Intelligent slitting device and method for integrally and synchronously separating multiple parts of poultry carcass

Abstract

The invention provides an intelligent slitting device and method for achieving integrated synchronous separation of multiple parts of a poultry carcass, and relates to the technical field of poultry raw meat pretreatment intelligent processing, and the device comprises a poultry carcass online circulating conveying module which comprises a vertical double-track annular guide rail conveying line; the poultry carcass multi-part anti-deviation clamping module is mounted on the vertical double-rail annular guide rail conveying line and is used for fixing poultry carcasses at multiple points; the poultry carcass scanning imaging and cutting path planning module is used for carrying out scanning imaging on poultry carcasses, carrying out accurate domain selection on multiple parts of the poultry carcasses according to image data obtained through scanning, generating a multi-part flexible cutting path planning instruction set of the poultry carcasses and sending the instruction set to the lower computer; and the multi-part integrated synchronous separation and segmentation module comprises a lower computer and an ultrasonic knife segmentation device comprising a multi-degree-of-freedom mechanical arm module and five ultrasonic knife heads, and the lower computer plans an instruction set according to the cutting path and controls the ultrasonic knife segmentation device to perform multi-part integrated synchronous flexible humanoid segmentation on the poultry carcass.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent processing of poultry raw meat pretreatment, and in particular to an intelligent cutting device and method for realizing integrated synchronous separation of multiple parts of a poultry carcass. Background Art

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

[0003] In view of the problems existing in the prior art, the present invention provides an intelligent cutting device and method for realizing integrated and synchronous separation of multiple parts of a poultry carcass.

[0004] In a first aspect, the present invention provides an intelligent cutting device for realizing synchronous separation of multiple parts of a poultry carcass, comprising: Poultry carcass online circulation conveying module, including vertical double-track circular guide conveying line; A poultry carcass multi-position anti-deviating clamping module is installed on the vertical double-track annular guide rail conveyor line and is used to fix various parts of the poultry carcass at multiple points, so that the poultry carcass moves to the scanning station and the cutting station in sequence along the vertical double-track annular guide rail conveyor line; A poultry carcass scanning imaging and cutting path planning module, comprising a scanning imaging device and a host computer connected to the scanning imaging device, wherein the scanning imaging device is used to scan and image the poultry carcass moved to the scanning station, and the host computer is used to accurately select multiple parts of the poultry carcass according to the image data obtained by scanning, generate a multi-part flexible cutting path planning instruction set for the poultry carcass, and send the multi-part flexible cutting path planning instruction set to the lower computer of the multi-part integrated synchronous separation and cutting module; The multi-part integrated synchronous separation and cutting module includes the lower computer communicatively connected to the upper computer, and an ultrasonic knife cutting device controlled by the lower computer, wherein the ultrasonic knife cutting device includes a multi-degree-of-freedom robotic arm module and five ultrasonic knife heads mounted on the multi-degree-of-freedom robotic arm module, and the lower computer is used to control the ultrasonic knife cutting device to perform multi-part integrated synchronous flexible anthropomorphic cutting on the poultry carcass moved to the cutting station according to the received multi-part flexible cutting path planning instruction set.

[0005] In some embodiments, the poultry carcass multi-position anti-deviating clamping module comprises a tray for carrying the poultry carcass, the tray is fixed on the slide seat of the vertical double-track annular guide rail conveyor line, the tray comprises a recessed portion in the middle and four supporting structures located at the periphery, the four supporting structures are all inclined downward toward the outside of the tray, the four supporting structures are used to carry the limbs of the poultry carcass, and the appearance of the tray is designed according to the contour of the poultry carcass; Wherein, the supporting structure comprises: A supporting structure body and a receiving cavity located in the supporting structure body, wherein the supporting structure body comprises a bearing surface for bearing the limbs of a poultry carcass, the bearing surface has a first opening connected to the receiving cavity, and the side of the supporting structure body facing away from the bearing surface has a second opening connected to the receiving cavity; A compression locking structure, the compression locking structure comprising a compression rod and a locking rod, the locking rod being located on the supporting structure body, one end of the compression rod being connected to the locking rod, the other end of the compression rod having a buckle, the buckle extending into the accommodating cavity through the second opening; A rejection switch is located in the accommodating cavity on a side facing away from the bearing surface, and when the locking rod is pressed toward the bearing surface, the buckle is engaged with the rejection switch; A pressure block is located at the first opening, the pressure block is in contact with the rejection switch, and when under pressure, the pressure block moves toward the accommodating cavity, so that the buckle and the rejection switch are released, and the locking rod pops up in a direction away from the bearing surface, with the maximum pop-up degree reaching the vertical plane.

[0006] In some embodiments, a roller is provided on the supporting surface, and the roller rolls to drive the cut limbs of the poultry carcass to slide into the storage box below.

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

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

[0009] In some embodiments, planning the cutting paths corresponding to the five ultrasonic blades respectively according to the recognition results includes: According to the recognition results and the three-dimensional coordinates of the internal joints of the poultry carcass cutting position, the cutting paths corresponding to the five ultrasonic blades are planned; The three-dimensional coordinates of the internal joints of the poultry carcass cutting position are obtained based on the coordinate calibration of the poultry carcass skeleton structure in the X-ray image obtained by the X-ray detection machine.

