TW202015534A

TW202015534A - Automatic poultry cutting device and method thereof including a cutter that chops poultry according to a chopping parameter determined by a judgment module, thereby improving an executing efficiency to avoid hygiene issues

Info

Publication number: TW202015534A
Application number: TW107136433A
Authority: TW
Inventors: 吳鋐源; 林孟慧
Original assignee: 元進莊企業股份有限公司
Priority date: 2018-10-16
Filing date: 2018-10-16
Publication date: 2020-05-01
Also published as: TWI678156B

Abstract

The present invention relates to an automatic poultry cutting device including: an image recognition module, a chopping module and a first delivering module. The image recognition module includes an image acquisition module and an image processing module. The image acquisition module acquires a poultry image. The image processing module converts each image into a 2D or 3D contour image. The chopping module includes a cutter and a chopping tray for cutting poultry and a judgment module. The judgment module determines a poultry size according to the 2D or 3D contour image so as to determine a chopping parameter. The cutter chops the poultry according to the chopping parameter determined by the judgment module for dividing into multiple pieces. The first delivering module delivers the poultry between the image recognition module and the chopping module. The present invention also relates to an automatic poultry cutting method applicable to the above automatic poultry cutting device.

Description

家禽自動分切裝置及其方法Poultry automatic cutting device and method

本發明係關於一種自動分切裝置及其方法，尤其是一種家禽自動分切裝置及其方法。The invention relates to an automatic cutting device and method, in particular to an automatic cutting device and method for poultry.

當今人們所提的農業4.0資料係整合養殖、加工、銷售的相關資料，建立資料庫，延伸至每個產品，甚至到達原物料都有其製造資料，讓每個用戶可以用的安心，吃的放心。其中，隨著畜牧業的發展，節省人力成本的概念逐漸受到業界的重視，家禽業為提升品質，必須整合養殖環境控制的多個項目，之後再將每批家禽從育種/孵化、養殖、屠宰、加工、銷售等的資料彙整與收集，以達成建立生產式履歷的目的。The agricultural 4.0 data mentioned by people today integrates relevant information on breeding, processing, and sales, establishes a database, and extends to each product, even the raw materials have their manufacturing data, so that each user can use it with peace of mind, eat rest assured. Among them, with the development of animal husbandry, the concept of saving labor costs is gradually paid attention to by the industry. To improve the quality of the poultry industry, it is necessary to integrate multiple projects for the control of the breeding environment, and then each batch of poultry from breeding/incubation, breeding, slaughter , Processing, sales and other data collection and collection, in order to achieve the purpose of establishing a production type resume.

而關於家禽肉品加工方面包括前段的屠宰以及後期的分切與包裝等步驟，家禽經屠宰產線的作業流程如：消毒、電暈、脫毛、清洗、冷卻等步驟的期間，最重要的就是溫度、電壓以及濕度的控制，而屠宰作業的時間也是其中的關鍵之一；以後期的分切步驟來說，現有技術的家禽分切技術係人工品管篩檢以及單刀分切操作，其操作方式為半自動方式進行，考慮到各種型態或大小體型的家禽其身體結構以及部位分布皆不相同，無法針對各種家禽進行最佳化間距的分切，且由於半自動模式需要大量的人力參與，不僅在效率上明顯不彰、加上作業時間較久會可能有較多的衛生問題，在人員作業安全上也因為經常需要卸除或更換輸送設備以及刀具等而有較高的工安風險。The processing of poultry meat includes the slaughtering of the first stage and the cutting and packaging of the later stage. The process of the poultry slaughtering production line such as: disinfection, corona, hair removal, cleaning, cooling and other steps, the most important is Control of temperature, voltage and humidity, and the time of slaughtering operations is also one of the keys; for the latter cutting step, the prior art poultry cutting technology is manual quality control screening and single knife cutting operation, its operation The method is a semi-automatic way. Considering that different types or sizes of poultry have different body structures and parts distribution, it is impossible to cut the optimal spacing for various poultry, and because the semi-automatic mode requires a lot of human participation, not only Obviously, the efficiency is not obvious, and the longer the working time, there may be more health problems. In the safety of personnel operations, there is a high risk of work safety because of the frequent need to remove or replace the conveying equipment and tools.

此外，針對家禽肉品的自動檢測方法，習知技術透過超分光光譜影像系統以線掃描方式拍攝國產肉雞屠體胸部光譜影像，進而分析肉雞屠體是否合格。但是，目前仍然沒有針對家禽肉品進行檢測並自動分切的裝置。因此，有必要提出一種家禽自動分切裝置，其能夠針對不同大小與體型的家禽進行最佳化的分切，具有較高的執行效率，且由於採用全自動化作業流程，故可大幅降低處理時間上的衛生問題以及避免工安操作風險。In addition, for the automatic detection method of poultry meat, the conventional technology uses a hyperspectral spectral imaging system to take a line scan of the breast broiler carcass spectral image, and then analyzes whether the broiler carcass is qualified. However, there is still no device to detect and automatically cut poultry meat. Therefore, it is necessary to propose a poultry automatic cutting device, which can optimize the cutting of poultry of different sizes and body types, has a high execution efficiency, and because of the fully automated operation process, it can greatly reduce the processing time Health problems and avoid the risk of industrial safety operations.

鑒於前述之習知技術的缺點，本發明之主要目的係提供一種家禽自動分切裝置，其能夠自動辨識且篩選家禽品質，且進一步針對不同大小與體型的家禽進行最佳化間距的一次性分切，由於採用全自動化作業流程，故可達到提升執行效率且降低處理時間上的衛生問題以及避免工安操作風險之目的。In view of the shortcomings of the aforementioned prior art, the main object of the present invention is to provide an automatic poultry slitting device that can automatically identify and screen poultry quality, and further perform a one-time optimal spacing separation for poultry of different sizes and sizes In addition, due to the use of a fully automated operation process, it can achieve the purpose of improving execution efficiency and reducing sanitation problems in processing time and avoiding industrial safety operation risks.

