An automatic candling system for embryos and a control method thereof

Abstract

The application provides an automatic embryo egg inspection system and a control method thereof. The light source is arranged as a plurality of sets of oppositely arranged bottom lamp assemblies and top lamp assemblies, so that bilateral imaging of embryo eggs can be obtained, the imaging range is wide, the imaging effect and accuracy are improved, and the accuracy of machine detection is improved. The bottom of the bottom lamp assembly is provided with a lifting driving device capable of lifting relative to the top lamp assembly, so that the bottom lamp assembly and the top lamp assembly can closely irradiate each embryo egg, so that the internal condition can be accurately imaged, and the machine detection accuracy and efficiency are improved. The two sides of each set of oppositely arranged bottom lamp assemblies and top lamp assemblies are provided with mirror devices, and the bottom of the embryo egg that is easily blocked can be imaged through the mirror devices, so that the imaging effect is further improved, and the automatic detection accuracy is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of embryo egg inspection, and in particular to an automatic embryo egg inspection system and a control method thereof. BACKGROUND

[0002] In the prior art, embryo eggs need to be detected regularly to make real-time judgments on the development of embryo eggs. The judgment methods mainly include manual embryo egg detection and machine embryo egg detection.

[0003] Manual embryo egg detection is to manually hold a light source such as a flashlight to irradiate embryo eggs and then judge the development of embryo eggs according to the imaging conditions. While the detection accuracy of unqualified embryo eggs can be ensured, the detection stability mainly depends on the level of the detection personnel, and the overall stability is not high. In addition, the production capacity of manual detection is not high, and visual fatigue of the detection personnel is easily caused after long-time work.

[0004] Machine embryo egg detection is to detect embryo eggs by a machine. For example, a kind of intelligent equipment for inspecting embryo eggs disclosed in CN113349107A is provided. The automatic disc feeding device sends the egg tray containing embryo eggs into the automatic inspection device. The embryo eggs are irradiated by a light source and imaged by an imaging device. The imaging of the embryo eggs is compared with a preset model to determine unqualified embryo eggs. The unqualified embryo eggs are marked by a subsequent automatic marking device, and then removed by an automatic removal device and manually removed.

[0005] However, the following defects and deficiencies exist in the work:

[0006] 1) The light source is only arranged at the top of the embryo egg, so that only one side of the embryo egg can be imaged, the imaging range is narrow, and the imaging effect is poor, which affects the accuracy of machine detection;

[0007] 2) The relative position of the light source and the embryo egg is fixed, and each embryo egg cannot be accurately irradiated to accurately image its internal condition, which affects the machine detection effect;

[0008] 3) The imaging device is usually arranged at the top of the embryo egg, which blocks the bottom of the embryo egg, so that the imaging effect of the bottom of the embryo egg by the imaging device is poor, which affects the accuracy of machine detection.

[0009] Therefore, it is necessary to provide an automatic embryo egg inspection system and a control method thereof to solve the defects and deficiencies in the prior art. SUMMARY

[0010] In order to solve the defects and deficiencies in the prior art, the present application provides an automatic embryo egg inspection system and a control method thereof.

[0011] The technical scheme provided by the present application is as follows:

[0012] An automatic embryo egg inspection system, comprising an automatic tray feeding part, an egg imaging part, an automatic rejection part, an automatic marking part and an artificial intelligence embryo egg classification and recognition system arranged in sequence along the egg tray conveying direction, the artificial intelligence embryo egg classification and recognition system is respectively connected with the automatic tray feeding part, the egg imaging part, the automatic rejection part and the automatic marking part;

[0013] The automatic tray feeding part comprises a tray feeding power source, a tray feeding conveying wheel and a tray feeding conveying belt, the power output shaft of the tray feeding power source is connected with the tray feeding conveying wheel, the tray feeding conveying belt is wound on the outer periphery of the tray feeding conveying wheel, and a tray blocking device is arranged in the automatic tray feeding part;

[0014] The egg imaging part comprises a light source and an imaging device, the imaging device images the embryo egg after being irradiated by the light source and sends it to the artificial intelligence embryo egg classification and recognition system;

[0015] The automatic rejection part comprises an embryo egg adsorption device and an embryo egg moving device, the embryo egg adsorption device adsorbs the unqualified embryo egg on the egg tray according to the classification result of the actual embryo egg imaging of the artificial intelligence embryo egg classification and recognition system, and moves the unqualified embryo egg out through the embryo egg moving device;

[0016] The automatic marking part comprises a projection device, the projection device projects the position corresponding to the unqualified embryo egg on the egg tray according to the classification result of the actual embryo egg imaging of the artificial intelligence embryo egg classification and recognition system;

[0017] Characterized in that:

[0018] The light source in the egg imaging part comprises a plurality of groups of oppositely arranged bottom lamp assemblies and top lamp assemblies, and the bottom lamp assemblies can move up and down relative to the top lamp assemblies;

[0019] The egg imaging part is also provided with a lifting driving device and a mirror device, the lifting driving device is arranged at the bottom of the bottom lamp assembly and can drive the bottom lamp assembly to synchronously lift the embryo egg in the egg tray; the mirror device is arranged on both sides of each group of oppositely arranged bottom lamp assemblies and top lamp assemblies;

[0020] The lifting driving device, the light source and the mirror device are respectively connected with the artificial intelligence embryo egg classification and recognition system, and the artificial intelligence embryo egg classification and recognition system can control the lifting driving device, the light source and the mirror device according to the needs.

