CN106595527B - Control method of fish three-dimensional image scanning device - Google Patents
Control method of fish three-dimensional image scanning device Download PDFInfo
- Publication number
- CN106595527B CN106595527B CN201611256248.XA CN201611256248A CN106595527B CN 106595527 B CN106595527 B CN 106595527B CN 201611256248 A CN201611256248 A CN 201611256248A CN 106595527 B CN106595527 B CN 106595527B
- Authority
- CN
- China
- Prior art keywords
- fish
- state
- mark
- scanning
- setting
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01G—WEIGHING
- G01G17/00—Apparatus for or methods of weighing material of special form or property
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/80—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in fisheries management
- Y02A40/81—Aquaculture, e.g. of fish
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention belongs to the field of automatic measuring instruments for aquatic product research, and particularly relates to a control method of a fish three-dimensional image scanning device. The automatic fish-cleaning device comprises a controller and a material tray, wherein two fish-cleaning devices are arranged below the material tray, a three-dimensional scanning device is arranged between the two fish-cleaning devices, the controller is connected with the three-dimensional scanning device and a weighing device through data lines, the fish-cleaning device comprises a movable pressing plate, one side of the movable pressing plate is provided with a spring, the spring is installed in a fish-cleaning barrel, the fish-cleaning device positioned below the three-dimensional scanning device is connected with a transition groove, the weighing device is installed at an outlet of the transition groove, the three-dimensional scanning device comprises a light shielding box, and a horizontal linear array CCD sensor, a vertical linear array CCD sensor, a horizontal CCD light source, a vertical CCD light source and at least 3 line laser scanning assemblies are arranged in the light shielding box.
Description
Technical Field
The invention belongs to the field of automatic measuring instruments for aquatic product research, and particularly relates to a control method for fish three-dimensional image scanning.
Background
The existing line laser three-dimensional scanning device statically places a scanned object on a platform, the platform rotates or translates to drive the scanned object to rotate or translate to complete the point cloud data collection of the surface profile, and because the scanned object is placed on a scanning table, the contact part of the scanned object and the scanning table cannot be scanned, namely, the prior art cannot scan the surface of an irregular object, particularly a fish.
In aquatic science research, the method for scanning the whole body outline image of fish is an indispensable means for researching the growth rule of fish and obtaining basic information of fish, the conventional handheld three-dimensional scanner needs to scan all sides of a fish body for multiple times, the data precision is low, and three-dimensional scanning cannot be performed when a living fish struggles and beats.
Disclosure of Invention
The invention aims to provide a control method of a fish three-dimensional image scanning device, which can be used for rapidly scanning a whole body three-dimensional image of fish to obtain (x, y, z, R, G and B) space image information of each point on the surface of a fish body, namely the contour and the image information of the surface of the whole fish body.
The object of the invention is achieved in the following way: a fish three-dimensional image scanning device comprises a controller and a material tray, wherein two fish tidying devices are arranged below the material tray, a three-dimensional scanning device is arranged between the two fish tidying devices, the controller is connected with the three-dimensional scanning device and a weighing device through data lines, the fish tidying device comprises a movable pressing plate, one side of the movable pressing plate is provided with a spring, the spring is installed in a fish tidying barrel, the fish tidying device positioned below the three-dimensional scanning device is connected with a transition groove, the weighing device is installed at an outlet of the transition groove, the three-dimensional scanning device comprises a light shielding box, a horizontal linear array CCD sensor, a vertical linear array CCD sensor, a horizontal CCD light source, a vertical CCD light source and at least 3 linear laser scanning assemblies are arranged in the light shielding box, the horizontal linear array CCD sensor and the vertical linear array CCD sensor are positioned on one side of the light shielding box, and the horizontal CCD light source and the vertical CCD light source are positioned on the other side opposite to the horizontal linear array CCD sensor and the vertical linear array CCD sensor, the line laser scanning assemblies are uniformly distributed on the circumference of which the circle center is on the central axis of the inlet and the outlet of the light shading box.
The middle part of the material tray is provided with a material hole, and the lower part of the material hole is connected with a discharging barrel.
The line laser scanning component consists of a line laser emitter, a color camera and an image light source, wherein the line laser emitter and the color digital camera are arranged at the lower end of the image light source.
And an electronic tag reading device is arranged at the lower part of a movable pressing plate of the fish sorting device positioned below the three-dimensional scanning device.
The transition groove is connected with the fish tidying device through a rotating shaft.
The weighing device is an electronic scale with a trough-shaped tray.
