Chicken embryo injection area searching method and system based on image recognition

Abstract

The invention discloses a chick embryo injection area searching method and system based on image recognition. The method comprises the following steps: constructing a chick embryo injection searching device; based on the chick embryo injection searching device, a mechanical coordinate system and a clamp coordinate system are constructed, and the pose of the egg body clamp is obtained by considering the influence of the motion module on the pose change of the egg body clamp; the initial egg body posture is obtained, egg body opening adjustment, injection point adjustment and injection direction adjustment are conducted on the basis of the posture of the egg body clamp, and the optimal injection posture of the egg body is obtained. According to the invention, searching of embryo injection points and adjustment of optimal injection poses can be automatically realized, and the injection efficiency is improved. The chick embryo injection area searching method and system based on image recognition can be widely applied to the technical field of assisted reproduction.

Description

A method and system for searching chicken embryo injection regions based on image recognition Technical Field

[0001] This invention relates to the field of assisted reproductive technology, and in particular to a method and system for searching the injection region of chicken embryos based on image recognition. Background Technology

[0002] Chickens are important model organisms for research in life sciences, developmental biology, and avian biotechnology. Microinjection of early embryos is a crucial technique for gene function studies, the production of transgenic poultry, and the production of recombinant proteins. This technique typically requires the precise injection of exogenous genes or molecules into specific regions of the chicken embryo (such as the embryonic cavity or vascular region) during the early stages of egg incubation to achieve efficient gene delivery or manipulation. However, traditional microinjection procedures heavily rely on the operator's manual skills and visual judgment. The entire process is not only time-consuming and labor-intensive but also demands a high level of experience and mental state from the operator, becoming a bottleneck restricting the efficiency and large-scale application of related research.

[0003] Currently, the localization and search of injection sites in chicken embryos face several prominent challenges. First, the chicken embryo exists in a complex, opaque biological environment within the eggshell, and its position and morphology vary greatly due to individual differences, making accurate identification of the target injection area extremely difficult. Second, even under the open window of the eggshell, the embryonic structure is delicate and has low contrast, making manual searching and localization prone to operator visual fatigue, introducing subjective errors and affecting the consistency of localization. More importantly, during the search and localization process, there is a high risk of accidental contact between the operating instruments (such as the injection needle) and the fragile embryonic tissue, which can easily cause mechanical damage to the embryo, leading to experimental failure or a significant reduction in embryo survival rate. These factors collectively contribute to the current situation where traditional methods are inefficient, have poor repeatability, and have unstable success rates. Summary of the Invention

[0004] To address the aforementioned technical problems, the present invention aims to provide a method and system for searching chicken embryo injection areas based on image recognition, which can automatically search for embryo injection points and adjust the optimal injection position, thereby improving injection efficiency.

[0005] The first technical solution adopted in this invention is: a chicken embryo injection region search method based on image recognition, comprising the following steps: constructing a chicken embryo injection search device; constructing a mechanical coordinate system and a fixture coordinate system based on the chicken embryo injection search device, and considering the influence of the motion module on the pose change of the egg fixture, obtaining the pose of the egg fixture; obtaining the initial egg pose, and adjusting the egg opening, injection point, and injection direction based on the pose of the egg fixture to obtain the optimal injection pose of the egg.

[0006] Furthermore, the chicken embryo injection search device specifically includes a fixed support, a motion module, vision hardware, and an egg clamp. The fixed support includes a base and a back plate. The motion module includes an X-direction linear motion module, a Y-direction linear motion module, a Z-direction linear motion module, a left-right tilting rotation module, a front-back tilting rotation module, and a rotation module around the clamp axis. The vision hardware includes a camera, a lens, and a light source. The fixed support supports the chicken embryo injection search device; the motion module controls the egg clamp to move in three-dimensional space; the vision hardware acquires images of the chicken embryo; and the egg clamp grips and holds the egg.

