Chicken slaughtering and processing device with screening function and processing method of chicken slaughtering and processing device

Abstract

The invention provides a chicken slaughtering and processing device with a screening function and a processing method and device thereof, and relates to the technical field of food processing.The chicken slaughtering and processing device comprises a suspension conveying system, an online detection station, a central control unit and a cutting and sorting system.The online detection station integrates a sensor to collect multi-dimensional quality data of chicken carcasses bound with RFID tags; the central control unit carries out comprehensive quality rating based on the data and generates a three-dimensional space cutting path for each chicken carcass, and the cutting and sorting system carries out real-time path calibration and executes high-precision self-adaptive segmentation according to rating results and path instructions and by utilizing an integrated visual sensor, so that the cutting and sorting system is used for cutting the chicken carcasses. According to the method, the problems of disjunction of quality detection and segmentation processing, single grading dimension and rigidity of automatic cutting in the prior art are solved, intelligent and refined processing of one chicken with one strategy is realized, and the product yield, the quality sorting precision and the additional value are remarkably improved.

Description

Technical Field

[0001] This invention belongs to the field of food processing technology, specifically relating to a chicken slaughtering and processing device with screening function and its processing method. Background Technology

[0002] In modern slaughtering and processing lines, overhead conveyor systems are typically used to transfer chicken carcasses, and processes such as defecation, evisceration, cleaning, and cutting are completed automatically or semi-automatically to improve production efficiency and hygiene. However, existing technologies still have many shortcomings in the core aspects of quality grading and precise cutting, which maximize product value.

[0003] Traditional chicken quality grading after slaughter relies heavily on manual visual inspection or simple weighing. This method is highly subjective, inefficient, and fails to accurately assess the chicken's intrinsic quality, such as tenderness and fat content, resulting in insufficient realization of the product's added value. To overcome this problem, the industry has begun to introduce non-destructive testing technologies such as machine vision and spectral analysis. For example, Chinese patent application CN118443599A discloses a quality spectral detection method for fresh chicken. This method acquires hyperspectral images of chicken and analyzes differences in specific spectral ranges to determine quality information such as tenderness. While these technologies improve the accuracy of detecting single quality indicators, they still have the following problems: 1. Disconnect between inspection and processing: Quality inspection stations and subsequent cutting and processing stations are usually independent links on the production line. Inspection data cannot guide the personalized cutting of each chicken carcass in real time and accurately. Information mismatch is prone to occur during the flow of products, making it difficult to truly implement the "high quality, high price" refined processing strategy. 2. Existing automated cutting equipment mostly uses fixed mechanical blades or programmed cutting paths to perform standardized cutting actions on all chicken carcasses. This "one-cut" method cannot adapt to the differences in size, shape, and quality of individual parts of different individuals, resulting in low yield, damage to high-quality parts, and mixing of different parts, which leads to waste of raw materials and loss of economic value. Therefore, how to seamlessly integrate multi-dimensional online quality inspection, intelligent comprehensive rating and high-precision adaptive cutting to maximize the economic value of each chicken carcass is a technical problem that urgently needs to be solved in the current chicken slaughtering and processing industry. Summary of the Invention

[0004] The present invention aims to overcome the problems existing in the background technology, such as the disconnect between quality inspection and segmentation processing, the single grading dimension, and the rigidity of cutting methods. It provides a chicken slaughtering and processing device and method that can realize multi-dimensional online comprehensive quality rating and adaptive robot precise segmentation, so as to significantly improve the sorting accuracy, yield and added value of chicken products.

[0005] To achieve the above objectives, the present invention is implemented through the following technical solution: A chicken slaughtering and processing device with screening function includes a suspended conveyor system, an online inspection station, a central control unit, and a cutting and sorting system. The online inspection station and the cutting and sorting system are both located on the conveying path of the suspended conveyor system. The cutting and sorting system is located downstream of the online inspection station. The online inspection station is connected to the central control unit, which is connected to both the suspended conveyor system and the cutting and sorting system.

