Cage door automatic opening and closing device carried to dead chicken picking robot and method

Abstract

The invention belongs to the technical field of poultry breeding equipment, and particularly relates to an automatic cage door opening and closing device carried to a dead chicken picking robot and a method. The device comprises a connecting block, a communication module, a camera, a double-shaft linear module and a cage door clamp, and the position of the cage door clamp can be adjusted through the double-shaft linear module. The method comprises the following steps: a dead chicken picking robot inspects along a preset path and pauses when arriving at a target cage position; a corresponding cage door image is shot through a camera, and coordinates and depth information of four corner points of the edge of the cage door are obtained; calculating the required moving distance and direction of the transverse sliding block and the required moving distance of the longitudinal sliding block; the positions of the transverse sliding block and the longitudinal sliding block are adjusted, so that the cage door clamp opens the cage door; after dead chicken picking operation is completed, the cage door is closed in the same mode; and after the operation is completed, the cage door automatic opening and closing device is reset to the initial state. Full-automatic operation of opening and closing of the cage door in dead chicken cleaning work in the poultry breeding environment is achieved, and complexity of a dead chicken picking task is effectively reduced.

Description

Technical Field

[0001] The present invention belongs to the technical field of poultry breeding equipment, and particularly relates to a cage door automatic opening and closing device and method equipped with a dead chicken picking robot. Background Art

[0002] In the poultry breeding industry, the multi-tier cage breeding mode is a widely adopted efficient breeding method. With the increase in the number of poultry, when dead chickens appear, they need to be removed in time to prevent the spread of diseases and ensure the health of other poultry. In recent years, automated dead chicken picking robots can autonomously patrol according to a preset path, identify and collect dead chickens. However, to achieve fully automated operation, the automatic opening and closing of the cage door is a key technical problem. Document CN115890677B discloses a dead chicken picking robot and its method for a standardized cage chicken house, using a robotic arm to open and close the cage door. However, the robotic arm is expensive, and this solution does not detail how to achieve the automatic opening and closing of the cage door; Document CN116369247B discloses a cage-raised dead broiler grabbing system and method, which can only open and close the longitudinal opening and closing broiler cage door and cannot be used to open and close the lateral sliding laying hen or breeding chicken cage door; Document CN114800548B discloses a grabbing device for a livestock and poultry house, proposing to use the friction between a guide wheel and a cage door cross bar to slide the cage door to achieve the opening and closing of the cage door. However, in practical applications, the lateral sliding cage door has a large resistance during the opening and closing process, and it is difficult to successfully open and close the cage door only relying on friction. Therefore, there is an urgent need for a device and method with low cost and capable of reliably performing the automatic opening and closing of the lateral sliding cage door. Summary of the Invention

[0003] The purpose of the present invention is to address the problems existing in the above-mentioned prior art and provide a cage door automatic opening and closing device and method equipped with a dead chicken picking robot.

[0004] To solve the above technical problems, the present invention provides the following technical solutions:

[0005] A cage door automatic opening and closing device equipped with a dead chicken picking robot includes a connection block, and a communication module, a camera, and a double-axis linear module arranged on the connection block; the connection block is used to connect with the dead chicken picking robot, the communication module is used to receive signals sent by the dead chicken picking robot, and the camera is used to capture multi-view images of the target cage door; a cage door clamp is provided on the double-axis linear module, the cage door clamp is used to laterally push and pull the cage door, and the double-axis linear module can adjust the position of the cage door clamp in the X-axis direction and the Z-axis direction.

[0006] Further, the biaxial linear module includes an X-axis linear module, a Z-axis linear module, and a driving module. The displacement resolution of both the X-axis linear module and the Z-axis linear module is 0.1 mm. The X-axis linear module includes a first motor and a first ball screw, and the Z-axis linear module includes a second motor and a second ball screw. The first motor and the second motor are respectively used to drive the first ball screw and the second ball screw to rotate. A transverse slider and a longitudinal slider are respectively arranged on the first ball screw and the second ball screw; the Z-axis linear module is fixed on the transverse slider, and the cage door fixture is fixed on the longitudinal slider; the driving module is used to receive the instruction of the communication module and drive the first motor and the second motor to run or stop according to the instruction.