為了達到前述目的及其他目的，本發明之一種家禽自動分切裝置，包括：一影像辨識模組、一剁切模組以及一第一輸送模組。影像辨識模組包括至少一影像擷取模組以及至少一影像處裡模組。至少一影像擷取模組係用以擷取至少一家禽的至少一影像。至少一影像處理模組係用以接收並轉換每一至少一影像為一2D或3D輪廓影像。剁切模組係用以與影像辨識模組連接，剁切模組包括用以分切至少一家禽的至少一刀具、一剁盤以及一判斷模組。剁盤用以承載至少一家禽。判斷模組依據2D或3D輪廓影像判斷至少一家禽的的尺寸，以對應尺寸決定一剁切參數。至少一刀具係與剁盤相對設置，且至少一刀具依據判斷模組所決定的剁切參數對至少一家禽進行剁切而分切成多塊。第一輸送模組，係連接於影像辨識模組與剁切模組之間，第一輸送模組用以於影像辨識模組與剁切模組之間輸送至少一家禽。In order to achieve the foregoing object and other objects, the poultry automatic cutting device of the present invention includes: an image recognition module, a chop cutting module and a first conveying module. The image recognition module includes at least one image capturing module and at least one image processing module. At least one image capturing module is used to capture at least one image of at least one poultry. At least one image processing module is used to receive and convert each at least one image into a 2D or 3D contour image. The chopping module is used to connect with the image recognition module. The chopping module includes at least one cutter for cutting at least one poultry, a chopping plate, and a judgment module. Chopping trays are used to carry at least one poultry. The judging module judges the size of at least one poultry according to the 2D or 3D contour image, and determines a cutting parameter according to the corresponding size. At least one cutter is arranged opposite to the chopping tray, and at least one cutter chops at least one poultry according to the chopping parameters determined by the judgment module and divides into multiple pieces. The first conveying module is connected between the image recognition module and the chop module. The first conveying module is used to convey at least one poultry between the image recognition module and the chop module.

藉此，其能夠針對不同大小與體型的家禽以至少一刀具進行最佳化間距的分切，由於採用全自動化作業流程，故可達到提升執行效率且降低處理時間上的衛生問題以及避免工安操作風險之目的。In this way, it can cut the optimal spacing for poultry of different sizes and sizes with at least one cutter. Due to the use of a fully automated process, it can achieve improved execution efficiency and reduce hygiene problems in processing time and avoid work safety. The purpose of operational risk.

進一步而言，該剁切模組更包括至少一防護閘門以及至少一警示燈號，該至少一防護閘門用以防止該至少一家禽以外的東西承載於該剁盤上；該至少一警示燈號用以當該至少一防護閘門、該多數個刀具以及該剁盤之其中至少一者及其組合發生異常時進行閃爍。Further, the chopping module further includes at least one protective gate and at least one warning light signal, the at least one protective gate is used to prevent things other than the at least one poultry from being carried on the chop plate; the at least one warning light signal It is used to flash when at least one of the at least one protective gate, the plurality of knives, and the chop plate and their combination are abnormal.

進一步而言，該剁切模組更包括有至少一異物檢測器以及至少一金屬檢測器，該至少一異物檢測器係用以當該剁盤承載該至少一家禽時，檢測該剁盤上是否有其他異物進入，該至少一異物檢測器為一紅外線測距儀、一雷射測距儀、一超音波測距儀之其中一者；以及，該至少一金屬探測器與該第一輸送模組連接，用以當該剁盤所承載的該至少一家禽被移除時，檢測被移除的該至少一家禽是否具有金屬殘留物。Further, the chopping module further includes at least one foreign object detector and at least one metal detector. The at least one foreign object detector is used to detect whether the chopping tray is loaded when the chopping tray carries the at least one poultry When other foreign objects enter, the at least one foreign object detector is one of an infrared rangefinder, a laser rangefinder, and an ultrasonic rangefinder; and, the at least one metal detector and the first conveying die A group connection is used to detect whether the removed at least one poultry has metal residues when the at least one poultry carried by the chop tray is removed.

進一步而言，更包括一第二輸送模組以及一網際網路伺服器；該第二輸送模組係連接於該影像辨識模組，用以輸送未擷取該至少一影像的該至少一家禽至該影像辨識模組；該網際網路伺服器係連接於至少一網際網路，且用以自動地擷取該2D或3D輪廓影像以及該強度比值。Further, it further includes a second conveying module and an internet server; the second conveying module is connected to the image recognition module and is used to convey the at least one poultry without capturing the at least one image To the image recognition module; the Internet server is connected to at least one Internet, and is used to automatically capture the 2D or 3D contour image and the intensity ratio.

進一步而言，更包括一資料庫，連接該判斷模組，用以儲存該至少一家禽的尺寸與該剁切參數的相對關係，以讓該判斷模組根據該相對關係決定該剁切參數。Further, it further includes a database connected to the judgment module for storing the relative relationship between the size of the at least one poultry and the chop parameter, so that the judgment module determines the chop parameter according to the relative relationship.

進一步而言，剁切模組為一導螺桿下壓模組，以帶動至少一刀具下壓而進行剁切。Further, the chopping and cutting module is a lead screw pressing module to drive at least one cutter to press and cut.

進一步而言，至少一影像擷取模組係用以擷取至少一家禽的一俯視影像與一側視影像。至少一影像處理模組用以接收並分別轉換俯視影像與側視影像為一俯視2D輪廓影像與一側視2D輪廓影像。判斷模組分別計算俯視2D輪廓影像與側視2D輪廓影像的面積，以判斷尺寸而決定該剁切參數。Further, at least one image capturing module is used to capture a bird's eye view image and a side view image of at least one poultry. At least one image processing module is used to receive and convert the top view image and the side view image into a top view 2D contour image and a side view 2D contour image, respectively. The judgment module calculates the area of the top view 2D contour image and the side view 2D contour image respectively to determine the size and determine the cutting parameter.

鑒於前述之習知技術的缺點，本發明之另一目的係提供一種家禽自動分切方法，包括下列步驟：擷取至少一家禽的至少一影像；接收並轉換每一該至少一影像為一2D或3D輪廓影像；依據該2D或3D輪廓影像以及一辨識條件判斷該尺寸，以對應該尺寸決定一剁切參數；依據該剁切參數對該至少一家禽進行剁切而分切成多塊。In view of the disadvantages of the aforementioned conventional technology, another object of the present invention is to provide a poultry automatic segmentation method, including the following steps: capturing at least one image of at least one poultry; receiving and converting each of the at least one image into a 2D Or a 3D contour image; determine the size according to the 2D or 3D contour image and an identification condition, to determine a chop parameter according to the size; chop the at least one poultry according to the chop parameter and divide into multiple pieces.