The control method of fish three-dimensional image scanning device includes main method, CCD measurement interruption method and weighing interruption method, the main method circularly executes idle operation, waits for each interruption response, executes each interruption method after each interruption response,
the main method comprises the following working steps: (A) initializing each interrupt method module; (B) establishing communication connection with a computer to transmit data; (C) inquiring a fault mark; (D) if no fault mark exists, circularly executing the step (B); (E) if the fault mark exists, stopping running of each interruption method module; (F) displaying an error code; (G) stopping the machine;
the working steps of the CCD measurement interruption method are as follows: (1) detecting state bits, wherein the state bits comprise state 0CCD detection, state 1 laser scanning and state 2 image scanning; (2) if the state is 0CCD detection, judging whether CCD shadow width signal detection exists, if the CCD shadow width signal detection exists, requesting a measurement data memory, if the measurement data memory exists, detecting the scanning mark detection of the whole fish, if the scanning mark detection of the whole fish exists, newly adding a section scanning data memory, recording the projection position of the head or the tail of the fish on a vertical linear array CCD sensor, closing a CCD light source, starting a linear laser light source, setting a state 1 mark, then interrupting the return, if the scanning mark detection of the whole fish does not exist, setting the scanning mark of the whole fish, then newly adding a section scanning data memory, closing the CCD light source, starting the linear laser light source, recording the advancing speed of the fish, setting a state 1 mark, interrupting the return, if the measurement data memory does not exist, setting a fault mark and a code, and then interrupting the return; if no CCD shadow width signal detection exists, detecting whether the whole fish scanning mark exists or not, if the whole fish scanning mark exists, clearing the whole fish scanning mark, and then interrupting the return, if the whole fish scanning mark does not exist, interrupting the return; (3) if the state is 1 laser scanning, a) setting N =1, b) scanning and storing the laser point position of a camera of a number N line laser scanning assembly, c) setting N = N +1, d) judging whether N is greater than the total number of the line laser scanning assemblies, if N is greater than the total number of the line laser scanning assemblies, closing the line laser light source, starting an image light source, setting a state 2 mark, and interrupting the return; if N is not more than the total number of the line laser scanning assemblies, repeating the steps b) and c) until N is more than the total number of the line laser scanning assemblies, then closing the line laser light source, starting the image light source, setting a state 2 mark, and interrupting the return; (4) if the state is 2 image scanning, 1) setting N =1, 2) scanning and storing laser point images of a camera of a number N line laser scanning assembly, 3) setting N = N +1, 4) judging whether N is greater than the total number of the line laser scanning assemblies, if N is greater than the total number of the line laser scanning assemblies, closing an image light source, starting a CCD light source, setting a state 0 mark, and interrupting returning; if N is not more than the total number of the line laser scanning assemblies, repeating the steps 2) and 3) until N is more than the total number of the line laser scanning assemblies, then closing the image light source, starting the CCD light source, setting a state 0 mark, and interrupting the return;
the weighing interruption method comprises the following working steps: detecting state bits, wherein the state bits comprise state 0 preparation, state 1 weighing, state 2 discharging and state 3 returning; if the fish is in the state 0, reading a fish measurement starting mark, if the fish measurement starting mark exists, resetting the electronic scale, setting a state 1 mark, and then interrupting the return; if no measurement starting mark exists, the return is interrupted; if the state is 1, reading the weighing data of the electronic scale, if the weighing data of the electronic scale exists, recording the weighing data, setting a state 2 mark, and then interrupting the return; if the electronic scale does not weigh data, the return is interrupted; if the state 2 is unloaded, detecting whether the weighing is maximum, if so, recording the weighing data, setting a state 3 mark, and then interrupting the return; if not, interrupting the return; if the state is 3 return, detecting whether the weighing data is minimum, if so, setting a whole fish measurement completion mark, setting a state 0 mark, and then interrupting to return; if not, the interrupt returns.
The method also comprises an electronic tag reading interruption method, and the electronic tag reading interruption method comprises the following working steps: detecting state bits, wherein the state bits comprise state 0 ready, state 1 ready and state 2 reading; if the state is set to be 0, judging whether the electronic tag exists, if the electronic tag exists, setting a state 1 mark, and then interrupting the return; if no electronic tag exists, the return is interrupted; reading a fish measurement starting mark if the state 1 is ready, setting a state 2 mark if the measurement starting mark exists, and then interrupting and returning; if no measurement starting mark exists, the return is interrupted; if the state is read in the state 2, detecting the electronic tag signal, if the electronic tag signal exists, recording the electronic tag data, setting an electronic tag completion flag, then setting a state 0 flag, and interrupting the return; if no electronic tag signal exists, reading the measuring completion mark of the fish, if the measuring completion mark exists, setting the unfinished mark of the electronic tag, then setting a state 0 mark, interrupting the return, and if the measuring completion mark does not exist, interrupting the return.
The beneficial effects of the invention are: the invention can be used for rapidly scanning the whole three-dimensional image of fish to obtain the (x, y, z, R, G, B) space image information of each point on the surface of the fish body, namely the contour and the image information of the surface of the whole fish body, and can read the electronic tag information, weigh the weight of the fish body and the like, thereby greatly improving the working efficiency, reducing the damage to live fish and providing more detailed basic data for fish research.
Drawings
Fig. 1 is a schematic structural view of the present invention.
Fig. 2 is a schematic structural diagram of the present invention.
Fig. 3 is a schematic structural view of the fish tidying device.
