CN110092138A - It is continuously fed into fish and monitors the apparatus and method of feed quantity - Google Patents
It is continuously fed into fish and monitors the apparatus and method of feed quantity Download PDFInfo
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- CN110092138A CN110092138A CN201910436600.5A CN201910436600A CN110092138A CN 110092138 A CN110092138 A CN 110092138A CN 201910436600 A CN201910436600 A CN 201910436600A CN 110092138 A CN110092138 A CN 110092138A
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- 241000251468 Actinopterygii Species 0.000 title claims abstract description 213
- 238000000034 method Methods 0.000 title claims abstract description 19
- 230000005571 horizontal transmission Effects 0.000 claims abstract description 30
- 238000003860 storage Methods 0.000 claims abstract description 26
- 238000012544 monitoring process Methods 0.000 claims abstract description 19
- 238000009434 installation Methods 0.000 claims description 19
- 230000001105 regulatory effect Effects 0.000 claims description 13
- 238000004519 manufacturing process Methods 0.000 claims description 10
- 238000006243 chemical reaction Methods 0.000 claims description 9
- 238000010586 diagram Methods 0.000 claims description 8
- 230000001276 controlling effect Effects 0.000 claims description 6
- 238000005286 illumination Methods 0.000 claims description 6
- 238000003032 molecular docking Methods 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 5
- 235000013332 fish product Nutrition 0.000 claims description 4
- 238000013459 approach Methods 0.000 claims description 3
- 238000000605 extraction Methods 0.000 claims description 3
- 238000009499 grossing Methods 0.000 claims description 3
- 230000002093 peripheral effect Effects 0.000 claims description 3
- 230000009466 transformation Effects 0.000 claims description 3
- 239000000411 inducer Substances 0.000 claims description 2
- 230000000007 visual effect Effects 0.000 abstract description 4
- 238000009825 accumulation Methods 0.000 description 2
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- 238000003754 machining Methods 0.000 description 2
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- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000010924 continuous production Methods 0.000 description 1
- 230000001186 cumulative effect Effects 0.000 description 1
- 230000008676 import Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 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 description 1
- 238000005457 optimization Methods 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 239000002994 raw material Substances 0.000 description 1
- 239000002351 wastewater Substances 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K74/00—Other catching nets or the like
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G17/00—Conveyors having an endless traction element, e.g. a chain, transmitting movement to a continuous or substantially-continuous load-carrying surface or to a series of individual load-carriers; Endless-chain conveyors in which the chains form the load-carrying surface
- B65G17/06—Conveyors having an endless traction element, e.g. a chain, transmitting movement to a continuous or substantially-continuous load-carrying surface or to a series of individual load-carriers; Endless-chain conveyors in which the chains form the load-carrying surface having a load-carrying surface formed by a series of interconnected, e.g. longitudinal, links, plates, or platforms
- B65G17/065—Conveyors having an endless traction element, e.g. a chain, transmitting movement to a continuous or substantially-continuous load-carrying surface or to a series of individual load-carriers; Endless-chain conveyors in which the chains form the load-carrying surface having a load-carrying surface formed by a series of interconnected, e.g. longitudinal, links, plates, or platforms the load carrying surface being formed by plates or platforms attached to a single traction element
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G17/00—Conveyors having an endless traction element, e.g. a chain, transmitting movement to a continuous or substantially-continuous load-carrying surface or to a series of individual load-carriers; Endless-chain conveyors in which the chains form the load-carrying surface
- B65G17/30—Details; Auxiliary devices
- B65G17/46—Means for holding or retaining the loads in fixed position on the load-carriers, e.g. magnetic
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G23/00—Driving gear for endless conveyors; Belt- or chain-tensioning arrangements
- B65G23/02—Belt- or chain-engaging elements
- B65G23/04—Drums, rollers, or wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G23/00—Driving gear for endless conveyors; Belt- or chain-tensioning arrangements
- B65G23/22—Arrangements or mountings of driving motors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/70—Arrangements for image or video recognition or understanding using pattern recognition or machine learning
- G06V10/74—Image or video pattern matching; Proximity measures in feature spaces
- G06V10/75—Organisation of the matching processes, e.g. simultaneous or sequential comparisons of image or video features; Coarse-fine approaches, e.g. multi-scale approaches; using context analysis; Selection of dictionaries
- G06V10/751—Comparing pixel values or logical combinations thereof, or feature values having positional relevance, e.g. template matching
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0202—Agricultural and processed food products
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- 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
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- Computer Vision & Pattern Recognition (AREA)
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- Processing Of Meat And Fish (AREA)
Abstract
The invention discloses a kind of apparatus and method for being continuously fed into fish and monitoring feed quantity.Including fish salvaging mechanism, conveying intake mechanism, image acquisition mechanism and image procossing mechanism；Fish salvaging mechanism is symmetrically mounted on the edge platform in fish storage frost pond there are two identical fishing device, and servo motor drives loaded work piece platform to move along a straight line on guide rail, realizes the gathering for collapsing fish device, and fish is salvaged to conveying feeding part；The delivery platform surface of conveying intake mechanism is covered with chain plate conveyor belt, and fish, which is continuously conveyed, in motor drive chain plate conveyor belt and single makes fish enter Image Acquisition visual field does not have adhesion；Image acquisition mechanism is located at the top of horizontal transmission platform, acquires the image of fish on chain plate conveyor belt in real time, is analyzed by image processing section and handles and export feed quantity.The present invention needs human assistance to salvage fish preliminary working, feeding aiming at the problem that, realize salvaging automatically, real time monitoring with feed quantity being continuously conveyed for fish.