[0021] As a further preferred embodiment of the present application, the bottom of the top lamp assembly is provided with a top lamp adapter matched with the top of the embryo egg.

[0022] As a further preferred embodiment of the present invention, during the ascent, the artificial intelligence embryo classification and recognition system controls the lifting drive device to move the bottom light assembly toward the top light assembly at a first ascent speed. After reaching the preset distance, the artificial intelligence embryo classification and recognition system controls the lifting drive device to move the bottom light assembly toward the top light assembly at a second ascent speed; and satisfies that: the first ascent speed is greater than the second ascent speed.

[0023] During descent, the AI-powered egg classification and recognition system controls the lifting drive device to move the bottom light assembly away from the top light assembly at a first descent speed. After reaching the preset distance, the AI-powered egg classification and recognition system controls the lifting drive device to move the bottom light assembly away from the top light assembly at a second descent speed; and the following condition is met: the first descent speed is less than the second descent speed.

[0024] As a further preferred embodiment of the present invention, the artificial intelligence embryo classification and recognition system is provided with a bottom light control unit connected to the bottom light assembly and a top light control unit connected to the top light assembly. The bottom light control unit and the top light control unit respectively turn the bottom light assembly and the top light assembly on and off in a preset order according to the preset model in the artificial intelligence embryo classification and recognition system, and illuminate the embryos with light according to a preset power. The opening and closing order and the illumination power can be adjusted accordingly according to the egg candling requirements.

[0025] As a further preferred embodiment of the present invention, the artificial intelligence embryo classification and recognition system sets the initial angle of the mirror device according to the preset model, and adjusts the mirror device from the initial angle to a suitable angle according to the imaging results of the artificial intelligence embryo classification and recognition system.

[0026] Furthermore, the present invention also provides a control method for an automatic egg candling system, characterized by comprising the following steps:

[0027] 1) Remove the egg tray containing the embryos from the egg cart and place it on the automatic tray feeding unit;

[0028] 2) Based on the subsequent condition of the egg tray, decide whether to send the current egg tray to the candling imaging unit;

[0029] 3) When the egg tray is sent to the corresponding candling station on the candling imaging unit, the lifting drive device at the bottom of the egg tray is activated, which drives the bottom light assembly to rise and lifts the embryos in the egg tray to the preset height position.

[0030] 4) When the embryo rises to the preset height position, the artificial intelligence embryo classification and recognition system controls the mirror device to the initial angle, and controls the bottom light assembly and top light assembly to automatically turn on in the preset order and preset power. At the same time, the camera above the embryo images the embryo.

[0031] 5) The artificial intelligence embryo classification and identification system adjusts the mirror device from the initial angle to the appropriate angle according to the imaging result, and adjusts the light power of the bottom light assembly and the top light assembly correspondingly;

[0032] 6) After imaging, the lifting drive device descends and drives the bottom light assembly to descend, and the descent of the bottom light assembly causes the embryo to fall back into the egg tray;

[0033] 7) When a new egg tray enters the egg illumination position, the egg tray that has been inspected is automatically transported to the automatic rejection part;

[0034] 8) The automatic rejection part automatically grabs the unqualified embryo through the embryo suction device according to the preset condition;

[0035] 9) The automatic rejection part removes the unqualified embryo from the embryo suction device through the embryo moving device;

[0036] 10) After the rejection is completed, the egg tray is sent to the automatic marking part, and the projection device projects the position corresponding to the unqualified embryo on the egg tray according to the preset condition;

[0037] 11) After the unqualified embryo is removed according to the projection prompt, the egg tray with the qualified embryo is taken out and stacked on the subsequent egg cart.

[0038] As a further preferred embodiment of the present application, in step 2),

[0039] When there is an egg tray in the egg illumination imaging part, the artificial intelligence embryo classification and identification system controls the disc blocking device on the automatic disc feeding part to automatically start, so that the subsequent egg tray is in a state of waiting to enter the egg illumination imaging part;

[0040] When the disc overflow detection switch is activated, the artificial intelligence embryo classification and identification system controls the disc blocking device on the automatic disc feeding part to automatically start, so that the subsequent egg tray is in a state of waiting to enter the egg illumination imaging part; otherwise,

[0041] The artificial intelligence embryo classification and identification system controls the disc blocking device on the automatic disc feeding part to automatically close, so that the subsequent egg tray can enter the egg illumination imaging part.

[0042] As a further preferred embodiment of the present application, in step 4), the preset height position is the position where the embryo in the egg tray is lifted to contact the top light adapter at the bottom of the top light assembly.

