Auxiliary insemination robot for poultry

Abstract

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

Description

Technical Field

[0001] This application belongs to the field of robotics technology, and in particular relates to a poultry-assisted insemination robot. Background Technology

[0002] Currently, with the increasing scale of caged breeding chickens in poultry farms, the demand for automation in poultry farming is growing. In the process of large-scale poultry farming, artificial insemination has become a key technical guarantee for the breeding process. Taking chickens as an example, hens are usually kept in cages. During artificial insemination, one person needs to hold the chicken's wing with one hand and expose its cloaca with the other. Then, another person inserts an insemination tube into the cloaca to inject semen. During this process, the operator holding the hen needs to pry open the cloaca with their hand. This requires frequent and forceful prying, which can lead to finger deformities and significant labor intensity for the operator. Therefore, designing a technology to assist in artificial insemination of poultry and reduce the labor intensity of workers is the technical problem this application aims to solve. Summary of the Invention

[0003] This application provides a poultry-assisted insemination robot to assist in the artificial insemination of poultry and reduce the labor intensity of workers.

[0004] To achieve the above technical objectives, this application adopts the following technical solution:

[0005] In one aspect, this application provides a poultry-assisted insemination robot, comprising:

[0006] A walking mechanism, on which a robotic arm is mounted;

[0007] A gripping clamp is provided with two gripping components, which can be close to or far apart from each other, forming a gripping space between the two gripping components for gripping poultry;

[0008] The cloaca-turning clamp has two cloaca-turning components, which can be close to or far apart from each other, and the two cloaca-turning components form an operating space for opening the cloaca of poultry;

[0009] An image recognition mechanism, comprising a processor and an image acquisition device, wherein the image acquisition device is connected to the processor;

[0010] The gripping fixture and the anal-turning fixture are mounted on the mounting end of the robotic arm, and the image acquisition device is mounted on the robotic arm.

[0011] Compared with existing technologies, the beneficial effects of this application are as follows: By setting a gripping clamp and a cloacal opening clamp on the robotic arm, the gripping clamp can automatically grasp poultry, while the cloacal opening clamp can automatically open the cloaca of poultry, effectively avoiding the risk of finger deformities caused by repetitive and high-intensity cloacal opening operations, and greatly reducing the intensity of manual labor. On the other hand, the processor in the image recognition mechanism can precisely control the gripping clamp and the cloacal opening clamp based on the image information acquired by the image acquisition device. Compared with traditional manual operation, the application of this robot can also significantly reduce labor costs and the intensity of manual labor.

[0012] In one embodiment of this application, the processor is configured to control the gripping clamp to grip poultry based on image information acquired by the image acquisition device; the processor is also configured to control the cloacal clamp to open the cloaca of the poultry based on image information acquired by the image acquisition device.

[0013] In one embodiment of this application, the robotic arm includes a first robotic arm and a second robotic arm, wherein the first robotic arm and the second robotic arm are disposed on the walking mechanism;

[0014] The gripping fixture is mounted on the first robotic arm, and the anal-turning fixture is mounted on the second robotic arm.

[0015] In one embodiment of this application, the image acquisition device includes a first camera and a second camera, the first camera and the second camera being respectively connected to the processor;

[0016] The first camera is mounted on the first robotic arm and moves with the gripper; the processor is configured to control the gripper to grasp poultry based on the image information captured by the first camera.

[0017] The second camera is mounted on the second robotic arm and moves with the cloaca-opening clamp. The processor is configured to control the cloaca-opening clamp to open the poultry's cloaca based on the image information captured by the second camera.

[0018] In one embodiment of this application, the robotic arm is a dual-arm robot;

[0019] The anal-turning clamp is mounted on the first arm of the dual-arm robot, and the grasping clamp is mounted on the second arm of the dual-arm robot.

[0020] In one embodiment of this application, the image acquisition device further includes a third camera and a fourth camera, the third camera and the fourth camera being respectively connected to the processor;

[0021] The third camera is mounted on the second arm and moves with the gripper; the processor is configured to control the gripper to grasp poultry based on the image information captured by the third camera.

[0022] The fourth camera is mounted on the second arm and moves with the cloaca-opening clamp. The processor is configured to control the cloaca-opening clamp to open the poultry's cloaca based on the image information captured by the fourth camera.

[0023] In one embodiment of this application, the gripping fixture is further provided with a first mounting base and a first driving component. The gripping component is disposed on the first mounting base, and the first driving component is configured to drive the two gripping components to move relative to each other on the first mounting base.