[0007] Furthermore, the step of constructing a mechanical coordinate system and a fixture coordinate system based on the chicken embryo injection search device, and considering the influence of the motion module on the pose change of the egg fixture, to obtain the pose of the egg fixture, specifically includes: defining the upper surface of the base of the chicken embryo injection search device as the XY plane, with X to the right being positive, Y forward being positive, and the positive Z direction being perpendicular to the upper surface of the base and upward, and the intersection of the image center perpendicularly downward with the upper surface of the base as the origin, thus constructing the mechanical coordinate system; defining the upper surface of the egg fixture as the XY plane, with the center of the upper surface of the fixture as the origin, X to the right being positive, and Y forward being positive. With Z-axis positive, construct a fixture coordinate system. Based on the machine coordinate system and fixture coordinate system, consider the influence of the motion module on the pose change of the egg fixture, and obtain the secondary coordinate transformation matrices of the X-direction linear motion module, Y-direction linear motion module, left and right tilt rotation module, front and back tilt rotation module, and rotation module around the fixture axis respectively. Multiply the secondary coordinate transformation matrices of the X-direction linear motion module, Y-direction linear motion module, left and right tilt rotation module, front and back tilt rotation module, and rotation module around the fixture axis in sequence to obtain the pose of the egg fixture.

[0008] Furthermore, the step of obtaining the initial egg body pose and adjusting the egg body opening, injection point, and injection direction based on the egg body fixture pose to obtain the optimal injection pose specifically includes: fixing the egg body on the egg body fixture to obtain the initial egg body pose; based on the initial egg body pose and the pose of the egg body fixture, adjusting the egg body opening to be at the center of the camera's field of view through a motion module to obtain the first adjusted egg body pose; based on the first adjusted egg body pose, adjusting the injection position to be at the center of the egg body opening to obtain the second adjusted egg body pose; based on the second adjusted egg body pose, adjusting the injection direction to the negative X direction to obtain the optimal injection pose.

[0009] Furthermore, the step of adjusting the egg opening to be at the center of the camera's field of view based on the initial egg pose and the pose of the egg clamp, to obtain the first adjusted egg pose, specifically includes: obtaining the offset of the egg opening center relative to the camera's field of view through image recognition; adjusting the initial egg pose according to the offset of the egg opening center relative to the camera's field of view, and determining the pose of the egg clamp based on the adjusted egg pose; calculating the target position of the module motor based on the determined pose of the egg clamp, and adjusting the egg opening to be at the center of the camera's field of view through the motion module to obtain the first adjusted egg pose.

[0010] Furthermore, the step of adjusting the injection position to be at the center of the egg opening based on the first adjusted egg pose to obtain the second adjusted egg pose specifically includes: obtaining a vertical plane passing through the center of the egg opening and the injection point and using it as a cross-section to cut the egg, obtaining a cross-sectional view of the egg; treating the egg as a sphere, defining the radius of the egg, the vector of the injection point relative to the center of the egg opening, and the angle between the line connecting the center of the egg opening and the center of the sphere and the horizontal plane; defining a rotation angle so that the center of the egg opening is aligned with the injection point, and constructing an egg tilt variable relationship by combining the radius of the egg, the vector of the injection point relative to the center of the egg opening, and the angle between the line connecting the center of the egg opening and the center of the sphere and the horizontal plane; solving the egg tilt variable relationship to obtain the egg tilt angle; obtaining the coordinates of the center of the egg opening in the machine coordinate system and the normal direction of the vertical plane between the center of the egg opening and the injection point to determine the rotation axis; and adjusting the injection position to be at the center of the egg opening according to the egg tilt angle and the rotation axis to obtain the second adjusted egg pose.

[0011] Furthermore, the step of adjusting the injection direction to the negative X direction based on the second adjusted egg body pose to obtain the optimal injection pose of the egg body specifically includes: determining the rotation angle around the Z-axis based on the second adjusted egg body pose, wherein the rotation angle around the Z-axis is calculated by the difference between π and the angle of the current injection point; rotating the egg body around the Z-axis of the mechanical coordinate system by the above angle to adjust the injection direction to the negative X direction, thereby obtaining the optimal injection pose of the egg body.

