CN218451290U - Poultry sex recognition device - Google Patents
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- CN218451290U CN218451290U CN202221137248.9U CN202221137248U CN218451290U CN 218451290 U CN218451290 U CN 218451290U CN 202221137248 U CN202221137248 U CN 202221137248U CN 218451290 U CN218451290 U CN 218451290U
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Abstract
The utility model relates to a poultry farming equipment technical field specifically discloses a poultry sex identification equipment, it includes first restraint component, second restraint component, image collector and first processing module, first restraint component is used for placing the poultry, the second restraint component is connected with image collector, first restraint component can be at least along being close to, keep away from the direction motion of second restraint component and/or the direction motion that second restraint component can be at least along being close to, keeping away from first restraint component, image collector gathers first image information in the poultry intestinal, first processing module is according to first image information identification poultry sex. Compared with the operation of 'anus turning', the poultry sex recognition device of the utility model has small stress and small damage to the poultry; and the automatic operation can be realized in the identification process, the technical requirements on workers are very low, and the labor cost is greatly reduced.
Description
Technical Field
The utility model relates to a poultry cultured equipment technical field especially relates to a poultry gender identification equipment.
Background
In the production of poultry farming industry, poultry farm managers have strict requirements on the sex of poultry, so the sex identification of young birds is particularly important.
At present, most of livestock farms in China adopt a method of anus turning over for sex identification of poultry. The rectum end of the poultry, urinary tract and genital tract are opened together in a cloaca, and the opening of the cloaca to the outside is provided with sphincter, commonly called anus. The male chick anus is surrounded by a splayed fold called as the splayed fold, and the center of the lower part of the cloaca is provided with a spherical bulge called as the genital bulge, which are both called as the genital bulge. The male young birds have obvious reproductive humps, elasticity and glossy surface and are not easy to deform; the female young birds also have reproductive humps, the reproductive humps of the female birds have inconsistent degeneration degrees due to factors such as heredity, hatching environment and the like, so that the reproductive humps are inconsistent in shape, most female young birds have no humps actually, and only the degenerated vestige is left. In production, the time suitable for identification is 2-12 h after hatching, and in the time, the reproductive protrusion shapes of male and female young birds are obvious, and the young birds can also grasp and flip the anus. After 24 hours of shelling, the anus of the young poultry is difficult to open and the genital ridge shrinks, so that the male and female parts are difficult to distinguish in the anus opening operation, and the anus opening identification method is required to be carried out within 24 hours. Therefore, within 24 hours after the poultries are taken out of the shells, technicians can open the anus to observe the existence or the shape of the reproductive humps to identify the males and females of the poultries. Under good hatching conditions, the operation process of anus turning identification comprises 6 operation links of chick grabbing, chick holding, feces discharging, anus turning, identification and chick placing.
The anus turning operation has high requirements on technicians, the technicians need to master basic theories of physiological structures of the poultry firstly, then need to pay attention to the fact that the poultry is lightly taken and placed in the operation process, and need to operate under the conditions of observation and disinfection in the environment with sufficient light, more importantly, the gestures need to be correct in the anus turning process, and stress on young poultry is reduced; otherwise, the physiological function of the poultry is influenced, the death rate of the young poultry is increased, the proportion of weak young poultry is increased, and the egg yield and the egg quality of the laying poultry, the slaughtering time and the meat quality of the meat poultry, the fertilization rate and the like are influenced in the production.
Although the anus turning method has the advantages of wide application range, convenience, rapidness and accuracy, the requirements on the labor intensity of workers are high, and the stress on poultry is overlarge. Therefore, there is a need for a poultry gender identification apparatus, which can quickly and accurately identify the gender of poultry, and has low labor cost and little stress to poultry.
SUMMERY OF THE UTILITY MODEL
The utility model aims to solve the technical problem that a poultry sex identification equipment is provided, can discern poultry sex fast, accurately and the human cost is low, poultry stress is little.
The utility model provides an above-mentioned technical problem's technical scheme as follows:
the poultry gender identification device comprises a first constraint member, a second constraint member, an image collector and a first processing module, wherein the first constraint member is used for placing poultry, the second constraint member is connected with the image collector, the first constraint member can move at least in the direction close to and far away from the second constraint member and/or the second constraint member can move at least in the direction close to and far away from the first constraint member, the image collector enters the poultry intestinal tract through a poultry cloaca and collects first image information in the poultry intestinal tract, the first processing module receives the first image information, and the first processing module identifies the gender of the poultry according to the first image information.
