Auxiliary device for duck embryo injection

Abstract

According to the technical scheme, the auxiliary device for duck embryo injection is characterized by comprising a workbench, a fixing base is fixedly connected to one side of the workbench, a mechanical arm is fixedly connected to the top face of the fixing base, an injection part is arranged at one end of the mechanical arm, and a fixing part is arranged on the top face of the workbench; the duck embryo breathing state is accurately monitored, breathing vibration and gas metabolism characteristic indexes are obtained through analysis of the first monitoring unit and the second monitoring unit, then the breathing state is judged through the judgment unit, the injection instruction is sent out only when the duck embryo breathes stably, the mechanical arm drives the injector to complete vaccine injection, injection can be avoided when the duck embryo breathes rapidly in the process, and the vaccine injection efficiency is improved. The influence on the health of the patient is reduced, the injection effect is guaranteed, and the injection assisting effect is achieved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of duck embryo injection, in particular to a kind of auxiliary device for duck embryo injection. BACKGROUND

[0002] At present, duck embryo injection operation is usually carried out in complete duck egg, that is, embryo is injected through eggshell during duck embryo development stage (before hatching), usually duck egg is fixed in appropriate position, injection needle is accurately pierced into duck embryo body by high-precision injection device, so that duck embryo is vaccinated.

[0003] But in small factory, due to the problem of cost, injection equipment precision is not so high, when duck embryo is injected with vaccine, it is often difficult to accurately determine the best injection time, which will lead to if duck embryo in duck egg is in the stage of accelerated breathing frequency when injecting, the pressure in its body and the physiological state of each tissue and organ are in dynamic change, at this time, injection is easy to cause drug liquid backflow, injection site bleeding and other problems, not only will cause vaccine waste, but also may cause adverse effects on the health of duck embryo, and then lead to poor injection effect. SUMMARY

[0004] In view of the defects of the prior art, the present application provides a kind of auxiliary device for duck embryo injection, to solve the above problems.

[0005] The above technical purposes of the present application are realized by the following technical solutions:

[0006] A kind of auxiliary device for duck embryo injection, including: workbench, the side of the workbench is fixedly connected with fixed seat, the top surface of the fixed seat is fixedly connected with mechanical arm, one end of the mechanical arm is equipped with injection component, the top surface of the workbench is equipped with fixed component;

[0007] First monitoring unit, the first monitoring unit is used to obtain the first monitoring data of duck egg monitoring;

[0008] Second monitoring unit, the second monitoring unit is used to obtain the second monitoring data of duck egg monitoring;

[0009] Judgment unit, for judging the respiratory condition of duck embryo according to first monitoring data and second monitoring data.

[0010] Preferably, the injection component includes: fixed frame, the fixed frame is fixedly connected at one end of the mechanical arm, the inside of the fixed frame is fixedly connected with syringe.

[0011] Preferably, the injection component further comprises a connecting rod fixedly connected to one end of the mechanical arm, one end of the connecting rod is fixedly connected with an electric push rod, and the telescopic end of the electric push rod is fixedly connected with the push rod of the syringe.

[0012] Preferably, the fixing component comprises a fixing block fixedly connected to the top surface of the workbench, the top surface of the fixing block is fixedly connected with a storage device, the outer wall surface of the storage device is provided with a plurality of outer holes, the inner side of the outer hole is rotatably connected with a plurality of limiting strips, and one side of the workbench is fixedly connected with a bottom plate.

[0013] Preferably, the fixing component further comprises two reset springs, both of which are fixedly connected to the inner side wall of the outer hole, and one end of the reset spring is fixedly connected with the limiting strip.

[0014] Preferably, the limiting strip is internally embedded with a vibration sensor and a temperature sensor.

[0015] Preferably, the top surface of the workbench is internally embedded with an electric sliding table, the sliding block top surface of the electric sliding table is fixedly connected with a near-infrared spectrometer, and one side of the near-infrared spectrometer is connected with an optical fiber probe.

[0016] Preferably, the first monitoring unit comprises:

[0017] The first monitoring data is the vibration data of the vibration sensor.

[0018] The eight respiratory cycles of the preprocessed vibration data are extracted to obtain the respiratory rhythm dispersion degree.

[0019] The preprocessed vibration data is transformed to obtain the frequency mutation index.

[0020] The preprocessed vibration data is analyzed to obtain the respiratory energy distribution entropy.

