CN111713544A

CN111713544A - Machine vision-based fresh water fish body on-line head and tail removing and sorting system

Info

Publication number: CN111713544A
Application number: CN202010707758.4A
Authority: CN
Inventors: 陈艳; 胡志刚; 李木银
Original assignee: Wuhan Polytechnic University
Current assignee: Wuhan Polytechnic University
Priority date: 2020-07-21
Filing date: 2020-07-21
Publication date: 2020-09-29

Abstract

The invention relates to a machine vision-based fresh water fish body on-line head and tail removing and sorting system, which comprises a fish body conveying device, wherein a fish body guiding device, a fish body image acquisition device, a rectangular coordinate mechanical arm for cutting the head and the tail of a fish, a fish body fixing device and a fish head and tail sorting device are sequentially arranged on the fish body conveying device along the fish body conveying direction; still be equipped with photoelectric sensor one, photoelectric sensor two that are used for detecting the fish body respectively on the fish body conveyor, the output of fish body image acquisition device is connected to the input of computer, and computer output image data to switch board, the switch board respectively with fish body conveyor, fish body fixing device, cut the rectangular coordinate arm of fish head and tail, fish head and tail sorting device and be connected. The application provides a freshwater fish body removes head and tail and letter sorting system on line based on machine vision, simple structure, it is low to fish size uniformity requirement, to removing the different positions behind the head and the tail and realizing accurate letter sorting, degree of automation is high.

Description

Machine vision-based fresh water fish body on-line head and tail removing and sorting system

Technical Field

The invention relates to a processing method of fish, in particular to a machine vision-based fresh water fish body on-line head and tail removing and sorting system.

Background

The processing of removing the head and the tail of the freshwater fish is an important link of the pretreatment processing of the freshwater fish, and the head and the tail of the freshwater fish are separated from the fish body, so that the utilization rate of the fish body resources can be obviously improved. At present, the technical research on the aspect of removing the head and the tail of the freshwater fish is still in a primary stage, the process of removing the head and the tail of the freshwater fish is mainly realized by adopting an artificial method, and the traditional method has low efficiency and cannot meet the requirement of fishery modernization. The technical research of removing the heads and the tails of the fishes only needs a small amount of equipment with low mechanization degree, and most of processing objects are seawater fishes, so that the method cannot adapt to modern large-scale production. The whole processing flow is influenced by removing the head and the tail as an important link in the pretreatment processing of the freshwater fish, so that the research and the development of a high-efficiency and stable head and tail removing and sorting device for the freshwater fish are particularly important in order to perfect the processing of the freshwater fish, relieve the dependence on manpower and improve the resource utilization rate of the freshwater fish.

Patents CN102860346A and CN105211254A disclose "a machining method and apparatus for removing head and viscera of small fish" and "a freshwater fish head remover", which basically implement the function of removing head of fish, but have higher requirement for consistency of fish size, and when there is a great difference in fish size, the requirement for the function of accurately removing head of fish can not be completely met.

Disclosure of Invention

In order to overcome the defects in the prior art, the invention provides an online fresh water fish head and tail removing and sorting system based on machine vision, and solves the technical problem that the prior fresh water fish head and tail removing mechanism has high requirements on the size consistency of fish bodies.

The invention is realized by the following technical scheme:

a machine vision-based fresh water fish body on-line head and tail removing and sorting system comprises a fish body conveying device, wherein a fish body guiding device, a fish body image acquisition device, a fish head and tail cutting rectangular coordinate mechanical arm, a fish body fixing device and a fish head and tail sorting device are sequentially arranged on the fish body conveying device along the fish body conveying direction, a fish body collecting device is arranged on one side of the fish head and tail cutting rectangular coordinate mechanical arm along the fish body conveying direction, the fish head and tail sorting device is arranged on one side of the fish body conveying device, and a fish tail collecting device and a fish head collecting device corresponding to the fish head and tail sorting device are arranged on the other side of the fish body conveying device;

cut rectangular coordinate arm one side of fish head tail and be equipped with the photoelectric sensor one that is used for responding to the fish body, fish head tail sorting device's offside is equipped with the photoelectric sensor two that is used for responding to fish head, fish tail, fish body image acquisition device's output is connected to the input of computer, the output connection control cabinet of computer, photoelectric sensor one and photoelectric sensor two, the switch board still is connected with fish body conveyor, fish body fixing device, cuts rectangular coordinate arm and the fish head tail sorting device of fish head tail.