Fig. 4 is a schematic structural diagram of a three-dimensional scanning device.
Fig. 5 is a flow chart of the main method.
Fig. 6 is a flowchart of a three-dimensional image scanning interruption method.
FIG. 7 is a flow chart of a weighing interruption method.
Fig. 8 is a flowchart of an electronic tag read interruption method.
Detailed Description
Example 1: as shown in fig. 1, 3 and 4, the fish three-dimensional scanning device comprises a controller 16 and a tray 13, wherein the controller 16 is connected with a three-dimensional scanning device 8 and a weighing device 20 through a data line, the controller 16 consists of a single chip microcomputer and a control circuit, a power supply 24 supplies power to the controller 16, a portable computer 15 is connected with the controller 16 through a wire or a wireless way and communicates with the controller 16 to transfer the recorded information in the controller into the portable computer for processing, a material hole is arranged in the middle of the tray 13, a lower material cylinder 14 is connected to the lower part of the material hole, the lower material cylinder 14 is a soft lower material cylinder, two fish management devices 1 are arranged below the tray 13 and aim to keep the posture of a fish body in the sliding and falling process all the time, a three-dimensional scanning device 8 is arranged between the two fish management devices, the controller 16 is connected with the fish management devices 1, the three-dimensional scanning device 8 and the weighing device 20 through data lines, and the fish management devices 1 comprise fish management cylinders 2, A movable pressing plate 3, a fish-handling cylinder 2 is a rectangular cylinder, three inner walls of the rectangular cylinder are smooth, one side of the movable pressing plate 3 is smooth, the other side of the movable pressing plate is connected with the non-smooth inner side of the rectangular cylinder through at least two springs 4, the movable pressing plate 3 is bent towards the spring side at the inlet part of the upper part of the rectangular cylinder and forms a horn mouth shape with three smooth inner sides of the inlet of the rectangular cylinder, when a fish head is downward and enters the inlet of the fish-handling device, the fish body slides down by the gravity of the fish body, the movable pressing plate 3 extrudes the fish body under the action of the springs 4 to adapt to the fish body with different body shapes and sizes or the characteristics of different body widths of the front part and the rear part of a fish and the like, simultaneously, the fixed live fish struggles and jumps, two narrow side surfaces of the fish body are clamped between the smooth surface of the movable pressing plate and the corresponding inner side surface of the rectangular cylinder, the fish body is arranged to be that the head is downward, the two side surfaces of the fish body are at left and the left and right positions and the back and the belly of the fish body, the fish body keep the posture sliding downward,
the three-dimensional scanning device 8 comprises a shading box 10, a horizontal linear array CCD sensor 6, a vertical linear array CCD sensor 7, a horizontal CCD light source 17, a vertical CCD light source 11 and at least 3 linear laser scanning components 5 are arranged in the shading box 10,
the horizontal linear array CCD sensor 6 and the vertical linear array CCD sensor 7 are positioned on one side of the shading box body, the horizontal CCD light source 17 and the vertical CCD light source 11 are positioned on the other side opposite to the horizontal linear array CCD sensor 6 and the vertical linear array CCD sensor 7, the linear laser scanning components 5 are uniformly distributed on the circumference of which the circle center is on the central axis of the inlet and the outlet of the shading box, the horizontal linear array CCD sensor and the light sources thereof are respectively arranged on the opposite sides, the direction of the light sensing points of the linear array CCD sensors is positioned on the scanning section, and the linear array CCD sensors are used for monitoring whether fish pass through the scanning section; the central area of a photosite of the vertical linear array CCD sensor is positioned on a scanning section, the photosite direction of the vertical linear array CCD sensor is consistent with the sliding direction of the fish body, the focus position of the vertical linear array CCD sensor is positioned at the central position of a movable platen and a corresponding measuring surface in a rectangular cylinder in the fish sorting device under the state of the relaxation of a spring, the vertical linear array CCD sensor is used for detecting the speed change of the fish body with any thickness passing through the measuring surface in the sliding process, and the other side of the vertical linear array CCD sensor is provided with a vertical CCD light source; all the line laser scanning assemblies, the two linear array CCD sensors and the light source are arranged in the shading box, so that interference of external light rays on three-dimensional scanning is prevented, and only two rectangular openings of the shading box are corresponding to the outlet of the upper fish tidying device and the inlet of the lower fish tidying device. The line laser scanning assembly consists of a line laser emitter 22, a color camera 23 and an image light source 21, and is based on the principle that a line laser is started to emit