CN108077374A - Fish killer intelligence feeding system based on laser striation three-dimensional measurement - Google Patents
Fish killer intelligence feeding system based on laser striation three-dimensional measurement Download PDFInfo
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- CN108077374A CN108077374A CN201810052513.5A CN201810052513A CN108077374A CN 108077374 A CN108077374 A CN 108077374A CN 201810052513 A CN201810052513 A CN 201810052513A CN 108077374 A CN108077374 A CN 108077374A
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- 238000005259 measurement Methods 0.000 title claims abstract description 45
- 241000251468 Actinopterygii Species 0.000 claims abstract description 136
- 230000005693 optoelectronics Effects 0.000 claims description 23
- 239000004065 semiconductor Substances 0.000 claims description 18
- 230000003287 optical effect Effects 0.000 claims description 11
- 230000008878 coupling Effects 0.000 claims description 6
- 238000010168 coupling process Methods 0.000 claims description 6
- 238000005859 coupling reaction Methods 0.000 claims description 6
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 6
- 238000009434 installation Methods 0.000 claims description 4
- 238000003825 pressing Methods 0.000 claims description 3
- 238000005520 cutting process Methods 0.000 abstract description 22
- 210000001015 abdomen Anatomy 0.000 abstract description 11
- 239000000463 material Substances 0.000 abstract description 4
- 238000001514 detection method Methods 0.000 abstract description 2
- 238000004519 manufacturing process Methods 0.000 abstract description 2
- 230000001737 promoting effect Effects 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 8
- 230000008569 process Effects 0.000 description 7
- 210000001835 viscera Anatomy 0.000 description 5
- 238000000605 extraction Methods 0.000 description 4
- 238000006243 chemical reaction Methods 0.000 description 3
- 230000007812 deficiency Effects 0.000 description 3
- 239000000284 extract Substances 0.000 description 3
- 239000011159 matrix material Substances 0.000 description 3
- 238000005070 sampling Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000004140 cleaning Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 235000013311 vegetables Nutrition 0.000 description 2
- 239000002699 waste material Substances 0.000 description 2
- 230000003187 abdominal effect Effects 0.000 description 1
- 244000309464 bull Species 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000010411 cooking Methods 0.000 description 1
- 210000003464 cuspid Anatomy 0.000 description 1
- 230000004069 differentiation Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000001815 facial effect Effects 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 239000000796 flavoring agent Substances 0.000 description 1
- 235000019634 flavors Nutrition 0.000 description 1
- 235000013305 food Nutrition 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 235000021110 pickles Nutrition 0.000 description 1
- 239000002994 raw material Substances 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A22—BUTCHERING; MEAT TREATMENT; PROCESSING POULTRY OR FISH
- A22B—SLAUGHTERING
- A22B3/00—Slaughtering or stunning
- A22B3/08—Slaughtering or stunning for poultry or fish, e.g. slaughtering pliers, slaughtering shears
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- A—HUMAN NECESSITIES
- A22—BUTCHERING; MEAT TREATMENT; PROCESSING POULTRY OR FISH
- A22C—PROCESSING MEAT, POULTRY, OR FISH
- A22C25/00—Processing fish ; Curing of fish; Stunning of fish by electric current; Investigating fish by optical means
- A22C25/06—Work-tables; Fish-holding and auxiliary devices in connection with work-tables
-
- A—HUMAN NECESSITIES
- A22—BUTCHERING; MEAT TREATMENT; PROCESSING POULTRY OR FISH
- A22C—PROCESSING MEAT, POULTRY, OR FISH
- A22C25/00—Processing fish ; Curing of fish; Stunning of fish by electric current; Investigating fish by optical means
- A22C25/08—Holding, guiding, or conveying fish before, during or after its preparation ; Devices for sizing fish; Automatically adapting conveyors or processing machines to the measured size
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- 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
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- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Food Science & Technology (AREA)
- Wood Science & Technology (AREA)
- Zoology (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The present invention relates to a kind of fish killer intelligence feeding systems based on laser striation three-dimensional measurement, including laser striation three-dimension measuring system and fish killer structure, design is scientific and reasonable, high degree of automation can adjust cutter location in real time according to the size of every fish on assembly line, intelligent cutting is carried out to fish body, it avoids traditional fish body abdomen and does not cut through and cross the problem of cutting, save material, saved cost.Without being screened for the first time to fish before fish killer the flow work, to fish body size, there is no limit adaptability is stronger, and cost is lower.Using intelligent detection equipment and control system, the automatization level of entire fish killer assembly line is greatly improved, production efficiency is effectively improved, suitable for vigorously promoting the use.