[0006] Furthermore, the suspended conveying system includes a drive unit, a conveying track, a transmission chain, and a suspension hanger. The frame of the drive unit provides suspended support for the conveying track. The conveying track forms a loop that supports and guides the transmission chain and the suspension hanger. The transmission chain is installed around the path formed by the conveying track and meshes with the drive wheel of the drive unit. The upper end of the suspension hanger is located inside the conveying track and is fixedly connected to a link on the transmission chain. The lower end of the suspension hanger is equipped with clamps, and each clamp integrates an RFID tag.

[0007] Furthermore, the online inspection station is a closed inspection chamber with a preset entrance and exit. The entrance and exit of the inspection chamber are precisely connected to the conveying track of the suspended conveyor system, allowing the suspended hoist to smoothly enter the predetermined inspection station inside the inspection chamber for inspection and exit through the exit after completion. The inner wall of the inspection chamber is made of matte material. At least one set of three-dimensional vision sensors, one set of color industrial cameras, one hyperspectral imager, and several lighting devices are installed inside the inspection chamber to acquire a set of multi-dimensional quality data associated with the chicken carcass. The data includes at least three-dimensional morphological data, color and defect data of the chicken carcass, and spectral data used to infer internal quality. The installation positions and angles of the three-dimensional vision sensors, color industrial cameras, hyperspectral imagers, and lighting devices are preset and set in the area corresponding to the chicken carcass held by the clamps of the suspended hoist to collect data synchronously or in time-divisionally. The three-dimensional vision sensors, color industrial cameras, hyperspectral imagers, and lighting devices are all connected to the central control unit.

[0008] Furthermore, the conveyor track within the online testing station integrates a section of weighing rail.

[0009] Furthermore, the cutting and sorting system includes at least one processing channel for arranging chicken carcass parts along the path of the suspended conveyor system, at least two conveyor belts located directly below the processing channel, each conveyor belt corresponding to a preset quality grade, and a robotic cutting mechanism installed in the processing channel corresponding to the number and position of the conveyor belts; the top of the processing channel has a path groove for the suspended hanger to pass through, and the robotic cutting mechanism is connected to the central control unit.

[0010] Furthermore, the robotic cutting mechanism includes a multi-axis industrial robot, a high-pressure water jet nozzle, and at least one vision sensor. The high-pressure water jet nozzle is mounted on the end effector of the multi-axis industrial robot. The high-pressure water jet nozzle corresponds to the movement path area of ​​the chicken carcass held by the clamp of the suspension hanger. The vision sensor is integrated into the industrial robot to collect real-time image information of the chicken carcass at the processing position.

[0011] Furthermore, the robotic cutting mechanism is installed on one side of the processing channel, and a jet collection plate is installed on the processing channel on the opposite side of the robotic cutting mechanism. The chicken carcass held by the clamp of the suspension device abuts against the jet collection plate, and the clamping direction of the clamp on the chicken carcass is positive towards the robotic cutting mechanism.

[0012] A method for slaughtering and processing chicken meat with a screening function, using a chicken meat slaughtering and processing device with a screening function, includes the following steps: S1. Conveying and Identifying: Start the suspended conveying system to move the suspended hanger carrying the chicken carcass along the conveying track, and read the RFID tag on its clamp before it enters the online inspection station to obtain a unique electronic identification; S2. Online Inspection: Control the suspended hoist to enter the inspection chamber of the online inspection station and pause, and instruct the three-dimensional vision sensor, color industrial camera, weighing rail and hyperspectral imager in the chamber to collect data on the chicken carcass to obtain multi-dimensional quality data associated with the electronic identification. S3. Rating and Screening: The central control unit receives and analyzes the multi-dimensional quality data, and determines a quality rating for the part of the chicken carcass to be cut through its internal model calculation. S4. Segmentation by Quality: Based on the quality rating result, the central control unit controls the suspended conveyor system to transport the suspended hanger carrying the chicken carcass to the processing position of the robot cutting mechanism corresponding to the quality rating, and instructs the robot cutting mechanism to perform segmentation, so that the segmented parts fall onto the finished product conveyor belt below.

