Ultrasonic scalpel-assisted flexible humanoid cutting device and method for multiple parts of poultry carcass

Abstract

This invention provides an ultrasonic scalpel-assisted flexible humanoid cutting device and method for multiple parts of poultry carcass, relating to the field of intelligent processing technology for poultry raw meat pretreatment. The device includes: an online circulating conveying module for poultry carcasses, comprising a vertical double-rail annular guide rail conveyor line and a non-circular guide rail; a multi-part anti-deviation clamping module for poultry carcasses, installed on the vertical double-rail annular guide rail conveyor line, used to fix the poultry carcass at multiple points, and after passing through the cutting station, controlled by the non-circular guide rail to release the clamps and collect the poultry carcass parts separately; a poultry carcass scanning imaging and cutting path planning module, used to scan and image the poultry carcass, generate a cutting path planning instruction set based on the scanned image data and send it to the lower-level machine; and an ultrasonic scalpel four-dimensional moving flexible humanoid cutting module, comprising a lower-level machine and a four-axis platform ultrasonic scalpel cutting device, the lower-level machine controlling the four-axis platform ultrasonic scalpel cutting device to perform flexible humanoid cutting of multiple parts of the poultry carcass according to the cutting path planning instruction set.

Description

Technical Field

[0001] This invention relates to the field of intelligent processing technology for poultry raw meat pretreatment, and in particular to an ultrasonic scalpel-assisted flexible humanoid cutting device and method for multiple parts of poultry carcass. Background Technology

[0002] With the industrialization of cuisine, higher standardization requirements have been put forward for the pre-processing of raw meat. In particular, the precise cutting and segmentation of different parts of poultry carcasses, such as neck, wings, and legs, has become an urgent need for the industry. At present, the cutting and segmentation of multiple parts of poultry carcasses is mostly done by manual-assisted assembly lines, which has problems such as high labor intensity, low production efficiency, and low level of intelligence, making it difficult to meet the needs of the industry. Summary of the Invention

[0003] To address the problems existing in the prior art, this invention provides an ultrasonic scalpel-assisted flexible humanoid cutting device and method for multiple parts of poultry carcass.

[0004] In a first aspect, the present invention provides an ultrasonic scalpel-assisted flexible humanoid cutting device for multiple parts of an avian carcass, comprising:

[0005] The poultry carcass online circulating conveyor module includes a vertical double-rail annular guide rail conveyor line and an irregularly shaped annular guide rail;

[0006] A multi-part anti-deviation clamping module for poultry carcasses is installed on the vertical double-rail annular guide rail conveyor line. It is used to fix various parts of the poultry carcass at multiple points, so that the poultry carcass moves sequentially to the scanning station and the cutting station along the vertical double-rail annular guide rail conveyor line. After passing through the cutting station, the clamps are released by the action of the irregular annular guide rail and the various parts of the poultry carcass are collected respectively.

[0007] 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 that has been moved to the scanning station. The host computer is used to accurately select regions for multiple parts of the poultry carcass based on the image data obtained from the scan, generate a set of flexible cutting path planning instructions for multiple parts of the poultry carcass, and send the set of flexible cutting path planning instructions for multiple parts to the lower computer of the ultrasonic scalpel four-dimensional mobile flexible humanoid cutting module.

[0008] The ultrasonic scalpel four-dimensional mobile flexible humanoid cutting module includes a lower computer that is communicatively connected to the upper computer, and a four-axis platform ultrasonic scalpel cutting device controlled by the lower computer. The four-axis platform ultrasonic scalpel cutting device includes a four-axis motion platform and an ultrasonic scalpel head mounted on the four-axis motion platform. The lower computer is used to control the four-axis platform ultrasonic scalpel cutting device to perform flexible humanoid cutting of multiple parts of the poultry carcass that have moved to the cutting station, according to the received multi-part flexible cutting path planning instruction set.

[0009] In some embodiments, the irregularly shaped annular guide rail includes a first portion, a second portion, and a step located between the first portion and the second portion. Both the first portion and the second portion include arc-shaped segments and parallel straight segments, and the spacing between the parallel straight segments of the first portion is greater than the spacing between the parallel straight segments of the second portion.

[0010] In some embodiments, the multi-part anti-displacement clamping module for poultry carcasses includes:

[0011] The tray used to hold the poultry carcass is fixed on the slide of the vertical double-rail circular guide rail conveyor. The tray includes a recessed part in the middle and four supporting structures around the periphery. The four supporting structures are all inclined downwards outwards from the tray. When the clamp is opened, it is convenient to classify and collect the various parts of the poultry carcass. The four supporting structures are used to support the limbs of the poultry carcass. The shape of the tray is designed according to the contour of the poultry carcass.

[0012] A bracket is fixed on the slide of the vertical double-rail annular guide rail conveyor line, and a linear bearing is installed on the bracket.

[0013] A displacement adjustment plate is erected on the bracket;

[0014] A pressure bar is mounted on the displacement adjustment plate. A contact block is provided at the first end of the pressure bar. The contact block contacts the limbs of the poultry carcass when the carcass is fixed.

