CN113729060A - Automatic milling and slicing system for frozen poultry based on machine vision - Google Patents
Automatic milling and slicing system for frozen poultry based on machine vision Download PDFInfo
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- CN113729060A CN113729060A CN202111058989.8A CN202111058989A CN113729060A CN 113729060 A CN113729060 A CN 113729060A CN 202111058989 A CN202111058989 A CN 202111058989A CN 113729060 A CN113729060 A CN 113729060A
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- 244000144977 poultry Species 0.000 title claims abstract description 83
- 238000003801 milling Methods 0.000 title claims abstract description 22
- 210000001835 viscera Anatomy 0.000 claims abstract description 15
- 230000007246 mechanism Effects 0.000 claims abstract description 12
- 230000000007 visual effect Effects 0.000 claims abstract description 5
- 238000004140 cleaning Methods 0.000 claims description 13
- 238000001035 drying Methods 0.000 claims description 13
- 230000005540 biological transmission Effects 0.000 claims description 11
- 238000000034 method Methods 0.000 claims description 11
- 230000000694 effects Effects 0.000 claims description 6
- 230000008569 process Effects 0.000 claims description 6
- 238000001914 filtration Methods 0.000 claims description 4
- 238000000605 extraction Methods 0.000 claims description 3
- 230000009278 visceral effect Effects 0.000 claims description 3
- 230000007797 corrosion Effects 0.000 claims description 2
- 238000005260 corrosion Methods 0.000 claims description 2
- 230000002194 synthesizing effect Effects 0.000 claims description 2
- 230000031700 light absorption Effects 0.000 claims 1
- 230000008014 freezing Effects 0.000 abstract 1
- 238000007710 freezing Methods 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 5
- 238000005070 sampling Methods 0.000 description 5
- 230000009471 action Effects 0.000 description 4
- 238000009877 rendering Methods 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
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- A—HUMAN NECESSITIES
- A22—BUTCHERING; MEAT TREATMENT; PROCESSING POULTRY OR FISH
- A22C—PROCESSING MEAT, POULTRY, OR FISH
- A22C21/00—Processing poultry
- A22C21/0023—Dividing poultry
- A22C21/003—Filleting poultry, i.e. extracting, cutting or shaping poultry fillets
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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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Abstract
The invention discloses a machine vision-based automatic frozen poultry milling and slicing system, and relates to the field of machine vision. This frozen poultry automatic milling section system based on machine vision includes: the cutting machine comprises a first workbench, a second workbench, a cutting box, a first air cylinder, a movable plate, a second air cylinder, a pushing plate and a cutting blade, wherein the lower surface of the desktop of the second workbench is fixedly connected with the lower surface of the desktop of the first workbench; and the visual acquisition mechanism is assembled on the upper surface of the second workbench. This automatic section system that mills of poultry that freezes based on machine vision when freezing poultry level carries out intermittent type and removes, carries out automatic section processing to the poultry through the cutter, then the camera carries out image acquisition to the cross section to can carry out three-dimensional reconstruction to two-dimensional section image and reflect the three-dimensional model of poultry carcass appearance and internal organ mesoscopic structure.
Description
Technical Field
The invention relates to the technical field of machine vision, in particular to an automatic frozen poultry milling and slicing system based on machine vision.
Background
The machine vision system converts a shot target into an image signal through a machine vision product, transmits the image signal to a special image processing system to obtain the form information of the shot target, and converts the form information into a digital signal according to the information of pixel distribution, brightness, color and the like; the image system performs various operations on the signals to extract the characteristics of the target, then introduces unified and standard poultry slice image information into the three-dimensional reconstruction system, obtains an appearance three-dimensional surface model and a section diagram, and automatically verifies the modeling precision by using a three-dimensional measuring tool.
When eviscerating poultry viscera, a manipulator is usually utilized to stretch into poultry viscera from a poultry chamber opening to take out the viscera, the appearance of the poultry carcass is visible, the position of the internal viscera is invisible, the internal edible internal organs of the poultry are not damaged when the poultry is eviscerated, the corresponding relation between the appearance of the poultry carcass and the internal organs needs to be determined, and therefore the poultry is facilitated to avoid easily damaged internal organs when the poultry is eviscerated, and therefore the automatic milling and slicing system for the frozen poultry based on machine vision is provided.
Disclosure of Invention
Technical problem to be solved
Aiming at the defects of the prior art, the invention discloses a frozen poultry automatic milling and slicing system based on machine vision, which aims to solve the problems in the background art.