[0007] Further, the second motor is provided with an electromagnetic brake, and a pressure feedback module is arranged on the longitudinal slider. When the pressure feedback module detects that the contact pressure reaches 5 N, the electromagnetic brake stops the second motor.

[0008] The present invention provides a method for automatically opening and closing the cage door of a dead chicken picking robot, including the following steps:

[0009] Step S1: Install the above-mentioned cage door automatic opening and closing device on the dead chicken picking robot through a connecting block, electrically connect the cage door automatic opening and closing device with the control system of the dead chicken picking robot. The dead chicken picking robot patrols along a preset path until it identifies that there is a dead chicken in the cage position. Then the dead chicken picking robot pauses moving and sends a signal to the cage door automatic opening and closing device.

[0010] Step S2: The communication module of the cage door automatic opening and closing device receives the signal sent by the dead chicken picking robot, starts the camera to collect multi-view images of the target cage door, uses an improved instance segmentation model to extract four feature corner points of the cage door edge wire, and obtains its pixel coordinate set P = {p1(u1, v1), p2(u2, v2), p3(u3, v3), p4(u4, v4)}, and depth information set D = {d1, d2, d3, d4}, where p1, p2, p3, p4 are respectively the upper left, upper right, lower left, and lower right corner points of the cage door, and d1, d2, d3, d4 are respectively the upper left, upper right, lower left, and lower right depth values of the cage door.

[0011] Step S3: Establish a coordinate system conversion relationship, convert the image coordinate system to the base coordinate system of the dead chicken picking robot, and calculate the theoretical moving distance ΔX of the transverse slider.

[0012] When the cage door needs to be opened to the right,

[0013]

[0014] When the cage door needs to be opened to the left,

[0015]

[0016] where x o is the reference coordinate of the center line of the cage door fixture, and k is the pixel-millimeter conversion coefficient;

[0017] Step S4. Calculate the moving distance ΔZ of the longitudinal slider according to the depth calculation information,

[0018]

[0019] where Z safe is the preset safety margin, and Z safe = 3 - 5 mm;

[0020] Step S5. Drive the transverse slider to move a distance of ΔX along the X-axis through the first motor, and at the same time drive the longitudinal slider to advance a distance of ΔZ along the Z-axis through the second motor, so that the cage door fixture fits the edge of the cage door;

[0021] Step S6. Drive the transverse slider to perform a push-pull action through the first motor, so that the moving distance of the transverse slider is equal to 2 / 3 of the cage door length, and complete the opening action of the cage door;

[0022] Step S7. After the dead chicken picking robot completes the picking operation of the dead chicken, reverse-execute Steps S3 - S6 to complete the closing action of the cage door;

[0023] Step S8. Drive the transverse slider and the longitudinal slider to return to the initial coordinates through the first motor and the second motor, so that the cage door fixture is reset.

[0024] Furthermore, the pixel-millimeter conversion coefficient k in Step S3 x is obtained through calibration:

[0025] k x = W a / W p

[0026] where W a is the actual cage door width, W a = 450 - 600 mm, and W p is the pixel width detected in the image.

[0027] Furthermore, the method further includes: constructing a cage door position feedback and automatic correction mechanism, specifically:

[0028] The contact situation between the cage door fixture (6) and the cage door is monitored in real time through the integrated image sensor. If there is a slight deviation between the fixture and the edge of the cage door, the control system will immediately identify this error;

[0029] If the deviation is greater than the set allowable error, it is judged that correction is needed; if the deviation is in the horizontal direction, the control system will control the lateral slider (43) to move in the correct direction, and if the deviation is in the vertical direction, the system will control the longitudinal slider (53) to make adjustments; until the fixture accurately clamps the edge of the cage door, the opening or closing action can be smoothly executed.

