Auxiliary insemination robot for poultry

Abstract

The poultry auxiliary insemination robot comprises a walking mechanism, a grabbing clamp, an anus turning clamp and an image recognition mechanism, and a mechanical arm is arranged on the walking mechanism; the grabbing clamp is provided with two grabbing parts, the two grabbing parts can be relatively close to or far away from each other, and a grabbing space used for grabbing poultry is formed between the two grabbing parts; the anal turning clamp is provided with two anal turning parts, the two anal turning parts can be relatively close to or far away from each other, and an operation space for breaking the cloaca of poultry is formed between the two anal turning parts; the image recognition mechanism comprises a processor and an image collector, and the image collector is connected with the processor. Poultry artificial insemination operation is assisted, so that the labor intensity of workers is reduced.

Description

Technical Field

[0001] The present application belongs to the field of robotics technology, and in particular relates to a poultry assisted insemination robot. Background Art

[0002] At present, with the continuous increase in the scale of caged breeding chickens in farms, the demand for the use of automated poultry farming is getting higher and higher. In the large-scale breeding process of poultry, artificial insemination technology has become the main technical guarantee for the breeding link. Taking chickens as an example, hens are usually kept in chicken cages. During the artificial insemination process, one person needs to hold the chicken's wings with one hand and expose the chicken's cloaca with the other hand. Then, another person inserts the vas deferens into the cloaca and injects semen to complete the artificial insemination. During the above operation, the operator holding the hen needs to pry open the chicken's butt with his hands to expose the cloaca. During the above operation, the operator needs to frequently use force to pry open the chicken's butt. Long-term operation will cause the worker's fingers to deform, resulting in a high labor intensity for the operator. In view of this, how to design a technology to assist poultry artificial insemination operation to reduce the labor intensity of workers is the technical problem to be solved by this application. Summary of the Invention

[0003] The present application provides a poultry assisted insemination robot, which assists in poultry artificial insemination operations to reduce the labor intensity of workers.

[0004] To achieve the above technical objectives, this application adopts the following technical solutions: In one aspect, the present application provides a poultry assisted insemination robot, comprising: A walking mechanism, wherein a mechanical arm is provided on the walking mechanism; A grabbing clamp, wherein the grabbing clamp is provided with two grabbing parts, the two grabbing parts can be relatively close to or far away from each other, and a grabbing space for grabbing poultry is formed between the two grabbing parts; Anal retraction clamp, the anal retraction clamp is provided with two anal retraction parts, the two anal retraction parts can be relatively close to or far away from each other, and an operating space for prying open the cloaca of poultry is formed between the two anal retraction parts; An image recognition mechanism, comprising a processor and an image collector, wherein the image collector is connected to the processor; Wherein, the grabbing fixture and the anus-turning fixture are arranged on the mounting end of the robotic arm, and the image collector is arranged on the robotic arm; The processor is configured to control the grabbing clamp to grab poultry based on the image information collected by the image collector; The processor is further configured to control the anal inversion clamp to open the cloaca of the poultry according to the image information collected by the image collector.

[0005] Compared with existing technologies, the present application has the following advantages: by providing a grasping clamp and an anal-rotation clamp on the robotic arm, the grasping clamp can automatically grasp poultry, while the anal-rotation clamp can automatically open the poultry's cloaca, effectively avoiding the risk of finger deformation caused by the operator's repetitive and high-intensity cloaca-opening operation, and greatly reducing manual labor intensity. Furthermore, the processor in the image recognition mechanism can precisely control the grasping clamp and anal-rotation clamp based on the image information captured by the image collector. Compared with traditional manual operation, the application of this robot can also significantly reduce labor costs and labor intensity.

[0006] In one embodiment of the present application, the robotic arm includes a first robotic arm and a second robotic arm, and the first robotic arm and the second robotic arm are arranged on the walking mechanism; The grabbing clamp is arranged on the first robotic arm, and the anal rotation clamp is arranged on the second robotic arm.

[0007] In one embodiment of the present application, the image collector includes a first camera and a second camera, and the first camera and the second camera are respectively connected to the processor; The first camera is arranged on the first robotic arm and moves along with the grabbing fixture, and the processor is configured to control the grabbing fixture to grab the poultry according to image information collected by the first camera; The second camera is arranged on the second robotic arm and moves along with the anal-turning clamp, and the processor is configured to control the anal-turning clamp to open the cloaca of the poultry according to image information collected by the second camera.

