An AI intelligent flexible crop opening process method

Abstract

The present invention discloses an AI intelligent flexible crop opening process method, which includes the following steps: poultry is conveyed by a conveyor chain; when the poultry is conveyed to the crop AI visual positioning device, after sensing the poultry, the device triggers a light source and a camera to expose and photograph the crop part of the poultry, adopts an AI algorithm model to calculate the crop position value (horizontal value X0 and height value Z0), and simultaneously adopts a production line position synchronization device to latch the position value A0 of the current conveyor chain, and uses a control system to evenly distribute the shearing tasks that are sensed and photographed and positioned OK to multiple crop opening stations; the control system controls the crop opening mechanism of the corresponding crop opening station to work according to the horizontal value X0 and the height value Z0, the contour clamp in the crop opening mechanism captures the neck part of the poultry, adjusts the posture of the poultry and clamps the neck part of the poultry, and controls the scissors module in the crop opening mechanism to cut the esophagus at the upper end of the crop while synchronously following the poultry for a distance, and controls the crop opening mechanism to reset after completion.

Description

Technical field:

[0001] The present invention relates to the technical field of poultry slaughtering, and in particular to an AI intelligent flexible crop opening process method. Background technology:

[0002] Currently, poultry slaughterhouses slaughter chickens by first slitting their throats to bleed them, followed by depilation, and then evisceration. However, crop opening is the first step in the visceral processing process. Domestically, non-white-feathered chickens are slaughtered manually using scissors or knives to cut the esophagus above the crop, allowing the viscera to be pulled out from the body for further processing. In a poultry slaughtering line, with a production rate of 4,000-7,500 birds per hour, three to five workers are required. Each worker repeats the process tens of thousands of times per day, resulting in high workload and inconsistent crop opening quality. Skilled workers are also required, which can lead to occupational diseases and high labor costs. Companies are urgently seeking automated alternatives to poultry slaughtering to achieve fully automated poultry slaughtering and improve production efficiency.

[0003] In view of this, the inventors propose the following technical solutions. Summary of the invention:

[0004] The purpose of the present invention is to overcome the deficiencies of the prior art and provide an AI intelligent flexible crop opening process method.

[0005] In order to solve the above technical problems, the present invention adopts the following technical solutions: the AI ​​intelligent flexible crop opening process method includes the following steps: hanging the poultry on the conveyor chain and conveying the poultry by the conveyor chain; when the poultry is conveyed to the crop AI visual positioning device, the crop AI visual positioning device senses the poultry, triggers the light source and the camera to expose and photograph the crop part of the poultry, and uses the AI ​​algorithm model to calculate the crop position value, wherein the crop position value includes the horizontal value X0 and the height value Z0, and at the same time uses the production line position synchronization device to latch the current conveyor chain position value A0, and transmits each parameter to the control system, and the control system will sense and take pictures to identify the positioning OK The shearing task is evenly distributed to multiple crop opening stations; based on the position value A0 and the real-time position value of the conveyor chain fed back by the production line position synchronization device, the control system determines that the poultry is conveyed to the assigned crop opening station. The control system controls the crop opening mechanism of the corresponding crop opening station based on the horizontal value X0 and height value Z0 obtained by the crop AI visual positioning. The contoured clamp in the crop opening mechanism captures the neck of the poultry, clamps the neck of the poultry after adjusting the posture of the poultry, and confirms the shearing position of the crop while synchronously following the poultry for a distance. The scissor module in the crop opening mechanism is controlled to cut the esophagus at the upper end of the crop. After completion, the crop opening mechanism is controlled to reset.

[0006] Furthermore, in the above technical solution, the contoured clamp in the crop opening mechanism clamps the neck of the poultry while supporting the base of the neck through the guide block inside the contoured clamp, thereby correcting the posture of the poultry neck, and the humanoid fingers inside the contoured clamp move close to the outer skin of the poultry neck, thereby separating and squeezing the esophagus at the upper end of the crop from the neck of the poultry; the production line position synchronization device is an encoder module, which is installed on the drive disk of the conveyor chain and is used to detect the number of rotations of the drive disk to determine the moving position and moving speed of the conveyor chain.

[0007] Furthermore, in the above technical solution, the crop opening mechanism is installed on the X-axis drive mechanism, and the X-axis drive mechanism drives the crop opening mechanism to move synchronously with the poultry transported by the conveyor chain, so that their moving positions are the same; the crop opening mechanism and the X-axis drive mechanism are both arranged on a frame, which is installed in a casing, and the frame has a channel for the conveyor chain and the poultry hung thereon to pass through, the display screen, control buttons and alarm lights of the control system are all arranged on the casing, and the crop AI visual positioning device is installed on one side of the frame or the casing.

[0008] Furthermore, in the above technical solution, the crop AI visual positioning device includes a shell, a glass plate installed on the front end of the shell, a light source board arranged on the rear side of the glass plate, and a camera arranged on the rear side of the light source board and installed in conjunction with the light source board and whose relative position can be adjusted, as well as a background board and a sensor for sensing poultry arranged in front of the glass board. A window is provided in the middle of the light source board, and the camera is partially exposed in the window and facing the glass plate, and a spacing space for moving poultry to pass through is formed between the glass plate and the background board, and the sensor is located at the upper part of the spacing space.

[0009] Furthermore, in the above technical solution, the crop opening mechanism includes a base, a first vertical pole installed on one side of the base through a first Z-axis drive module, a second vertical pole installed on the other side of the base through a second Z-axis drive module and distributed opposite to the first vertical pole, a first Y-axis drive module installed on the upper end of the first vertical pole, a first profiling fixture installed on the first Y-axis drive module and a scissors module located next to the first profiling fixture and linked to it, a second Y-axis drive module installed on the upper end of the second vertical pole, a second profiling fixture installed on the second Y-axis drive module and corresponding to the first profiling fixture, the first profiling fixture and the second profiling fixture constitute a profiling fixture, and the opposite surfaces of the first profiling fixture and the second profiling fixture are respectively provided with a first clamping groove and a second clamping groove; a guide block that can slide elastically is provided in the first profiling fixture, and a humanoid finger is provided on the second profiling fixture.