[0013] A method for processing chicken meat quality, applied to the chicken meat slaughtering and processing method, includes the following steps: a. Data Fusion: The central control unit first integrates all data collected by the online detection station associated with the same electronic identity, including three-dimensional shape data obtained by the three-dimensional vision sensor, color and defect data obtained by the color industrial camera, spectral data obtained by the hyperspectral imager, and weight data obtained by the weighing rail, to construct a multi-dimensional feature vector characterizing the comprehensive properties of the chicken carcass; b. Comprehensive Rating and Path Generation: The multi-dimensional feature vectors are input into a pre-trained multimodal fusion AI model for processing; the AI ​​model outputs two related results: Firstly, it is a quality rating result for the part to be cut; Secondly, based primarily on the aforementioned three-dimensional morphological data, one or more sets of three-dimensional spatial cutting path parameters are dynamically generated for the specific chicken carcass to guide subsequent segmentation. c. Command Issuance and Coordinated Execution: The central control unit first determines the target robotic cutting mechanism based on the output quality rating result and controls the suspension fixture to move to the processing position of the mechanism; then, it sends the dynamically generated three-dimensional spatial cutting path parameters as processing instructions to the target robotic cutting mechanism; before the segmentation is performed, the vision sensor integrated in the robotic cutting mechanism collects real-time image information of the chicken carcass at the processing position and feeds it back to the central control unit. The central control unit performs fine calibration of the three-dimensional spatial cutting path in the initial processing instruction based on the real-time image information and generates the final processing instruction; finally, the robotic cutting mechanism receives and precisely executes the final processing instruction to complete the segmentation operation of the specific chicken carcass.

[0014] The beneficial effects of this invention are: 1. By using RFID tags on the hanging device as information carriers, the multi-dimensional quality data collected by the online testing station is uniquely bound to each chicken carcass. Based on this information, the central control unit performs precise and independent command control on the downstream robot cutting and sorting, which solves the problem of the traditional testing and subsequent segmentation and processing lines being independent of each other, and realizes intelligent processing of "one chicken, one policy". 2. This invention integrates multiple sensors such as 3D vision, color camera, hyperspectral imaging and online weighing to collect comprehensive data from multiple dimensions such as the 3D morphology of chicken carcasses, skin color and defects, internal physicochemical properties and weight. The data is analyzed by a multimodal fusion AI model in the central control unit, and the rating results are more accurate and comprehensive than the traditional rating method with a single indicator. 3. This invention not only grades the chicken carcass but also dynamically generates the optimal three-dimensional spatial cutting path for each carcass based on real-time acquired three-dimensional morphological data. The robotic cutting mechanism (high-pressure water jet) can precisely execute this personalized path, greatly improving cutting accuracy and the yield of high-quality products. It avoids waste caused by individual differences and can execute different cutting schemes according to the quality rating, ensuring that high-value parts (such as grade A chicken breast) can be accurately identified and segmented, maximizing the value utilization of a single chicken carcass. This is something that existing technologies cannot achieve and significantly enhances the added value of the product. 4. The robot cutting mechanism (high-pressure water jet) has a non-contact cutting characteristic, which eliminates the risk of cross-contamination caused by mechanical blades due to blade contact. Combined with its easy-to-clean feature, it provides the ultimate food safety guarantee for the product.

[0015] 5. The entire processing flow, from identification, detection, and grading to cutting and sorting, is uniformly scheduled by the central control unit. The high degree of automation reduces manual intervention and ensures the continuity of production and hygiene standards. At the same time, the modular design of multiple robots and multiple conveyor belts makes the production line highly flexible and can easily adjust the grading standards and product types according to market demand. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of this application; Figure 2 This is a front view structural diagram of the present invention; Figure 3 This is a top view of the structure of the present invention; Figure 4 This is a schematic diagram of the overhead conveyor system structure of the present invention; Figure 5 This is a schematic diagram of the suspension device structure of the present invention; Figure 6 This is a schematic diagram of the cutting and sorting system of the present invention; Figure 7 This is a schematic diagram of the cross-sectional structure of the cutting and sorting system of the present invention; Figure 8 This is a schematic diagram of the robot cutting mechanism of the present invention; Figure 9 This is a flowchart of the chicken slaughtering and processing method with screening function according to the present invention; Figure 10 This is a data flow diagram between each system and the central control unit in the device of the present invention.