[0012] The second technical solution adopted in this invention is: a chicken embryo injection area search system based on image recognition, comprising: a first module for constructing a chicken embryo injection search device; a second module for constructing a mechanical coordinate system and a fixture coordinate system based on the chicken embryo injection search device, and considering the influence of the motion module on the pose change of the egg fixture, to obtain the pose of the egg fixture; and a third module for obtaining the initial egg pose, and adjusting the egg opening, injection point, and injection direction based on the pose of the egg fixture to obtain the optimal injection pose of the egg.

[0013] The beneficial effects of the method and system of this invention are as follows: This invention constructs a chicken embryo injection search device; further, based on the chicken embryo injection search device, it constructs a mechanical coordinate system and a fixture coordinate system, and considers the influence of the motion module on the pose change of the egg fixture to obtain the pose of the egg fixture; finally, it obtains the initial egg pose, and based on the pose of the egg fixture, it adjusts the egg opening, the injection point, and the injection direction to obtain the optimal injection pose of the egg. By simply adjusting the opening roughly within the image field of view, the subsequent search for the embryo injection point and the adjustment of the optimal injection pose can be automatically realized, effectively reducing the operator's burden, lowering the skill requirements for the operator, and improving work efficiency. Attached Figure Description

[0014] Figure 1 is a flowchart of the steps of a chicken embryo injection region search method based on image recognition according to the present invention; Figure 2 is a structural block diagram of a chicken embryo injection region search system based on image recognition according to the present invention; Figure 3 is a structural schematic diagram of a chicken embryo injection search device provided in a specific embodiment of the present invention; Figure 4 is a schematic diagram of the initial egg pose provided in a specific embodiment of the present invention; Figure 5 is a schematic diagram of occlusion provided in a specific embodiment of the present invention; Figure 6 is a schematic diagram of the target adjustment result provided in a specific embodiment of the present invention; Figure 7 is a schematic diagram of the opening adjusted to the center of the field of view provided in a specific embodiment of the present invention; Figure 8 is a schematic diagram of the vertical plane passing through the center of the opening and the injection point provided in a specific embodiment of the present invention; Figure 9 is a cross-sectional schematic diagram of the egg provided in a specific embodiment of the present invention; Figure 10 is a schematic diagram of the injection position adjusted to the center of the opening provided in a specific embodiment of the present invention; Figure 11 is a schematic diagram of the injection point search process provided in a specific embodiment of the present invention.

[0015] Reference numerals: 1. Base; 2. Back plate; 3. Y-direction linear motion module; 4. X-direction linear motion module; 5. Left and right tilting rotation module; 6. Front and back tilting rotation module; 7. Rotation module around the clamp axis; 8. Egg clamp; 9. Egg; 10. Z-direction linear motion module; 11. Camera; 12. Lens; 13. Light source. Detailed Implementation

[0016] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments. The step numbers in the following embodiments are only for ease of explanation and do not limit the order of the steps. The execution order of each step in the embodiments can be adapted according to the understanding of those skilled in the art.

[0017] Referring to Figure 1, this invention provides a chicken embryo injection region search method based on image recognition. The method includes the following steps: S100, constructing a chicken embryo injection search device; specifically, the chicken embryo injection search device includes a fixed support, a motion module, vision hardware, and an egg clamp. The fixed support includes a base and a back plate. The motion module includes an X-direction linear motion module, a Y-direction linear motion module, a Z-direction linear motion module, a left-right tilting rotation module, a front-back tilting rotation module, and a rotation module around the clamp axis. The vision hardware includes a camera, a lens, and a light source. The fixed support is used to support the chicken embryo injection search device; the motion module is used to control the egg clamp to move in three-dimensional space; the vision hardware is used to acquire chicken embryo images; and the egg clamp is used to clamp and fix the egg.