The utility model has the advantages that:
the utility model discloses poultry sex identification equipment's first restraint component can be fixed with the poultry of waiting to discern, second restraint component links to each other with image collector, first restraint component can send image collector to the intestinal through the poultry cloaca with the relative motion of second restraint component in, make image collector gather the first image information who contains poultry gonad (testicle or ovary) in the poultry intestinal, after first processing module accomplishes poultry sex identification and judges according to first image information, image collector shifts out in the poultry intestinal again. Firstly, compared with the operation of 'turning anus', the stress of the poultry is small, and the damage to the poultry is small; secondly, the automatic operation can be realized in the identification process, the technical requirements on workers are very low, and the labor cost is greatly reduced. To sum up, the utility model discloses poultry sex identification equipment can be fast, accurate discernment poultry sex and low in manpower cost, poultry stress reaction are little.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a first angle schematic view of the overall structure of the poultry sex identifying apparatus of the present invention;
FIG. 2 is an enlarged view of a portion of FIG. 1 at I;
FIG. 3 is a second perspective view of the overall structure of the poultry sex determination apparatus of the present invention;
FIG. 4 is an enlarged view of a portion of FIG. 3 at II;
fig. 5 is a third angle diagram of the overall structure of the poultry sex identifying apparatus of the present invention;
FIG. 6 is a fourth angle diagram of the overall structure of the poultry sex determination apparatus of the present invention;
FIG. 7 is a schematic diagram illustrating a relationship between second image information and a target area;
FIG. 8 is a first angle schematic view of the bird's body structure;
FIG. 9 is a second perspective view of the bird's body structure;
fig. 10 is a third angle schematic view of the bird's body structure;
FIG. 11 is a first angular view of the overall construction of the first binding member;
FIG. 12 is a second angular view of the overall configuration of the first binding member;
FIG. 13 is an enlarged view of a portion of FIG. 12 at III;
FIG. 14 is a first angular view of a configuration of a femoral constraining member and a thoracic/abdominal constraining member;
FIG. 15 is a second angular view of the configuration of the femoral constraining member and the thoracic/abdominal constraining member;
FIG. 16 is a third angle schematic view of the configuration of a femoral constraining member and a thoracic/abdominal constraining member (with part of the structural elements omitted);
FIG. 17 is a fourth angle schematic view of the structure of the femoral and thoracic/abdominal constraint components (with parts of the structural elements omitted);
FIG. 18 is a schematic structural view of a second embodiment of a femoral constraining member;
FIG. 19 is a schematic structural view of a third embodiment of a femoral constraining member;
FIG. 20 is a schematic structural view of a fourth embodiment of a femoral constraining member;
FIG. 21 is a schematic structural view of a first embodiment of a head restraint;
FIG. 22 is a schematic structural view of a second embodiment of a head restraint;
FIG. 23 is a schematic structural view of a third embodiment of a head restraint;
FIG. 24 is a schematic structural view of a fourth embodiment of a head restraint;
FIG. 25 is a first angular view of the back binding member configuration;
FIG. 26 is a second angle schematic view of a back binding member configuration;
FIG. 27 is a schematic structural view of another embodiment of a web in a chest/abdomen restraining member;
FIG. 28 is a schematic structural view of a foot-restraining member;
FIG. 29 is a schematic structural diagram of an image collector;
FIG. 30 is an exploded view of an image capture device;
FIG. 31 is a flowchart illustrating a first embodiment of a method for identifying gender of birds;
FIG. 32 is a schematic flow chart of a second embodiment of a method for identifying gender of birds;
FIG. 33 is a schematic flowchart of a third exemplary method for identifying gender of birds;
FIG. 34 is a schematic flow chart of a fourth embodiment of a method for identifying gender of poultry;
fig. 35 is a schematic flow chart of a fifth embodiment of the method for identifying gender of birds;
fig. 36 is a schematic flowchart of a sixth embodiment of the method for identifying gender of birds;
fig. 37 is a flowchart illustrating a seventh exemplary method for identifying gender of birds.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts all belong to the protection scope of the present invention.
As shown in fig. 1 to 6, the present invention provides a poultry gender identification device, which includes a first restriction member 100, a second restriction member 200, an image collector 300, and a first processing module (not shown), wherein the first restriction member 100 is used for placing poultry 10, the second restriction member 200 is connected to the image collector 300, the first restriction member 100 can move at least along a direction close to or away from the second restriction member 200 and/or the second restriction member 200 can move at least along a direction close to or away from the first restriction member 100, the image collector 300 enters the intestinal tract of the poultry 10 through the cloaca of the poultry 10 and collects first image information in the intestinal tract of the poultry 10, the first processing module receives the first image information, and the first processing module identifies the gender of the poultry according to the first image information.
The understanding of "proximal and distal" refers specifically to the linear distance between the first and second constraining members 100 and 200 (i.e., the cloaca and the image collector 300 of the bird 10) without limiting the specific motion trajectory, which may be a straight line, a curved line, or a combination of straight and curved lines. For example, if the driving member is a cylinder or a linear motor, the motion track of the first constraint member and/or the second constraint member is a straight line; if the drive member employs a multi-axis robotic arm, the locus of motion of the first and/or second constraint member may be curved.
The first restriction member 100 is mainly used for restricting the bird's body (which may be suspended, clamped, compressed, accommodated, or the like in various ways, including fully or partially fixed), and at the same time, the bird's cloaca is substantially oriented toward the image collector 300, specifically including but not limited to a restriction structure for limiting any one or combination of femur, head, back, chest, abdomen, and foot of the bird.
With respect to the second constraining member 200, it is mainly used to constrain (also including completely fixing or partially fixing) the image collector 300 to move the image collector 300.
For the understanding of "the second restriction member is connected to the image capturing device", the two members may be rigidly connected or flexibly connected, as long as the image capturing device 300 and the second restriction member 200 are ensured to move integrally and synchronously. For rigid connection, the image collector 300 and the second restriction member 200 are in a state of substantially synchronous motion; for a flexible connection, the movement of the image collector 300 may have a certain buffering effect, but the whole body still moves synchronously with the second restriction member 200.
With the understanding that the first restriction member is movable at least in a direction towards and away from the second restriction member and/or that the second restriction member is movable at least in a direction towards and away from the first restriction member, at least three situations are included: (1) First restriction member 100 is movable at least in a direction towards and away from second restriction member 200, while second restriction member 200 is stationary; (2) Second restriction member 200 is movable at least in a direction towards and away from first restriction member 100, with first restriction member 100 being stationary; (3) First binding member 100 is movable at least in a direction towards and away from second binding member 200, and second binding member 200 is movable at least in a direction towards and away from first binding member 100.
The understanding of "acquiring" in "acquiring the first image information in the poultry intestine by the image acquirer" means that the image in the poultry 10 intestine enters the image acquirer 300 from the front end of the image acquirer 300 in the form of an optical image, and the image is transmitted by an optical element, an optical fiber or directly converted into an electrical signal by the image sensor 300, which should not be limited, and the acquisition process may be a certain frame selected from continuous images or a single still image. The image collector 300 collects the first image information at least once, but in different embodiments, the first image information may be collected many times in order to improve the accuracy of the recognition.
With the understanding that "the first processing module receives the first image information", the first image information is transmitted to the first processing module in a form (for example, an electrical signal) capable of being recognized after being collected by the image collector 300, and the first processing module receives the first image information. The first processing module is preferably a controller (e.g. an embedded microcontroller MCU) formed from one or more integrated circuit chips.
Under the understanding that the first processing module identifies the gender of the poultry according to the first image information, the first processing module identifies whether the poultry has a testis or an ovary or not by identifying the first image information, and then judges the gender of the poultry. Particularly, both the left testis and the right testis of the male poultry are clear and have unique shapes; while female birds have only the left ovaries clear, the right ovaries are difficult to observe due to degeneration problems. Based on the aforementioned image characteristics of the testis and ovary of male and female birds, the principle of sex identification can be used as a basic principle. For example, the image acquirer 300 acquires first image information on the right side of the intestinal tract of the bird 10, and if the image has a clear testicular feature, the image can be basically judged as male, and if the image does not have a clear testicular feature (the right degenerated ovary is difficult to observe), the image can be basically judged as female.