[0017] 001-Suspended conveyor system, 002-Online inspection station, 003-Central control unit, 004-Cutting and sorting system, 010-Drive device, 011-Conveyor track, 012-Transmission chain, 013-Suspension hanger, 014-Clamp, 021-Inspection chamber, 041-Processing channel, 042-Robot cutting mechanism, 043-Conveyor belt, 044-Jet collection plate, 411-Path trough, 421-Multi-axis industrial robot, 422-High-pressure water jet nozzle. Detailed Implementation

[0018] To make the objectives, technical solutions, and beneficial effects of the present invention clearer, the preferred embodiments of the present invention will be described in detail below to facilitate understanding by those skilled in the art.

[0019] In this invention, the term "quality rating" refers to the classification of the commercial value of a chicken carcass or a specific part thereof according to a preset standard. This rating is a conclusion drawn after comprehensively considering multi-dimensional data such as the three-dimensional morphology, color defects, internal physicochemical properties and weight described in this invention, such as, but not limited to, grade A, grade B, grade C, etc.

[0020] Example 1: Device Structure Reference Figures 1 to 3 This embodiment discloses a chicken slaughtering and processing device with screening function. The device realizes online multi-dimensional quality detection of chicken carcasses through an integrated automated system, and performs intelligent rating and adaptive precise segmentation based on the detection results.

[0021] Reference Figures 1 to 4 The device mainly includes a closed-loop overhead conveyor system 001, with an online detection station 002 and a cutting and sorting system 004 set up in sequence along its conveying path. The operation of the entire device is uniformly scheduled and controlled by a central control unit 003. Reference Figure 4 The overhead conveyor system 001 is the foundation for carrying and conveying chicken carcasses. It can achieve precise start and stop of the overhead hoist 013 at a specific work station, providing the necessary static window for data acquisition and processing execution. The overhead conveyor system 001 includes a set of drive units 010 and a conveyor track 011 supported by a frame. The drive unit 010 is the power source for the entire conveying system. In this embodiment, a drive unit 010 is provided at each end of the system to ensure the stability and sufficient driving force for long-distance conveying. Each drive unit 010 includes a motor that provides rotational power as the main power source, a reducer connected to the motor to drive the heavy-load chain system, a drive wheel connected to the output shaft of the reducer, a drive wheel that meshes with the transmission chain 130 to drive the chain to move, a tensioning device that maintains the tension of the transmission chain 012 and prevents the chain from loosening or derailing, and a frame that supports and fixes all drive components such as the motor, reducer, drive wheel and tensioning device. Reference Figure 4 , Figure 5 The track is equipped with a transmission chain 012 driven by a drive device 010. The suspension hangers 013 are evenly fixed on the transmission chain and move along the track with the chain. The lower end of each suspension hanger is equipped with a clamp 014 for clamping chicken carcasses (e.g., clamping chicken feet). To achieve individual identification and information tracking, each clamp is integrated with an RFID (Radio Frequency Identification) tag. Before entering the online testing station, an RFID reader is provided to activate and read the tag information, assigning a unique electronic identity to each chicken carcass entering the testing process.