[0018] In this embodiment, the search device, designed as shown in Figure 3, simulates the embryo search action during artificial microinjection and consists of the following parts: The device mounting bracket consists of a base 1 and a back plate 2. During operation, the egg 9 is fixed in the egg clamp 8. The following motion modules are stacked sequentially from the base to the egg clamp: Y-direction linear motion module 3, X-direction linear motion module 4, left-right tilting rotation module 5, front-back tilting rotation module 6, and a rotation module 7 rotating around the clamp axis. The vision hardware includes a camera 11, a lens 12, and a light source 13, used to capture images of the chicken embryo. The vision hardware is fixed to the Z-direction linear motion module 10, which is fixed to the back plate. The entire device has a total of 3 linear axes and 3 rotation axes. Each axis is precisely controlled by a stepper or servo motor, forming a 6-DOF control structure for embryo photography pose.

[0019] Furthermore, the positions of the linear module motors in the X and Y directions are defined as follows: and The superscript 'd' indicates that the value belongs to the position of the electric motor, distinguishing it from other coordinate systems. The position of the motor controlling the camera's Z-axis motion is defined as... The positions of the rotary module motors for front-to-back tilt, left-to-right tilt, and rotation around the fixture axis are defined as follows: , and The zero-return switch and zero-position offset parameters can be used to control each axis to return to the set zero position. When all axes return to the zero position, the upper surface of the fixture is parallel to the upper surface of the base, the image center is aligned with the center of the upper surface of the fixture, the optimal focusing plane for imaging is the upper surface of the fixture, and the two grooves of the fixture are located on the left and right sides respectively.

[0020] S200. Based on the chicken embryo injection search device, a mechanical coordinate system and a fixture coordinate system are constructed, and the influence of the motion module on the pose change of the egg fixture is considered to obtain the pose of the egg fixture. Specifically, the upper surface of the base of the chicken embryo injection search device is defined as the XY plane, with X to the right being positive, Y forward being positive, and Z positive direction being vertically upward from the base surface. The intersection of the image center vertically downward with the upper surface of the base is the origin, thus constructing the mechanical coordinate system. The upper surface of the egg fixture is defined as the XY plane, with the center of the upper surface of the fixture as the origin, X to the right being positive, Y forward being positive, and Z positive direction being vertically upward from the base surface. With upward as positive, construct the fixture coordinate system. Based on the machine coordinate system and the fixture coordinate system, consider the influence of the motion module on the pose change of the egg fixture, and obtain the secondary coordinate transformation matrices of the X-direction linear motion module, Y-direction linear motion module, left and right tilt rotation module, front and back tilt rotation module, and rotation module around the fixture axis respectively. Multiply the secondary coordinate transformation matrices of the X-direction linear motion module, Y-direction linear motion module, left and right tilt rotation module, front and back tilt rotation module, and rotation module around the fixture axis in sequence to obtain the pose of the egg fixture.

[0021] In this embodiment, the machine coordinate system needs to be defined first. The mechanical coordinate system is established with the upper surface of the base as the XY plane, X to the right as positive, Y forward as positive, and Z perpendicular to the upper surface of the base as positive. The origin is the point where the center of the image perpendicularly downwards intersects the upper surface of the base. .

[0022] Secondly, it is necessary to define the fixture coordinate system. When all axes return to zero, the fixture coordinate system is established with the upper surface of the fixture as the XY plane, the center of the upper surface of the fixture as the origin, X to the right as positive, Y forward as positive, and Z upward as positive. .

[0023] The position of the clamp, that is exist The pose of the fixture can be controlled by five modules connecting the base to the fixture. The influence of each module on the pose change of the fixture is analyzed individually, expressed using a second coordinate transformation matrix: the transformation brought by the Y-line module is: ;in This refers to the thickness of the module.

[0024] The transformation brought about by the X-line module is as follows: ;in This refers to the thickness of the module.