[0024] In one embodiment of this application, the anal-turning clamp is further provided with a second mounting base and a second driving component. The anal-turning component is disposed on the second mounting base, and the second driving component is configured to drive the two anal-turning components to move relative to each other on the second mounting base.

[0025] In one embodiment of this application, the anal turning component includes a swing arm, a connecting rod, and a lever. The swing arm and the connecting rod are rotatably mounted on the second mounting base. One end of the lever is hinged to the swing arm, the middle part of the lever is hinged to the connecting rod, and the other end of the lever is fitted with a flexible sleeve.

[0026] The second drive component is configured to drive the two swing arms to swing synchronously in opposite directions.

[0027] In one embodiment of this application, a notch structure is further provided on the inner side of the other end of the actuating rod, and a turning-over area is formed between the two notch structures.

[0028] In one embodiment of this application, the second driving component is a drive motor, and the anal clamp is further provided with a torque sensor, which is configured to detect the torque of the drive motor;

[0029] The torque sensor is connected to the processor;

[0030] The processor is configured to control the operation of the drive motor based on the torque value detected by the torque sensor.

[0031] In one embodiment of this application, the gripping component is provided with a first pressure sensor, which is connected to the processor; the processor is configured to control the magnitude of the pressure generated by the gripping component based on the pressure value detected by the first pressure sensor.

[0032] In one embodiment of this application, a second pressure sensor is provided on the cloaca-turning component, and the second pressure sensor is connected to the processor; the processor is configured to control the pressure exerted on the poultry by the cloaca-turning component when it is pressed against the poultry based on the pressure value detected by the second pressure sensor. Attached Figure Description

[0033] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0034] Figure 1 This is a schematic diagram of the structure of an embodiment of the poultry assisted insemination robot of this application;

[0035] Figure 2 This is one of the structural schematic diagrams of another embodiment of the poultry assisted insemination robot of this application;

[0036] Figure 3 This is a second schematic diagram of another embodiment of the poultry assisted insemination robot of this application;

[0037] Figure 4 This is a schematic diagram of the gripping fixture in an embodiment of the poultry assisted insemination robot of this application;

[0038] Figure 5 This is a schematic diagram of the cloaca-turning clamp in an embodiment of the poultry assisted insemination robot of this application;

[0039] Figure 6 This is a schematic diagram of the electrical control principle of an embodiment of the poultry assisted insemination robot of this application.

[0040] Figure label:

[0041] 1. Walking mechanism; 11. Robotic arm; 111. Single-arm robot; 112. Dual-arm robot; 1121. First arm; 1122. Second arm;

[0042] 2. Gripping fixture; 21. Gripping component; 22. First mounting base; 23. First driving component; 24. First pressure sensor;

[0043] 3. Anal vault clamp; 31. Anal vault component; 32. Second mounting base; 33. Second drive component; 34. Torque sensor; 35. Second pressure sensor; 311. Swing arm; 312. Connecting rod; 313. Actuating rod; 314. Notch structure;

[0044] 4. Image recognition mechanism; 41. Processor; 42. Image acquisition device; 421. Third camera; 422. Fourth camera; 423. First camera; 424. Second camera. Detailed Implementation

[0045] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0046] The following disclosure provides many different embodiments or examples for implementing different structures of this application. To simplify the disclosure, specific examples of components and arrangements are described below. Of course, these are merely examples and are not intended to limit the scope of this application. Furthermore, reference numerals and / or letters may be repeated in different examples; such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed. In addition, various specific examples of processes and materials are provided in this application, but those skilled in the art will recognize the application of other processes and / or the use of other materials.

[0047] like Figures 1-6 As shown, this embodiment provides a poultry assisted insemination robot, including:

[0048] Walking mechanism 1, on which a robotic arm 11 is provided;

[0049] The gripping clamp 2 is provided with two gripping parts 21. The two gripping parts 21 can be close to or far apart from each other, and a gripping space for gripping poultry is formed between the two gripping parts 21.

[0050] The cloaca-turning clamp 3 is provided with two cloaca-turning components 31. The two cloaca-turning components 31 can be relatively close or far apart, and an operating space for opening the cloaca of poultry is formed between the two cloaca-turning components 31.

[0051] Image recognition mechanism 4, which includes processor 41 and image acquisition device 42, wherein image acquisition device 42 is connected to processor 41;

[0052] The gripping clamp 2 and the anal-turning clamp 3 are mounted on the mounting end of the robotic arm 11, and the image acquisition device 42 is mounted on the robotic arm 11.

