WO2020107746A1 - 一种虾线的自动去除方法 - Google Patents

一种虾线的自动去除方法 Download PDF

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Publication number
WO2020107746A1
WO2020107746A1 PCT/CN2019/077969 CN2019077969W WO2020107746A1 WO 2020107746 A1 WO2020107746 A1 WO 2020107746A1 CN 2019077969 W CN2019077969 W CN 2019077969W WO 2020107746 A1 WO2020107746 A1 WO 2020107746A1
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Prior art keywords
shrimp
line
cutter
shrimp line
slider
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PCT/CN2019/077969
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English (en)
French (fr)
Inventor
郭江
许永波
王斌
宋传平
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大连理工大学
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Application filed by 大连理工大学 filed Critical 大连理工大学
Priority to US16/962,764 priority Critical patent/US11197483B2/en
Publication of WO2020107746A1 publication Critical patent/WO2020107746A1/zh

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    • A—HUMAN NECESSITIES
    • A22—BUTCHERING; MEAT TREATMENT; PROCESSING POULTRY OR FISH
    • A22C—PROCESSING MEAT, POULTRY, OR FISH
    • A22C29/00—Processing shellfish or bivalves, e.g. oysters, lobsters; Devices therefor, e.g. claw locks, claw crushers, grading devices; Processing lines
    • A22C29/02—Processing shrimps, lobsters or the like ; Methods or machines for the shelling of shellfish
    • A22C29/021—Cleaning operations on shellfish, e.g. evisceration, brushing
    • A22C29/022—Deveining shellfish

Definitions

  • the invention belongs to the field of mechanical design and relates to an automatic removal method of shrimp lines.
  • the so-called shrimp line is the digestive tract of shrimp, which belongs to the intestines of shrimp.
  • Shrimp live on rot which means that the food eaten by prawns is rotten and spoiled, including the corpses of various fish and other aquatic organisms. Eating shrimp without removing the shrimp line will have a certain impact on people, as follows:
  • Eating shrimp without removing the shrimp line may cause discomfort to some extent.
  • the residue in the intestines of the shrimp is very dirty and extremely unhygienic.
  • the waste lead in the shrimp line is high in lead, and people with poor resistance (children, the elderly, etc.) can cause abdominal pain and diarrhea after eating a large amount of shrimp without removing the shrimp line.
  • the present invention proposes a new and effective method for removing shrimp lines.
  • the invention completes the automatic removal of the prawn line based on the identification system, control system, feeding system, detection device, loading device and auxiliary device.
  • the method of photography comparison is used.
  • the photography mechanism can take a snapshot according to the preset feature picture, and then control the trajectory of the cutter to clear the shrimp line to complete the purpose of automatically removing the shrimp line.
  • An automatic removal device for shrimp line including identification system, control system, automatic feeding system, detection system, loading device 3 and auxiliary device.
  • the recognition system includes a high-definition camera 8 and a recognizer A.
  • Feature image A is pre-stored in the recognizer A.
  • the high-definition camera 8 is used to record and take pictures. It is connected to the slider B6 and the recognizer A.
  • the high-definition camera 8 slides Block B6 moves.
  • the recognizer A compares the image recorded by the high-definition camera 8 and the captured picture with the characteristic picture A, and transmits the result to the controller.
  • the characteristic picture A is a pre-determined picture of the difference between the shrimp line and the shrimp meat.
  • the control system includes a controller, which is connected to the recognition system and the automatic feed system, and processes the signal transmitted from the recognition system, and then converts it into an action command of the automatic feed system, and sends it to the three-dimensional feed mechanism.
  • the automatic feed system includes a command receiver, a three-dimensional feed mechanism and a tool 4.
  • the instruction receiver is connected with the three-dimensional feed mechanism, and is used to receive the operation instruction transmitted by the controller.