Description
Technical field
The invention belongs to food processing fields, are related to and kill fish equipment, especially a kind of based on laser striation three-dimensional measurement
Fish killer intelligence feeding system.
Background technology
, it is necessary to the processes such as fish body be scaled, cut open the belly and cleaned in the processing of fish vegetable.These processes of the prior art
Mostly using professional fish killer, it is processed in a pipeline fashion.Such as the process of cutting open the belly after scaling, fish lie in conveyer belt
On, upper part pressing device compresses and fixes fish body, by rotary cutter and rotating brushes, by fish from abdominal incision, scans out internal organ,
Then internal organ are cleaned with giant.Due to fish killer rotary cutter in process, can not adjust in real time front and rear up and down
Distance, so when the fish body size difference on assembly line is larger, it is easy to which the abdomen for some big individual fishes occur is not complete
It splits, is known as " cutting deficiency ", and the phenomenon that the fish of some small individuals is then cut into two halves, referred to as " cutting is excessive ", direct shadow
The progress of follow-up work is rung, while wastes raw material.Many producers are required for greatly before cutting is carried out to fish to fish now
It is screened, the almost big fish body of individual is sequentially input and kills the progress cutting processing of fish assembly line, adds cost of labor,
It can not avoid the problem that cutting deficiency or cutting are excessive completely.
The content of the invention
It is an object of the invention in place of overcome the deficiencies in the prior art, provide same effectively to solve existing fish killer rotation
Rotor tool can not in real time adjust according to fish body size variation and fish belly is caused to split the problem of incomplete and cutting is excessive, avoid
The fish killer intelligence feeding system based on laser striation three-dimensional measurement of waste of material and effectively save cost.
The present invention solves above-mentioned technical problem and following technical scheme is taken to realize：
A kind of fish killer intelligence feeding system based on laser striation three-dimensional measurement, including laser striation three-dimension measuring system
With fish killer structure, the laser striation three-dimension measuring system includes measurement conveyer and three-dimension measuring system, the fish killer structure
Including feed arrangement and fish conveyer is killed, the measurement conveyer is connected with killing fish conveyer, and it is defeated that measuring system is arranged on measurement
Send machine top, feed arrangement, which is arranged on, to kill fish conveyer one side and be connected with feed arrangement, and the feed arrangement includes pedestal, work
Moving platform and fish killer structure, the movable platform include the first movable platform and the second movable platform, are installed on the pedestal
There is stent, bearing block is symmetrically arranged on the end face of stent, coaxial sleeve is equipped with the first screw rod in bearing block, the on stent
The both sides of one screw rod are provided with horizontal guide rail, and the first movable platform thread set on the first screw rod, lead by the level of being installed on
In rail, upright guide rail is vertically installed in first movable platform, the tops of two vertical guide rails is equipped with crossbeam, on crossbeam
Bearing is provided with, coaxial threaded is set with the second screw rod in bearing, and guide groove is provided on the upright guide rail, and described second lives
The both ends of moving platform are installed in corresponding guide groove, and the fish killer structure is arranged in the second movable platform, in the first screw rod
Stepper motor is both provided with the end of the second screw rod, between corresponding bearing block and stepper motor, the first screw rod and second
Coaxial sleeve is equipped with shaft coupling on screw rod.