[0010] Furthermore, in the above technical solution, the scissors module includes a scissors cylinder installed on the outside of the first contour clamp in a manner that can adjust the front and rear positions, a bracket installed on the slide outside the scissors cylinder, a sliding seat installed in the bracket in a slidable manner, a sixth spring installed between the sliding seat and the bracket, a first L-shaped blade and a second L-shaped blade installed on the front end of the sliding seat in a rotatable manner through a rotating shaft screw, a linkage block fixed to the rear end of the sliding seat, a guide plate installed at the rear end of the scissors cylinder, a pull rod screw that passes through the guide plate and is connected to the linkage block in a manner that can adjust the relative position in the front and rear directions, a first shaft rod and a second shaft rod are respectively provided on both sides of the front end of the bracket, and a first U-shaped opening is respectively provided on the outside of the first L-shaped blade and the second L-shaped blade, the first U-shaped opening is sleeved on the outer periphery of the first shaft rod, and the second U-shaped opening is sleeved on the outer periphery of the second shaft rod.

[0011] Furthermore, in the above technical solution, the front end of the first profiling fixture is provided with a first guide seat and a second guide seat distributed in an eight-shaped shape on the outside of the first clamping groove, and the first guide seat and the second guide seat respectively have a first guide groove and a second guide groove, and the front end of the second profiling fixture is provided with a first guide piece and a second guide piece distributed in an eight-shaped shape on the outside of the second clamping groove. When the first profiling fixture and the second profiling fixture are relatively close to each other, the first guide piece and the second guide piece are respectively inserted into the first guide groove and the second guide groove.

[0012] Furthermore, in the above technical solution, a first slide groove is provided at the lower end of the first profiling clamp, and a first limit block is also provided in the first slide groove; a guide groove for supporting the root of the poultry's neck is provided on the outer side of the guide block; a first strip slide hole is provided in the middle of the guide block, and the guide block is installed in the first slide groove, and the first strip slide hole is sleeved on the outer periphery of the first limit block, and a first spring is provided between the first strip slide hole and the first limit block, and the guide block protrudes outside the first profiling clamp under the elastic force of the first spring, and a first cover plate is provided at the lower end of the first profiling clamp, and the first cover plate covers part of the first slide groove, the first limit block and the guide block.

[0013] Furthermore, in the above technical solution, the humanoid finger includes a transmission striker that is inserted into the first profiling fixture through a second spring and can slide elastically, a transmission rod that is inserted into the second profiling fixture in a slidable manner and is adapted to the transmission striker and partially extends out of the second profiling fixture, a finger rod that is rotatably installed in the second profiling fixture and a finger that is movably installed at the front end of the finger rod and extends out of the second profiling fixture, a third spring that is arranged between the finger rod and the finger, a fourth spring that is arranged between the finger rod and the second profiling fixture, and a transmission gear that is rotatably installed in the second profiling fixture, the rear end of the transmission rod is provided with a plurality of continuously distributed first teeth, the rear end of the finger rod is provided with a plurality of continuously distributed second teeth, the first teeth of the transmission rod and the second teeth of the finger rod are all meshed with the transmission gear When the first Y-axis driving module and the second Y-axis driving module respectively drive the first profiling clamp and the second profiling clamp to move closer to each other, thereby driving the first profiling clamp and the second profiling clamp to capture and clamp the neck of the poultry, the transmission striker contacts the transmission rod and pushes each other to drive the transmission rod to move from outside to inside. While the transmission rod moves, it drives the finger rod and the finger at its end to move from inside to outside through the transmission gear, so that the finger moves close to the outer skin of the poultry neck, thereby separating and squeezing the esophagus at the upper end of the crop from the neck of the poultry; when the first profiling clamp and the second profiling clamp are separated from each other, the transmission striker is reset by the second spring, and the finger rod is reset by the fourth spring to move from outside to inside, and then the transmission rod is driven by the transmission gear to move from inside to outside to reset.

[0014] Furthermore, in the above technical solution, a first stroke limit piece is provided in the second profiling fixture, a second slide groove is provided on the finger rod, the first stroke limit piece extends into the second slide groove, and the two ends of the fourth spring are respectively pressed and contacted with the inner wall of the second slide groove and the first stroke limit piece, so that the fourth spring provides an elastic thrust from the outside to the inside for the finger rod; a second stroke limit piece is provided in the second profiling fixture, a third slide groove is provided on the transmission rod, and the second stroke limit piece extends into the third slide groove; the two ends of the fifth spring are respectively pressed and contacted with the inner wall of the third slide groove and the second stroke limit piece, so that The fifth spring provides an elastic thrust from the inside to the outside for the transmission rod, and drives the transmission rod outward; the finger rod is provided with a circular movable groove protruding outward and a first limiting groove located next to the circular movable groove, and the rear end of the finger is provided with a circular convex portion adapted to the circular movable groove and a second limiting groove located next to the circular convex portion. The circular movable groove and the circular convex portion are mutually arranged and can rotate relative to each other, and the two ends of the third spring are respectively embedded in the first limiting groove and the second limiting groove; the end face of the transmission rod is provided with a firing pin groove adapted to the transmission firing pin; the outside of the finger is provided with a plurality of arc-shaped third teeth.