[0015] A connecting rod passes through the linear bearing. The first end of the connecting rod is connected to the second end of the pressure rod. The second end of the connecting rod is connected to the irregular annular guide rail and can slide along the irregular annular guide rail. When the second end of the connecting rod is located at the first part of the irregular annular guide rail, the second end of the pressure rod is raised, causing the first end of the pressure rod to drive the contact block to press down. When the second end of the connecting rod transitions from the step of the irregular annular guide rail to the second part, the second end of the pressure rod is lowered, causing the first end of the pressure rod to drive the contact block to lift up.

[0016] In some embodiments, the scanning imaging device includes a three-dimensional line laser scanner and an X-ray inspection machine.

[0017] In some embodiments, the step of precisely selecting regions for multiple parts of the poultry carcass based on the scanned image data and generating a set of flexible cutting path planning instructions for multiple parts of the poultry carcass includes:

[0018] The target detection model is used to identify the cutting regions of each cutting part in the depth image of the poultry carcass obtained by the three-dimensional line laser scanner. Based on the identification results and the cutting order of each cutting part, the cutting path of the ultrasonic scalpel head is planned, and a multi-part flexible cutting path planning instruction set for the poultry carcass is generated.

[0019] The target detection model is trained based on depth images of sample poultry carcasses with labels indicating cut locations.

[0020] In some embodiments, planning the cutting path of the ultrasonic scalpel head based on the identification results and the cutting sequence of each cutting part includes:

[0021] Based on the identification results, the three-dimensional coordinates of the joints inside the cut location of the poultry carcass, and the cutting sequence of each cut location, the cutting path of the ultrasonic scalpel head is planned.

[0022] The three-dimensional coordinates of the joints inside the cut position of the poultry carcass are obtained based on the coordinate calibration of the skeletal structure of the poultry carcass in the X-ray image obtained by the X-ray inspection machine.

[0023] In some embodiments, the target detection model is the YOLO model.

[0024] In some embodiments, the host computer is further configured to generate a three-dimensional visual outline of the poultry carcass based on the scanned image data.

[0025] In some embodiments, generating a three-dimensional visual outline of the bird carcass based on the scanned image data includes:

[0026] A three-dimensional reconstruction is performed on the depth image of the poultry carcass obtained from the three-dimensional line laser scanner to generate a three-dimensional visual outline of the poultry carcass.

[0027] Secondly, the present invention also provides a cutting method based on the ultrasonic scalpel-assisted flexible humanoid cutting device for multiple parts of a poultry carcass described in the first aspect, the method comprising:

[0028] When the vertical double-rail circular guide rail conveyor line is started, it drives the poultry carcass fixed on the multi-part anti-displacement clamping module to move to the scanning station.

[0029] The scanning imaging device scans and images the poultry carcass that has been moved to the scanning station, and sends the scanned image data to the host computer. The host computer performs precise selection of multiple parts of the poultry carcass based on the image data, generates a set of flexible cutting path planning instructions for multiple parts of the poultry carcass, and sends the set of flexible cutting path planning instructions for multiple parts to the slave computer.

[0030] The lower-level machine controls the four-axis platform ultrasonic scalpel cutting device to perform flexible human-like cutting of multiple parts of the poultry carcass that have moved to the cutting station, according to the received multi-part flexible cutting path planning instruction set. After passing through the cutting station, the clamp is released under the action of the irregular ring guide rail, and the various parts of the poultry carcass are collected in categories.

[0031] The ultrasonic scalpel-assisted flexible humanoid cutting device and method for multi-part poultry carcass provides an invention that connects other workstations in series through an online circulating transport module for the poultry carcass, creating a cyclical process that significantly improves production efficiency. The multi-part anti-deviation clamping module enables fully automatic anti-deviation clamping at multiple points on the poultry carcass. The poultry carcass scanning imaging and cutting path planning module enables precise automatic cutting path planning based on scanning results. The ultrasonic scalpel four-dimensional moving flexible humanoid cutting module achieves precise flexible humanoid cutting of various parts of the poultry carcass. This invention not only effectively solves the problems of high labor intensity, low production efficiency, and low level of intelligence in current multi-part poultry carcass cutting, but also further improves the cutting accuracy, efficiency, and intelligence level of raw meat, while reducing waste. It is of great significance for the intelligent upgrading of poultry processing and the promotion of industrial upgrading in the meat industry. Attached Figure Description

[0032] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0033] Figure 1 This is a schematic diagram of the ultrasonic scalpel-assisted flexible humanoid cutting device for multiple parts of poultry carcasses provided by the present invention.

[0034] Figure 2 This is a schematic diagram of the irregular ring guide rail provided by the present invention.

[0035] Figure 3 This is a schematic diagram of the poultry carcass multi-part anti-displacement clamping module provided by the present invention.

[0036] Figure 4This is an example diagram of the three-dimensional visualization outline of the poultry carcass and the flexible humanoid cutting path planning provided by the present invention.

[0037] Figure 5 This is a schematic diagram of the four-axis platform ultrasonic scalpel cutting device provided by the present invention.

[0038] Figure 6 This is the overall workflow diagram provided by the present invention.

[0039] Figure 7 This is a flowchart illustrating the segmentation method provided by the present invention. Detailed Implementation

[0040] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0041] In this invention, the term "and / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. The character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0042] In this invention, the term "multiple" refers to two or more, and other quantifiers are similar.