Further, the fish body conveying device is a chain plate conveyor, the chain plate conveyor comprises a table top for conveying fish bodies, and the table top is fixedly installed on the rack.

Further, the fish body guiding device comprises a top plate which is gradually inclined downwards along the fish body conveying direction, and side plates which are downward vertical to the table top are arranged on two sides of the top plate.

Further, fish body image acquisition device includes the cuboid frame of being connected with fish body conveyor, the top of cuboid frame is equipped with the industry camera that is used for shooing for the fish body, one side of cuboid frame is equipped with the light source and is used for responding to the photoelectric sensor three of the fish body, industry camera, photoelectric sensor three on the fish body image acquisition device are connected to the input of computer.

Further, the rectangular coordinate mechanical arm for cutting the head and the tail of the fish comprises a mechanical arm support, a first mechanical arm is arranged in the longitudinal direction of the mechanical arm support, a second mechanical arm is arranged above the first mechanical arm in the direction perpendicular to the first mechanical arm, a third mechanical arm is arranged on the second mechanical arm in the direction perpendicular to the fish body conveying device, a straight-mouth blade is fixedly mounted at the lower end of the third mechanical arm through a slicing fixing piece, the third mechanical arm is connected with the second mechanical arm in a sliding mode, the second mechanical arm is connected with the first mechanical arm in a sliding mode, the first mechanical arm, the second mechanical arm and the third mechanical arm are driven by motors respectively, and the motors are connected to a control cabinet.

Furthermore, the fish body fixing device comprises a pull rod perpendicular to the fish body conveying direction, a first air cylinder parallel to the pull rod is arranged below the pull rod, the output end of the first air cylinder is fixed to a second air cylinder, the output end of the second air cylinder is perpendicularly connected to the pull rod, a pushing plate used for compressing and pushing and pulling the fish body is arranged at one end, close to the fish body conveying device, of the pull rod, the pushing plate is connected with the pull rod through a spring sleeve part, and the first air cylinder and the second air cylinder are both connected to the control cabinet.

Further, fish head tail sorting device includes the push rod that the perpendicular to fish body direction of delivery set up, the push rod is equipped with cylinder three in the one side of keeping away from fish body conveyor, cylinder three connection control cabinet.

Compared with the prior art, the invention has the beneficial effects that:

the freshwater fish body on-line head and tail removing and sorting system based on the machine vision is simple in structure, different cutting positions can be selected according to different sizes of fish by adopting the machine vision, and the problem of head and tail removal of fish bodies with different sizes is solved; and the photoelectric sensor is combined to accurately sense the position of the fish body, cutting and pushing are completed at the designated position, sorting of all parts of the fish body is realized, and the degree of automation is high.

Drawings

Fig. 1 is a schematic overall structure diagram of an on-line fresh water fish head and tail removing and sorting system based on machine vision according to an embodiment of the present invention;

FIG. 2 is a schematic structural diagram of a fish body conveying device according to an embodiment of the present invention;

FIG. 3 is a schematic structural view of a fish guiding device according to an embodiment of the present invention;

fig. 4 is a schematic structural diagram of a fish image acquisition device according to an embodiment of the invention;

FIG. 5 is a schematic structural diagram of a rectangular coordinate mechanical arm for cutting the head and the tail of a fish according to an embodiment of the invention;

FIG. 6 is a schematic structural view of a fish body fixing device according to an embodiment of the present invention;

fig. 7 is a schematic view of an installation structure of the fish body fixing device and the fish head and tail sorting device on the fish body conveying device according to the embodiment of the invention.

In the figure:

1. a fish body conveying device; 101. a frame; 102. a table top; 103. a first photoelectric sensor; 104. a second photoelectric sensor; 105. a fish body collecting device; 106. a fish tail collecting device; 107. a fish head collecting device; 2. a fish body guide; 201. a top plate; 202. a side plate; 3. a fish body image acquisition device; 301. a rectangular parallelepiped frame; 302. an industrial camera; 303. a light source; 304. a third photoelectric sensor; 4. a rectangular coordinate mechanical arm for cutting the head and the tail of the fish; 401. a mechanical arm support; 402. a first robot arm; 403. a second mechanical arm; 404. a third mechanical arm; 4041. slicing and fixing the parts; 4042. a straight blade; 5. a fish body fixing device; 501. a pull rod; 502. a first cylinder; 503. a second air cylinder; 504. a spring sleeve member; 505. a push plate; 6. a fish head and tail sorting device; 601. a third air cylinder; 602 a push rod; 9. a computer; 10. a control cabinet.