[0015] After adopting the above technical solution, the present invention has the following beneficial effects compared with the existing technology: without changing the traditional production line, the present invention uses the AI ​​deep learning visual algorithm model for positioning and guidance through the crop AI visual positioning device, and the crop opening mechanism follows the conveyor chain in real time and synchronously, and accurately cuts off the esophagus at the upper end of the crop while the poultry is being conveyed by the conveyor chain, thereby realizing non-stop production. The important pre-process "crop opening" in the poultry slaughtering industry is realized with an intelligent, fully automatic and unmanned process, which subverts the traditional method of multiple manual handheld scissors to cut the crop esophagus, creates a new pattern for the intelligent upgrade of the poultry slaughtering industry, greatly improves production efficiency, and at the same time ensures the quality of crop opening and cutting the esophagus at the upper end of the crop, and is beneficial to the improvement of food production safety and efficiency, creating certain economic and social value. Description of the drawings:

[0016] Figure 1 This is an assembly diagram of the crop AI visual positioning device and crop opening mechanism of the present invention;

[0017] Figure 2 This is an assembly diagram of the crop AI visual positioning device and crop opening mechanism in the present invention from another perspective;

[0018] Figure 3 It is an assembly diagram of the crop opening mechanism of the present invention;

[0019] Figure 4 is a cross-sectional view of the crop AI visual positioning device of the present invention;

[0020] Figure 5 It is a three-dimensional diagram of the crop opening mechanism of the present invention;

[0021] Figure 6 It is a three-dimensional diagram of the crop opening mechanism of the present invention from another perspective;

[0022] Figure 7 This is an assembly diagram of the first profiling fixture and the scissors module in the present invention;

[0023] Figure 8 This is an assembly diagram of the first profiling fixture and the scissors module from another perspective of the present invention;

[0024] Figure 9 This is an assembly diagram of the first profiling fixture and the scissors module from another perspective of the present invention (after removing the first cover plate);

[0025] Figure 10 This is an assembly diagram of the second profiling fixture and the humanoid finger in the present invention;

[0026] Figure 11 This is an assembly diagram of the second profiling fixture and the humanoid finger from another perspective of the present invention (after removing the bottom cover);

[0027] Figure 12 It is an assembly diagram of the bottom cover of the present invention;

[0028] Figure 13 is a cross-sectional view of the assembly of the second profiling fixture and the humanoid finger of the present invention;

[0029] Figure 14 It is a three-dimensional diagram of the scissors module of the present invention;

[0030] Figure 15 is a cross-sectional view of the scissors module of the present invention;

[0031] Figure 16 It is a three-dimensional exploded view of the scissors module of the present invention; Specific implementation method:

[0032] The present invention will be further described below with reference to specific embodiments and accompanying drawings.

[0033] See Figure 1-16As shown, an AI intelligent flexible crop opening process method includes the following steps: hanging poultry on a conveyor chain and conveying the poultry by the conveyor chain; when the poultry is conveyed to the crop AI visual positioning device, the crop AI visual positioning device senses the poultry, triggers the light source and the camera to expose and photograph the crop part of the poultry, and uses the AI ​​algorithm model to calculate the crop position value, wherein the crop position value includes the horizontal value X0 and the height value Z0, and at the same time uses the production line position synchronization device to lock the current conveyor chain position value A0, and transmits each parameter to the control system, and the control system distributes the shearing tasks that are sensed and photographed and positioned OK to multiple crop opening stations evenly; according to the position value A0 and the production line position synchronization device, the crop opening station is automatically cut and the crop position is automatically cut. The line position synchronization device feeds back the real-time position value of the conveyor chain. After the control system determines that the poultry has been conveyed to the assigned crop opening station, the control system controls the crop opening mechanism of the corresponding crop opening station based on the horizontal value X0 and height value Z0 obtained by the crop AI visual positioning. The contoured clamp in the crop opening mechanism captures the neck of the poultry, adjusts the posture of the poultry, and clamps the neck of the poultry, so that the poultry transported by the conveyor chain will not shake, thereby ensuring the quality of the subsequent shearing. While synchronously following the poultry for a distance, the crop shearing position is confirmed, and the scissor module in the crop opening mechanism is controlled to cut the esophagus at the upper end of the crop, which can achieve precise cutting of the esophagus. After completion, the crop opening mechanism is controlled to reset. In other words, without changing the traditional production line, the invention uses the AI ​​deep learning visual algorithm model for positioning and guidance through the crop AI visual positioning device. The crop opening mechanism follows the conveyor chain in real time and accurately cuts the esophagus above the crop while the poultry is being conveyed by the conveyor chain, realizing non-stop production. The important pre-process "crop opening" in the poultry slaughtering industry is realized with an intelligent, fully automatic and unmanned process, which subverts the traditional method of multiple people manually cutting the crop esophagus with handheld scissors, opens a new pattern for the intelligent upgrade of the poultry slaughtering industry, greatly improves production efficiency, and at the same time ensures the quality of crop opening and cutting the esophagus above the crop, and is beneficial to the improvement of food production safety and efficiency, creating certain economic and social value.

[0034] In this embodiment, the poultry is a chicken, and the crop and the esophagus at its upper end are located in the triangular area at the base of the neck.

[0035] In the aforementioned steps, the contouring fixture in the crop opening mechanism clamps the poultry's neck while simultaneously supporting the base of the neck with a guide block within the contouring fixture, thereby correcting the neck's posture. Furthermore, the humanoid fingers within the contouring fixture move against the outer surface of the poultry's neck, separating and extruding the esophagus above the crop from the neck. The moment the guide block contacts the base of the poultry's neck, the poultry, suspended on the conveyor chain, adjusts its posture, facilitating effective shearing of the esophagus later. The base of poultry necks is generally large, and this varies significantly between species. Therefore, a movable guide block is added to adjust the posture of the necks of different sizes. Furthermore, the humanoid fingers later separate and extrude the esophagus above the crop, thereby improving the success rate and quality of the shear cut when the scissors module subsequently cuts the esophagus above the crop, thereby preventing excessive shear cuts.

[0036] The production line position synchronization device 104 is an encoder module, which is installed on the driving disk of the conveyor chain and is used to detect the number of rotations of the driving disk to determine the moving position and moving speed of the conveyor chain.

[0037] The crop opening mechanism 1 is mounted on an X-axis drive mechanism 2. The X-axis drive mechanism 2 drives the crop opening mechanism 1 to move synchronously with the poultry being conveyed on the conveyor chain, aligning their positions. This ensures that the crop opening mechanism 1 can open the poultry's crop and sever the esophagus above the crop without stopping during the conveyance process. The X-axis drive mechanism 2 is a device consisting of a servo motor, a pulley, and a belt.

[0038] The crop opening mechanism 1 and the X-axis drive mechanism 2 are both arranged on a frame 3, which is installed in a casing 31. The frame 3 has a channel 30 for the conveyor chain and the poultry hung thereon to pass through. The display screen 101, control buttons 102 and alarm lights 103 of the control system 100 are all arranged on the casing 31. The crop AI visual positioning device 4 is installed on one side of the frame 3 or the casing 31.