[0022] Reference Figures 1 to 3 Online testing station 002 is the quality data collection center, consisting of a closed testing chamber 021 with an entrance and exit. The inner wall is made of matte black material to eliminate stray light interference, and it includes several built-in lighting devices to provide a stable and uniform lighting environment for various sensors. A conveyor track 011 passes through this chamber and includes a testing station where the suspension device can briefly stop. Multiple sensors are pre-installed around the testing station. A set of 3D vision sensors (optional line laser or structured light sensors) is used to accurately scan the 3D contour, size, and volume of the chicken carcass, providing geometric data for the subsequent generation of personalized cutting paths; A set of color industrial cameras is used to capture high-resolution images of the surface of chicken carcasses to identify whether the skin color is uniform, glossy, and whether there are defects such as bruises, broken skin, and residual feathers. A hyperspectral imager is used to collect spectral reflectance / transmission data of chicken carcasses in multiple continuous narrow bands. By analyzing the spectral characteristics, internal quality indicators such as tenderness, fat content, and moisture content of chicken breast, chicken leg, and other parts can be predicted non-destructively. In addition, a weighing rail is integrated on the conveyor track 011 in the online testing station, which can accurately measure the weight of the chicken carcass dynamically or statically as it passes through. All sensors and weighing rails communicate with the central control unit 003 via high-speed data.

[0023] Reference Figure 1 , Figure 6 and Figure 7 The cutting and sorting system 004 performs fine processing and is set along the conveying path, including a processing channel 041 for at least one part, such as chicken breast. Below the processing channel, at least two conveyor belts 043 are arranged in parallel. Each conveyor belt corresponds to a preset quality grade, such as grade A, grade B, etc. Inside the processing channel, a robot cutting mechanism 042 is installed for each conveyor belt. Reference Figure 8 In this embodiment, the robot cutting mechanism 042 consists of a six-axis multi-axis industrial robot 421 and a high-pressure water jet nozzle 422 mounted on its end effector. The six-axis industrial robot 421 provides sufficient degrees of freedom to execute complex three-dimensional spatial cutting trajectories. The high-pressure water jet is particularly suitable for chicken carcass segmentation due to its advantages of precise cutting path, smooth cut surface, no heat effect, no tool wear, and no cross-contamination. The robot is installed on one side of the processing channel, and a jet trapping plate 044 is installed on the opposite side. The jet trapping plate 044 serves two purposes: first, as a limiting plate, it provides physical support for the soft chicken carcass during cutting, preventing it from being pushed away by the impact force of the water jet and thus reducing the cutting accuracy; second, it traps the jet, and is made of ceramic or special hard alloy. The robot cutting mechanism 042 safely absorbs the high-energy water jet after penetrating the chicken meat, protecting the equipment behind it. The clamp 014 of the suspension hanger 013 is designed to ensure that when the chicken carcass enters the processing channel, the part to be cut (such as the chicken breast) can stably abut against one side of the jet collection plate and face the robot, providing a stable reference for precise cutting. To further improve the real-time accuracy of cutting, the robot cutting mechanism 042 also integrates a vision sensor (such as a 2D or 3D industrial camera). The vision sensor is preferably installed on the end effector of the multi-axis industrial robot 421, near the high-pressure water jet nozzle 422. After the chicken carcass reaches the processing position, it acquires images of the part to be cut and transmits the real-time position and attitude information to the central control unit 003. The cutting and sorting system 004 achieves flexible, intelligent, and highly clean cutting operations. It can precisely execute cutting plans tailored to each chicken and efficiently complete automatic sorting through ingenious layout. Its processing precision, hygiene standards, and automation integration far exceed existing technologies.

[0024] Reference Figure 10 The central control unit 003 runs a pre-trained multimodal fusion AI model (A01), receives data from the online testing station, and associates it with RFID information to complete the entire process from data analysis to equipment control. To realize the quality rating and cutting path generation functions described in this invention, the construction and operation of the multimodal fusion AI model (A01) deployed in the central control unit 003 may include the following steps: 1. Multi-source data preprocessing and feature extraction Before inputting raw sensor data into the model, preprocessing is required to extract effective features. 3D topography data: The point cloud data acquired by the 3D vision sensor is denoised and registered, and then the key geometric features are automatically calculated by the algorithm, such as the volume and fullness of the chicken breast, the length and circumference of the chicken leg, the symmetry of the whole chicken, etc., to form a geometric feature vector. Color image data: Color correction and normalization are performed on the images acquired by the color industrial camera. The chicken carcass is separated from the background through image segmentation technology. Then, the area and location of defects such as skin color uniformity, gloss, bruising or skin damage are identified to form an appearance feature vector. Hyperspectral data: The average spectral curves of key areas such as chicken breast and chicken leg are extracted from the data acquired by the hyperspectral imager. The curves are smoothed and reflectance or absorption peak features at specific wavelengths related to moisture, fat and myoglobin content are extracted to form an intrinsic quality feature vector. Weight data: Used directly as a single scalar feature.