Detailed Description

The following examples are presented to illustrate certain embodiments of the invention in particular and should not be construed as limiting the scope of the invention. The present disclosure may be modified from materials, methods, and reaction conditions at the same time, and all such modifications are intended to be within the spirit and scope of the present invention.

As shown in fig. 1, an on-line fresh water fish head and tail removing and sorting system based on machine vision comprises a fish body conveying device 1, wherein a fish body guiding device 2, a fish body image collecting device 3, a fish head and tail cutting rectangular coordinate mechanical arm 4, a fish body fixing device 5 and a fish head and tail sorting device 6 are sequentially arranged on the fish body conveying device 1 along a fish body conveying direction, a fish body collecting device 105 is arranged on one side of the fish body conveying direction of the rectangular coordinate mechanical arm 4 for cutting the fish head and tail, the fish head and tail sorting device 6 is arranged on one side of the fish body conveying device 1, and a fish tail collecting device 106 and a fish head collecting device 107 corresponding to the fish head and tail sorting device 6 are arranged on the other side of the fish body conveying device 1;

the fish body image acquisition device 3 acquires fish body image information and transmits the fish body image information to the computer 9, and the computer 9 selects proper fish head and fish tail cutting points through an image segmentation algorithm; the fish body fixing device 5 moves to the middle part of the fish body to fix the fish body, the blades 4042 on the rectangular coordinate mechanical arm 4 for cutting the head and the tail of the fish move to the cutting points of the head and the tail of the fish respectively to complete the cutting of the head and the tail of the fish, and the cut middle fish body, the head and the tail of the fish are respectively pushed into the fish body collecting device 105, the fish head collecting device 107 and the tail collecting device 106;

cut 4 one sides of rectangular coordinate arm of fish head and tail and be equipped with the photoelectric sensor 103 that is used for responding to the fish body, fish head and tail sorting device 6's offside is equipped with two 104 of photoelectric sensor that are used for responding to fish head, fish tail, fish body image acquisition device 3's output is connected to the input of computer 9, computer 9's output connection switch board 10, switch board 10 still with fish body conveyor 1, fish body fixing device 5, cut rectangular coordinate arm 4 and the fish head and tail sorting device 6 connection of fish head and tail.

When the photoelectric sensor 103 detects that the fish body reaches the cutting position, the fish body conveying device 1 stops, the fish body fixing device 5 compresses the fish body, the rectangular coordinate mechanical arm 4 for cutting the head and the tail of the fish controls the blade to move to complete cutting of the head and the tail of the fish, the blade returns later, the middle fish body is pushed into the fish body collecting device 105, the fish body conveying device 1 is started again, the head and the tail of the fish continue to be transmitted, after the photoelectric sensor 104 detects that the head and the tail of the fish reach the designated position, the fish body conveying device 1 stops, and the head and the tail of the fish are respectively pushed into the fish head collecting device 107 and the fish tail collecting device 106 through the fish head and tail sorting device 6.

In the embodiment, as shown in fig. 2, the fish conveying device 1 is a chain-link conveyor, and the chain-link conveyor includes a table 102 for conveying fish, and the table 102 is fixedly mounted on a frame 101. The rack 101 and the table-board 102 are both made of stainless steel, and the fish bodies placed on the table-board 102 are conveyed along the horizontal direction.

In the present embodiment, as shown in fig. 3, the fish body guiding device 2 includes a top plate 201 gradually inclined downwards along the fish body conveying direction, and two sides of the top plate 201 are provided with side plates 202 perpendicular to the table top 102 downwards. The fish body after passing through the fish body guiding device 2 is uniformly conveyed along the conveying direction, and the fish body direction is kept consistent without inclination.

In this embodiment, as shown in fig. 4, the fish image capturing device 3 includes a rectangular parallelepiped frame 301 fixedly connected to the frame 101, an industrial camera 302 for photographing fish is disposed on a top of the rectangular parallelepiped frame 301, a light source 303 and a third photoelectric sensor 304 for sensing fish are disposed on one side of the rectangular parallelepiped frame 301, and the industrial camera 302 on the fish image capturing device 3 is connected to an input terminal of the computer 9. And when the third photoelectric sensor 304 senses the fish body, the industrial camera 302 triggers to take a picture, the obtained image information is transmitted to the computer 9, the fish head and the fish tail are segmented after image processing of the computer 9, and the cutter point is determined.