Description
Technical field
The present invention relates to fishery wastewater technical field, in particular to a kind of device for being continuously fed into fish and monitoring feed quantity with
Method.
Background technique
China is the world's largest aquatic products producing country, Zhan Quanqiu total output 30% or so, in aquatic products total yield in 2017
Amount accounts for about global total output one third up to 6445.33 ten thousand tons, and the aquatic products processing enterprises quantity 9674, processing of aquatic products
2926.23 ten thousand tons/year of ability, Aquatic Product Process Industry is quickly grown.Processing of aquatic products industry recruitment cost rises comparatively fast, and 2016
Recruitment cost accounting is about 60%.China's Aquatic Product Process Industry production method is labor-intensive, only 10% process unit
It reaches world-class levels, generally mechanization, the degree of automation are low, and complete machining production line is more rare, and China's aquatic products
Product working modulus is only 34%, far below the processing of aquatic products rate of the aquatic products developed country such as Japan, Canada, U.S. 60%-90%.
China's processing of aquatic products is generally still based on labor-intensive at present, and mechanization, the degree of automation be not high, especially
It is preliminary working process, 80% or so relies on manually, and processing efficiency is lower, and only a small number of large-scale processing enterprises introduce complete processing life
Producing line, most of medium-sized and small enterprises substantially based on handwork, part workshop section using stand-alone device as auxiliary, quality and
Work efficiency is difficult to ensure.
The preliminary working single machines such as the fish descaler of Current Domestic, gutting machine, it is horizontal partially to have reached higher position reason, still
The production line of automation has not yet been formed in the links of processing, such as: in the production process of frozen fish, descaler, gutting machine
Raw material supply artificial whole basket transport be respectively adopted pour into and orientation feeding by hand one by one, cannot achieve continuous production and in real time
The feed quantity of fish, is unfavorable for the On-line Control of production line when monitoring descaler work.
Summary of the invention
In order to overcome the problems, such as that fish preliminary working in the prior art needs human assistance to salvage, feed, the present invention is using a kind of
It is continuously fed into fish and monitors the apparatus and method of feed quantity, realize salvaging automatically, real-time prison with feed quantity being continuously conveyed for fish
Control.
The present invention distinguishingly salvages part and sets and is symmetrically installed there are two identical fishing device by table base in fish
On the edge platform that fish stores frost pond, the gathering mouth in fish storage frost pond is devised, the inclination in feeding part will be conveyed and passed
It send platform and fish to store frost pond and collapses coincideing on mouth structure, make it possible to salvage the Serve Motor Control in part by fish
Dead axle movement is partially done on the gathering fish device being fixedly connected on loaded work piece platform by rope, realizes that fish is salvaged to gathering mouth
And by inclination delivery platform conveying, overcomes tradition and need manually to do fishing, and descaler bring is fed by plastic crate
Large labor intensity, production efficiency are low, be easy to cause product secondary pollution.
The technical solution adopted by the invention is as follows:
One, a kind of device for being continuously fed into fish and monitoring feed quantity
The present invention includes fish salvaging mechanism, conveying intake mechanism and image acquisition mechanism；
The conveying intake mechanism is used to for fish being sent to descaler, including tilts delivery platform, horizontal transmission platform, goes out
Material mouth, chain plate conveyor belt, baffle, delivery platform bracket, runner, drive motor and belt, horizontal transmission platform support upper end
It is fixed with horizontal transmission platform and inclination delivery platform, it is anti-that inclination delivery platform and horizontal transmission platform two sides are mounted on baffle
Only fish falls during transportation, and the output that discharge port is used for fish is equipped at the baffle of horizontal transmission platform one end, horizontal
The other end of delivery platform is connected to each other with inclination delivery platform upper end, and inclination delivery platform lower end tilts down until with ground phase
Contact, horizontal transmission platform dock place, horizontal transmission platform one end and the lower end for tilting delivery platform with inclination delivery platform
It is mounted on runner, is set with chain plate conveyor belt on three runners, the one of lateral surface for tilting delivery platform is equipped with drive
The output end of dynamic motor, drive motor is connected by belt with the runner at docking.