(II) technical scheme
In order to achieve the purpose, the invention is realized by the following technical scheme: a machine vision based automatic frozen poultry milling and slicing system comprising:
the automatic cleaning and drying device comprises a first workbench and a second workbench, wherein a display screen is fixedly connected to the upper surface of the first workbench, a computer host is installed below the first workbench, a connecting plate is fixedly connected between the first workbench and the second workbench, a collecting frame is fixedly connected to the upper surface of the connecting plate, and a cleaning frame and a drying box are fixedly connected to the upper surface of the second workbench;
the cutting box is fixedly connected to the upper surface of the second workbench, the lower surface of the desktop of the second workbench is fixedly connected with a first air cylinder, an extension shaft of the first air cylinder penetrates through the desktop of the second workbench to extend towards the inside of the cutting box and is fixedly connected with a movable plate, the movable plate is slidably connected to the inner wall of the cutting box, the second air cylinder is fixedly connected to the outer wall of the cutting box, the extension shaft of the second air cylinder penetrates through the outer wall of the cutting box and is fixedly connected with a push plate, the push plate is slidably connected to the inner wall of the cutting box and is fixedly connected with a cutting edge, and an outlet is formed in the outer wall of the other side of the cutting box;
and the visual acquisition mechanism is assembled on the upper surface of the second workbench.
Preferably, the vision acquisition mechanism includes the base, base fixed connection is at the upper surface of second workstation, the equal a plurality of fixed blocks of fixedly connected with of side around the base, and rotate through a plurality of fixed blocks and be connected with a plurality of live-rollers, and the transmission is connected with the conveyer belt between a plurality of live-rollers.
Preferably, a plurality of the back of live-rollers all fixedly connected with axis of rotation, and a plurality of axis of rotation pass corresponding fixed block respectively and fixed the having cup jointed driving pulley, and the transmission is connected with driving belt between a plurality of driving pulley.
Preferably, the upper surface of second workstation fixedly connected with driving motor, driving motor is adjustable motor, driving motor's output fixedly connected with drive shaft, one of them the surface of axis of rotation and the surface of drive shaft are fixed respectively and have been cup jointed first drive pulley and second drive pulley, just the transmission is connected with the drive belt between first drive pulley and the second drive pulley, just the upper surface of second workstation is provided with the subassembly of making a video recording.
Preferably, the subassembly of making a video recording includes fixed frame, fixed frame fixed connection is at the upper surface of second workstation, the front of fixed frame is rotated through the round pin axle and is connected with the shutter, just the positive fixedly connected with handle of shutter.
Preferably, two support bars of fixedly connected with, and two on the inner wall of fixed frame fixedly connected with bracing piece between the support bar, the sliding seat has been cup jointed in the activity of bracing piece surface, the outer fixed surface of sliding seat is connected with the lantern ring, just fixed the cup jointing has the camera on the inner wall of the lantern ring, and the camera is in directly over the conveyer belt.
Preferably, an arc-shaped groove is formed in the inner wall of the movable seat, an arc-shaped clamping block is connected to the inner wall of the arc-shaped groove in a sliding mode, and the outer surface of the arc-shaped clamping block is tightly attached to the outer surface of the supporting rod.
Preferably, the one end that the bracing piece was kept away from to the arc clamp splice is rotated and is connected with the threaded rod, the outer wall that the threaded rod passed the sliding seat outwards extends, just threaded rod and sliding seat threaded connection.
Preferably, one end of the threaded rod, which is located outside, is fixedly connected with a knob.
The invention discloses a machine vision-based automatic frozen poultry milling and slicing system, which has the following beneficial effects:
1. this automatic section system that mills of frozen poultry based on machine vision, adopt the automatic intermittent type formula of disc type cutter to cut frozen poultry section, section thickness is 0.5mm, the poultry section is automatic to be passed through the conveyer belt transmission, a plurality of live-rollers rotate simultaneously, thereby make the conveyer belt move around at a plurality of live-rollers surface, make the section level of placing the frozen poultry at the conveyer belt move, then it collects in the collection frame to go into, when the section level of frozen poultry moves, through the vision acquisition mechanism that sets up, the camera makes a video recording and gathers to the section, thereby can acquire the section image of high accuracy automatically, and can follow two-dimensional section image reconstruction and reflect the three-dimensional model of poultry carcass appearance and internal organ mesoscopic structure, establish the corresponding relation of both overall dimension simultaneously.