[0021] The respiratory rhythm dispersion degree, the frequency mutation index and the respiratory energy distribution entropy are analyzed to obtain the respiratory vibration feature index.

[0022] Preferably, the second monitoring unit comprises:

[0023] The second monitoring data is the spectrum data monitored by the optical fiber probe and processed by the near-infrared spectrometer and the temperature data of the temperature sensor.

[0024] The preprocessed spectrum data is calibrated and temperature compensated to obtain the corrected spectrum data sequence.

[0025] Extract the integral area of the oxygen characteristic peak and the carbon dioxide characteristic peak from the corrected spectral data sequence, calculate the ratio of the two, and obtain the gas system number;

[0026] The integral areas of the oxygen characteristic peak and the carbon dioxide characteristic peak are fitted within ten seconds to obtain the oxygen concentration change rate and the carbon dioxide concentration change rate, and the fluctuation amplitude ratio of the two rates is calculated to obtain the concentration rate fluctuation index;

[0027] The half-height width change amount of the oxygen characteristic peak and the carbon dioxide characteristic peak is extracted from the corrected spectral data sequence;

[0028] The half-height width change amount, the gas system number and the concentration rate fluctuation index are fused to obtain the gas metabolism characteristic index.

[0029] Preferably, the respiratory condition of the duck embryo is judged according to the first monitoring data and the second monitoring data, comprising:

[0030] The respiratory vibration characteristic index and the gas metabolism characteristic index are fused to obtain a dynamic weighted comprehensive value;

[0031] The state consistency probability is calculated by calculating the current time and the previous three dynamic weighted comprehensive values;

[0032] The respiratory condition of the duck embryo is judged according to the state consistency probability.

[0033] In summary, the present application mainly has the following beneficial effects:

[0034] The present application precisely monitors the respiratory state of the duck embryo, limits the duck egg by the limiting strip cooperating with the reset spring, ensures its stability, and ensures the precise adhesion of the sensor, improves the monitoring accuracy, then collects data based on the vibration sensor, the optical fiber probe and the temperature sensor, analyzes the respiratory vibration and the gas metabolism characteristic index by the first and second monitoring units, and determines the respiratory state by the judgment unit. Only when the duck embryo breathes smoothly, the injection command is issued, the mechanical arm drives the syringe to complete the vaccine injection, which can avoid injection when the duck embryo breathes rapidly, reduce the impact on its health, ensure the injection effect, and play the effect of injection assistance. BRIEF DESCRIPTION OF DRAWINGS

[0035] Figure 1 is the overall structure schematic diagram of the present application;

[0036] Figure 2 is the overall structure top view of the present application;

[0037] Figure 3 is the fixed seat structure schematic diagram of the present application;

[0038] Figure 4 is the fixed block structure schematic diagram of the present application;

[0039] Figure 5 is a partial structure diagram of A in the present application Figure 1 is a partial structure diagram of A in the present application

[0040] Figure 6 is a partial structure diagram of B in the present application Figure 4 is a partial structure diagram of B in the present application

[0041] Figure 7 is a partial structure diagram of C in the present application Figure 4 is a partial structure diagram of C in the present application

[0042] Figure 8 is a partial structure diagram of D in the present application Figure 3 is a partial structure diagram of D in the present application

[0043] The figure mark: 1, workbench; 2, mechanical arm; 3, fixed block; 4, storage; 5, outer hole; 6, limiting strip; 7, reset spring; 8, vibration sensor; 9, near-infrared spectrometer; 10, optical fiber probe; 11, electric sliding table; 12, connecting rod; 13, electric push rod; 14, fixed frame; 15, syringe; 16, fixed seat; 17, bottom plate; 18, temperature sensor. DETAILED DESCRIPTION

[0044] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0045] Reference Figures 1-8 A duck embryo injection auxiliary device, comprising: a workbench 1, one side of the workbench 1 is fixedly connected with a fixed seat 16, the top surface of the fixed seat 16 is fixedly connected with a mechanical arm 2, the mechanical arm 2 is a multi-degree-of-freedom mechanical arm, one end of the mechanical arm 2 is provided with an injection part, and the top surface of the workbench 1 is provided with a fixed part;

[0046] A first monitoring unit, the first monitoring unit is used for acquiring first monitoring data of duck egg monitoring;

[0047] A second monitoring unit, the second monitoring unit is used for acquiring second monitoring data of duck egg monitoring;

[0048] A judging unit is used for judging the breathing condition of the duck embryo according to the first monitoring data and the second monitoring data.