Preferably, first and/or second constraining members 100 and 200 are driven by a driving member 20 connected thereto, but in some embodiments, external forces may be used, where "external forces" refer to forces applied by other bodies (e.g., an operator) in addition to the device itself. The driving member 20 includes, but is not limited to, a multi-axis mechanical arm, an air cylinder, a linear motor, a transmission gear, a transmission belt, a transmission rack, a motor coupled with a lead screw, etc., as long as it can move the first and/or second constraining members 100 and/or 200 (and thus the cloaca and/or the image collector 300 of the bird 10). When the driving member 20 is a single-axis moving structure such as an air cylinder, a linear motor, etc., the image acquirer 300 is configured to be substantially opposite to the cloaca of the poultry 10 at the initial position, and the driving member 20 drives the first restriction member 100 and/or the second restriction member 200 to move along a straight line, so that the image acquirer 300 can be sent into the intestinal tract of the poultry 10 to acquire image information. In other embodiments, to more accurately align image capture device 300 with the cloaca, first and/or second binding members 100, 200 may be subjected to multi-axis translational and/or rotational movements, and drive member 20 may be a multi-axis robotic arm (as shown in this embodiment) or a mechanical drive device capable of multi-axis movement. Multi-axis robots include, but are not limited to, parallel robots, articulated robots, cantilevered robots, gantry robots, vertical robots, horizontal robots, dual arm robots, scara robots, spider robots, UR articulated multi-axis robots, and the like.
It is to be understood that drive member 20 is "coupled" to first and/or second binding members 100, 200 and that such coupling does not mean that the members are directly coupled, but rather that the members are indirectly coupled, for example, there may be a plurality of intermediate members between first binding member 100 and drive member 20 or between second binding member 200 and drive member 20, and that such indirect coupling and synchronous movement may also be "coupled". Furthermore, in the present invention, all "connected" means a state where two or more members are connected to each other essentially, and includes not only direct connection but also indirect connection, that is, two or more members are not connected directly but are indirectly connected through one or more members to realize a physical connection structure.
For "the drive member is connected to the first and/or second restriction member", at least four conditions are included: (1) The same driving member 20 is simultaneously connected to both the first and second constraining members 100 and 200; (2) Drive member 20 is connected to first binding member 100 and is disconnected from second binding member 200; (3) Drive member 20 is connected to second binding member 200 and not to first binding member 100; (4) First and second constraining members 100, 200 are coupled to different drive members 20, respectively.
Preferably, the movement of the driving member 20 is controlled by the second processing module. The second processing module is also preferably a controller formed from one or more integrated circuit chips. In different embodiments, the first processing module and the second processing module may be configured as different chips or chipsets (i.e., a plurality of chips that together implement the function), or may be configured as the same chip or chipset, but the function of the first processing module recognizing the image and the function of the second processing module controlling the movement of the driving member can be implemented simultaneously.
Preferably, the image collector 300 collects second image information of the cloaca of the bird 10 before entering the cloaca of the bird 10, the first processing module determines the relative position of the image collector 300 and the cloaca of the bird 10 according to the second image information, and the second processing module controls the movement of the driving member 20, and then the first restriction member 100 and/or the second restriction member 200, so as to adjust the relative position of the cloaca of the bird 10 and/or the image collector 300. Similar to the process of acquiring the first image information, the acquisition process may be a frame selected from the continuous images or may be a single still image, which includes the real-time acquisition of the image acquirer 300 during the relative movement, or the acquisition of the image acquirer 300 when the relative movement is stopped, as long as the acquisition is performed before entering the cloaca of the birds 10. The image collector 300 collects the second image information at least once, but in different embodiments, the second image information may be collected many times in order to improve the accuracy of the recognition.
As shown in fig. 7, in the preferred embodiment, the second image information collected by the image collector 300 is rectangular, and the horizontal side of the rectangle is long (the length is defined as a) 0 ) With vertical sides being wide(Width is defined as b) 0 ). An axis of a horizontal side (or parallel to the horizontal side) is defined as an a-axis, and an axis of a vertical side (or parallel to the vertical side) intersecting the a-axis is defined as a b-axis. In this embodiment, the "first processing module determines the relative position between the image collector and the cloaca of the bird 10 according to the second image information" refers to comparing the position of the center of the circumscribed rectangle of the cloaca in the second image information with the position of the center of the second image information on the ab plane to determine the relative position between the image collector 300 and the cloaca of the bird 10. Of course, the second image information may also be set such that the horizontal side is wide, the vertical side is long, and the coordinate axis and other definitions are adaptively adjusted.
When the first and second constraining members 100 and 200 are brought closer together, the first processing module determines the distance between the image collector 300 and the cloaca of the bird 10 based on the second image information. In this embodiment, the ratio of the length and the width of the rectangle circumscribing the cloaca in the second image information may be determined, and the larger the ratio is, the smaller the distance is.
Specifically, through the pre-trained machine learning model, the first processing module identifies a target region containing the cloaca of the bird, and the target region may be set to be rectangular, square, circular or elliptical. In the preferred embodiment, the target area is preferably a smallest rectangular area capable of containing a cloaca, the center of which is substantially coincident or nearly coincident with the center of the smallest rectangular area, and the length of the target area is defined as Δ a and the width as Δ b.
The first processing module calculates the center O of the target area 1 And the center O of the second image information 2 Difference of coordinates in ab plane, by O 1 Coordinate (a) of 1 ，b 1 ) Respectively correspond to and subtract O 2 Coordinate (a) of 2 ，b 2 ) Then, the absolute value is taken and divided by the length a corresponding to the second image information 0 And width b 0 To obtain two ratios r 1 、r 2 I.e. r 1 ＝∣a 1 -a 2 ∣/a 0 ，r 2 ＝∣b 1 -b 2 ∣/b 0 ，r 1 Compared with a first threshold value, r 2 In comparison with the second threshold, the first processing module transmits the comparison to the second processing module, which in turn controls movement of the driving member 20, and thus movement of the first and/or second constraining members 100 and 200 in the ab-plane, based on the comparison. Preferably, the first threshold is equal to the second threshold, and the value may be 0.04 or other reasonable values; r is 1 Less than 0.04 (first threshold) indicates a-axis alignment, r 2 Less than 0.04 (second threshold) indicates b-axis alignment. If not, (a) 1 -a 2 ) Or (b) 1 -b 2 ) When the number is positive, the movement is in the negative direction of the a-axis or the b-axis, respectively, (a) 1 -a 2 ) Or (b) 1 -b 2 ) If the number is negative, the movement is to be in the positive direction of the a-axis or the b-axis.