[0039] The crop AI visual positioning device 4 includes a shell 41 installed on one side of the frame 3 or the casing 31, a glass plate 42 installed on the front end of the shell 41, a light source board 43 arranged on the rear side of the glass plate 42, and a camera 44 arranged on the rear side of the light source board 43 and installed in conjunction with the light source board 43 and adjustable in relative position, as well as a background board 45 and a sensor 46 for sensing poultry arranged in front of the glass plate 42. A window 431 is provided in the middle of the light source board 43, and the camera 44 is partially exposed in the window 431 and faces the glass plate 42. A separation space for moving poultry to pass through is formed between the glass plate 42 and the background board 45, and the sensor 46 is located at the upper part of the separation space.

[0040] The sensor 46 is mounted on an adjustable bracket 47, which is also mounted on a side of the frame 3 or housing 31. In other words, in actual use, the relative position of the sensor 46 can be adjusted to meet the overall requirements for sensing poultry. When the conveyor chain transports poultry through the space between the glass plate 42 and the background plate 45, the sensor 46 senses the passage of poultry and immediately controls the light source board 43 and camera 44. The light source board 43, in conjunction with the camera 44, allows for exposure and photographing of the poultry.

[0041] The housing 41 is sealed with a glass plate 42. The main function of the glass plate 42 is to prevent liquid from spilling onto the camera 44, thereby ensuring the quality and service life of the camera 44. The camera 44 can also photograph poultry through the glass plate 42. The light source board 43 added in the present invention can cooperate with the camera 44 to realize high-exposure photography of poultry. That is, the light source board 43 is used for flash fill light for photography, and the background board 45 is used as the background for photography. This can achieve better high-exposure photography of poultry, clearly showing the skeleton outline, crop, esophagus and other structural positions of the poultry, and using an AI deep learning algorithm model to calculate the crop position value, where the crop position value includes a horizontal value X0 and a height value Z0.

[0042] The specific structure of the crop opening mechanism 1 is described below.

[0043] The crop opening mechanism 1 includes a base 11 connected to an X-axis drive mechanism 2 and driven by the X-axis drive mechanism 2 to move in a straight line, a first vertical rod 13 installed on one side of the base 11 through a first Z-axis drive module 12, a second vertical rod 15 installed on the other side of the base 11 and opposite to the first vertical rod 13 through a second Z-axis drive module 14, a first Y-axis drive module 16 installed on the upper end of the first vertical rod 13, a first profiling fixture 5 installed on the first Y-axis drive module 16, and a shearing device located beside the first profiling fixture 5 and linked to the first profiling fixture 5. The cutting die set 6, the second Y-axis driving module 17 installed on the upper end of the second vertical rod 15, and the second profiling fixture 7 installed on the second Y-axis driving module 17 and corresponding to the first profiling fixture 5, the first profiling fixture 5 and the second profiling fixture 7 constitute a profiling fixture, and the opposite surfaces of the first profiling fixture 5 and the second profiling fixture 7 are respectively provided with a first clamping groove 50 and a second clamping groove 70; the first profiling fixture 5 is provided with an elastically slidable guide block 8, and the first profiling fixture 5 and the second profiling fixture 7 are provided with humanoid fingers 9.

[0044] The first Y-axis driving module 16 and the second Y-axis driving module 17 are both driven by cylinders, which are low in cost and easy to install.

[0045] A belt clip 111 is provided on the base 11, and the belt clip 111 is connected to the belt in the X-axis drive mechanism 2. The first Z-axis drive module 12 and the first Z-axis drive module 14 are both driven by servo motors.

[0046] When the crop opening mechanism 1 is working, the first Z-axis driving module 12 and the second Z-axis driving module 14 drive the first profiling fixture 5 and the second profiling fixture 7 to rise to the corresponding height according to the height value Z0 of the crop position value, and the X-axis driving module 2 captures the chicken neck position according to the horizontal value X0 of the crop position value and synchronizes the conveyor chain to follow the movement for a period of time in real time. During the synchronous movement, the first Y-axis driving module 16 and the second Y-axis driving module 17 respectively drive the first profiling fixture 5 and the second profiling fixture 7 to move closer to each other accurately according to the horizontal value X0 of the crop position value. The first clamping groove 50 of the first profiling fixture 5 and the second clamping groove 70 of the second profiling fixture 7 are respectively clamped on the dorsal side and the abdominal side of the root of the poultry neck, thereby ensuring that the poultry will not shake during the conveyor chain transportation, thereby achieving the positioning effect. At the same time, when the elastically slidable guide block 8 contacts the root of the poultry neck, the poultry hung on the conveyor chain adjusts its posture, which is convenient for the effective shearing of the esophagus in the later stage. The base of a poultry neck is typically enlarged, and this varies significantly between species. Therefore, a movable guide block is added to adjust the posture of the necks of different sizes. Later, a humanoid finger is used to separate and squeeze the esophagus above the crop from the neck. This improves the success rate and quality of the cut when the scissors module subsequently cuts the esophagus above the crop, thereby preventing the cut from being too large. Finally, the scissors module 6 penetrates the skin of the poultry neck to sever the esophagus above the crop on the inside of the skin, facilitating subsequent visceral removal.

[0047] In this embodiment, the first clamping groove 50 of the first contouring fixture 5 and the second clamping groove 70 of the second contouring fixture 7 are contoured (to the shape of a chicken's neck), accommodating different types of chickens (different breeds have different neck and body sizes). The humanoid finger-like design allows the esophagus and trachea of ​​different chickens to be squeezed out of the neck, separating them from the tibia and facilitating shearing.