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

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

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

[0013] In a second aspect, the present invention further provides an intelligent cutting method performed by the intelligent cutting device for realizing integrated synchronous separation of multiple parts of a poultry carcass according to the first aspect, the method comprising: The vertical double-track annular guide rail conveyor line is started, driving the poultry carcasses fixed on the poultry carcass multi-position anti-deviation clamping module to move to the scanning station; The scanning imaging device scans and images the poultry carcass moved to the scanning station, and sends the scanned image data to the host computer. The host computer accurately selects multiple parts of the poultry carcass according to the image data, generates a multi-part flexible cutting path planning instruction set for the poultry carcass, and sends the multi-part flexible cutting path planning instruction set to the slave computer; The lower computer controls the ultrasonic knife cutting device to perform multi-part integrated synchronous flexible human-like cutting of the poultry carcass moved to the cutting station according to the received multi-part flexible cutting path planning instruction set, and classifies and collects the cut parts of the poultry carcass.

[0014] The intelligent slitting device and method for realizing integrated synchronous separation of multiple parts of a poultry carcass provided by the present invention connect other module workstations in series through an online circulation conveying module of a poultry carcass to play a cyclic reciprocating role, thereby greatly improving the production efficiency; the multi-point full-automatic anti-drift clamping function of the poultry carcass is realized through the multi-part anti-drift clamping module of the poultry carcass; the accurate planning of the cutting path according to the scanning result is realized automatically through the poultry carcass scanning imaging and cutting path planning module; the integrated synchronous flexible human-like cutting of multiple parts of the poultry carcass is realized through the multi-part integrated synchronous separation and cutting module, thereby not only effectively solving the problems of high labor intensity, low production efficiency, low intelligence level, etc. existing in the current cutting and slicing of multiple parts of a poultry carcass, but also further improving the cutting accuracy, cutting efficiency, and intelligence level of raw meat, and reducing losses, which is also of great significance to the intelligent upgrading of poultry processing and promoting the industrial upgrading of the meat industry. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0016] Figure 1 It is a structural schematic diagram of an intelligent cutting device for realizing integrated synchronous separation of multiple parts of a poultry carcass provided by the present invention.

[0017] Figure 2 It is a schematic plan view of a poultry carcass tray provided by the present invention.

[0018] Figure 3 It is a schematic diagram of the interior of the support structure provided by the present invention.

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

[0020] Figure 5 It is a schematic diagram of the ultrasonic knife cutting device provided by the present invention.

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

[0022] Figure 7 It is a schematic diagram of the process of the intelligent cutting method provided by the present invention. DETAILED DESCRIPTION

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

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

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

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

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

[0028] Figure 1 Schematic diagram of the structure of the intelligent cutting device for realizing synchronous separation of multiple parts of a poultry carcass provided by the present invention, such as Figure 1 As shown, the device includes a poultry carcass online circulation conveying module, a poultry carcass multi-part anti-deviating clamping module, a poultry carcass scanning imaging and cutting path planning module, and a multi-part integrated synchronous separation and cutting module.

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

[0030] The multi-position anti-deviated clamping module for poultry carcasses is installed on the vertical double-track circular guide conveyor line and is used to fix various parts of the poultry carcasses at multiple points, so that the poultry carcasses move to the scanning station and the cutting station in sequence along the vertical double-track circular guide conveyor line.

[0031] The poultry carcass scanning imaging and cutting path planning module includes a scanning imaging device and a host computer connected to the scanning imaging device. The scanning imaging device is used to scan and image the poultry carcass moved to the scanning station. The host computer is used to accurately select multiple parts of the poultry carcass based on the scanned image data, generate a multi-part flexible cutting path planning instruction set for the poultry carcass, and send the multi-part flexible cutting path planning instruction set to the lower computer of the multi-part integrated synchronous separation and cutting module.

[0032] The multi-part integrated synchronous separation and cutting module includes a lower computer connected to the upper computer for communication, and an ultrasonic knife cutting device controlled by the lower computer. The ultrasonic knife cutting device includes a multi-degree-of-freedom robotic arm module and five ultrasonic knife heads mounted on the multi-degree-of-freedom robotic arm module. The lower computer is used to control the ultrasonic knife cutting device to perform multi-part integrated synchronous flexible anthropomorphic cutting on the poultry carcass moved to the cutting station according to the received multi-part flexible cutting path planning instruction set.

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

[0034] The multi-position anti-deviation clamping module for poultry carcasses is installed on the vertical double-track circular guide conveyor line. The multi-position anti-deviation clamping module for poultry carcasses is used to fix the poultry carcasses at multiple points (for example, the four limbs of the poultry carcasses are fixed separately, and the four limbs are two wings and two legs), so that the poultry carcasses can be moved to the scanning station and the cutting station in sequence along the vertical double-track circular guide conveyor line.