[0043] As a further preferred embodiment of the present application, in step 8), the preset condition is selected as follows: according to the classification result of the actual imaging of the embryo by the artificial intelligence embryo classification and identification system:

[0044] When it is determined that the embryo inspection result is unqualified, the artificial intelligence embryo classification and identification system controls the embryo suction device to correspondingly act;

[0045] When the embryo inspection result is determined to be qualified, the artificial intelligence embryo classification and recognition system does not control the corresponding action of the embryo suction device.

[0046] As a further preferred embodiment of the present application, in step 8), when the embryo inspection result is determined to be unqualified, the artificial intelligence embryo classification and recognition system controls the embryo suction device corresponding to the unqualified embryo position to descend to the top of the unqualified embryo, and at the same time, the artificial intelligence embryo classification and recognition system controls the internal negative pressure electromagnetic reversing valve of the embryo suction device to start, so that the embryo suction device is connected with the negative pressure vacuum system. Under the action of negative pressure, the embryo suction device sucks the unqualified embryo at the bottom, and then the artificial intelligence embryo classification and recognition system controls the embryo suction device corresponding to the unqualified embryo position to rise to extract the unqualified embryo from the egg tray;

[0047] In step 9), the artificial intelligence embryo classification and recognition system controls the embryo suction device to suck the unqualified embryo to run above the embryo moving device, and then the artificial intelligence embryo classification and recognition system controls the internal negative pressure electromagnetic reversing valve of the embryo suction device to close, so that the embryo suction device is disconnected with the vacuum system and connected with the compressed air system. The unqualified embryo sucked by the embryo suction device falls onto the embryo moving device, and then is transported to the unqualified embryo collection container by the embryo moving device.

[0048] The beneficial effects obtained by the present application relative to the prior art include:

[0049] 1) The present application provides an embryo automatic inspection system and a control method thereof, by setting the light source to include multiple sets of oppositely arranged bottom lamp assemblies and top lamp assemblies, the bilateral imaging of the embryo can be obtained, the imaging range is wide, the imaging effect and accuracy are improved, and the accuracy of machine detection is improved.

[0050] 2) The present application provides an embryo automatic inspection system and a control method thereof, by setting the bottom of the bottom lamp assembly with a lifting driving device capable of lifting motion relative to the top lamp assembly, so that the bottom lamp assembly and the top lamp assembly can irradiate close to each embryo, so that the internal condition can be accurately imaged, and the machine detection accuracy and efficiency are improved.

[0051] 3) The present application provides an embryo automatic inspection system and a control method thereof, by setting mirror devices on both sides of each set of oppositely arranged bottom lamp assemblies and top lamp assemblies, the bottom of the embryo which is easy to be blocked can be imaged through the mirror devices, thereby further improving the imaging effect and improving the automatic detection accuracy.

[0052] 4) The application provides an automatic embryo egg inspection system and a control method thereof, wherein the lifting driving device, the light source and the mirror device are respectively connected with the artificial intelligence embryo egg classification and identification system, the artificial intelligence embryo egg classification and identification system can control the lifting driving device, the light source and the mirror device according to the needs, so that the inspection range can be further increased and the inspection accuracy can be improved according to the different embryo egg types and inspection needs. BRIEF DESCRIPTION OF DRAWINGS

[0053] Figure 1 The application provides an automatic embryo egg inspection system.

[0054] Figure 2 The application provides an automatic embryo egg inspection system.

[0055] Figure 3 The application provides an automatic embryo egg inspection system.

[0056] Figure 4 The application provides an automatic embryo egg inspection system. DETAILED DESCRIPTION

[0057] The technical solutions in the embodiments of the application will be described clearly and completely below with reference to the drawings in the embodiments of the application. Obviously, the described embodiments are only some of the embodiments of the application, rather than all the embodiments of the application. Based on the embodiments in the application, all other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the application.

[0058] In the description of the application, it should be noted that the terms "upper", "lower", "inner", "outer", "front end", "rear end", "two ends", "one end", "the other end" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the application. In addition, the terms "first" and "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance.

[0059] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "provided with", "connection" and the like should be understood broadly, for example, "connection" can be fixed connection, can also be detachable connection, or integral connection; can be mechanical connection, can also be electrical connection; can be direct connection, can also be indirect connection through intermediate medium, can be internal communication of two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0060] [First embodiment]

[0061] As Figures 1-3 The automatic embryo egg inspection system provided by the first embodiment of the present application comprises an automatic disc feeding part 1, an egg imaging part 2, an automatic disc removing part, an automatic marking part 3 and an artificial intelligence embryo egg classification and identification system arranged in sequence along the disc conveying direction. The artificial intelligence embryo egg classification and identification system is signal connected with the automatic disc feeding part 1, the egg imaging part 2, the automatic disc removing part and the automatic marking part 3, so as to control the automatic disc feeding part 1, the egg imaging part 2, the automatic disc removing part and the automatic marking part 3 respectively through the artificial intelligence embryo egg classification and identification system.

[0062] The artificial intelligence embryo egg classification and identification system in the embodiment adopts deep learning technology. After steps such as artificial classification, data acquisition, preliminary modeling, test egg imaging model, error analysis and acquisition, deep learning modeling and test egg imaging model, the egg imaging preset model is determined in the artificial intelligence embryo egg classification and identification system. After the artificial intelligence embryo egg classification and identification system analyzes, identifies and classifies the embryo egg imaging by using the preset model, the qualified embryo eggs and unqualified embryo eggs are determined.