[0053] The processor 41 is configured to control the gripper 2 to grasp poultry based on the image information acquired by the image acquisition unit 42;

[0054] The processor 41 is also configured to control the cloacal clamp 3 to open the poultry's cloaca based on the image information acquired by the image acquisition device 42.

[0055] Specifically, in actual use, the poultry assisted insemination robot moves to the poultry farming area via the walking mechanism 1. The walking mechanism 1 can adopt a four-wheel drive structure, with each drive wheel equipped with an independent servo motor, enabling the robot to move stably in different ground environments within the farm.

[0056] When the walking mechanism 1 approaches the chicken cage containing the poultry to be inseminated, it uses ultrasonic sensors and lidar installed on the walking mechanism 1 to perceive the environment and obtain the location information of the chicken cage and poultry, thereby accurately locating the target poultry. The walking mechanism 1 can be represented by an AGV or other equipment with automatic guided movement, and there are no restrictions on its physical form.

[0057] After the walking mechanism 1 moves to the chicken cage where the poultry to be inseminated is located, the robotic arm 11 drives the gripper 2 to move, and combines the image information collected by the image acquisition device 42 to locate the position of the poultry. Specifically, the image acquisition device 42 acquires images of the poultry and transmits the acquired image information to the processor 41 in real time. The processor 41, based on image recognition algorithms, identifies the features of the poultry in the image, accurately determines the position and posture of the poultry, and ensures that the gripper 2 can adjust its position in real time when gripping the poultry, thereby improving the accuracy and efficiency of poultry gripping.

[0058] Before handling the poultry, the cage door needs to be opened. This can usually be done manually by the operator who moves alongside the poultry assisted insemination robot, and there are no restrictions on this.

[0059] After the poultry in the cage is held in the gripper 2, the gripper 2 automatically adjusts the position of the poultry so that the chicken's rear end faces the cloaca-turning clamp 3. The image acquisition device 42 then acquires image information of the poultry in the gripper 2. Based on the image information acquired by the image acquisition device 42, the processor 41 accurately moves the cloaca-turning clamp 3 close to the chicken's rear end, positioning the two cloaca-turning components 31 between the two components. The cloaca-turning components 31 are placed against the poultry's body, with the two components 31 relatively far apart, to slowly pry open the poultry's cloaca to expose the vaginal opening.

[0060] Finally, after the cloaca is opened, the subsequent artificial insemination process can be completed by manually inserting the insemination device 51 into the vaginal opening of the cloaca to inject semen.

[0061] After insemination, the cloacal clamp 3 is removed from the poultry, and then the clamp 2 is used to release the poultry. The cage door is then manually closed. The poultry assisted insemination robot can then move to the next target cage and repeat the above operation process to achieve semi-automated operation of poultry artificial insemination.

[0062] It should be noted that in existing poultry farms, the space in the chicken cages is limited, and the poultry usually cannot move or turn around freely inside the cages. In this case, the difficulty of accurately grabbing the poultry using the gripping clamp 2 can be reduced.

[0063] Compared with existing technologies, the beneficial effects of this application are as follows: By setting a gripping clamp 2 and a cloacal opening clamp 3 on the robotic arm 11, the gripping clamp 2 can automatically grasp poultry, while the cloacal opening clamp 3 can automatically open the cloaca of poultry, effectively avoiding the risk of finger deformation caused by repetitive and high-intensity cloacal opening operations, and greatly reducing the intensity of manual labor. On the other hand, the processor 41 in the image recognition mechanism 4 can precisely control the gripping clamp 2 and the cloacal opening clamp 3 according to the image information acquired by the image acquisition device 42. Compared with traditional manual operation, the application of this robot can also significantly reduce labor costs and the intensity of manual labor, and significantly improve the economic benefits of breeding.

[0064] In one embodiment of this application, as Figure 1 As shown, the robotic arm 11 includes a first robotic arm and a second robotic arm, which are mounted on the walking mechanism 1.

[0065] The gripping clamp 2 is mounted on the first robotic arm, and the anal-turning clamp 3 is mounted on the second robotic arm.

[0066] Specifically, in order to drive the gripping clamp 2 and the anal clamp 3 to move respectively, the robotic arm 11 is equipped with a first robotic arm and a second robotic arm. The first robotic arm and the second robotic arm can be represented by a single-arm robot 111. For example, the single-arm robot 111 can be the ABB IRB 6640 single-arm robot. There are no restrictions here.