[0035] Reference Figure 2 A plan view schematic diagram of a poultry carcass pallet is shown. In some embodiments, the multi-position anti-deviation clamping module for a poultry carcass includes a pallet for carrying a poultry carcass, the pallet is fixed on a slide seat of a vertical double-track annular guide conveyor line, the pallet includes a recessed portion in the middle and four supporting structures located on the periphery, the four supporting structures are all inclined downward toward the outside of the pallet, the four supporting structures are used to carry the limbs of the poultry carcass, and the appearance of the pallet is designed according to the contour of the poultry carcass.

[0036] Reference Figure 3 As shown in the internal schematic diagram of the support structure, each support structure includes a support structure body and a accommodating cavity, a compression locking structure, a rejection switch, a force-bearing pressure block and other components located inside the support structure body.

[0037] The supporting structure body includes a bearing surface (i.e. Figure 3 The upper surface of the support structure is provided with a first opening connected to the accommodating cavity on the support surface (i.e., the opening where the pressure block is placed), and the side of the support structure body facing away from the support surface (i.e., Figure 3 The bottom surface in the figure) has a second opening (the preset hole in the figure) connected to the accommodating cavity.

[0038] The compression lock structure includes a compression rod and a locking rod. The locking rod is located on the supporting structure body. One end of the compression rod is connected to the locking rod. The other end of the compression rod has a buckle (such as Figure 3 The barb buckle in the support structure is inserted into the receiving cavity through the second opening. The pressure rod and the locking rod can be rigidly connected or integrated rigid components. The two ends of the locking rod are fixed to the supporting structure body, and the middle bending part can rotate left and right (left and right here refers to the length direction along the bearing surface).

[0039] The rejection switch is located on the side of the accommodating cavity facing away from the bearing surface (that is, the side close to the buckle, so as to facilitate the engagement with the buckle). When the locking rod is pressed toward the bearing surface, the buckle engages with the rejection switch. Figure 3 When it is necessary to fix the limbs of the poultry carcass, the locking rod can be pressed down to the left side of the bearing surface, which will drive the hook buckle at the other end of the pressure rod to engage with the rejection switch, thereby locking the locking rod and fixing the limbs of the poultry carcass.

[0040] In order to automatically release the fixation of the limbs of the poultry carcass after the poultry carcass is cut, the present invention also designs a force-bearing pressure block, which is located at the first opening, and the force-bearing pressure block contacts the rejection switch. When the force-bearing pressure block is under pressure, it moves toward the accommodating cavity, so that the buckle and the rejection switch are released, and the locking rod is ejected in the direction away from the bearing surface, and the maximum ejection angle is to the vertical plane (the vertical plane refers to the plane perpendicular to the bearing surface). In a specific example, the locking rod is located on the main body of the support structure, connected by a retaining spring, and the barb buckle is stuck by the rejection switch and is in the process of closing. The locking rod rotates counterclockwise to clamp the limbs of the poultry carcass placed on the bearing surface of the main body of the support structure; when the force-bearing pressure block moves toward the accommodating cavity when under pressure, so that the barb buckle and the rejection switch are released, the locking rod rotates clockwise under the elastic force of the retaining spring, and then lifts and releases the stuck limbs of the poultry carcass.

[0041] Reference Figure 2 and Figure 3 The pressure block is the cutting point of the ultrasonic knife. The downward cutting pressure of the ultrasonic knife compresses the spring of the pressure block downward, and the spring of the rejection switch compresses to the right until the hook buckle is popped out. At this time, the locking rod will automatically release the pressed limbs of the poultry carcass, and the limbs of the poultry carcass can fall under the action of gravity, realizing the multi-point fully automatic anti-deviation clamping function of the poultry carcass.

[0042] To ensure that the limbs of the poultry carcass fall more smoothly after cutting, Figure 2 As shown, in some embodiments, a roller is provided on the bearing surface of the support structure, and the roller rolls to drive the cut poultry carcass limbs to slide into the storage box below.

[0043] In some embodiments, the scanning imaging device includes a three-dimensional line laser scanner and an X-ray detector. The three-dimensional line laser scanner is mainly used to scan the outline of the poultry carcass, and the X-ray detector is mainly used to detect whether there are foreign objects or defects inside the poultry carcass, and to detect the skeleton structure of the poultry carcass.

[0044] In some embodiments, the host computer can generate a three-dimensional visual outline of the poultry carcass based on the scanned image data.

[0045] In some embodiments, generating a three-dimensional visual outline of a poultry carcass based on the scanned image data includes: Three-dimensional reconstruction is performed based on the depth image of the poultry carcass obtained by the three-dimensional line laser scanner to generate a three-dimensional visual outline of the poultry carcass.

[0046] Reference Figure 4 After obtaining the depth image of the poultry carcass through the three-dimensional line laser scanner, the depth image can be down-sampled, hole compensated, background segmented and three-dimensional model reconstructed through the point cloud preprocessing algorithm to obtain the three-dimensional visualization contour of the poultry carcass. The three-dimensional visualization contour of the poultry carcass can be used to evaluate whether the size, shape, color, etc. of the poultry carcass meet the standards.