[0008] In one embodiment of the present application, the robotic arm is a dual-arm robot; The anal rotation clamp is arranged on the first arm of the dual-arm robot, and the grasping clamp is arranged on the second arm of the dual-arm robot.

[0009] In one embodiment of the present application, the image collector further includes a third camera and a fourth camera, and the third camera and the fourth camera are respectively connected to the processor; The third camera is arranged on the second arm and moves along with the grabbing fixture, and the processor is configured to control the grabbing fixture to grab the poultry according to the image information collected by the third camera; The fourth camera is arranged on the second arm and moves along with the anal inversion clamp, and the processor is configured to control the anal inversion clamp to open the cloaca of the poultry according to the image information collected by the fourth camera.

[0010] In one embodiment of the present application, the grabbing fixture is further provided with a first mounting seat and a first driving component. The grabbing component is provided on the first mounting seat, and the first driving component is configured to drive the two grabbing components to move relative to each other on the first mounting seat.

[0011] In one embodiment of the present application, the anal rotation clamp is further provided with a second mounting seat and a second driving component. The anal rotation component is provided on the second mounting seat, and the second driving component is configured to drive the two anal rotation components to move relative to each other on the second mounting seat.

[0012] In one embodiment of the present application, the anus-turning component includes a swing arm, a connecting rod, and a toggle rod. The swing arm and the connecting rod are rotatably disposed on the second mounting seat. One end of the toggle rod is hinged to the swing arm, the middle portion of the toggle rod is hinged to the connecting rod, and the other end of the toggle rod is covered with a flexible sleeve. The second driving component is configured to drive the two swing arms to swing synchronously in opposite directions.

[0013] In one embodiment of the present application, a notch structure is further provided on the inner side of the other end portion of the toggle rod, and an anus-turning area is formed between the two notch structures.

[0014] In one embodiment of the present application, the second driving component is a driving motor, and the anal rotation clamp is further provided with a torque sensor, and the torque sensor is configured to detect the torque of the driving motor; The torque sensor is connected to the processor; The processor is configured to control the operation of the driving motor according to the torque value detected by the torque sensor.

[0015] In one embodiment of the present application, the gripping component is provided with a first pressure sensor, which is connected to the processor; the processor is configured to control the pressure generated by the gripping component according to the pressure value detected by the first pressure sensor.

[0016] In one embodiment of the present application, a second pressure sensor is provided on the anus-turning component, and the second pressure sensor is connected to the processor; the processor is configured to control the pressure exerted on the poultry by the anus-turning component when it is pressed against the poultry according to the pressure value detected by the second pressure sensor. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0018] Figure 1 A schematic diagram of the structure of an embodiment of the poultry assisted insemination robot of this application; Figure 2 This is one of the structural schematic diagrams of another embodiment of the poultry assisted insemination robot of the present application; Figure 3 This is the second structural diagram of another embodiment of the poultry assisted insemination robot of the present application; Figure 4 This is a schematic structural diagram of a gripping fixture in an embodiment of the poultry assisted insemination robot of this application; Figure 5 This is a schematic structural diagram of the anal insemination clamp in an embodiment of the poultry assisted insemination robot of this application; Figure 6 This is the electrical control principle diagram of the poultry assisted insemination robot embodiment of this application.

[0019] Reference numerals: 1. Walking mechanism; 11. Robotic arm; 111. Single-arm robot; 112. Dual-arm robot; 1121. First arm; 1122. Second arm; 2. Grasping fixture; 21. Grasping component; 22. First mounting seat; 23. First driving component; 24. First pressure sensor; 3. Anal-twist clamp; 31. Anal-twist component; 32. Second mounting seat; 33. Second driving component; 34. Torque sensor; 35. Second pressure sensor; 311. Swing arm; 312. Connecting rod; 313. Toggle rod; 314. Notch structure; 4. Image recognition mechanism; 41. Processor; 42. Image collector; 421. Third camera; 422. Fourth camera; 423. First camera; 424. Second camera. DETAILED DESCRIPTION

[0020] To make the purpose, technical solutions, and advantages of the embodiments of this application more clear, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0021] The disclosure below provides many different embodiments or examples for realizing different structures of the present application. In order to simplify the disclosure of the present application, the components and settings of specific examples are described below. Of course, they are merely examples and are not intended to limit the present application. In addition, the present application may repeat reference numbers and / or reference letters in different examples, and such repetition is for the purpose of simplicity and clarity, and does not itself indicate the relationship between the various embodiments and / or settings discussed. In addition, the present application provides examples of various specific processes and materials, but those of ordinary skill in the art will appreciate the application of other processes and / or the use of other materials.