The front end of the image collector 300 is aligned with the cloaca and then stops the relative motion of the ab plane, and for the understanding of the alignment, the ideal state means that the center of the second image information is completely overlapped with the center of the circumscribed rectangle of the cloaca, and the distance between the center of the second image information and the center of the circumscribed rectangle of the cloaca in the directions of the a axis and the b axis is smaller than a certain threshold value in practice, and the alignment is determined.
The first processing module calculates the length delta a of the target area and the length a of the second image information 0 Ratio r of 3 Calculating the width of the target area Delta b and the width of the second image information b 0 Ratio r of 4 R is to 3 、r 4 Are compared with a third threshold (the third threshold can be 0.45 or other reasonable values), the first processing module transmits the processing result to the second processing module, and the second processing module controls the driving member to move according to the comparison result. If r 3 、r 4 If the larger value is smaller than the third threshold, the second processing module drives the image collector 300 to approach the cloaca; if r 3 、r 4 The larger value is greater than or equal to the third threshold, the second processing module stops driving the image collector 300 close to the cloaca.
During the movement of the first restriction member 100 and/or the second restriction member 200, the position of the cloaca of the birds 10 may change due to the shaking of the birds, so preferably, the image collector 300 collects second image information in real time, the first processing module judges the relative position of the image collector 300 and the cloaca of the birds 10 in real time according to the second image information, and the second processing module adjusts the relative position of the image collector 300 and the cloaca of the birds 10 in real time according to the processing result of the first processing module.
In order to improve the identification accuracy, after the image collector 300 collects the first image information, the driving member 20 drives the first constraint member 100 and/or the second constraint member 200 to move, so that the front end of the image collector 300 moves 0-2mm towards at least one direction around relative to the position where the first image information is collected, the image collector 300 collects the third image information, and the first processing module identifies the gender of the poultry according to the third image information.
The understanding that "the front end of the image acquisition device moves 0-2mm to at least one direction around with respect to the position where the first image information is acquired" includes at least three cases: (1) The second constraining member 200 is stationary and the driving member 20 drives the first constraining member 100 to move; (2) The first constraining member 100 is stationary and the driving member 20 drives the second constraining member 200 to move; (3) The first and second constraining members 100 and 200 are both moved by the driving member 20; thereby causing the image collector 300 to move relatively in the intestines of the birds 10.
Specifically, for example, the second constraint member 200 drives the front end of the image acquirer 300 to move forward 1mm (a value between 0 and 2 mm) in the intestinal tract of the bird 10, which means that the front end of the image acquirer 300 moves 1mm in the direction away from the cloaca in the intestinal tract of the bird 10 based on the position where the first image information is acquired under the drive of the second constraint member 200, and in the moving process of the front end of the image acquirer 300, the image acquirer 300 can actually acquire the image information in the intestinal tract at the same time, and the "third image information" may be the image information at a certain position in the moving process of 1mm, or may be set as the image information when the front end of the image acquirer 300 reaches the position moving forward 1 mm; similarly, taking the second constraining member 200 to drive the front end of the image capturing device 100 to move backwards by 1mm in the intestinal tract of the bird 10 as an example, it means that the front end of the image capturing device 300 moves by 1mm in the intestinal tract of the bird 10 towards the cloaca direction with the position of capturing the first image information as a reference, and the "third image information" is an image of a certain position during the movement of the image capturing device 300 or when the image capturing device 300 moves to the 1mm position. The image collector 300 collects the third image information at least once, but in different embodiments, the third image information may be collected many times in order to improve the accuracy of the recognition.
As shown in FIGS. 8 to 10, for the convenience of explaining the spatial movement positional relationship in the embodiment, a direction extending substantially along the femur connecting both sides of the bird 10 is defined as a first direction (x-axis), a direction intersecting the first direction and perpendicular to the first direction and extending substantially along the cloaca to the head of the bird 10 is defined as a second direction (y-axis), a direction passing through a plane where the first direction intersects the second direction and substantially perpendicular to the first direction and the second direction is defined as a third direction (z-axis), and R is defined as corresponding to the rotation about the x-axis x Rotation about the y-axis is defined as R y And the rotation around the z-axis is defined as Rz.
In the above embodiments, the forward and/or backward movement (i.e. the second direction) of the image capturing device 300 in the intestinal tract of the bird 10 is mainly a structure that can only provide a single degree of freedom movement for the first constraint member 100 and/or the second constraint member 200, while in other embodiments, the driving member 20 is a multi-axis mechanical arm or other structure that can move with multiple degrees of freedom, and after the image capturing device 300 captures the first image information, the driving mechanism 20 can drive the first constraint member 100 and/or the second constraint member 200 to move, so that the front end of the image capturing device 300 in the intestinal tract of the bird 10 is centered on the position where the "first image information" is captured and moves to other directions (e.g. the x axis, the y axis, the z axis, and the R axis) x 、R y Any one of six axes of Rz or any combination) to move 0-2mm, so that the image acquirer 300 acquires third image information from multiple angles and multiple spatial positions, and the first processing module identifies the gender of the poultry according to the third image information, thereby improving the accuracy of gender identification.
As shown in fig. 8 to 10, the approximate positions of the birds 10 in the present embodiment are defined as follows: femur 11, head 12, back 13, chest 14, abdomen 15, feet (not shown). The utility model discloses in, thighbone 11 mainly refers to the whole position at thighbone 11 place to directly not refer to "thighbone" itself, because "thighbone" periphery cladding has tissues such as muscle, skin, "thighbone" itself does not show.
Preferably, the first restriction member is defined to restrict at least one or a combination of the femur 11, head 12, back 13, chest 14, abdomen 15, and feet of the bird, such that the bird's body remains stable and the cloaca position remains substantially consistent, increasing the success rate of the image harvester 300 entering the bird's 10 intestine.