[0030] Further, when the contact error between the cage door fixture (6) and the cage door monitored by the integrated image sensor is continuously greater than the set threshold for N times, the system determines that the pixel-millimeter conversion coefficient k x needs to be dynamically adjusted, and a new k is recalibrated and calculated x (t); the calculation formula is:

[0031] k x (t) = k x + λ·Δx err

[0032] Among them, k x (t) represents the adjusted pixel-millimeter conversion coefficient at time t, λ is the adjustment coefficient to limit the adjustment amplitude, and Δx err represents the deviation value;

[0033] Further, if the above horizontal deviation or vertical deviation exceeds the set allowable error range, the control system will feedback the information to the cloud platform to trigger remote diagnosis and analyze the cause of the overlimit. If the problem cannot be repaired through the automatic correction mechanism, the cloud platform will issue a deviation overlimit warning;

[0034] When the cloud platform detects that the deviation between the cage door fixture and the cage door (6) continues to accumulate within a certain period of time and the control system does not trigger correction, it will trigger an automatic alarm instruction to remind the equipment management personnel to check and correct the long-term deviation.

[0035] Compared with the prior art, the present invention has the following technical effects: the cage door automatic opening and closing device of the present invention can realize the automatic opening and closing of the horizontally pushed and pulled cage door. During the opening and closing process of the cage door, it is less affected by resistance, can easily and reliably complete the opening and closing action of the cage door, and effectively reduces the complexity of the dead chicken picking task of the dead chicken picking robot; this cage door automatic opening and closing device can replace the traditional manipulator to complete the opening and closing work of the cage door, and can effectively reduce costs; the cage door automatic opening and closing device of the present invention is applicable to the multi-layer stacked cage breeding mode, is applicable to a variety of poultry breeding environments, including but not limited to the cage breeding modes of poultry such as chickens, ducks, and geese, and is easy to be mounted on the dead chicken picking robot, providing a more flexible, reliable and easy-to-integrate solution to the existing breeding system, and has a wide application prospect. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 is a schematic structural diagram of the cage door automatic opening and closing device of the present invention;

[0037] Figure 2 This is a flowchart of the automatic opening and closing method of the cage door of the present invention.

[0038] In the figure: connecting block 1, communication module 2, camera 3, X-axis linear module 4, first motor 41, first ball screw 42, horizontal slider 43, Z-axis linear module 5, second motor 51, second ball screw 52, longitudinal slider 53, cage door fixture 6. Detailed implementation manners

[0039] The following is a further detailed description through specific implementation manners:

[0040] Embodiment

[0041] As Figure 1 shown, an automatic opening and closing device for the cage door of a dead chicken picking robot includes a connecting block 1, a communication module 2, an RGB-D camera 3, and a dual-axis linear module provided on the connecting block 1; the connecting block 1 is used to connect with the dead chicken picking robot, the communication module 2 is used to receive signals sent by the dead chicken picking robot, and the RGB-D camera 3 is used to capture multi-view images of the target cage door; a cage door fixture 6 is provided on the dual-axis linear module, and the cage door fixture 6 is used to push and pull the cage door horizontally, and the dual-axis linear module can adjust the position of the cage door fixture 6 in the X-axis direction and the Z-axis direction.