2. This automatic section system that mills of frozen poultry based on machine vision, through the cutting case that sets up, under the effect of second cylinder, the projecting shaft of second cylinder stretches out, it slides on the inner wall of cutting case to have promoted pushing plate and cutting edge, until the cutting edge contacts and cuts with frozen poultry, the section that is cut down simultaneously is promoted forward by the pushing plate, make the section crooked, until the section is cut off completely and drop through the export, the projecting shaft of second cylinder this moment withdraws, then the projecting shaft of first cylinder rebound once more, the same rebound same distance of frozen poultry has been driven, the projecting shaft of second cylinder this moment stretches out again, thereby cut once more, and then can cut frozen poultry into a plurality of sections.
3. This automatic section system that mills of poultry that freezes based on machine vision, when sliced variation in size, need highly adjust the camera, thereby when reaching the effect of adjustment sample size, rotate the knob, it rotates to have driven the threaded rod, because of threaded rod and sliding seat threaded connection, thereby driven the threaded rod rotating in the sliding seat, it slides on the inner wall of arc wall to have driven the arc clamp splice, make the arc clamp splice break away from with the bracing piece mutually, can stimulate the sliding seat and slide from top to bottom at the surface of bracing piece this moment.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of a portion of the present invention;
FIG. 3 is a schematic view of the structure of the cutting box of the present invention;
FIG. 4 is a schematic structural diagram of a vision acquisition mechanism according to the present invention;
FIG. 5 is a schematic view of the construction of the conveyor belt of the present invention;
FIG. 6 is an enlarged view of portion A of FIG. 5 according to the present invention;
figure 7 is a schematic view of the structure of the fixed frame according to the invention;
FIG. 8 is a schematic view of the internal structure of the fixing frame according to the present invention;
FIG. 9 is a schematic structural diagram of a camera head according to the present invention;
FIG. 10 is a schematic structural view of the interior of the sliding seat according to the present invention;
FIG. 11 is a schematic diagram of the system;
FIG. 12 is a two-dimensional slice image processing flow diagram;
fig. 13 is a flowchart of a scheme for reconstructing two-dimensional slice images into a three-dimensional model.
In the figure: 1. a first table; 101. a display screen; 102. a connecting plate; 103. a collection frame; 2. a second table; 201. cleaning the frame; 202. a drying box; 3. a cutting box; 301. a first cylinder; 302. moving the plate; 303. a second cylinder; 304. a push plate; 305. a cutting edge; 306. an outlet; 4. a base; 401. a rotating roller; 402. a conveyor belt; 403. a rotating shaft; 404. a drive pulley; 405. a drive belt; 406. a drive motor; 407. a drive shaft; 408. a first drive pulley; 409. a second drive pulley; 410. a drive belt; 5. a fixing frame; 501. a protective door; 502. a supporting strip; 503. a support bar; 504. a movable seat; 505. a collar; 506. a camera; 507. an arc-shaped slot; 508. an arc-shaped clamping block; 509. a threaded rod; 6. computer host
Detailed Description
The first embodiment is as follows:
the embodiment of the invention discloses an automatic frozen poultry milling and slicing system based on machine vision,
referring to fig. 1-3, comprising:
the automatic drying machine comprises a first workbench 1 and a second workbench 2, wherein the upper surface of the first workbench 1 is fixedly connected with a display screen 101, a computer host 6 is arranged below the first workbench 1, a connecting plate 102 is fixedly connected between the first workbench 1 and the second workbench 2, the upper surface of the connecting plate 102 is fixedly connected with a collecting frame 103, and the upper surface of the second workbench 2 is fixedly connected with a cleaning frame 201 and a drying box 202;
the computer host 6 is electrically connected with the display screen 101, the first cylinder 301 and the second cylinder 303, and the display screen 101 adopts a touch screen, and the computer host 6 is operated on the display screen 101.
The cutting box 3 is fixedly connected to the upper surface of the second workbench 2, the lower surface of the table top of the second workbench 2 is fixedly connected with a first cylinder 301, an extending shaft of the first cylinder 301 extends towards the inside of the cutting box 3 through the table top of the second workbench 2 and is fixedly connected with a moving plate 302, the moving plate 302 is slidably connected to the inner wall of the cutting box 3, a second cylinder 303 is fixedly connected to the outer wall of the cutting box 3, an extending shaft of the second cylinder 303 passes through the outer wall of the cutting box 3 and is fixedly connected with a pushing plate 304, the pushing plate 304 is slidably connected to the inner wall of the cutting box 3 and is fixedly connected with a cutting edge 305, and an outlet 306 is formed in the outer wall of the other side of the cutting box 3;
and the visual acquisition mechanism is assembled on the upper surface of the second workbench 2.