Fig. 11-17 illustrate a first embodiment of the first constraint component 100 for constraining a femur 11 of a bird 10. The first constraint component 100 includes a femur constraint component 110, the femur constraint component 110 being configured to constrain the femur 11 on both sides of the torso of the bird 10 in a first orientation and/or a second orientation. Specifically, the first constraint component 110 includes a femoral stop 111 and a stop drive. The shape of the femur stoppers 111 on both sides may be a "splayed" shape as shown in the embodiment, or may be a straight line, an arc, a profile, or a rod shape on both sides, as long as the position of the femur 11 of the bird 10 can be restricted. The baffle driving member may be configured as a two-side linkage structure as shown in this embodiment, and specifically includes a linkage gear 113, a linkage rack 114 engaged with the linkage gear 113, and a return spring 115. For the linkage structure of the baffle driving part, a connecting rod structure can also be adopted to synchronously drive the motion of the femur baffles 111 at two sides.
Fig. 18 shows a second embodiment of the constraint of the femur 11 of the bird 10 by the first constraint component 100, which differs from the first femur constraint embodiment described above in that the femur guard 116 is provided as a single layer with a double layer having a spacing that is effective to prevent the femur 11 of the bird 10 from moving in the second direction (y-axis).
Fig. 19 shows a third embodiment in which the first constraining member 100 constrains the femur 11 of the bird 10, which is different from the first femur constraining embodiment in that the baffle driving member is a rotary cylinder 118, the extending ends of the first femoral baffle 119 and the second femoral baffle 120 abut against the rotary cylinder 118, and the rotation of the rotary cylinder 118 can realize the opening and closing operation in which the first femoral baffle 119 and the second femoral baffle 120 are linked.
Fig. 20 shows a fourth embodiment of the first restriction member 100 for restricting the femur 11 of the bird 10, which is different from the first embodiment of the femur restriction described above in that the baffle driving member is a two-separate driving structure, for example, a first baffle cylinder 124 and a second baffle cylinder 125 are respectively connected to a first femur baffle 122 and a second femur baffle 123 on two sides, but other driving components capable of realizing reciprocating motion, such as a linear motor, an electric cylinder, etc., can also be respectively adopted.
Preferably, the first constraint member further comprises a pushing member, arranged on the side of the femoral constraint member facing away from the head of the bird, for pushing the carcass of the bird in at least the second direction so that the femur of the bird abuts against the femoral constraint member. The position of the pushing member for pushing the birds preferably includes the leg position of the femur, and in different embodiments, any position between the femur and the cloaca can be pushed as long as the pressing force can be directly or indirectly applied to the femur.
Fig. 21 shows first example of the first restraining member 100 restraining the head 12 of the bird 10, the first restraining member 100 comprising a head restraining member 130, the head restraining member 130 being arranged to one side of the femoral restraining member 110 in the second direction (y-axis) for restraining the head 12 of the bird 10 in a direction away from the torso of the bird 10 at least in the second direction (y-axis). Specifically, the first constraint member 100 includes a head holder 131, and the head holder 131 has a U-shaped or V-shaped head accommodating groove 132. In this embodiment, the head fixing member 131 is divided into a first head fixing member 135 and a second head fixing member 136 which can be opened and closed, for accommodating the head 12 of the birds 10 when the first head fixing member 135 and the second head fixing member 136 are closed, and for dropping the birds when the first head fixing member 135 and the second head fixing member 136 are separated. Preferably, the first restraining member 100 further includes a head drive 137 connected to the head mount 131, the head drive 137 preferably being a pulley structure (pulley wire not shown) that enables the head mount 131 to properly tension the head 12 of the bird 10.
Fig. 22 shows a second embodiment of the head restraint member 130, and the first restraint member 100 further includes a head limiting block 134 cooperating with the head fixing member 131 for limiting, and the head limiting block 134 cooperates with the head accommodating groove 132 to form a space for accommodating the bird head 12.
Fig. 23 illustrates a third embodiment of the head restraint 130, wherein a head restraint air hole 133 is provided in the head receiving slot 132, the head restraint air hole 133 being configured to suck air when securing the head 12 of the bird 10 and/or to blow air when dropping the bird is desired after gender identification is completed.
Fig. 24 shows an embodiment four of the head constraint component 130, the first constraint component 100 includes a head cavity 141 and a clamping block 142 connected to the head cavity 141, when the head 12 of the bird 10 is placed in the head cavity 141, the clamping block 142 rotates to press against the head 12 or the neck of the bird 10, so as to achieve the fixed constraint of the head 12 of the bird 10.
In other embodiments, the first constraining member comprises a head suction cup that attracts the cranium or mouth position of the bird, thereby constraining and securing the head of the bird.
Fig. 25 and 26 illustrate an embodiment in which first restraining member 100 restrains the back 13 of bird 10, first restraining member 100 including a back restraining member 150, back restraining member 150 being configured to restrain the back 13 of the torso of bird 10 in a third direction (z-axis). Specifically, the first constraining member 100 includes a back plate 151 and a back plate driving member 152 for driving the back plate 151 to move, and the back plate 151 may be configured to be a straight plate, a profile, a wave shape, an arc shape, or the like. Preferably, the backboard 151 is provided with backboard vents 153, the negative pressure of the backboard vents 153 can make the backs 13 of the birds 10 and the backboard 151 tightly attached, and the backboard vents 153 are preferably divided into a first backboard vent 154 corresponding to the thoracic vertebrae and/or iliac position of the birds 10 and a second backboard vent 155 corresponding to the caudal vertebrae position of the birds 10. In other embodiments, the back plate air holes 153 may be replaced by a back plate suction cup attached to the back plate 151, which may also provide a negative pressure to suck the back 13 of the bird 10. The back plate drive 152 is preferably a pneumatic cylinder that is capable of moving the back plate 151 in a direction toward or away from the back 13 of the bird 10.
Fig. 11-17 illustrate an embodiment in which the first restraining member 100 restrains the thorax 14 and/or abdomen 15 of the bird 10, the first restraining member 100 further comprising a thorax/abdomen restraining member 160, the thorax/abdomen restraining member 160 being configured to restrain the thorax 14 and/or abdomen 15 of the body of the bird 10 in a third direction. Specifically, the first constraining member 100 includes a web 161 and a web actuator 162 for driving the web 161 to move, and the web 161 may be configured in a U-shaped groove, a flat plate, a profile or an arc-shaped groove. In this embodiment, the web driver 162 is a pulley structure (pulley line not shown) that enables the web 161 to move in a direction toward or away from the chest 14 and/or abdomen 15 of the bird 10.