Moreover, the fish killer structure includes right angle frame, driving motor, gear set, cutter and hairbrush, the right angle frame peace
Mounted in the upper surface of second movable platform, driving motor is installed on right angle frame, gear set includes a gear wheel and two
A pinion gear, the output shaft of driving motor connect drive shaft by shaft coupling, the gear wheel coaxial package in the drive shaft,
Two pinion gears engage installation with gear wheel, and in the downside of the second movable platform, two pinion gears are separately installed with by axostylus axostyle
Cutter and hairbrush.
Moreover, the three-dimension measuring system includes hood, industrial personal computer, CCD camera, semiconductor line structure ray laser
Device and annular LED light source, the hood are arranged on measurement conveyer, and the industrial personal computer is arranged on hood top, institute
It states CCD camera and semiconductor line structure light laser is arranged in hood, the annular LED light source is co-axially located at
CCD camera periphery is provided with the first optoelectronic switch on the outside of measurement conveyer, in measurement conveyer and the drive for killing fish conveyer
Moved end is both provided with toothed driven pulley, and digital sensor-photoelectric encoder, the tooth are equipped in the drive shaft of the toothed driven pulley
Shape driving wheel drives the driven wheel for being arranged on measurement conveyer and killing on fish conveyer to rotate respectively.
Moreover, the semiconductor line structure light laser is vertical with measurement conveyer, the optical axis and semiconductor of CCD camera
It is in 35 ° of -45 ° of angles between the optical plane that line-structured light laser is sent.
Moreover, being provided with conveying pressing device killing fish conveyer top, the side for killing fish conveyer is connected with the second light
Electric switch, for controlling laser striation three-dimension measuring system, the second optoelectronic switch kills first optoelectronic switch for controlling
The control signal that fish mechanism, the first optoelectronic switch and the second optoelectronic switch are sent is sent to industrial personal computer input terminal.
The advantages of the present invention are：
1st, the system organically combines laser striation three-dimension measuring system and fish killer structure, the movable platform bag of feed arrangement
The first movable platform and the second movable platform are included, is rotated by the first screw rod of driving stepper motor and the second screw rod, the first screw rod
It is threadedly coupled with the first movable platform, the second screw rod and the second movable platform are threadedly coupled, can band by the rotation of the first screw rod
Entire first movable platform is moved to move back and forth along horizontal guide rail.Meanwhile second screw rod drive the second movable platform whole along
Upright guide rail moves up and down.The altitude location of cutter and the control of cutting depth are realized according to the thickness of fish body and the profile of fish,
Precision is high, good cutting effect.
2nd, the fish killer structure of the system utilizes driving motor and gear set control cutter and hairbrush, two pinion gears and canine tooth
Wheel engagement installation composition gear set so that fish body is cut to be carried out at the same time with internal organ cleaning, and efficient quick, continuity is good, both can be by
Fish body is splitted completely, and ensures that internal organ are intact, and particularly fish courage will not rupture, and the flavor of the flesh of fish is without damage after guarantee cutting,
The following process of fishes vegetable such as be conducive to pickle, dry.
3rd, the measuring system of the system utilizes CCD camera, semiconductor line structure light laser and industrial personal computer, intelligence control
System kills fish process, when the planar structure light that tested fish body is positioned on measurement conveyer, and semiconductor line structure light laser is sent
It is perpendicular with measurement conveyer, can effectively it prevent in 35 ° of -45 ° of angles, hood between the optical axis and optical plane of CCD camera
The only interference of ambient.Laser emitter sends single laser line always, and when laser rays and intersecting fish body, laser rays becomes
Reflect the striation shape of the section fish body surface profile.When tested fish passes through the first optoelectronic switch, the first optoelectronic switch is sent
Sampling control signal, industrial personal computer control annular LED light source are opened, and semiconductor line structure light laser is closed, CCD camera shooting
Picture obtains the overall profile of fish, then annular LED light source close, semiconductor line structure light laser open, industrial personal computer according to
What is received has the pulse signal of digital sensor-photoelectric encoder, and control CCD camera shoots the image that laser strip and fish body intersect,
The image collected is the shape that fish body and laser strip intersect, and by the processing to image data, efficiently and rapidly obtains fish table
Facial contour data, intelligent guidance is subsequent to kill fish process precisely, quickly.