[0049] As a further of the present application, the injection part comprises: a fixed frame 14, the fixed frame 14 is fixedly connected at one end of the mechanical arm 2, and the fixed frame 14 is fixedly connected with a syringe 15 in the inside.

[0050] As a further of the present application, the injection part further comprises a connecting rod 12 fixedly connected to one end of the mechanical arm 2, one end of the connecting rod 12 is fixedly connected with an electric push rod 13, and the telescopic end of the electric push rod 13 is fixedly connected with a push rod of the syringe 15.

[0051] Through the setting of the connecting rod 12, the connecting rod 12 can fix the electric push rod 13, ensure the stability of the electric push rod 13, and when injecting, the telescopic end of the electric push rod 13 can be extended to push the push rod of the syringe 15 to move, and then inject the vaccine into the duck embryo, so as to achieve the auxiliary effect when injecting the vaccine into the duck embryo.

[0052] As a further of the present application, the fixed part comprises a fixed block 3 fixedly connected to the top surface of the workbench 1, the top surface of the fixed block 3 is fixedly connected with a storage device 4, a plurality of outer holes 5 are formed in the outer wall surface of the storage device 4, a plurality of limiting strips 6 are rotatably connected in the inner holes 5, and a bottom plate 17 is fixedly connected to one side of the workbench 1. The fixed part further comprises two reset springs 7, both of which are fixedly connected to the inner side wall of the outer hole 5, and one end of the reset spring 7 is fixedly connected with the limiting strip 6.

[0053] Through the setting of the bottom plate 17, the staff can stand on the bottom plate 17, at this time the duck egg is put into the inside of the storage device 4, when the duck egg is put into the inside of the storage device 4 and contacts with the plurality of limiting strips 6, at this time the limiting strips 6 are extruded and then expanded outwardly, and the reset spring 7 is lengthened, when the duck egg is placed, the potential energy of the reset spring 7 is released and then drives the plurality of limiting strips 6 to contact with the surface of the duck egg, so as to achieve the limiting effect of the duck egg.

[0054] As a further of the present application, the limiting strip 6 is embedded with a vibration sensor 8 and a temperature sensor 18 on one side.

[0055] As a further of the present application, the top surface of the workbench 1 is embedded with an electric sliding table 11, the sliding block top surface of the electric sliding table 11 is fixedly connected with a near-infrared spectrometer 9, and one side of the near-infrared spectrometer 9 is connected with an optical fiber probe 10. When the sliding block of the electric sliding table 11 drives the near-infrared spectrometer 9 to move, at this time the near-infrared spectrometer 9 drives the optical fiber probe 10 to move, until the optical fiber probe 10 moves to the top of the blunt end of the duck egg, at this time the optical fiber probe 10 corresponds to the position of the blunt end of the duck egg.

[0056] As a further of the present application, the first monitoring unit comprises:

[0057] The first monitoring data is the vibration data of the vibration sensor 8.

[0058] The eight breath cycles of the preprocessed vibration data are extracted to obtain the respiratory rhythm dispersion, specifically including: the preprocessed vibration data is identified by a breath wave peak identification algorithm to obtain continuous eight breath wave peaks, the time length between adjacent two wave peaks is a breath cycle, the time length of the eight breath cycles is obtained, the time difference value of each adjacent two breath cycles is calculated, and the standard deviation of multiple time difference values is divided by the mean value thereof by a coefficient of variation algorithm, and the respiratory rhythm dispersion is obtained;

[0059] The preprocessed vibration data is transformed to obtain the frequency mutation index, specifically including: the preprocessed vibration data is transformed by a short-time Fourier transform algorithm to obtain the time-frequency domain information of the vibration signal, that is, the curve of instantaneous frequency changing with time, specifically including: the continuous vibration time domain signal is divided into multiple overlapping or continuous short time periods according to a certain length, each time period corresponds to a time window, and a window function is applied to the signal in the window to reduce the edge mutation effect, then the Fourier transform is performed on the signal in each window to obtain all frequency components and energy values of each frequency contained in the vibration signal in the period, forming the frequency domain information of the window, and the frequency domain information of all windows is arranged in time sequence, that is, the time-frequency domain information of the vibration signal is formed, which takes time as the horizontal axis, frequency as the vertical axis and energy as the parameter, from the time-frequency domain information, the frequency with the strongest energy at each time is extracted as the instantaneous frequency, and then the instantaneous frequencies are connected in time sequence to obtain the curve of instantaneous frequency changing with time, and then the curve is monitored within one minute, the number of instantaneous frequency jumps is counted, and the frequency mutation index is obtained by dividing the number of jumps by the monitoring time (one minute);

