Ultrasonic knife-assisted poultry carcass multi-part flexible humanoid segmentation device and ultrasonic knife-assisted poultry carcass multi-part flexible humanoid segmentation method

Abstract

The invention provides an ultrasonic knife assisted poultry carcass multi-part flexible humanoid segmentation device and method, and relates to the technical field of poultry raw meat pretreatment intelligent processing, and the device comprises a poultry carcass online circulating conveying module which comprises a vertical double-track annular guide rail conveying line and a special-shaped annular guide rail; the poultry carcass multi-part anti-deviation clamping module is mounted on the vertical double-rail annular guide rail conveying line and is used for fixing poultry carcasses at multiple points, controlling a clamp to loosen under the action of the special-shaped annular guide rail after the poultry carcasses pass through the cutting stations, and respectively collecting poultry carcass parts; the poultry carcass scanning imaging and cutting path planning module is used for carrying out scanning imaging on poultry carcasses, generating a cutting path planning instruction set according to image data obtained through scanning and sending the cutting path planning instruction set to the lower computer; and the ultrasonic knife four-dimensional movement flexible humanoid segmentation module comprises a lower computer and a four-axis platform ultrasonic knife segmentation device, and the lower computer plans an instruction set according to the cutting path and controls the four-axis platform ultrasonic knife segmentation device to carry out flexible humanoid segmentation on multiple parts of the poultry carcass.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent pre-processing of raw poultry meat, and in particular to a device and method for flexible human-like cutting of multiple parts of a poultry carcass assisted by an ultrasonic knife. Background Art

[0002] With the development of food industrialization, higher standardization requirements have been put forward for the pre-processing of raw meat. In particular, the precise cutting and slicing of different parts of poultry carcasses such as necks, wings, legs, etc. has become an urgent need of the industry. However, at present, the cutting and slicing of multiple parts of poultry carcasses mostly adopts the method of manually assisted assembly lines, which has problems such as high labor intensity, low production efficiency, and low degree of intelligence, and it is difficult to meet the needs of the industry. Summary of the invention

[0003] In view of the problems existing in the prior art, the present invention provides a device and method for flexible humanoid cutting of multiple parts of a poultry carcass assisted by an ultrasonic knife.

[0004] In a first aspect, the present invention provides an ultrasonic knife-assisted poultry carcass multi-part flexible humanoid cutting device, comprising: Poultry carcass online circulation conveying module, including vertical double-track circular guide conveying line and special-shaped circular guide; A poultry carcass multi-position anti-deviating clamping module is installed on the vertical double-track annular guide rail conveyor line, and is used to fix various parts of the poultry carcass at multiple points, so that the poultry carcass moves to the scanning station and the cutting station in sequence along the vertical double-track annular guide rail conveyor line, and after passing through the cutting station, the clamp is controlled to release and collect various parts of the poultry carcass under the action of the special-shaped annular guide rail; A poultry carcass scanning imaging and cutting path planning module, comprising a scanning imaging device and a host computer connected to the scanning imaging device, wherein the scanning imaging device is used to scan and image the poultry carcass moved to the scanning station, and the host computer is used to accurately select multiple parts of the poultry carcass according to the image data obtained by scanning, generate a multi-part flexible cutting path planning instruction set for the poultry carcass, and send the multi-part flexible cutting path planning instruction set to the lower computer of the ultrasonic knife four-dimensional mobile flexible humanoid cutting module; The ultrasonic knife four-dimensional mobile flexible anthropomorphic cutting module includes the lower computer communicatively connected to the upper computer, and a four-axis platform ultrasonic knife cutting device controlled by the lower computer, wherein the four-axis platform ultrasonic knife cutting device includes a four-axis motion platform and an ultrasonic knife head mounted on the four-axis motion platform, and the lower computer is used to control the four-axis platform ultrasonic knife cutting device to perform flexible anthropomorphic cutting on multiple parts of the poultry carcass moved to the cutting station according to the received multi-part flexible cutting path planning instruction set.

[0005] In some embodiments, the special-shaped annular guide rail includes a first portion, a second portion and a step located between the first portion and the second portion, the first portion and the second portion both include arc segments and parallel straight line segments, and the spacing between the parallel straight line segments of the first portion is greater than the spacing between the parallel straight line segments of the second portion.

[0006] In some embodiments, the poultry carcass multi-position anti-deviating clamping module comprises: A tray for carrying the poultry carcass, the tray being fixed on the slide of the vertical double-track annular guide rail conveyor line, the tray comprising a recessed portion in the middle and four supporting structures located at the periphery, the four supporting structures all being inclined downward toward the outside of the tray, facilitating the classification and collection of various parts of the poultry carcass when the clamp is opened, the four supporting structures being used to carry the limbs of the poultry carcass, and the appearance of the tray being designed according to the contour of the poultry carcass; A bracket, wherein the bracket is fixed on a slide seat of the vertical double-track annular guide rail conveyor line, and a linear bearing is installed on the bracket; A displacement adjustment plate is vertically arranged on the bracket; A pressure rod, the pressure rod is mounted on the displacement adjustment plate, a contact block is provided at a first end of the pressure rod, and the contact block contacts with the limbs of the poultry carcass when the poultry carcass is fixed; A connecting rod, wherein the connecting rod passes through the linear bearing, the first end of the connecting rod is connected to the second end of the pressure rod, the second end of the connecting rod is connected to the special-shaped annular guide rail and can slide along the special-shaped annular guide rail, when the second end of the connecting rod is located at the first part of the special-shaped annular guide rail, the second end of the pressure rod is lifted, so that the first end of the pressure rod drives the contact block to be pressed down, and when the second end of the connecting rod transitions from the step of the special-shaped annular guide rail to the second part, the second end of the pressure rod is pulled down, so that the first end of the pressure rod drives the contact block to be lifted up.