[0043] In this invention, the terms "first," "second," etc., are used to distinguish similar objects, not to describe a specific order or sequence. It should be understood that such terms can be used interchangeably where appropriate so that embodiments of the invention can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first" and "second" are generally of the same class, without limiting the number of objects; for example, the first object can be one or more.

[0044] The following is combined with Figures 1-7 Embodiments of the present invention are described.

[0045] Figure 1 This is a schematic diagram of the ultrasonic scalpel-assisted flexible humanoid cutting device for multiple parts of poultry carcasses provided by the present invention, as shown below. Figure 1 As shown, the device includes an online circulating transport module for poultry carcasses, a multi-part anti-deviation clamping module for poultry carcasses, a scanning imaging and cutting path planning module for poultry carcasses, and a four-dimensional moving flexible humanoid cutting module for ultrasonic scalpels.

[0046] The poultry carcass online circulation conveying module includes a vertical double-rail circular guide rail conveyor line and an irregularly shaped circular guide rail.

[0047] The multi-part anti-deviation clamping module for poultry carcasses is installed on a vertical double-rail circular guide rail conveyor line. It is used to fix various parts of the poultry carcass at multiple points, so that the poultry carcass moves sequentially to the scanning station and the cutting station along the vertical double-rail circular guide rail conveyor line. After passing through the cutting station, the clamps are released by the action of the irregular circular guide rail, and the various parts of the poultry carcass are collected separately.

[0048] 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 that has been moved to the scanning station. The host computer is used to accurately select regions of multiple parts of the poultry carcass based on the image data obtained from the scan, generate a set of flexible cutting path planning instructions for multiple parts of the poultry carcass, and send the set of flexible cutting path planning instructions for multiple parts to the slave computer of the ultrasonic scalpel four-dimensional mobile flexible humanoid cutting module.

[0049] The ultrasonic scalpel four-dimensional mobile flexible humanoid cutting module includes a lower computer that communicates with a host computer, and a four-axis platform ultrasonic scalpel cutting device controlled by the lower computer. The four-axis platform ultrasonic scalpel cutting device includes a four-axis motion platform and an ultrasonic scalpel head mounted on the four-axis motion platform. The lower computer is used to control the four-axis platform ultrasonic scalpel cutting device to perform flexible humanoid cutting of multiple parts of the poultry carcass that have moved to the cutting station, according to the received multi-part flexible cutting path planning instruction set.

[0050] Specifically, the poultry carcass online circulating conveying module uses a vertical double-rail circular guide rail conveyor line to connect the workstations of other modules, which plays a cyclical role and greatly improves production efficiency.

[0051] The irregularly shaped ring guide rail is used to assist the multi-part anti-deviation clamping module of the poultry carcass in fixing and releasing multiple parts of the carcass. The aforementioned clamps refer to the clamps used to fix multiple parts of the poultry carcass. The irregularly shaped ring guide rail is a fixed, stationary guide rail, and it is also a double-rail design, which is installed on the frame together with the vertical double-rail ring guide rail conveyor line.

[0052] In some embodiments, the irregular ring guide rail includes a first part, a second part, and a step located between the first part and the second part. Both the first part and the second part include arc segments and parallel straight line segments, and the spacing between the parallel straight line segments in the first part is greater than the spacing between the parallel straight line segments in the second part.

[0053] Reference Figure 2The schematic diagram of the irregularly shaped circular guide rail shows that the first part refers to the left side of the step, and the second part refers to the right side of the step. Because the spacing of the parallel straight line segments in the first part is greater than the spacing of the parallel straight line segments in the second part, there are two steps when the parallel straight line segments in the first part transition to the parallel straight line segments in the second part. Figure 2 The upper and lower steps shown can be either straight or curved; there is no limitation on this.

[0054] The multi-part anti-deviation clamping module for poultry carcasses is installed on the vertical double-rail circular guide rail conveyor line. The multi-part anti-deviation clamping module fixes the poultry carcass at multiple points (for example, fixing the four limbs of the poultry carcass separately, namely two wings and two legs), so that the poultry carcass can move sequentially to the scanning station and the cutting station along the vertical double-rail circular guide rail conveyor line.

[0055] Reference Figure 3 The schematic diagram of the multi-part anti-displacement clamping module for poultry carcasses shown illustrates that, in some embodiments, the multi-part anti-displacement clamping module for poultry carcasses includes components such as a tray, a bracket, a displacement adjustment plate, a pressure rod, and a connecting rod for supporting the poultry carcass.

[0056] The tray is fixed to a slide on a vertical double-rail circular guide rail conveyor. The tray includes a central recessed area and four supporting structures around its perimeter. All four supporting structures slope downwards outwards from the tray, facilitating the sorting and collection of different parts of the poultry carcass when the clamps are open. The four supporting structures support the limbs of the poultry carcass. The tray's shape is designed according to the contour of the poultry carcass; that is, the tray's shape basically corresponds to the contour of the poultry carcass. The downward slope of the four supporting structures allows the limbs to fall off under gravity after being cut.

[0057] The bracket is fixed on the slide of the vertical double-rail circular guide rail conveyor line. The bracket is equipped with linear bearings (so that the connecting rod can move up and down more smoothly), and the displacement adjustment plate is also erected on the bracket.