  • the three-dimensional feeding mechanism includes three guide rails 2, 5, 7 and two sliders A1 and B6; the slider A1 is connected to the X rail 2 and can move smoothly on the X rail 2; the slider A1 is provided with The load carrying device 3 drives the load carrying device 3 to reciprocate in the X direction; the Z guide 7 is connected to the Y guide 5 and the Z guide 7 can reciprocate in the Y direction on the Y guide 5; the slider B6 and the Z guide 7 connection, you can move smoothly on the Z rail 7, the slider B6 is provided with a tool 4 and a camera 8, both can move with the slider B6, the tool 4 is connected to the exhaust device, the interior is hollow, when the tool 4 is pressed When the trajectory is cut to cut the shrimp back, the shrimp line is sucked into the cutter, so as to achieve the purpose of
  • the detection system includes a high-definition camera 8 and a recognizer B.
  • Feature image B is pre-stored in the recognizer B, and the high-definition camera 8 is used to record and take pictures.
  • the identifier B compares the picture taken by the high-definition camera 8 with the pre-stored characteristic picture B, and transmits the result to the control system; the detection system is used to detect the tool 4 under the control system according to the predetermined Whether the trajectory of the track meets the requirements, and then transmits the feedback information to the controller for the next adjustment.
  • the characteristic picture B is a distinctive picture in which the shrimp back has been cut and the shrimp line has been removed.
  • the loading device 3 includes a loading substrate 13, and a positioning device 9, a clamping device 10, and a non-slip material 11 provided thereon.
  • the loading device 3 is connected to the slider A1 and moves with the movement of the slider .
  • the main function of the positioning device 9 is to ensure accurate positioning of the shrimp, that is, the shrimp is facing upward;
  • the main function of the clamping device 10 is to clamp the shrimp after the positioning of the shrimp is completed, to ensure that the shrimp During processing, the position of the shrimp does not change, and the clamping device 10 uses electromagnetic clamping.
  • the non-slip material 11 is connected to the clamping device 10, and its main function is to increase the operability and safety of the shrimp during positioning and clamping.
  • the sponge material can solve the problem of "slip" of the shrimp.
  • the auxiliary device includes a suction device, which is connected to the cutter 4 and mainly provides a certain suction force; that is, during the movement of the cutter 4 according to a predetermined trajectory, the exposed shrimp line is sucked into the cutter.
  • An automatic removal method of shrimp line includes the following steps:
  • the shrimp 12 to be treated is placed in the loading device 3, the loading device 3 reciprocates on the slider A1, and the loading device 3 moves in a predetermined direction at a predetermined rate.
  • the high-definition camera 8 records simultaneously, and the recognizer A compares the recorded image with the pre-stored feature picture A.
  • the object-carrying device 3 immediately stops moving and transmits the information to the controller.
  • the characteristic picture A is a pre-determined picture of the difference between the shrimp line and the shrimp meat.
  • the controller sets the path of the tool 4 according to the signal transmitted by the recognizer A in the second step.
  • the set tool path is consistent with the shape of the shrimp line, and the set depth of the tool 4 is located at the upper edge 16 of the shrimp line
  • the controller controls the cutter 4 to move according to the trajectory, at this time the shrimp back is gradually cut open, in the process, the shrimp line exposed under the action of the suction device is "sucked" into In the cutter; until the cutter 4 completes the movement according to the prescribed trajectory, the shrimp line is completely "sucked” into the cutter, and the shrimp line is cleared.
  • Step 4 The high-definition camera 8 captures the processed shrimp and obtains a real-time picture.
  • the recognizer B compares the real-time picture with the pre-stored characteristic picture B and judges whether it meets the established requirements. If the requirement is met, proceed to the next step; otherwise, pass the judgment information to the controller, and then adjust the depth of the cutter 4 until the requirement is reached; the characteristic picture B is that the shrimp back has been cut and the shrimp line has been removed Differentiating pictures.
  • the loading device 3 continues to move according to the original direction and speed, and the next shrimp line is processed, and the second to fifth steps are repeated until the loading device 3 All of the shrimp 12 to be processed are processed.