[0060] The preprocessed vibration data is analyzed to obtain the respiratory energy distribution entropy, specifically including: the preprocessed vibration signal is frame processed, that is, the signal is divided into multiple small segments according to a time length of 0.5 seconds, and the energy value of each small segment is calculated, specifically including: the vibration signal is frame processed according to a time length of 0.5 seconds, and the energy value of each frame is calculated, specifically including: the square operation is performed on all signal sample values in the frame, and then the energy value of each frame is obtained, the energy values of all frames are added to obtain the total energy of all frames, the energy value of each frame is divided by the total energy to obtain the energy proportion of each frame, the energy entropy of the whole signal is calculated through the energy proportion of each frame, specifically including: the energy proportion of each frame is logarithmically operated (with 2 as the base), then the energy proportion of each frame is multiplied by the corresponding logarithmic value, finally the sum of the product values of all frames is calculated, and the negative sign is taken to obtain the energy entropy of the whole signal, and the average value of the energy entropies in the continuous five breath cycles is taken, which is the respiratory energy distribution entropy;

[0061] The respiratory rhythm dispersion, the frequency mutation index and the respiratory energy distribution entropy are analyzed to obtain a respiratory vibration characteristic index, specifically including: the respiratory rhythm dispersion, the frequency mutation index and the respiratory energy distribution entropy are normalized respectively, then the principal component analysis method is adopted to determine the index weight, specifically: a characteristic matrix composed of the three is constructed, the characteristic value and the characteristic vector are calculated through the covariance matrix, the index weight is determined according to the characteristic value proportion, the respiratory rhythm dispersion, the frequency mutation index and the respiratory energy distribution entropy are multiplied by the corresponding weight respectively to obtain the weighted value, the three weighted values are accumulated, and the sum obtained is the respiratory vibration characteristic index.

[0062] Further to the application, the second monitoring unit comprises:

[0063] The second monitoring data is the spectrum data monitored by the optical fiber probe 10 and processed by the near-infrared spectrometer 9 and the temperature data of the temperature sensor 18.

[0064] The preprocessed spectrum data is calibrated and temperature compensated to obtain a corrected spectrum data sequence, specifically including: taking the reference spectrum of the standard substance as the reference, the difference between the measured spectrum and the standard substance reference spectrum at each wavelength point is calculated, and these differences are combined to form a calibration correction sequence; for the preprocessed spectrum data, at each corresponding wavelength point, the spectrum measurement value at the wavelength point is subtracted from the difference value at the same wavelength point in the calibration correction sequence to complete the calibration at each wavelength point, and the calibrated spectrum data is obtained; for the preprocessed temperature data, the corresponding relationship between the temperature and the offset is fitted according to the offset law of the spectrum characteristic peak at different temperatures by using the polynomial fitting algorithm, the offset is determined from the corresponding relationship according to the real-time temperature, and the offset is subtracted from the calibrated spectrum data to obtain the corrected spectrum data sequence.

[0065] The corrected spectral data sequence is extracted to obtain the integral areas of the oxygen characteristic peak and the carbon dioxide characteristic peak, and the ratio of the two is calculated to obtain the gas system number, which specifically includes: for the corrected spectral data sequence, first determine the approximate wavelength range of the oxygen characteristic peak (near 760 nm) and the carbon dioxide characteristic peak (near 2004 nm), and use the Gaussian fitting algorithm to fit the spectral data in the two wavelength ranges to separate the oxygen single characteristic peak and the carbon dioxide single characteristic peak from the mixed signal. The valley points on both sides of each single characteristic peak are found by the second derivative method, and the wavelength range between the two valley points is the integral interval, that is, the integral interval of the oxygen characteristic peak and the carbon dioxide characteristic peak can be obtained. In the respective integral interval, the average value of the spectral intensity of adjacent data points is obtained by the trapezoidal integral algorithm, and the average value is multiplied by the corresponding wavelength interval to obtain the product result. All product results are accumulated to obtain the integral areas of the oxygen characteristic peak and the carbon dioxide characteristic peak. The integral area of the oxygen characteristic peak is divided by the integral area of the carbon dioxide characteristic peak, and the result is the gas system number;