The fish salvaging mechanism makes gathering fish device do fishing to conveying intake mechanism for controlling servo motor, including
Fish storage frost pond, linear guide, fishing device and gathering fish device, import of the fish storage frost pond close to conveying intake mechanism
Section, which is equipped with, stores the parallel channel of frost pond side wall surface with fish, the inclination delivery platform for conveying intake mechanism protrude into channel and
Inclination delivery platform baffle fits with channel two sides inner wall, and channel is prolonged towards two sides respectively far from the open end of conveying intake mechanism
It extends to fish storage frost pond two side walls and forms horn-like gathering mouth；Fish storage frost pond two side walls upper end is respectively and fixedly provided with work
Platform pedestal and table base upper surface are equipped with two linear guides being parallel to each other, be equipped between two linear guides with directly
The parallel rack gear of line guide rail；Two pieces of table base upper surfaces are symmetrically arranged with two fishing devices, and fishing device includes gear
Mounting base, gear, servo motor, guide rail slide block and loaded work piece platform, two gear installation bases are slided respectively by guide rail slide block
Two linear guides of table base are installed on, the gear rolled along rack gear is installed between two gear installation bases, wherein
Servo motor is housed on the outside of one gear installation base, the output shaft of servo motor passes through gear installation base and is connected with gear, and two
Gear installation base is fixedly arranged above loaded work piece platform, and side of the loaded work piece platform far from conveying intake mechanism is equipped with crotch as company
Relay part；Gathering fish device is located in fish storage frost pond and the square plate mainly by trapezoidal plate and with filter opening passes through hinged shape
Store frost pond at, trapezoidal plate and fish and collapse that mouth-shaped matches and bottom is bonded fixation with gathering mouth, trapezoidal plate one end with incline
Oblique delivery platform bottom is connected to each other, and the other end is hinged with square plate bottom, and square plate two sides store frost pond with fish respectively
Two side walls fit, and prevent from collapsing fish when fish device collapses and escape outside gathering fish device, two sides are all provided at the top of square plate
There is the lug for being set with rope, the other end of two ropes is respectively connected to be located at the connecting component of the same side with rope.
The image acquisition mechanism is installed on horizontal transmission platform acquires chain plate conveyor belt for controlling camera in real time
The image of upper fish, image acquisition mechanism include light source, camera, camera level(l)ing mechanism, the vertical regulating mechanism of camera and illumination
Case, light source, camera, camera level(l)ing mechanism, the vertical regulating mechanism of camera are respectively positioned on inside lighting box, lighting box inner peripheral surface bottom
Portion, which is equipped with, provides the light source of illumination for acquiring image for camera, and light source is determined according to visual field illumination requirement and Image Acquisition effect
Watt level and arrangement；Top surface is equipped with camera level(l)ing mechanism on lighting box, and camera level(l)ing mechanism includes cross
Direction guiding rail, longitudinal rail, the first guide rail slide block are secondary and the second guide rail slide block pair, cross slide way are fixed on top surface on lighting box and hang down
It is directly arranged in longitudinal rail, longitudinal rail is slidably mounted on cross slide way lower end by the first guide rail slide block pair, and camera is adjusted vertically
Section mechanism is by the second guide rail slide block pair and is slidably mounted on longitudinal rail lower end, and camera is installed on the vertical regulating mechanism bottom of camera
It holds and passes through the vertical regulating mechanism of camera and achive up and down.The camera uses the waterproof industry black and white camera of high frame per second, phase
Machine and light source position are adjustable.
It further include image procossing mechanism, image procossing mechanism is used to handle and analyze the image of camera acquisition, and exports fish
Feed quantity, image procossing mechanism and production line traffic control software platform are integrated.
In the fish salvaging mechanism, gear is rolled under Serve Motor Control along rack gear, to drive gear installation base edge
Linear guide moves horizontally；While fishing device is moved horizontally towards conveying intake mechanism, the gathering being connected with rope is driven
The square plate of fish device is gathered in the fish for collapsing fish apparatus surface in square plate rotary course around the hinged end System of Rotating about Fixed Axis of bottom
In move closer to conveying intake mechanism, until collapse fish apparatus surface fish be all transported to conveying intake mechanism.
The channel is set between fish storage frost pond two side walls and, channel two side walls upper end parallel with side wall surface
And it collapses mouth wall surface upper end and extends respectively to fish storage frost pond two side walls upper end.
Linear guide both ends described in every are equipped with block, prevent from being more than working range.
The chain plate conveyor belt surface is equipped with the card slot at equal intervals for accommodating single fish, avoids the accumulation and adhesion of fish, realizes
The single of fish, convenient for the image real-time acquisition of subsequent image acquisition part, card slot is flat along inclination delivery platform and horizontal transmission
The width direction of platform arranges that card slot depth is no more than the average thickness of fish, and card slot width and fish body width are adapted；Carrier bar conveying
Band selection and the apparent color of fish body intensity contrast.Carrier bar length, height and the spacing of chain plate conveyor belt are according to fish products kind simultaneously
Figure and conventional size determine, so that fish single is delivered into image acquisition mechanism visual field.