  • the beneficial effects of the present invention are: the present invention can effectively solve many problems in the process of processing shrimp lines, with small manual operations and high automation; safe operation; high integration of equipment, relatively light; the efficiency of removing shrimp lines is good and applicable For family dining and table dining in restaurants.
  • Figure 1 is a flow chart of the principle of the present invention
  • Figure 2 is a schematic diagram of the overall device
  • Figure 3 is a schematic diagram of the object loading device
  • Figure 4 is a flow chart of brief steps; among them, Figure (1) is the shrimp to be treated; Figure (2) is the beginning of the shrimp line removal; Figure (3) is the shrimp line being cleared; Figure (4) is the processed shrimp And the shrimp line removed.
  • An automatic removal device for a shrimp line includes an identification system, a control system, an automatic feeding system, a detection system, a loading device 3 and an auxiliary device.
  • the recognition system mainly includes a high-definition camera 8, pre-stored feature picture A and recognizer A; the high-definition camera 8 is connected to the slider B6 and moves with the slider B6; the main function of the high-definition camera 8 in the recognition system is to record Images and take pictures.
  • the characteristic picture A is a pre-determined difference picture between the shrimp line and the shrimp meat; the recognizer A mainly compares the image recorded by the high-definition camera 8 and the captured picture with the characteristic picture, and transmits the result to the controller.
  • the control system includes a controller, which is connected to the identification system and the automatic feed system.
  • the main function is to process the signal transmitted by the identification system, and then convert it into an action command of the feed system, and send it to the three-dimensional feed mechanism.
  • the automatic feed system includes a command receiver, a three-dimensional feed mechanism and a tool 4 composed of three parts.
  • the main function of the command receiver is to accept the motion commands sent by the controller.
  • the three-dimensional feed mechanism includes three directions of guide rails and two sliders, which are composed of five parts; the three directions of guide rails correspond to X guide rail 2, Y guide rail 5 and Z guide rail 7 respectively; the two sliders correspond to slider A1 and Slider B6; Slider A1 is connected to the X rail 2 and the slide A1 can move smoothly on the X rail 2 and the slide A1 can be connected to the loading device 3 to drive the loading device 3 to reciprocate in the X direction ; Z guide rail 7 and Y guide rail 5 are connected, and Z guide rail 7 can reciprocate in Y direction on Y guide rail 5; slider B6 is connected with Z guide rail 7 and slider B6 can move smoothly on Z guide rail 7, The tool 4 and the camera 8 can be connected to the slider B6.
  • the cutter 4 is connected to the slider B6, and moves with the slider B6; the main function of the cutter 4 is to move the prescribed trajectory and cut the shrimp back, and in combination with the suction device to suck the exposed shrimp line into the cutter, This achieves the purpose of removing shrimp lines.
  • the detection system mainly includes a high-definition camera 8, a pre-stored feature picture B and a recognizer B; the main function of the high-definition camera 8 in the detection system is to take pictures.
  • the pre-stored characteristic picture B is a distinctive picture in which the shrimp back has been cut and the shrimp line has been removed.
  • the identifier B mainly compares the picture taken by the high-definition camera 8 with the pre-stored characteristic picture B, and transmits the result to the control system.
  • the main function of the detection system is to detect whether the tool 4 reaches the requirements after moving according to the predetermined trajectory under the action of the control system, and then transmit the feedback information to the controller for the next adjustment.
  • the loading device 3 includes a positioning device 9, a clamping device 10, a non-slip material 11 and a loading substrate 13, the positioning device 9, the clamping device 10 and the non-slip material 11 are all connected to the loading substrate 13; the positioning device 9 There is no tight connection with the clamping device 10, and the non-slip material 11 is connected to the clamping device 10.