[0066] The integral areas of the oxygen characteristic peak and the carbon dioxide characteristic peak are fitted in the next ten seconds to obtain the oxygen concentration change rate and the carbon dioxide concentration change rate, and the fluctuation amplitude ratio of the two rates is calculated to obtain the concentration rate fluctuation index, which specifically includes: for the integral areas of the oxygen and carbon dioxide characteristic peaks in the next ten seconds, five-point cubic polynomial smoothing is performed by using the Savitzky-Golay filter, and then the random noise is eliminated. The smoothed integral area data is arranged in chronological order, and linear fitting is performed by using the least squares method. The slope of the fitted straight line is the concentration change rate of the corresponding gas (oxygen and carbon dioxide). Then the difference between the rate of each second and the average rate in ten seconds is calculated, and the larger value of the absolute value of the maximum positive difference and the maximum negative difference is taken as the fluctuation amplitude. The fluctuation amplitude of the corresponding gas (oxygen and carbon dioxide) can be obtained. The oxygen fluctuation amplitude is divided by the carbon dioxide fluctuation amplitude, and the result is the concentration rate fluctuation index;

[0067] The half-width change amount of the oxygen characteristic peak and the carbon dioxide characteristic peak is extracted from the corrected spectral data sequence, which specifically includes: for the corrected spectral data sequence, the peak intensity of each characteristic peak is determined by using the Gaussian fitting algorithm for the oxygen characteristic peak and the carbon dioxide characteristic peak. Take half of the characteristic peak intensity as the half-height peak value, and find the wavelength points corresponding to the half-height peak value on both sides of the characteristic peak by interpolation method. The difference between the two wavelength points is the half-width. The difference of the half-width in the next 10 seconds is calculated to obtain the half-width change amount of the oxygen characteristic peak and the carbon dioxide characteristic peak;

[0068] The half-height width change amount, the gas system coefficient and the concentration rate fluctuation index are fused to obtain a gas metabolism characteristic index, specifically including: the half-height width change amount, the gas system coefficient and the concentration rate fluctuation index of the oxygen characteristic peak and the carbon dioxide characteristic peak are normalized respectively, so that the data are on the same dimension, then different weights are given to the half-height width change amount, the gas system coefficient and the concentration rate fluctuation index of oxygen and carbon dioxide respectively, wherein the half-height width change amount (oxygen) weight is 0.2, the half-height width change amount (carbon dioxide) weight is 0.2, the gas system coefficient weight is 0.5, and the concentration rate fluctuation index weight is 0.1, finally the half-height width change amount, the gas system coefficient and the concentration rate fluctuation index of oxygen and carbon dioxide are multiplied by the corresponding weight respectively and then summed, and the sum is the gas metabolism characteristic index.

[0069] Further, according to the first monitoring data and the second monitoring data, the respiratory condition of the duck embryo is judged, including:

[0070] The respiratory vibration characteristic index and the gas metabolism characteristic index are fused to obtain a dynamic weighted comprehensive value, specifically including: the standard deviations of the respiratory vibration characteristic index and the gas metabolism characteristic index are calculated by taking five consecutive groups of data, the standard deviation of the gas metabolism characteristic index is taken as the weight of the respiratory vibration characteristic index, the standard deviation of the respiratory vibration characteristic index is taken as the weight of the gas metabolism characteristic index, then the two weights are normalized by dividing by the sum of the two standard deviations, to obtain the normalized respiratory vibration characteristic index weight and the normalized gas metabolism characteristic index weight, the respiratory vibration characteristic index and the gas metabolism characteristic index are multiplied by the corresponding weight respectively and then added, and the obtained value is the dynamic weighted comprehensive value.

[0071] The state consistency probability is calculated by the current time and the previous three dynamic weighted comprehensive values, specifically including: the current time and the previous three dynamic weighted comprehensive values are obtained, the absolute difference values of the current value and the previous three values are calculated, the arithmetic mean of the three absolute difference values is taken as the average deviation, the difference between the maximum value and the minimum value in the four values is taken as the fluctuation range, and the result obtained by subtracting the ratio of the average deviation and the fluctuation range from 1 is the state consistency probability.

[0072] According to the state consistency probability, the respiratory condition of the duck embryo is judged, specifically including: when the state consistency probability is greater than or equal to 0.8, it is determined that the respiration is stable, and an injection instruction is issued.