[0007] In some embodiments, the scanning imaging device includes a three-dimensional line laser scanner and an X-ray detector.

[0008] In some embodiments, the method of accurately selecting multiple parts of a poultry carcass based on the scanned image data and generating a flexible cutting path planning instruction set for multiple parts of the poultry carcass comprises: Using the target detection model to perform domain recognition of each cutting part on the poultry carcass depth image obtained by the three-dimensional line laser scanner, planning the cutting path of the ultrasonic blade according to the recognition result and the cutting order of each cutting part, and generating a multi-part flexible cutting path planning instruction set for the poultry carcass; Wherein, the target detection model is trained based on sample poultry carcass depth images with cutting part identification labels.

[0009] In some embodiments, planning the cutting path of the ultrasonic cutter head according to the recognition result and the cutting order of each cutting part includes: Planning the cutting path of the ultrasonic blade according to the recognition result, the three-dimensional coordinates of the internal joints of the poultry carcass cutting position and the cutting order of each cutting part; The three-dimensional coordinates of the internal joints of the poultry carcass cutting position are obtained based on the coordinate calibration of the poultry carcass skeleton structure in the X-ray image obtained by the X-ray detection machine.

[0010] In some embodiments, the target detection model is a YOLO model.

[0011] In some embodiments, the host computer is also used to generate a three-dimensional visual outline of the poultry carcass based on the scanned image data.

[0012] In some embodiments, generating a three-dimensional visual contour of the poultry carcass based on the scanned image data comprises: Three-dimensional reconstruction is performed based on the depth image of the poultry carcass obtained by the three-dimensional line laser scanner to generate a three-dimensional visualized contour of the poultry carcass.

[0013] In a second aspect, the present invention further provides a cutting method performed by the ultrasonic knife-assisted poultry carcass multi-part flexible humanoid cutting device according to the first aspect, the method comprising: The vertical double-track annular guide rail conveyor line is started, driving the poultry carcasses fixed on the poultry carcass multi-position anti-deviation clamping module to move to the scanning station; The scanning imaging device scans and images the poultry carcass moved to the scanning station, and sends the scanned image data to the host computer. The host computer accurately selects multiple parts of the poultry carcass according to the image data, generates a multi-part flexible cutting path planning instruction set for the poultry carcass, and sends the multi-part flexible cutting path planning instruction set to the slave computer; The lower computer controls the four-axis platform ultrasonic knife cutting equipment to perform flexible humanoid cutting on multiple parts of the poultry carcass moved to the cutting station according to the received multi-part flexible cutting path planning instruction set. After passing through the cutting station, the clamp is released under the action of the special-shaped annular guide rail, and the various parts of the poultry carcass are classified and collected.

[0014] The ultrasonic knife-assisted poultry carcass multi-part flexible anthropomorphic cutting device and method provided by the present invention connects other module workstations in series through the poultry carcass online circulation conveying module to play a cyclic reciprocating role, thereby greatly improving the production efficiency. The poultry carcass multi-part anti-deviation clamping module realizes the multi-point full-automatic anti-deviation clamping function of the poultry carcass, and the poultry carcass scanning imaging and cutting path planning module realizes automatic accurate planning of the cutting path according to the scanning result. The ultrasonic knife four-dimensional mobile flexible anthropomorphic cutting module realizes accurate flexible anthropomorphic cutting of various parts of the poultry carcass, thereby not only effectively solving the problems of high labor intensity, low production efficiency, low intelligence level, etc. existing in the current poultry carcass multi-part cutting and slicing, but also can further improve the raw meat cutting accuracy, cutting efficiency, intelligence level, and reduce losses, which is also of great significance to the intelligent upgrading of poultry processing and promoting the industrial upgrading of the meat industry. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0016] Figure 1 The present invention is a schematic structural diagram of an ultrasonic knife-assisted poultry carcass multi-part flexible humanoid cutting device.

[0017] Figure 2 It is a schematic diagram of the special-shaped annular guide rail provided by the present invention.

[0018] Figure 3 It is a schematic diagram of a poultry carcass multi-position anti-deviating clamping module provided by the present invention.

[0019] Figure 4 It is an example diagram of the three-dimensional visualized contour of a poultry carcass and the flexible humanoid cutting path planning provided by the present invention.

[0020] Figure 5 It is a schematic diagram of the four-axis platform ultrasonic knife cutting equipment provided by the present invention.

[0021] Figure 6 It is the overall workflow diagram provided by the present invention.

[0022] Figure 7 It is a schematic flow chart of the segmentation method provided by the present invention. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0024] In the present invention, the term "and / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B may represent: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the associated objects before and after are in an "or" relationship.

[0025] In the present invention, the term "plurality" refers to two or more than two, and other quantifiers are similar to them.

[0026] In the present invention, the terms "first", "second", etc. are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the terms used in this way can be interchangeable under appropriate circumstances, so that the embodiments of the present invention can be implemented in an order other than those illustrated or described herein, and the objects distinguished by "first" and "second" are generally of the same type, and the number of objects is not limited. For example, the first object can be one or more.