  • the main function of the positioning device 9 is to ensure accurate positioning of the shrimp, that is, the shrimp is facing upward; the main function of the clamping device 10 is to clamp the shrimp after the positioning of the shrimp is completed, to ensure that the shrimp During processing, the position of the shrimp will not change, and the clamping device 10 uses electromagnetic clamping to clamp; the main function of the anti-slip material 11 is to prevent the shrimp from occurring during the positioning and clamping process of the shrimp Sliding, positioning and clamping are more reliable, for example, using sponge can solve the problem of shrimp "slip".
  • the object carrying device 3 is connected to the slider A1 and moves with the movement of the slider.
  • the auxiliary device includes a suction device, which is connected to the cutter 4 and mainly provides a certain suction force; that is, during the movement of the cutter 4 according to a predetermined trajectory, the exposed shrimp line is sucked into the cutter.
  • the removal method includes the following steps:
  • the shrimp 12 to be treated is placed in the loading device 3, and the loading device 3 can reciprocate on the slider 1.
  • the loading device 3 moves toward a predetermined speed in a predetermined direction.
  • the high-definition camera 8 records simultaneously, and the recognizer A compares the recorded image with the pre-stored feature picture A. During the comparison process, if shrimp and shrimp are recognized Line, the object-carrying device 3 immediately stops moving and transmits the information to the controller.
  • the controller sets the trajectory of the tool 4 according to the signal transmitted from the recognizer A.
  • the set tool trajectory is consistent with the shape of the shrimp line 15 and the set depth of the tool 4 is located on the single shrimp 14 shrimp line