[0048] The front end of the first profiling fixture 5 is provided with a first guiding seat 51 and a second guiding seat 52 distributed in an eight-shaped manner on the outside of the first clamping groove 50, and the first guiding seat 51 and the second guiding seat 52 respectively have a first guiding groove 511 and a second guiding groove 521. The front end of the second profiling fixture 7 is provided with a first guiding piece 71 and a second guiding piece 72 distributed in an eight-shaped manner on the outside of the second clamping groove 70. When the first profiling fixture 5 and the second profiling fixture 7 are relatively close to each other, the first guiding piece 71 and the second guiding piece 72 are respectively inserted into the first guiding groove 511 and the second guiding groove 521, thereby ensuring that the first profiling fixture 5 and the second profiling fixture 7 can be guided close together to ensure the purpose of clamping the necks of the poultry with each other. Its operation is smoother and more precise, and jamming is avoided.

[0049] The lower end of the first profiling fixture 5 is provided with a first slide groove 53, and a first limit block 54 is also provided in the first slide groove 53; the outer side of the guide block 8 is provided with a guide groove 80 for supporting the root of the poultry's neck; the middle part of the guide block 8 is provided with a first strip slide hole 81, and the guide block 8 is installed in the first slide groove 53, and the first strip slide hole 81 is sleeved on the outer periphery of the first limit block 54, and a first spring 82 is provided between the first strip slide hole 81 and the first limit block 54, and the guide block 8 protrudes outside the first profiling fixture 5 under the elastic force of the first spring 82, and the lower end of the first profiling fixture 5 is provided with a first cover plate 55, and the first cover plate 55 covers part of the first slide groove 53, the first limit block 54 and the guide block 8 to ensure the stability of the assembly structure. During operation, the guide block 8 of the first profiling fixture 5 protrudes from the outside of the first profiling fixture 5 due to the elastic force of the first spring 82. When it contacts the base of the poultry's neck, the guide block 8 engages the base of the neck through the guide groove 80, effectively guiding the poultry and adjusting its posture. If the base of the poultry's neck is large, the guide block 8 is pushed inward by the first spring 82 upon contact, effectively guiding the poultry's neck and adjusting its posture. This allows the guide block 8 to effectively guide and adjust the posture of poultry with larger necks, thus providing a wide range of applications. Furthermore, because the guide block 8 is mounted within the first chute 53 and the first strip-shaped slide hole 81 is positioned around the periphery of the first stop block 54, the resulting sliding structure slides smoothly and is structurally stable. A fifth limiting groove is provided in the first limiting block 54 , and one end of the first spring 82 is embedded in the fifth limiting groove to ensure the stability of the assembly structure.

[0050] The humanoid finger 9 includes a transmission striker 92 which is elastically slidable and is inserted into the first profiling fixture 5 through a second spring 91, a transmission rod 93 which is slidably inserted into the second profiling fixture 7 and adapted to the transmission striker 92 and partially extends out of the second profiling fixture 7, a finger rod 94 which is rotatably installed in the second profiling fixture 7, and a finger 95 which is movably installed at the front end of the finger rod 94 and extends out of the second profiling fixture 7, a third spring 96 which is arranged between the finger rod 94 and the finger 95, a fourth spring 97 which is arranged between the finger rod 94 and the second profiling fixture 7, and a transmission gear 98 which is rotatably installed in the second profiling fixture 7. The rear end of the transmission rod 93 is provided with a plurality of continuously distributed first teeth 931, and the rear end of the finger rod 94 is provided with a plurality of continuously distributed second teeth 941. The first teeth 931 of the transmission rod 93 and the second teeth 941 of the finger rod 94 are both engaged with the transmission gear 98. The transmission rod 93 is linked to the finger rod 94; during operation, when the first Y-axis driving module 16 and the second Y-axis driving module 17 respectively drive the first profiling clamp 5 and the second profiling clamp 7 to move closer to each other, thereby driving the first profiling clamp 5 and the second profiling clamp 7 to capture and clamp the neck of the poultry, at this time, the transmission striker 92 contacts the transmission rod 93 and pushes each other to drive the transmission rod 93 to move from outside to inside. While the transmission rod 93 moves, it drives the finger rod 94 and the finger 95 at its end to move from inside to outside through the transmission gear 98, so that the finger 95 moves closely against the outer skin of the poultry neck, thereby separating and squeezing the esophagus at the upper end of the crop from the neck of the poultry; when the first profiling clamp 5 and the second profiling clamp 7 are separated from each other, the transmission striker 92 is reset by the second spring 91, and the finger rod 94 is reset by the fourth spring 97 to move from outside to inside, and then the transmission rod 93 is driven from inside to outside to reset through the transmission gear 98. In addition, since a third spring 96 is provided between the finger rod 94 and the finger 95, and the finger rod 94 and the finger 95 are movably connected, that is, the third spring 96 provides elasticity for the finger 95 relative to the finger rod 94, so that the finger 95 can elastically float relative to the finger rod 94, and then when the finger 95 moves close to the outer skin of the poultry neck, it is a flexible contact, which can better separate and extrude the esophagus at the upper end of the crop from the poultry neck. At the same time, this structure can be applied to poultry necks of different sizes for esophagus separation and extrusion.

[0051] Among them, a first stroke limit piece 73 is provided in the second contour clamp 7, and a second slide groove 942 is provided on the finger rod 94. The first stroke limit piece 73 extends into the second slide groove 942, which has a guiding sliding function, and the two ends of the fourth spring 97 are respectively pressed and contacted with the inner wall of the second slide groove 942 and the first stroke limit piece 73, so that the fourth spring 97 provides an elastic thrust from the outside to the inside for the finger rod 94.

[0052] Among them, a second stroke limit piece 74 is provided in the second profiling clamp 7, and a third slide groove 933 is provided on the transmission rod 93. The second stroke limit piece 74 extends into the third slide groove 933, which has a guiding sliding function. The two ends of the fifth spring 99 are respectively pressed and contacted with the inner wall of the third slide groove 933 and the second stroke limit piece 74, so that the fifth spring 99 provides an elastic thrust from the inside to the outside for the transmission rod 93, and drives the transmission rod 93 to protrude outside the second profiling clamp 7.