[0027] Combine the following Figure 1-Figure 7 Embodiments of the present invention are described.

[0028] Figure 1 Schematic diagram of the structure of the ultrasonic knife-assisted poultry carcass multi-part flexible humanoid cutting device provided by the present invention, such as Figure 1 As shown, the device includes a poultry carcass online circulation conveying module, a poultry carcass multi-position anti-deviating clamping module, a poultry carcass scanning imaging and cutting path planning module, and an ultrasonic knife four-dimensional mobile flexible humanoid cutting module.

[0029] Among them, the poultry carcass online circulation conveying module includes a vertical double-track ring guide conveyor line and a special-shaped ring guide.

[0030] The multi-part anti-deviated clamping module for poultry carcasses is installed on the vertical double-track circular guide conveyor line. It is used to fix various parts of the poultry carcasses at multiple points, so that the poultry carcasses move to the scanning station and the cutting station in sequence along the vertical double-track circular guide conveyor line. After passing the cutting station, the clamp is controlled by the special-shaped circular guide to release and collect various parts of the poultry carcasses respectively.

[0031] The poultry carcass scanning imaging and cutting path planning module includes a scanning imaging device and a host computer connected to the scanning imaging device. The scanning imaging device is used to scan and image the poultry carcass moved to the scanning station. The host computer is used to accurately select multiple parts of the poultry carcass based on the image data obtained by the scan, generate a multi-part flexible cutting path planning instruction set for the poultry carcass, and send the multi-part flexible cutting path planning instruction set to the lower computer of the ultrasonic knife four-dimensional mobile flexible humanoid cutting module.

[0032] The ultrasonic knife four-dimensional mobile flexible anthropomorphic cutting module includes a lower computer connected to the upper computer for communication, and a four-axis platform ultrasonic knife cutting device controlled by the lower computer. The four-axis platform ultrasonic knife cutting device includes a four-axis motion platform and an ultrasonic knife head mounted on the four-axis motion platform. The lower computer is used to control the four-axis platform ultrasonic knife cutting device to perform flexible anthropomorphic cutting on multiple parts of a poultry carcass moved to the cutting station according to the received multi-part flexible cutting path planning instruction set.

[0033] Specifically, the poultry carcass online circulation conveying module adopts a vertical double-track circular guide rail conveying line to connect the workstations of other modules in series, which plays a reciprocating role and greatly improves the production efficiency.

[0034] The special-shaped circular guide rail is used to assist the anti-deviation clamping module of the poultry carcass to fix and release the multiple parts of the poultry carcass. The above-mentioned clamp refers to the clamp used to fix the multiple parts of the poultry carcass. The special-shaped circular guide rail is a fixed and static guide rail, which is also a double-track design and is installed on the frame together with the vertical double-track circular guide rail conveyor line.

[0035] In some embodiments, the special-shaped annular guide rail includes a first portion, a second portion and a step located between the first portion and the second portion, the first portion and the second portion both include arc segments and parallel straight line segments, and the spacing between the parallel straight line segments of the first portion is greater than the spacing between the parallel straight line segments of the second portion.

[0036] Reference Figure 2 In the schematic diagram of the special-shaped annular guide rail shown in FIG. 1 , the first part refers to the left part of the step, and the second part refers to the right part of the step. Since the spacing of the parallel straight line segments in the first part is greater than the spacing of the parallel straight line segments in the second part, there are two steps when the parallel straight line segments in the first part transition to the parallel straight line segments in the second part, such as Figure 2 As shown in the figure, the upper step and the lower step can, of course, be a step with a straight line transition or a step with an arc transition, which is not limited here.

[0037] The multi-position anti-deviation clamping module for poultry carcasses is installed on the vertical double-track circular guide conveyor line. The multi-position anti-deviation clamping module for poultry carcasses is used to fix the poultry carcasses at multiple points (for example, the four limbs of the poultry carcasses are fixed separately, and the four limbs are two wings and two legs), so that the poultry carcasses can be moved to the scanning station and the cutting station in sequence along the vertical double-track circular guide conveyor line.

[0038] Reference Figure 3 The schematic diagram of the multi-position anti-deviation clamping module for a poultry carcass is shown. In some embodiments, the multi-position anti-deviation clamping module for a poultry carcass includes a tray, a bracket, a displacement adjustment plate, a pressure rod, a connecting rod and other components for supporting the poultry carcass.

[0039] The tray is fixed on the slide of the vertical double-track circular guide conveyor line. The tray includes a concave portion in the middle and four supporting structures located on the periphery. The four supporting structures are all inclined downward toward the outside of the tray. When the clamp is opened, it is convenient to classify and collect various parts of the poultry carcass. The four supporting structures are used to carry the limbs of the poultry carcass. The appearance of the tray is designed according to the contour of the poultry carcass, that is, the shape of the tray basically corresponds to the contour of the poultry carcass. The four supporting structures are all inclined downward toward the outside of the tray, so that the limbs of the poultry carcass can fall under the action of gravity after being cut.

[0040] The bracket is fixed on the slide seat of the vertical double-track circular guide conveyor line. A linear bearing is installed on the bracket (to facilitate the connecting rod to move up and down more smoothly), and a displacement adjustment plate is also vertically arranged on the bracket.