[0047] In some embodiments, multiple parts of a poultry carcass are accurately selected based on the scanned image data to generate a flexible cutting path planning instruction set for multiple parts of the poultry carcass, including: The target detection model is used to identify the selected cutting parts of the poultry carcass depth image obtained by the three-dimensional line laser scanner. The cutting paths corresponding to the five ultrasonic cutters are planned according to the recognition results, and the multi-part flexible cutting path planning instruction set of the poultry carcass is generated. Among them, the object detection model is trained based on sample poultry carcass depth images with cutting part identification labels.

[0048] The target detection model can be, for example, a YOLO model or an improved YOLO model (for example, modifying the C2f structure and loss function to enhance the feature extraction capability of poultry carcasses). The model has the advantages of real-time performance, high precision, small memory footprint, and compatibility with multiple platforms. After being trained with a large number of sample poultry carcass deep images with cutting part identification labels, the model's feature extraction capability for poultry carcasses can be effectively enhanced, thereby accurately identifying the various cutting parts of the poultry carcasses (neck, wings, legs).

[0049] The present invention uses five ultrasonic blades to synchronously cut the poultry carcass into multiple parts in one piece. The five ultrasonic blades correspond to the neck, left leg, right leg, left wing, and right wing of the poultry carcass respectively. The five ultrasonic blades are arranged around the cutting parts of the poultry carcass. By reasonably setting the distance and angle between the two, mutual interference can be avoided. The use of five ultrasonic blades to synchronously cut the poultry carcass into multiple parts in one piece greatly improves the production efficiency, which is five times that of ordinary mechanized cutting.

[0050] It can be understood that the target detection model can be used to identify the neck, wings, legs and other cutting parts in the depth image of the poultry carcass, so as to obtain the coordinates of the edges or endpoints of the cutting parts. Based on these coordinates, the cutting path of each cutting part can be calculated (such as Figure 4 The straight line drawn by (f) in the figure), that is, the cutting paths corresponding to the five ultrasonic cutter heads respectively, according to these cutting paths, the upper computer can generate a multi-part flexible cutting path planning instruction set, and then the lower computer can control the ultrasonic knife cutting equipment to perform multi-part integrated synchronous flexible human-like cutting on the poultry carcass moved to the cutting station according to the received multi-part flexible cutting path planning instruction set.

[0051] It should be noted that the cutting paths corresponding to the five ultrasonic cutter heads refer to the respective cutting point paths of the five ultrasonic cutter heads. After the lower computer receives the above-mentioned cutting path planning instruction set, it can calculate the moving path of the robot arm according to the respective cutting point paths of the five ultrasonic cutter heads, thereby realizing precise cutting and synchronous cutting of multiple parts.

[0052] It should be noted that the coordinates of the cutting paths corresponding to the five ultrasonic blades are based on the same coordinate origin, which can be called the first coordinate origin. The coordinates of the moving path of the robot arm are based on another coordinate origin, which can be called the second coordinate origin. The second coordinate origin is different from the first coordinate origin.

[0053] In some embodiments, the cutting paths corresponding to the five ultrasonic blades are planned according to the recognition results, including: According to the recognition results and the three-dimensional coordinates of the internal joints of the poultry carcass cutting position, the cutting paths corresponding to the five ultrasonic blades are planned; The three-dimensional coordinates of the internal joints of the poultry carcass cutting position are obtained based on the coordinate calibration of the poultry carcass skeleton structure in the X-ray image obtained by the X-ray detection machine.

[0054] In order to more accurately cut the joints and avoid cutting the bones during cutting, the present invention uses the X-ray image obtained by the X-ray detector to synchronously convert the coordinates of the skeleton structure of the poultry carcass in the X-ray image with the depth image, and then calibrates the three-dimensional coordinates of the internal joints of the cutting position of the poultry carcass according to the national poultry carcass cutting standard. After identifying the cutting parts of the poultry carcass (neck, wings, legs), the cutting path can be calculated by combining the identification results and the three-dimensional coordinates of the internal joints of the cutting position of the poultry carcass.

[0055] As for the ultrasonic knife cutting equipment, first of all, considering the common problems of sticking and inaccuracy of traditional mechanical knives, high-pressure water knives and other livestock and poultry meat cutting tools, the present invention uses an ultrasonic knife as a cutting tool. The ultrasonic knife has the advantages of low adhesion, high controllable accuracy, and a smooth cutting surface, which can effectively improve the cutting accuracy of raw meat and reduce losses.

[0056] In order to realize the integrated synchronous cutting of multiple parts of poultry carcasses, the industrial robot arm with multiple degrees of freedom (generally 6-7 degrees of freedom) of the present invention realizes an integrated synchronous separation mechanism, and the robot arm is installed at a suitable position above or on the side of the working area so that its working range can cover the poultry carcass cutting station. Figure 5 The robot arm can be composed of one to six axes, and can be equipped with multiple cutter head modules to move arbitrarily in space. The cutter heads can be adjusted in micro-distance for different cutting points to meet the needs of precise cutting and synchronous cutting of multiple parts. Figure 5 In the ultrasonic generator, the ultrasonic generator is used to drive the ultrasonic cutter head.