In this embodiment, as shown in fig. 5, the cartesian mechanical arm 4 for cutting the head and the tail of the fish includes a mechanical arm support 401 fixed on the frame 101, a left first mechanical arm 402 and a right first mechanical arm 402 are arranged in the longitudinal direction of the mechanical arm support 401, a second mechanical arm 403 is vertically connected above the two first mechanical arms 402, a third mechanical arm 404 is arranged on the second mechanical arm 403 along the direction vertical to the fish conveying device 1, a straight blade 4042 is fixedly installed at the lower end of the third mechanical arm 404 through a slice fixing part 4041, the third mechanical arm 404 is connected to the second mechanical arm 403 in a sliding manner, the second mechanical arm 403 is connected to the first mechanical arm 402 in a sliding manner, the first mechanical arm 402, the second mechanical arm 403, and the third mechanical arm 404 are respectively driven by motors, and each motor is connected to the control cabinet 10. The control cabinet 10 controls the motor to drive the straight-mouth blade 4042 at the end of the third mechanical arm 404 to move, the blade descends twice to complete the cutting of the fish head and the fish tail, and then the blade retracts to wait for the next feeding.

In this embodiment, as shown in fig. 6, the fish body fixing device 5 includes a pull rod 501 perpendicular to the fish body conveying direction, a first air cylinder 502 parallel to the direction of the pull rod 501 is disposed below the pull rod 501, an output end of the first air cylinder 502 is fixed on a second air cylinder 503, an output end of the second air cylinder 503 is perpendicularly connected to the pull rod 501, a pushing plate 505 for pressing and pushing the fish body is disposed at one end of the pull rod 501 close to the fish body conveying device 1, the pushing plate 505 is connected to the pull rod 501 through a spring sleeve member 504, and the first air cylinder 502 and the second air cylinder 503 are both connected to the control cabinet 10. When the photoelectric sensor 103 detects that the fish body reaches the cutting position, the fish body conveying device 1 stops moving, the second air cylinder 503 in the fish body fixing device 5 drives the pull rod 501 to move up and down, the pushing plate 505 presses the fish body, and after the fish body is to be cut, the piston rod of the first air cylinder 502 pushes the pull rod 501 to move back and forth, so that the middle fish body after being cut is pushed to the fish body collecting device 105.

In this embodiment, as shown in fig. 7, the fish head and tail sorting device 6 includes a push rod 602 disposed perpendicular to the fish body conveying direction, the push rod 602 is provided with a third cylinder 601 at a side far away from the fish body conveying device 1, and the third cylinder 601 is connected to the control cabinet 10. When the photoelectric sensor 104 detects that the fish head and the fish tail reach the designated positions, the third cylinder 601 drives the push rod 602 to push the fish head and the fish tail into the fish head collecting device 107 and the fish tail collecting device 106 respectively.

The fresh water fish body is placed on the fish body conveying device 1 which moves at a constant speed, the fish head moves forwards, the fish body passes through the guiding device 2 and then is conveyed along the conveying direction at a constant speed, the fish body is sensed by the photoelectric sensor III 304 in the image acquisition device 3, the industrial camera 302 triggers photographing, and the cutter point for dividing the fish head and the fish tail is determined after the image processing of the computer 9. When the photoelectric sensor I103 senses that the fish body reaches the cutting position, and meanwhile, after the control cabinet calculates the stroke of the fish body according to the transmission speed and time, the fish body conveying device 1 stops, the pull rod 501 in the fish body fixing device 5 descends to press the fish body tightly, and meanwhile, the third mechanical arm 404 moves to enable the straight blade 4042 to descend to cut off the fish head and the fish tail twice and then retreat. Then, the first control cylinder 502 drives the pull rod 501 to move back and forth, the middle fish body with the fish head and the fish tail cut off is pushed into the fish body collecting device 105, and the fish head and the fish tail continue to be transmitted; after the second photoelectric sensor 104 detects that the fish head and the fish tail reach the predetermined positions, the fish head and the fish tail are respectively pushed into the fish head collecting device 107 and the fish tail collecting device 106 by the fish head and tail sorting device 6.

To sum up, adopt the freshwater fish body on-line head and tail and letter sorting system based on machine vision of this application, can solve the fish body head and tail problem of different size of the body to the realization is to the letter sorting of each position of the fish body, simple structure, degree of automation height.