進一步而言，分切該至少一家禽的步驟中，當檢測該剁切模組中有其他異物進入時，使至少一警示燈號閃爍並停止分切該至少一家禽；以及，當檢測該至少一家禽具有金屬殘留物時，使至少一警示燈號閃爍並停止分切該至少一家禽。Further, in the step of slitting the at least one poultry, when it is detected that other foreign objects enter the chop module, at least one warning light blinks and the slitting of the at least one poultry is stopped; and, when the at least one poultry is detected When a poultry has metal residues, make at least one warning light flash and stop cutting the at least one poultry.

進一步而言，擷取該至少一影像的步驟包括：擷取至少一家禽的一俯視影像與一側視影像；接收並轉換為該2D或3D輪廓影像的步驟包括：接收該並分別轉換該俯視影像與該側視影像為一俯視2D輪廓影像與一側視2D輪廓影像；且決定該剁切參數的步驟包括：分別計算該俯視2D輪廓影像與該側視2D輪廓影像的面積判斷該尺寸而決定該剁切參數。Further, the step of capturing the at least one image includes: capturing a top-view image and a side-view image of at least one poultry; the step of receiving and converting the 2D or 3D contour image includes: receiving and converting the top view respectively The image and the side-view image are a top-view 2D outline image and a side-view 2D outline image; and the step of determining the chop parameters includes: calculating the areas of the top-view 2D outline image and the side-view 2D outline image to determine the size and Decide the chop parameters.

以下係藉由特定的具體實施例說明本發明之實施方式，熟悉此技術之人士可由本說明書所揭示之內容輕易地瞭解本發明之其他優點及功效。本發明亦可藉由其他不同的具體實例加以施行或應用，本發明說明書中的各項細節亦可基於不同觀點與應用在不悖離本發明之精神下進行各種修飾與變更。The following is a description of the embodiments of the present invention by specific specific examples. Those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied by other different specific examples. Various details in the description of the present invention can also be modified and changed based on different viewpoints and applications without departing from the spirit of the present invention.

須知，本說明書所附圖式繪示之結構、比例、大小、元件數量等，均僅用以配合說明書所揭示之內容，以供熟悉此技術之人士瞭解與閱讀，並非用以限定本發明可實施之限定條件，故不具技術上之實質意義，任何結構之修飾、比例關係之改變或大小之調整，在不影響本發明所能產生之功效及所能達成之目的下，均應落在本發明所揭示之技術內容得能涵蓋之範圍內。It should be noted that the structure, proportion, size, number of elements, etc. shown in the drawings in this specification are only used to match the contents disclosed in the specification for those familiar with this technology to understand and read, not to limit the invention. The conditions for implementation are not technically significant. Any modification of structure, change of proportional relationship or adjustment of size should fall within the scope of the present invention without affecting the efficacy and purpose of the invention. The technical content disclosed by the invention can be covered.

請參閱圖1至圖3所示，圖1至圖3為本發明之家禽自動分切裝置的架構示意圖。Please refer to FIG. 1 to FIG. 3, which are schematic structural diagrams of the poultry automatic cutting device of the present invention.

以下依據本發明之實施例，描述一種家禽自動分切裝置，包括：一影像辨識模組10、一剁切模組20、一第一輸送模組30、一第二輸送模組40以及一資料庫60。The following describes an automatic poultry slitting device according to an embodiment of the present invention, including: an image recognition module 10, a chopping module 20, a first conveying module 30, a second conveying module 40, and a data Library 60.

其中，影像辨識模組10係包括一影像擷取模組11以及一影像處裡模組12，影像擷取模組11係用以擷取家禽70的影像71，且影像71可為紅外線影像、灰階或是彩色影像，用以進行紅外線影像辨識或進行攝像比對來偵測實體。影像擷取模組11可以為一照相機、攝影機、3D建模攝影機等。影像擷取模組11也可以至少由一組以上照相機、攝影機、3D建模攝影機等組成。在本實施例中，家禽種類包括土雞、黑骨雞、番鴨、鵝等。此外，此處所指的家禽70並不限於整隻家禽，亦可先由人工進行初步分切成不同部位的肉品，例如家禽腿肉、家禽胸肉等等。並且，家禽70亦可為已加熱煮熟的狀態，以在後續分切後能包裝進入熟食市場，但亦不以此為限。The image recognition module 10 includes an image capturing module 11 and an image processing module 12, the image capturing module 11 is used to capture the image 71 of the poultry 70, and the image 71 may be an infrared image, Grayscale or color images are used for infrared image recognition or camera comparison to detect entities. The image capturing module 11 can be a camera, a camera, a 3D modeling camera, and so on. The image capturing module 11 may also be composed of at least one set of cameras, cameras, 3D modeling cameras, and so on. In this embodiment, the poultry species include native chicken, black bone chicken, muscovy duck, goose and so on. In addition, the poultry 70 referred to here is not limited to the whole poultry, but can also be preliminarily cut into different parts of meat by hand, such as poultry leg meat, poultry breast meat, etc. In addition, the poultry 70 may also be in a state of being cooked and heated so that it can be packaged into the cooked food market after subsequent slitting, but it is not limited to this.

影像處理模組12係用以接收並轉換影像71為2D或3D輪廓影像72。影像處理模組12還可用以在轉換影像71為2D或3D輪廓影像72的過程中，先對影像71進行二值化等影像處理，以利後續判斷分析。The image processing module 12 is used to receive and convert the image 71 into a 2D or 3D contour image 72. The image processing module 12 can also be used to first perform image processing such as binarization on the image 71 during the process of converting the image 71 into a 2D or 3D contour image 72, so as to facilitate subsequent judgment and analysis.