4th, the design of the invention is scientific and reasonable, high degree of automation, can in real time be adjusted according to the size of every fish on assembly line
Whole cutter location carries out fish body intelligent cutting, avoids traditional fish body abdomen and do not cut through and cross the problem of cutting, save material
Material, has saved cost.Without being screened for the first time to fish before fish killer the flow work, to fish body size, there is no limit fit
Answering property is stronger, and cost is lower.Using intelligent detection equipment and control system, the automation of entire fish killer assembly line is greatly improved
Level effectively improves production efficiency, suitable for vigorously promoting the use.
Description of the drawings
Fig. 1 is the top view of the present invention；
Fig. 2 is the front view of feed arrangement in Fig. 1；
Fig. 3 is the left view (killing fish conveyer partial cutaway) of Fig. 1.
Specific embodiment
Below by specific embodiment, the invention will be further described, and following embodiment is descriptive, is not limit
Qualitatively, it is impossible to which protection scope of the present invention is limited with this.
A kind of fish killer intelligence feeding system based on laser striation three-dimensional measurement, such as Fig. 1, including the three-dimensional survey of laser striation
Amount system and fish killer structure, the laser striation three-dimension measuring system includes measurement conveyer 21 and three-dimension measuring system 1, described
Fish killer structure includes feed arrangement and kills fish conveyer 20, and the measurement conveyer is connected with killing fish conveyer, three-dimensional measurement system
System is arranged on measurement conveyer top, and feed arrangement, which is arranged on, to kill fish conveyer one side and be connected with feed arrangement.
Such as Fig. 2, the feed arrangement includes pedestal 22, movable platform and fish killer structure, and the movable platform includes the
One movable platform 10 and the second movable platform 2, stent 5 is equipped on the pedestal, is symmetrically arranged on the end face of stent
Bearing block 6, coaxial sleeve is equipped with the first screw rod 9 in bearing block, and the both sides of the first screw rod are provided with horizontal guide rail 16 on stent,
The first movable platform thread set is installed on the first screw rod in horizontal guide rail.
Such as Fig. 3, upright guide rail 12 is vertically installed in first movable platform, the top of two vertical guide rails is equipped with
Crossbeam 4 is provided with bearing on crossbeam, and coaxial threaded is set with the second screw rod 3 in bearing, is provided with and leads on the upright guide rail
Slot 11, the both ends of second movable platform are installed in corresponding guide groove.It is flat that the fish killer structure is arranged on the second activity
On platform, the end of the first screw rod is provided with stepper motor 8a, connection is provided on the first axostylus axostyle, between bearing and stepper motor
Axis device 7a is provided with stepper motor 8b in the end of the second screw rod, on the second axostylus axostyle, is provided between bearing and stepper motor
Shaft coupling 7b,
The first screw rod of driving stepper motor and the second screw rod rotate, and the first screw rod and the first movable platform are threadedly coupled, the
Two screw rods and the second movable platform are threadedly coupled, and entire first movable platform can be driven along level by the rotation of the first screw rod
Guide rail moves back and forth.Meanwhile second screw rod drive the second movable platform integrally moved up and down along upright guide rail.
The fish killer structure includes right angle frame 13, driving motor 14, gear set, cutter 19 and hairbrush 17, the right angle
Frame is mounted on the upper surface of second movable platform, and driving motor is installed on right angle frame, and gear set includes a gear wheel
18 and two pinion gears 15, the output shaft of driving motor connects drive shaft by shaft coupling, and the gear wheel coaxial package is at this
In drive shaft, two pinion gears engage installation with gear wheel, in the downside of the second movable platform, the end difference of two pinion gears
Equipped with cutter and hairbrush.Driving motor drives bull gear drive, so as to drive two pinion gears, and then drives cutter and hairbrush fast
Speed rotation, completes the cutting of fish body and the cleaning of internal organ.