Two, a kind of method for being continuously fed into fish and monitoring feed quantity
The following steps are included:
1) under original state, fishing device is located at one end far from conveying intake mechanism in linear guide, collapses fish device
Square plate upper end rotate to far from conveying intake mechanism side so that collapse fish device and fish storage frost pond enclosed space
Reach maximum；Then towards the fish that investment is to be processed above fish device is collapsed, servo motor is opened after dispensing, collapses fish device
System of Rotating about Fixed Axis movement is done towards close to the side of conveying intake mechanism under the drive of fishing device, is gathered in and collapses fish apparatus surface
Fish all approach to conveying intake mechanism, and collapse fish device square plate in rotary course two sides always with fish store
Frost pond two sidewalls fit；
2) in the square plate rotary course for collapsing fish device, the fish for being gathered in gathering fish apparatus surface is transported to inclination and passes
It is covered on chain plate conveyor belt after sending platform, fish is delivered to horizontal biography on the offline edge of drive of chain plate conveyor belt diagonally upward
Send platform, after be delivered to descaler in the horizontal direction；
3) camera for controlling image acquisition mechanism acquires the image of fish on chain plate conveyor belt in real time；
4) processing post analysis is carried out to the image of step 3) acquisition and obtains feed quantity real time data, can be used for subsequent scale
The corresponding adjustment of machine revolving speed and the Optimum Regulation of line running state.
In the step 4), the method that the image of acquisition is carried out processing post analysis acquisition feed quantity real time data is specific
Are as follows:
4.1) image background removes: determining background segment threshold using chain plate conveyor belt and the big feature of fish body gray difference
Value carries out background removal to the image of acquisition and only retains fish body gray scale；
4.2) flake identifies: detecting flake using Hough circle transformation and counts；
4.3) region of interesting extraction:, will acquisition using flake positioning using existing single fish diagram picture as template image
Image and template image carry out template matching, are filtered by edge-smoothing eliminate the influence of fin burr later, obtain region of interest
Domain；
4.4) it binary conversion treatment: sets area-of-interest to obtain binary image after prospect carries out binary conversion treatment；
4.5) connected region calculates: being counted using findContours function to connected region, uses contourArea
Function calculates connected region area；The connected region is the fish profile in binary image；
4.6) when fish specification is identical on chain plate conveyor belt, the item number of feeding fish is joined as feed quantity in the output unit time
Number；When fish specification difference on chain plate conveyor belt, the weight of feeding fish is as feed quantity parameter in the output unit time；
The item number of the feeding fish calculates as follows: by comparing the number and fish-eye number of connected region, judgement connects with edge
Logical connected region number determines the item number of feeding fish；
The weight of the feeding fish calculates as follows: the connected region area input that step 4.5) is obtained is established specific
The relational model of fish products kind side projection area and weight, conversion obtain the weight of feeding fish.
Beneficial effects of the present invention:
It needs manually to do fishing the present invention overcomes the process of fish to be processed in traditional equipment to fish descaler and uses basket
Feeding when can not also calculate descaler work the problem of the weight of fish, realizes the continuous salvaging and conveying of fish, accelerates processing life
The working efficiency of producing line, and realize the monitoring of feed quantity.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of apparatus of the present invention.
Fig. 2 is the side view of apparatus of the present invention.
Fig. 3 is the structural schematic diagram of fish salvaging mechanism.
Fig. 4 is the structural schematic diagram for collapsing fish device.
Fig. 5 is the structural schematic diagram for conveying intake mechanism.
Fig. 6 is the structural schematic diagram of image acquisition mechanism.
In figure: fish salvaging mechanism 1-1 conveys intake mechanism 1-2, image acquisition mechanism 1-3, linear guide 1, workbench bottom
Seat 2, gear installation base 4, gear 5, servo motor 6, loaded work piece platform 7, collapses fish device 8, attachment device 9, guide rail at rack gear 3
Sliding block 10, block 11, runner 12, belt 13, delivery platform bracket 14, drive motor 15, chain plate conveyor belt 16, inclination transmission
Platform 17, horizontal transmission platform 18, baffle 19, discharge port 20, light source 21, camera 22, camera level(l)ing mechanism 23, camera are perpendicular
Straight regulating mechanism 24, lighting box 25.
Specific embodiment
The present invention is further elaborated with reference to the accompanying drawings and examples.