剁切模組20係用以與影像辨識模組10連接，剁切模組20包括用以分切家禽70的至少一刀具21、剁盤22以及判斷模組23。剁盤22用以承載家禽70。判斷模組23依據該2D或3D輪廓影像72判斷家禽70的的尺寸，以對應尺寸決定一剁切參數51。在本實施例中，家禽70的的尺寸包括肉品總長度、總寬度與總厚度等，剁切參數51包括一下刀位置、一下刀次數、一下刀力道與一下刀間距中的至少其中之一。此外，刀具21的數量可根據需要做選擇，例如可利用單一刀具作多次剁切，亦可選擇採用多個刀具作一次性的剁切，在此並不作限制。The chopping module 20 is used to connect with the image recognition module 10. The chopping module 20 includes at least one cutter 21 for cutting poultry 70, a chopping plate 22 and a judgment module 23. The chop plate 22 is used to carry poultry 70. The judging module 23 judges the size of the poultry 70 according to the 2D or 3D contour image 72, and determines a chop parameter 51 according to the corresponding size. In this embodiment, the size of the poultry 70 includes the total length, width and thickness of the meat, etc. The cutting parameter 51 includes at least one of the position of the knife, the number of times of the knife, the force of the knife and the distance between the knife . In addition, the number of knives 21 can be selected according to needs. For example, a single knife can be used for multiple chopping, or multiple tools can be used for one-time chopping, which is not limited herein.

刀具21係與剁盤22相對設置，且刀具21依據判斷模組23所決定的剁切參數51自動地調整刀具21之間的間距與剁切力道對該至少一家禽進行剁切而分切成多塊。The cutter 21 is arranged opposite to the chopping plate 22, and the cutter 21 automatically adjusts the spacing between the cutters 21 and the chopping force according to the chopping parameters 51 determined by the judgment module 23 to chop the at least one poultry and divide it into Multiple pieces.

此外，剁切模組20例如為一沖壓模組或是一導螺桿下壓模組。值得一提的是，剁切模組20選用導螺桿下壓模組時，能夠用下壓速度控制力道，避免沖壓模組的油壓不能達到瞬間剁切力量的需求。In addition, the cutting module 20 is, for example, a punching module or a lead screw pressing module. It is worth mentioning that when the chopper module 20 selects the lead screw down module, it can use the down speed to control the force, to avoid that the hydraulic pressure of the stamping module cannot meet the requirement of instant chop force.

在本發明之實施例中，剁切模組20更包括防護閘門24、警示燈號25、異物檢測器26以及金屬檢測器27。其中，防護閘門24用以防止家禽70以外的東西承載於剁盤22上；警示燈號25用以當防護閘門24、多數個刀具21以及剁盤22之其中至少一者及其組合發生異常時進行閃爍；異物檢測器26係用以當剁盤22承載家禽70時，檢測剁盤22上是否有其他異物進入，異物檢測器26可為一紅外線測距儀、一雷射測距儀、一超音波測距儀之其中一者；以及，金屬探測器27與第一輸送模組30連接，用以當剁盤22所承載的家禽70被移除時，檢測被移除的家禽70是否具有金屬殘留物。在另一未繪示的實施例中，防護閘門24、警示燈號25、異物檢測器26以及金屬檢測器27等元件並不一定要設置於剁切模組20中，也可以獨立設置或是與其他構件配合成另外的模組，在本實施例中並不以此為限。In the embodiment of the present invention, the chop module 20 further includes a protective gate 24, a warning light 25, a foreign object detector 26, and a metal detector 27. Among them, the protective gate 24 is used to prevent things other than poultry 70 from being carried on the chop plate 22; the warning light 25 is used when at least one of the protective gate 24, the plurality of knives 21, and the chop plate 22 and their combination are abnormal Flashing; the foreign object detector 26 is used to detect whether other foreign objects enter the chop tray 22 when the chop tray 22 carries the poultry 70. The foreign object detector 26 can be an infrared rangefinder, a laser rangefinder, a One of the ultrasonic rangefinders; and, the metal detector 27 is connected to the first conveying module 30 to detect whether the removed poultry 70 has the poultry 70 carried by the chop tray 22 when the poultry 70 is removed Metal residue. In another embodiment not shown, the protective gate 24, the warning light 25, the foreign object detector 26, and the metal detector 27 and other components do not necessarily need to be installed in the cutting module 20, but can also be installed independently or In combination with other components to form another module, this embodiment is not limited to this.

第一輸送模組30係連接於影像辨識模組10與剁切模組20之間，第一輸送模組30用以於影像辨識模組10與剁切模組20之間輸送家禽70。在本發明之實施例中，第一輸送模組30係為至少一機械手臂或一輸送帶(圖中未示)。The first conveying module 30 is connected between the image recognition module 10 and the chop module 20. The first conveying module 30 is used to convey the poultry 70 between the image recognition module 10 and the chop module 20. In the embodiment of the present invention, the first conveying module 30 is at least one robotic arm or a conveying belt (not shown).

第二輸送模組40係連接於影像辨識模組10，用以輸送尚未擷取影像的家禽至影像辨識模組10。在本發明之實施例中，第二輸送模組40係為至少一輸送帶(圖中未示)，其以串聯以及並聯之其中至少一者所構成。The second conveying module 40 is connected to the image recognition module 10 and is used to convey the poultry that has not captured the image to the image recognition module 10. In the embodiment of the present invention, the second conveying module 40 is at least one conveying belt (not shown), which is composed of at least one of series and parallel.

此外，家禽自動分切裝置更可包括肉品偵測單元(圖中未示)，設置於第一輸送模組30與第二輸送模組40，用以偵測家禽70是否到達第一輸送模組30與第二輸送模組40上的定位，以對應控制第一輸送模組30與第二輸送模組40輸送或停止輸送家禽70。肉品偵測單元可為紅外線感測器或影像感測器。In addition, the poultry automatic slitting device may further include a meat detection unit (not shown), which is provided in the first conveying module 30 and the second conveying module 40 to detect whether the poultry 70 reaches the first conveying module The group 30 and the second conveying module 40 are positioned to correspondingly control the first conveying module 30 and the second conveying module 40 to convey or stop conveying the poultry 70. The meat detection unit may be an infrared sensor or an image sensor.