The three-dimension measuring system includes hood 23, industrial personal computer 24, CCD camera 25, semiconductor line structure light and swashs
Light device 27, annular LED light source 26, the hood are arranged on measurement conveyer, and the industrial personal computer is arranged on hood
Portion, the CCD camera and semiconductor line structure light laser are arranged in hood, and the annular LED light source is coaxially set
It puts in CCD camera periphery, the first optoelectronic switch 33 is provided on the outside of measurement conveyer, set at the driving end of measurement conveyer
Toothed driven pulley 30b is equipped with, the driving end for killing fish conveyer is provided with toothed driven pulley 30a, in measurement conveyer toothed wheel
The end of drive shaft is equipped with digital sensor-photoelectric encoder 31b, and the end for killing fish conveyer tooth form wheel drive shaft is equipped with digital light
Photoelectric coder 31a, the toothed driven pulley drive the driven wheel 23b being arranged on measurement conveyer and are arranged on that kill fish defeated respectively
The driven wheel 32a on machine is sent to rotate, so as to drive the movement of detected fish body.
The semiconductor line structure light laser is vertical with measurement conveyer, between the optical axis and optical plane of CCD camera
In 35 ° of -45 ° of angles.
It is provided on fish conveyer is killed and compresses conveying device 28, killed and the second optoelectronic switch 29 is housed on the outside of fish conveyer,
For controlling laser striation three-dimension measuring system, the second optoelectronic switch is used to control fish killer structure first optoelectronic switch,
The signal for the control that first optoelectronic switch and the second optoelectronic switch are sent is sent to the input terminal of industrial personal computer.
The operation principle of the present invention：
Tested fish body is positioned on measurement conveyer, and the planar structure light that semiconductor laser is sent is vertical with conveyer belt,
Between the optical axis and optical plane of CCD camera the interference of external environmental light can be effectively prevented in 35 ° of -45 ° of angles, hood.
Laser emitter sends single laser line always, and when laser rays and intersecting fish body, laser rays, which is turned into, reflects the section fish body
The striation shape of surface profile.
When tested fish passes through the first optoelectronic switch, the first optoelectronic switch sends sampled signal, industrial personal computer control annular LED
Light source is opened, and semiconductor line structure light laser is closed, CCD camera captured image, obtains the overall profile of fish；Then, ring
Shape LED light source is closed, and semiconductor line structure light laser is opened, CCD camera shooting laser strip and fish body cross section profile, acquisition
To image be the shape that intersects of fish body and laser strip, it reflects the fish body surface profile size at this section.
With the rotation of measurement conveyer toothed driven pulley, the height changed at equal intervals by digital sensor-photoelectric encoder output
Low level signal, counter write down the number of level change, and when number as defined in level change number reaches, i.e., fish body is forward
It is mobile at equal intervals apart from when, industrial personal computer control video camera carries out Image Acquisition, achievees the purpose that gather image at equal intervals.Until fish
When afterbody is by the first optoelectronic switch, the camera shooting and sampling of fish body terminates.The fish for the different cross section that computer is shot according to video camera
Body contour shape, by image procossing and three-dimensionalreconstruction, complete computation goes out the three-D profile of fish body, then in fish body profile and thickness
It spends on the basis of information, required feed track when cooking up this for the progress cutting of this fish.
When fish body is transported on fish killer conveyer, compresses conveying device compression fish body and move forward to the second optoelectronic switch
When, fish body is transported at fish killer guillotine.The feed track that fish cutting needs is sent to two stepper motors by industrial personal computer,
By being moved up and down before and after the first movable platform of control and the second movable platform, position of the cutter compared with fish body is adjusted in real time
It puts, intelligent cutting is carried out in strict accordance with the size of fish body.
It is pre- including system calibrating, auto Image Collection, Digital Image Processing, measurement data based on laser striation measuring method
Processing, fish body profile and the feature extraction of body thickness and tool- path generation and cutter drives.
Wherein, system calibrating uses grid standardization, obtains system calibrating matrix；It can be by video camera figure by calibration matrix
As two-dimensional coordinate changes into the two-dimensional coordinate in fish body section.Auto Image Collection is the control sent according to digital sensor-photoelectric encoder
Automatic collection image is realized in pulse processed.