As depicted in figs. 1 and 2, the present invention includes fish salvaging mechanism 1-1, conveying intake mechanism 1-2 and image acquisition mechanism
1-3。
As shown in Fig. 1, Fig. 3 and Fig. 5, fish salvaging mechanism 1-1 makes gathering fish device do fishing for controlling servo motor 6
To conveying intake mechanism 1-2, including fish storage frost pond, linear guide 1, fishing device and gathering fish device 8, fish storage frost
Pond is equipped with the channel parallel with fish storage frost pond side wall surface close to the inducer of conveying intake mechanism 1-2, conveys feeding machine
The inclination delivery platform 17 of structure 1-2 protrudes into channel and inclination 17 baffle of delivery platform fits with channel two sides inner wall, channel
Open end far from conveying intake mechanism 1-2 extends to fish storage frost pond two side walls towards two sides respectively and forms horn-like gathering
Mouthful；Fish storage frost pond two side walls upper end is respectively and fixedly provided with table base 2 and 2 upper surface of table base is mutual equipped with two
Parallel linear guide 1,1 both ends of linear guide described in every are equipped with block, prevent from being more than working range.Two straight lines are led
The rack gear 3 parallel with linear guide 1 is installed between rail 1；Two pieces of 2 upper surfaces of table base are symmetrically arranged with two salvaging dresses
It sets, fishing device includes gear installation base 4, gear 5, servo motor 6, guide rail slide block 10 and loaded work piece platform 7, two gear peaces
Dress seat 4 is slidably mounted on two linear guides 1 of table base 2 by guide rail slide block 10 respectively, two gear installation bases 4 it
Between the gear 5 rolled along rack gear 3 is installed, servo motor 6 is housed on the outside of one of gear installation base 4, servo motor 6 it is defeated
Shaft passes through gear installation base 4 and is connected with gear 5, and two gear installation bases 4 are fixedly arranged above loaded work piece platform 7, loaded work piece
Side of the platform 7 far from conveying intake mechanism 1-2 is equipped with crotch as connecting component 9.
It is located in fish storage frost pond and mainly by trapezoidal plate and with the rectangular of filter opening as shown in figure 4, collapsing fish device 8
For plate by hingedly being formed, trapezoidal plate and fish storage frost pond collapse that mouth-shaped matches and bottom with gathering mouth is bonded fixation, terraced
Shape plate one end is connected to each other with inclination 17 bottom of delivery platform, and the other end is hinged with square plate bottom, square plate two sides difference
Frost pond two side walls are stored with fish to fit, and are prevented from collapsing fish when fish device collapses and are escaped outside gathering fish device, it is rectangular
Two sides are equipped with the lug for being set with rope at the top of plate, and the other end of two ropes is respectively connected to be located at the same side with rope
Connecting component 9.
As shown in figure 5, conveying intake mechanism 1-2 is used to for fish being sent to descaler, including inclination delivery platform 17, level
Delivery platform 18, discharge port 20, chain plate conveyor belt 16, baffle 19, delivery platform bracket 14, runner 12,15 and of drive motor
Belt 13,14 upper end of horizontal transmission platform support are fixed with horizontal transmission platform 18 and inclination delivery platform 17, and inclination transmission is flat
Platform 17, which is mounted on baffle 19 with 18 two sides of horizontal transmission platform, prevents fish from falling during transportation, is located at horizontal transmission platform
The output that discharge port 20 is used for fish, the other end and inclination delivery platform of horizontal transmission platform 18 are equipped at the baffle 19 of 18 one end
17 upper ends are connected to each other, and inclination 17 lower end of delivery platform tilts down until touching with ground, horizontal transmission platform 18 and inclination
At the docking of delivery platform 17,18 one end of horizontal transmission platform and tilts the lower end of delivery platform 17 and be mounted on runner 12, three
Chain plate conveyor belt 16 is set on a runner, one of lateral surface of inclination delivery platform 17 is equipped with drive motor 15,
The output end of drive motor 15 is connected by belt 13 with the runner 12 at docking.
It is acquired in real time as shown in fig. 6, image acquisition mechanism 1-3 is installed on horizontal transmission platform 18 for controlling camera 22
The image of fish on chain plate conveyor belt 16, image acquisition mechanism 1-3 include light source 21, camera 22, camera level(l)ing mechanism 23, phase
The vertical regulating mechanism 24 of machine and lighting box 25, light source 21, camera 22, camera level(l)ing mechanism 23, the vertical regulating mechanism of camera
24 are respectively positioned on inside lighting box 25, and 25 inner peripheral surface bottom of lighting box, which is equipped with, provides the light of illumination for acquiring image for camera 22
Source, light source 21 determine watt level and arrangement according to visual field illumination requirement and Image Acquisition effect；Top surface on lighting box 25
Camera level(l)ing mechanism 23 is installed, camera level(l)ing mechanism 23 includes cross slide way, longitudinal rail, the first guide rail slide block
Secondary and the second guide rail slide block pair, cross slide way are fixed on top surface on lighting box 25 and are transversely to the machine direction guide rail arrangement, longitudinal rail
It is slidably mounted on cross slide way lower end by the first guide rail slide block pair, the vertical regulating mechanism 24 of camera passes through the second guide rail slide block pair
Be slidably mounted on longitudinal rail lower end, camera 22 is installed on vertical 24 bottom end of regulating mechanism of camera and is adjusted vertically by camera
Mechanism 24 achives up and down.For the camera 22 using the waterproof industry black and white camera of high frame per second, camera and light source position are adjustable.