[0041] The pressure rod is mounted on the displacement adjustment plate, and a contact block is provided at the first end of the pressure rod, which contacts the limbs of the poultry carcass when the poultry carcass is fixed. The contact position between the pressure rod and the displacement adjustment plate is used as a fulcrum, and the pressure rod can rotate up and down around the fulcrum.

[0042] The connecting rod passes through the linear bearing, the first end of the connecting rod is connected to the second end of the pressure rod, the second end of the connecting rod is connected to the special-shaped annular guide rail and can slide along the special-shaped annular guide rail, when the second end of the connecting rod is located at the first position of the special-shaped annular guide rail, the second end of the pressure rod is lifted, so that the first end of the pressure rod drives the contact block to be pressed down, and when the second end of the connecting rod transitions from the step of the special-shaped annular guide rail to the second position, the second end of the pressure rod is pulled down, so that the first end of the pressure rod drives the contact block to be lifted up.

[0043] It can be understood that in order to fix the limbs of the poultry carcass, four contact blocks and corresponding pressure rods, connecting rods, displacement adjustment plates and other components are required.

[0044] The pressure rod and the contact block at the end can be connected by an angle spring. The contact block is mainly used to press the limbs of the poultry carcass. The displacement adjustment plate can adjust the pressing angle of the pressure rod according to the size of the poultry carcass. The connecting rod is vertically connected to the special-shaped annular guide rail. At the initial working position, the second end (i.e., the bottom) of the connecting rod is located at the parallel straight line segment of the first part of the special-shaped annular guide rail. At this time, the connecting rod is lifted upward, so that the contact block at the end of the pressure rod presses the limbs of the poultry carcass. After the poultry carcass is cut, the bottom of the connecting rod slides to the step part of the special-shaped annular guide rail, and the bottom of the connecting rod descends, driving the contact block at the end of the pressure rod to lift up, thereby automatically loosening the fixation of the limbs of the poultry carcass, and the limbs of the poultry carcass can fall under the action of gravity.

[0045] In some embodiments, the scanning imaging device includes a three-dimensional line laser scanner and an X-ray detector. The three-dimensional line laser scanner is mainly used to scan the outline of the poultry carcass, and the X-ray detector is mainly used to detect whether there are foreign objects or defects inside the poultry carcass, and to detect the skeleton structure of the poultry carcass.

[0046] In some embodiments, the host computer can generate a three-dimensional visual outline of the poultry carcass based on the scanned image data.

[0047] In some embodiments, generating a three-dimensional visual outline of a poultry carcass based on the scanned image data includes: Three-dimensional reconstruction is performed based on the depth image of the poultry carcass obtained by the three-dimensional line laser scanner to generate a three-dimensional visual outline of the poultry carcass.

[0048] Reference Figure 4 After obtaining the depth image of the poultry carcass through the three-dimensional line laser scanner, the depth image can be down-sampled, hole compensated, background segmented and three-dimensional model reconstructed through the point cloud preprocessing algorithm to obtain the three-dimensional visualization contour of the poultry carcass. The three-dimensional visualization contour of the poultry carcass can be used to evaluate whether the size, shape, color, etc. of the poultry carcass meet the standards.

[0049] In some embodiments, multiple parts of a poultry carcass are accurately selected based on the scanned image data to generate a flexible cutting path planning instruction set for multiple parts of the poultry carcass, including: The target detection model is used to perform domain recognition of each cutting part on the poultry carcass depth image obtained by the three-dimensional line laser scanner. According to the recognition result and the cutting order of each cutting part, the cutting path of the ultrasonic blade is planned, and the multi-part flexible cutting path planning instruction set of the poultry carcass is generated. Among them, the object detection model is trained based on sample poultry carcass depth images with cutting part identification labels.

[0050] The target detection model can be, for example, a YOLO model or an improved YOLO model (for example, modifying the C2f structure and loss function to enhance the feature extraction capability of poultry carcasses). The model has the advantages of real-time performance, high precision, small memory footprint, and compatibility with multiple platforms. After being trained with a large number of sample poultry carcass deep images with cutting part identification labels, the model's feature extraction capability for poultry carcasses can be effectively enhanced, thereby accurately identifying the various cutting parts of the poultry carcasses (neck, wings, legs).

[0051] It can be understood that the target detection model can be used to identify the neck, wings, legs and other cutting parts in the depth image of the poultry carcass, so as to obtain the coordinates of the edges or endpoints of the cutting parts. Based on these coordinates, the cutting path of each cutting part can be calculated (such as Figure 4 The straight line drawn by (f) in the figure), combined with the cutting order of each cutting part (for example, in the order of neck, left wing, left leg, right leg, and right wing), can plan the cutting path of the ultrasonic knife head, thereby generating a multi-part flexible cutting path planning instruction set. The subsequent lower computer can control the four-axis platform ultrasonic knife cutting equipment to perform flexible human-like cutting on various parts of the poultry carcass moved to the cutting station according to the received multi-part flexible cutting path planning instruction set.

[0052] It should be noted that the cutting path of the above-mentioned ultrasonic cutter head refers to the path of the cutting point of the ultrasonic cutter head. After the lower computer receives the above-mentioned cutting path planning instruction set, it can calculate the moving path of the four-axis motion platform according to the path of the cutting point of the ultrasonic cutter head, thereby achieving precise cutting.