[0058] The pressure bar is mounted on the displacement adjustment plate. A contact block is located at the first end of the pressure bar, which contacts the limbs of the poultry carcass when it is being secured. The contact point between the pressure bar and the displacement adjustment plate serves as a fulcrum, allowing the pressure bar to rotate up and down around this fulcrum.

[0059] The connecting rod passes through a linear bearing. The first end of the connecting rod is connected to the second end of the pressure rod. The second end of the connecting rod is connected to the irregular ring guide rail and can slide along the irregular ring guide rail. When the second end of the connecting rod is located at the first part of the irregular ring guide rail, the second end of the pressure rod is raised, causing the first end of the pressure rod to drive the contact block to press down. When the second end of the connecting rod transitions from the step of the irregular ring guide rail to the second part, the second end of the pressure rod is pulled down, causing the first end of the pressure rod to drive the contact block to lift up.

[0060] It is understandable that in order to fix the limbs of the poultry carcass, four contact blocks and corresponding pressure rods, connecting rods, displacement adjustment plates and other components are needed.

[0061] The pressure rod and the contact block at the end can be connected by an angled spring. The contact block is mainly used to press down the limbs of the poultry carcass. The displacement adjustment plate can adjust the pressing angle of the pressure rod according to the size of the poultry carcass. The connecting rod is vertically connected to the irregular ring guide rail. In the initial position, the second end (i.e., the bottom) of the connecting rod is located on the parallel straight section of the first part of the irregular ring guide rail. At this time, the connecting rod is raised, so that the contact block at the end of the pressure rod presses down on the limbs of the poultry carcass. After the poultry carcass is cut, the bottom of the connecting rod slides to the step part of the irregular ring guide rail. The bottom of the connecting rod descends, driving the contact block at the end of the pressure rod to rise, thereby automatically releasing the fixation on the limbs of the poultry carcass. The limbs of the poultry carcass can fall off under the action of gravity.

[0062] In some embodiments, the scanning imaging device includes a three-dimensional line laser scanner and an X-ray inspection machine. The three-dimensional line laser scanner is primarily used to scan the outline of the poultry carcass, while the X-ray inspection machine is primarily used to detect the presence of foreign objects or defects inside the poultry carcass, as well as to inspect the skeletal structure of the poultry carcass.

[0063] In some embodiments, the host computer can generate a three-dimensional visual outline of the poultry carcass based on the scanned image data.

[0064] In some embodiments, generating a three-dimensional visual outline of a bird carcass based on scanned image data includes:

[0065] Three-dimensional reconstruction is performed on the depth image of the poultry carcass obtained from a three-dimensional line laser scanner to generate a three-dimensional visual outline of the poultry carcass.

[0066] Reference Figure 4 After obtaining a depth image of a poultry carcass using a 3D line laser scanner, a point cloud preprocessing algorithm can be used to perform downsampling, hole compensation, background segmentation, and 3D model reconstruction on the depth image to obtain a 3D visual outline of the poultry carcass. The 3D visual outline of the poultry carcass can be used to assess whether the size, shape, color, etc. of the poultry carcass meet the standards.

[0067] In some embodiments, precise region selection is performed on multiple parts of the poultry carcass based on the scanned image data to generate a set of flexible cutting path planning instructions for multiple parts of the poultry carcass, including:

[0068] The target detection model is used to identify the cutting regions of each cutting part in the depth image of poultry carcass obtained by the 3D line laser scanner. Based on the identification results and the cutting order of each cutting part, the cutting path of the ultrasonic scalpel head is planned, and a multi-part flexible cutting path planning instruction set for poultry carcass is generated.

[0069] The target detection model was trained based on depth images of sample poultry carcasses with labels indicating cut locations.

[0070] The target detection model can be, for example, the YOLO model or an improved YOLO model (e.g., modifying the C2f structure and loss function to enhance the feature extraction capability of poultry carcasses). It has advantages such as real-time performance, high accuracy, small memory footprint, and compatibility with multiple platforms. After training with a large number of sample poultry carcass depth images with cutting part identification labels, it can effectively enhance the model's feature extraction capability of poultry carcasses, thereby accurately identifying the various cutting parts of poultry carcasses (neck, wings, legs).

[0071] It is understandable that object detection models can identify cut sections such as the neck, wings, and legs in depth images of bird carcasses, thereby obtaining the coordinates of the edges or endpoints of these cut sections. Based on these coordinates, the cutting path for each cut section can be calculated (e.g., ...). Figure 4 By combining the straight line drawn in (f) with the cutting sequence of each cutting part (e.g., neck, left wing, left leg, right leg, right wing), the cutting path of the ultrasonic scalpel head can be planned, thereby generating a multi-part flexible cutting path planning instruction set. Subsequently, the lower computer can control the four-axis platform ultrasonic scalpel cutting device to perform flexible human-like cutting of each part of the poultry carcass that has moved to the cutting station according to the received multi-part flexible cutting path planning instruction set.

[0072] It should be noted that the cutting path of the ultrasonic scalpel head mentioned above refers to the path of the ultrasonic scalpel head's landing point. After receiving the cutting path planning instruction set mentioned above, the lower computer can calculate the movement path of the four-axis motion platform based on the landing point path of the ultrasonic scalpel head, thereby achieving precise cutting.