[0063] The automatic disc feeding part 1 comprises a disc feeding power source, a disc feeding conveying wheel and a disc feeding conveying belt. The disc feeding power source can be a power source commonly used in the mechanical field, such as a motor. The power output shaft of the disc feeding power source is connected with the disc feeding conveying wheel. The disc feeding conveying wheel can comprise a disc feeding driving wheel and a disc feeding driven wheel required in the belt transmission structure. The power output shaft of the disc feeding power source is connected with the disc feeding driving wheel in the disc feeding conveying wheel. The disc feeding conveying belt is wound around the outer periphery of the disc feeding driving wheel and the disc feeding driven wheel. The disc feeding power source drives the disc feeding driving wheel to rotate by outputting power. The rotation of the disc feeding driving wheel drives the disc feeding conveying belt on it to rotate first and then drives the disc feeding driven wheel to rotate, so as to drive the top disc to move synchronously through the disc feeding conveying belt to realize the conveying of the embryo eggs in the disc.

[0064] As a preferred embodiment of the present embodiment, a disc blocking device is arranged in the automatic disc feeding part 1. The disc blocking device is used to select whether to rise according to the subsequent disc condition, so as to determine whether to send the current disc into the egg imaging part 2.

[0065] Specifically,

[0066] When the egg tray is in the egg imaging part, it means that the embryo eggs in the egg tray are being imaged in the egg imaging part at this time. The artificial intelligence embryo egg classification and recognition system will control the disc blocking device on the automatic disc feeding part to automatically start, so that the subsequent egg tray is in a state of waiting to enter the egg imaging part;

[0067] When the overflow detection switch is activated, it means that the subsequent automatic removal part and the egg tray of the automatic marking part 3 have overflowed too much. The artificial intelligence embryo egg classification and recognition system will control the disc blocking device on the automatic disc feeding part to automatically start, so that the subsequent egg tray is in a state of waiting to enter the egg imaging part; otherwise,

[0068] The artificial intelligence embryo egg classification and recognition system controls the disc blocking device on the automatic disc feeding part to automatically close, so that the subsequent egg tray can enter the egg imaging part.

[0069] The egg imaging part 2 includes a light source 22 and an imaging device 24. The imaging device 24 images the embryo eggs E irradiated by the light source 22 and sends them to the artificial intelligence embryo egg classification and recognition system;

[0070] The automatic removal part includes embryo egg adsorption device and embryo egg moving device. The embryo egg adsorption device adsorbs unqualified embryo eggs on the egg tray according to the classification result of the actual embryo egg imaging by the artificial intelligence embryo egg classification and recognition system, and moves the unqualified embryo eggs out through the embryo egg moving device. When the embryo egg inspection result is determined to be unqualified, the artificial intelligence embryo egg classification and recognition system controls the embryo egg adsorption device to act accordingly. When the embryo egg inspection result is determined to be qualified, the artificial intelligence embryo egg classification and recognition system does not control the embryo egg adsorption device to act accordingly.

[0071] The automatic marking part 3 includes a projection device. The projection device projects the position of the unqualified embryo eggs on the egg tray according to the classification result of the actual embryo egg imaging by the artificial intelligence embryo egg classification and recognition system. In order to avoid the unqualified embryo eggs remaining in the egg tray after passing through the automatic removal part due to the failure of the embryo egg adsorption device and other reasons, the automatic marking part 3 projects the position of the unqualified embryo eggs in the egg tray, so that the unqualified embryo eggs in the egg tray can be taken out manually through the projection, thereby effectively improving the removal efficiency and accuracy.

[0072] When the automatic marking part 3 appears unqualified embryo eggs in this embodiment, it generally includes the following conditions: 1) embryo egg abnormality, such as embryo egg sticking or being stuck in the hole of the egg tray; 2) egg tray abnormality, such as severe deformation or severe size deviation of the egg tray, which causes the position of other embryo eggs in the egg tray to be inaccurate with the position of the suction head in the removal device, eventually leading to egg grabbing failure or removal failure; 3) abnormality or failure of the removal device, etc.

[0073] When the unqualified embryo eggs appearing in the automatic marking part 3 are classified again, the embryo eggs can be divided into qualified embryo eggs and unqualified embryo eggs according to the conditions of the embryo eggs, wherein the unqualified embryo eggs include but are not limited to unfertilized eggs, dead embryo eggs, contaminated embryo eggs, inverted embryo eggs, abnormal air chamber embryo eggs, cracked embryo eggs, hemolytic embryo eggs, air chamber shaking embryo eggs and the like.

[0074] As a further preferred embodiment of the present embodiment, the projection can also be performed at each position on the egg tray at the same time. When it is determined that the embryo egg inspection result is qualified, the artificial intelligence embryo egg classification and recognition system controls the projection device to project a first mark at the position corresponding to the qualified egg in the egg tray. When it is determined that the embryo egg inspection result is unqualified, the artificial intelligence embryo egg classification and recognition system controls the projection device to project a second mark at the position corresponding to the unqualified embryo egg in the egg tray. By setting the first mark and the second mark to be different from each other, the manual removal of the unqualified embryo eggs in the egg tray can be facilitated.