[0053] It should be noted that the coordinates of the cutting path of the ultrasonic cutter are based on the same coordinate origin, which can be called the first coordinate origin. The coordinates of the moving path of the four-axis motion platform are based on another coordinate origin, which can be called the second coordinate origin, and the second coordinate origin is different from the first coordinate origin.

[0054] In some embodiments, the cutting path of the ultrasonic cutter head is planned according to the recognition result and the cutting order of each cutting part, including: The cutting path of the ultrasonic blade is planned according to the recognition results, the three-dimensional coordinates of the internal joints of the poultry carcass cutting position and the cutting order of each cutting part; The three-dimensional coordinates of the internal joints of the poultry carcass cutting position are obtained based on the coordinate calibration of the poultry carcass skeleton structure in the X-ray image obtained by the X-ray detection machine.

[0055] In order to more accurately cut the joints and avoid cutting the bones during cutting, the present invention uses the X-ray image obtained by the X-ray detector to synchronously convert the coordinates of the skeleton structure of the poultry carcass in the X-ray image with the depth image, and then calibrates the three-dimensional coordinates of the internal joints of the cutting position of the poultry carcass according to the national poultry carcass cutting standard. After identifying the cutting parts of the poultry carcass (neck, wings, legs), the cutting path can be calculated by combining the identification results and the three-dimensional coordinates of the internal joints of the cutting position of the poultry carcass.

[0056] For the four-axis platform ultrasonic knife cutting equipment, first of all, considering the common problems of sticking and inaccuracy of traditional mechanical knives, high-pressure water knives and other livestock and poultry meat cutting tools, the present invention uses an ultrasonic knife as a cutting tool. The ultrasonic knife has the advantages of low adhesion, high controllable accuracy, and a smooth cutting surface, which can effectively improve the cutting accuracy of raw meat and reduce losses.

[0057] In addition, the four-axis platform ultrasonic knife cutting device used in the present invention includes a four-axis motion platform and an ultrasonic knife head mounted on the four-axis motion platform, such as Figure 5 As shown, the four-axis motion platform includes X-axis, Y-axis, Z-axis, and an R-axis (rotation axis), which can drive the ultrasonic cutter head to move in three directions: X-axis, Y-axis, and Z-axis, and drive the ultrasonic cutter head to rotate through the R-axis (can achieve 360° rotation) to meet the needs of precise cutting. Figure 5 The ultrasonic generator in the device is used to drive the ultrasonic cutter head.

[0058] The ultrasonic knife-assisted poultry carcass multi-part flexible anthropomorphic cutting device provided by the present invention connects other module workstations in series through the poultry carcass online circulation conveying module to play a cyclic reciprocating role, thereby greatly improving the production efficiency. The poultry carcass multi-part anti-deviation clamping module realizes the multi-point full-automatic anti-deviation clamping function of the poultry carcass, and the poultry carcass scanning imaging and cutting path planning module realizes automatic accurate planning of the cutting path according to the scanning result. The ultrasonic knife four-dimensional mobile flexible anthropomorphic cutting module realizes accurate flexible anthropomorphic cutting of various parts of the poultry carcass, thereby not only effectively solving the problems of high labor intensity, low production efficiency, low intelligence level, etc. existing in the current poultry carcass multi-part cutting and slicing, but also can further improve the raw meat cutting accuracy, cutting efficiency, intelligence level, and reduce losses, which is also of great significance to the intelligent upgrading of poultry processing and promoting the industrial upgrading of the meat industry.

[0059] The following describes this using more specific examples.

[0060] In this example, five poultry carcass multi-part anti-deviation clamping module stations are equipped on a 2.5-meter-long vertical double-track circular guide conveyor line. During operation, the poultry carcass is manually placed on the poultry carcass multi-part anti-deviation clamping module station at the far left end of the vertical double-track circular guide conveyor line. The tray below is designed according to the contour of the poultry carcass, which is convenient for unfolding the poultry carcass and fixing the limbs of the poultry carcass with the contact block at the end of the pressure rod. Then, the vertical double-track circular guide conveyor line receives the conveying instruction and conveys the poultry carcass to the poultry carcass scanning imaging and cutting path planning module station (i.e., the scanning station) for laser scanning and X-ray detection. The upper computer executes the path planning algorithm and forms an instruction set. Then, the poultry carcass continues to be conveyed forward to the cutting station. The lower computer PLC controls the ultrasonic knife to execute the cutting instruction. After the cutting is completed, it continues to be conveyed forward to complete the sorting and returns to the initial station to complete the cycle operation. Figure 6 The figure shows the overall workflow, which is explained in modules below.

[0061] 1. Anti-deviation clamping module for multiple parts of poultry carcasses.

[0062] At the initial station, the pressure rod is in the downward pressure state, and the poultry carcass is manually placed on the pallet. The contact block is opened to press the limbs of the poultry carcass to prevent it from shaking during transportation until it reaches the cutting station and stops. After cutting and cutting are completed, the pallet enters the upper step of the special-shaped circular guide rail. At this time, the connecting rod descends to drive the pressure rod to lift up, and the limbs of the poultry carcass slide into the storage box below under the action of gravity. The pallet continues to be transported forward with the vertical double-track circular guide conveyor line. After entering the lower step of the special-shaped circular guide rail, the pressure rod returns to the downward pressure state and returns to the initial station to realize the cycle operation.

[0063] 2. Poultry carcass scanning imaging and cutting path planning module.