[0042] As Figure 1 shown, the dual-axis linear module includes an X-axis linear module 4, a Z-axis linear module 5, and a driving module;

[0043] The displacement resolutions of both the X-axis linear module 4 and the Z-axis linear module 5 are 0.1 mm. The X-axis linear module 4 includes a first motor 41 and a first ball screw 42, and the Z-axis linear module 5 includes a second motor 51 and a second ball screw 52. The first motor 41 and the second motor 51 are respectively used to drive the first ball screw 42 and the second ball screw 52 to rotate. A horizontal slider 43 and a longitudinal slider 53 are respectively provided on the first ball screw 42 and the second ball screw 52; the X-axis linear module 4 is fixed on the top of the connecting block 1, the Z-axis linear module 5 is fixed on the horizontal slider 43, and the cage door fixture 6 is fixed on the longitudinal slider 53; the driving module is used to receive instructions from the communication module 2 and drive the first motor 41 and the second motor 51 to run or stop according to the instructions.

[0044] When the dead chicken picking robot identifies a dead chicken, it drives the cage door clamp 6 to move to the edge of the target cage door through the double-axis linear module, clamps the iron wire at the edge of the cage door, and then drives the cage door clamp 6 to push or pull the cage door left or right through the X-axis linear module 4 to complete the opening action of the cage door. To maintain the overall balance of the cage door automatic opening and closing device, the default position of the horizontal slider 43 is at the rightmost side of the device. Therefore, when the cage door clamp 6 is attached to the edge of the cage door, the horizontal slider 43 only moves to the left (all directions in this embodiment are based on when the cage door automatic opening and closing device faces the cage door).

[0045] In this embodiment, both the first motor 41 and the second motor 51 are stepper motors. The drive module includes a 256 microstep driver (resolution 0.0977 mm) and a Leadshine MX3660 controller, and realizes precise transmission through the first ball screw 42 and the second ball screw 52. The lead pitches of the first ball screw 42 and the second ball screw 52 are both set to 5 mm, the pre-tightening force is set to 210 N, and the installation parallelism is 0.02 mm / 300 mm. The motion control core uses a Leadshine MX3660 controller, integrates a trapezoidal velocity curve planning algorithm (maximum speed 300 mm / s, acceleration 500 mm / s 2 ), combines a grating scale (0.5 μm resolution) and a PID correction module to construct a full closed-loop control, and compensates the synchronization error in real time to <0.05 mm, significantly improving the control accuracy and stability of the motor.

[0046] An electromagnetic brake is installed on the second motor 51, and a pressure sensor (range 10 N, response 1 kHz) is installed on the longitudinal slider 53. When the pressure sensor detects that the contact pressure reaches 5 N, the electromagnetic brake is triggered within 10 ms to stop the second motor 51, and after an emergency stop, a safety recovery process of retracting the longitudinal slider 53 by 10 mm is executed.

[0047] The cage door automatic opening and closing device of the present invention is applicable to the multi-layer stacked cage farming mode, and is applicable to various poultry farming environments, including but not limited to the cage farming modes of poultry such as chickens, ducks, and geese; it can realize the automatic opening and closing of the cage door by pushing and pulling horizontally, is less affected by resistance during the opening and closing of the cage door, can easily and reliably complete the opening and closing actions of the cage door, effectively reducing the complexity of the dead chicken picking task of the dead chicken picking robot; and has a simple structure, low cost, is easy to be mounted on the dead chicken picking robot, provides a more flexible, reliable and easy-to-integrate solution to the existing breeding system, and has a wide application prospect.

[0048] As Figure 2 shown, a method for automatically opening and closing a cage door mounted on a dead chicken picking robot includes the following steps:

[0049] Step S1: Mount the above-mentioned automatic cage door opening and closing device on the dead chicken picking robot through the connecting block 1, and electrically connect the automatic cage door opening and closing device to the control system of the dead chicken picking robot. The dead chicken picking robot patrols along the preset path at a speed of 0.3 m / s. When the dead chicken picking robot identifies a dead chicken, it moves towards the target cage position. When approaching the target cage position, it corrects the position deviation through a lidar, and finally the docking error ≤ 2 mm. The dead chicken picking robot sends a ready signal to the communication module 2 of the automatic cage door opening and closing device.