The working principle is as follows: during the use process, firstly, the frozen poultry is put into the cleaning frame 201 for cleaning, and after the cleaning is finished, the poultry is put into the drying box 202 for drying, so that the outer surface of the poultry does not have moisture and is not unfrozen;
then, the frozen poultry is put into the cutting box 3 and is positioned on the moving plate 302, then the computer host 6 controls the first cylinder 301 to work, under the action of the first cylinder 301, the extending shaft of the first cylinder 301 extends out, and the moving plate 302 is pushed to move upwards until the frozen poultry is higher than the cutting edge 305 by a certain height, and the height can be set according to actual requirements, such as 1mm and the like;
then the computer host 6 controls the second cylinder 303 to work, under the action of the second cylinder 303, the extension shaft of the second cylinder 303 extends out, the push plate 304 and the cutting edge 305 are pushed to slide on the inner wall of the cutting box 3 until the cutting edge 305 contacts with the frozen poultry and cuts the frozen poultry, meanwhile, the cut section is pushed forward by the push plate 304, the section is bent until the section is completely cut off and falls off through the outlet 306, at the moment, the computer host 6 controls the extension shaft of the second cylinder 303 to retract, then the computer host 6 controls the extension shaft of the first cylinder 301 to move upward again, the frozen poultry is driven to move upward for the same distance, at the moment, the computer host 6 controls the extension shaft of the second cylinder 303 to extend out again, so that the cutting is carried out again, and the frozen poultry can be cut into a plurality of sections.
Example two:
the embodiment of the invention discloses an automatic frozen poultry milling and slicing system based on machine vision,
referring to fig. 1-3, comprising:
the device comprises a first workbench 1 and a second workbench 2, wherein the upper surface of the first workbench 1 is fixedly connected with a display screen 101, a connecting plate 102 is fixedly connected between the first workbench 1 and the second workbench 2, the upper surface of the connecting plate 102 is fixedly connected with a collecting frame 103, and the upper surface of the second workbench 2 is fixedly connected with a cleaning frame 201 and a drying box 202;
the computer host 6 is electrically connected with the display screen 101 and the driving motor 406, and the display screen 101 adopts a touch screen, and the computer host 6 is operated on the display screen 101.
The cutting box 3 is fixedly connected to the upper surface of the second workbench 2, the lower surface of the table top of the second workbench 2 is fixedly connected with a first cylinder 301, an extending shaft of the first cylinder 301 extends towards the inside of the cutting box 3 through the table top of the second workbench 2 and is fixedly connected with a moving plate 302, the moving plate 302 is slidably connected to the inner wall of the cutting box 3, a second cylinder 303 is fixedly connected to the outer wall of the cutting box 3, an extending shaft of the second cylinder 303 passes through the outer wall of the cutting box 3 and is fixedly connected with a pushing plate 304, the pushing plate 304 is slidably connected to the inner wall of the cutting box 3 and is fixedly connected with a cutting edge 305, and an outlet 306 is formed in the outer wall of the other side of the cutting box 3;
the vision acquisition mechanism is assembled on the upper surface of the second workbench 2, the section of the frozen poultry is placed on the conveyor belt 402 in a separated mode through the arranged vision acquisition mechanism, the plurality of rotating rollers 401 rotate simultaneously, so that the conveyor belt 402 moves around the outer surfaces of the plurality of rotating rollers 401, the section of the frozen poultry placed on the conveyor belt 402 moves horizontally and then enters the collection frame 103 to be collected, when the section of the frozen poultry moves horizontally, the camera 506 shoots and collects the section, so that a high-precision section image can be automatically obtained, the collected section image is transmitted to the computer host 6, the computer host 6 controls the corresponding picture of the display screen 101, an image recognition program and a three-dimensional modeling program are arranged in the computer host 6, and the two-dimensional section image is reconstructed into a three-dimensional model, and displayed on the display screen 101, reflecting the visceral mesoscopic structure by the three-dimensional model.