[0057] The intelligent cutting device for realizing integrated synchronous separation of multiple parts of a poultry carcass provided by the present invention connects other module workstations in series through the poultry carcass online circulation conveying module to play a cyclic reciprocating role, thereby greatly improving the production efficiency; the multi-point full-automatic anti-deviation clamping function of the poultry carcass is realized through the multi-part anti-deviation clamping module of the poultry carcass; the accurate planning of the cutting path according to the scanning result is realized automatically through the poultry carcass scanning imaging and cutting path planning module; the integrated synchronous separation and cutting module of multiple parts realizes the integrated synchronous flexible human-like cutting of multiple parts of the poultry carcass, thereby not only effectively solving the problems of high labor intensity, low production efficiency, low intelligence level, etc. existing in the cutting and cutting of multiple parts of the poultry carcass, but also can further improve the cutting accuracy, cutting efficiency and intelligence level of raw meat and reduce losses, which is also of great significance to the intelligent upgrading of poultry processing and the promotion of industrial upgrading of the meat industry.

[0058] The following describes this using more specific examples.

[0059] In this example, five poultry carcass multi-position anti-deviation clamping module stations are equipped on a 2.5-meter-long vertical double-track circular guide conveyor line. During operation, the poultry carcass is manually placed on the poultry carcass multi-position anti-deviation clamping module station at the leftmost end of the vertical double-track circular guide conveyor line. The tray below is designed according to the contour of the poultry carcass, which is convenient for unfolding the poultry carcass and fixing the limbs of the poultry carcass with a locking rod. Then, the vertical double-track circular guide conveyor line receives the conveying instruction and conveys the poultry carcass to the poultry carcass scanning imaging and cutting path planning module station (i.e., scanning station) for laser scanning and X-ray detection. The host computer executes the path planning algorithm and forms an instruction set. Then, the carcass is transported forward to the multi-part integrated synchronous separation and cutting module station (i.e., the cutting station). The lower computer PLC controls the ultrasonic knife to execute the cutting command. During the cutting process, the ultrasonic knife touches the pressure block on the clamp, and the locking rod releases the limbs of the carcass at the same time. After the cutting is completed, it continues to be transported forward to complete the sorting and return to the initial station to complete the cycle operation. Figure 6 The figure shows the overall workflow, which is explained in modules below.

[0060] 1. Anti-deviation clamping module for multiple parts of poultry carcasses.

[0061] At the initial station, the poultry carcass is manually placed on the tray, the limbs are spread out and placed on the upper surface of the support structure, and the locking rod is pressed down. The barb buckle will enter the preset hole at the bottom of the support structure, so that the barb buckle enters the preset hole. At the same time, the rejection switch spring is compressed to the right until the barb buckle is fully inserted and locked. The locking rod fixes the limbs of the poultry carcass from multiple points, making it impossible to deviate until it reaches the cutting station and stops. When executing the cutting procedure, the pressure block on the support structure is the landing point of the ultrasonic knife. Using the downward cutting pressure of the ultrasonic knife, the pressure block spring is compressed downward, and the rejection switch spring is compressed to the right until the barb buckle is ejected, completing the cutting procedure. The limbs of the poultry carcass slide down to the storage box below under the action of gravity, and the tray returns to the initial station to achieve a cyclic operation.

[0062] 2. Poultry carcass scanning imaging and cutting path planning module.

[0063] This module is used to visualize the external contour and internal structure of poultry carcasses, and provide the original data set for subsequent cutting path planning. After setting the equipment parameters that match the actual conveying environment and physical calibration, the dark box is closed to prevent radiation pollution and light interference, and the depth image and X-ray image of the poultry carcass scanned by the 3D line laser scanner and X-ray inspection machine are obtained.

[0064] Before performing domain identification of each cutting part, the target detection model needs to be trained. The YOLO target detection algorithm in deep learning or its latest variant is used to execute the dataset training program, which has the advantages of real-time performance, high accuracy, small memory usage, and compatibility with multiple platforms. Figure 4 As shown in (a) and (b) in the figure, the poultry carcass cutting parts detection model based on the YOLO algorithm is trained by dividing it into training set, validation set and test set in a ratio of 7:2:1. The feature extraction capability of the poultry carcass can be further enhanced by modifying the C2f structure and loss function, thereby accurately identifying the cutting parts of the poultry carcass (neck, wings, legs).

[0065] Reference Figure 4 In (c), (d) and (e), after scanning the poultry carcass arriving at the scanning station to obtain the three-dimensional scanning image of the poultry carcass (i.e., the depth image of the poultry carcass), the depth image is preprocessed with a point cloud preprocessing algorithm to obtain a point cloud preprocessing image, and the three-dimensional model image of the poultry carcass is obtained by executing procedures such as downsampling, hole compensation, background segmentation and three-dimensional model reconstruction, thereby obtaining a three-dimensional visual outline of the poultry carcass, which can be used to evaluate whether the size, shape, color, etc. of the poultry carcass meet the standards. In addition, the X-ray image can be used to determine whether there are foreign objects or defects inside the poultry carcass. The skeletal structure of the poultry carcass in the X-ray image is combined and converted synchronously with the depth image, and then the three-dimensional coordinates of the internal joints of the poultry carcass cutting position are calibrated according to the national poultry carcass segmentation standard. Then, the trained poultry carcass cutting part detection model based on the YOLO algorithm is used to calculate the cutting path in combination with the above-mentioned internal and external cutting point coordinates, as shown in FIG. Figure 4 As shown in (f) in the figure, the result is output as an instruction set and sent to the lower computer control system to guide the ultrasonic knife cutting. Real-time data can be stored in the form of tables, charts, etc., which is convenient for data tracing and performance analysis.