[0073] When 0.3 is less than or equal to the state consistency probability and less than 0.8, it is determined that the respiration is between stable and rapid, and no instruction is issued.

[0074] When the state consistency probability is less than 0.3, it is determined that the respiration is rapid, and no instruction is issued.

[0075] When the state consistency probability is greater than or equal to 0.8, it indicates that the average deviation of the current dynamic weighted comprehensive value and the previous three values from the fluctuation range is less than or equal to 0.2, at this time, the data fluctuation is very small, reflecting that the respiratory vibration and gas metabolism characteristics of the duck embryo are stable, which conforms to the consistency rule when the duck embryo breathes smoothly, and therefore it is determined that the duck embryo breathes smoothly.

[0076] When the state consistency probability is between 0.3 and 0.8, the ratio of the average deviation corresponding to the state consistency probability in this interval to the fluctuation range is between 0.2 and 0.7, indicating that the overall fluctuation degree of the duck embryo breathing is not stable enough, and therefore it is determined that the duck embryo breathes between smoothly and rapidly.

[0077] When the state consistency probability is less than 0.3, it indicates that the ratio of the average deviation to the fluctuation range is greater than 0.7, indicating that the current value and the historical value differ significantly, and the data fluctuates dramatically, indicating that the frequency of the duck embryo breathing is high, and therefore it is determined that the duck embryo breathes rapidly.

[0078] Working principle: through the setting of the bottom plate 17, the worker can stand on the bottom plate 17, at this time, the duck eggs are placed into the inside of the storage device 4, when the duck eggs are placed into the inside of the storage device 4 and contact with the plurality of limiting strips 6, at this time, the limiting strips 6 are extruded and then expand outward, and the reset spring 7 is lengthened, when the duck eggs are placed, the potential energy of the reset spring 7 is released and then drives the plurality of limiting strips 6 to contact with the surface of the duck eggs, the limiting effect of the duck eggs is achieved, and when placing, the sharp end of the duck egg is downward, the blunt end of the duck egg is upward, at this time, the vibration sensor 8 and the temperature sensor 18 are attached to the blunt end of the duck egg, that is, the vicinity of the air chamber of the duck egg, then the sliding table of the electric sliding table 11 drives the near-infrared spectrometer 9 to move, at this time, the near-infrared spectrometer 9 drives the optical fiber probe 10 to move, until the optical fiber probe 10 moves above the blunt end of the duck egg, the near-infrared light is emitted from the end of the duck egg by the optical fiber probe 10 and analyzed by the near-infrared spectrometer 9 to obtain the spectrum data, at the same time, the slight fluctuation of the chest and abdomen wall or the micro vibration of the respiratory tract gas flow is generated when the duck embryo breathes, these vibrations are transmitted to the outside through the duck egg shell, at this time, the vibration sensor 8 can obtain the vibration data, and the temperature sensor 18 obtains the temperature data near the blunt end of the duck egg, the spectrum data, the vibration data and the temperature data are analyzed by the first monitoring unit and the second monitoring unit, and the judgment unit judges whether the duck embryo in the duck egg breathes steadily or rapidly at this time, and then the breathing state of the duck embryo is obtained, until the duck embryo is judged to breathe steadily, after receiving the injection instruction, the mechanical arm 2 drives the fixed frame 14 and the syringe 15 to move through the connecting rod 12 and the electric push rod 13, so that the syringe 15 moves to the corresponding injection position, then the worker takes out the stored vaccine, and inserts the needle of the syringe 15 into the vaccine bottle, at this time, the retracting end of the electric push rod 13 is retracted to drive the push rod of the syringe 15 to move, so that the vaccine can be extracted through the injection needle of the syringe 15, after extraction is completed, the injection needle of the syringe 15 is pierced into the duck egg by the mechanical arm 2, then the retracting end of the electric push rod 13 is elongated to push the push rod of the syringe 15 to move, so that the vaccine is injected into the duck embryo, the effect of injecting the vaccine into the duck embryo is achieved, and when injecting, the breathing state of the duck embryo can be accurately judged, so that the vaccine injection can be assisted, preventing the injection of the vaccine when the duck embryo breathes rapidly and the breathing frequency is accelerated, affecting the health of the duck embryo, ensuring the injection effect.