[0050] Step S2: The communication module 2 receives the signal sent by the dead chicken picking robot, and starts the RGB-D camera 36 to capture the 1280×720 RGB image and the aligned depth image of the target cage door. An improved Mask R-CNN model is used to identify the wire edges of the left and right push-pull cage doors, and the output of the four feature corner points of the cage door edge wire is realized through the following method: on the basis of the standard Mask R-CNN framework, the input channel is extended to four channels of RGB-D to fuse depth information, and a feature corner point regression branch is added after the ROIAlign layer. This branch outputs the pixel coordinates and depth prediction values of 4 feature corner points through a fully connected layer at the same time. During training, a data augmentation strategy suitable for livestock and poultry farms is adopted, including random occlusion, brightness perturbation, and depth noise injection. In the loss function, the Euclidean distance loss that fuses the spatial coordinates of the corner points and the corner point loss function of the depth error ( corner ) are used to realize the joint optimization of coordinates and depth. During the inference stage, abnormal corner points are eliminated through geometric constraint verification (side length ratio, diagonal angle) and depth consistency filtering, and finally the three-dimensional information of the four corner feature points of the cage door that conforms to the physical space structure is output. corner The calculation formula of

[0051] L = L cls + 0.8L box + 0.5L mask + 0.3L corner (1)

[0052]

[0053] Among them, in formula (1), cls is the classification loss, which measures the difference between the predicted category and the true category; box is the bounding box regression loss, which optimizes the position accuracy training of the target detection box; mask is the instance segmentation loss, which calculates the mask pixel-level matching degree. In formula (2), is the pixel coordinate (output layer value) of the i-th corner point predicted by the model; p i is the true pixel coordinate of the i-th corner point marked; is the depth value corresponding to the predicted corner point; d iis the true depth value; γ is taken as 0.1, and this coefficient controls the influence weight of depth error on the loss.

[0054] Use this model to directly output the four characteristic corner points of the wire on the edge of the cage door, and obtain the set of pixel coordinates P = {p1(u1, v1), p2(u2, v2), p3(u3, v3), p4(u4, v4)}, and the set of depth information D = {d1, d2, d3, d4}, where p1, p2, p3, and p4 are the upper left, upper right, lower left, and lower right corner points of the cage door respectively, and d1, d2, d3, and d4 are the depth values of the upper left, upper right, lower left, and lower right of the cage door respectively.

[0055] Step S3: Establish a coordinate system conversion relationship, convert the image coordinate system to the base coordinate system of the dead chicken picking robot, and calculate the theoretical moving distance ΔX of the horizontal slider 43.

[0056] When the cage door needs to be opened to the right,

[0057]

[0058] When the cage door needs to be opened to the left,

[0059]

[0060] Among them, xo is the reference coordinate of the center line of the cage door fixture, k is the pixel-millimeter conversion coefficient. If the calculated ΔX does not exceed 5mm, there is no need to move the horizontal slider 43. For example, when x0 = 640, after the model detects the edge of the cage door, u2 = 700 and u4 = 710 are obtained. Taking kx = 0.1mm / pixel, then ΔX = (700 + 710 - 2×640) / 2×0.1 = 13mm, indicating that the horizontal slider 43 needs to move 13mm to the right to reach the position where the cage door fixture 6 can be stuck on the edge of the cage door.

[0061] Pixel-millimeter conversion coefficient k x Obtained through calibration:

[0062] k x = W a / W p (5)

[0063] Among them, W a is the actual width of the cage door, W a = 450 - 600mm, W p is the pixel width detected in the image; during the calibration process, a standard width gauge (such as 450mm) approximately the same as the length of the cage door should be used. Place the standard width gauge in front of the cage door, use the camera of the dead chicken picking robot to take an image, and extract the left and right edge coordinates u1 and u2, and calculate the pixel width W p= u2 - u1, measure ten times repeatedly and take the average value to finally obtain k x Since the width of the cage door is fixed in the chicken coop, it can also be calibrated online every 24 hours during operation.