It further include image procossing mechanism, image procossing mechanism is used to handle and analyze the image of camera acquisition, and exports fish
Feed quantity, image procossing mechanism and production line traffic control software platform are integrated.
In fish salvaging mechanism 1-1, gear 5 is rolled under the control of servo motor 6 along rack gear, to drive gear installation base
4 move horizontally along linear guide 1, so that the square plate for the gathering fish device 8 being connected with rope be driven to do around the hinged end of bottom
System of Rotating about Fixed Axis approaches fish to conveying intake mechanism 1-2；In the conveying intake mechanism 1-2, the runner 12 at docking exists
It is rotated under the control of drive motor 15, so that other two runner 12 be driven to rotate, chain plate conveyor belt 16 is in three runners 12
Drive under realize fish transmission transport.
Specific implementation process of the invention is as follows:
1) fish salvaging mechanism 1-1 moves to the initial position far from conveying one end intake mechanism 1-2 by servo motor 6,
Expansion fishing mechanism 8 stores frost pond toward fish at this time and fish to be processed is added, and fish is watched all on the top for collapsing fish device 8
It takes motor 6 and controls the rotation of gear 5 to match with the rack gear 3 for being fixed on table base 2, so that loaded work piece platform 7 is by leading
Rail sliding block 10 moves horizontally in linear guide 1, drives the square plate for the gathering fish device 8 being connected with rope around the hinged of bottom
System of Rotating about Fixed Axis movement is done at end, makes to collapse fish device 8 towards one end movement close to conveying intake mechanism 1-2；
2) in the square plate rotary course for collapsing fish device 8, the fish for being gathered in gathering 8 surface of fish device is transported to inclination
It is covered on chain plate conveyor belt 16, is covered on the chain plate conveyor belt 16 on 12 surface of delivery platform and runner and inclines after delivery platform 17
The special construction of oblique delivery platform 17, is able to drive fish and is transported up；The surface of chain plate conveyor belt 16 is equipped with the card slot for accommodating fish,
The card slot is no more than the average thickness of fish along the width direction of inclination delivery platform and horizontal transmission platform arrangement, the depth of card slot
The width of degree, fish body and card slot is adapted, i.e., the fish in each card slot can only have one, avoids the accumulation and adhesion of fish, is realized
The single of fish, convenient for the image real-time acquisition of subsequent image acquisition part；
3) camera 22 of control triggering image acquisition mechanism 1-3 acquires the image of fish on chain plate conveyor belt 16 in real time；
4) processing is carried out to acquired image and obtains feed quantity real time data.It can be used for the phase of subsequent descaler revolving speed
It should adjust and the Optimum Regulation of line running state.
4.1) image background removes: determining background segment threshold using chain plate conveyor belt 16 and the big feature of fish body gray difference
Value carries out background removal to the image of acquisition and only retains fish body gray scale；
4.2) flake identifies: detecting flake using Hough circle transformation and counts；
4.3) region of interesting extraction:, will acquisition using flake positioning using existing single fish diagram picture as template image
Image and template image carry out template matching, are filtered by edge-smoothing eliminate the influence of fin burr later, obtain region of interest
Domain；
4.4) it binary conversion treatment: sets area-of-interest to obtain binary image after prospect carries out binary conversion treatment；
4.5) connected region calculates: carrying out being counted as Cnt to connected region using findContours function, use
ContourArea function carries out connected region area to be calculated as Area；The connected region is the fish wheel in binary image
It is wide；
4.6) when one timing of fish specification on chain plate conveyor belt 16, the item number of feeding fish is as monitoring in the output unit time
Feed quantity parameter；When the weight of feeding fish in fish timing diversified in specifications on chain plate conveyor belt 16, output unit time is as monitoring
Feed quantity parameter；
The item number calculating for feeding fish is as follows: by comparing cumulative Cnt and fish-eye number, judging the connected region being connected to edge
Domain number determines the item number of feeding fish；
The weight of feeding fish calculates as follows: the connected region area Area input that step 4.5) is obtained is established specific
The relational model of fish products kind side projection area and weight, conversion obtain the weight of feeding fish.
It can be seen that the apparatus structure that the present invention is newly built is simple, device and method are able to achieve the continuous salvaging of fish and defeated
It send, accelerates the working efficiency of machining production line, and realize the monitoring of feed quantity, to be mentioned for the adjustment of following process parameter optimization
For foundation.