[0025] 2. Multimodal fusion model framework The present invention preferably employs a multi-input, multi-task neural network architecture. Input layer: It has multiple parallel input branches, each corresponding to a data mode. One branch is composed of fully connected layers to process geometric feature vectors, appearance feature vectors and weight data, and the other branch is composed of a one-dimensional convolutional neural network to process intrinsic quality feature vectors (i.e. spectral curves). Fusion layer: After initial processing, each input branch outputs its own deep features. In the fusion layer, the deep features of all branches are concatenated to form a highly condensed, single fusion feature vector containing all modal information. Output layer: The fused feature vector is input to multiple parallel output heads, each responsible for a specific task. The rating task head consists of several fully connected layers and a Softmax activation function. It performs classification and outputs a probability distribution for each major part (such as chicken wings and chicken breast) to determine its quality level (e.g., Grade A: 95%, Grade B: 4%, Grade C: 1%). Cutting path generation head: Composed of several fully connected layers, it performs regression and outputs a set of key 3D spatial cutting path parameters (such as the coordinates of the cutting start point, the coordinates of key nodes, and the normal vector) based on the input geometric features. The central control unit then generates a complete motion trajectory that the robot can execute based on these parameters.

[0026] 3. Model Training By collecting a large number of chicken carcass samples and having senior quality inspectors manually label them, a label database containing "multi-dimensional sensor data" and corresponding "true quality grades" and "cutting paths" was established. Using this database, the above model was trained end-to-end in a supervised manner through backpropagation algorithm and optimizers such as Adam.

[0027] Example 2: Processing Method Reference Figure 9 The specific steps of the chicken slaughtering and processing method provided by this invention are as follows: S1: Conveying and Identification At the start of production, workers hang the pre-processed chicken carcasses on the clamps 014 of the suspension hanger 013; the drive unit 010 starts, driving the transmission chain 012, and the suspension hanger begins to move along the conveyor track 011; before entering the online inspection station 002, the RFID reader reads the RFID tag on each clamp 014, obtains its unique ID, and sends this ID to the central control unit 003 to create a temporary information file for the chicken carcass; S2: Online Detection The suspension device 013 carrying the chicken carcass enters the inspection station inside the inspection chamber 021 and pauses; the central control unit 003 simultaneously triggers the 3D vision sensor, color industrial camera and hyperspectral imager to collect data, while the weighing rail records the weight data; all the collected raw data, namely 3D shape data, color and defect data, spectral data and weight data, are immediately transmitted to the central control unit 003 and stored in the file corresponding to the RFID of the chicken carcass; S3: Rating Screening (Data Fusion and Comprehensive Rating) a. Data fusion: The central control unit 003 preprocesses and extracts features from the four different modalities of data (3D, color, spectrum, weight) received, and integrates them into a multi-dimensional feature vector that characterizes the comprehensive properties of the chicken carcass; b. Comprehensive Rating and Path Generation: This multi-dimensional feature vector is input into a pre-trained multimodal fusion AI model (A01). This model learns from a large number of samples to understand the relationship between different feature combinations and the final product quality. After computation, the model outputs two key results: A quality rating result for a specific part to be cut (such as chicken breast) (e.g., an overall rating of Grade A); one or more sets of three-dimensional spatial cutting path parameters, which are dynamically generated by the AI ​​model (A01) mainly based on the unique three-dimensional morphological data of the chicken carcass, ensuring that the cutting path can perfectly fit its contour and maximize the yield. S4: Segmentation by quality (instruction issuance and collaborative execution) c. Command issuance and collaborative execution: Based on the quality rating result (e.g., Grade A) output by the AI ​​model (A01), the central control unit 003 queries the process path and determines that the chicken carcass should be processed by the robot cutting mechanism 042 responsible for cutting Grade A products. The central control unit 003 controls the speed and position of the overhead conveyor system 001 to accurately transport the chicken carcass and stop it at the processing position of the target robot cutting mechanism. Before the high-pressure water jet nozzle 422 is officially activated, the vision sensor 423 on the robot cutting mechanism 042 will capture the current position and posture of the chicken carcass. The central control unit 003 will compare and analyze the real-time image information with the three-dimensional shape data obtained by the online detection station 002, calculate the deviation caused by factors such as conveying vibration and deformation of the chicken carcass itself, and on this basis, finely calibrate the initial three-dimensional space cutting path, generate the final processing command and issue it. The central control unit 003 packages the dynamically generated three-dimensional spatial cutting path parameters into motion commands and sends them to the controller of the target robot cutting mechanism 042 through the industrial network; After receiving the instruction, the robot 421 precisely controls the high-pressure water jet nozzle 422 to quickly and accurately cut the chicken carcass along the generated three-dimensional path. The cut chicken breast pieces (chicken wings, chicken legs) fall accurately onto the Grade A finished product conveyor belt 043 directly below them under the action of gravity, and are then sent to the subsequent process. After cutting one part, the hanging device can continue to the next processing channel to perform similar grading and cutting on other parts (such as chicken legs), or directly enter the subsequent processing steps.