  • the upper edge 16 to ensure that the shrimp line is not scratched; the controller controls the cutter 4 to move in accordance with the trajectory, at this time the shrimp back is gradually cut; in this process, the shrimp line exposed under the action of the air extraction device is " "Suck” into the cutter; until the cutter 4 completes the movement according to the prescribed trajectory, the shrimp line is also completely “sucked” into the cutter, and the shrimp line is cleared.
  • Step 4 The high-definition camera 8 captures the processed shrimp and obtains a real-time picture.
  • the recognizer B compares the real-time picture with the pre-stored characteristic picture B and judges whether it meets the established requirements. If the requirement is met, the next step is performed; otherwise, the judgment information is transmitted to the controller, and then the depth of the cutter 4 is adjusted until the requirement is reached.
  • the loading device 3 continues to move according to the original direction and speed for the processing of the next shrimp line, and repeats the second to fifth steps until the loading device 3 All of the shrimp 12 to be processed are processed.

Abstract

一种虾线的自动去除方法，该方法基于识别系统、控制系统、进给系统以及检测装置、载物装置以及辅助装置完成对虾线的自动去除。首先采用摄影对比的方法，待处理的虾在装置上移动过程中，摄影机构根据预先设定的特征图片进行抓拍，之后控制刀具的轨迹进而清除虾线，完成自动去除虾线的目的。本方法人工操作量小、自动化高；操作安全；设备的集成度高，较为轻便；去除虾线的效率好，适用于家庭就餐以及饭店中的餐桌饮食。

Description

一种虾线的自动去除方法 技术领域
本发明属于机械设计领域，涉及一种虾线的自动去除方法。
 背景技术
随着人们生活质量的不断提高，人们的生活水平也不断提高，虾这种食材，慢慢走进了人们的日常生活中。然而，虾的去除和清洗成为了一个紧要的问题，尤其对虾线的去除成为了一大挑战。
      所谓虾线就是虾的消化道，属于虾的肠子。虾是以腐食为生，也就是说虾吃的食物都是腐烂变质的东西，包括各种鱼类和其它水生生物的尸体。食用未去除虾线的虾会给人们带来一定的影响，具体如下：
（1）食用未去除虾线的虾一定程度上可能会导致人体不适。由于虾本身以腐食为生，虾肠里的残留物非常肮脏，极不卫生。虾线中的废物铅含量较高，抵抗力较差的人群（儿童、老人等）大量食用未去除虾线的虾后，会引起腹痛，腹泻等症状。
（2）食用未去除虾线的虾时影响人们口感。其中，把虾做麻辣和爆炒时，由于辅料味道较重，此时影响不大；不过，当虾做清蒸时，人们旨在食用那种虾的“鲜”味，此时虾线影响虾的清甜口味。
（3）食用未去除虾线的虾时，可能会给人们带来不好的视觉感受。由于虾线中本身包含鱼类和其它水生生物的尸体，其颜色多成暗灰色以及黑色，一定程度上给人们的带来视觉冲击，进一步影响人们进餐的愉悦度。