[0075] The outstanding contribution of the present embodiment with respect to the prior art is that:

[0076] The light source 22 in the embryo egg imaging part 2 includes a plurality of sets of oppositely arranged bottom light assembly 221 and top light assembly 222, and the bottom light assembly 221 can move up and down relative to the top light assembly 222. By setting the light source to include a plurality of sets of oppositely arranged bottom light assembly and top light assembly, the bilateral imaging of the embryo egg can be obtained, the imaging range is wide, the imaging effect and accuracy are improved, and the accuracy of machine detection is improved.

[0077] In the present embodiment, the egg tray is a hollow hole structure, and the embryo eggs can be supported at each hole position respectively, or can be lifted by the bottom light assembly to be separated from the egg tray.

[0078] The embryo egg imaging part 2 is also provided with a lifting driving device 21, which is arranged at the bottom of the bottom light assembly 221 and can drive the bottom light assembly 221 to drive the embryo eggs in the egg tray to move up and down synchronously, so as to drive the bottom light assembly 221 and the embryo eggs in the egg tray to move upward towards the top light assembly 222, or to drive the bottom light assembly 221 and the embryo eggs in the egg tray to move downward away from the top light assembly 222; so that the bottom light assembly and the top light assembly can irradiate each embryo egg closely, so that the internal condition can be accurately imaged, and the machine detection accuracy and efficiency are improved.

[0079] The embryo egg imaging part 2 is also provided with a mirror device 23, which is arranged on both sides of each set of oppositely arranged bottom light assembly 221 and top light assembly 222; through the mirror device, the bottom of the embryo egg which is easy to be blocked can be imaged, so as to further improve the imaging effect and improve the automatic detection accuracy.

[0080] As a preferred embodiment of the present embodiment, the bottom of the top light assembly 222 is provided with a top light adapter 2221 matched with the top of the embryo egg, which is preferably a light-tight corrugated pipe made of rubber material and is elastically compressible. Due to the size difference (difference in height and diameter) of the embryo eggs in the egg tray and the different postures (some are upright and some are tilted) of the embryo eggs in the egg tray, the top light assembly needs to be compatible with these different embryo eggs to prevent the embryo eggs from being damaged or the top from leaking light during egg illumination. Therefore, the top light adapter 2221 needs to be provided at the part of the top light assembly in contact with the embryo egg.

[0081] In the present embodiment, an artificial intelligence embryo egg classification and recognition system is also provided, and the lifting drive device 21, the light source 22 and the mirror device 23 are respectively signal-connected with the artificial intelligence embryo egg classification and recognition system, which can control the lifting drive device 21, the light source 22 and the mirror device 23 correspondingly according to the needs.

[0082] For example, when the artificial intelligence embryo egg classification and recognition system controls the lifting drive device 21:

[0083] When ascending, the artificial intelligence embryo egg classification and recognition system controls the lifting drive device 21 to drive the bottom light assembly 221 to move towards the top light assembly 222 at a first ascending speed, and controls the lifting drive device 21 to drive the bottom light assembly 221 to move towards the top light assembly 222 at a second ascending speed when reaching the adaptive preset distance; and the first ascending speed is greater than the second ascending speed; this is because the distance between the bottom light assembly and the embryo egg inside it and the top light assembly is outside the adaptive preset distance at the beginning, and the bottom light assembly 221 and the embryo egg inside it are far away from the top light assembly, so a higher ascending speed is convenient for quickly realizing the abutment with the top light adapter, and after entering the adaptive preset distance, the embryo egg has gradually approached the top light adapter or has contacted the top light adapter and is in the process of elastic compression, so a smaller ascending speed is conducive to protecting the top of the embryo egg and avoiding damage to the embryo egg caused by the excessively large ascending speed.

[0084] When descending, the artificial intelligence embryo egg classification and identification system controls the lifting driving device 21 to drive the bottom light assembly 221 to move away from the top light assembly 222 at a first descending speed, and when reaching the adaptive preset distance, the artificial intelligence embryo egg classification and identification system controls the lifting driving device 21 to drive the bottom light assembly 221 to move away from the top light assembly 222 at a second descending speed; and it is satisfied that the first descending speed is less than the second descending speed; and conversely, this is because the distance between the bottom light assembly and the embryo eggs carried therein and the top light assembly is within the adaptive preset distance at the beginning, the bottom light assembly 221 and the embryo eggs carried therein are relatively close to the top light assembly, and the smaller descending speed is convenient for protecting the embryo eggs, and after descending beyond the adaptive preset distance, the embryo eggs have been sufficiently separated from the top light adapter, and at this time, a larger descending speed is needed to quickly separate the bottom light assembly and the top light assembly.