[0064] This module is used to visualize the external contour and internal structure of poultry carcasses, and provide the original data set for subsequent cutting path planning. After setting the equipment parameters that match the actual conveying environment and physical calibration, the dark box is closed to prevent radiation pollution and light interference, and the depth image and X-ray image of the poultry carcass scanned by the 3D line laser scanner and X-ray inspection machine are obtained.

[0065] Before performing domain identification of each cutting part, the target detection model needs to be trained. The YOLO target detection algorithm in deep learning or its latest variant is used to execute the dataset training program, which has the advantages of real-time performance, high accuracy, small memory usage, and compatibility with multiple platforms. Figure 4As shown in (a) and (b) in the figure, the poultry carcass cutting parts detection model based on the YOLO algorithm is trained by dividing it into training set, validation set and test set in a ratio of 7:2:1. The feature extraction capability of the poultry carcass can be further enhanced by modifying the C2f structure and loss function, thereby accurately identifying the cutting parts of the poultry carcass (neck, wings, legs).

[0066] Reference Figure 4 In (c), (d) and (e), after scanning the poultry carcass arriving at the scanning station to obtain the three-dimensional scanning image of the poultry carcass (i.e., the depth image of the poultry carcass), the depth image is preprocessed with a point cloud preprocessing algorithm to obtain a point cloud preprocessing image, and the three-dimensional model image of the poultry carcass is obtained by executing procedures such as downsampling, hole compensation, background segmentation and three-dimensional model reconstruction, thereby obtaining a three-dimensional visual outline of the poultry carcass, which can be used to evaluate whether the size, shape, color, etc. of the poultry carcass meet the standards. In addition, the X-ray image can be used to determine whether there are foreign objects or defects inside the poultry carcass. The skeletal structure of the poultry carcass in the X-ray image is combined and converted synchronously with the depth image, and then the three-dimensional coordinates of the internal joints of the poultry carcass cutting position are calibrated according to the national poultry carcass segmentation standard. Then, the trained poultry carcass cutting part detection model based on the YOLO algorithm is used to calculate the cutting path in combination with the above-mentioned internal and external cutting point coordinates, as shown in FIG. Figure 4 As shown in (f) in the figure, the result is output as an instruction set and sent to the lower computer control system to guide the ultrasonic knife cutting. Real-time data can be stored in the form of tables, charts, etc., which is convenient for data tracing and performance analysis.

[0067] 3. Ultrasonic knife four-dimensional mobile flexible humanoid cutting module.

[0068] The ultrasonic blade is made of special alloy material with high strength and good ultrasonic conductivity. The blade shape is designed according to the cutting requirements of poultry carcasses, and there are a variety of different arcs and blade types to choose from to adapt to the cutting of different parts. For joints, a thinner and sharper blade is designed; for large muscle areas, a curved blade with a corresponding width is used.

[0069] The ultrasonic generator can generate stable and power-adjustable ultrasonic vibrations. The power range is set according to the characteristics of the cutting tissue, generally between 20-50kHz. By precisely controlling the ultrasonic power and amplitude, efficient cutting of different tissues can be achieved. Lower power is used to cut harder bone tissue, and higher power is used to process soft muscle and skin tissue. The ultrasonic knife motion module is controlled by the PLC control system, which can realize movement in four directions: X-axis, Y-axis, Z-axis, and R-axis. The R-axis is the rotation angle of the ultrasonic knife head, which can achieve 360° rotation. The PLC control system accurately controls the movement process of the ultrasonic knife head according to the instruction set sent by the host computer. The module uses high-precision motors and transmission devices, so that the ultrasonic knife head can move quickly and accurately to the specified cutting position and cut according to the preset order. The motion control module has real-time feedback and adjustment functions to cope with the slight displacement of the poultry carcass during the cutting process.

[0070] 4. The whole machine is linked.

[0071] The whole machine linkage refers to the coordination and cooperation between the various subsystem components in the multi-part cutting operation of poultry carcasses, so that the entire system can operate efficiently and accurately. The following are several key aspects that affect the whole machine linkage effect: System integration: Integrate different hardware and software systems into a unified platform, mainly including vertical double-track circular guide conveyor line, anti-deviated clamping module for multiple parts of poultry carcasses, scanning imaging equipment (X-ray inspection machine, three-dimensional line laser scanner), four-axis platform ultrasonic knife flexible humanoid cutting equipment, PLC ultrasonic knife control system, visual imaging software, monitoring system, etc. Among them, the monitoring system is used to detect data and operation process in real time to ensure the smooth progress of each link, and regularly generate performance analysis reports; the visual imaging software is an intuitive interactive interface for easy data viewing and command operation.

[0072] Data flow: ensure the smooth transmission of data between various components. The scanning imaging equipment mainly obtains the image data of the poultry carcass in real time and transmits it to the algorithm processing unit in real time. After the data is processed, a three-dimensional model, cutting path planning instruction set and information feedback are generated. At the same time, the lower computer receives the instructions and executes the cutting program and adjusts the operation parameters.

[0073] Equipment collaboration: The lower computer automatically controls the start and stop, switching, and operation status of the robot arm and ultrasonic knife through the PLC control system. When the upper computer detects an abnormality in the feedback data, the system issues an alarm and notifies the operator to take timely countermeasures.