[0053] The assembly structure of the finger rod 94 and the finger 95 is as follows: the finger rod 94 is provided with a circular movable groove 943 protruding outward and a first limiting groove 944 located next to the circular movable groove 943; the rear end of the finger 95 is provided with a circular convex portion 951 adapted to the circular movable groove 943 and a second limiting groove 952 located next to the circular convex portion 951; the circular movable groove 943 and the circular convex portion 951 are arranged on each other and can rotate relative to each other, and the two ends of the third spring 96 are respectively embedded in the first limiting groove 944 and the second limiting groove 952, to ensure that the third spring 96 is stably installed on the finger rod 94 and the finger 95, and form a stable floating assembly structure.

[0054] The second profiling fixture 7 has a bottom cover 700 at its lower end, and the finger rod 94 , the finger head 95 , the transmission gear 98 and the transmission rod 93 are all installed in the bottom cover 700 .

[0055] The end face of the transmission rod 93 is provided with a striker groove 932 adapted to the transmission striker 92. When the transmission rod 93 contacts the transmission striker 92, the transmission striker 92 is inserted into the striker groove 932, thereby ensuring that the transmission rod 93 and the transmission striker 92 form a stable contact and have a guiding effect, so that the transmission rod 93 can be better driven to move stably.

[0056] The outside of the finger 95 is provided with a plurality of arc-shaped third teeth 950, which can more stably separate and squeeze out the esophagus at the upper end of the crop from the neck of the poultry.

[0057] The scissors module 6 includes a scissors cylinder 61 installed on the outside of the first profiling fixture 5 in a manner that the front and rear positions can be adjusted, a bracket 62 installed on the slide 611 outside the scissors cylinder 61, a sliding seat 63 installed in the bracket 62 in a slidable manner, a sixth spring 60 installed between the sliding seat 63 and the bracket 62, a first L-shaped blade 65 and a second L-shaped blade 66 installed on the front end of the sliding seat 63 in a rotatable manner through a rotating shaft screw 64, a linkage block 67 fixed to the rear end of the sliding seat 63, and a spring 68 installed on the scissors cylinder 61. The guide plate 68 at the rear end of the cylinder 61 and the pull rod screw 69 pass through the guide plate 68 and are connected to the linkage block 67 in a manner that the relative position can be adjusted in the front and rear directions. The first shaft rod 621 and the second shaft rod 622 are respectively provided on both sides of the front end of the bracket 62. The outer sides of the first L-shaped blade 65 and the second L-shaped blade 66 (i.e., the handle part) are respectively provided with a first U-shaped opening 651 and a second U-shaped opening 661. The first U-shaped opening 651 is sleeved on the outer periphery of the first shaft rod 621, and the second U-shaped opening 661 is sleeved on the outer periphery of the second shaft rod 622. The sliding seat 63 is ejected outward (i.e., forward) relative to the bracket 62 under the elastic force of the sixth spring 60. After the slide 611 on the outside of the shears cylinder 61 drives the bracket 62 backward, the sliding seat 63 is pulled by the pull rod screw 69 and cannot move. The first L-shaped blade 65 and the second L-shaped blade 66 can rotate relative to the front end of the sliding seat 63. At this time, as the bracket 62 moves backward, the first U-shaped opening 651 of the first L-shaped blade 65 and the second U-shaped opening 661 of the second L-shaped blade 66 are driven backward. The first L-shaped blade 65 and the second L-shaped blade 66 are relatively open due to the limiting action of the first U-shaped opening 651 and the second U-shaped opening 661 and the first and second shafts 621 and 622. Similarly, when the slide 611 on the outside of the shears cylinder 61 drives the bracket 62 forward, the first L-shaped blade 65 and the second L-shaped blade 66 close together to achieve the shearing operation. The function of the sixth spring 60 is to drive the sliding seat 63 to extend forward, that is, the sliding seat 63 can float back and forth relative to the bracket 62.

[0058] The pull rod screw 69 is threadedly connected to the guide plate 68, and their relative positions can be adjusted. Alternatively, a nut 681 is provided within the guide plate 68, and the nut 681 is screwed together with the pull rod screw 69 to adjust their relative positions. By adjusting the relative position of the pull rod screw 69 and the guide plate 68, the position of the linkage block 67 and the sliding seat 63 relative to the bracket 62 can be adjusted, thereby adjusting the opening size of the first L-shaped blade 65 and the second L-shaped blade 66 and the cutting depth to meet different usage requirements.

[0059] The linkage block 67 is provided with a thread groove, and the end of the pull rod screw 69 is provided with a thread segment, which is spirally installed to be connected with the thread groove.

[0060] The outer side of the shears cylinder 61 is provided with a threaded groove 610, and the outer side of the first profiling fixture 5 is provided with a strip-shaped hole 501. The first screw passes through the strip-shaped hole 501 and is screwed into the threaded groove 610, thereby ensuring that the scissors module 6 is stably mounted on the outer side of the first profiling fixture 5. When the relative position needs to be adjusted, the first screw is loosened and moved back and forth in the strip-shaped hole 501 by the first screw to adjust the front-back position of the shears cylinder 61 relative to the first profiling fixture 5. After the adjustment is completed, the first screw is tightened, which is extremely convenient to operate.

[0061] A crossbar 620 is provided in the middle of the bracket 62. The sliding seat 63 is U-shaped and fits around the crossbar 620, allowing it to slide forward and backward. The linkage block 67 is fixed to the rear side of the sliding seat 63 and surrounds the crossbar 620. One end of the sixth spring 60 is inserted into the transverse slot 603 of the crossbar 620. The other end of the sixth spring 60 is inserted into the sliding seat 63.

[0062] The first baffle 601 and the second baffle 602 are respectively installed on the upper ends of the first shaft 621 and the second shaft 622 by the third screw and the fourth screw, and the outer side (i.e., the handle part) lower surface of the first L-shaped blade 65 and the second L-shaped blade 66 is attached to the upper surface of the front end of the sliding seat 63, and the first baffle 601 and the second baffle 602 are respectively placed on the outer side (i.e., the handle part) upper surface of the first L-shaped blade 65 and the second L-shaped blade 66, so as to prevent the first L-shaped blade 65 and the second L-shaped blade 66 from falling out relative to the first shaft 621 and the second shaft 622, thereby ensuring the stability and quality of the assembly structure.