[0025] The changes brought about by the left and right tilt (B-axis) module are as follows: ;in This is the distance from the bottom surface of the module to the axis of rotation. This is the distance from the rotation axis to the upper surface; since the rotation axis is higher than the upper surface, it is a negative number. The changes caused by tilting the module forward and backward (A-axis) are as follows: ;in This is the distance from the bottom surface of the module to the axis of rotation. This is the distance from the axis of rotation to the upper surface. Since the axis of rotation is higher than the upper surface, it is a negative number.

[0026] The transformation brought about by the rotation (C-axis) module rotating around the fixture axis is as follows: ;in This is the distance from the bottom surface of the module to the top surface of the fixture.

[0027] Multiplying the above transformations from left to right according to the order of the modules yields the pose of the fixture: Known module motor position The position of the fixture can be calculated from its pose expression. .

[0028] Given the position of the fixture The position of the module motor can also be calculated from the reverse. .However It has 6 degrees of freedom, and It has only 5 degrees of freedom, so it needs to be ignored during the inverse calculation. The Z-coordinate.

[0029] S300: Obtain the initial egg body pose, and adjust the egg body opening, injection point, and injection direction based on the pose of the egg body clamp to obtain the optimal injection pose of the egg body.

[0030] S310. Fix the egg body onto the egg body clamp to obtain the initial egg body pose. In this embodiment, when a person places the egg body onto the clamp, the pose of the egg body is not the optimal injection pose. As shown in Figure 4, the light yellow square represents the image field of view, the white circle represents the opening on the egg body, and the center of the opening is represented by K; the red arrow indicates the injection point (represented by I) and direction. At this time, the injection point is at the edge of the opening, making injection difficult. Sometimes the injection point may be outside the opening, as shown in Figure 5, obscured by the eggshell, making injection impossible.

[0031] Therefore, the initial egg body pose needs to be adjusted, and the target after adjustment is as shown in Figure 6. First, adjust the opening to the center of the field of view, and then adjust the injection position to the center of the opening. Since the injection mechanism of the device is located on the right side of the egg body, the injection direction must finally be adjusted to the left.

[0032] The following uses Figure 4 as the initial pose. The adjustment method for each step is described below, and the specific process is shown in Figure 11.

[0033] S320. Based on the initial egg pose and the pose of the egg clamp, the egg opening is adjusted to be in the center of the camera's field of view by the motion module to obtain the first adjusted egg pose. Specifically, the offset of the egg opening center relative to the camera's field of view is obtained through image recognition. The initial egg pose is adjusted according to the offset of the egg opening center relative to the camera's field of view, and the pose of the egg clamp is determined based on the adjusted egg pose. The target position of the module motor is calculated based on the determined egg clamp pose, and the egg opening is adjusted to be in the center of the camera's field of view by the motion module to obtain the first adjusted egg pose.

[0034] In this embodiment, the offset of the opening center relative to the image center can be determined through image recognition. Therefore, the egg's pose needs to be adjusted as follows: The target position of the module motor can be calculated by combining the pose of the egg-shaped fixture. The adjusted result is shown in Figure 7.

[0035] S330. Based on the first adjusted egg pose, adjust the injection position to be at the center of the egg opening to obtain the second adjusted egg pose. Specifically, obtain the vertical plane passing through the center of the egg opening and the injection point and use it as a cross-section to cut the egg to obtain a cross-sectional view of the egg. Treat the egg as a sphere and define the radius of the egg, the vector of the injection point relative to the center of the egg opening, and the angle between the line connecting the center of the egg opening and the center of the sphere and the horizontal plane. Define a preset rotation angle so that the center of the egg opening is aligned with the injection point. Combine the radius of the egg, the vector of the injection point relative to the center of the egg opening, and the angle between the line connecting the center of the egg opening and the center of the sphere and the horizontal plane to construct the egg tilt variable relationship. Solve the egg tilt variable relationship to obtain the egg tilt angle. Obtain the coordinates of the center of the egg opening in the machine coordinate system and the normal direction of the vertical plane between the center of the egg opening and the injection point to determine the rotation axis. According to the egg tilt angle and the rotation axis, adjust the injection position to be at the center of the egg opening to obtain the second adjusted egg pose.