[0067] The first robotic arm will move the corresponding gripper 2, while the second robotic arm will move the corresponding anal-turning gripper 3. In this way, the gripper 2 and the anal-turning gripper 3 do not interfere with each other during their movement.

[0068] Furthermore, in order to accurately acquire image information, such as Figure 1 As shown, the image acquisition device 42 includes a first camera 423 and a second camera 424, and the first camera 423 and the second camera 424 are respectively connected to the processor 41;

[0069] The first camera 423 is mounted on the first robotic arm and moves with the gripper 2. The processor 41 is configured to control the gripper 2 to grasp poultry based on the image information captured by the first camera 423.

[0070] The second camera 424 is mounted on the second robotic arm and moves with the cloaca-opening clamp 3. The processor 41 is configured to control the cloaca-opening clamp 3 to open the poultry's cloaca based on the image information captured by the second camera 424.

[0071] Specifically, once the poultry assisted insemination robot moves to the chicken cage containing the target poultry via the walking mechanism 1, the first camera is activated to capture images of the cage. Its shooting angle is automatically adjusted based on the movement of the first robotic arm. The captured image information is transmitted to the processor 41 in real time. Based on image recognition algorithms, the processor 41 identifies the poultry features in the images, accurately determining the poultry's position and posture, thereby determining the optimal gripping position for the grasping clamp 2. Subsequently, the processor 41 sends control commands to the first robotic arm, which then manipulates the grasping clamp 2 to perform the gripping action. After gripping, the first robotic arm adjusts the posture of the grasping clamp 2 so that the poultry's rear end faces outwards, facilitating the operation of the vent-turning clamp 3.

[0072] After the gripper 2 completes the gripping operation of the poultry, the second camera starts working, capturing close-up images of the poultry's cloaca. Its lens can automatically focus to ensure a clear image of the cloaca. The captured image information is also transmitted to the processor 41 in real time. The processor 41 analyzes the position of the cloaca based on an image recognition algorithm and then sends instructions to the second robotic arm. The second robotic arm controls the cloaca-turning gripper 3 to operate, and the two cloaca-turning components 31 of the gripper 3 fully expose the cloaca.

[0073] In another embodiment, such as Figure 2 and Figure 3 As shown, the robotic arm 11 is a dual-arm robot 112, the gripping clamp 2 is disposed on the second arm 1122 of the dual-arm robot 112, and the anal-turning clamp 3 is disposed on the first arm 1121 of the dual-arm robot 112.

[0074] Specifically, the two arms of the dual-arm robot 112 are used to meet the installation and movement requirements of the gripping clamp 2 and the anal-turning clamp 3.

[0075] After the second arm 1122 drives the gripper 2 into the chicken cage and completes the poultry grasping operation, the first arm 1121 drives the cloac-opening gripper 3 to move closer to the poultry and open the cloaca to assist in artificial insemination. The dual-arm robot 112 can be an ABB IRB 14000 YUMI model dual-arm robot; no specific restrictions are imposed here.

[0076] Furthermore, the image acquisition device 42 also includes a third camera 421 and a fourth camera 422, which are respectively connected to the processor 41;

[0077] The third camera 421 is mounted on the second arm 1122 and moves with the gripper 2. The processor 41 is configured to control the gripper 2 to grasp poultry based on the image information captured by the third camera 421.

[0078] The fourth camera 422 is mounted on the second arm 1122 and moves with the cloaca-opening clamp 3. The processor 41 is configured to control the cloaca-opening clamp 3 to open the poultry's cloaca based on the image information captured by the fourth camera 422.

[0079] In this embodiment, the specific physical entity representing the camera can be an industrial camera commonly used in industrial production, and no restrictions or further details are provided here.

[0080] In one embodiment of this application, the gripping fixture 2 is further provided with a first mounting base 22 and a first driving component 23. The gripping component 21 is disposed on the first mounting base 22, and the first driving component 23 is configured to drive the gripping component 21 to move relative to each other on the first mounting base 22.

[0081] Specifically, the gripping fixture 2 mounts two gripping components 21 via a first mounting base 22, and the two gripping components 21 are driven by a first driving component 23 to perform corresponding gripping actions. The gripping components 21 can be hinged to the first mounting base 22 via a pivot, and the first driving component 23 can be an electric push rod, which is hinged between the two gripping components 21. Based on the image recognition result, the processor 41 sends a control signal to the first driving component 23. After receiving the signal, the first driving component 23 starts to operate to drive the two gripping components 21 to move closer or further apart on the first mounting base 22.