[0063] To sum up, without changing the traditional production line, the invention uses the AI ​​deep learning visual algorithm model for positioning and guidance through the crop AI visual positioning device. The crop opening mechanism follows the conveyor chain in real time and accurately cuts off the esophagus at the upper end of the crop while the poultry is being conveyed by the conveyor chain, realizing non-stop production. The important pre-process "crop opening" in the poultry slaughtering industry is realized with an intelligent, fully automatic and unmanned process, which subverts the traditional method of multiple manual handheld scissors cutting the crop esophagus, creates a new pattern for the intelligent upgrade of the poultry slaughtering industry, greatly improves production efficiency, and at the same time ensures the quality of crop opening and cutting off the esophagus at the upper end of the crop, and is beneficial to the improvement of food production safety and efficiency, creating certain economic and social value.

[0064] Of course, the above description is only a specific embodiment of the present invention and is not intended to limit the scope of implementation of the present invention. Any equivalent changes or modifications made based on the structure, features and principles described in the scope of the patent application of the present invention should be included in the scope of the patent application of the present invention.

Claims

1. An AI intelligent flexible crop opening process method, characterized by: It includes the following steps: The poultry are hung on the conveyor chain and the conveyor chain transports the poultry; When poultry is conveyed to the crop AI visual positioning device, the crop AI visual positioning device senses the poultry, triggers the light source and camera to expose and photograph the crop area of ​​the poultry, and uses the AI ​​algorithm model to calculate the crop position value, where the crop position value includes the horizontal value X0 and the height value Z0. At the same time, the production line position synchronization device is used to lock the current conveyor chain position value A0, and each parameter is transmitted to the control system. The control system will evenly distribute the shearing tasks that are sensed and photographed and positioned OK to multiple crop opening stations; Based on the position value A0 and the real-time position value of the conveyor chain fed back by the production line position synchronization device, the control system determines that the poultry has been conveyed to the assigned crop opening station. The control system then controls the crop opening mechanism corresponding to the crop opening station based on the horizontal value X0 and height value Z0 obtained by the crop AI visual positioning. The contoured clamp in the crop opening mechanism captures the neck of the poultry, adjusts the poultry's posture, and clamps the neck of the poultry. While synchronously following the poultry for a distance, it confirms the crop shearing position and controls the scissor module in the crop opening mechanism to cut the esophagus at the upper end of the crop. After completion, the crop opening mechanism is controlled to reset. The crop opening mechanism (1) comprises a machine base (11), a first vertical rod (13) installed on one side of the machine base (11) via a first Z-axis driving module (12), a second vertical rod (15) installed on the other side of the machine base (11) via a second Z-axis driving module (14) and distributed opposite to the first vertical rod (13), a first Y-axis driving module (16) installed on the upper end of the first vertical rod (13), a first profiling fixture (5) installed on the first Y-axis driving module (16) and a scissor module (6) located beside the first profiling fixture (5) and linked to it, and a second vertical rod (15) installed on the first Y-axis driving module (16). A second Y-axis driving module (17) at the upper end of the second vertical rod (15), a second profiling fixture (7) mounted on the second Y-axis driving module (17) and corresponding to the first profiling fixture (5), the first profiling fixture (5) and the second profiling fixture (7) forming a profiling fixture, and the first profiling fixture (5) and the second profiling fixture (7) having opposing surfaces respectively provided with a first clamping groove (50) and a second clamping groove (70); a guide block (8) capable of elastic sliding is provided in the first profiling fixture (5), and a humanoid finger (9) is provided on the second profiling fixture (7); The humanoid finger (9) comprises a transmission striker (92) which is elastically slidable and is inserted into the first profiling fixture (5) through a second spring (91); a transmission rod (93) which is slidably inserted into the second profiling fixture (7) and is adapted to the transmission striker (92) and partially extends out of the second profiling fixture (7); a finger rod (94) which is rotatably installed in the second profiling fixture (7); a finger (95) which is movably installed at the front end of the finger rod (94) and extends out of the second profiling fixture (7); and a third finger rod (94) which is arranged between the finger rod (94) and the finger (95). A spring (96), a fourth spring (97) provided between the finger rod (94) and the second profiling fixture (7), and a transmission gear (98) rotatably mounted in the second profiling fixture (7), wherein the rear end of the transmission rod (93) is provided with a plurality of continuously distributed first teeth (931), and the rear end of the finger rod (94) is provided with a plurality of continuously distributed second teeth (941), and the first teeth (931) of the transmission rod (93) and the second teeth (941) of the finger rod (94) are both engaged with the transmission gear (98), so that the transmission rod (93) and the finger rod (94) are linked; When the first Y-axis driving module (16) and the second Y-axis driving module (17) respectively drive the first profiling clamp (5) and the second profiling clamp (7) to move closer to each other, thereby driving the first profiling clamp (5) and the second profiling clamp (7) to capture and clamp the neck of the poultry, at this time, the transmission striker (92) contacts the transmission rod (93) and pushes each other to drive the transmission rod (93) to move from outside to inside, and the transmission rod (93) drives the finger rod (93) through the transmission gear (98) while moving. 4) and the finger (95) at its end moves from inside to outside, so that the finger (95) moves closely against the outer skin of the poultry neck, thereby separating and squeezing the esophagus at the upper end of the crop from the poultry neck; when the first profiling clamp (5) and the second profiling clamp (7) are separated from each other, the transmission striker (92) is reset by the second spring (91), the finger rod (94) is reset by the fourth spring (97) to move from outside to inside, and then the transmission rod (93) is driven by the transmission gear (98) to move from inside to outside to reset.

2. The AI ​​intelligent flexible crop opening process according to claim 1, characterized in that: The contouring fixture in the crop opening mechanism clamps the poultry's neck while supporting the base of the neck with the guide block inside the contouring fixture, thereby correcting the posture of the poultry's neck. The humanoid fingers inside the contouring fixture move closely against the outer skin of the poultry's neck, thereby separating and squeezing the esophagus at the upper end of the crop from the poultry's neck. The production line position synchronization device is an encoder module, which is installed on the drive disk of the conveyor chain and is used to detect the number of rotations of the drive disk to determine the moving position and moving speed of the conveyor chain.