[0064] Step S4: Calculate the moving distance ΔZ of the longitudinal slider 53 according to the depth calculation information

[0065]

[0066] where Z safe is the preset safety margin, and Z safe = 3 - 5 mm. If the depth measurement values of the four corner points are: d1 = 500 mm, d2 = 510 mm, d3 = 495 mm, d4 = 505 mm, and the set safety margin is 5 mm; the calculated average depth is (500 + 510 + 495 + 505) / 4 = 502.5 mm. Therefore, the longitudinal movement amount ΔZ is 502.5 - 5 = 497.5 mm, indicating that the longitudinal slider 43 needs to move 497.5 mm towards the chicken cage to make the cage door fixture 6 accurately stuck on the edge of the cage door.

[0067] Step S5: Drive the transverse slider 43 to move a distance of ΔX along the X-axis through the first motor 41, and at the same time drive the longitudinal slider 53 to advance a distance of ΔZ along the Z-axis through the second motor 51, so that the cage door fixture fits the edge of the cage door.

[0068] It should be noted that this method also includes: constructing a cage door position feedback and automatic correction mechanism, specifically: continuously monitoring the contact situation between the cage door fixture (6) and the cage door through the integrated image sensor. If there is a slight deviation between the fixture and the edge of the cage door, the control system will immediately identify this error;

[0069] If the deviation is greater than the set allowable error, it is determined that correction is needed; if the deviation is in the horizontal direction, the control system will control the transverse slider (43) to move in the correct direction. If the deviation is in the vertical direction, the system will control the longitudinal slider (53) to make adjustments; until the fixture accurately clamps the edge of the cage door and the opening or closing action can be smoothly executed.

[0070] When the contact error between the integrated image sensor continuously monitors the cage door fixture (6) and the cage door is greater than the set threshold for N consecutive times, the system determines that the pixel-millimeter conversion coefficient k x needs to be dynamically adjusted, and re-calibrate to calculate the new k x (t); the calculation formula is:

[0071] k x (t) = k x + λ·Δx err

[0072] where kx (t) represents the adjusted pixel-millimeter conversion coefficient at time t, λ is the adjustment coefficient, the adjustment range is limited, and Δx err represents the deviation value. If the above horizontal deviation or vertical deviation exceeds the set allowable error range, the control system will feedback the information to the cloud platform to trigger remote diagnosis and analyze the reason for the overlimit. If the problem cannot be repaired through the automatic correction mechanism, the cloud platform will issue a deviation overlimit warning;

[0073] When the cloud platform detects that the deviation between the cage door fixture and the cage door (6) continues to accumulate within a certain period of time and the control system does not trigger correction, it will trigger an automatic alarm instruction to remind the equipment management personnel to check and correct the long-term deviation.

[0074] Step S6: Drive the horizontal slider 43 to perform a push-pull action through the first motor 41, drive the cage door to move horizontally through the cage door fixture. The moving distance of the horizontal slider 43 is equal to 2 / 3 of the cage door length, and complete the opening action of the cage door, as long as the manipulator of the dead chicken picking robot can reach into the chicken cage and there is enough space to take out the dead chicken.

[0075] Step S7: After the dead chicken picking robot completes the dead chicken picking operation, reverse-execute steps S3 - S6 to complete the closing action of the cage door.

[0076] Step S8: Drive the horizontal slider 43 and the vertical slider 53 to return to the initial coordinates through the first motor 41 and the second motor 51 to reset the cage door fixture 6.