[0022] like Figures 1-6 As shown, this embodiment provides a poultry assisted insemination robot, comprising: A walking mechanism 1, wherein a mechanical arm 11 is provided on the walking mechanism 1; A grabbing fixture 2, wherein the grabbing fixture 2 is provided with two grabbing parts 21, the two grabbing parts 21 can be relatively close to or far away from each other, and a grabbing space for grabbing poultry is formed between the two grabbing parts 21; Anal-turnover clamp 3, the anal-turnover clamp 3 is provided with two anal-turnover parts 31, the two anal-turnover parts 31 can be relatively close to or far away from each other, and an operating space for opening the cloaca of the poultry is formed between the two anal-turnover parts 31; An image recognition mechanism 4, comprising a processor 41 and an image collector 42, wherein the image collector 42 is connected to the processor 41; The grabbing fixture 2 and the anal rotation fixture 3 are arranged on the mounting end of the robotic arm 11, and the image collector 42 is arranged on the robotic arm 11; The processor 41 is configured to control the grabbing fixture 2 to grab poultry based on the image information collected by the image collector 42; The processor 41 is further configured to control the anus-turning clamp 3 to open the cloaca of the poultry according to the image information collected by the image collector 42 .

[0023] Specifically, in actual use, the poultry assisted insemination robot moves to the poultry breeding area via the walking mechanism 1. The walking mechanism 1 can adopt a four-wheel drive structure, with each driving wheel equipped with an independent servo motor, which can achieve stable movement of the robot in different ground environments of the breeding farm.

[0024] When walking mechanism 1 approaches a chicken coop containing poultry to be inseminated, it uses ultrasonic sensors and a lidar radar mounted on walking mechanism 1 to sense the environment and obtain location information of the coop and poultry, thereby accurately locating the target poultry. The embodiment of walking mechanism 1 can be an automated guided vehicle (AGV) or other automated guided vehicle (AGV), without limitation.

[0025] After the walking mechanism 1 moves to the chicken coop where the poultry to be inseminated is located, the robotic arm 11 drives the grasping fixture 2 and locates the poultry using image information captured by the image collector 42. Specifically, the image collector 42 captures images of the poultry and transmits the captured image information to the processor 41 in real time. Using an image recognition algorithm, the processor 41 identifies the poultry's features in the image and accurately determines the poultry's position and posture. This ensures that the grasping fixture 2 can adjust its position in real time while grasping the poultry, improving the accuracy and efficiency of the capture.

[0026] Among them, before grabbing the poultry, the cage door of the chicken cage needs to be opened. Generally, it can be opened manually by an operator who moves with the poultry assisted insemination robot, and there is no restriction here.

[0027] After the grasping clamp 2 grasps the poultry in the cage, it automatically adjusts the poultry's position so that its rear end faces the anal-retraction clamp 3. The image collector 42 again captures image information of the poultry in the grasping clamp 2. Based on the image information captured by the image collector 42, the processor 41 again accurately positions the anal-retraction clamp 3 near the poultry's rear end, positioning the anal-retraction clamp 3 between the two anal-retraction components 31 at the cloaca. The anal-retraction components 31 rest against the poultry's body, moving them apart to slowly pry open the poultry's cloaca and expose its vaginal opening.

[0028] Finally, after the cloaca is opened, in the subsequent artificial insemination process, the insemination device 51 can be manually inserted into the vaginal opening of the cloaca to inject semen, thereby completing the artificial insemination operation of the poultry.

[0029] After insemination is complete, the anal-turning clamp 3 leaves the poultry, and the grasping clamp 2 releases the poultry. The corresponding cage door is manually closed, and the poultry-assisted insemination robot can then move to the next target cage and repeat the above operation process, achieving semi-automated poultry artificial insemination.