[0073] It should be noted that the coordinates of the ultrasonic scalpel head's cutting path are based on the same coordinate origin, which can be called the first coordinate origin. However, the coordinates of the four-axis motion platform's movement path are based on a different coordinate origin, which can be called the second coordinate origin. The second coordinate origin is different from the first coordinate origin.

[0074] In some embodiments, the cutting path of the ultrasonic scalpel head is planned based on the identification results and the cutting sequence of each cutting part, including:

[0075] Based on the identification results, the three-dimensional coordinates of the internal joints at the cut location of the poultry carcass, and the cutting sequence of each cut location, the cutting path of the ultrasonic scalpel head is planned.

[0076] The three-dimensional coordinates of the internal joints at the cut location of the poultry carcass were obtained based on the coordinate calibration of the skeletal structure of the poultry carcass in the X-ray image obtained by the X-ray inspection machine.

[0077] To achieve more precise cutting at joints and avoid cutting into bones during segmentation, this invention utilizes X-ray images obtained from an X-ray inspection machine. The coordinates of the skeletal structure in the X-ray image are then simultaneously converted to those in the depth image. The three-dimensional coordinates of the joints within the carcass at the cutting location are then determined according to the national carcass segmentation standards. After identifying the various cutting locations (neck, wings, legs), the cutting path can be calculated by combining the identification results with the three-dimensional coordinates of the joints within the cutting location.

[0078] For a four-axis platform ultrasonic scalpel cutting device, considering the common problems of sticking and inaccuracy in traditional mechanical knives and high-pressure water jet cutting tools for livestock and poultry meat, this invention uses an ultrasonic scalpel as the cutting tool. The ultrasonic scalpel has advantages such as low adhesion, high controllable precision, and a smooth cutting surface, which can effectively improve the cutting accuracy of raw meat and reduce waste.

[0079] Furthermore, the four-axis platform ultrasonic scalpel cutting device used in this invention includes a four-axis motion platform and an ultrasonic scalpel head mounted on the four-axis motion platform, such as... Figure 5 As shown, the four-axis motion platform includes an X-axis, a Y-axis, a Z-axis, and an R-axis (rotation axis), which can drive the ultrasonic scalpel head to move in three directions: X-axis, Y-axis, and Z-axis, and drive the ultrasonic scalpel head to rotate (360° rotation) through the R-axis to meet the requirements of precision cutting. Figure 5 The ultrasonic generator in the device is used to drive the ultrasonic scalpel head.

[0080] The ultrasonic scalpel-assisted flexible humanoid cutting device for multiple parts of poultry carcasses provided by this invention connects other workstations in series through an online circulating transport module for poultry carcasses, creating a cyclical operation that greatly improves production efficiency. The multi-part anti-deviation clamping module enables fully automatic anti-deviation clamping at multiple points on the poultry carcass. The poultry carcass scanning imaging and cutting path planning module enables precise automatic cutting path planning based on scanning results. The ultrasonic scalpel four-dimensional moving flexible humanoid cutting module achieves precise flexible humanoid cutting of various parts of the poultry carcass. This not only effectively solves the problems of high labor intensity, low production efficiency, and low level of intelligence in current multi-part poultry carcass cutting, but also further improves the cutting accuracy, efficiency, and intelligence level of raw meat, while reducing waste. It is of great significance for the intelligent upgrading of poultry processing and the promotion of industrial upgrading in the meat industry.

[0081] The following will illustrate this with more specific examples.

[0082] In this example, a 2.5-meter-long vertical double-rail circular guide rail conveyor line is equipped with five multi-part anti-displacement clamping module stations for poultry carcasses. During operation, at the leftmost end of the vertical double-rail circular guide rail conveyor line, the operator places the poultry carcass on the multi-part anti-displacement clamping module station. The tray below is designed according to the contour of the poultry carcass, facilitating its unfolding and securing the limbs with contact blocks at the ends of the pressure rods. Then, the vertical double-rail circular guide rail conveyor line receives a conveying command and transports the poultry carcass to the poultry carcass scanning imaging and cutting path planning module station (i.e., the scanning station) for laser scanning and X-ray inspection. The host computer executes the path planning algorithm and generates an instruction set. Then, the poultry carcass continues forward to the cutting station, where the lower-level PLC controls the ultrasonic scalpel to execute the cutting command. After cutting, the carcass continues forward to complete sorting and returns to the initial station, thus completing the cyclical operation. Figure 6 The diagram shown is the overall workflow. The following sections will explain each module in turn.

[0083] 1. Multi-part anti-displacement clamping module for poultry carcasses.

[0084] At the initial station, the pressure bar is in the downward position. The operator places the poultry carcass on the tray, pries open the contact block to press down the limbs of the carcass, and prevents it from shaking during transport until it reaches the cutting station. After cutting is completed, the tray moves into the upper step of the irregular ring guide rail. At this time, the connecting rod descends, causing the pressure bar to rise. The limbs of the poultry carcass slide down into the storage box below under the action of gravity. The tray continues to be transported forward with the vertical double-rail ring guide rail conveyor line. After entering the lower step of the irregular ring guide rail, the pressure bar returns to the downward position and returns to the initial station, thus realizing the cycle operation.

[0085] 2. Poultry carcass scanning imaging and cutting path planning module.