综上所述，人们食用虾时，为了人们的健康以及增强进餐期间的舒适度，去除虾线成为了趋势，而如何安全高效、快速地去除虾线成为目前一大挑战。
目前，在生活当中，人们去除虾线常采用如下两种方法，一种人工采用牙签或其他手工工具，手动挑出虾线的方法（专利公开号是 CN105594827A）；另一种是人工运用刀具从背部切开虾背，之后再进行人工清洗的方法（专利公开号是 CN107258872A）；其两种操作方法主要依赖于人们对虾线的操作能力。
      由于上述的两种方法都得利用人工来去除虾线，但其安全性不高，效率不好，因此，目前还没有一种快速高效地去除虾线的方法。
 技术问题
针对现有技术存在的不足，本发明提出一种新的有效的去除虾线的方法。本发明基于识别系统、控制系统、进给系统、检测装置、载物装置以及辅助装置完成对虾线的自动去除。首先采用摄影对比的方法，待处理的虾在装置上移动过程中，摄影机构可以根据预先设定的特征图片进行抓拍，之后控制刀具的轨迹进而清除虾线，完成自动去除虾线的目的。
 技术解决方案
为了达到上述目的，本发明的技术方案为：
   一种虾线的自动去除装置，包括识别系统、控制系统、自动进给系统、检测系统、载物装置3以及辅助装置。
所述的识别系统包括一个高清摄像头8和识别器A，识别器A中预先存储特征图片A，高清摄像头8用于录制、拍摄图片，与滑块B6、识别器A连接，高清摄像头8随滑块B6移动。识别系统中：识别器A将高清摄像头8录制的图像以及拍摄的图片与特征图片A进行对比，并把结果传输给控制器。所述的特征图片A为预先确定虾线与虾肉的区别性图片。
所述控制系统包括控制器，与识别系统、自动进给系统连接，将识别系统传输来的信号处理后，转化为自动进给系统的动作指令，并发送给三维进给机构。
所述的自动进给系统包括指令接收器、三维进给机构以及刀具4。所述的指令接收器与三维进给机构连接，用于接受由控制器传送来的动作指令。所述的三维进给机构包括三个方向的导轨2、5、 7和2个滑块A1、B6；滑块A1与X导轨2连接，可以在X导轨2上平滑移动，滑块A1上设有载物装置3，带动载物装置3在X方向上往复移动；Z导轨7与Y导轨5连接，且Z导轨7在Y导轨5上可以在Y方向上往复运动；滑块B6与Z导轨7连接，可以在Z导轨7上平滑移动，滑块B6上设有刀具4和摄像头8，两者能够随滑块B6移动，刀具4与抽气器装置连接，内部呈中空，当刀具4按规定的轨迹运动切开虾背的同时，虾线便被吸进刀具中，以此达到去除虾线的目的。
所述检测系统包括一个高清摄像头8和识别器B，识别器B中预先存储特征图片B，高清摄像头8用于录制、拍摄图片。所述的检测系统中：识别器B把高清摄像头8拍摄的图片与预先存储的特征图片B进行对比，并把结果传输给控制系统；检测系统用于检测刀具4在控制系统的作用下按照既定的轨迹运动后是否达到要求，之后把反馈信息传输给控制器，进行下一步的调节。所述的特征图片B为虾背已被切开且虾线已被去除的区别性图片。
所述载物装置3包括载物基体13，和其上设有的定位装置9、夹紧装置10、防滑材料11，载物装置3与滑块A1连接，并随着滑块的移动而移动。定位装置9与夹紧装置10两者之间并没有紧密的连接关系。所述的定位装置9的主要作用是保证虾定位准确，即虾的虾背朝上；所述的夹紧装置10的主要作用是当虾定位完成后，把虾的进行夹紧，确保在后期处理时，虾的位置不会进行变化，夹紧装置10采用电磁夹紧的方式进行夹紧。所述防滑材料11连接在夹紧装置10上，其主要作用是在虾进行定位以及夹紧过程中，使其操作性增加，更加安全，例如使用海绵材料可以解决虾“滑”的问题。
所述辅助装置包括一个抽气装置，抽气装置与刀具4连接，主要提供一定的吸力；即刀具4按照既定的轨迹运动过程中，暴露出来的虾线被吸进刀具里。
一种虾线的自动去除方法，基于上述自动去除装置实现，包括以下步骤：
第一步，将待处理的虾12放置在载物装置3中，载物装置3在滑块A1上往复运动，载物装置3按照既定速率朝既定的方向移动。
第二步，载物装置3在移动过程中，高清摄像头8同步进行录制，同时识别器A将录制的图像与预先存储的特征图片A进行对比，在对比过程中，若识别出虾肉以及虾线，则载物装置3即刻停止运动，并把信息传输给控制器。所述的特征图片A为预先确定虾线与虾肉的区别性图片。