[0030] It should be noted that in existing poultry farms, the space size of the chicken cage where the poultry is located is limited, and the poultry cannot usually walk around or turn around at will in the chicken cage. In this case, the difficulty of accurately grabbing the poultry by the grabbing fixture 2 can be reduced.

[0031] Compared with the prior art, the present application has the following beneficial effects: by providing a grasping clamp 2 and anal-rotation clamp 3 on the robotic arm 11, the grasping clamp 2 can automatically grasp the poultry, while the anal-rotation clamp 3 can automatically open the poultry's cloaca, effectively avoiding the risk of finger deformation caused by the operator's repetitive and high-intensity cloaca-opening operation, and greatly reducing the intensity of manual labor. Furthermore, the processor 41 in the image recognition mechanism 4 can precisely control the grasping clamp 2 and anal-rotation clamp 3 based on the image information obtained by the image collector 42. Compared with traditional manual operation, the application of this robot can also significantly reduce labor costs and labor intensity, significantly improving the economic benefits of farming.

[0032] In one embodiment of the present application, Figure 1 As shown, the robotic arm 11 includes a first robotic arm and a second robotic arm, and the first robotic arm and the second robotic arm are arranged on the walking mechanism 1; The grabbing clamp 2 is arranged on the first robotic arm, and the anal rotation clamp 3 is arranged on the second robotic arm.

[0033] Specifically, in order to drive the grasping clamp 2 and the anus-turning clamp 3 to move respectively, the robotic arm 11 is configured with a first robotic arm and a second robotic arm. The first robotic arm and the second robotic arm can adopt the performance entity of the single-arm robot 111. For example, the single-arm robot 111 can adopt the single-arm robot of ABB's IRB 6640, which is not limited here.

[0034] The first mechanical arm drives the corresponding grabbing fixture 2 to move, while the second mechanical arm drives the corresponding anus-turning fixture 3 to move. In this way, the grabbing fixture 2 and the anus-turning fixture 3 do not affect each other during the movement.

[0035] Furthermore, in order to accurately collect image information, such as Figure 1 As shown, the image collector 42 includes a first camera 423 and a second camera 424, and the first camera 423 and the second camera 424 are respectively connected to the processor 41; The first camera 423 is provided on the first robotic arm and moves along with the grabbing fixture 2 , and the processor 41 is configured to control the grabbing fixture 2 to grab the poultry according to the image information collected by the first camera 423 ; The second camera 424 is set on the second robotic arm and moves with the anus-turning clamp 3. The processor 41 is configured to control the anus-turning clamp 3 to open the cloaca of the poultry according to the image information collected by the second camera 424.

[0036] Specifically, after the poultry-assisted insemination robot moves to the chicken coop where the target poultry is located via the walking mechanism 1, the first camera is activated first to capture images of the chicken coop, and its shooting angle can be automatically adjusted according to the movement of the first robotic arm. The collected image information is transmitted to the processor 41 in real time. The processor 41 identifies the features of the poultry in the image based on the image recognition algorithm, accurately determines the position and posture of the poultry, and thus determines the optimal grasping position of the grasping clamp 2. Subsequently, the processor 41 sends a control instruction to the first robotic arm, and the first robotic arm controls the grasping clamp 2 to perform the grasping action. After the grasping is completed, the first robotic arm adjusts the posture of the grasping clamp 2 so that the poultry's buttocks face outward to facilitate the operation of the anus-turning clamp 3.

[0037] After the gripping clamp 2 completes the grasping operation of the poultry, the second camera begins to operate, capturing a close-up image of the poultry's cloaca. Its lens automatically focuses to ensure a clear image of the cloaca. The captured image information is also transmitted in real time to the processor 41. The processor 41 uses an image recognition algorithm to analyze the location of the cloaca and then sends instructions to the second robotic arm. The second robotic arm controls the operation of the anal-expansion clamp 3. The two anal-expansion components 31 of the anal-expansion clamp 3 move to fully expose the cloaca.

[0038] In another embodiment, Figure 2 and Figure 3 As shown, the robotic arm 11 is a dual-arm robot 112 , the grasping clamp 2 is arranged on the second arm 1122 of the dual-arm robot 112 , and the anal rotation clamp 3 is arranged on the first arm 1121 of the dual-arm robot 112 .