[0086] This module is used to visualize the external contours and internal structure of poultry carcasses, providing a raw dataset for subsequent cutting path planning. After setting equipment parameters and performing physical calibration to match the actual transport environment, the dark chamber is closed to prevent radiation contamination and light interference, and depth images and X-ray images of the poultry carcasses scanned by a 3D line laser scanner and an X-ray inspection machine are acquired.

[0087] Before selecting and identifying the cut regions, the target detection model needs to be trained. The YOLO target detection algorithm or its latest variant in deep learning is used to train the dataset, offering advantages such as real-time performance, high accuracy, small memory footprint, and multi-platform compatibility. The original dataset is then augmented and labeled (e.g., ...). Figure 4As shown in (a) and (b) in the figure, the model is divided into training set, validation set and test set in a ratio of 7:2:1. The model for detecting cut parts of poultry carcasses based on the YOLO algorithm is trained. By modifying the C2f structure and loss function, the feature extraction capability of poultry carcasses can be further enhanced, thereby accurately identifying the cut parts of poultry carcasses (neck, wings and legs).

[0088] Reference Figure 4 In steps (c), (d), and (e), after scanning the poultry carcass at the scanning station to obtain a 3D scanned image (i.e., a depth image of the poultry carcass), a point cloud preprocessing algorithm is used to preprocess the depth image to obtain a preprocessed point cloud image. Then, by executing procedures such as downsampling, hole compensation, background segmentation, and 3D model reconstruction, a 3D model image of the poultry carcass is obtained, thus acquiring a 3D visualized outline of the poultry carcass. This can be used to assess whether the size, shape, and color of the poultry carcass meet the standards. Furthermore, X-ray images 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 with the coordinates of the depth image and synchronously transformed. Then, according to the national standard for poultry carcass segmentation, the 3D coordinates of the internal joints at the cutting location of the poultry carcass are calibrated. Finally, a trained poultry carcass cutting location detection model based on the YOLO algorithm is used, combined with the coordinates of the aforementioned internal and external cutting points, to calculate the cutting path, such as... Figure 4 As shown in (f), the results are output as an instruction set and sent to the lower-level control system to guide the ultrasonic scalpel cutting. Real-time data can be stored in the form of tables, charts, etc., which facilitates data traceability and performance analysis.

[0089] 3. Ultrasonic scalpel four-dimensional moving flexible humanoid slicing module.

[0090] The ultrasonic scalpel head is made of a special alloy material, possessing high strength and excellent ultrasonic transmission performance. The head shape is designed according to the cutting requirements of poultry carcasses, with various curvatures and cutting edge types available to suit different parts of the body. For joint areas, a thinner and sharper head is designed; for large muscle areas, a curved head with appropriate width is used.

[0091] The ultrasonic generator produces stable and adjustable ultrasonic vibrations. The power range is set according to the characteristics of the tissue being cut, generally between 20-50 kHz. 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, while higher power is used to handle soft muscle and skin tissue. The ultrasonic scalpel motion module is controlled by a PLC control system, enabling movement in four directions: X, Y, Z, and R. The R-axis represents the rotation angle of the ultrasonic scalpel head, allowing for 360° rotation. The PLC control system precisely controls the movement of the ultrasonic scalpel head according to the instruction set sent from the host computer. This module uses a high-precision motor and transmission device, enabling the ultrasonic scalpel head to move quickly and accurately to the designated cutting position and cut according to a preset sequence. The motion control module has real-time feedback and adjustment functions to handle minute displacements of the poultry carcass during the cutting process.

[0092] 4. Integrated operation of the entire machine.

[0093] Integrated machine operation refers to the coordination and cooperation between various subsystem components in the multi-part cutting of poultry carcasses, enabling the entire system to operate efficiently and precisely. The following are some key aspects affecting the effectiveness of integrated machine operation:

[0094] System Integration: This integrates different hardware and software systems into a unified platform, mainly including a vertical double-rail circular guide rail conveyor, a multi-part anti-deviation clamping module for poultry carcasses, scanning imaging equipment (X-ray inspection machine, 3D line laser scanner), a four-axis platform ultrasonic scalpel flexible humanoid cutting device, a PLC ultrasonic scalpel control system, visualization imaging software, and a monitoring system. The monitoring system is used to monitor data and the operation process in real time, ensuring the smooth operation of each step and generating performance analysis reports periodically. The visualization imaging software provides an intuitive interactive interface for easy data viewing and command operation.

[0095] Data flow: Ensuring smooth data transmission between various components mainly involves the scanning imaging equipment acquiring image data of the poultry carcass in real time and transmitting it to the algorithm processing unit in real time. After data processing, a 3D model, a cutting path planning instruction set, and information feedback are generated. At the same time, the lower-level machine receives instructions and executes the cutting program and adjusts the operation parameters.

[0096] Equipment Collaborative Operation: The lower-level computer automatically controls the start-up, shutdown, switching, and operational status of the robotic arm and ultrasonic scalpel via a PLC control system. When the upper-level computer detects abnormalities in the feedback data, the system issues an alarm and notifies the operator to take timely countermeasures.