[0066] 3. Multi-part integrated synchronous separation and cutting module.

[0067] The ultrasonic blade is made of special alloy material with high strength and good ultrasonic conductivity. The blade shape is designed according to the cutting requirements of poultry carcasses, and there are a variety of different arcs and blade types to choose from to adapt to the cutting of different parts. For joints, a thinner and sharper blade is designed; for large muscle areas, a curved blade with a corresponding width is used.

[0068] The ultrasonic generator can generate stable and power-adjustable ultrasonic vibrations. The power range is set according to the characteristics of the cutting tissue, generally between 20-50kHz. By precisely controlling the ultrasonic power and amplitude, efficient cutting of different tissues can be achieved. Lower power is used to cut harder bone tissue, and higher power is used to process soft muscle and skin tissue. The ultrasonic knife motion module is controlled by the PLC control system, and the movement process of the ultrasonic knife head is accurately controlled according to the three-dimensional coordinate information fed back by the host computer. The use of high-precision motors and transmission devices enables the knife head to move quickly and accurately to the specified cutting position and cut according to the preset path. The motion control module has real-time feedback and adjustment functions to cope with the slight displacement of the poultry carcass during the cutting process.

[0069] An industrial robot with multiple degrees of freedom (generally 6-7 degrees of freedom) is used to realize the integrated synchronous separation mechanism. The robot is installed at a suitable position above or on the side of the working area so that its working range can cover the poultry carcass cutting area. The driving device of the multi-part integrated synchronous separation and cutting module consists of one to six axes, and can be equipped with multiple knife head modules to move arbitrarily in space. The knife head can be adjusted in micro-distance for different cutting points to meet the needs of precise cutting and multi-part integrated synchronous cutting.

[0070] The instruction set is calculated by the robot programming software and the cutting path planning algorithm, so that the robot arm moves the ultrasonic knife according to the predetermined order and coordinates. At the same time, the speed, offset and other parameters of the robot arm are set to ensure the smoothness and accuracy of the movement. The shape of the ultrasonic knife head is designed according to the shape of the poultry carcass and the part to be separated. Five ultrasonic knife heads are arranged around the cutting part of the poultry carcass, and the distance and angle between them are reasonably set to avoid mutual interference. Each ultrasonic knife head needs to be equipped with an independent ultrasonic generator to provide high-frequency vibration energy. The ultrasonic generator is connected to the control system of the robot arm so that the amplitude of the ultrasonic knife can be synchronized with the movement of the robot arm. A sensor network is arranged in the cutting and slicing area to monitor the cutting status in real time. The sensors include pressure sensors, visual sensors, etc., which are used to detect parameters such as cutting depth and tissue separation degree. According to the feedback information from the sensor, the cutting parameters of the ultrasonic knife and the working status of the cutting device are adjusted in time to ensure the synchronization and accuracy of multi-part cutting and slicing.

[0071] 4. The whole machine is linked.

[0072] The whole machine linkage refers to the coordination and cooperation between the various subsystem components in the synchronous cutting of multiple parts of the poultry carcass, so that the whole system can operate efficiently and accurately. The following are several key aspects that affect the effect of the whole machine linkage: System integration: Integrate different hardware and software systems into a unified platform, mainly including vertical double-track circular guide conveyor line, anti-deviated clamping module for multiple parts of poultry carcasses, scanning imaging equipment (X-ray inspection machine, three-dimensional line laser scanner), robotic arm-assisted ultrasonic knife flexible humanoid cutting equipment, PLC ultrasonic knife control system, visual imaging software, monitoring system, etc. Among them, the monitoring system is used to detect data and operation process in real time to ensure the smooth progress of each link and generate performance analysis reports regularly; the visual imaging software is an intuitive interactive interface for easy data viewing and command operation.

[0073] Data flow: ensure the smooth transmission of data between various components. The scanning imaging equipment mainly obtains the image data of the poultry carcass in real time and transmits it to the algorithm processing unit in real time. After the data is processed, a three-dimensional model, cutting path planning instruction set and information feedback are generated. At the same time, the lower computer receives the instructions and executes the cutting program and adjusts the operation parameters.

[0074] Equipment collaboration: The lower computer automatically controls the start and stop, switching, and operation status of the robot arm and ultrasonic knife through the PLC control system. When the upper computer detects an abnormality in the feedback data, the system issues an alarm and notifies the operator to take timely countermeasures.