[0039] Specifically, the two arms of the dual-arm robot 112 meet the installation and movement requirements of the grasping clamp 2 and the anus-turning clamp 3.

[0040] After the second arm 1122 drives the grasping clamp 2 into the chicken coop and completes the grasping operation of the poultry, the first arm 1121 drives the anal opening clamp 3 to move closer to the poultry and open the cloaca to assist in artificial insemination. The dual-arm robot 112 can be an ABB IRB 14000 YUMI dual-arm robot, which is not limited here.

[0041] Furthermore, the image collector 42 further includes a third camera 421 and a fourth camera 422, and the third camera 421 and the fourth camera 422 are respectively connected to the processor 41; The third camera 421 is provided on the second arm 1122 and moves along with the grabbing fixture 2 , and the processor 41 is configured to control the grabbing fixture 2 to grab poultry according to image information collected by the third camera 421 ; The fourth camera 422 is set on the second arm 1122 and moves with the anus-turning clamp 3. The processor 41 is configured to control the anus-turning clamp 3 to open the cloaca of the poultry according to the image information collected by the fourth camera 422.

[0042] Among them, the specific embodiment of the camera in this embodiment can adopt an industrial camera commonly used in industrial production, which is not limited or elaborated here.

[0043] In one embodiment of the present application, the grabbing fixture 2 is further provided with a first mounting seat 22 and a first driving component 23. The grabbing component 21 is provided on the first mounting seat 22. The first driving component 23 is configured to drive the grabbing component 21 to move relatively on the first mounting seat 22.

[0044] Specifically, the gripping fixture 2 mounts two gripping components 21 on a first mounting base 22. The gripping components 21 are driven by a first drive component 23 to perform the corresponding gripping actions. The gripping components 21 can be hinged to the first mounting base 22 via a rotating shaft. The first drive component 23 can be an electric push rod hinged between the two gripping components 21. Based on the image recognition results, the processor 41 sends a control signal to the first drive component 23. Upon receiving the signal, the electric push rod begins to operate, driving the two gripping components 21 toward or away from each other on the first mounting base 22.

[0045] Furthermore, the gripping component 21 is provided with a first pressure sensor 24, and the first pressure sensor 24 is connected to the processor 41; the processor 41 is configured to control the pressure generated by the gripping component 21 according to the pressure value detected by the first pressure sensor 24; Specifically, because the poultry being gripped varies in size, the gripping force applied by the two gripping members 21 on the poultry must be controllable in order to reliably grip the poultry and avoid damage caused by excessive gripping force. To this end, a first pressure sensor 24 is provided on the inner side of the gripping members 21. After the two gripping members 21 grip the poultry, the first pressure sensor 24 on the gripping members 21 can monitor the pressure applied to the poultry in real time, thereby adjusting the gripping force generated between the two gripping members 21.

[0046] During the approach process, when the grabbing component 21 contacts the poultry, the first pressure sensor 24 installed on the grabbing component 21 monitors the pressure in real time and feeds back the data to the processor 41. The processor 41 adjusts the output force of the first driving component 23 in real time according to the preset grabbing force range to ensure that the poultry can be firmly grasped without causing damage to it.

[0047] In one embodiment of the present application, the anal rotation clamp 3 is further provided with a second mounting seat 32 and a second driving component 33. The anal rotation component 31 is provided on the second mounting seat 32. The second driving component 33 is configured to drive the two anal rotation components 31 to move relative to each other on the second mounting seat 32.

[0048] Specifically, the anal-twist clamp 3 mounts two anal-twist components 31 on the second mounting base 32. The two anal-twist components 31 are driven by a second drive component 33 to perform the corresponding anal-twist movement. Based on the image recognition results, the processor 41 sends a control signal to the second drive component 33. Upon receiving the signal, the second drive component 33 begins operating, driving the two anal-twist components 31 away from each other on the second mounting base 32 to perform the opening movement.