laser, a laser line is formed on the surface of a scanned object, the camera collects the pixel position of each laser point, the distance between the laser point and the photosensitive surface of the camera is obtained through a laser triangulation distance measuring method, the spatial position (x, y and z) of each point of the laser line on the surface of the scanned object can be calculated due to the fixed position of the camera, the line laser emission is stopped, the image light source is started, and the color camera can obtain the image information (R, G and B) of each pixel of which the position is determined by line laser scanning. When the forefront part of the head of a fish body enters a scanning section through the shading box inlet 9, the fish body shades a horizontal CCD light source and a vertical CCD light source, a projection is formed on a horizontal linear array CCD sensor, a trigger controller starts three-dimensional image scanning, the position of the front edge of the head of the fish body on the vertical linear array CCD sensor at the moment is recorded, the horizontal CCD light source and the vertical CCD light source are closed, a linear laser transmitter is started, each linear laser scanning assembly camera acquires the position data of each point contour line formed by laser of an angle range of the fish body on the scanning section, after all linear laser scanning assemblies complete laser linear scanning, linear laser stops transmitting, an image light source is started, each linear laser scanning assembly camera acquires the image data of each point of the laser contour line of the fish body in an angle range on the scanning section, and after all linear laser scanning assemblies complete image scanning, the image light source is stopped, and starting two CCD light sources and two linear array CCD sensors for monitoring, and entering the next scanning section cycle. Along with the downward sliding of the fish body, the controller collects spatial position data and image data (x, y, z, R, G and B) of each point of each section of the fish body at certain intervals, and simultaneously records the position information of the front edge of the head of the fish body or the rear edge of the fish tail on the vertical linear array CCD sensor at each interval period until the fish tail passes through the scanning section, the CCD cannot monitor the projection, and the controller stops recording. The fish body sliding process is uniform acceleration motion, and the speed of each interval of the whole fish can be calculated through the interval time, the head position change and the tail position change of the fish body. And obtaining the three-dimensional image information of the whole fish through comprehensive operation on all the interval scanning data and the fish body sliding speed. The fish processing device below the three-dimensional scanning device is connected with the transition groove 19 through the rotating shaft 12, the transition groove 19 is a soft arc-shaped transition groove, the inner wall of the transition groove is smooth, the fish body sliding vertically downwards is changed into horizontal inertia sliding without resistance, the two fish processing devices and the three-dimensional scanning device can be integrally inclined towards the right around the rotating shaft 12, the sliding direction and the horizontal angle of the fish body are smaller than 90 degrees, the sliding speed of the fish body is reduced, under the condition that the period of data acquisition of the three-dimensional scanning device 8 is fixed, the distance of each measuring section of the fish body is shortened, the measurement of the fish body is more accurate, the weighing device 20 is installed at the outlet of the transition groove 19, the weighing device 20 is an electronic scale with a groove-shaped disc, the inner wall of the groove-shaped disc is smooth, when the whole fish body slides into the groove-shaped disc, the controller 16 reads the data of the electronic scale, and the fish body slides out of the groove-shaped disc by means of inertia, and the measurement of one fish is completed.
The controller is connected with the two linear array CCD sensors, the light source, the three laser scanning assemblies and the groove-shaped disc electronic scale through the control and data lines. The controller monitors signals of the horizontal linear array CCD sensor, once a fish body passing through a scanning section is monitored, the controller continuously and periodically scans the outline and image information of the fish body, simultaneously records the projection position of the head or the tail of the fish body on the vertical linear array CCD sensor in real time, when the fish tail passes through the scanning section, the controller finishes the outline and image data acquisition and recording of the whole fish, and can calculate the speed of each section of the fish body, synthesize the data information of the outline, the image, the section speed and the like through the interval time and the projection position of the head or the tail of the fish body on the vertical linear array CCD sensor to obtain the three-dimensional image information of the fish body. And after the fish slides into the electronic scale trough-shaped tray, the controller records the weight information of the fish, and monitors the sliding of the whole fish out of the trough-shaped tray according to the weight information to finish the measurement of the fish.