[0097] Efficiency Improvement and Optimization: The ultimate goal of integrated machine operation is to improve efficiency and optimize production flow. Through the analysis of large amounts of data, the system can provide intelligent decision support, helping managers optimize production processes. Integrated machine operation systems require continuous optimization and upgrades, regular updates to hardware and software, and the introduction of new algorithms and technologies to improve the efficiency of assembly line production.

[0098] The integrated operation of the entire machine not only improves the efficiency of the intelligent poultry carcass cutting platform but also enhances the system's reliability and accuracy. Through coordinated operation of equipment, rapid data flow, and excellent human-machine interaction design, the entire system can operate efficiently in complex production environments, achieving the goals of intelligent positioning and cutting, loss reduction, and cost reduction, thereby improving the level of intelligent standardization in poultry cutting.

[0099] The segmentation method based on the above-described apparatus provided by the present invention is described below. The method described below can be referred to in correspondence with the apparatus described above.

[0100] Figure 7 This is a flowchart illustrating the segmentation method provided by the present invention, as shown below. Figure 7 As shown, the method includes the following steps 701, 702 and 703.

[0101] Step 701: The vertical double-rail circular guide rail conveyor line is started, which drives the poultry carcass fixed on the multi-part anti-displacement clamping module to move to the scanning station.

[0102] Step 702: The scanning imaging device scans and images the poultry carcass that has been moved to the scanning station, and sends the scanned image data to the host computer. The host computer performs precise selection of multiple parts of the poultry carcass based on the image data, generates a set of flexible cutting path planning instructions for multiple parts of the poultry carcass, and sends the set of flexible cutting path planning instructions for multiple parts to the slave computer.

[0103] Step 703: The lower computer controls the four-axis platform ultrasonic scalpel cutting device to perform flexible human-like cutting of multiple parts of the poultry carcass that have moved to the cutting station according to the received multi-part flexible cutting path planning instruction set. After passing through the cutting station, the clamps are released under the action of the irregular ring guide rail, and the various parts of the poultry carcass are classified and collected.

[0104] In some embodiments, precise region selection is performed on multiple parts of the poultry carcass based on image data to generate a set of flexible cutting path planning instructions for multiple parts of the poultry carcass, including:

[0105] The target detection model is used to identify the cutting regions of each cutting part in the depth image of poultry carcass obtained by the 3D line laser scanner. Based on the identification results and the cutting order of each cutting part, the cutting path of the ultrasonic scalpel head is planned, and a multi-part flexible cutting path planning instruction set for poultry carcass is generated.

[0106] The target detection model was trained based on depth images of sample poultry carcasses with labels indicating cut locations.

[0107] In some embodiments, the cutting path of the ultrasonic scalpel head is planned based on the identification results and the cutting sequence of each cutting part, including:

[0108] Based on the identification results, the three-dimensional coordinates of the internal joints at the cut location of the poultry carcass, and the cutting sequence of each cut location, the cutting path of the ultrasonic scalpel head is planned.

[0109] The three-dimensional coordinates of the internal joints at the cut location of the poultry carcass were obtained based on the coordinate calibration of the skeletal structure of the poultry carcass in the X-ray image obtained by the X-ray inspection machine.

[0110] In some embodiments, the object detection model is the YOLO model.

[0111] 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.

[0112] In some embodiments, generating a three-dimensional visual outline of a bird carcass based on scanned image data includes:

[0113] Three-dimensional reconstruction is performed on the depth image of the poultry carcass obtained from a three-dimensional line laser scanner to generate a three-dimensional visual outline of the poultry carcass.

[0114] It should be noted that the method provided by the present invention can implement all the process steps implemented in the above-described device embodiments and achieve the same technical effect. Therefore, the parts and beneficial effects that are the same as those in the device embodiments will not be described in detail here.

[0115] It should be noted that the device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0116] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0117] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A flexible, human-like cutting device for multiple parts of an avian carcass assisted by an ultrasonic scalpel, characterized in that, include: The poultry carcass online circulating conveyor module includes a vertical double-rail annular guide rail conveyor line and an irregularly shaped annular guide rail; A multi-part anti-deviation clamping module for poultry carcasses is installed on the vertical double-rail annular guide rail conveyor line. It is used to fix various parts of the poultry carcass at multiple points, so that the poultry carcass moves sequentially to the scanning station and the cutting station along the vertical double-rail annular guide rail conveyor line. After passing through the cutting station, the clamps are released by the action of the irregular annular guide rail and the various parts of the poultry carcass are collected respectively. 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 that has been moved to the scanning station. The host computer is used to accurately select regions for multiple parts of the poultry carcass based on the image data obtained from the scan, generate a set of flexible cutting path planning instructions for multiple parts of the poultry carcass, and send the set of flexible cutting path planning instructions for multiple parts to the lower computer of the ultrasonic scalpel four-dimensional mobile flexible humanoid cutting module. The ultrasonic scalpel four-dimensional mobile flexible humanoid cutting module includes a lower computer that is communicatively connected to the upper computer, and a four-axis platform ultrasonic scalpel cutting device controlled by the lower computer. The four-axis platform ultrasonic scalpel cutting device includes a four-axis motion platform and an ultrasonic scalpel head mounted on the four-axis motion platform. The lower computer is used to control the four-axis platform ultrasonic scalpel cutting device to perform flexible humanoid cutting of multiple parts of the poultry carcass that have moved to the cutting station, according to the received multi-part flexible cutting path planning instruction set. The irregularly shaped annular guide rail includes a first part, a second part, and a step located between the first part and the second part. Both the first part and the second part include arc segments and parallel straight line segments, and the spacing between the parallel straight line segments in the first part is greater than the spacing between the parallel straight line segments in the second part.