[0077] The automatic opening and closing method for the cage door of the poultry stacked cage culture proposed by the present invention realizes the positioning and safe operation of the push-pull cage door by integrating RGB-D multi-modal perception, improved Mask R-CNN instance segmentation model and adaptive control algorithm. Compared with the method of using a manipulator or guide wheel to open the cage door, the present invention uses a four-corner feature point recognition algorithm based on deep learning combined with depth information mean fusion to effectively improve the three-dimensional space positioning accuracy; uses the horizontal displacement calculation formula and the vertical displacement calculation formula, and can adaptively adjust the position of the cage door fixture according to the cage door edge coordinate information to achieve millimeter-level control; at the same time, the device involved in the present invention is much lower in price than the finished manipulator. The present invention provides an intelligent solution with good flexibility, high precision, high reliability and low cost for realizing the automatic opening and closing of the cage door, is applicable to various horizontally opening cage doors of most existing ordinary chicken coops, and effectively reduces the operation complexity of the dead chicken picking robot.

[0078] The above are only embodiments of the present invention, and common general technical solutions and / or characteristics in the solution are not described in detail herein. It should be noted that for those skilled in the art, without departing from the technical solution of the present invention, several deformations and improvements can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the implementation effect and practicability of the present invention. The protection scope claimed in this application shall be subject to the content of its claims, and the specific implementation manners and the like recorded in the specification can be used to interpret the content of the claims.

Claims

1. An automatic cage door opening and closing device equipped with a dead chicken picking robot, characterized in that: The invention comprises a connection block (1), a communication module (2), a camera (3) and a dual-axis linear module arranged on the connection block (1); the connection block (1) is used to connect with a dead chicken picking robot, the communication module (2) is used to receive signals sent by the dead chicken picking robot, and the camera (3) is used to shoot multi-viewing angle images of a target cage door; a cage door clamp (6) is arranged on the dual-axis linear module, the cage door clamp (6) is used to push and pull the cage door horizontally, and the dual-axis linear module can adjust the position of the cage door clamp (6) in the X-axis direction and the Z-axis direction.

2. The automatic cage door opening and closing device equipped with a dead chicken picking robot according to claim 1, characterized in that: The dual-axis linear module comprises an X-axis linear module (4), a Z-axis linear module (5) and a drive module. The displacement resolutions of the X-axis linear module (4) and the Z-axis linear module (5) are both 0.1 mm. The X-axis linear module (4) comprises a first motor (41) and a first ball screw (42). The Z-axis linear module (5) comprises a second motor (51) and a second ball screw (52). The first motor (41) and the second motor (51) are respectively used to drive the first ball screw (42) and the second ball screw (52) to rotate. The first ball screw (42) and the second ball screw (52) are respectively provided with a transverse slider (43) and a longitudinal slider (53). The Z-axis linear module (4) is fixed on the transverse slider (43), and the cage door fixture (6) is fixed on the longitudinal slider (53). The drive module is used to receive instructions from the communication module (2), and drive the first motor (41) and the second motor (51) to run or stop according to the instructions.

3. The automatic cage door opening and closing device equipped with a dead chicken picking robot according to claim 2, characterized in that: The second motor (51) is provided with an electromagnetic brake, and the longitudinal slider (53) is provided with a pressure feedback module. When the pressure feedback module detects that the contact pressure reaches 5N, the electromagnetic brake stops the second motor (51).