在本實施例中，家禽自動分切裝置更可包括一網際網路伺服器(圖中未示)，網際網路伺服器係連接於至少一網際網路(圖中未示)，且用以自動地擷取2D或3D輪廓影像72。In this embodiment, the poultry automatic slitting device may further include an Internet server (not shown), the Internet server is connected to at least one Internet (not shown), and used to Automatically capture 2D or 3D contour images 72.

資料庫60連接判斷模組23，資料庫60用以儲存家禽70的尺寸與剁切參數51的相對關係，以讓判斷模組23根據相對關係決定剁切參數51。舉例來說，資料庫60可儲存家禽70的2D或3D輪廓影像72的特徵值與相對應的下刀力道等剁切參數51。詳細來說，在建構資料庫60的前期作業需要人工輸入與特徵值相對應的下刀力道等剁切參數51，將特徵值與下刀力道輸入矩陣運算後，經由大量的肉品實驗，而建立對應的數學模型。之後，判斷模組23即可利用此模型來決定剁切參數51。The database 60 is connected to the judgment module 23, and the database 60 is used to store the relative relationship between the size of the poultry 70 and the chop parameter 51, so that the judgment module 23 determines the chop parameter 51 according to the relative relationship. For example, the database 60 can store the characteristic values of the 2D or 3D contour image 72 of the poultry 70 and the corresponding cutting parameters 51 such as the lower blade force. In detail, in the preliminary operation of constructing the database 60, it is necessary to manually input the cutting parameters 51 such as the lower knife force corresponding to the eigenvalues. After inputting the eigenvalues and the lower knife force into the matrix operation, after a large number of meat experiments, and Establish the corresponding mathematical model. Afterwards, the determination module 23 can use this model to determine the cutting parameter 51.

圖4為本發明之家禽自動分切方法的流程圖，以下將配合圖1之家禽自動分切裝置與圖4的流程圖，來說明本發明之家禽自動分切方法。FIG. 4 is a flowchart of the poultry automatic slitting method of the present invention. The poultry automatic slitting device of FIG. 1 and the flowchart of FIG. 4 will be described below to illustrate the poultry automatic slitting method of the present invention.

請參考圖1與圖4，開始使用本發明之家禽自動分切裝置時，首先進行步驟S01，家禽70係透過影像辨識模組10的影像擷取模組11擷取對應的影像71。舉例來說，影像71可為紅外線影像、灰階或是彩色影像。此外，在進行步驟S01之前，可先由人工對家禽70做部位分切。在本實施例中，影像71例如為影像擷取模組11所擷取之雞腿肉的俯視影像與側視影像(未繪示)。Please refer to FIG. 1 and FIG. 4, when the poultry automatic slitting device of the present invention is started, step S01 is first performed, and the poultry 70 captures the corresponding image 71 through the image capturing module 11 of the image recognition module 10. For example, the image 71 may be an infrared image, grayscale, or color image. In addition, before performing step S01, the poultry 70 may be manually segmented. In this embodiment, the image 71 is, for example, a top-view image and a side-view image (not shown) of the chicken thigh meat captured by the image capturing module 11.

接著進行步驟S02，接收並轉換每一至少一影像71為一2D或3D輪廓影像72。圖5為圖1之家禽自動分切裝置所轉換的俯視2D輪廓影像與側視2D輪廓影像的示意圖。請配合參考圖5，影像處裡模組12可先將影像71(即，雞腿肉的俯視影像與側視影像)二值化。接著，影像處裡模組12再進行連通量處理，將小碎肉、油漬處理呈現完整肉品輪廓計算找到家禽70的位置，進而轉換成俯視2D輪廓影像T與側視2D輪廓影像S。Next, step S02 is performed to receive and convert each at least one image 71 into a 2D or 3D contour image 72. 5 is a schematic diagram of a top view 2D profile image and a side view 2D profile image converted by the poultry automatic slitting device of FIG. 1. With reference to FIG. 5, the image processing module 12 may first binarize the image 71 (that is, the top view image and the side view image of the chicken leg meat). Then, the image processing module 12 performs the communication processing again, calculates the position of the poultry 70 by calculating the complete meat outline of the small minced meat and oil stains, and then converts it into a top view 2D outline image T and a side view 2D outline image S.

然後進行步驟S03，判斷模組23依據該2D或3D輪廓影像判斷該至少一家禽70的尺寸，以對應尺寸決定一剁切參數。詳細來說，判斷模組23可從俯視2D輪廓影像T判斷出家禽70的總長度L、總寬度W，並從側視2D輪廓影像S判斷出家禽70的總厚度H。圖6為圖1之家禽自動分切裝置所決定之剁切參數的示意圖。請配合參考圖6，判斷模組23根據總長度L、總寬度W與總厚度H，計算俯視2D輪廓影像T與側視2D輪廓影像S的面積，再與資料庫60所儲存的特徵值進行比對與建模運算，進而計算出下刀位置P、下刀間距O與下刀次數、下刀力道等等的剁切參數51。舉例來說，判斷模組23可利用波長強對比值判斷實體尺寸，亦或者使用影像拍攝而與實體辨識比對的方法來確定下刀次數。Then, in step S03, the determining module 23 determines the size of the at least one poultry 70 according to the 2D or 3D contour image, and determines a cutting parameter according to the corresponding size. In detail, the determination module 23 can determine the total length L and the total width W of the poultry 70 from the top view 2D contour image T, and the total thickness H of the poultry 70 from the side view 2D contour image S. FIG. 6 is a schematic diagram of chop parameters determined by the poultry automatic slitting device of FIG. 1. With reference to FIG. 6, the judgment module 23 calculates the area of the top view 2D contour image T and the side view 2D contour image S based on the total length L, the total width W and the total thickness H, and then performs with the feature values stored in the database 60 Comparison and modeling calculations, and then calculate the cutting parameters 51 of the lower blade position P, the lower blade distance O and the lower blade times, the lower blade force, etc. For example, the determination module 23 may use the strong wavelength contrast value to determine the size of the entity, or use image capture to compare with the entity identification method to determine the number of times the knife is cut.

此外，在本實施例中，總厚度H亦可用來判斷家禽70是否適合進行剁切。例如，當總厚度H大於刀具21與剁盤22的間距時，亦可即時通知作業人員進行排除，或是自動移除此家禽70。In addition, in this embodiment, the total thickness H can also be used to determine whether the poultry 70 is suitable for chopping. For example, when the total thickness H is greater than the distance between the cutter 21 and the chop plate 22, the operator can be notified immediately to exclude, or the poultry 70 can be automatically removed.

