Machine-vision-based poultry thorax cleaning robot system

Abstract

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.

Description

technical field [0001] The invention relates to a poultry slaughtering equipment, in particular to a poultry evisceration robot system based on machine vision. Background technique [0002] Poultry meat is an indispensable staple food in the daily life of millions of households. After the live poultry trading market has been gradually canceled in domestic cities, centralized poultry slaughtering has become the general trend. Large-scale poultry slaughtering and processing enterprises mainly adopt fully automated joint operations and manual-assisted assembly line operations for centralized poultry slaughtering and subsequent processing. Due to the limitations of the domestic poultry slaughtering and processing scale and processing technology, most small and medium-sized enterprises still use manual assistance. The working method of the assembly line, and this method has problems such as high labor intensity, low work efficiency, and poor working environment. [0003] Poultr...

AI Technical Summary

Problems solved by technology

They basically realize the function of automatically extracting viscera, but they have high requirements for the consistency of poultry individual size. When the poultry has a large difference in size, after the evisceration work is completed, the viscera damage rate, visceral residual rate and evisceration error rate There will be more significant changes, and subsequent manual reprocessing is required, which cannot fully meet the production needs of domestic poultry slaughter and evisceration work

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