[0079] Although the embodiments of the present application have been shown and described, it is to be understood that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present application, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An auxiliary device for injecting duck embryos, characterized in that, include: A workbench (1) is fixedly connected to a fixed base (16) on one side of the workbench (1), and a mechanical arm (2) is fixedly connected to the top surface of the fixed base (16). One end of the mechanical arm (2) is provided with an injection component, and the top surface of the workbench (1) is provided with a fixing component. The first monitoring unit is used to acquire the first monitoring data of duck egg monitoring; The second monitoring unit is used to acquire second monitoring data for duck egg monitoring; The judgment unit is used to judge the respiratory status of the duck embryo based on the first monitoring data and the second monitoring data.

2. The auxiliary device for duck embryo injection according to claim 1, characterized in that, The injection component includes: a fixing frame (14), which is fixedly connected to one end of the robotic arm (2), and a syringe (15) is fixedly connected inside the fixing frame (14).

3. The auxiliary device for duck embryo injection according to claim 2, characterized in that, The injection component further includes a connecting rod (12), which is fixedly connected to one end of the robotic arm (2). An electric push rod (13) is fixedly connected to one end of the connecting rod (12), and the telescopic end of the electric push rod (13) is fixedly connected to the push rod of the syringe (15).

4. The auxiliary device for duck embryo injection according to claim 1, characterized in that, The fixing component includes: a fixing block (3), which is fixedly connected to the top surface of the workbench (1), and a storage container (4) is fixedly connected to the top surface of the fixing block (3). The outer wall of the storage container (4) is provided with several external holes (5), and several limiting strips (6) are rotatably connected inside the external holes (5). A base plate (17) is fixedly connected to one side of the workbench (1).

5. The auxiliary device for duck embryo injection according to claim 4, characterized in that, The fixing component also includes two return springs (7), both of which are fixedly connected to the inner sidewall of the outer hole (5), and one end of each return spring (7) is fixedly connected to the limiting strip (6).

6. The auxiliary device for duck embryo injection according to claim 4, characterized in that, A vibration sensor (8) and a temperature sensor (18) are embedded in one side of the limiting strip (6).

7. The auxiliary device for duck embryo injection according to claim 1, characterized in that, An electric slide (11) is embedded in the top surface of the workbench (1). A near-infrared spectrometer (9) is fixedly connected to the top surface of the slider of the electric slide (11). A fiber optic probe (10) is connected to one side of the near-infrared spectrometer (9).

8. The auxiliary device for duck embryo injection according to claim 1, characterized in that, The first monitoring unit includes: The first monitoring data is the vibration data of the vibration sensor (8); Eight respiratory cycles were extracted from the preprocessed vibration data to obtain the respiratory rhythm dispersion; The preprocessed vibration data is transformed to obtain the frequency mutation index; The preprocessed vibration data were analyzed to obtain the respiratory energy distribution entropy; The respiratory rhythm dispersion, frequency mutation index, and respiratory energy distribution entropy were analyzed to obtain the respiratory vibration characteristic index.

9. The auxiliary device for duck embryo injection according to claim 1, characterized in that, The second monitoring unit includes: The second monitoring data consists of: spectral data monitored by the fiber optic probe (10) and processed by the near-infrared spectrometer (9) and temperature data from the temperature sensor (18); The preprocessed spectral data is calibrated and temperature compensated to obtain the corrected spectral data sequence. The corrected spectral data sequence is extracted to obtain the integral area of ​​the oxygen characteristic peak and the carbon dioxide characteristic peak, and the ratio of the two is calculated to obtain the gas coefficient. The integral areas of the oxygen and carbon dioxide characteristic peaks are fitted over a continuous ten-second period to obtain the rates of change of oxygen and carbon dioxide concentrations. The fluctuation amplitude ratios of the two rates are then calculated to obtain the concentration rate fluctuation index. The full width at half maximum (FWHM) changes of oxygen and carbon dioxide characteristic peaks were extracted from the corrected spectral data sequence. By integrating the half-width at half maximum (WHM) change, gas coefficient, and concentration rate fluctuation index, a gas metabolism characteristic index is obtained.

10. The auxiliary device for duck embryo injection according to claim 1, characterized in that, The respiratory status of the duck embryos was determined based on the first and second monitoring data, including: The respiratory vibration characteristic index and the gas metabolism characteristic index are fused to obtain a dynamic weighted composite value; The probability of state consistency is obtained by calculating the combined dynamic weighted values ​​of the current moment and the previous three moments. The respiratory status of duck embryos can be determined based on the probability of state consistency.

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