As shown in fig. 5 to 7, the control method of the fish three-dimensional image scanning device includes a main method, a CCD measurement interruption method, and a weighing interruption method, wherein the main method cyclically executes idle operation, waits for each interruption response, and executes each interruption method after each interruption response, and the main method includes the following working steps: (A) initializing each interrupt method module; (B) establishing communication connection with a computer to transmit data; (C) inquiring a fault mark; (D) if no fault mark exists, circularly executing the step (B); (E) if the fault mark exists, stopping running of each interruption method module; (F) displaying an error code; (G) stopping the machine; the working steps of the CCD measurement interruption method are as follows: (1) detecting state bits, wherein the state bits comprise state 0CCD detection, state 1 laser scanning and state 2 image scanning; (2) if the state is 0CCD detection, judging whether CCD shadow width signal detection exists, if the CCD shadow width signal detection exists, requesting a measurement data memory, if the measurement data memory exists, detecting the scanning mark detection of the whole fish, if the scanning mark detection of the whole fish exists, newly adding a section scanning data memory, recording the projection position of the head or the tail of the fish on a vertical linear array CCD sensor, closing a CCD light source, starting a linear laser light source, setting a state 1 mark, then interrupting the return, if the scanning mark detection of the whole fish does not exist, setting the scanning mark of the whole fish, then newly adding a section scanning data memory, closing the CCD light source, starting the linear laser light source, recording the advancing speed of the fish, setting a state 1 mark, interrupting the return, if the measurement data memory does not exist, setting a fault mark and a code, and then interrupting the return; if no CCD shadow width signal detection exists, detecting whether the whole fish scanning mark exists or not, if the whole fish scanning mark exists, clearing the whole fish scanning mark, and then interrupting the return, if the whole fish scanning mark does not exist, interrupting the return; (3) if the laser scanning is in the state 1, a) setting N =1, b) scanning and storing the laser point position of a camera of a number N of line laser scanning assemblies, c) setting N = N +1, d) judging whether N is greater than the total number of the line laser scanning assemblies, if the N is greater than the total number of the line laser scanning assemblies, closing the line laser light source, starting an image light source, setting a state 2 mark, and interrupting the return; if N is not more than the total number of the line laser scanning assemblies, repeating the steps b) and c) until N is more than the total number of the line laser scanning assemblies, then closing the line laser light source, starting the image light source, setting a state 2 mark, and interrupting the return; (4) if the state is 2 image scanning, 1) setting N =1, 2) scanning and storing laser point images of N line laser scanning assemblies by a camera, 3) setting N = N +1, 4) judging whether N is greater than the total number of the line laser scanning assemblies, if N is greater than the total number of the line laser scanning assemblies, turning off an image light source, turning on a CCD (charge coupled device) light source, setting a state 0 mark, and interrupting returning; if N is not more than the total number of the line laser scanning assemblies, repeating the steps 2) and 3) until N is more than the total number of the line laser scanning assemblies, then closing the image light source, starting the CCD light source, setting a state 0 mark, and interrupting the return; the weighing interruption method comprises the following working steps: detecting state bits, wherein the state bits comprise state 0 preparation, state 1 weighing, state 2 discharging and state 3 returning; if the fish is in the state 0, reading a fish measurement starting mark, if the fish measurement starting mark exists, resetting the electronic scale, setting a state 1 mark, and then interrupting the return; if no measurement starting mark exists, the return is interrupted; if the state is 1 weighing, reading electronic scale weighing data, if the electronic scale weighing data exist, recording the weighing data, setting a state 2 mark, and then interrupting the return; if the electronic scale does not weigh data, the return is interrupted; if the state 2 is unloaded, detecting whether the weighing is maximum, if so, recording the weighing data, setting a state 3 mark, and then interrupting the return; if not, interrupting the return; if the state is 3 return, detecting whether the weighing data is minimum, if so, setting a whole fish measurement completion mark, setting a state 0 mark, and then interrupting the return; if not, the interrupt returns.
The working process is as follows: the fish to be measured is placed on a material tray, the fish head is manually downwards fed into a material port, the fish body downwards enters an inlet of a fish arranging device positioned above a three-dimensional scanning device through a soft lower feed cylinder by means of self weight, the fish body slides downwards by means of self weight after the fish head downwards enters the inlet of an upper fish arranging device, a movable pressing plate extrudes the fish body under the action of a spring to adapt to the characteristics of fish bodies with different body shapes and sizes or different body widths of the front and the back of a fish and the like, the struggling and jumping of the live fish are fixed at the same time, two narrow side faces of the fish body are clamped between the smooth face of the movable pressing plate and the corresponding inner side face of a rectangular cylinder, the fish body is arranged to be in a way that the head part is downwards, the two side faces of the fish body are in left and right positions, the back part and the belly part of the fish body are kept to slide downwards in front and back parts of the fish body, and when the front edge of the head part of the fish body scans the cross section through the three-dimensional image scanning device, a triggering controller starts to synchronously acquire the three-dimensional cross sections of the fish body, Image and speed, until the rear edge of the tail part of the fish body slides out of the scanning surface, the three-dimensional image of the fish body is scanned, when the fish body passes through the arc transition groove, the fish body is in horizontal inertial motion through gliding transition, when the whole fish body is slid onto a groove-shaped disc of an electronic scale through inertial motion, the controller reads data of the electronic scale to obtain weight information of the fish body, and the fish body slides out of the groove-shaped disc through inertia to complete detection of the whole fish.
Example 2: as shown in fig. 2 to 4, different from embodiment 1, an electronic tag reading device 18 is installed at the lower part of the movable platen 3 of the fish-sorting device 1 below the three-dimensional scanning device 8, the electronic tag is generally in the muscle near the dorsal fin of the fish body, and the electronic tag reading device 18 is placed at the lower part of the movable platen 3, so that the controller can record the data of the electronic tag and fuse the data with the measurement information of the fish.
The controller is connected with the two linear array CCD sensors, the light source, the three laser scanning assemblies and the groove-shaped disc electronic scale through the control and data line. The controller monitors signals of the horizontal linear array CCD sensor, once the fact that a fish body passes through a scanning section is monitored, the controller continuously and periodically scans the outline and image information of the fish body, meanwhile, the projection position of the head or the tail of the fish body on the vertical linear array CCD sensor is recorded in real time, after the fish tail passes through the scanning section, the controller completes the outline and image data acquisition and recording of the whole fish, the speed of each section of the fish body can be calculated through the interval time and the projection position of the head or the tail of the fish body on the vertical linear array CCD sensor, and the data information such as the speed of each section of the fish body, the comprehensive outline, the image and the section is obtained. When the electronic tag of the fish body approaches the electronic tag reading device, the controller records the tag information of the fish. And after the fish slides into the electronic scale trough-shaped tray, the controller records the weight information of the fish, and monitors the sliding of the whole fish out of the trough-shaped tray according to the weight information to finish the measurement of the fish.