第三步，控制器根据第二步识别器A传输的信号对刀具4进行轨迹设定，设定的刀具轨迹与虾线的形状一致，且设定的刀具4深度位于虾线的上部边缘16，以保证虾线不被划破；控制器控制刀具4按照轨迹运动，此时虾背渐渐被切开，在此过程中，在抽气装置的作用下暴露出来的虾线被“吸”进刀具里；直到刀具4按照规定的轨迹运动完成，虾线也被完全“吸”进刀具中，此时虾的虾线被清除。
第四步：高清摄像头8拍摄已处理后的虾并获得实时图片，识别器B将实时图片与预先存储的特征图片B进行对比并判断是否达到既定要求。若达到要求，则进行下一步；否则，将判断信息传给控制器，然后调控刀具4的深度，直到达到要求；所述的特征图片B为虾背已被切开且虾线已被去除的区别性图片。
第五步，当一个虾的虾线完全去除后，载物装置3继续按照原来的方向和速率移动，进行下一个虾线的处理，并重复第二至第五步，直到载物装置3上的所有待处理的虾12处理完毕。
 有益效果
本发明的有益效果为：本发明能够有效解决在处理虾线过程中的许多问题，人工操作量小、自动化高；操作安全；设备的集成度高，较为轻便；去除虾线的效率好，适用于家庭就餐以及饭店中的餐桌饮食。
 附图说明
图1为本发明原理流程图；
图2为整体装置的简要示意图；
图3为载物装置的示意图；
图4为简要步骤流程图；其中，图(1)为待处理的虾；图（2）为刚开始清除虾线；图（3）为正在清除虾线；图（4）为处理完成的虾以及除去的虾线。
图中：1滑块A；2X导轨；3载物装置；4刀具；5Y导轨；6滑块B；7Z导轨；8高清摄像头；9定位装置；10夹紧装置；11防滑材料；12待处理的虾；13载物基体；14单只虾；15虾线；16虾线的上部边缘。
 本发明的实施方式
以下结合技术方案和附图详细说明本发明的具体实施方式。
一种虾线的自动去除装置，包括识别系统、控制系统、自动进给系统、检测系统、载物装置3以及辅助装置。
所述识别系统主要包括一个高清摄像头8、预先存储的特征图片A以及识别器A；高清摄像头8与滑块B6连接，并随着滑块B6移动；高清摄像头8在识别系统中主要作用是录制图像以及拍摄图片。其中特征图片A为预先确定虾线与虾肉的区别性图片；识别器A主要是把高清摄像头8录制的图像以及拍摄的图片与特征图片进行对比，并把结果传输给控制器。
所述控制系统包括控制器，与识别系统、自动进给系统连接，主要作用是把识别系统传输来的信号进行处理后，进而转化为进给系统的动作指令，并发送给三维进给机构。
所述的自动进给系统包括指令接收器、三维进给机构以及刀具4三部分组成。指令接收器主要作用是接受由控制器传送来的动作指令。三维进给机构包括三个方向的导轨和2个滑块，共五部分组成；三个方向的导轨分别对应X导轨2、Y导轨5以及Z导轨7；两个滑块分别对应滑块A1以及滑块B6；滑块A1 与X导轨2连接，且滑块A1可以在X导轨2上平滑移动，滑块A1上可以与载物装置3连接，从而带动载物装置3在X方向上往复移动；Z导轨7与Y导轨5进行连接，且Z导轨7在Y导轨5上可以在Y方向上往复运动；滑块B6与Z导轨7连接，且滑块B6可以在Z导轨7上平滑移动，滑块B6上可以连接刀具4和摄像头8。刀具4连接在滑块B6上，且随着滑块B6移动；刀具4主要作用是以规定的轨迹运动且切开虾背，并结合抽气装置把暴露出来的虾线吸进刀具中，以此达到去除虾线的目的。
所述检测系统主要包括一个高清摄像头8、预先存储的特征图片B以及识别器B；高清摄像头8在检测系统中主要作用是拍摄图片。预先存储的特征图片B为虾背已被切开且虾线已被去除的区别性图片。识别器B主要是把高清摄像头8拍摄的图片与预先存储的特征图片B进行对比，并把结果传输给控制系统。检测系统主要作用是检测刀具4在控制系统的作用下按照既定的轨迹运动后是否达到要求，之后把反馈信息传输给控制器，进行下一步的调节。
所述载物装置3包含有定位装置9、夹紧装置10、防滑材料11以及载物基体13， 定位装置9、夹紧装置10以及防滑材料11全部与载物基体13进行连接； 定位装置9和夹紧装置10两者之间并没有紧密的连接关系，防滑材料11连接在夹紧装置10上。所述的定位装置9的主要作用是保证虾定位准确，即虾的虾背朝上；所述的夹紧装置10的主要作用是当虾定位完成后，把虾的进行夹紧，确保在后期处理时，虾的位置不会进行变化，夹紧装置10采用电磁夹紧的方式进行夹紧；所述的防滑材料11的主要作用是在虾进行定位以及夹紧过程中，使虾不会发生滑动，定位夹紧更加可靠，例如使用海绵可以解决虾“滑”的问题。所述载物装置3与滑块A1连接，并随着滑块的移动而移动。
所述辅助装置包括一个抽气装置，抽气装置与刀具4连接，主要提供一定的吸力；即刀具4按照既定的轨迹运动过程中，暴露出来的虾线被吸进刀具里。
去除方法包括以下步骤：
