The invention relates to poultry slaughtering equipment and particularly relates to a
machine-vision-based poultry
thorax cleaning
robot system which comprises a poultry body conveying device, a
machine vision device, a
calculator, an
electric control cabinet, a dual-rectangle coordinate type
manipulator, a poultry body clamping device and a
thorax cleaning terminal executor, wherein the
machine vision device is adopted to collect a body profiled outline image and a
thorax opening image of the poultry on line; the profiled outline
barycentric coordinates and thorax opening center coordinates of the poultry are calculated by virtue of an
image processing technology, the coordinate information is transmitted into the
calculator in real time, and the
calculator controls the movement of a corresponding mechanical
manipulator on the dual-rectangle coordinate type
manipulator in real time according to the coordinate information so as to accurately finish the thorax cleaning operation, so that the integrality of internal organs after thorax cleaning is effectively ensured; the calculator can effectively control a corresponding stepping motor according to the coordinate information collected by the
machine vision device, so that online thorax cleaning is realized; the poultry body clamping device can adjust the clamping space according to the
body size and
body type of the poultry.