[0082] Furthermore, the gripping component 21 is provided with a first pressure sensor 24, which is connected to the processor 41; the processor 41 is configured to control the magnitude of the pressure generated by the gripping component 21 based on the pressure value detected by the first pressure sensor 24.

[0083] Specifically, since the poultry being grasped varies in size, the clamping force applied by the two grasping components 21 is controllable in order to reliably grasp the poultry and avoid injury caused by excessive clamping force. To this end, a first pressure sensor 24 is installed on the inner side of the grasping component 21. After the two grasping components 21 clamp the poultry, the first pressure sensor 24 on the grasping component 21 can monitor the pressure applied to the poultry in real time, thereby adjusting the magnitude of the clamping force generated between the two grasping components 21.

[0084] During the approach process, when the gripping component 21 comes into contact with the poultry, the first pressure sensor 24 installed on the gripping component 21 monitors the pressure in real time and feeds the data back to the processor 41. The processor 41 adjusts the output force of the first drive component 23 in real time according to the preset gripping force range to ensure that the poultry can be gripped firmly without causing damage.

[0085] In one embodiment of this application, the anal-turning clamp 3 is further provided with a second mounting base 32 and a second driving component 33. The anal-turning component 31 is disposed on the second mounting base 32, and the second driving component 33 is configured to drive the two anal-turning components 31 to move relative to each other on the second mounting base 32.

[0086] Specifically, the anal-turning clamp 3 mounts two anal-turning components 31 via the second mounting base 32, and the two anal-turning components 31 are driven by the second driving component 33 to perform corresponding anal-turning actions. Based on the image recognition result, the processor 41 sends a control signal to the second driving component 33. Upon receiving the signal, the second driving component 33 begins to operate, driving the two anal-turning components 31 to move relatively away from each other on the second mounting base 32, thereby performing the prying action.

[0087] Furthermore, in order to reliably and effectively open the cloaca, the anal opening component 31 includes a swing arm 311, a connecting rod 312, and a lever 313. The swing arm 311 and the connecting rod 312 are rotatably mounted on the second mounting base 32. One end of the lever 313 is hinged to the swing arm 311, the middle part of the lever 313 is hinged to the connecting rod 312, and the other end of the lever 313 is fitted with a flexible sleeve (not shown).

[0088] The second drive component 33 is configured to drive the two swing arms 311 to swing synchronously in opposite directions.

[0089] Specifically, the second drive component 33 uses a servo motor to provide power. The motor shaft of the servo motor can transmit power to the two swing arms 311 on the second mounting base 32 through gear transmission, so as to drive the two swing arms 311 to rotate synchronously in opposite directions.

[0090] When the processor 41 determines, based on the acquired image information, that anal eversion is required, it sends a control command to the second drive unit 33. Upon receiving the command, the second drive unit 33 starts the servo motor, driving the two swing arms 311 to swing synchronously in opposite directions.

[0091] During the swinging process, the swing arm 311 will cause the two actuating rods 313 to move away from each other through the connecting rod 312. In this way, the actuating rods 313 can effectively perform the prying action on both sides of the cloaca to effectively open the cloaca.

[0092] The other end of the lever 313 is fitted with a flexible sleeve made of medical-grade silicone material, which has good flexibility and wear resistance. When the lever 313 approaches the cloaca, the flexible sleeve makes contact with the poultry's skin first, and its soft material can effectively avoid causing hard damage to the poultry; at the same time, the surface of the flexible sleeve has a certain friction to ensure that the lever 313 does not slip when force is applied.

[0093] Under the continuous drive of the second drive component 33, the two actuating levers 313 apply force to the poultry cloaca from both sides via the flexible sleeve, gradually opening the cloaca.

[0094] Furthermore, a notch structure 314 is provided on the inner side of the other end of the actuating rod 313, and a turning-over area is formed between the two notch structures 314.

[0095] Specifically, in its initial state, the two notch structures 314 of the cloaca-opening clamp 3 are close to each other, and the area formed between them is sufficient to cover the cloaca of the poultry. Thus, after the actuating rod 313 is placed against the surface of the poultry's body, the cloaca is positioned between the two notch structures 314, and then the actuating rod 313 is activated to better open the cloaca.

[0096] Furthermore, since the second driving component 33 is a physical manifestation of a drive motor, the anal clamp 3 is also provided with a torque sensor 34, which is configured to detect the torque of the drive motor.