As shown in fig. 5 to 8, a control method of an automatic three-dimensional image scanning device for fish is different from embodiment 1 in that an electronic tag reading interruption method is added, and the electronic tag reading interruption method includes the following working steps: detecting state bits, wherein the state bits comprise state 0 ready, state 1 ready and state 2 reading; if the state is set to be 0, judging whether the electronic tag exists, if the electronic tag exists, setting a state 1 mark, and then interrupting the return; if no electronic tag exists, the return is interrupted; reading a fish measurement starting mark if the state 1 is ready, setting a state 2 mark if the measurement starting mark exists, and then interrupting and returning; if no measurement starting mark exists, the return is interrupted; if the state is read in the state 2, detecting the electronic tag signal, if the electronic tag signal exists, recording the electronic tag data, setting an electronic tag completion flag, then setting a state 0 flag, and interrupting the return; if no electronic tag signal exists, reading the fish measurement completion mark, if the measurement completion mark exists, setting the electronic tag uncompleted mark, then setting a state 0 mark, interrupting the return, and if the measurement completion mark does not exist, interrupting the return.
The working process is as follows: the fish to be measured is placed on a material tray, the fish head is manually downwards fed into a material port, the fish body downwards enters an inlet of a fish arranging device positioned above a three-dimensional scanning device through a soft lower feed cylinder by means of self weight, the fish body slides downwards by means of self weight after the fish head downwards enters the inlet of an upper fish arranging device, a movable pressing plate extrudes the fish body under the action of a spring to adapt to the characteristics of fish bodies with different body shapes and sizes or different body widths of the front and the back of a fish and the like, the struggling and jumping of the live fish are fixed at the same time, two narrow side faces of the fish body are clamped between the smooth face of the movable pressing plate and the corresponding inner side face of a rectangular cylinder, the fish body is arranged to be in a way that the head part is downwards, the two side faces of the fish body are in left and right positions, the back part and the belly part of the fish body are kept to slide downwards in front and back parts of the fish body, and when the front edge of the head part of the fish body scans the cross section through the three-dimensional image scanning device, a triggering controller starts to synchronously acquire the three-dimensional cross sections of the fish body, Image, speed, until fish tail portion back edge roll-off scanning surface, accomplish the scanning of fish body three-dimensional image, when the fish body passes through the electronic tags reading device who installs the activity clamp plate lower part in the reason fish device that is located three-dimensional scanning device below, the controller reads electronic tags data, when the fish body passes through the arc transition slot, transition by the gliding is horizontal inertial motion, when fish body inertial motion is whole to slide to the trough plate of electronic scale, the controller reads electronic scale data, obtain fish body weight information, the fish body relies on inertia to slide out the trough plate, accomplish the detection of whole fish.
The line laser scanning assembly in the invention can be replaced by other similar three-dimensional scanning assemblies such as white light three-dimensional scanning, raster three-dimensional scanning and the like.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various changes and modifications can be made without departing from the overall concept of the present invention, and these should also be construed as the protection scope of the present invention.