As shown in fig. 27, the web 161 is preferably provided with web air holes 163, the web air holes 163 being capable of providing positive pressure to assist in dropping birds.
Fig. 28 shows an embodiment of the first restraining member 100 restraining the foot of the bird 10. The first restraining member 100 comprises a foot restraining member 170, and the foot restraining member 170 restraining the foot of the bird 10 to prevent kicking of the bird 10. Specifically, the first constraining member 100 includes a leg position restricting plate 171, the leg position restricting plate 171 is provided with a leg position restricting groove 172, and the leg position restricting groove 172 may be provided in a shape of U, V, square, semicircle, or the like. Preferably, the first constraint component 100 further includes a foot stopper 173, the foot stopper 173 is movably disposed at the foot limiting groove 172, the foot stopper 173 is buckled with the foot limiting groove 172 to form a limiting space for accommodating the ankle of the bird 10, the foot stopper 173 is preferably capable of moving along a first direction (x axis), in other embodiments, the foot stopper 173 may also be configured to rotate around the x axis, the y axis, or the z axis, as long as it can be opened with the foot limiting groove 172. Preferably, the first restriction member 100 further comprises a foot pushing plate 176, the foot pushing plate 176 is disposed in linkage with the foot stopper 173, and the foot stopper 173 is simultaneously opened in linkage when the foot pushing plate 176 pushes the ankle of the bird 10 outward. To straighten the birds 10 feet, the first restraining member 100 further includes a foot plate driver 174 connected to the foot stop plate 171, the foot plate driver 174 preferably being a pneumatic cylinder capable of moving the foot stop plate 171 in a direction toward or away from the birds 10.
While various embodiments of the first constraining member 100 have been described above, and there are many locations where power structures are needed in the embodiments, in implementing the technical solution of the present invention, the power structure of the first constraining member 100 can be selected from one or more of the following ways, but is not limited thereto: the device comprises (1) a pulley and gravity structure, (2) a constant force spring, (3) a cam and a spring, (4) a low friction cylinder, (5) a motor + (a synchronous belt, a screw rod, a gear rack and a connecting rod), (6) hydraulic pressure, (7) a spring, (8) a nitrogen spring, (9) a cylinder (friction force is unstable), (10) an electric cylinder and (11) a magnetic body.
In other embodiments, the bird recognition device further comprises a trajectory component connected to the first and/or second restriction components 100, 200 and defining a trajectory of movement of the first and/or second restriction components 100, 200, based on the further restriction of the first restriction component 100 to one or a combination of the femur 11, the head 12, the back 13, the chest 14, the abdomen 15, the feet of the bird 10. The track member may be a linear bearing, a (linear, curved, annular) guide rail, a magnetic levitation guide rail, a (sliding table, b-type) cylinder, etc., which can limit and guide the movement of the first constraint member 100 and/or the second constraint member 200, and the movement power of the first constraint member 100 and/or the second constraint member 200 may be provided by the driving member 20, or may be driven by an external force, as mentioned above, where the "external force" refers to a force applied by another body (e.g., an operator) besides the device itself.
The image collector 300 is used for collecting image information through the cloaca into the intestines of the birds 10. As shown in fig. 29 and fig. 30, in the preferred embodiment, the image collector 300 includes a collecting lens 301 and a camera module 302 optically connected to the collecting lens 301, an image sensor (not shown) is disposed in the camera module 302, and an optical image is converted into first image information by the image sensor and then transmitted to the first processing module. In other embodiments, the image collector 300 may transmit the image at the front end to the image sensor through the optical fiber, and then convert the image into an electrical signal; or the image sensor is directly installed at the front end of the image collector 300, and the light energy is directly transmitted in an electric signal mode after being converted into the electric energy.
In other embodiments, image capture device 300 comprises a capture lens 301 and a lens cover 303, wherein lens cover 303 is transparent or translucent. The material of the lens cover 303 may be glass, polymethyl methacrylate (PMMA), polystyrene (PS), polycarbonate (PC), or the like. The lens cover 303 can protect the acquisition lens 301, so that the damage probability of the acquisition lens 301 is reduced; and the lens cover 303 can prevent feces and the like in the intestinal tract of the bird 10 from covering the collecting lens 301, so that the collecting lens 301 can collect corresponding image information.
Preferably, the front end of the lens hood 303 is expanded. The intestinal wall of the poultry 10 is in a semitransparent state, the lens hood 303 is in an expanded shape, so that the intestinal wall of the poultry 10 can be further expanded, the lens hood 303 is tightly attached to the intestinal wall, the intestinal wall can be closer to a testis or an ovary, and an image of the gonad of the poultry 10 is observed more clearly through the intestinal wall.
Preferably, the lens hood 303 is divided into an inner section disposed inside the intestinal tract of the bird 10 and an outer section disposed outside the cloaca of the bird (when the image acquirer 300 acquires the first image information), and the acquisition lens 301 is disposed inside the inner section. The lens cover 303 has an outer segment extending to the outside to more effectively protect the taking lens 301 from being adhered by feces, and it is generally preferable to dispose the taking lens 301 in the inner segment so that the taking lens 301 has a clearer view; however, if the performance of the collecting lens 301 is stronger, the collecting lens 301 may also be placed in the outer segment (that is, the collecting lens 301 collects image information in the intestinal tract of the poultry 10 through the space opened by the lens cover 303 outside the poultry cloaca), as long as it is ensured that clear image information including the gonad is collected.
Preferably, the lens cover 303 is closed or hollow.
The bird gender identification device of the present invention further includes a purge port (not shown) that ejects fluid (including but not limited to air flow, water flow, etc.) from the image collector 300. After the image collector 300 collects the image information and moves out of the poultry intestinal tract, excrement can be adhered to the poultry intestinal tract, and the excrement adhered to the surface of the image collector 300 can be cleaned by the fluid sprayed from the cleaning port, so that the influence on the next identification operation is avoided, and the identification accuracy is improved.