Claims (9)
1. a kind of device for being continuously fed into fish and monitoring feed quantity, it is characterised in that: fed including fish salvaging mechanism (1-1), conveying
Enter mechanism (1-2) and image acquisition mechanism (1-3)；
The conveying intake mechanism (1-2) includes inclination delivery platform (17), horizontal transmission platform (18), discharge port (20), chain
Sheet conveying belt (16), baffle (19), delivery platform bracket (14), runner (12), drive motor (15) and belt (13), it is horizontal
Delivery platform bracket (14) upper end is fixed with horizontal transmission platform (18) and inclination delivery platform (17), tilts delivery platform (17)
Baffle (19) are mounted on horizontal transmission platform (18) two sides, is located at the baffle (19) of horizontal transmission platform (18) one end and sets
Have discharge port (20), the other end and inclination delivery platform (17) upper end of horizontal transmission platform (18) are connected to each other, and inclination transmission is flat
Platform (17) lower end tilts down until touching with ground, and horizontal transmission platform (18) is docked with inclination delivery platform (17)
The lower end at place, horizontal transmission platform (18) one end and inclination delivery platform (17) is mounted on runner (12), is covered on three runners
Equipped with chain plate conveyor belt (16), the one of lateral surface for tilting delivery platform (17) is equipped with drive motor (15), is driven
The output end of motor (15) is connected by belt (13) with the runner (12) at docking；
The fish salvaging mechanism (1-1) includes fish storage frost pond, linear guide (1), fishing device and collapses fish device, fish storage
It deposits frost pond and is equipped with the channel parallel with fish storage frost pond side wall surface close to the inducer of conveying intake mechanism (1-2), it is defeated
The inclination delivery platform (17) of intake mechanism (1-2) is sent to protrude into channel and in inclination delivery platform (17) baffle and channel two sides
Wall fits, and open end of the channel far from conveying intake mechanism (1-2) extends to fish storage frost pond two sidewalls towards two sides respectively
Face forms horn-like gathering mouth；Fish storage frost pond two side walls upper end is respectively and fixedly provided with table base (2) and table base
(2) upper surface is equipped with two linear guides (1) being parallel to each other, and is equipped between two linear guides (1) and linear guide (1)
Parallel rack gear (3)；Two pieces of table base (2) upper surfaces are symmetrically arranged with two fishing devices, and fishing device includes gear
Mounting base (4), gear (5), servo motor (6), guide rail slide block (10) and loaded work piece platform (7), two gear installation bases (4) are logical
Cross two linear guides (1) that guide rail slide block (10) is slidably mounted on table base (2) respectively, two gear installation bases (4)
Between the gear (5) rolled along rack gear (3) is installed, servo motor (6) are housed on the outside of one of gear installation base (4), are watched
The output shaft for taking motor (6) passes through gear installation base (4) and is connected with gear (5), and two gear installation bases (4) are fixedly arranged above negative
It carries workbench (7), side of the loaded work piece platform (7) far from conveying intake mechanism (1-2) is equipped with crotch as connecting component (9)；
Gathering fish device (8) is located in fish storage frost pond and the square plate mainly by trapezoidal plate and with filter opening is by hingedly forming,
Trapezoidal plate and fish store frost pond collapse mouth-shaped match and bottom with collapse mouth and be bonded fixations, trapezoidal plate one end with tilt biography
Platform (17) bottom is sent to be connected to each other, the other end is hinged with square plate bottom, and square plate two sides store frost pond with fish respectively
Two side walls fit, and two sides are equipped with the lug for being set with rope at the top of square plate, and the other end of two ropes is separately connected
To the connecting component (9) for being located at the same side with rope；
The image acquisition mechanism (1-3) is installed on horizontal transmission platform (18) for acquiring chain plate conveyor belt (16) in real time
The image of upper fish, image acquisition mechanism (1-3) include that light source (21), camera (22), camera level(l)ing mechanism (23), camera are perpendicular
Straight regulating mechanism (24) and lighting box (25), light source (21), camera (22), camera level(l)ing mechanism (23), camera are adjusted vertically
Section mechanism (24) is respectively positioned on lighting box (25) inside, and lighting box (25) inner peripheral surface bottom is equipped with for acquiring image for camera (22)
The light source of illumination is provided；Top surface is equipped with camera level(l)ing mechanism (23), camera level(l)ing mechanism on lighting box (25)
It (23) include cross slide way, longitudinal rail, the first guide rail slide block is secondary and the second guide rail slide block pair, cross slide way are fixed on lighting box
(25) top surface and it is transversely to the machine direction guide rail arrangement on, longitudinal rail is slidably mounted under cross slide way by the first guide rail slide block pair
End, the vertical regulating mechanism of camera (24) is by the second guide rail slide block pair and is slidably mounted on longitudinal rail lower end, camera (22) peace
It is achived up and down loaded on the vertical regulating mechanism of camera (24) bottom end and by the vertical regulating mechanism of camera (24).
2. a kind of device for being continuously fed into fish and monitoring feed quantity according to claim 1, it is characterised in that: further include figure
As processing mechanism, image procossing mechanism is used to handle and analyze the image of camera (22) acquisition, and exports fish feed quantity, at image
It manages mechanism and production line traffic control software platform is integrated.