[0028] By combining the above-mentioned device and method, the present invention realizes the transformation from standardized processing of "all chickens are the same" to intelligent and personalized screening and processing of "one chicken, one policy", achieving significant technological progress and economic benefits in the chicken processing industry.

[0029] Finally, it should be noted that the above preferred embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail through the above preferred embodiments, those skilled in the art should understand that various changes can be made to it in form and detail without departing from the scope defined by the claims of the present invention.

Claims

1. A chicken slaughtering and processing device with a screening function, characterized in that, The system includes a suspended conveyor system (001), an online inspection station (002), a central control unit (003), and a cutting and sorting system (004). The online inspection station (002) and the cutting and sorting system (004) are both located on the conveying path of the suspended conveyor system (001). The cutting and sorting system (004) is located downstream of the online inspection station (002). The online inspection station (002) is connected to the central control unit (003), and the central control unit (003) is connected to both the suspended conveyor system (001) and the cutting and sorting system (004).

2. The chicken slaughtering and processing apparatus with screening function according to claim 1, characterized in that, The suspended conveying system (001) includes a drive unit (010), a conveying track (011), a transmission chain (012), and a suspension hanger (013). The frame of the drive unit (010) provides suspended support for the conveying track (011). The conveying track (011) forms a loop to support and guide the transmission chain (012) and the suspension hanger (013). The transmission chain (012) is installed around the path formed by the conveying track (011). The transmission chain (012) meshes with the drive wheel of the drive unit (010). The upper end of the suspension hanger (013) is located inside the conveying track (011) and is fixedly connected to the chain link on the transmission chain (012). The lower end of the suspension hanger (013) is provided with a clamp (014), and each clamp (014) integrates an RFID tag.

3. The chicken slaughtering and processing apparatus with screening function according to claim 2, characterized in that, The online testing station (002) is a closed testing chamber (021) with a preset entrance and exit. The entrance and exit of the testing chamber (021) are precisely connected to the conveying track (011) of the suspended conveying system (001), so that the suspended hoist (013) can smoothly enter the predetermined testing station inside the testing chamber (021) through the entrance for testing and leave through the exit after completion. The inner wall of the testing chamber (021) is made of matte material. Sensors and several lighting devices are installed inside the testing chamber (021) to obtain a set of multi-dimensional quality data associated with the chicken carcass. The data includes at least three-dimensional morphological data, color and defect data of the chicken carcass, and spectral data for inferring internal quality. The installation position and angle of the sensors and lighting devices are preset and set in the area corresponding to the chicken carcass held by the clamp (014) of the suspended hoist (013) to collect data of the chicken carcass synchronously or in time. The sensors and lighting devices are all connected to the central control unit (003).