The bird sex recognition device of the present invention further includes a sterilization port (not shown) for spraying a sterilization agent to the image collector 300. The image collector 300 is directly contacted with the intestinal tracts of different young birds, if the image collector is not disinfected, the infectious diseases of the young birds can be spread, and the disinfection port can disinfect the image collector 300, so that the spreading probability of the infectious diseases can be effectively reduced.
To ensure the stability and aesthetics of the apparatus, the bird gender identification apparatus is further provided with a base (not shown) to which the first and second restriction members 100, 200 are both attached. The understanding that first and second binding members 100, 200 are coupled to the base includes direct coupling and indirect coupling. For example, if first binding member 100 does not move, it may be directly coupled to the base; if the first constraining member 100 is driven by the driving member 20, it is first connected to the driving member 20, and the driving member 20 is directly connected to the base, so that the first constraining member 100 is indirectly connected to the base; likewise, the second binding member 200 may be attached to the base member by direct or indirect means.
The poultry sex identification device of the utility model also comprises a first sorting channel 31 for guiding male chicks to fall, a second sorting channel 32 for guiding female chicks to fall and a third sorting channel 33 for guiding unidentified poultry to fall.
Fig. 31 shows a first embodiment of the bird gender identification method, which comprises the following steps: s11, placing poultry by using a first constraint component; s12 (a) the first constraint member moves at least in a direction towards, away from, the second constraint member and/or S12 (b) the second constraint member is movable at least in a direction towards, away from, the first constraint member; s13, enabling an image collector connected with the second constraint component to enter an intestinal tract of the poultry through a cloaca of the poultry; s14, collecting first image information in the poultry intestinal tract by an image collector; s15, a first processing module receives first image information; and S16, the first processing module identifies the gender of the poultry according to the first image information.
Fig. 32 shows an embodiment two of the bird gender identification method, which comprises the following steps: s21, placing poultry by using a first constraint component; s22 (a) driving the first constraint component or S22 (b) driving the second constraint component to move; s23 (a) the first restraining member moves at least in a direction towards, away from, the second restraining member and/or S23 (b) the second restraining member is movable at least in a direction towards, away from, the first restraining member; s24, enabling an image collector connected with the second constraint component to enter an intestinal tract of the poultry through a cloaca of the poultry; s25, collecting first image information in the poultry intestinal tract by an image collector; s26, a first processing module receives first image information; s27, the first processing module identifies the gender of the poultry according to the first image information.
Fig. 33 shows a third embodiment of the bird gender identification method, which comprises the following steps: s31, placing poultry by the first constraint component; s32, the second processing module controls the driving component to move; s33 (a) the driving component drives the first constraint component and/or S33 (b) the driving component drives the second constraint component to move; s34 (a) the first restraining member moving at least in a direction towards, away from, the second restraining member and/or S34 (b) the second restraining member being movable at least in a direction towards, away from, the first restraining member; s35, enabling an image collector connected with the second constraint component to enter poultry intestinal tracts through a poultry cloaca; s36, collecting first image information in intestinal tracts of the poultry by an image collector; s37, a first processing module receives first image information; and S38, the first processing module identifies the gender of the poultry according to the first image information.
Fig. 34 shows a fourth embodiment of the method for identifying gender of birds, which comprises the following steps: s41, placing poultry by using a first constraint component; s42, before the image collector enters the poultry cloaca, the image collector collects second image information of the poultry cloaca, and the first processing module judges the relative position of the image collector and the poultry cloaca according to the second image information; s43, the second processing module controls the driving component to move; s44 (a) driving the first constraint component and/or S44 (b) driving the second constraint component to move; s45 (a) the first restraining member moving at least in a direction towards, away from, the second restraining member and/or S45 (b) the second restraining member being movable at least in a direction towards, away from, the first restraining member; s46, the image collector connected with the second constraint component enters the intestinal tract of the poultry through the cloaca of the poultry; s47, collecting first image information in intestinal tracts of poultry by an image collector; s48, the first processing module receives first image information; and S49, identifying the gender of the poultry by the first processing module according to the first image information.
Fig. 35 shows an embodiment five of the bird gender identification method, which comprises the following steps: s51, placing poultry by the first constraint component; s52, constraining at least the thighbone of the poultry by the first constraint component; s53 (a) the first constraint member is driven by an external force to move along a trajectory defined by the trajectory member and/or S53 (b) the second constraint member is driven by an external force to move along a trajectory defined by the trajectory member; s54 (a) the first constraint member moves at least in a direction towards, away from, the second constraint member and/or S54 (b) the second constraint member is movable at least in a direction towards, away from, the first constraint member; s55, enabling an image collector connected with the second constraint component to enter the intestinal tract of the poultry through the cloaca of the poultry; s56, collecting first image information in the poultry intestinal tract by an image collector; s57, the first processing module receives first image information; and S58, the first processing module identifies the gender of the poultry according to the first image information.
Fig. 36 shows an embodiment six of the bird gender identification method, which includes the following steps: s601. A first restraint member is placed on the poultry; s602, before the image collector enters the poultry cloaca, the image collector collects second image information to the poultry cloaca, and the first processing module judges the relative position of the image collector and the poultry cloaca according to the second image information; s603, the second processing module controls the driving member to move; s604 (a) the driving member drives the first restraining member and/or S604 (b) the driving member drives the second restraining member to move; s605 (a) the first constraint member moves at least in a direction towards and away from the second constraint member and/or S605 (b) the second constraint member is movable at least in a direction towards and away from the first constraint member; s606, enabling an image collector connected with the second constraint component to enter the intestinal tract of the poultry through the cloaca of the poultry; s607, collecting first image information in the poultry intestinal tract by an image collector; s608, the first processing module receives first image information; s609, identifying the gender of the poultry by the first processing module according to the first image information; s610, the image collector is moved out of the poultry cloaca, and the cleaning port sprays fluid to the image collector; s611, the disinfection port sprays a disinfectant to the image collector; and S612, enabling the young birds to fall into the corresponding sorting channels.