3. a kind of device for being continuously fed into fish and monitoring feed quantity according to claim 1, it is characterised in that: the fish beats
It fishes out in mechanism (1-1), gear (5) is rolled in the case where servo motor (6) are controlled along rack gear (3), to drive gear installation base (4) edge
Linear guide (1) moves horizontally；While fishing device is moved horizontally towards conveying intake mechanism (1-2), drive and rope phase
Around the hinged end System of Rotating about Fixed Axis of bottom, the fish for being gathered in gathering fish device (8) surface exists the square plate of gathering fish device (8) even
Conveying intake mechanism (1-2) is moved closer in square plate rotary course, until the fish for collapsing fish device (8) surface is all transported to
It conveys intake mechanism (1-2).
4. a kind of device for being continuously fed into fish and monitoring feed quantity according to claim 1, it is characterised in that: the conveying
In intake mechanism (1-2), the runner (12) at docking rotates under the control of drive motor (15), to drive remaining
Two runner (12) rotations, chain plate conveyor belt (16) realize that the transmission of fish is transported under the drive of three runners (12).
5. a kind of device for being continuously fed into fish and monitoring feed quantity according to claim 1, it is characterised in that: the channel
Between frost pond two side walls and parallel with side wall surface, channel two side walls upper end and gathering mouth wall surface upper end are stored set on fish
Extend respectively to fish storage frost pond two side walls upper end.
6. a kind of device for being continuously fed into fish and monitoring feed quantity according to claim 1, it is characterised in that: described in every
Linear guide (1) both ends be equipped with block.
7. a kind of device for being continuously fed into fish and monitoring feed quantity according to claim 1, it is characterised in that: the carrier bar
Conveyer belt (16) surface is equipped with the card slot at equal intervals for accommodating single fish, and card slot is along inclination delivery platform (17) and horizontal transmission platform
(18) width direction arrangement, card slot depth are no more than the average thickness of fish；Chain plate conveyor belt (16) selection and fish body gray scale pair
Than apparent color.
8. a kind of method for being continuously fed into fish and monitoring feed quantity of any described device, feature exist according to claim 1~7
In, comprising the following steps:
1) under original state, fishing device is located at one end far from conveying intake mechanism (1-2) on linear guide (1), collapses fish
The square plate upper end of device (8) is rotated to the side far from conveying intake mechanism (1-2), so that collapsing fish device (8) and fish storage
It deposits frost pond enclosed space and reaches maximum；Then it towards the fish that investment is to be processed above fish device (8) is collapsed, is opened after dispensing
Servo motor (6) collapses fish device (8) and determines under the drive of fishing device towards close to the side of conveying intake mechanism (1-2)
Axis rotary motion, the fish for being gathered in gathering fish device (8) surface all approach to conveying intake mechanism (1-2), and collapse fish dress
The square plate for setting (8) fits with fish storage frost pond two sidewalls two sides always in rotary course；
2) in the square plate rotary course for collapsing fish device (8), the fish for being gathered in gathering fish device (8) surface is transported to inclination
It is covered in after delivery platform (17) on chain plate conveyor belt (16), fish is tilted towards top on the offline edge of drive of chain plate conveyor belt (16)
To being delivered to horizontal transmission platform (18), after be delivered to descaler in the horizontal direction；
3) camera (22) for controlling image acquisition mechanism (1-3) acquires the image of fish on chain plate conveyor belt (16) in real time；
4) processing post analysis is carried out to the image of step 3) acquisition and obtains feed quantity real time data.
9. a kind of method for being continuously fed into fish and monitoring feed quantity according to claim 8, it is characterised in that: the step
4) in, the image of acquisition is subjected to the method that processing post analysis obtains feed quantity real time data specifically:
4.1) image background removes: determining background segment threshold using chain plate conveyor belt (16) and the big feature of fish body gray difference
Value carries out background removal to the image of acquisition and only retains fish body gray scale；
4.2) flake identifies: detecting flake using Hough circle transformation and counts；
4.3) using existing single fish diagram picture as template image, image will region of interesting extraction: be acquired using flake positioning
Template matching is carried out with template image, is filtered by edge-smoothing eliminate the influence of fin burr later, obtain area-of-interest；
4.4) it binary conversion treatment: sets area-of-interest to obtain binary image after prospect carries out binary conversion treatment；
4.5) connected region calculates: being counted using findContours function to connected region, with contourArea function
Connected region area is calculated；The connected region is the fish profile in binary image；
4.6) when fish specification is identical on chain plate conveyor belt (16), the item number of feeding fish is joined as feed quantity in the output unit time
Number；When fish specification difference on chain plate conveyor belt (16), the weight of feeding fish is as feed quantity parameter in the output unit time；
The item number of the feeding fish calculates as follows: being connected to by comparing the number and fish-eye number of connected region, judgement with edge
Connected region number determines the item number of feeding fish；
The weight of the feeding fish calculates as follows: the connected region area that step 4.5) is obtained inputs established specific fish products
The relational model of kind side projection area and weight, conversion obtain the weight of feeding fish.
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