The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes performed by the present specification and drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims

1. The fresh water fish body on-line head and tail removing and sorting system based on machine vision comprises a fish body conveying device (1) and is characterized in that a fish body guiding device (2), a fish body image collecting device (3), a fish body head and tail cutting rectangular coordinate mechanical arm (4), a fish body fixing device (5) and a fish head and tail sorting device (6) are sequentially arranged on the fish body conveying device (1) along a fish body conveying direction, the fish body head and tail cutting rectangular coordinate mechanical arm (4) is provided with a fish body collecting device (105) on one side of the fish body conveying direction, the fish head and tail sorting device (6) is arranged on one side of the fish body conveying device (1), and a fish tail collecting device (106) and a fish head collecting device (107) corresponding to the fish head and tail sorting device (6) are arranged on the other side of the fish body conveying device (1);

cut rectangular coordinate arm (4) one side of fish head and tail and be equipped with photoelectric sensor one (103) that are used for responding to the fish body, the offside of fish head and tail sorting device (6) is equipped with photoelectric sensor two (104) that are used for responding to fish head, fish tail, the output of fish body image acquisition device (3) is connected to computer (9), output connection control cabinet (10) of computer (9), photoelectric sensor one (103) and photoelectric sensor two (104), switch board (10) still with fish body conveyor (1), fish body fixing device (5), cut rectangular coordinate arm (4) and fish head and tail sorting device (6) connection of fish head and tail.

2. The machine vision-based fresh water fish body on-line head-tail removing and sorting system as claimed in claim 1, wherein the fish body conveying device (1) is a chain slat conveyor, the chain slat conveyor comprises a table top (102) for conveying fish bodies, and the table top (102) is fixedly mounted on a machine frame (101).

3. The machine vision-based fresh water fish body on-line head-tail removing and sorting system as claimed in claim 2, wherein the fish body guiding device (2) comprises a top plate (201) which is gradually inclined downwards along the fish body conveying direction, and two sides of the top plate (201) are provided with side plates (202) which are perpendicular to the table top (102) downwards.

4. The machine vision-based fresh water fish body on-line head and tail removing and sorting system is characterized in that the fish body image acquisition device (3) comprises a rectangular frame (301) connected with the fish body conveying device (1), an industrial camera (302) used for photographing a fish body is arranged at the top of the rectangular frame (301), a light source (303) and a photoelectric sensor III (304) used for sensing the fish body are arranged on one side of the rectangular frame (301), and the industrial camera (302) on the fish body image acquisition device (3) is connected to the input end of a computer (9).

5. The fresh water fish body on-line head and tail removing and sorting system based on the machine vision is characterized in that the rectangular coordinate mechanical arm (4) for cutting the head and the tail of the fish comprises a mechanical arm support (401), a first mechanical arm (402) is arranged along the longitudinal direction of the mechanical arm support (401), a second mechanical arm (403) is arranged above the first mechanical arm (402) along the direction vertical to the first mechanical arm (402), a third mechanical arm (404) is arranged on the second mechanical arm (403) along the direction vertical to the fish body conveying device (1), a straight-mouth blade (4042) is fixedly arranged at the lower end of the third mechanical arm (404) through a slicing fixing part (4041), the third mechanical arm (404) is connected with the second mechanical arm (403) in a sliding mode, and the second mechanical arm (403) is connected with the first mechanical arm (402) in a sliding mode, the first mechanical arm (402), the second mechanical arm (403) and the third mechanical arm (404) are respectively driven by motors, and the motors are connected to the control cabinet (10).

6. The machine vision-based fresh water fish body on-line head and tail removing and sorting system is characterized in that the fish body fixing device (5) comprises a pull rod (501) arranged perpendicular to the fish body conveying direction, a first air cylinder (502) parallel to the direction of the pull rod (501) is arranged below the pull rod (501), the output end of the first air cylinder (502) is fixed on a second air cylinder (503), the output end of the second air cylinder (503) is perpendicularly connected to the pull rod (501), a pushing plate (505) used for pressing and pushing and pulling the fish body is arranged at one end of the pull rod (501) close to the fish body conveying device (1), the pushing plate (505) is connected with the pull rod (501) through a spring sleeve member (504), and the first air cylinder (502) and the second air cylinder (503) are both connected to the control cabinet (10).

7. The machine vision-based fresh water fish body on-line head and tail removing and sorting system is characterized in that the fish head and tail sorting device (6) comprises a push rod (602) arranged perpendicular to the fish body conveying direction, the push rod (602) is provided with a third air cylinder (601) on the side far away from the fish body conveying device (1), and the third air cylinder (601) is connected with the control cabinet (10).