第一步，待处理的虾12放置在载物装置3中，载物装置3在滑块1上可以往复运动，此次方法中，载物装置3朝既定速率朝既定的方向移动。
第二步，载物装置3在移动过程中，高清摄像头8同步进行录制，同时识别器A将录制的图像与预先存储的特征图片A进行对比，在对比过程中，若识别出虾肉以及虾线，则载物装置3即刻停止运动，并把信息传输给控制器。
第三步，控制器根据识别器A传输来的信号对刀具4进行轨迹设定，设定的刀具轨迹与虾线15的形状一致，且设定的刀具4深度位于单只虾14虾线的上部边缘16，以保证虾线不被划破；控制器控制刀具4按照轨迹运动，此时虾背渐渐被切开；在此过程中，在抽气装置的作用下暴露出来的虾线被“吸”进刀具里；直到刀具4按照规定的轨迹运动完成，虾线也被完全“吸”进刀具中，此时虾的虾线被清除。
第四步：高清摄像头8拍摄已处理后的虾并获得实时图片，识别器B将实时图片与预先存储的特征图片B进行对比并判断是否达到既定要求。若达到要求，则进行下一步；否则，将判断信息传给控制器，然后调控刀具4的深度，直到达到要求。
第五步，当一个虾的虾线完全去除后，载物装置3继续按照原来的方向和速率移动，进行下一个虾线的处理，并重复第二至第五步骤，直到载物装置3上的所有待处理的虾12处理完毕。
以上所述实施例仅表达本发明的实施方式，但并不能因此而理解为对本发明专利的范围的限制，应当指出，对于本领域的技术人员来说，在不脱离本发明构思的前提下，还可以做出若干变形和改进，这些均属于本发明的保护范围。

Claims (2)

  1. 一种虾线的自动去除方法，其特征在于，该方法基于识别系统、控制系统、自动进给系统、检测装置、载物装置以及辅助装置完成对虾线的自动去除，其中，识别系统包括高清摄像头(8)和预先存储的特征图片A的识别器A，控制系统包括控制器，自动进给系统包括指令接收器、三维进给机构、刀具(4)，检测系统包括高清摄像头(8)和预先存储特征图片B的识别器B，辅助装置包括抽气装置，与刀具(4)连接；
    该方法包括以下步骤：
    第一步，将待处理的虾(12)放置在载物装置(3)中，载物装置(3)通过滑块A(1)实现往复运动；
    第二步，载物装置(3)在移动过程中，高清摄像头(8)同步进行录制，同时识别器A将录制的图像与预先存储的特征图片A进行对比，在对比过程中，若识别出虾肉以及虾线，则载物装置(3)即刻停止运动，并把信息传输给控制器；所述的特征图片A为预先确定虾线与虾肉的区别性图片；
    第三步，控制器与识别系统、自动进给系统连接，将识别系统传输的信号处理后，转化为自动进给系统的动作指令，并发送给三维进给机构；三维进给机构包括三个方向的导轨X(2)、Y(5)、 Z(7)和两个滑块A(1)、B(6)；滑块A(1)与X导轨(2)连接，带动载物装置(3)在X方向上往复移动；Z导轨(7)与Y导轨(5)连接，且Z导轨(7)在Y导轨(5)上沿Y方向上往复运动；滑块B(6)与Z导轨(7)连接，可在Z导轨(7)上平滑移动，滑块B(6)上设有刀具(4)和高清摄像头(8)，二者随滑块B(6)移动；根据第二步识别器A传输的信号对刀具(4)进行轨迹设定，设定的刀具轨迹与虾线的形状一致，且设定的刀具(4)深度位于虾线的上部边缘(16)，保证虾线不被划破；控制器控制刀具(4)按照轨迹运动，此时虾背渐渐被切开，在此过程中，在抽气装置的作用下暴露出来的虾线被“吸”进刀具里；直到刀具(4)按照规定的轨迹运动完成，虾线也被完全“吸”进刀具中，此时虾的虾线被清除；
    第四步：高清摄像头(8)拍摄已处理后的虾并获得实时图片，识别器B将实时图片与预先存储的特征图片B进行对比并判断是否达到既定要求；若达到要求，则进行下一步；否则，将判断信息传给控制器，进而调控刀具(4)的深度，直到达到要求；所述的特征图片B为虾背已被切开且虾线已被去除的区别性图片；
    第五步，当一个虾的虾线完全去除后，载物装置(3)继续按照原来的方向和速率移动，进行下一个虾线的处理，并重复第二至第五步，直到载物装置(3)上的所有待处理的虾(12)处理完毕。
  2. 根据权利要求1所述的一种虾线的自动去除方法，其特征在于，所述的载物装置(3)中包括载物基体(13)，和其上设有的定位装置(9)、夹紧装置(10)；所述的定位装置(9)用于保证虾定位准确，即虾的虾背朝上，当虾定位完成后，通过夹紧装置(10进行夹紧，夹紧装置(10)采用电磁夹紧的方式。
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