4. A method for automatically opening and closing a cage door equipped with a dead chicken picking robot, characterized in that: The following steps are involved: Step S1, installing the automatic cage door opening and closing device onto the dead chicken picking robot through the connecting block (1), so that the automatic cage door opening and closing device is electrically connected to the control system of the dead chicken picking robot, and the dead chicken picking robot patrols along a preset path until a dead chicken is identified in the cage position, at which time the dead chicken picking robot stops moving and sends a signal to the automatic cage door opening and closing device; Step S2, the communication module (2) of the cage door automatic opening and closing device receives the signal sent by the dead chicken picking robot, starts the camera (3) to collect multi-view images of the target cage door, uses the improved instance segmentation model to extract four feature corner points of the cage door edge wire, and obtains its pixel coordinate set P = {p1 (u1, v1), p2 (u2, v2), p3 (u3, v3), p4 (u4, v4)}, and the depth information set D = {d1, d2, d3, d4}, wherein p1, p2, p3, p4 are the upper left, upper right, lower left, and lower right corner points of the cage door, respectively, and d1, d2, d3, d4 are the upper left, upper right, lower left, and lower right depth values ​​of the cage door, respectively; Step S3: Establish a coordinate system conversion relationship, convert the image coordinate system into the dead chicken picking robot base coordinate system, and calculate the theoretical moving distance ΔX of the horizontal slider. When you need to open the cage door to the right, When you need to open the cage door to the left, Among them, x o is the reference coordinate of the center line of the cage door fixture, and k is the pixel-millimeter conversion factor; Step S4, calculating the moving distance ΔZ of the longitudinal slider according to the depth calculation information, the calculation formula is: Among them, Z safe is the preset safety margin, Z safe =3-5mm; Step S5, driving the transverse slider (43) by the first motor (41) to move a distance ΔX along the X axis, and driving the longitudinal slider (53) by the second motor (51) to advance a distance ΔZ along the Z axis, so that the cage door clamp (6) fits the edge of the cage door; Step S6, driving the transverse slider (43) to perform a push-pull action by the first motor (41), so that the moving distance of the transverse slider (43) is equal to 2 / 3 of the length of the cage door, thereby completing the opening action of the cage door; Step S7: After the dead chicken picking robot completes the picking operation of the dead chicken, steps S3-S6 are performed in reverse to complete the closing action of the cage door; Step S8, driving the transverse slider (43) and the longitudinal slider (53) to return to the initial coordinates by the first motor (41) and the second motor (51), so that the cage door clamp (6) is reset.

5. The method for automatically opening and closing a cage door equipped with a dead chicken picking robot according to claim 4, characterized in that: The pixel-to-millimeter conversion coefficient k in step S3 x Obtained through calibration: k x =W a / W p Among them, W a is the actual cage door width, W a =450-600mm, W p is the pixel width detected in the image.

6. The method for automatically opening and closing a cage door equipped with a dead chicken picking robot according to claim 5, characterized in that: The method also includes: constructing a cage door position feedback and automatic correction mechanism, specifically: The integrated image sensor monitors the contact between the cage door clamp (6) and the cage door in real time. If there is a slight deviation between the clamp and the edge of the cage door, the control system will immediately recognize the error. If the deviation is greater than the set allowable error, it is determined that correction is required; if the deviation is in the horizontal direction, the control system will control the horizontal slider (43) to move in the correct direction, and if the deviation is in the vertical direction, the system will control the longitudinal slider (53) to adjust; until the clamp accurately clamps the edge of the cage door, the door opening or closing action can be performed smoothly.

7. The method for automatically opening and closing a cage door equipped with a dead chicken picking robot according to claim 6, characterized in that: When the integrated image sensor monitors the contact error between the cage door fixture (6) and the cage door in real time and it is greater than the set threshold value for N consecutive times, the system determines the pixel-millimeter conversion coefficient k x Dynamic adjustment is required to recalibrate and calculate the new k x (t); the calculation formula is: k x (t)=k x +λ·Δx err Among them, k x (t) represents the pixel-to-millimeter conversion coefficient after adjustment at time t, λ is the adjustment coefficient, which limits the adjustment range, Δx err Indicates the deviation value.

8. The method for automatically opening and closing a cage door equipped with a dead chicken picking robot according to claim 6, characterized in that: If the above horizontal deviation or vertical deviation exceeds the set allowable error range, the control system will feed back the information to the cloud platform to trigger remote diagnosis and analyze the cause of the limit violation. If the problem cannot be corrected through the automatic correction mechanism, the cloud platform will issue a warning of the deviation exceeding the limit. When the cloud platform detects that the deviation between the cage door fixture and the cage door (6) continues to accumulate over a certain period of time and the control system does not trigger a correction, an automatic alarm instruction is triggered to remind the equipment management personnel to check and correct the long-term deviation.

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