[0075] Efficiency improvement and optimization: The ultimate goal of whole-machine linkage is to improve efficiency and optimize production flow. By analyzing a large amount of data, the system can provide intelligent decision support to help managers optimize production processes. The whole-machine linkage system needs to be continuously optimized and upgraded, with regular hardware and software updates and the introduction of new algorithms and technologies to improve the production efficiency of the assembly line.

[0076] The realization of the whole machine linkage effect not only improves the working efficiency of the poultry carcass intelligent cutting platform, but also enhances the reliability and accuracy of the system. Through the coordinated work of the equipment, the rapid flow of data and the excellent human-computer interaction design, the entire system can operate efficiently in a complex production environment, achieve the goals of intelligent positioning and cutting, loss reduction and consumption reduction, and improve the level of intelligent standardization of poultry cutting.

[0077] The following is a description of the intelligent slitting method provided by the present invention and performed based on the above device. The method described below and the device described above can be referenced to each other.

[0078] Figure 7 It is a schematic diagram of the process of the intelligent cutting method provided by the present invention, such as Figure 7 As shown, the method includes the following steps 701, 702 and 703.

[0079] Step 701: The vertical double-track circular guide conveyor line is started, driving the poultry carcasses fixed on the poultry carcass multi-position anti-deviation clamping module to move to the scanning station.

[0080] Step 702, the scanning imaging device scans and images the poultry carcass moved to the scanning station, and sends the scanned image data to the upper computer. The upper computer accurately selects multiple parts of the poultry carcass based on the image data, generates a multi-part flexible cutting path planning instruction set for the poultry carcass, and sends the multi-part flexible cutting path planning instruction set to the lower computer.

[0081] Step 703: The lower computer controls the ultrasonic knife cutting device to perform multi-part integrated synchronous flexible human-like cutting of the poultry carcass moved to the cutting station according to the received multi-part flexible cutting path planning instruction set, and classifies and collects the cut parts of the poultry carcass.

[0082] In some embodiments, multiple parts of a poultry carcass are accurately selected based on image data to generate a flexible cutting path planning instruction set for multiple parts of the poultry carcass, including: The target detection model is used to identify the selected cutting parts of the poultry carcass depth image obtained by the three-dimensional line laser scanner. The cutting paths corresponding to the five ultrasonic cutters are planned according to the recognition results, and the multi-part flexible cutting path planning instruction set of the poultry carcass is generated. Among them, the object detection model is trained based on sample poultry carcass depth images with cutting part identification labels.

[0083] In some embodiments, the cutting paths corresponding to the five ultrasonic blades are planned according to the recognition results, including: According to the recognition results and the three-dimensional coordinates of the internal joints of the poultry carcass cutting position, the cutting paths corresponding to the five ultrasonic blades are planned; The three-dimensional coordinates of the internal joints of the poultry carcass cutting position are obtained based on the coordinate calibration of the poultry carcass skeleton structure in the X-ray image obtained by the X-ray detection machine.

[0084] In some embodiments, the object detection model is a YOLO model.

[0085] In some embodiments, the host computer is further used to generate a three-dimensional visual contour of the poultry carcass based on the scanned image data.

[0086] In some embodiments, generating a three-dimensional visual outline of a poultry carcass based on the scanned image data includes: Three-dimensional reconstruction is performed based on the depth image of the poultry carcass obtained by the three-dimensional line laser scanner to generate a three-dimensional visual outline of the poultry carcass.

[0087] It should be noted here that the above method provided by the present invention can implement all the process steps implemented by the above device embodiment, and can achieve the same technical effects. The parts and beneficial effects that are the same as those in the device embodiment will not be described in detail here.

[0088] It should be noted that the device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0089] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0090] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An intelligent cutting device for realizing synchronous separation of multiple parts of a poultry carcass, characterized in that: include: Poultry carcass online circulation conveying module, including vertical double-track circular guide conveying line; A poultry carcass multi-position anti-deviating clamping module is installed on the vertical double-track annular guide rail conveyor line and is used to fix various parts of the poultry carcass at multiple points, so that the poultry carcass moves to the scanning station and the cutting station in sequence along the vertical double-track annular guide rail conveyor line; A poultry carcass scanning imaging and cutting path planning module, comprising a scanning imaging device and a host computer connected to the scanning imaging device, wherein the scanning imaging device is used to scan and image the poultry carcass moved to the scanning station, and the host computer is used to accurately select multiple parts of the poultry carcass according to the image data obtained by scanning, generate a multi-part flexible cutting path planning instruction set for the poultry carcass, and send the multi-part flexible cutting path planning instruction set to the lower computer of the multi-part integrated synchronous separation and cutting module; The multi-part integrated synchronous separation and cutting module includes the lower computer communicatively connected to the upper computer, and an ultrasonic knife cutting device controlled by the lower computer, wherein the ultrasonic knife cutting device includes a multi-degree-of-freedom robotic arm module and five ultrasonic knife heads mounted on the multi-degree-of-freedom robotic arm module, and the lower computer is used to control the ultrasonic knife cutting device to perform multi-part integrated synchronous flexible anthropomorphic cutting on the poultry carcass moved to the cutting station according to the received multi-part flexible cutting path planning instruction set.