3. The AI ​​intelligent flexible crop opening process according to claim 1, characterized in that: The crop opening mechanism (1) is mounted on an X-axis driving mechanism (2), and the X-axis driving mechanism (2) drives the crop opening mechanism (1) to move synchronously with the poultry conveyed by the conveyor chain, so that the moving positions thereof are the same; the crop opening mechanism (1) and the X-axis driving mechanism (2) are both arranged on a frame (3), and the frame (3) is mounted in a housing (31). The frame (3) has a passage (30) for the conveyor chain and the poultry hung thereon to pass through. The display screen (101), control buttons (102) and alarm light (103) of the control system (100) are all arranged on the housing (31), and the crop AI visual positioning device (4) is mounted on one side of the frame (3) or the housing (31).

4. The AI ​​intelligent flexible crop opening process according to any one of claims 1 to 3, characterized in that: The crop AI visual positioning device (4) comprises a housing (41), a glass plate (42) mounted on the front end of the housing (41), a light source plate (43) arranged on the rear side of the glass plate (42), a camera (44) arranged on the rear side of the light source plate (43) and mounted in conjunction with the light source plate (43) and capable of adjusting its relative position, a background plate (45) arranged in front of the glass plate (42), and a sensor (46) for sensing poultry, wherein a window (431) is provided in the middle of the light source plate (43), the camera (44) is partially exposed in the window (431) and faces the glass plate (42), and a space is formed between the glass plate (42) and the background plate (45) for the moving poultry to pass through, and the sensor (46) is located at the upper part of the space.

5. The AI ​​intelligent flexible crop opening process according to claim 1, characterized in that: The scissors module (6) includes a shears cylinder (61) mounted on the outside of the first profiling fixture (5) in a manner that allows for front and rear positions to be adjusted, a bracket (62) mounted on a slide (611) on the outside of the shears cylinder (61), a sliding seat (63) mounted in the bracket (62) in a slidable manner, a sixth spring (60) mounted between the sliding seat (63) and the bracket (62), a first L-shaped blade (65) and a second L-shaped blade (66) mounted on the front end of the sliding seat (63) in a rotatable manner by means of a rotating shaft screw (64), a linkage block (67) fixed to the rear end of the sliding seat (63), and a mounting plate (61) mounted on the sliding seat (63). A guide plate (68) is provided at the rear end of the shear cylinder (61), and a pull rod screw (69) passes through the guide plate (68) and is connected to the linkage block (67) in a manner that the relative position can be adjusted in the front and rear directions. A first shaft rod (621) and a second shaft rod (622) are provided on both sides of the front end of the bracket (62), and a first U-shaped opening (651) and a second U-shaped opening (661) are provided on the outer sides of the first L-shaped blade (65) and the second L-shaped blade (66), respectively. The first U-shaped opening (651) is sleeved on the outer periphery of the first shaft rod (621), and the second U-shaped opening (661) is sleeved on the outer periphery of the second shaft rod (622).

6. The AI ​​intelligent flexible crop opening process according to claim 1, characterized in that: The front end of the first profiling fixture (5) is provided with a first guiding seat (51) and a second guiding seat (52) distributed in an eight-shaped manner on the outside of the first clamping groove (50), and the first guiding seat (51) and the second guiding seat (52) respectively have a first guiding groove (511) and a second guiding groove (521). The front end of the second profiling fixture (7) is provided with a first guiding piece (71) and a second guiding piece (72) distributed in an eight-shaped manner on the outside of the second clamping groove (70). When the first profiling fixture (5) and the second profiling fixture (7) are relatively close to each other, the first guiding piece (71) and the second guiding piece (72) are respectively inserted into the first guiding groove (511) and the second guiding groove (521).

7. The AI ​​intelligent flexible crop opening process according to claim 1, characterized in that: The first profiling fixture (5) is provided with a first chute (53) at the lower end, and a first limit block (54) is further provided in the first chute (53); a guide groove (80) for holding the root of the poultry neck is provided on the outer side of the guide block (8); a first strip-shaped sliding hole (81) is provided in the middle of the guide block (8), the guide block (8) is installed in the first chute (53), and the first strip-shaped sliding hole (81) is sleeved on the outer periphery of the first limit block (54), and a first spring (82) is provided between the first strip-shaped sliding hole (81) and the first limit block (54), and the guide block (8) protrudes outside the first profiling fixture (5) under the elastic force of the first spring (82), and a first cover plate (55) is provided at the lower end of the first profiling fixture (5), and the first cover plate (55) covers the first chute (53), the first limit block (54) and the guide block (8).

8. The AI ​​intelligent flexible crop opening process according to claim 1, characterized in that: A first stroke limit piece (73) is provided in the second profiling fixture (7), a second slide groove (942) is provided on the finger rod (94), the first stroke limit piece (73) extends into the second slide groove (942), and two ends of the fourth spring (97) are respectively pressed against the inner wall of the second slide groove (942) and the first stroke limit piece (73), so that the fourth spring (97) provides an elastic thrust from the outside to the inside for the finger rod (94); A second stroke limit piece (74) is provided in the second profiling fixture (7), a third slide groove (933) is provided on the transmission rod (93), and the second stroke limit piece (74) extends into the third slide groove (933); two ends of the fifth spring (99) are respectively pressed against the inner wall of the third slide groove (933) and the second stroke limit piece (74), so that the fifth spring (99) provides an elastic thrust from the inside to the outside for the transmission rod (93), and drives the transmission rod (93) to protrude outside the second profiling fixture (7); The finger rod (94) is provided with a circular movable groove (943) protruding outward and a first limiting groove (944) located beside the circular movable groove (943); the rear end of the finger head (95) is provided with a circular protrusion (951) adapted to the circular movable groove (943) and a second limiting groove (952) located beside the circular protrusion (951); the circular movable groove (943) and the circular protrusion (951) are mutually sleeved and can rotate relative to each other, and the two ends of the third spring (96) are respectively embedded in the first limiting groove (944) and the second limiting groove (952); The end surface of the transmission rod (93) is provided with a striker groove (932) adapted to the transmission striker (92); A plurality of arc-shaped third teeth (950) are arranged outside the finger (95).

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