The two-dimensional slice image recognition process set in the computer host 6 is as follows: firstly, graying the slice image acquired by the camera 506, converting a color image into a black and white image, reducing the calculated amount, filtering and denoising the grayed image by a median filtering method to obtain a clearer image, segmenting the image by adopting a region growing algorithm, separating the internal organs of the poultry from the background to obtain a binary image containing the internal organs of the poultry, processing the binary image by an expansion and corrosion algorithm of the image, filling image holes existing in the binary processing, extracting the contour lines of the internal organ slice image of the poultry by adopting an edge extraction algorithm, acquiring one image by the camera 506 for identification once each slice, recording each slice image in a set image identification program, and performing three-dimensional modeling after one poultry slice is finished.
The scheme for reconstructing the two-dimensional slice image into the three-dimensional model comprises the following steps: the method comprises the steps of reconstructing a two-dimensional slice image into a three-dimensional model by adopting a light projection algorithm for volume rendering, rendering an image with an edge extracted into a three-dimensional space by adopting points to replace a triangular surface patch, arranging all slice image sequences in sequence, and then establishing a three-dimensional data field by the images in sequence as shown in fig. 12. And then setting a light ray absorption model and the transparency of the pixel points, then emitting light rays for sampling, and finally synthesizing an image.
Referring to fig. 4, the vision collecting mechanism includes a base 4, the base 4 is fixedly connected to the upper surface of the second worktable 2, a plurality of fixing blocks are fixedly connected to the front and rear sides of the base 4, a plurality of rotating rollers 401 are rotatably connected to the fixing blocks, and a conveyor belt 402 is connected between the rotating rollers 401 in a transmission manner.
Referring to fig. 5-6, the back surfaces of the rotating rollers 401 are fixedly connected with rotating shafts 403, the rotating shafts 403 respectively penetrate through corresponding fixing blocks and are fixedly sleeved with driving pulleys 404, and driving belts 405 are connected among the driving pulleys 404 in a driving manner.
The upper surface of the second worktable 2 is fixedly connected with a driving motor 406, the output end of the driving motor 406 is fixedly connected with a driving shaft 407, the outer surface of one of the rotating shafts 403 and the outer surface of the driving shaft 407 are fixedly sleeved with a first driving pulley 408 and a second driving pulley 409 respectively, a driving belt 410 is connected between the first driving pulley 408 and the second driving pulley 409 in a transmission manner, and the upper surface of the second worktable 2 is provided with a camera shooting assembly.
The working principle is as follows: in the using process, firstly, the sliced frozen poultry are placed on the conveyor belt 402 in a separated manner, the rotation of the driving motor 406 is controlled by the computer host 6, when the driving motor 406 works, the output end drives the driving shaft 407 to rotate, meanwhile, the second driving belt wheel 409 and the driving belt 410 drive the first driving belt wheel 408 to rotate simultaneously, when the first driving belt wheel 408 rotates, one of the rotating shafts 403 is driven to rotate, and at the moment, the plurality of driving belt wheels 404 are connected with the driving belt 405 in a transmission manner, so that the plurality of rotating shafts 403 rotate simultaneously;
when the plurality of rotating shafts 403 rotate, the plurality of rotating rollers 401 are driven to rotate simultaneously, so that the conveyor belt 402 moves around the outer surfaces of the plurality of rotating rollers 401, and the sliced pieces of the frozen poultry placed on the conveyor belt 402 move horizontally and then enter the collecting frame 103 to be collected.
Example three:
the embodiment of the invention discloses an automatic frozen poultry milling and slicing system based on machine vision,
referring to fig. 1-3, comprising:
the device comprises a first workbench 1 and a second workbench 2, wherein the upper surface of the first workbench 1 is fixedly connected with a display screen 101, a connecting plate 102 is fixedly connected between the first workbench 1 and the second workbench 2, the upper surface of the connecting plate 102 is fixedly connected with a collecting frame 103, and the upper surface of the second workbench 2 is fixedly connected with a cleaning frame 201 and a drying box 202;
the computer host 6 is electrically connected with the display screen 101, the first cylinder 301, the second cylinder 303 and the driving motor 406, and the display screen 101 adopts a touch screen, and the computer host 6 is operated on the display screen 101.
The cutting box 3 is fixedly connected to the upper surface of the second workbench 2, the lower surface of the table top of the second workbench 2 is fixedly connected with a first cylinder 301, an extending shaft of the first cylinder 301 extends towards the inside of the cutting box 3 through the table top of the second workbench 2 and is fixedly connected with a moving plate 302, the moving plate 302 is slidably connected to the inner wall of the cutting box 3, a second cylinder 303 is fixedly connected to the outer wall of the cutting box 3, an extending shaft of the second cylinder 303 passes through the outer wall of the cutting box 3 and is fixedly connected with a pushing plate 304, the pushing plate 304 is slidably connected to the inner wall of the cutting box 3 and is fixedly connected with a cutting edge 305, and an outlet 306 is formed in the outer wall of the other side of the cutting box 3;
and the visual acquisition mechanism is assembled on the upper surface of the second workbench 2.