[0049] Furthermore, in order to reliably and effectively open the cloaca, the anus-turning component 31 includes a swing arm 311, a connecting rod 312, and a toggle rod 313. The swing arm 311 and the connecting rod 312 are rotatably disposed on the second mounting base 32. One end of the toggle rod 313 is hinged to the swing arm 311, and the middle portion of the toggle rod 313 is hinged to the connecting rod 312. The other end of the toggle rod 313 is covered with a flexible sleeve (not shown). The second driving component 33 is configured to drive the two swing arms 311 to swing synchronously in opposite directions.

[0050] Specifically, the second driving component 33 uses a servo motor to provide power, and the motor shaft of the servo motor can transmit power to the two swing arms 311 on the second mounting seat 32 through gear transmission to drive the two swing arms 311 to rotate synchronously in opposite directions.

[0051] When the processor 41 determines that the anus rotation operation needs to be performed based on the collected image information, it sends a control instruction to the second driving component 33. After receiving the instruction, the second driving component 33 starts the servo motor to drive the two swing arms 311 to swing in a synchronous and opposite direction.

[0052] During the swinging process, the swing arm 311 will cause the two toggle rods 313 to move relatively apart through the connecting rod 312, so that the toggle rods 313 can effectively perform a prying action on both sides of the cloaca to effectively open the cloaca.

[0053] The other end of the lever 313 is covered with a flexible sleeve made of medical-grade silicone, offering excellent flexibility and wear resistance. When the lever 313 approaches the cloaca, the sleeve first contacts the poultry's skin, effectively preventing physical damage. Furthermore, the sleeve's surface provides a certain degree of friction, ensuring that the lever 313 does not slip when applied.

[0054] Under the continuous driving of the second driving component 33, the two toggle rods 313 exert forces on the poultry cloaca from both sides via the flexible sleeve, gradually expanding the cloaca.

[0055] Furthermore, a notch structure 314 is provided on the inner side of the other end of the toggle rod 313 , and a retraction area is formed between the two notch structures 314 .

[0056] Specifically, in the initial state of the anal retraction clamp 3, the two notch structures 314 are close to each other, and the area formed between them is sufficient to cover the poultry's cloaca. In this way, after the toggle lever 313 is placed against the poultry's body surface, the cloaca is located between the two notch structures 314. Then, the toggle lever 313 is actuated to further open the cloaca.

[0057] Furthermore, since the second driving component 33 is a representative entity of a driving motor, the anal rotation clamp 3 is further provided with a torque sensor 34, and the torque sensor 34 is configured to detect the torque of the driving motor; The torque sensor 34 is connected to the processor 41; The processor 41 is configured to control the operation of the driving motor according to the torque value detected by the torque sensor 34 .

[0058] Specifically, during the process of opening the cloaca, the torque sensor 34 installed on the second driving component 33 can monitor the torque in real time, so that the external pulling force exerted by the toggle rod 313 on the cloaca is limited, thereby avoiding damage to the poultry due to excessive force.

[0059] Furthermore, in order to ensure that the toggle rod 313 can effectively stick to the body surface of the poultry, a second pressure sensor 35 is provided on the anus-turning component 31, and the second pressure sensor 35 is connected to the processor 41; the processor 41 is configured to control the pressure exerted on the poultry by the anus-turning component 31 when it sticks to the poultry according to the pressure value detected by the second pressure sensor 35.

[0060] Specifically, after the toggle rod 313 is pressed against the body of the poultry, the second pressure sensor 35 will detect the pressure generated by the force on the toggle rod 313, and then control the supporting force provided by the robotic arm 11 to the anal rotation clamp 3, while ensuring that there is sufficient friction between the toggle rod 313 and the surface of the poultry, avoiding the toggle rod 313 from exerting excessive pressure on the poultry and causing damage to the poultry.

[0061] The second pressure sensor 35 is disposed on the surface of the toggle rod 313 that contacts the poultry, so as to more directly and accurately detect the pressure applied to the poultry.

[0062] The specific models of the pressure sensor and torque sensor 34 and the parameters for triggering the action of the processor 41 can be adjusted and selected according to the actual application environment requirements and are not limited here.

[0063] In addition, the processor 41 may be a device with image processing capabilities such as a CPU, and there is no limitation on its model and specific image processing program.