[0036] In this embodiment, the offset of injection point I relative to the opening center K in Figure 7 can be obtained through image recognition. However, the injection point, which is the specific location of the blood vessels in the embryo, is suspended on the surface of the egg white inside the eggshell. Therefore, it is necessary to tilt the egg to adjust the position of the injection point relative to the center of the opening.

[0037] To analyze the magnitude of the tilt, the egg was cut open with the vertical plane passing through the center of the opening and the injection point (orange dashed line in Figure 8) as the cross section, resulting in a cross-sectional view of the egg.

[0038] The cross-sectional view is shown in Figure 9. For ease of analysis, the egg can be approximated as a sphere. The opening is in the upper right corner. The blue dashed line is the vertical line passing through the center K of the opening, and the red dashed line is the vertical line passing through the injection point I. Since the egg white is a fluid, it is subject to gravity. When the egg tilts slowly and slightly, only the shell rotates, while the surface of the egg white inside remains horizontal. The spatial position of the embryonic blood vessels (i.e., injection point I) relative to the center of the sphere remains unchanged.

[0039] Let the radius of the egg be R, and the vector of the injection point relative to the center of the opening be... The angle between the line connecting the center of the opening and the center of the sphere and the horizontal plane is . As can be seen from Figure 9, the eggshell rotates. After adjusting the angle, the center of the opening can be aligned with the injection point. The relationship between the above variables is as follows: ;in R represents the length of the vector. While different eggs may vary in size, the size variation is minimal within the same breed and batch. R can be set as the batch average. The angle between the opening and the horizontal plane. There are certain patterns, and it can also be set as the average value of the batch. In this case, the angle of inclination can be calculated from the relationship between the variables. Although not entirely accurate, it can be adjusted by tilting the vehicle multiple times until it finally converges to the target position.

[0040] After determining the tilt angle, it is also necessary to determine the axis of rotation. During the tilt adjustment process, it is necessary to keep the opening in the center of the camera's field of view, so the axis of rotation must pass through the center K of the opening. As shown in Figure 8, the center of the opening is now aligned with the image center, so the center of the opening in the machine coordinate system... The median coordinate is .

[0041] and The focus position can be determined by the edge of the focusing opening. In the motor position definition, when the camera's Z-axis module (or Z-axis for short) is at zero, the focusing position is on the upper surface of the fixture. In the mechanical coordinate system... Its Z-coordinate is the sum of the heights of all modules, that is: Let the position of the motor of the Z-direction module be when focusing to the edge of the aperture. ,but: The direction of the rotation axis should be perpendicular to the cross section shown in Figure 9, which is the normal direction of the cross section.

[0042] Given the axis and the adjustment angle, the roll transformation can be calculated using the Rodriguez matrix as shown below: ;in Points through which the axis passes After translating to the origin, undergoing the Rodriguez transformation, and then translating back to the original position, therefore... The Rodriguez transformation is: Where I is the identity matrix, The tilt angle, K, is composed of the axis direction vector: The adjusted result is shown in Figure 10.

[0043] S340. Based on the second adjusted egg body pose, adjust the injection direction to the negative X direction to obtain the optimal injection pose of the egg body.

[0044] Specifically, based on the second adjusted egg body pose, the rotation angle around the Z-axis is determined. The rotation angle around the Z-axis is calculated by the difference between π and the angle of the current injection point. The egg body is rotated around the Z-axis of the mechanical coordinate system by the above angle, so that the injection direction is adjusted to the negative X direction, and the optimal injection pose of the egg body is obtained.

[0045] In this embodiment, as can be seen from Figure 10, the injection direction is adjusted to the mechanical coordinate system. In the X-direction, simply rotate the egg body around the mechanical coordinate system. Z-axis rotation angle That's all.

[0046] ;in The angle of the current injection point is obtained through image recognition.

[0047] Therefore, the changes in injection direction are as follows: After the above adjustments, theoretically the injection point will be located at the optimal injection position as shown in Figure 6.