[0097] The torque sensor 34 is connected to the processor 41;

[0098] The processor 41 is configured to control the operation of the drive motor based on the torque value detected by the torque sensor 34.

[0099] Specifically, during the process of opening the cloaca, the torque sensor 34 installed on the second drive component 33 can monitor the torque in real time, so as to limit the external pulling force generated by the lever 313 on the cloaca, so as to avoid damage to poultry due to excessive force.

[0100] Furthermore, in order to ensure that the lever 313 can effectively adhere to the surface of the poultry's body, a second pressure sensor 35 is provided on the vent-turning component 31, and the second pressure sensor 35 is connected to the processor 41; the processor 41 is configured to control the pressure exerted by the vent-turning component 31 on the poultry based on the pressure value detected by the second pressure sensor 35.

[0101] Specifically, after the lever 313 is placed against the poultry's body, the second pressure sensor 35 will detect the magnitude of the pressure generated by the lever 313, and then control the magnitude of the support force provided by the robotic arm 11 to the cloaca clamp 3. This ensures that the lever 313 has sufficient friction with the poultry's surface while avoiding excessive pressure from the lever 313, which could cause injury to the poultry.

[0102] The second pressure sensor 35 is located on the surface of the lever 313 that comes into contact with the poultry, so as to detect the pressure applied to the poultry more directly and accurately.

[0103] The specific models of the pressure sensor and torque sensor 34, as well as the parameters for triggering the processor 41, can be adjusted and selected according to the actual application environment requirements, and no restrictions are imposed here.

[0104] In addition, the processor 41 can be a device with image processing capabilities, such as a CPU, and there are no restrictions on its model or specific image processing program.

[0105] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A poultry-assisted insemination robot, characterized in that, include: A walking mechanism, on which a robotic arm is mounted; A gripping clamp is provided with two gripping components, which can be close to or far apart from each other, forming a gripping space between the two gripping components for gripping poultry; The cloaca-turning clamp has two cloaca-turning components, which can be close to or far apart from each other, and the two cloaca-turning components form an operating space for opening the cloaca of poultry; An image recognition mechanism, comprising a processor and an image acquisition device, wherein the image acquisition device is connected to the processor; The gripping fixture and the anal-turning fixture are mounted on the mounting end of the robotic arm, and the image acquisition device is mounted on the robotic arm.

2. The poultry assisted insemination robot according to claim 1, characterized in that, The robotic arm includes a first robotic arm and a second robotic arm, which are mounted on the walking mechanism. The gripping fixture is mounted on the first robotic arm, and the anal-turning fixture is mounted on the second robotic arm.

3. The poultry assisted insemination robot according to claim 2, characterized in that, The image acquisition device includes a first camera and a second camera, which are respectively connected to the processor. The first camera is mounted on the first robotic arm and moves with the gripper; the processor is configured to control the gripper to grasp poultry based on the image information captured by the first camera. The second camera is mounted on the second robotic arm and moves with the cloaca-opening clamp. The processor is configured to control the cloaca-opening clamp to open the poultry's cloaca based on the image information captured by the second camera.

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

5. The poultry-assisted insemination robot according to claim 4, characterized in that, The image acquisition device also includes a third camera and a fourth camera, which are respectively connected to the processor; The third camera is mounted on the second arm and moves with the gripper; the processor is configured to control the gripper to grasp poultry based on the image information captured by the third camera. The fourth camera is mounted on the second arm and moves with the cloaca-opening clamp. The processor is configured to control the cloaca-opening clamp to open the poultry's cloaca based on the image information captured by the fourth camera.

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

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

8. The poultry assisted insemination robot according to claim 7, characterized in that, The anal turning component includes a swing arm, a connecting rod, and a lever. The swing arm and the connecting rod are rotatably mounted on the second mounting base. One end of the lever is hinged to the swing arm, the middle part of the lever is hinged to the connecting rod, and the other end of the lever is fitted with a flexible sleeve. The second drive component is configured to drive the two swing arms to swing synchronously in opposite directions.

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

10. The poultry assisted insemination robot according to claim 1, characterized in that, The gripping component is equipped with a first pressure sensor, which is connected to the processor; the processor is configured to control the magnitude of the pressure generated by the gripping component based on the pressure value detected by the first pressure sensor. And / or, The anal-turning component is equipped with a second pressure sensor, which is connected to the processor. The processor is configured to control the pressure exerted on the poultry by the cloaca-turning component when it is pressed against the poultry, based on the pressure value detected by the second pressure sensor.

Images