The subassembly of making a video recording includes fixed frame 5, and fixed frame 5 fixed connection is at the upper surface of second workstation 2, and fixed frame 5's front is connected with shutter 501 through the round pin hub rotation, and shutter 501's positive fixedly connected with handle.
Two supporting bars 502 are fixedly connected to the inner wall of the fixing frame 5, a supporting bar 503 is fixedly connected between the two supporting bars 502, a movable seat 504 is movably sleeved on the outer surface of the supporting bar 503, a lantern ring 505 is fixedly connected to the outer surface of the movable seat 504, a camera 506 is fixedly sleeved on the inner wall of the lantern ring 505, and the camera 506 is located right above the conveyor belt 402.
An arc-shaped groove 507 is formed in the inner wall of the movable seat 504, an arc-shaped clamping block 508 is connected to the inner wall of the arc-shaped groove 507 in a sliding mode, and the outer surface of the arc-shaped clamping block 508 is tightly attached to the outer surface of the supporting rod 503.
One end of the arc-shaped clamping block 508 far away from the supporting rod 503 is rotatably connected with a threaded rod 509, the threaded rod 509 penetrates through the outer wall of the movable seat 504 to extend outwards, and the threaded rod 509 is in threaded connection with the movable seat 504.
Threaded rod 509 is in external one end fixedly connected with knob, through the knob that sets up to be convenient for rotate threaded rod 509.
The working principle is as follows: in the using process, when the section of the frozen poultry horizontally moves, the camera 506 shoots and collects the section, and transmits the collected image to the computer host 6 for image recognition and three-dimensional modeling;
when the sizes of the slices are different, the height of the camera 506 needs to be adjusted, so that the effect of adjusting the sampling size is achieved, the knob is rotated, the threaded rod 509 is driven to rotate, the threaded rod 509 is in threaded connection with the movable seat 504, the threaded rod 509 is driven to rotate in the movable seat 504, the arc-shaped clamping block 508 is driven to slide on the inner wall of the arc-shaped groove 507, the arc-shaped clamping block 508 is separated from the supporting rod 503, and the movable seat 504 can be pulled to slide up and down on the outer surface of the supporting rod 503;
when sliding from top to bottom at movable seat 504, having driven lantern ring 505 and camera 506 and moved from top to bottom, until moving suitable position, can be so that camera 506 is in best sampling height can, this moment can the counter-rotating knob, has driven arc clamp block 508 and has slided on the inner wall of arc groove 507 for arc clamp block 508 closely laminates with bracing piece 503, thereby fixes arc clamp block 508 and bracing piece 503's position, and then can to camera 506's rigidity.
In summary, the following steps: during the use process, firstly, the frozen poultry is put into the cleaning frame 201 for cleaning, and after the cleaning is finished, the poultry is put into the drying box 202 for drying, so that the outer surface of the poultry does not have moisture and is not unfrozen;
then, the frozen poultry is put into the cutting box 3 and is positioned on the moving plate 302, at the moment, the computer host 6 controls the first cylinder 301 to work, under the action of the first cylinder 301, the extending shaft of the first cylinder 301 extends out, and the moving plate 302 is pushed to move upwards until the frozen poultry is higher than the cutting edge 305 by a certain height, wherein the height can be set according to actual requirements, such as 1mm and the like;
then the computer host 6 controls the second cylinder 303 to work, under the action of the second cylinder 303, the extension shaft of the second cylinder 303 extends out, the push plate 304 and the cutting edge 305 are pushed to slide on the inner wall of the cutting box 3 until the cutting edge 305 contacts with the frozen poultry and cuts the frozen poultry, meanwhile, the cut slices are pushed forward by the push plate 304, so that the slices are bent until the slices are completely cut off and fall through the outlet 306, at the moment, the extension shaft of the second cylinder 303 is retracted, then, the extension shaft of the first cylinder 301 moves upward again, the frozen poultry is driven to move upward for the same distance, at the moment, the extension shaft of the second cylinder 303 extends out again, so that the frozen poultry is cut into a plurality of slices again;
the method comprises the following steps that the sliced frozen poultry are placed on a conveyor belt 402 in a separated mode, a computer host 6 controls a driving motor 406 to work, the output end of the driving motor 406 drives a driving shaft 407 to rotate, meanwhile, a first driving belt pulley 408 is driven to rotate simultaneously through a second driving belt pulley 409 and a driving belt 410, when the first driving belt pulley 408 rotates, one of rotating shafts 403 is driven to rotate, and at the moment, the plurality of driving belt pulleys 404 are connected among the plurality of driving belt pulleys 404 in a transmission mode, so that the plurality of rotating shafts 403 rotate simultaneously;