Claims (2)
1. A control method of a fish three-dimensional image scanning device comprises a controller and a material tray, wherein two fish tidying devices are arranged below the material tray, the three-dimensional scanning device is arranged between the two fish tidying devices, the controller is connected with the three-dimensional scanning device and a weighing device through data lines, the fish tidying device comprises a movable pressing plate, one side of the movable pressing plate is provided with a spring, the spring is installed in a fish tidying barrel, the fish tidying device below the three-dimensional scanning device is connected with a transition groove, the weighing device is installed at an outlet of the transition groove, the three-dimensional scanning device comprises a shading box, a horizontal linear array CCD sensor, a vertical linear array CCD sensor, a horizontal CCD light source, a vertical CCD light source and at least 3 linear laser scanning assemblies are arranged in the shading box, the horizontal linear array CCD sensor and the vertical linear array CCD sensor are located on one side of the shading box, the horizontal CCD light source and the vertical CCD light source are located on the other side opposite to the horizontal linear array CCD sensor and the vertical CCD sensor, the line laser scanning assemblies are uniformly distributed on the circumference of which the circle center is on the central axis of the inlet and the outlet of the light shielding box;
a material hole is formed in the middle of the material plate, and a discharging barrel is connected to the lower part of the material hole;
the line laser scanning component consists of a line laser transmitter, a color camera and an image light source, wherein the lower end of the image light source is provided with the line laser transmitter and the color digital camera;
an electronic tag reading device is arranged at the lower part of a movable pressing plate of the fish tidying device below the three-dimensional scanning device;
the transition groove is connected with the fish tidying device through a rotating shaft;
the weighing device is an electronic scale with a trough-shaped disc;
the method is characterized in that: comprises a main method, a CCD measurement interruption method and a weighing interruption method, wherein the main method circularly executes idle operation, waits for each interruption response, executes each interruption method after each interruption response,
the main method comprises the following working steps: (A) initializing each interrupt method module; (B) establishing communication connection with a computer to transmit data; (C) inquiring a fault mark; (D) if no fault mark exists, circularly executing the step (B); (E) if the fault mark exists, stopping running of each interruption method module; (F) displaying an error code; (G) stopping the machine;
the working steps of the CCD measurement interruption method are as follows: (1) detecting state bits, wherein the state bits comprise state 0CCD detection, state 1 laser scanning and state 2 image scanning; (2) if the state is 0CCD detection, judging whether CCD shadow width signal detection exists or not, if the CCD shadow width signal detection exists, requesting a measurement data memory, if the measurement data memory exists, detecting the scanning mark detection of the whole fish, if the scanning mark detection of the whole fish exists, adding a section scanning data memory, recording the projection position of the head or the tail of the fish on a vertical linear array CCD sensor, turning off a CCD light source, turning on a linear laser light source, setting a state 1 mark, then interrupting to return, if the scanning mark detection of the whole fish does not exist, setting the scanning mark of the whole fish, then adding a section scanning data memory, turning off the CCD light source, turning on the linear laser light source, recording the advancing speed of the fish, setting the state 1 mark, interrupting to return, if the scanning mark detection does not exist, setting a fault mark and a code, and then interrupting to return; if no CCD shadow width signal detection exists, detecting whether the whole fish scanning mark exists or not, if the whole fish scanning mark exists, clearing the whole fish scanning mark, and then interrupting the return, if the whole fish scanning mark does not exist, interrupting the return; (3) if the laser scanning is in the state 1, a) setting N =1, b) scanning and storing the laser point position of a camera of a number N of line laser scanning assemblies, c) setting N = N +1, d) judging whether N is greater than the total number of the line laser scanning assemblies, if the N is greater than the total number of the line laser scanning assemblies, closing the line laser light source, starting an image light source, setting a state 2 mark, and interrupting the return; if N is not more than the total number of the line laser scanning assemblies, repeating the steps b) and c) until N is more than the total number of the line laser scanning assemblies, then closing the line laser light source, starting the image light source, setting a state 2 mark, and interrupting the return; (4) if the state is 2 image scanning, 1) setting N =1, 2) scanning and storing laser point images of a camera of a number N line laser scanning assembly, 3) setting N = N +1, 4) judging whether N is greater than the total number of the line laser scanning assemblies, if N is greater than the total number of the line laser scanning assemblies, closing an image light source, starting a CCD light source, setting a state 0 mark, and interrupting returning; if N is not more than the total number of the line laser scanning assemblies, repeating the steps 2) and 3) until N is more than the total number of the line laser scanning assemblies, then closing the image light source, starting the CCD light source, setting a state 0 mark, and interrupting the return;
the weighing interruption method comprises the following working steps: detecting a state bit, wherein the state bit comprises state 0 preparation, state 1 weighing, state 2 unloading and state 3 returning; if the fish is in the state 0, reading a fish measurement starting mark, if the fish measurement starting mark exists, resetting the electronic scale, setting a state 1 mark, and then interrupting the return; if no measurement starting mark exists, the return is interrupted; if the state is 1, reading the weighing data of the electronic scale, if the weighing data of the electronic scale exists, recording the weighing data, setting a state 2 mark, and then interrupting the return; if the electronic scale does not weigh data, the return is interrupted; if the state 2 is unloaded, detecting whether the weighing is maximum, if so, recording the weighing data, setting a state 3 mark, and then interrupting the return; if not, interrupting the return; if the state is 3 return, detecting whether the weighing data is minimum, if so, setting a whole fish measurement completion mark, setting a state 0 mark, and then interrupting the return; if not, the interrupt returns.