[0048] In summary, most existing embryo microinjection instruments rely on manual manipulation of the handle to indirectly operate the needle. Before injection, the egg's position needs to be manually adjusted to locate the injection point. After locating the point, the position and angle must be manually adjusted again for optimal injection. Adjusting the egg's tilt also changes the XYZ position, requiring translation after tilt adjustment and manual refocusing. This adjustment process is time-consuming, labor-intensive, and inefficient.

[0049] The device proposed in this embodiment, coupled with a corresponding image recognition algorithm, allows for automatic detection of subsequent embryo injection points and adjustments to the optimal injection position simply by roughly adjusting the opening within the image's field of view. This effectively reduces the operator's workload, lowers the skill requirements, and improves work efficiency, paving the way for the future industrialization of embryo injection.

[0050] Referring to Figure 2, a chicken embryo injection region search system based on image recognition includes: a first module 201 for constructing a chicken embryo injection search device; a second module 202 for constructing a mechanical coordinate system and a fixture coordinate system based on the chicken embryo injection search device, and considering the influence of the motion module on the pose change of the egg fixture, to obtain the pose of the egg fixture; and a third module 203 for obtaining the initial egg pose, and adjusting the egg opening, injection point, and injection direction based on the pose of the egg fixture to obtain the optimal injection pose of the egg.

[0051] The content of the above method embodiments is applicable to this system embodiment. The specific functions implemented in this system embodiment are the same as those in the above method embodiments, and the beneficial effects achieved are also the same as those achieved in the above method embodiments.

[0052] The above is a detailed description of the preferred embodiments of the present invention. However, the present invention is not limited to the embodiments described. Those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of the present invention. All such equivalent modifications or substitutions are included within the scope defined by the claims of this application.

Claims

1. A method for searching the injection region of chicken embryos based on image recognition, characterized in that, Includes the following steps: Construct a chicken embryo injection search device; based on the chicken embryo injection search device, construct a mechanical coordinate system and a fixture coordinate system, and consider the influence of the motion module on the pose change of the egg fixture to obtain the pose of the egg fixture; obtain the initial egg pose, and adjust the egg opening, injection point and injection direction based on the pose of the egg fixture to obtain the optimal injection pose of the egg.

2. The method for searching the injection region of chicken embryos based on image recognition according to claim 1, characterized in that, The chicken embryo injection search device specifically includes a fixed support, a motion module, vision hardware, and an egg clamp. The fixed support includes a base and a back plate. The motion module includes an X-direction linear motion module, a Y-direction linear motion module, a Z-direction linear motion module, a left-right tilting rotation module, a front-back tilting rotation module, and a rotation module around the clamp axis. The vision hardware includes a camera, a lens, and a light source. The fixed support supports the chicken embryo injection search device; the motion module controls the egg clamp to move in three-dimensional space; the vision hardware acquires images of the chicken embryo; and the egg clamp grips and holds the egg.

3. The method for searching the injection region of chicken embryos based on image recognition according to claim 2, characterized in that, The step of constructing a mechanical coordinate system and a fixture coordinate system based on the chicken embryo injection search device, and considering the influence of the motion module on the pose change of the egg fixture, to obtain the pose of the egg fixture, specifically includes: defining the upper surface of the base of the chicken embryo injection search device as the XY plane, with X to the right as positive, Y forward as positive, and the positive Z direction perpendicular to the upper surface of the base as upward, and the intersection of the vertical downward direction of the image center and the upper surface of the base as the origin, thus constructing the mechanical coordinate system; defining the upper surface of the egg fixture as the XY plane, with the center of the upper surface of the fixture as the origin, X to the right as positive, and Y forward as positive. With Z-axis pointing upwards, a fixture coordinate system is constructed. Based on the mechanical coordinate system and the fixture coordinate system, considering the influence of the motion module on the pose change of the egg fixture, the secondary coordinate transformation matrices of the X-direction linear motion module, Y-direction linear motion module, left and right tilt rotation module, front and back tilt rotation module, and rotation module around the fixture axis are obtained respectively. The pose of the egg fixture is obtained by multiplying the secondary coordinate transformation matrices of the X-direction linear motion module, Y-direction linear motion module, left and right tilt rotation module, front and back tilt rotation module, and rotation module around the fixture axis in sequence.