最後進行步驟S04，剁切模組20依據剁切參數51，利用刀具21對家禽70進行剁切而分切成多塊。值得一提的是，藉由本發明之家禽自動分切裝置與方法，能夠達到每小時300盤的分切效率，相較於以人工剁切的方式不但效率提高，剁切擺盤的效果也較為一致與美觀。此外，在本實施例中，亦可設定清潔度，定時通知作業人員對刀具21與剁盤22進行清潔。Finally, in step S04, the chopping module 20 chops the poultry 70 with the cutter 21 according to the chopping parameters 51 and divides into multiple pieces. It is worth mentioning that, with the poultry automatic cutting device and method of the present invention, the cutting efficiency of 300 discs per hour can be achieved. Compared with the manual chopping method, not only the efficiency is improved, but also the effect of chopping and swaying the plate is more Consistency and beauty. In addition, in this embodiment, the degree of cleanliness can also be set, and the operator is notified regularly to clean the cutter 21 and the chop plate 22.

圖7為本發明之家禽自動分切裝置的異物檢測器的判斷示意圖；圖8為本發明之家禽自動分切裝置的金屬檢測器的判斷示意圖。請參考圖7與圖8，在本實施例中關於分切家禽70的步驟中，更包括異物檢測步驟(步驟S06)，當異物檢測器26檢測剁切模組20中有其他異物進入時，使警示燈號25閃爍並停止分切家禽70的相關作業(步驟S07)，若否則繼續進行後續的分切作業(步驟S08)；進一步而言，在本發明之實施例中關於分切家禽70的步驟中，當前述分切作業結束後家禽70自剁盤22移除(步驟S09)之後，包括金屬檢測步驟(步驟S10)，此時當金屬檢測器27檢測家禽70具有金屬殘留物時，使警示燈號25閃爍並停止分切家禽70的相關作業(步驟S11)，若否則繼續進行後續的分切作業(步驟S12)。藉此，由於採用如前述的全自動化作業流程，故可達到提升執行效率且降低處理時間上的衛生問題以及避免工安操作風險之目的。此外，分切後的家禽70亦可進行一包裝程序(圖中未示)，而上述異物檢測步驟與金屬檢測步驟亦可在包裝完成過後進行，並不以此為限。7 is a schematic diagram of the judgment of the foreign object detector of the poultry automatic slitting device of the present invention; FIG. 8 is a schematic diagram of the judgment of the metal detector of the poultry automatic slitting device of the present invention. Please refer to FIGS. 7 and 8. In the step of cutting poultry 70 in this embodiment, a foreign object detection step (step S06) is further included. When the foreign object detector 26 detects that other foreign objects enter the chop module 20, Make the warning light 25 blink and stop the relevant operations of cutting poultry 70 (step S07), if not, continue the subsequent cutting operation (step S08); further, in the embodiment of the present invention, regarding the cutting of poultry 70 In the step, after the poultry 70 is removed from the chop tray 22 after the aforementioned slitting operation is completed (step S09), a metal detection step (step S10) is included, when the metal detector 27 detects that the poultry 70 has metal residues, The warning light 25 flashes and the relevant operations of cutting the poultry 70 are stopped (step S11), if not, the subsequent cutting operation is continued (step S12). In this way, due to the use of the fully automated operation process as described above, the purpose of improving execution efficiency and reducing sanitation problems in processing time and avoiding operational safety risks can be achieved. In addition, the poultry 70 after slitting can also carry out a packaging procedure (not shown in the figure), and the above-mentioned foreign body detection step and metal detection step can also be carried out after the packaging is completed, which is not limited thereto.

圖9為圖1之家禽自動分切裝置的架體與第一輸送模組的示意圖。請參考圖9與圖1，本實施例的家禽自動分切裝置更可包括一架體500，可移動地設置於第一輸送模組40之上。架體500用於設置影像辨識模組10，且包括至少一側滑軌501與一頂滑軌502。在本實實施例中，側滑軌501的數量為兩個，分別設置在對應第一輸送模組40兩側的位置。頂滑軌502設置於對應第一輸送模組40上方的位置。9 is a schematic diagram of the frame and the first conveying module of the poultry automatic slitting device of FIG. 1. Please refer to FIGS. 9 and 1. The poultry automatic slitting device of this embodiment may further include a frame 500, which is movably disposed on the first conveying module 40. The frame 500 is used for setting the image recognition module 10 and includes at least one side slide rail 501 and a top slide rail 502. In this actual embodiment, the number of side slide rails 501 is two, which are respectively disposed at positions corresponding to both sides of the first conveying module 40. The top slide rail 502 is disposed above the first conveying module 40.

影像辨識模組10的影像擷取模組11可分別配置於側滑軌501與頂滑軌502，以沿著側滑軌501與頂滑軌502移動。當由第一輸送模組40所輸送的家禽肉品到達對應架體500處時，即可藉由沿著側滑軌501與頂滑軌502移動的影像擷取模組11，來截取家禽肉品的側視影像與俯視影像。The image capturing module 11 of the image recognition module 10 can be respectively disposed on the side slide rail 501 and the top slide rail 502 to move along the side slide rail 501 and the top slide rail 502. When the poultry meat conveyed by the first conveying module 40 reaches the corresponding rack body 500, the poultry meat can be intercepted by the image capturing module 11 moving along the side slide rail 501 and the top slide rail 502 The side view image and top view image of the product.

此外，架體500更可在頂滑軌501上方具有一容置空間500a，用於設置影像辨識模組10的主機部分(如電腦、伺服器等)，而不須額外的空間來擺放。當第一輸送模組40需要清潔或是影像辨識模組10需要維護時，也只要將架體500移出第一輸送模40組即可進行後續處理，相當方便。In addition, the rack body 500 can further have an accommodating space 500a above the top slide rail 501 for setting up the host portion of the image recognition module 10 (such as a computer, a server, etc.) without requiring additional space for placement. When the first conveying module 40 needs to be cleaned or the image recognition module 10 needs maintenance, it is convenient to move the rack 500 out of the first conveying mold 40 group for subsequent processing.