FIG. 37 shows an embodiment seven of a method of gender identification of birds (not shown)S712 to S714), comprising the steps of: s701, placing the first restraining member on the bird; s702, before the image collector enters the cloaca of the poultry, the image collector collects second image information of the cloaca of the poultry; s703, identifying a target area containing a cloaca by the first processing module; s704 (a) with the center O of the target area 1 Coordinate (a) of 1 ，b 1 ) Center O of the second image information is subtracted 2 Coordinate (a) of 2 ，b 2 ) Then, the absolute value is taken and divided by the length a corresponding to the second image information 0 And width b 0 To obtain two ratios r 1 、r 2 Ratio r 1 Compared with a first threshold value, the ratio r 2 Comparing with a second threshold; s704 (b), the first processing module calculates the length delta a of the target area and the length a of the second image information 0 Ratio r of 3 Calculating the width Δ b of the target region and the width b of the second image information 0 Ratio of (r) 4 The ratio r 3 Ratio r 4 Comparing with a third threshold; s705, the second processing module controls the driving component to move; s706 (a) driving the first constraint member and/or S706 (b) driving the second constraint member to move; s707 (a) the first constraint member moves at least in a direction towards and away from the second constraint member and/or S707 (b) the second constraint member is movable at least in a direction towards and away from the first constraint member; s708, enabling an image collector connected with the second constraint component to enter an intestinal tract of the poultry through a cloaca of the poultry; s709, collecting first image information in the intestinal tracts of the poultry by an image collector; s710, a first processing module receives first image information; s711, the first processing module identifies the gender of the poultry according to the first image information; s712, the image collector is moved out of the poultry cloaca, and the cleaning port sprays fluid to the image collector; s713, the disinfection port sprays a disinfectant to the image collector; and S714, enabling the young birds to fall into the corresponding sorting channels.
Although embodiments of the present invention have been shown and described, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art without departing from the scope of the present invention.
Claims (20)
1. Poultry gender identification equipment, its characterized in that: the poultry sex determination device comprises a first constraint member, a second constraint member, an image collector and a first processing module, wherein the first constraint member is used for placing poultry, the second constraint member is connected with the image collector, the first constraint member can move at least in the direction close to and far from the second constraint member and/or the second constraint member can move at least in the direction close to and far from the first constraint member, the image collector enters the poultry intestinal tract through the poultry cloaca and collects first image information in the poultry intestinal tract, the first processing module receives the first image information, and the first processing module identifies the gender of the poultry according to the first image information.
2. The bird gender identification device of claim 1, wherein: further comprising a drive member connected to the first and/or second restriction member.
3. The apparatus for gender identification of birds as claimed in claim 2, wherein: also included is a second processing module that controls movement of the drive member.
4. The bird gender identification device of claim 1, wherein: the first restriction member is capable of restricting any one or combination of the femur, head, back, chest, abdomen, feet of the bird.
5. The bird gender identification device of claim 1, wherein: the first constraint component comprises a femoral constraint component configured to constrain the femur of the bird on both sides of the torso in a first direction and/or a second direction.
6. The bird gender identification device of claim 5, wherein: the first restraining member further comprises at least one of a head restraining member, a pushing member; the head restraint member is disposed on one side of the femoral restraint member in the second direction for restraining the head of the bird in a direction away from the bird's torso in at least the second direction; the pushing component is arranged on one side of the femur constraining component, which faces away from the head of the bird, and is used for pushing the body of the bird at least along the second direction to enable the femur of the bird to abut against the femur constraining component.
7. The bird gender identification device of claim 6, wherein: the first restraining member further comprises a back restraining member configured to restrain the back of the bird carcass in a third direction.
8. The bird gender identification device of claim 7, wherein: the back restraint member comprises a back plate, and the back plate is provided with back plate air holes or connected with back plate suckers.
9. The bird gender identification device of claim 7, wherein: the first restraining member further comprises a chest/abdomen restraining member configured to restrain the chest and/or abdomen of the bird's torso in the third direction.
10. The bird gender identification device of claim 6, wherein: the first restraining member further comprises a foot-restraining member that restrains the foot of the bird.
11. The apparatus for gender identification of birds as claimed in claim 4, wherein: further comprising a trajectory member connected to the first and/or second restriction member and defining a trajectory of movement of the first and/or second restriction member.
12. Apparatus for gender identification of birds as claimed in any of claims 1 to 11, wherein: the image collector comprises a collecting lens and a camera module which is optically connected with the collecting lens, and an image sensor is arranged in the camera module.
13. The bird gender identification device of any one of claims 1 to 11, wherein: the image collector comprises a collecting lens and a lens cover sleeved on the periphery of the collecting lens.
14. The bird gender identification device of claim 13, wherein: the front end of the lens hood is in an expanded shape.
15. The bird gender identification device of claim 13, wherein: the lens cover is divided into an inner section and an outer section, the inner section is arranged inside the poultry intestinal canal, the outer section is arranged outside the poultry cloaca, and the collecting lens is arranged inside the inner section.
16. The bird gender identification device of claim 13, wherein: the lens cover is closed or hollowed.
17. The bird gender identification device of any one of claims 1 to 11, wherein: the cleaning device also comprises a cleaning port which sprays fluid to the image collector.
18. Apparatus for gender identification of birds as claimed in any of claims 1 to 11, wherein: the image collector also comprises a disinfection port, and the disinfection port sprays disinfectant to the image collector.
19. The bird gender identification device of any one of claims 1 to 11, wherein: the first constraint component and the second constraint component are connected with the base.
20. The bird gender identification device of any one of claims 1 to 11, wherein: also included are a first sorting channel to direct the fall of male birds, a second sorting channel to direct the fall of female birds, and a third sorting channel to direct the fall of unidentified birds.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221137248.9U CN218451290U (en) | 2022-05-11 | 2022-05-11 | Poultry sex recognition device |
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| CN202221137248.9U CN218451290U (en) | 2022-05-11 | 2022-05-11 | Poultry sex recognition device |
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| CN218451290U true CN218451290U (en) | 2023-02-07 |
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| CN202221137248.9U Withdrawn - After Issue CN218451290U (en) | 2022-05-11 | 2022-05-11 | Poultry sex recognition device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114916468A (en) * | 2022-05-11 | 2022-08-19 | 惠州市小象智能科技有限公司 | Poultry gender identification equipment and poultry gender identification method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114916468A (en) * | 2022-05-11 | 2022-08-19 | 惠州市小象智能科技有限公司 | Poultry gender identification equipment and poultry gender identification method |
| CN114916468B (en) * | 2022-05-11 | 2023-11-14 | 惠州市小象智能科技有限公司 | Poultry sex identification device and poultry sex identification method |
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