[0064] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A poultry assisted insemination robot, characterized in that: include: A walking mechanism, wherein a mechanical arm is provided on the walking mechanism; A grabbing clamp, wherein the grabbing clamp is provided with two grabbing parts, the two grabbing parts can be relatively close to or far away from each other, and a grabbing space for grabbing poultry is formed between the two grabbing parts; Anal retraction clamp, the anal retraction clamp is provided with two anal retraction parts, the two anal retraction parts can be relatively close to or far away from each other, and an operating space for prying open the cloaca of poultry is formed between the two anal retraction parts; An image recognition mechanism, comprising a processor and an image collector, wherein the image collector is connected to the processor; Wherein, the grabbing fixture and the anus-turning fixture are arranged on the mounting end of the robotic arm, and the image collector is arranged on the robotic arm; The processor is configured to control the grabbing clamp to grab poultry based on the image information collected by the image collector; The processor is further configured to control the anal inversion clamp to open the cloaca of the poultry according to the image information collected by the image collector.

2. The poultry assisted insemination robot according to claim 1, characterized in that: The robotic arm includes a first robotic arm and a second robotic arm, and the first robotic arm and the second robotic arm are arranged on the walking mechanism; The grabbing clamp is arranged on the first robotic arm, and the anal rotation clamp is arranged on the second robotic arm.

3. The poultry assisted insemination robot according to claim 2, characterized in that: The image collector includes a first camera and a second camera, and the first camera and the second camera are respectively connected to the processor; The first camera is arranged on the first robotic arm and moves along with the grabbing fixture, and the processor is configured to control the grabbing fixture to grab the poultry according to image information collected by the first camera; The second camera is arranged on the second robotic arm and moves along with the anal-turning clamp, and the processor is configured to control the anal-turning clamp to open the cloaca of the poultry according to image information collected by the second camera.

4. The poultry assisted insemination robot according to claim 1, characterized in that: The robotic arm is a dual-arm robot; The anal rotation clamp is arranged on the first arm of the dual-arm robot, and the grasping clamp is arranged on the second arm of the dual-arm robot.

5. The poultry assisted insemination robot according to claim 4, characterized in that: The image collector further includes a third camera and a fourth camera, and the third camera and the fourth camera are respectively connected to the processor; The third camera is arranged on the second arm and moves along with the grabbing fixture, and the processor is configured to control the grabbing fixture to grab the poultry according to the image information collected by the third camera; The fourth camera is arranged on the second arm and moves along with the anal inversion clamp, and the processor is configured to control the anal inversion clamp to open the cloaca of the poultry according to the image information collected by the fourth camera.

6. The poultry assisted insemination robot according to claim 1, characterized in that: The grabbing fixture is further provided with a first mounting seat and a first driving component. The grabbing component is provided on the first mounting seat. The first driving component is configured to drive the two grabbing components to move relative to each other on the first mounting seat.

7. The poultry assisted insemination robot according to claim 1, characterized in that: The anal rotation clamp is also provided with a second mounting seat and a second driving component; The anus-turning component is arranged on the second mounting seat, and the second driving component is configured to drive the two anus-turning components to move relative to each other on the second mounting seat.

8. The poultry assisted insemination robot according to claim 7, characterized in that: The anus-turning component includes a swing arm, a connecting rod and a toggle rod, wherein the swing arm and the connecting rod are rotatably arranged on the second mounting seat, one end of the toggle rod is hinged to the swing arm, the middle part of the toggle rod is hinged to the connecting rod, and the other end of the toggle rod is covered with a flexible sleeve; The second driving component is configured to drive the two swing arms to swing synchronously in opposite directions.

9. The poultry assisted insemination robot according to claim 7, characterized in that: The second driving component is a driving motor, and the anal rotation clamp is further provided with a torque sensor, and the torque sensor is configured to detect the torque of the driving motor; The torque sensor is connected to the processor; The processor is configured to control the operation of the driving motor according to the torque value detected by the torque sensor.

10. The poultry assisted insemination robot according to claim 1, characterized in that: The gripping member is provided with a first pressure sensor, and the first pressure sensor is connected to the processor; the processor is configured to control the pressure generated by the gripping member according to the pressure value detected by the first pressure sensor; and / or, The anus-opening component is provided with a second pressure sensor, and the second pressure sensor is connected to the processor; The processor is configured to control the pressure exerted by the anus-turning component against the poultry according to the pressure value detected by the second pressure sensor.

Images