[0074] Efficiency improvement and optimization: The ultimate goal of whole-machine linkage is to improve efficiency and optimize production flow. By analyzing a large amount of data, the system can provide intelligent decision support to help managers optimize production processes. The whole-machine linkage system needs to be continuously optimized and upgraded, with regular hardware and software updates and the introduction of new algorithms and technologies to improve the production efficiency of the assembly line.

[0075] The realization of the whole machine linkage effect not only improves the working efficiency of the poultry carcass intelligent cutting platform, but also enhances the reliability and accuracy of the system. Through the coordinated work of the equipment, the rapid flow of data and the excellent human-computer interaction design, the entire system can operate efficiently in a complex production environment, achieve the goals of intelligent positioning and cutting, loss reduction and consumption reduction, and improve the level of intelligent standardization of poultry cutting.

[0076] The following is a description of a segmentation method provided by the present invention and performed based on the above-mentioned device. The method described below and the device described above can be referenced to each other.

[0077] Figure 7 It is a schematic diagram of the process of the segmentation method provided by the present invention, such as Figure 7 As shown, the method includes the following steps 701, 702 and 703.

[0078] Step 701: The vertical double-track circular guide conveyor line is started, driving the poultry carcasses fixed on the poultry carcass multi-position anti-deviation clamping module to move to the scanning station.

[0079] Step 702, the scanning imaging device scans and images the poultry carcass moved to the scanning station, and sends the scanned image data to the upper computer. The upper computer accurately selects multiple parts of the poultry carcass based on the image data, generates a multi-part flexible cutting path planning instruction set for the poultry carcass, and sends the multi-part flexible cutting path planning instruction set to the lower computer.

[0080] Step 703, the lower computer controls the four-axis platform ultrasonic knife cutting equipment to perform flexible human-like cutting on multiple parts of the poultry carcass moved to the cutting station according to the received multi-part flexible cutting path planning instruction set. After passing the cutting station, the clamp is released under the action of the special-shaped annular guide rail, and the various parts of the poultry carcass are classified and collected.

[0081] In some embodiments, multiple parts of a poultry carcass are accurately selected based on image data to generate a flexible cutting path planning instruction set for multiple parts of the poultry carcass, including: The target detection model is used to perform domain recognition of each cutting part on the poultry carcass depth image obtained by the three-dimensional line laser scanner. According to the recognition result and the cutting order of each cutting part, the cutting path of the ultrasonic blade is planned, and the multi-part flexible cutting path planning instruction set of the poultry carcass is generated. Among them, the object detection model is trained based on sample poultry carcass depth images with cutting part identification labels.

[0082] In some embodiments, the cutting path of the ultrasonic cutter head is planned according to the recognition result and the cutting order of each cutting part, including: The cutting path of the ultrasonic blade is planned according to the recognition results, the three-dimensional coordinates of the internal joints of the poultry carcass cutting position and the cutting order of each cutting part; The three-dimensional coordinates of the internal joints of the poultry carcass cutting position are obtained based on the coordinate calibration of the poultry carcass skeleton structure in the X-ray image obtained by the X-ray detection machine.

[0083] In some embodiments, the object detection model is a YOLO model.

[0084] In some embodiments, the host computer is further used to generate a three-dimensional visual contour of the poultry carcass based on the scanned image data.

[0085] In some embodiments, generating a three-dimensional visual outline of a poultry carcass based on the scanned image data includes: Three-dimensional reconstruction is performed based on the depth image of the poultry carcass obtained by the three-dimensional line laser scanner to generate a three-dimensional visual outline of the poultry carcass.

[0086] It should be noted here that the above method provided by the present invention can implement all the process steps implemented by the above device embodiment, and can achieve the same technical effects. The parts and beneficial effects that are the same as those in the device embodiment will not be described in detail here.

[0087] It should be noted that the device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0088] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0089] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An ultrasonic knife-assisted poultry carcass multi-part flexible humanoid cutting device, characterized in that: include: Poultry carcass online circulation conveying module, including vertical double-track circular guide conveying line and special-shaped circular guide; A poultry carcass multi-position anti-deviating clamping module is installed on the vertical double-track annular guide rail conveyor line, and is used to fix various parts of the poultry carcass at multiple points, so that the poultry carcass moves to the scanning station and the cutting station in sequence along the vertical double-track annular guide rail conveyor line, and after passing through the cutting station, the clamp is controlled to release and collect various parts of the poultry carcass under the action of the special-shaped annular guide rail; A poultry carcass scanning imaging and cutting path planning module, comprising a scanning imaging device and a host computer connected to the scanning imaging device, wherein the scanning imaging device is used to scan and image the poultry carcass moved to the scanning station, and the host computer is used to accurately select multiple parts of the poultry carcass according to the image data obtained by scanning, generate a multi-part flexible cutting path planning instruction set for the poultry carcass, and send the multi-part flexible cutting path planning instruction set to the lower computer of the ultrasonic knife four-dimensional mobile flexible humanoid cutting module; The ultrasonic knife four-dimensional mobile flexible anthropomorphic cutting module includes the lower computer communicatively connected to the upper computer, and a four-axis platform ultrasonic knife cutting device controlled by the lower computer, wherein the four-axis platform ultrasonic knife cutting device includes a four-axis motion platform and an ultrasonic knife head mounted on the four-axis motion platform, and the lower computer is used to control the four-axis platform ultrasonic knife cutting device to perform flexible anthropomorphic cutting on multiple parts of the poultry carcass moved to the cutting station according to the received multi-part flexible cutting path planning instruction set.

