pig carcasses to the image collector and the cutter;
the image collector is fixedly arranged at the upper part of the conveying belt through an auxiliary bracket and is used for collecting images of the pig carcasses conveyed by the conveying belt;
the processor is electrically connected with the image collector and is used for analyzing and processing the image information of the pig carcass collected by the image collector and determining the cutting position of the pig carcass according to the analysis and processing result;
the cutter controller is electrically connected with the processor for receiving cutting position information about the pig carcass from the processor and controlling the cutter to move to the cutting position according to the cutting position information; and
the cutter is connected with the cutter controller and is used for cutting the pig carcass conveyed by the conveyor belt along the cutting position.
2. The apparatus for automatically cutting a hog carcass according to claim 1, wherein said image collector comprises:
a light source installed on the auxiliary support for illuminating the hog carcass conveyed by the conveyor belt; and
an industrial camera mounted on the auxiliary support and used for taking pictures of the conveyed pig carcass so as to acquire image information of the pig carcass.
3. The apparatus as claimed in claim 2, further comprising a photoelectric sensor mounted on the auxiliary support and used for sending an electrical signal to the industrial camera when sensing the pig carcass conveyed by the conveyor belt, so as to trigger the industrial camera to photograph the pig carcass.
4. The apparatus of claim 3, wherein the processor comprises an industrial personal computer electrically connected to the industrial camera for analyzing and processing the image information of the pig carcass acquired by the industrial camera.
5. The apparatus for automatically cutting pig carcasses according to claim 4, wherein the industrial personal computer analyzes and processes the image information of the pig carcasses and comprises:
determining a posterior segment cutting position of the pig carcass by the analysis processing; and/or
And determining the front section cutting position of the pig carcass through the analysis treatment.
6. The apparatus of claim 5, wherein in determining the back-end cutting position of the hog carcass via the analyzing, the industrial computer is configured to:
calculating the actual length of the pig carcass;
determining inflection points on the left side and the right side of the pig carcass; and
and determining the back section cutting position of the pig carcass based on the actual length of the pig carcass, the inflection point positions of the left side and the right side of the pig carcass and the plane calibration conversion coefficient of the industrial camera.
7. The apparatus for automated hog carcass cutting according to claim 5, wherein in the determining of the front-end cutting position of the hog carcass by the analysis process, the industrial computer is configured to:
performing learning training on the deep learning algorithm model by using a pre-labeled pig carcass quality data set; and
and acquiring the front section cutting position information of the pig carcass based on the deep learning algorithm model after the learning training.
8. The apparatus for automatically cutting a hog carcass according to claim 5, wherein said cutter controller comprises:
the PLC module is electrically connected with the industrial personal computer and is used for receiving the cutting position information of the front section and the rear section sent by the industrial personal computer so as to control the cutter to move according to the cutting position information;
a mechanical structure connected with the PLC module and used for moving the cutter to the front and rear section cutting positions under the control of the PLC module; and
a servo motor electrically connected with the PLC module and operated according to the instructions of the PLC module so as to drive the cutter to execute the cutting operation of the pig carcass along the front and rear cutting positions.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220121416.9U CN216931665U (en) | 2022-01-14 | 2022-01-14 | Device for automatically cutting pig carcass |
Applications Claiming Priority (1)
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115462406A (en) * | 2022-08-30 | 2022-12-13 | 青岛建华食品机械制造有限公司 | Pig carcass intelligent cutting operation table |
| CN117730892A (en) * | 2023-12-13 | 2024-03-22 | 山东华誉机械设备有限公司 | Intelligent automatic pre-segmentation equipment of pig binary |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115462406A (en) * | 2022-08-30 | 2022-12-13 | 青岛建华食品机械制造有限公司 | Pig carcass intelligent cutting operation table |
| CN117730892A (en) * | 2023-12-13 | 2024-03-22 | 山东华誉机械设备有限公司 | Intelligent automatic pre-segmentation equipment of pig binary |
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