the plurality of rotating rollers 401 are driven to rotate simultaneously when the plurality of rotating shafts 403 rotate, so that the conveyor belt 402 moves around the outer surfaces of the plurality of rotating rollers 401, the sliced frozen poultry placed on the conveyor belt 402 moves horizontally, and then enters the collecting frame 103 to be collected;
when the slices of the frozen poultry horizontally move, the camera 506 shoots and collects the slices, so that high-precision slice images can be automatically obtained, the collected slice images are transmitted to the computer host 6, the computer host 6 controls the corresponding pictures of the display screen 101, an image recognition program and a three-dimensional modeling program are set in the computer host 6, two-dimensional slice images are reconstructed into a three-dimensional model and displayed in the display screen 101, and the visceral mesoscopic structure is reflected through the three-dimensional model.
When the sizes of the slices are different, the height of the camera 506 needs to be adjusted, so that the effect of adjusting the sampling size is achieved, the knob is rotated, the threaded rod 509 is driven to rotate, the threaded rod 509 is in threaded connection with the movable seat 504, the threaded rod 509 is driven to rotate in the movable seat 504, the arc-shaped clamping block 508 is driven to slide on the inner wall of the arc-shaped groove 507, the arc-shaped clamping block 508 is separated from the supporting rod 503, and the movable seat 504 can be pulled to slide up and down on the outer surface of the supporting rod 503;
when sliding from top to bottom at movable seat 504, having driven lantern ring 505 and camera 506 and moved from top to bottom, until moving suitable position, can be so that camera 506 is in best sampling height can, this moment can the counter-rotating knob, has driven arc clamp block 508 and has slided on the inner wall of arc groove 507 for arc clamp block 508 closely laminates with bracing piece 503, thereby fixes arc clamp block 508 and bracing piece 503's position, and then can to camera 506's rigidity.
The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
1. A machine vision based automatic frozen poultry milling and slicing system, comprising:
the automatic drying machine comprises a first workbench (1) and a second workbench (2), wherein a display screen (101) is fixedly connected to the upper surface of the first workbench (1), a computer host (6) is installed below the first workbench (1), a connecting plate (102) is fixedly connected between the first workbench (1) and the second workbench (2), a collecting frame (103) is fixedly connected to the upper surface of the connecting plate (102), and a cleaning frame (201) and a drying box (202) are fixedly connected to the upper surface of the second workbench (2);
the computer host (6) is electrically connected with the display screen (101), the first air cylinder (301) and the second air cylinder (303), the display screen (101) adopts a touch screen, and the computer host (6) is operated on the display screen (101);
a cutting box (3), wherein the cutting box (3) is fixedly connected to the upper surface of the second workbench (2), the lower surface of the table top of the second workbench (2) is fixedly connected with a first air cylinder (301), the extending shaft of the first air cylinder (301) passes through the table top of the second workbench (2) and extends towards the interior of the cutting box (3), and is fixedly connected with a moving plate (302), the moving plate (302) is connected on the inner wall of the cutting box (3) in a sliding way, the outer wall of the cutting box (3) is fixedly connected with a second cylinder (303), an extension shaft of the second cylinder (303) penetrates through the outer wall of the cutting box (3) and is fixedly connected with a push plate (304), the pushing plate (304) is connected on the inner wall of the cutting box (3) in a sliding way, a cutting edge (305) is fixedly connected, and an outlet (306) is formed in the outer wall of the other side of the cutting box (3);
and the visual acquisition mechanism is assembled on the upper surface of the second workbench (2).
2. The machine vision based automatic frozen poultry milling and slicing system of claim 1, wherein: mechanism is gathered to vision includes base (4), base (4) fixed connection is at the upper surface of second workstation (2), the equal a plurality of fixed blocks of fixedly connected with in side around base (4), and rotate through a plurality of fixed blocks and be connected with a plurality of live-rollers (401), and the transmission is connected with conveyer belt (402) between a plurality of live-rollers (401).