2. The intelligent cutting device for realizing synchronous separation of multiple parts of a poultry carcass according to claim 1 is characterized in that: The poultry carcass multi-position anti-deviating clamping module comprises a tray for carrying the poultry carcass, the tray is fixed on the slide seat of the vertical double-track annular guide rail conveyor line, the tray comprises a recessed portion in the middle and four supporting structures located at the periphery, the four supporting structures are all inclined downward toward the outside of the tray, the four supporting structures are used to carry the four limbs of the poultry carcass, and the appearance of the tray is designed according to the contour of the poultry carcass; Wherein, the supporting structure comprises: A supporting structure body and a receiving cavity located in the supporting structure body, wherein the supporting structure body comprises a bearing surface for bearing the limbs of a poultry carcass, the bearing surface has a first opening connected to the receiving cavity, and the side of the supporting structure body facing away from the bearing surface has a second opening connected to the receiving cavity; A compression locking structure, the compression locking structure comprising a compression rod and a locking rod, the locking rod being located on the supporting structure body, one end of the compression rod being connected to the locking rod, the other end of the compression rod having a buckle, the buckle extending into the accommodating cavity through the second opening; A rejection switch is located in the accommodating cavity on a side facing away from the bearing surface, and when the locking rod is pressed toward the bearing surface, the buckle is engaged with the rejection switch; A pressure block is located at the first opening, the pressure block is in contact with the rejection switch, and moves toward the accommodating cavity when under pressure, so that the buckle and the rejection switch are released, and the locking rod pops up in a direction away from the bearing surface, and the maximum degree of popping up is to the vertical plane.

3. The intelligent cutting device for realizing synchronous separation of multiple parts of a poultry carcass according to claim 2 is characterized in that: A roller is provided on the bearing surface, and the roller rolls to drive the cut limbs of the poultry carcass to slide into the storage box below.

4. The intelligent cutting device for realizing synchronous separation of multiple parts of a poultry carcass according to claim 1, characterized in that: The scanning imaging equipment includes a three-dimensional line laser scanner and an X-ray detector.

5. The intelligent cutting device for realizing synchronous separation of multiple parts of a poultry carcass according to claim 4 is characterized in that: The method of accurately selecting multiple parts of a poultry carcass according to the scanned image data and generating a flexible cutting path planning instruction set for multiple parts of the poultry carcass comprises: Using the target detection model to perform domain recognition of each cutting part on the poultry carcass depth image obtained by the three-dimensional line laser scanner, planning the cutting paths corresponding to the five ultrasonic cutter heads respectively according to the recognition results, and generating a multi-part flexible cutting path planning instruction set for the poultry carcass; Wherein, the target detection model is trained based on sample poultry carcass depth images with cutting part identification labels.

6. The intelligent cutting device for realizing synchronous separation of multiple parts of a poultry carcass according to claim 5, characterized in that: The step of planning the cutting paths corresponding to the five ultrasonic cutter heads respectively according to the recognition results includes: According to the recognition results and the three-dimensional coordinates of the internal joints of the poultry carcass cutting position, the cutting paths corresponding to the five ultrasonic blades are planned; The three-dimensional coordinates of the internal joints of the poultry carcass cutting position are obtained based on the coordinate calibration of the poultry carcass skeleton structure in the X-ray image obtained by the X-ray detection machine.

7. The intelligent cutting device for realizing synchronous separation of multiple parts of a poultry carcass according to claim 6, characterized in that: The target detection model is the YOLO model.

8. The intelligent cutting device for realizing synchronous separation of multiple parts of a poultry carcass according to claim 4, characterized in that: The host computer is also used to generate a three-dimensional visual outline of the poultry carcass based on the image data obtained by scanning.

9. The intelligent cutting device for realizing synchronous separation of multiple parts of a poultry carcass according to claim 8, characterized in that: Generating a three-dimensional visual contour of the poultry carcass according to the scanned image data comprises: Three-dimensional reconstruction is performed based on the depth image of the poultry carcass obtained by the three-dimensional line laser scanner to generate a three-dimensional visualized contour of the poultry carcass.

10. An intelligent cutting method performed by an intelligent cutting device for realizing synchronous separation of multiple parts of a poultry carcass according to any one of claims 1 to 9, characterized in that: The method comprises: The vertical double-track annular guide rail conveyor line is started, driving the poultry carcasses fixed on the poultry carcass multi-position anti-deviation clamping module to move to the scanning station; The scanning imaging device scans and images the poultry carcass moved to the scanning station, and sends the scanned image data to the host computer. The host computer accurately selects multiple parts of the poultry carcass according to the image data, generates a multi-part flexible cutting path planning instruction set for the poultry carcass, and sends the multi-part flexible cutting path planning instruction set to the slave computer; The lower computer controls the ultrasonic knife cutting device to perform multi-part integrated synchronous flexible human-like cutting of the poultry carcass moved to the cutting station according to the received multi-part flexible cutting path planning instruction set, and classifies and collects the cut parts of the poultry carcass.

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