Digital Image Processing carries out gray scale conversion, binaryzation and filtering to the digital picture collected, extracts fish body profile
The image coordinate point P (X of striationik Yik) (the two dimensional image coordinate of k-th striation).Two dimensional image is sat in measurement data pretreatment
Punctuate is according to system calibrating matrix conversion into the two-dimensional coordinate point W (X on optical planeik Yik)；Further according to the sequential conversions of striation
For the coordinate points Q (X of three dimensionsik Yik Zik).Coordinate system direction is shown in Figure 3, wherein Zik=K × L wherein K are striation
Sequentially (L is sampling unit's cycle corresponding measurement conveyer unit displacement).
Fish body profile and the feature extraction of body thickness include fish body thickness and fish body contours extract.Wherein fish body thickness T is in striation
Data set { Q (Xik Yik Zik) in extraction maximum Max (Yik), it is fish body thickness.Fish body contours extract includes fish dorsal wheel
Wide and abdomen profile, in { Q (Xik Yik Zik) in extraction YikThe coordinate points of=T/2, using a B-spline Curve by this
A little coordinate points fittings are to get to the back of fish body and abdomen profile.Utilize { Q (Xik Yik Zik) in XikThe differentiation of coordinate, you can
Fish dorsal profile and abdomen profile are obtained respectively.Which specifically determine to cut at the back of the body then according to the requirement of fish body cutting using profile
Manage or cut abdomen processing.
Tool- path generation is on the basis of definite fish dorsal profile and abdomen profile, increases cutting depth, you can obtain
Obtain the cutting track of cutter.According to cutter path, the driving of cutter is realized by controlling stepper motor.
Claims (5)
1. a kind of fish killer intelligence feeding system based on laser striation three-dimensional measurement, it is characterised in that：Including laser striation three
Measuring system and fish killer structure are tieed up, the laser striation three-dimension measuring system includes measurement conveyer and three-dimension measuring system, institute
Stating fish killer structure includes feed arrangement and kills fish conveyer, and the measurement conveyer is connected with killing fish conveyer, and measuring system is set
It puts on measurement conveyer top, feed arrangement, which is arranged on, to kill fish conveyer one side and be connected with feed arrangement, the feed arrangement
Including pedestal, movable platform and fish killer structure, the movable platform includes the first movable platform and the second movable platform, described
Stent on pedestal is installed, bearing block is symmetrically arranged on the end face of stent, coaxial sleeve is equipped with the first screw rod in bearing block,
The both sides of the first screw rod are provided with horizontal guide rail on stent, and the first movable platform thread set is on the first screw rod, card
In horizontal guide rail, upright guide rail is vertically installed in first movable platform, the top of two vertical guide rails is equipped with
Crossbeam is provided with bearing on crossbeam, and coaxial threaded is set with the second screw rod in bearing, is provided with and leads on the upright guide rail
Slot, the both ends of second movable platform are installed in corresponding guide groove, and the fish killer structure is arranged on the second movable platform
On, stepper motor is both provided in the end of the first screw rod and the second screw rod, between corresponding bearing block and stepper motor, the
Coaxial sleeve is equipped with shaft coupling on one screw rod and the second screw rod.
2. a kind of fish killer intelligence feeding system based on laser striation three-dimensional measurement according to claim 1, feature
It is：The fish killer structure includes right angle frame, driving motor, gear set, cutter and hairbrush, and the right angle frame is mounted on described
Driving motor is installed in the upper surface of second movable platform on right angle frame, and gear set includes a gear wheel and two pinion gears,
The output shaft of driving motor connects drive shaft by shaft coupling, and the gear wheel coaxial package is in the drive shaft, two small teeth
Wheel engages installation with gear wheel, and in the downside of the second movable platform, two pinion gears are separately installed with cutter and hair by axostylus axostyle
Brush.