2. The ultrasonic knife-assisted poultry carcass multi-part flexible humanoid cutting device according to claim 1 is characterized in that: The special-shaped annular guide rail includes a first portion, a second portion and a step located between the first portion and the second portion, the first portion and the second portion both include arc segments and parallel straight segments, and the spacing between the parallel straight segments of the first portion is greater than the spacing between the parallel straight segments of the second portion.

3. The ultrasonic knife-assisted poultry carcass multi-part flexible humanoid cutting device according to claim 2 is characterized in that: The poultry carcass multi-position anti-deviating clamping module comprises: A tray for carrying the poultry carcass, the tray being fixed on the slide of the vertical double-track annular guide rail conveyor line, the tray comprising a recessed portion in the middle and four supporting structures located at the periphery, the four supporting structures all being inclined downward toward the outside of the tray, facilitating the classification and collection of various parts of the poultry carcass when the clamp is opened, the four supporting structures being used to carry the limbs of the poultry carcass, and the appearance of the tray being designed according to the contour of the poultry carcass; A bracket, wherein the bracket is fixed on a slide seat of the vertical double-track annular guide rail conveyor line, and a linear bearing is installed on the bracket; A displacement adjustment plate is vertically arranged on the bracket; A pressure rod, the pressure rod is mounted on the displacement adjustment plate, a contact block is provided at a first end of the pressure rod, and the contact block contacts with the limbs of the poultry carcass when the poultry carcass is fixed; A connecting rod, wherein the connecting rod passes through the linear bearing, the first end of the connecting rod is connected to the second end of the pressure rod, the second end of the connecting rod is connected to the special-shaped annular guide rail and can slide along the special-shaped annular guide rail, when the second end of the connecting rod is located at the first part of the special-shaped annular guide rail, the second end of the pressure rod is lifted, so that the first end of the pressure rod drives the contact block to be pressed down, and when the second end of the connecting rod transitions from the step of the special-shaped annular guide rail to the second part, the second end of the pressure rod is pulled down, so that the first end of the pressure rod drives the contact block to be lifted up.

4. The ultrasonic knife-assisted poultry carcass multi-position flexible humanoid cutting device according to claim 1, characterized in that: The scanning imaging equipment includes a three-dimensional line laser scanner and an X-ray detector.

5. The ultrasonic knife-assisted poultry carcass multi-part flexible humanoid cutting device according to claim 4 is characterized in that: The method of accurately selecting multiple parts of a poultry carcass according to the scanned image data and generating a flexible cutting path planning instruction set for multiple parts of the poultry carcass comprises: Using the target detection model to perform domain recognition of each cutting part on the poultry carcass depth image obtained by the three-dimensional line laser scanner, planning the cutting path of the ultrasonic blade according to the recognition result and the cutting order of each cutting part, and generating a multi-part flexible cutting path planning instruction set for the poultry carcass; Wherein, the target detection model is trained based on sample poultry carcass depth images with cutting part identification labels.

6. The ultrasonic knife-assisted poultry carcass multi-part flexible humanoid cutting device according to claim 5, characterized in that: The step of planning a cutting path of the ultrasonic cutter head according to the recognition result and the cutting order of each cutting part comprises: Planning the cutting path of the ultrasonic blade according to the recognition result, the three-dimensional coordinates of the internal joints of the poultry carcass cutting position and the cutting order of each cutting part; The three-dimensional coordinates of the internal joints of the poultry carcass cutting position are obtained based on the coordinate calibration of the poultry carcass skeleton structure in the X-ray image obtained by the X-ray detection machine.

7. The ultrasonic knife-assisted poultry carcass multi-part flexible humanoid cutting device according to claim 6 is characterized in that: The target detection model is the YOLO model.

8. The ultrasonic knife-assisted poultry carcass multi-part flexible humanoid cutting device according to claim 4, characterized in that: The host computer is also used to generate a three-dimensional visual outline of the poultry carcass based on the image data obtained by scanning.

9. The ultrasonic knife-assisted poultry carcass multi-part flexible humanoid cutting device according to claim 8, characterized in that: Generating a three-dimensional visual contour of the poultry carcass according to the scanned image data comprises: Three-dimensional reconstruction is performed based on the depth image of the poultry carcass obtained by the three-dimensional line laser scanner to generate a three-dimensional visualized contour of the poultry carcass.

10. A cutting method based on the ultrasonic knife-assisted poultry carcass multi-part flexible humanoid cutting device according to any one of claims 1 to 9, characterized in that: The method comprises: The vertical double-track annular guide rail conveyor line is started, driving the poultry carcasses fixed on the poultry carcass multi-position anti-deviation clamping module to move to the scanning station; The scanning imaging device scans and images the poultry carcass moved to the scanning station, and sends the scanned image data to the host computer. The host computer accurately selects multiple parts of the poultry carcass according to the image data, generates a multi-part flexible cutting path planning instruction set for the poultry carcass, and sends the multi-part flexible cutting path planning instruction set to the slave computer; The lower computer controls the four-axis platform ultrasonic knife cutting equipment to perform flexible humanoid cutting on multiple parts of the poultry carcass moved to the cutting station according to the received multi-part flexible cutting path planning instruction set. After passing through the cutting station, the clamp is released under the action of the special-shaped annular guide rail, and the various parts of the poultry carcass are classified and collected.

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