[0085] When the artificial intelligence embryo egg classification and identification system controls the light source 22:

[0086] The artificial intelligence embryo egg classification and identification system is respectively provided with a bottom light control unit signal connected with the bottom light assembly 221 and a top light control unit signal connected with the top light assembly 222, the bottom light control unit and the top light control unit respectively open and close the bottom light assembly 221 and the top light assembly 222 according to the preset model in the artificial intelligence embryo egg classification and identification system in a preset order, and illuminate the embryo eggs according to a preset power, and can correspondingly adjust the opening and closing order and the illumination power according to the egg illumination demand, so as to further improve the imaging efficiency and imaging accuracy.

[0087] When the artificial intelligence embryo egg classification and identification system controls the mirror device 23:

[0088] The artificial intelligence embryo egg classification and identification system sets the initial angle of the mirror device 23 according to the preset model, and correspondingly adjusts the initial angle of the mirror device 23 to a suitable angle according to the imaging result in the artificial intelligence embryo egg classification and identification system, so that the top and bottom of the embryo egg can be clearly and completely acquired and imaged in the artificial intelligence embryo egg classification and identification system.

[0089] [Second embodiment]

[0090] The embodiment also provides a control method of the embryo egg automatic inspection system, which comprises the following steps:

[0091] 1) Take out the egg tray containing embryo eggs from the egg cart and place the egg tray on the automatic tray feeding part;

[0092] 2) The automatic tray feeding part selects whether to send the current egg tray to the egg illumination and imaging part according to the subsequent egg tray condition;

[0093] 3) When the egg tray is sent to the corresponding egg illumination position of the egg imaging part, the bottom lifting driving device of the egg tray is actuated to drive the bottom light assembly to rise and lift the embryo eggs in the egg tray to a preset height position;

[0094] 4) When the embryo eggs are lifted to the preset height position, the preset height position in the embodiment is the position where the embryo eggs in the egg tray are lifted to contact the top light adapter at the bottom of the top light assembly, so that the embryo eggs can be close to the top light assembly and the bottom light assembly, and at the same time, the embryo eggs themselves are not damaged. The artificial intelligence embryo egg classification and identification system controls the mirror device to the initial angle, and controls the bottom light assembly and the top light assembly to automatically turn on according to the preset order and the preset power, and the camera above the embryo eggs images the embryo eggs;

[0095] 5) The artificial intelligence embryo egg classification and identification system adjusts the mirror device from the initial angle to the appropriate angle according to the imaging result, and adjusts the illumination power of the bottom light assembly and the top light assembly correspondingly;

[0096] 6) After the imaging is completed, the lifting driving device is lowered to drive the bottom light assembly to descend, and the bottom light assembly is lowered to make the embryo eggs fall back into the egg tray;

[0097] 7) When a new egg tray enters the egg illumination position, the egg tray that has been inspected is automatically transported to the automatic rejection part;

[0098] 8) The automatic rejection part automatically grabs the unqualified embryo eggs by the embryo egg suction device according to the preset condition; the specific steps are: when it is determined that the embryo egg inspection result is unqualified, the artificial intelligence embryo egg classification and identification system controls the embryo egg suction device corresponding to the position of the unqualified embryo egg to descend to the top of the unqualified embryo egg, and at the same time, the artificial intelligence embryo egg classification and identification system controls the negative pressure electromagnetic reversing valve inside the embryo egg suction device to start, so that the embryo egg suction device is connected with the negative pressure vacuum system, and under the action of negative pressure, the embryo egg suction device sucks the unqualified embryo egg at the bottom, and then the artificial intelligence embryo egg classification and identification system controls the embryo egg suction device corresponding to the position of the unqualified embryo egg to rise to extract the unqualified embryo egg from the egg tray;

[0099] 9) The automatic rejection part moves the unqualified embryo eggs from the embryo egg suction device by the embryo egg moving device; the specific steps are: the artificial intelligence embryo egg classification and identification system controls the embryo egg suction device to run to the top of the embryo egg moving device while sucking the unqualified embryo egg, and then the artificial intelligence embryo egg classification and identification system controls the negative pressure electromagnetic reversing valve inside the embryo egg suction device to close, so that the embryo egg suction device is disconnected with the vacuum system and connected with the compressed air system, and the unqualified embryo egg sucked by the embryo egg suction device falls onto the embryo egg moving device, and then is transported to the unqualified embryo egg collection container by the embryo egg moving device.

[0100] 10) After the culling, the tray is sent to the automatic marking section, and the projection device projects the position of the unqualified embryo eggs on the tray according to the preset conditions;

[0101] 11) After the unqualified embryo eggs are taken out according to the projection prompt, the tray with qualified embryo eggs is taken out and stacked on the subsequent egg cart:

[0102] If the downstream process is to incubate the embryo eggs that pass the inspection, automatic uploading or manual uploading is performed, the automatic uploading is to place the qualified embryo eggs together with the tray into the egg rack cart by an industrial robot or an automatic device, and the manual uploading is to place the qualified embryo eggs together with the tray into the egg rack cart by manual.

[0103] If the downstream process is to inoculate the embryo eggs that pass the inspection, automatic conveying or manual conveying is performed, the automatic conveying is to convey the qualified embryo eggs together with the tray into the inoculator by an automatic conveyor, and the manual conveying is to place the qualified embryo eggs together with the tray into the inoculator or the automatic conveyor of the inoculator by manual.