3. a kind of fish killer intelligence feeding system based on laser striation three-dimensional measurement according to claim 1, feature
It is：The three-dimension measuring system includes hood, industrial personal computer, CCD camera, semiconductor line structure light laser and annular
LED light source, the hood are arranged on measurement conveyer, and the industrial personal computer is arranged on hood top, the CCD camera shootings
Machine and semiconductor line structure light laser are arranged in hood, and the annular LED light source is co-axially located at outside CCD camera
It encloses, is provided with the first optoelectronic switch on the outside of measurement conveyer, is respectively provided in measurement conveyer and the driving end for killing fish conveyer
There is toothed driven pulley, digital sensor-photoelectric encoder, the toothed driven pulley point are installed in the drive shaft of the toothed driven pulley
The driven wheel that measurement conveyer Dai Dong be arranged on and killed on fish conveyer rotates.
4. a kind of fish killer intelligence feeding system based on laser striation three-dimensional measurement according to claim 3, feature
It is：The semiconductor line structure light laser is vertical with measurement conveyer, optical axis and the semiconductor line structure light of CCD camera
It is in 35 ° of -45 ° of angles between the optical plane that laser is sent.
5. a kind of fish killer intelligence feeding system based on laser striation three-dimensional measurement according to claim 1, feature
It is：Conveying pressing device is provided with killing fish conveyer top, the side for killing fish conveyer is connected with the second optoelectronic switch, institute
For controlling laser striation three-dimension measuring system, the second optoelectronic switch is used to control fish killer structure the first optoelectronic switch stated, the
The control signal that one optoelectronic switch and the second optoelectronic switch are sent is sent to industrial personal computer input terminal.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810052513.5A CN108077374A (en) | 2018-01-19 | 2018-01-19 | Fish killer intelligence feeding system based on laser striation three-dimensional measurement |
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| CN201810052513.5A CN108077374A (en) | 2018-01-19 | 2018-01-19 | Fish killer intelligence feeding system based on laser striation three-dimensional measurement |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109805069A (en) * | 2019-02-28 | 2019-05-28 | 浙江大学舟山海洋研究中心 | Intelligent apparatus and dicing method for squid slice |
| CN109964993A (en) * | 2019-05-13 | 2019-07-05 | 天津农学院 | Full automatic high efficiency cuts open fish device |
| CN111296539A (en) * | 2020-01-22 | 2020-06-19 | 中国农业科学院农产品加工研究所 | Sheep carcass robot independent segmentation method and system |
| CN111602704A (en) * | 2020-05-15 | 2020-09-01 | 天津农学院 | Fish body cuts open cuts dirty device |
| CN113155198A (en) * | 2021-05-08 | 2021-07-23 | 上海海洋大学 | Automatic measuring equipment and method for weight and overall dimension of fish body |
| CN110521757B (en) * | 2019-09-06 | 2022-01-18 | 江苏省农业科学院 | Intelligent freshwater fish automatic bone and meat slicer based on image recognition system |
| CN115211457A (en) * | 2022-07-18 | 2022-10-21 | 武汉轻工大学 | Fish body scaling and back opening device |
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| CN109805069A (en) * | 2019-02-28 | 2019-05-28 | 浙江大学舟山海洋研究中心 | Intelligent apparatus and dicing method for squid slice |
| CN109964993A (en) * | 2019-05-13 | 2019-07-05 | 天津农学院 | Full automatic high efficiency cuts open fish device |
| CN110521757B (en) * | 2019-09-06 | 2022-01-18 | 江苏省农业科学院 | Intelligent freshwater fish automatic bone and meat slicer based on image recognition system |
| CN111296539A (en) * | 2020-01-22 | 2020-06-19 | 中国农业科学院农产品加工研究所 | Sheep carcass robot independent segmentation method and system |
| CN111602704A (en) * | 2020-05-15 | 2020-09-01 | 天津农学院 | Fish body cuts open cuts dirty device |
| CN113155198A (en) * | 2021-05-08 | 2021-07-23 | 上海海洋大学 | Automatic measuring equipment and method for weight and overall dimension of fish body |
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Application publication date: 20180529 |