2. The ultrasonic scalpel-assisted flexible humanoid cutting device for multiple parts of a poultry carcass according to claim 1, characterized in that, The multi-part anti-displacement clamping module for poultry carcasses includes: The tray used to hold the poultry carcass is fixed on the slide of the vertical double-rail circular guide rail conveyor. The tray includes a recessed part in the middle and four supporting structures around the periphery. The four supporting structures are all inclined downwards outwards from the tray. When the clamp is opened, it is convenient to classify and collect the various parts of the poultry carcass. The four supporting structures are used to support the limbs of the poultry carcass. The shape of the tray is designed according to the contour of the poultry carcass. A bracket is fixed on the slide of the vertical double-rail annular guide rail conveyor line, and a linear bearing is installed on the bracket. A displacement adjustment plate is erected on the bracket; A pressure bar is mounted on the displacement adjustment plate. A contact block is provided at the first end of the pressure bar. The contact block contacts the limbs of the poultry carcass when the carcass is fixed. A connecting rod passes through the linear bearing. The first end of the connecting rod is connected to the second end of the pressure rod. The second end of the connecting rod is connected to the irregular annular guide rail and can slide along the irregular annular guide rail. When the second end of the connecting rod is located at the first part of the irregular annular guide rail, the second end of the pressure rod is raised, causing the first end of the pressure rod to drive the contact block to press down. When the second end of the connecting rod transitions from the step of the irregular annular guide rail to the second part, the second end of the pressure rod is lowered, causing the first end of the pressure rod to drive the contact block to lift up.

3. The ultrasonic scalpel-assisted flexible humanoid cutting device for multiple parts of poultry carcasses according to claim 1, characterized in that, The scanning imaging equipment includes a three-dimensional line laser scanner and an X-ray inspection machine.

4. The ultrasonic scalpel-assisted flexible humanoid cutting device for multiple parts of poultry carcass according to claim 3, characterized in that, The step of precisely selecting regions for multiple parts of the poultry carcass based on the scanned image data and generating a set of flexible cutting path planning instructions for multiple parts of the poultry carcass includes: The target detection model is used to identify the cutting regions of each cutting part in the depth image of the poultry carcass obtained by the three-dimensional line laser scanner. Based on the identification results and the cutting order of each cutting part, the cutting path of the ultrasonic scalpel head is planned, and a multi-part flexible cutting path planning instruction set for the poultry carcass is generated. The target detection model is trained based on depth images of sample poultry carcasses with labels indicating cut locations.

5. The ultrasonic scalpel-assisted flexible humanoid cutting device for multiple parts of poultry carcasses according to claim 4, characterized in that, The step of planning the cutting path of the ultrasonic scalpel head based on the identification results and the cutting sequence of each cutting part includes: Based on the identification results, the three-dimensional coordinates of the joints inside the cut location of the poultry carcass, and the cutting sequence of each cut location, the cutting path of the ultrasonic scalpel head is planned. The three-dimensional coordinates of the joints inside the cut position of the poultry carcass are obtained based on the coordinate calibration of the skeletal structure of the poultry carcass in the X-ray image obtained by the X-ray inspection machine.

6. The ultrasonic scalpel-assisted flexible humanoid cutting device for multiple parts of poultry carcasses according to claim 5, characterized in that, The target detection model is the YOLO model.

7. The ultrasonic scalpel-assisted flexible humanoid cutting device for multiple parts of poultry carcasses according to claim 3, characterized in that, The host computer is also used to generate a three-dimensional visual outline of the poultry carcass based on the scanned image data.

8. The ultrasonic scalpel-assisted flexible humanoid cutting device for multiple parts of poultry carcasses according to claim 7, characterized in that, The step of generating a three-dimensional visual outline of the bird carcass based on the scanned image data includes: A three-dimensional reconstruction is performed on the depth image of the poultry carcass obtained from the three-dimensional line laser scanner to generate a three-dimensional visual outline of the poultry carcass.

9. A method for cutting a bird carcass using an ultrasonic scalpel-assisted flexible humanoid cutting device for multiple parts according to any one of claims 1 to 8, characterized in that, The method includes: When the vertical double-rail circular guide rail conveyor line is started, it drives the poultry carcass fixed on the multi-part anti-displacement clamping module to move to the scanning station. The scanning imaging device scans and images the poultry carcass that has been moved to the scanning station, and sends the scanned image data to the host computer. The host computer performs precise selection of multiple parts of the poultry carcass based on the image data, generates a set of flexible cutting path planning instructions for multiple parts of the poultry carcass, and sends the set of flexible cutting path planning instructions for multiple parts to the slave computer. The lower-level machine controls the four-axis platform ultrasonic scalpel cutting device to perform flexible human-like cutting of multiple parts of the poultry carcass that have moved to the cutting station, according to the received multi-part flexible cutting path planning instruction set. After passing through the cutting station, the clamp is released under the action of the irregular ring guide rail, and the various parts of the poultry carcass are collected in categories.

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