[0104] If the downstream process is to harvest the embryo eggs that pass the inspection, automatic tray stacking or manual tray stacking is performed, the automatic tray stacking is to stack the qualified embryo eggs together with the tray on the egg cart by an automatic tray stacking machine, and then place the egg cart into the cold storage for cooling, and then enter the harvesting process, and the manual tray stacking is to stack the qualified embryo eggs together with the tray on the egg cart, and then place the egg cart into the cold storage for cooling, and then enter the harvesting process.

[0105] It is possible to find the unqualified embryo eggs in the tray by projection and manual taking out, so that the unqualified embryo eggs remaining in the tray can be found in time and corrected, and faults can be found in time and corrected, which plays a double insurance role for ensuring that qualified embryo eggs are provided to the downstream production process.

[0106] It is apparent to those skilled in the art that the present application is not limited to the details of the foregoing exemplary embodiments, and can be implemented in other specific forms without departing from the spirit or essential characteristics of the present application. Therefore, the embodiments should be considered in all respects as illustrative and not restrictive, and the scope of the present application is defined by the appended claims rather than the foregoing description, and it is intended to encompass all changes falling within the meaning and range of equivalents of the claims. Any reference signs in the claims should not be considered as limiting the claims involved.

Claims

1. An automatic embryo egg inspection system, comprising an automatic tray feeding unit (1), an egg imaging unit (2), an automatic rejection unit, an automatic marking unit (3) and an artificial intelligence embryo egg classification and recognition system arranged in sequence along the transmission direction of the egg tray, and the artificial intelligence embryo egg classification and recognition system is signal connected with the automatic tray feeding unit (1), the egg imaging unit (2), the automatic rejection unit and the automatic marking unit (3) respectively; The automatic tray feeding unit (1) comprises a tray feeding power source, a tray feeding transmission wheel and a tray feeding belt, the power output shaft of the tray feeding power source is connected with the tray feeding transmission wheel, and the tray feeding belt is wound on the outer periphery of the tray feeding transmission wheel. A tray blocking device is arranged in the automatic tray feeding unit (1); The egg imaging unit (2) comprises a light source (22) and an imaging device (24), the imaging device (24) images the embryo egg (E) irradiated by the light source (22) and sends it to the artificial intelligence embryo egg classification and recognition system; The automatic rejection unit comprises an embryo egg adsorption device and an embryo egg moving device, the embryo egg adsorption device adsorbs the unqualified embryo egg on the egg tray according to the classification result of the actual embryo egg imaging by the artificial intelligence embryo egg classification and recognition system, and moves the unqualified embryo egg out through the embryo egg moving device; The automatic marking unit (3) comprises a projection device, and the projection device projects on the position corresponding to the unqualified embryo egg on the egg tray according to the classification result of the actual embryo egg imaging by the artificial intelligence embryo egg classification and recognition system; Characterized in that: The light source (22) in the egg imaging unit (2) comprises a plurality of oppositely arranged bottom lamp assemblies (221) and top lamp assemblies (222), and the bottom lamp assemblies (221) can move up and down relative to the top lamp assemblies (222); The egg imaging unit (2) further comprises a lifting driving device (21) and a mirror device (23), the lifting driving device (21) is arranged at the bottom of the bottom lamp assembly (221) and can drive the bottom lamp assembly (221) to lift the embryo egg in the egg tray synchronously; the mirror device is arranged on both sides of each oppositely arranged bottom lamp assembly (221) and top lamp assembly (222); The lifting driving device (21), the light source (22) and the mirror device (23) are signal connected with the artificial intelligence embryo egg classification and recognition system, and the artificial intelligence embryo egg classification and recognition system can control the lifting driving device (21), the light source (22) and the mirror device (23) according to the needs; The artificial intelligence embryo egg classification and recognition system comprises a bottom lamp control unit signal connected with the bottom lamp assembly (221) and a top lamp control unit signal connected with the top lamp assembly (222), the bottom lamp control unit and the top lamp control unit respectively control the bottom lamp assembly (221) and the top lamp assembly (222) to open and close according to the preset model in the artificial intelligence embryo egg classification and recognition system in a preset order, and to irradiate the embryo egg according to a preset power, and can adjust the opening and closing order and the irradiation power according to the egg imaging needs.

2. An automatic candling system for embryonated eggs as claimed in claim 1, characterized in that: The bottom of the top lamp assembly (222) is provided with a top lamp adapter (2221) matched with the top of the embryo egg.

3. The automatic embryo egg inspection system according to claim 2, characterized in that: When ascending, the artificial intelligence embryo classification and identification system controls the lifting driving device (21) to drive the bottom light assembly (221) to move towards the top light assembly (222) at a first ascending speed, and when reaching a preset distance, the artificial intelligence embryo classification and identification system controls the lifting driving device (21) to drive the bottom light assembly (221) to move towards the top light assembly (222) at a second ascending speed; and it is satisfied that the first ascending speed is greater than the second ascending speed; When descending, the artificial intelligence embryo classification and identification system controls the lifting driving device (21) to drive the bottom light assembly (221) to move away from the top light assembly (222) at a first descending speed, and when reaching a preset distance, the artificial intelligence embryo classification and identification system controls the lifting driving device (21) to drive the bottom light assembly (221) to move away from the top light assembly (222) at a second descending speed; and it is satisfied that the first descending speed is less than the second descending speed.