4. The chicken slaughtering and processing apparatus with screening function according to claim 3, characterized in that, The conveying track (011) inside the online testing station (002) integrates a section of weighing rail.

5. The chicken slaughtering and processing apparatus with screening function according to claim 2, characterized in that, The cutting and sorting system (004) includes at least one processing channel (041) along the path of the suspended conveyor system (001) for arranging chicken carcass parts, at least two conveyor belts (043) located directly below the processing channel (041), each conveyor belt (043) corresponding to a preset quality grade, and a robot cutting mechanism (042) installed in the processing channel (041) corresponding to the number and position of the conveyor belts (043); the top of the processing channel (041) is provided with a path groove (411) for the suspended hoist (013) to pass through, and the robot cutting mechanism (042) is connected to the central control unit (003).

6. The chicken slaughtering and processing apparatus with screening function according to claim 5, characterized in that, The robot cutting mechanism (042) includes a multi-axis industrial robot (421), a high-pressure water jet nozzle (422), and at least one vision sensor. The high-pressure water jet nozzle (422) is mounted on the end effector of the multi-axis industrial robot (421). The high-pressure water jet nozzle (422) corresponds to the movement path area of ​​the chicken carcass held by the clamp (014) of the suspension hanger (013). The vision sensor is integrated into the industrial robot (421) to collect real-time image information of the chicken carcass at the processing position.

7. The chicken slaughtering and processing apparatus with screening function according to claim 6, characterized in that, The robot cutting mechanism (042) is installed on one side of the processing channel (041). A jet collection plate (044) is installed on the processing channel (041) on the opposite side of the robot cutting mechanism (042). The chicken carcass held by the clamp (014) of the suspension hanger (013) abuts against the jet collection plate (044), and the clamping direction of the clamp (014) on the chicken carcass is positive towards the robot cutting mechanism (042).

8. A method for slaughtering and processing chicken meat with a screening function, characterized in that, Using the apparatus of any one of claims 1 to 7, the method comprises the following steps: S1. Conveying and Identifying: Start the suspended conveying system (001) to move the suspended hanger (013) carrying the chicken carcass along the conveying track (011), and before it enters the online detection station (002), read the RFID tag on its clamp (014) to obtain a unique electronic identity; S2. Online detection: Control the suspension hoist (013) to enter the detection chamber (021) of the online detection station (002) and pause, and instruct the three-dimensional vision sensor, color industrial camera, weighing rail and hyperspectral imager in the chamber to collect data on the chicken carcass to obtain multi-dimensional quality data associated with the electronic identity mark; S3. Rating and screening: The central control unit (003) receives and analyzes the multi-dimensional quality data, and determines a quality rating for the part of the chicken carcass to be cut through its internal model calculation. S4. Segmentation by quality: The central control unit (003) controls the suspended conveyor system (001) to transport the suspended hanger (013) carrying the chicken carcass to the processing position of the robot cutting mechanism (042) corresponding to the quality rating according to the quality rating, and instructs the robot cutting mechanism (042) to perform segmentation so that the segmented parts fall onto the finished product conveyor belt (043) below it.

9. A method for processing chicken meat quality, characterized in that, The method for slaughtering and processing chicken meat according to claim 8 is characterized by comprising the following steps: receiving a set of multi-dimensional feature vectors associated with a single chicken carcass, the vectors including geometric features, appearance features, internal quality features and weight features; and based on the vectors, outputting a set of processing instruction data packets including quality rating identifiers and three-dimensional spatial cutting path parameters.

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