4. The method for searching the injection region of chicken embryos based on image recognition according to claim 3, characterized in that, The step of obtaining the initial egg body pose and adjusting the egg body opening, injection point, and injection direction based on the egg body fixture pose to obtain the optimal injection pose specifically includes: fixing the egg body on the egg body fixture to obtain the initial egg body pose; based on the initial egg body pose and the pose of the egg body fixture, adjusting the egg body opening to be at the center of the camera's field of view through a motion module to obtain the first adjusted egg body pose; based on the first adjusted egg body pose, adjusting the injection position to be at the center of the egg body opening to obtain the second adjusted egg body pose; based on the second adjusted egg body pose, adjusting the injection direction to the negative X direction to obtain the optimal injection pose.

5. The method for searching the injection region of chicken embryos based on image recognition according to claim 4, characterized in that, The step of adjusting the egg opening to be centered in the camera's field of view based on the initial egg pose and the pose of the egg clamp, to obtain the first adjusted egg pose, specifically includes: obtaining the offset of the egg opening center relative to the camera's field of view through image recognition; adjusting the initial egg pose according to the offset of the egg opening center relative to the camera's field of view, and determining the pose of the egg clamp based on the adjusted egg pose; calculating the target position of the module motor based on the determined pose of the egg clamp, and adjusting the egg opening to be centered in the camera's field of view through the motion module to obtain the first adjusted egg pose.

6. The method for searching the injection region of chicken embryos based on image recognition according to claim 5, characterized in that, The step of adjusting the injection position to be at the center of the egg opening based on the first adjusted egg pose, to obtain the second adjusted egg pose, specifically includes: obtaining a vertical plane passing through the center of the egg opening and the injection point, and using it as a cross-section to cut the egg, obtaining a cross-sectional view of the egg; treating the egg as a sphere, defining the radius of the egg, the vector of the injection point relative to the center of the egg opening, and the angle between the line connecting the center of the egg opening and the center of the sphere and the horizontal plane; defining a rotation angle so that the center of the egg opening is aligned with the injection point, and constructing an egg tilt variable relationship by combining the radius of the egg, the vector of the injection point relative to the center of the egg opening, and the angle between the line connecting the center of the egg opening and the center of the sphere and the horizontal plane; solving the egg tilt variable relationship to obtain the egg tilt angle; obtaining the coordinates of the center of the egg opening in the machine coordinate system and the normal direction of the vertical plane between the center of the egg opening and the injection point, and determining the rotation axis; adjusting the injection position to be at the center of the egg opening according to the egg tilt angle and the rotation axis, to obtain the second adjusted egg pose.

7. The method for searching the injection region of chicken embryos based on image recognition according to claim 6, characterized in that, The step of adjusting the injection direction to the negative X direction based on the second adjusted egg body pose to obtain the optimal injection pose of the egg body specifically includes: determining the rotation angle around the Z axis based on the second adjusted egg body pose, wherein the rotation angle around the Z axis is calculated by the difference between π and the angle of the current injection point; rotating the egg body around the Z axis of the mechanical coordinate system by the above-mentioned angle to adjust the injection direction to the negative X direction, thereby obtaining the optimal injection pose of the egg body.

8. A chicken embryo injection region search system based on image recognition, characterized in that, The system includes the following modules: a first module for constructing a chicken embryo injection search device; a second module for constructing a mechanical coordinate system and a fixture coordinate system based on the chicken embryo injection search device, and considering the influence of the motion module on the pose change of the egg fixture to obtain the pose of the egg fixture; and a third module for obtaining the initial egg pose, and adjusting the egg opening, injection point, and injection direction based on the pose of the egg fixture to obtain the optimal injection pose of the egg.

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