4. The automatic candling system for embryonated eggs according to claim 1, characterized in that: The artificial intelligence embryo classification and identification system sets the initial angle of the mirror device (23) according to a preset model, and adjusts the mirror device (23) from the initial angle to a suitable angle according to the imaging result in the artificial intelligence embryo classification and identification system.

5. The method of claim 1-4, wherein: The steps include: 1) Take out the egg tray containing the embryos from the egg cart and place it in the automatic tray feeding part; 2) According to the subsequent egg tray condition, it is selected whether to send the current egg tray to the egg imaging part; 3) When the egg tray is sent to the corresponding egg imaging position of the egg imaging part, the egg tray bottom lifting driving device is actuated to drive the bottom light assembly to ascend and lift the embryos in the egg tray to a preset height position; 4) When the embryos ascend to the preset height position, the artificial intelligence embryo classification and identification system controls the mirror device to the initial angle, and controls the bottom light assembly and the top light assembly to automatically turn on according to the preset sequence and preset power, while the camera above the embryos performs imaging on the embryos; 5) The artificial intelligence embryo classification and identification system adjusts the mirror device from the initial angle to a suitable angle according to the imaging result, and adjusts the light power of the bottom light assembly and the top light assembly accordingly; 6) After imaging, the lifting driving device is lowered and the bottom light assembly is lowered, and the bottom light assembly is lowered to make the embryos fall back into the egg tray; 7) When a new egg tray enters the egg imaging position, the egg tray that has been inspected is automatically transported to the automatic rejection part; 8) The automatic rejection part automatically grabs the unqualified embryos by the embryo suction device according to the preset condition; 9) The automatic rejection part removes the unqualified embryos from the embryo suction device by the embryo moving device; 10) After the rejection is completed, the egg tray is sent to the automatic marking part, and the projection device projects the position of the unqualified embryos on the egg tray according to the preset condition; 11) According to the projection prompt, the unqualified embryos are taken out, and the egg tray with qualified embryos is taken out and stacked on the subsequent egg cart.

6. The method of claim 5, wherein the method further comprises: In the step 2), When there is an egg tray in the egg imaging part, the artificial intelligence embryo classification and identification system controls the disc blocking device on the automatic tray feeding part to automatically start, so that the subsequent egg tray is in a state of waiting to enter the egg imaging part; When the overflow detection switch is activated, the artificial intelligence embryo egg classification and identification system controls the blocking disc device on the automatic disc feeding part to automatically start, so that the subsequent egg tray is in a state of waiting to enter the egg imaging part; otherwise, The artificial intelligence embryo egg classification and identification system controls the blocking disc device on the automatic disc feeding part to automatically close, so that the subsequent egg tray can enter the egg imaging part.

7. The method of claim 5, wherein the method further comprises: determining the position of the embryo by using the image of the embryo; and determining the position of the embryo by using the image of the embryo. In step 4), the preset height position is the position where the embryo egg in the egg tray is lifted to contact the top light adapter at the bottom of the top light assembly.

8. The method of claim 5, wherein the method further comprises: determining the position of the embryo by using the image of the embryo; and determining the position of the embryo by using the image of the embryo. In step 8), the preset condition is selected as follows: according to the classification result of the actual imaging of the embryo egg by the artificial intelligence embryo egg classification and identification system: When it is determined that the embryo egg inspection result is unqualified, the artificial intelligence embryo egg classification and identification system controls the corresponding action of the embryo egg suction device; When it is determined that the embryo egg inspection result is qualified, the artificial intelligence embryo egg classification and identification system does not control the corresponding action of the embryo egg suction device.

9. The control method of the embryo egg automatic inspection system according to claim 8, characterized in that: In step 8), when it is determined that the embryo egg inspection result is unqualified, the artificial intelligence embryo egg classification and identification system controls the embryo egg suction device corresponding to the unqualified embryo egg position to descend to the top of the unqualified embryo egg, and at the same time, the artificial intelligence embryo egg classification and identification system controls the internal negative pressure electromagnetic reversing valve of the embryo egg suction device to start, so that the embryo egg suction device is connected with the negative pressure vacuum system. Under the action of negative pressure, the embryo egg suction device sucks the unqualified embryo egg at the bottom, and then the artificial intelligence embryo egg classification and identification system controls the embryo egg suction device corresponding to the unqualified embryo egg position to rise to extract the unqualified embryo egg from the egg tray; In step 9), the artificial intelligence embryo egg classification and identification system controls the embryo egg suction device to suck the unqualified embryo egg to run above the embryo egg moving device, and then the artificial intelligence embryo egg classification and identification system controls the internal negative pressure electromagnetic reversing valve of the embryo egg suction device to close, so that the embryo egg suction device is disconnected with the vacuum system and connected with the compressed air system. The unqualified embryo egg sucked by the embryo egg suction device falls onto the embryo egg moving device, and then is transported to the unqualified embryo egg collection container by the embryo egg moving device.

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