Overturning and death are common abnormalities in cage-reared ducks. To achieve timely and accurate detection, this study focused on 10-day-old cage-reared ducks, which are prone to these conditions, and established prior data on such situations. Using the original YOLOv8 as the base network, multiple GAM attention mechanisms were embedded into the feature fusion part (neck) to enhance the network’s focus on the abnormal regions in images of cage-reared ducks. Additionally, the Wise-IoU loss function replaced the CIoU loss function by employing a dynamic non-monotonic focusing mechanism to balance the data samples and mitigate excessive penalties from geometric parameters in the model. The image brightness was adjusted by factors of 0.85 and 1.25, and mainstream object-detection algorithms were adopted to test and compare the generalization and performance of the proposed method. Based on six key points around the head, beak, chest, tail, left foot, and right foot of cage-reared ducks, the body structure of the abnormal ducks was refined. Accurate estimation of the overturning and dead postures was achieved using the HRNet-48. The results demonstrated that the proposed method accurately recognized these states, achieving a mean Average Precision (mAP) value of 0.924, which was 1.65% higher than that of the original YOLOv8. The method effectively addressed the recognition interference caused by lighting differences, and exhibited an excellent generalization ability and comprehensive detection performance. Furthermore, the proposed abnormal cage-reared duck pose-estimation model achieved an Object Key point Similarity (OKS) value of 0.921, with a single-frame processing time of 0.528 s, accurately detecting multiple key points of the abnormal cage-reared duck bodies and generating correct posture expressions.

Salted duck egg yolk, a key ingredient in various specialty foods in China, frequently contains broken eggshell fragments embedded in the yolk due to high-speed shell-breaking processes, which pose significant food safety risks. This paper presents an online detection method, YOLOv7-SEY-DeepSORT (salted egg yolk, SEY), designed to integrate an enhanced YOLOv7 with DeepSORT for real-time and accurate identification of salted egg yolks with impurities on production lines. The proposed method utilizes YOLOv7 as the core network, incorporating multiple Coordinate Attention (CA) modules in its Neck section to enhance the extraction of subtle eggshell impurities. To address the impact of imbalanced sample proportions on detection accuracy, the Focal-EIoU loss function is employed, adaptively adjusting bounding box loss values to ensure precise localization of yolks with impurities in images. The backbone network is replaced with the lightweight MobileOne neural network to reduce model parameters and improve real-time detection performance. DeepSORT is used for matching and tracking yolk targets across frames, accommodating rotational variations. Experimental results demonstrate that YOLOv7-SEY-DeepSORT achieves a mean average precision (mAP) of 0.931, reflecting a 0.53% improvement over the original YOLOv7. The method also shows enhanced tracking performance, with Multiple Object Tracking Accuracy (MOTA) and Multiple Object Tracking Precision (MOTP) scores of 87.9% and 73.8%, respectively, representing increases of 17.0% and 9.8% over SORT and 2.9% and 4.7% over Tracktor. Overall, the proposed method balances high detection accuracy with real-time performance, surpassing other mainstream object detection methods in comprehensive performance. Thus, it provides a robust solution for the rapid and accurate detection of defective salted egg yolks and offers a technical foundation and reference for future research on the automated and safe processing of egg products.

In order to address the challenges of high labour intensity, low efficiency and harsh working environment in Chinese duck egg collecting operations, this study proposes an optimization technique for egg-collecting robot path planning based on ROS (Robot Operating System). Firstly, the Gmapping algorithm is used to map the laboratory environment for navigation purposes, while the AMCL (Adaptive Monte Carlo Localization) method is used to obtain the pose information of the egg-collecting robot. Secondly，the sequence of egg collecting tasks is determined using the ACA （Ant Colony Algorithm） to compute the shortest path length and node order. Finally， the navigation target points for egg collecting are computed to obtain their world coordinate positions. The global path planning for egg collecting is performed using the Dijkstra algorithm, and the local path planning and obstacle avoidance for the robot is implemented using the DWA (Dynamic Window Approach) algorithm. A test platform was set up based on the actual working environment of the egg-collecting robot to conduct continuous egg collecting navigation experiments, and the final egg collecting navigation accuracy rate was 89.3%.