3. The machine vision based automatic frozen poultry milling and slicing system of claim 2, wherein: a plurality of the back of live-rollers (401) all fixedly connected with axis of rotation (403), and a plurality of axis of rotation (403) pass corresponding fixed block respectively and fixed the cup jointing has drive pulley (404), and the transmission is connected with driving belt (405) between a plurality of drive pulley (404).
4. The machine vision based automatic frozen poultry milling and slicing system of claim 3, wherein: the last fixed surface of second workstation (2) is connected with driving motor (406), the output fixedly connected with drive shaft (407) of driving motor (406), one of them the surface of axis of rotation (403) and the surface of drive shaft (407) are fixed the cover respectively and are connect first drive pulley (408) and second drive pulley (409), just the transmission is connected with drive belt (410) between first drive pulley (408) and second drive pulley (409), just the upper surface of second workstation (2) is provided with the subassembly of making a video recording.
5. The machine vision based automatic frozen poultry milling and slicing system of claim 4, wherein: the subassembly of making a video recording includes fixed frame (5), fixed frame (5) fixed connection is at the upper surface of second workstation (2), the front of fixed frame (5) is rotated through the round pin axle and is connected with shutter (501), just the positive fixedly connected with handle of shutter (501).
6. The machine vision based automatic frozen poultry milling and slicing system of claim 5, wherein: two support bars (502) of fixedly connected with on the inner wall of fixed frame (5), and two fixedly connected with bracing piece (503) between support bar (502), movable seat (504) have been cup jointed in bracing piece (503) surface activity, the outer fixed surface of movable seat (504) is connected with the lantern ring (505), just fixed cover has cup jointed camera (506) on the inner wall of the lantern ring (505), and camera (506) are in directly over conveyer belt (402).
7. The machine vision based automatic frozen poultry milling and slicing system of claim 6, wherein: the camera (506) shoots and collects the slices, so that high-precision slice images can be automatically obtained, the collected slice images are transmitted to the computer host (6), the computer host (6) controls corresponding pictures of the display screen (101), an image processing program and a three-dimensional modeling program are set in the computer host (6), two-dimensional slice images are reconstructed into a three-dimensional model and displayed in the display screen (101), the appearance of the poultry carcass and the visceral mesoscopic structure are reflected through the three-dimensional model, and meanwhile, the corresponding relation between the two images is established.
8. The machine vision based automatic frozen poultry milling and slicing system of claim 6, wherein: an arc-shaped groove (507) is formed in the inner wall of the movable seat (504), an arc-shaped clamping block (508) is connected to the inner wall of the arc-shaped groove (507) in a sliding mode, and the outer surface of the arc-shaped clamping block (508) and the outer surface of the supporting rod (503) are tightly attached.
9. The machine vision based automatic frozen poultry milling and slicing system of claim 7, wherein: one end of the arc-shaped clamping block (508) far away from the supporting rod (503) is rotatably connected with a threaded rod (509), the threaded rod (509) penetrates through the outer wall of the movable seat (504) to extend outwards, and the threaded rod (509) is in threaded connection with the movable seat (504).
10. The machine vision based automatic frozen poultry milling and slicing system of claim 7, wherein: the process of reconstructing the two-dimensional slice image into the three-dimensional model comprises the following steps: firstly, carrying out graying processing on a slice image acquired by a camera (506), converting a color image into a black and white image, reducing the calculated amount, carrying out filtering and denoising processing on the grayed image by adopting a median filtering method to obtain a clearer image, segmenting the image by adopting a region growing algorithm, separating the internal organs of the poultry from a background to obtain a binary image containing the internal organs of the poultry, processing the binary image by adopting an expansion and corrosion algorithm of the image, filling image holes existing in the binary processing, then extracting contour lines of the internal organ slice image of the poultry by adopting an edge extraction algorithm, acquiring one image by the camera (506) for identification once slicing, recording each slice image in a set image identification program, and carrying out three-dimensional modeling after one poultry slice is finished;
the method comprises the steps of drawing images after edge extraction into a three-dimensional space by using points to replace triangular patches, arranging all slice image sequences in sequence, establishing a three-dimensional data field by the images in sequence, interpolating between two layers of images due to certain intervals between the image sequences, interpolating by using cubic B splines, setting a light absorption model and the transparency of pixel points, emitting light to sample, and finally synthesizing the images.
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