綜上所述，本發明上述實施例的家禽自動分切裝置，其能夠針對不同大小與體型的家禽進行最佳化的分切，具有較高的執行效率，且由於採用全自動化作業流程，故可大幅降低處理時間上的衛生問題以及避免工安操作風險。In summary, the poultry automatic slitting device of the above embodiment of the present invention can perform optimal slitting for poultry of different sizes and body types, has higher execution efficiency, and because it adopts a fully automated operation process, Can greatly reduce the sanitation problems in processing time and avoid the risk of industrial safety operations.

10:影像辨識模組11:影像擷取模組12:影像處裡模組20:剁切模組21:刀具22:剁盤23:判斷模組24:防護閘門25:警示燈號26:異物檢測器27:金屬檢測器30:第一輸送模組40:第二輸送模組50:判斷模組51:剁切參數60:資料庫70:家禽71:影像72:2D或3D輪廓影像500:架體500a:容置空間501:側滑軌502:頂滑軌S01~S12:步驟L:總長度W:總寬度H:總厚度P:下刀位置O:下刀間距S:側視2D輪廓影像T:俯視2D輪廓影像 10: Image recognition module 11: Image capture module 12: Image processing module 20: Chopping module 21: Cutter 22: Chopping plate 23: Judgment module 24: Protection gate 25: Warning light 26: Foreign body Detector 27: Metal detector 30: First conveying module 40: Second conveying module 50: Judging module 51: Chopping parameters 60: Database 70: Poultry 71: Image 72: 2D or 3D contour image 500: Frame 500a: accommodating space 501: side rail 502: top rail S01~S12: step L: total length W: total width H: total thickness P: lower blade position O: lower blade spacing S: side-view 2D profile Image T: Overlooking 2D contour image

圖1至圖3為本發明之家禽自動分切裝置的架構示意圖；圖4為本發明之家禽自動分切方法的流程圖；圖5為圖1之家禽自動分切裝置所轉換的俯視2D輪廓影像與側視2D輪廓影像的示意圖；圖6為圖1之家禽自動分切裝置所決定之剁切參數的示意圖；圖7為本發明之家禽自動分切裝置的異物檢測器的判斷示意圖；圖8為本發明之家禽自動分切裝置的金屬檢測器的判斷示意圖；以及圖9為圖1之家禽自動分切裝置的架體與第一輸送模組的示意圖。1 to 3 are schematic structural diagrams of a poultry automatic slitting device of the present invention; FIG. 4 is a flowchart of a poultry automatic slitting method of the present invention; FIG. 5 is a top-view 2D profile converted from the poultry automatic slitting device of FIG. 1 Image and side view 2D contour image schematic diagram; FIG. 6 is a schematic diagram of the chop parameters determined by the poultry automatic slitting device of FIG. 1; FIG. 7 is a schematic diagram of the judgment of the foreign object detector of the poultry automatic slitting device of the invention; 8 is a schematic diagram of the judgment of the metal detector of the poultry automatic slitting device of the present invention; and FIG. 9 is a schematic diagram of the frame and the first conveying module of the poultry automatic slitting device of FIG. 1.

10:影像辨識模組 10: Image recognition module

11:影像擷取模組 11: Image capture module

12:影像處裡模組 12: The module in the image office

20:剁切模組 20: Chopping module

21:刀具 21: Tool

22:剁盤 22: Chop plate

23:判斷模組 23: judge module

24:防護閘門 24: protective gate

25:警示燈號 25: Warning light

26:異物檢測器 26: Foreign body detector

27:金屬檢測器 27: Metal detector

30:第一輸送模組 30: The first conveyor module

40:第二輸送模組 40: Second conveyor module

60:資料庫 60: Database

Claims

一種家禽自動分切裝置，包括：一影像辨識模組，係包括至少一影像擷取模組以及至少一影像處裡模組，該至少一影像擷取模組係用以擷取至少一家禽的至少一影像；該至少一影像處理模組係用以接收該並轉換每一該至少一影像為一2D或3D輪廓影像；一剁切模組，係用以與該影像辨識模組連接，該剁切模組包括用以分切該至少一家禽的至少一刀具、一剁盤以及一判斷模組；該剁盤用以承載該至少一家禽；該判斷模組依據該2D或3D輪廓影像判斷該至少一家禽的的尺寸，以對應該尺寸決定一剁切參數；該至少一刀具係與該剁盤相對設置，且該至少一刀具依據該判斷模組所決定的該剁切參數對該至少一家禽進行剁切而分切成多塊；以及一第一輸送模組，係連接於該影像辨識模組與該剁切模組之間，該第一輸送模組用以於該影像辨識模組與該剁切模組之間輸送該至少一家禽。A poultry automatic slitting device includes: an image recognition module including at least one image capturing module and at least one image processing module, the at least one image capturing module is used to capture at least one poultry At least one image; the at least one image processing module is used to receive and convert each of the at least one image into a 2D or 3D contour image; a chop module is used to connect with the image recognition module, the The chop module includes at least one cutter for cutting the at least one poultry, a chop plate and a judgment module; the chop plate is used to carry the at least one poultry; the judgment module judges according to the 2D or 3D contour image The size of the at least one poultry determines a chopping parameter according to the corresponding size; the at least one cutter is disposed opposite to the chopping plate, and the at least one cutter determines the at least one cutter according to the chopping parameter determined by the judgment module. A poultry is chopped and cut into multiple pieces; and a first conveying module is connected between the image recognition module and the chopping module, the first conveying module is used for the image recognition module The at least one poultry is transported between the group and the chop module.

如申請專利範圍第1項所述的家禽自動分切裝置，其中，該剁切模組更包括至少一防護閘門以及至少一警示燈號，該至少一防護閘門用以防止該至少一家禽以外的東西承載於該剁盤上；該至少一警示燈號用以當該至少一防護閘門、該多數個刀具以及該剁盤之其中至少一者及其組合發生異常時進行閃爍。The poultry automatic cutting device as described in item 1 of the patent application scope, wherein the chop cutting module further includes at least one protective gate and at least one warning light signal, the at least one protective gate is used to prevent Things are carried on the chop plate; the at least one warning light is used to flash when at least one of the at least one protective gate, the plurality of knives, the chop plate, and combinations thereof are abnormal.

如申請專利範圍第1項或第2項所述的家禽自動分切裝置，其中，該剁切模組更包括有至少一異物檢測器以及至少一金屬檢測器，該至少一異物檢測器係用以當該剁盤承載該至少一家禽時，檢測該剁盤上是否有其他異物進入，該至少一異物檢測器為一紅外線測距儀、一雷射測距儀、一超音波測距儀之其中一者；以及，該至少一金屬探測器與該第一輸送模組連接，用以當該剁盤所承載的該至少一家禽被移除時，檢測被移除的該至少一家禽是否具有金屬殘留物。The poultry automatic slitting device as described in item 1 or item 2 of the patent application scope, wherein the chop module further includes at least one foreign object detector and at least one metal detector, the at least one foreign object detector is used When the chop plate carries the at least one poultry, it is detected whether other foreign objects enter the chop plate. The at least one foreign object detector is an infrared rangefinder, a laser rangefinder, an ultrasonic rangefinder One of them; and, the at least one metal detector is connected to the first conveying module for detecting whether the removed at least one poultry has when the at least one poultry carried by the chop plate is removed Metal residue.

如申請專利範圍第1項或第2項所述的家禽自動分切裝置，更包括一第二輸送模組以及一網際網路伺服器；該第二輸送模組係連接於該影像辨識模組，用以輸送未擷取該至少一影像的該至少一家禽至該影像辨識模組；該網際網路伺服器係連接於至少一網際網路，且用以自動地擷取該2D或3D輪廓影像。The poultry automatic slitting device as described in item 1 or item 2 of the patent application scope further includes a second conveying module and an internet server; the second conveying module is connected to the image recognition module , Used to transport the at least one bird that has not captured the at least one image to the image recognition module; the Internet server is connected to at least one Internet and used to automatically capture the 2D or 3D contour image.

如申請專利範圍第1項或第2項所述的家禽自動分切裝置，更包括一資料庫，連接該判斷模組，用以儲存該至少一家禽的尺寸與該剁切參數的相對關係，以讓該判斷模組根據該相對關係決定該剁切參數。If the poultry automatic cutting device described in item 1 or item 2 of the patent application scope further includes a database connected to the judgment module, used to store the relative relationship between the size of the at least one poultry and the chop parameter, In order for the judgment module to determine the chopping parameter according to the relative relationship.

如申請專利範圍第1項或第2項所述的家禽自動分切裝置，其中，該剁切模組為一導螺桿下壓模組，以帶動該至少一刀具下壓而進行剁切。The poultry automatic slitting device as described in item 1 or 2 of the patent application scope, wherein the chop module is a lead screw pressing module to drive the at least one cutter to press down for chop cutting.

如申請專利範圍第1項或第2項所述的家禽自動分切裝置，其中，該至少一影像擷取模組係用以擷取至少一家禽的一俯視影像與一側視影像；該至少一影像處理模組用以接收並分別轉換該俯視影像與該側視影像為一俯視2D輪廓影像與一側視2D輪廓影像；且該判斷模組分別計算該俯視2D輪廓影像與該側視2D輪廓影像的面積，以判斷該尺寸而決定該剁切參數。The poultry automatic slitting device as described in item 1 or item 2 of the patent application scope, wherein the at least one image capturing module is used to capture a top-view image and a side-view image of at least one poultry; the at least An image processing module is used to receive and convert the top-view image and the side-view image into a top-view 2D contour image and a side-view 2D contour image, respectively; and the determination module calculates the top-view 2D contour image and the side-view 2D, respectively The area of the contour image is used to determine the size and determine the cutting parameters.

一種家禽自動分切方法，包括下列步驟：擷取至少一家禽的至少一影像；接收並轉換每一該至少一影像為一2D或3D輪廓影像；依據該2D或3D輪廓影像判斷該至少一家禽的尺寸，以對應該尺寸決定一剁切參數；以及依據該剁切參數對該至少一家禽進行剁切而分切成多塊。A poultry automatic cutting method includes the following steps: capturing at least one image of at least one poultry; receiving and converting each of the at least one image into a 2D or 3D contour image; judging the at least one poultry according to the 2D or 3D contour image The size of the corresponding to determine a chopping parameter; and chopping the at least one poultry into multiple pieces according to the chopping parameter.

如申請專利範圍第8項所述的家禽自動分切方法，其中，分切該至少一家禽的步驟中，當檢測該剁切模組中有其他異物進入時，使至少一警示燈號閃爍並停止分切該至少一家禽，若否則繼續進行分切該至少一家禽；以及，當檢測該至少一家禽具有金屬殘留物時，使至少一警示燈號閃爍並停止分切該至少一家禽，若否則繼續進行分切該至少一家禽。The poultry automatic slitting method as described in item 8 of the patent application scope, wherein in the step of slitting the at least one poultry, when it is detected that other foreign matter enters the chop module, at least one warning light flashes and Stop cutting the at least one poultry, if not, continue to cut the at least one poultry; and, when detecting that the at least one poultry has metal residues, make at least one warning light flash and stop cutting the at least one poultry, if Otherwise, continue to cut the at least one poultry.

如申請專利範圍第8項或第9項所述的家禽自動分切方法，其中，擷取該至少一影像的步驟包括：擷取該至少一家禽的一俯視影像與一側視影像；接收並轉換為該2D或3D輪廓影像的步驟包括：接收該並分別轉換該俯視影像與該側視影像為一俯視2D輪廓影像與一側視2D輪廓影像；且決定該剁切參數的步驟包括：分別計算該俯視2D輪廓影像與該側視2D輪廓影像的面積判斷該尺寸而決定該剁切參數。The poultry automatic cutting method as described in item 8 or 9 of the patent scope, wherein the step of capturing the at least one image includes: capturing a top-view image and a side-view image of the at least one poultry; receiving and The steps of converting to the 2D or 3D contour image include: receiving and converting the top-view image and the side-view image into a top-view 2D contour image and a side-view 2D contour image; and the step of determining the chop parameters includes: The area of the top view 2D contour image and the side view 2D contour image is calculated to determine the size and determine the cutting parameter.