2. The method for controlling a fish three-dimensional image scanning apparatus according to claim 1, wherein: the method also comprises an electronic tag reading interruption method, and the electronic tag reading interruption method comprises the following working steps: detecting state bits, wherein the state bits comprise state 0 ready, state 1 ready and state 2 reading; if the state is set to be 0, judging whether the electronic tag exists or not, if the electronic tag exists, setting a state 1 mark, and then interrupting the return; if no electronic tag exists, the return is interrupted; reading a fish measurement starting mark if the state 1 is ready, setting a state 2 mark if the measurement starting mark exists, and then interrupting and returning; if no measurement starting mark exists, the return is interrupted; if the state is read in the state 2, detecting the electronic tag signal, if the electronic tag signal exists, recording the electronic tag data, setting an electronic tag completion flag, then setting a state 0 flag, and interrupting the return; if no electronic tag signal exists, reading the fish measurement completion mark, if the measurement completion mark exists, setting the electronic tag uncompleted mark, then setting a state 0 mark, interrupting the return, and if the measurement completion mark does not exist, interrupting the return.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611256248.XA CN106595527B (en) | 2016-12-30 | 2016-12-30 | Control method of fish three-dimensional image scanning device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611256248.XA CN106595527B (en) | 2016-12-30 | 2016-12-30 | Control method of fish three-dimensional image scanning device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106595527A CN106595527A (en) | 2017-04-26 |
| CN106595527B true CN106595527B (en) | 2022-08-26 |
Family
ID=58582970
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611256248.XA Active CN106595527B (en) | 2016-12-30 | 2016-12-30 | Control method of fish three-dimensional image scanning device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106595527B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108827106A (en) * | 2018-04-25 | 2018-11-16 | 北京农业信息技术研究中心 | A kind of fish growth data measurement unit and measurement method based on machine vision |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009265004A (en) * | 2008-04-28 | 2009-11-12 | Hexagon Metrology Kk | Three-dimensional image scanning device |
| CN102860346A (en) * | 2012-10-10 | 2013-01-09 | 中国水产科学研究院渔业机械仪器研究所 | Machining method and machining equipment for removing heads and viscera of small fishes |
| CN103344281A (en) * | 2013-07-04 | 2013-10-09 | 中国水产科学研究院黄海水产研究所 | Fish body growth character fast measuring device and measuring method |
| CN203897033U (en) * | 2013-12-06 | 2014-10-29 | 关健 | Fish physical sign intelligent measuring apparatus |
| CN106175676A (en) * | 2016-07-11 | 2016-12-07 | 天津大学 | Imaging space of lines follows the trail of lingual surface color three dimension formation method and system |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH05164522A (en) * | 1991-12-12 | 1993-06-29 | Fanuc Ltd | Three-dimensional information latch system |
-
2016
- 2016-12-30 CN CN201611256248.XA patent/CN106595527B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009265004A (en) * | 2008-04-28 | 2009-11-12 | Hexagon Metrology Kk | Three-dimensional image scanning device |
| CN102860346A (en) * | 2012-10-10 | 2013-01-09 | 中国水产科学研究院渔业机械仪器研究所 | Machining method and machining equipment for removing heads and viscera of small fishes |
| CN103344281A (en) * | 2013-07-04 | 2013-10-09 | 中国水产科学研究院黄海水产研究所 | Fish body growth character fast measuring device and measuring method |
| CN203897033U (en) * | 2013-12-06 | 2014-10-29 | 关健 | Fish physical sign intelligent measuring apparatus |
| CN106175676A (en) * | 2016-07-11 | 2016-12-07 | 天津大学 | Imaging space of lines follows the trail of lingual surface color three dimension formation method and system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106595527A (en) | 2017-04-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US6377353B1 (en) | Three-dimensional measuring system for animals using structured light | |
| US8659764B2 (en) | Estimating physical parameters using three dimensional representations | |
| US9909856B2 (en) | Dynamic range of a line scanner having a photosensitive array that provides variable exposure | |
| US8117668B2 (en) | Optical scanning probe | |
| AU2007273289B2 (en) | A method and apparatus for recognising and determining the position of at least one teat cup | |
| US6494375B1 (en) | Information-code-image capturing apparatus | |
| CN109063529A (en) | A kind of bar code detection device | |
| CN103076073A (en) | Device for determining weight and number of chick and sorting device comprising the same | |
| US10518406B2 (en) | Component feeder and a system for picking components comprising the component feeder | |
| CN106595527B (en) | Control method of fish three-dimensional image scanning device | |
| AU1720188A (en) | A method and arrangement for determining the size and/or the shape of a freely falling object | |
| CN104949916A (en) | Fall type corn ear property measuring apparatus and measuring method thereof | |
| CN106768057B (en) | Double-roller type fish three-dimensional scanning measuring device and control method thereof | |
| CN206300619U (en) | Fish 3-D view scanning means | |
| CN104865259A (en) | Falling type corn ear holographic character rapid measuring system and method | |
| FR2513779B1 (en) | AUTOMATIC DEVICE FOR STATISTICAL ANALYSIS OF AN OBJECT | |
| CN206177831U (en) | Image automatic acquisition device of caviar | |
| CN206410733U (en) | Pair roller type fish three-dimensional scanning measurement device | |
| CN107284057B (en) | Machine Vision Inspecting System and method | |
| JP3694590B2 (en) | Agricultural product image reading apparatus and sorting apparatus using the same | |
| CN113993374A (en) | Animal information management system and animal information management method | |
| CN210952695U (en) | Device for quickly measuring fish biological characteristic information and acquiring photo | |
| EP2145738A2 (en) | Method and device for sensing and controlling a product gripping operation | |
| CN117589061A (en) | Workpiece position detection system | |
| EP2112503A2 (en) | Method and device for verifying the absence of foodstuff residues in moulds for foodstuffs, in particular chocolate products |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |