CN111034773B - Fish body slicing processing and sorting integrated device and method - Google Patents
Fish body slicing processing and sorting integrated device and method Download PDFInfo
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- CN111034773B CN111034773B CN201911313624.8A CN201911313624A CN111034773B CN 111034773 B CN111034773 B CN 111034773B CN 201911313624 A CN201911313624 A CN 201911313624A CN 111034773 B CN111034773 B CN 111034773B
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- 238000005520 cutting process Methods 0.000 claims abstract description 49
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- A—HUMAN NECESSITIES
- A22—BUTCHERING; MEAT TREATMENT; PROCESSING POULTRY OR FISH
- A22C—PROCESSING MEAT, POULTRY, OR FISH
- A22C25/00—Processing fish ; Curing of fish; Stunning of fish by electric current; Investigating fish by optical means
- A22C25/003—Processing cephalopods
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- A—HUMAN NECESSITIES
- A22—BUTCHERING; MEAT TREATMENT; PROCESSING POULTRY OR FISH
- A22C—PROCESSING MEAT, POULTRY, OR FISH
- A22C25/00—Processing fish ; Curing of fish; Stunning of fish by electric current; Investigating fish by optical means
- A22C25/04—Sorting fish; Separating ice from fish packed in ice
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- A—HUMAN NECESSITIES
- A22—BUTCHERING; MEAT TREATMENT; PROCESSING POULTRY OR FISH
- A22C—PROCESSING MEAT, POULTRY, OR FISH
- A22C25/00—Processing fish ; Curing of fish; Stunning of fish by electric current; Investigating fish by optical means
- A22C25/08—Holding, guiding, or conveying fish before, during or after its preparation ; Devices for sizing fish; Automatically adapting conveyors or processing machines to the measured size
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- A—HUMAN NECESSITIES
- A22—BUTCHERING; MEAT TREATMENT; PROCESSING POULTRY OR FISH
- A22C—PROCESSING MEAT, POULTRY, OR FISH
- A22C25/00—Processing fish ; Curing of fish; Stunning of fish by electric current; Investigating fish by optical means
- A22C25/20—Shredding; Cutting into cubes; Flaking
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Abstract
The invention relates to a fish body slicing and sorting integrated device and method. The fish body sorting device comprises a fish body longitudinal chain wheel conveying mechanism, a fish body transverse chain wheel conveying mechanism, a cutting knife row, a propelling mechanism, a single-side leveling mechanism, a 3D scanning system and a fish body leftover material selecting and sorting mechanism. The 3D scanning system is positioned on the fish body transverse chain wheel conveying mechanism and is used for scanning the fish body after cutting is completed; the fish body leftover material selecting and sorting mechanism is used for sorting the cut fish bodies and distinguishing qualified fish bodies and fish body leftover materials. The automatic fish body shaping machine can realize automatic cutting of fish body shaping and automatic sorting function of cut fish body products, solves the problems of low efficiency, low cost rate, difficult sorting of cut fish body products and the like of the existing manual cutting, and realizes automatic and intelligent processing production of fish bodies.
Description
Technical Field
The invention belongs to the field of seafood processing, and particularly relates to a fish body slicing processing and sorting integrated device and method.
Background
China is a large country in the world fishery, has rich aquatic resources and various aquatic products. The total output value of the national fishery in 2017 reaches 12002 hundred million yuan, the total import and export amount is 301.12 hundred million dollars, the total output of the aquatic products is 6901.25 ten thousand tons, the output of the sea water product is about 3490.15 ten thousand tons, and the output of the ocean fishery is 198.75 ten thousand tons. Since 2012, the central financial investment for fishery has increased substantially, providing the best guarantee for the fishery economy to maintain a high degree of sustainable development.
The marine fishery is one of the pillar industries of ocean economy in Zhejiang province, and plays an important role in construction of ocean economy development demonstration areas in Zhejiang province. The annual ocean fishery yield of Zhejiang is about one tenth of the total national amount, and plays an important role in national ocean economy and large agriculture. The total output value of fishery in Zhejiang province in 2017 is 962 hundred million yuan, the total output of aquatic products is 631 ten thousand tons, and the total output is 4.8 percent higher than that in the last year. Wherein the sea water product yield is 517 ten thousand tons, and the sea water product yield is increased by 5.2 percent; the ocean fishery yield is 60 ten thousand tons, and the ocean fishery yield is 9.0% higher than the ocean fishery yield in the last year.
The processing and utilization of the aquatic products are the continuation of the production activities of the marine fishery, and are key means for generating larger economic value under the condition of the current limited fishery resources. Because of the large variety of aquatic product processing enterprises and irregular raw materials, the difficulty of realizing automatic and intelligent processing is high, and therefore, the intelligent production and processing technology in the field of aquatic product processing has been studied. The processing of domestic aquatic products is mainly performed manually so far, and the application ratio of the automatic and intelligent processing equipment is very low. But in recent years, the traditional aquatic product processing enterprises start to face the problems of difficult work, gradual increase of workers' wages and low production efficiency, the profitability of the enterprises is reduced year by year, the original competitive advantage does not exist, and the global competitiveness is obviously reduced. The processing equipment and intelligent production lines suitable for the economic fishes of the China, such as Germany, the United states, japan, australia and the like are adopted, and the production efficiency and the product qualification rate are high. Therefore, the traditional aquatic product processing enterprises in China need to be transformed and upgraded urgently.
The method improves the application proportion of automation equipment in the aquatic product processing industry in China, develops more intelligent aquatic product processing equipment suitable for the situations in China, and is an important mode and a necessary way for transformation and upgrading in the aquatic product processing industry in China. Along with the progress of the times, the intellectualization makes the industrial production advance to new steps again. Artificial intelligence has become a new area of research leading people to find and is likely to bring about new and dramatic changes to the whole society. The intelligent manufacturing technology can be applied to the aquatic product processing industry as well, and the intelligent manufacturing equipment replaces the manual work to defrost, slice, dice, automatically cook, sort, package and the like, so that the labor cost can be greatly reduced, the product quality can be greatly improved, the processing loss can be reduced, and the utilization rate of limited water resources can be improved.
Disclosure of Invention
The purpose of the invention is that: the automatic slicing and automatic sorting device is designed to realize the functions of primary processing of fish bodies, slicing processing for shaping fish body products and leftover material sorting, solves the problems of low efficiency, low yield, difficult product sorting after cutting and the like of the existing manual slicing, and realizes automatic and intelligent shaping slicing of the fish bodies and sorting of unqualified products.
The technical scheme adopted for solving the technical problems is as follows:
the utility model provides a fish body section processing and letter sorting integrated device, includes fish body longitudinal sprocket conveying mechanism, fish body transverse sprocket conveying mechanism, cutting knife row, advancing mechanism, unilateral leveling mechanism, 3D scanning system and fish body leftover bits select letter sorting mechanism.
The fish body longitudinal chain wheel conveying mechanism and the fish body transverse chain wheel conveying mechanism are arranged at right angles, the fish body to be processed is conveyed to the fish body transverse chain wheel conveying mechanism after passing through the fish body longitudinal chain wheel conveying mechanism, the joint of the fish body longitudinal chain wheel conveying mechanism and the fish body transverse chain wheel conveying mechanism is provided with the propelling mechanism and the unilateral leveling mechanism, the unilateral leveling mechanism is used for carrying out unilateral leveling on the fish body conveyed by the fish body longitudinal chain wheel conveying mechanism, and the propelling mechanism is used for pushing the fish body with unilateral leveling to the fish body transverse chain wheel conveying mechanism.
The 3D scanning system is positioned on the fish body transverse chain wheel conveying mechanism and is used for scanning the fish body after cutting is completed; the fish body leftover material selecting and sorting mechanism is used for sorting the cut fish bodies and distinguishing qualified fish bodies and fish body leftover materials.
The fish body leftover material selecting and sorting mechanism mainly comprises a two-shaft electric sliding table assembly, a vacuum chuck assembly and a chuck control system, wherein the vacuum chuck assembly is fixed at the end part of the two-shaft electric sliding table assembly, and is connected with an electromagnetic valve and a vacuum generator of the chuck control system through an air pipe, and the two-shaft electric sliding table assembly is fixed at the upper side of the sprocket conveying mechanism.
The method for slicing, processing and sorting the fish body by using the device comprises the following steps:
The fish body is placed on a chain plate of the fish body longitudinal chain wheel conveying mechanism, the fish body is driven to be conveyed forwards, the fish body on the chain plate passes through a cutting knife row on the fish body longitudinal chain wheel conveying mechanism, and the cutting knife row longitudinally cuts the fish body.
The fish body after being cut longitudinally is conveyed forwards continuously through a fish body longitudinal conveying plate chain, after the fish body longitudinal chain wheel conveying mechanism and the fish body transverse chain wheel conveying mechanism are connected, the fish body is flattened on one side by the one-side flattening mechanism, and then the fish body after being flattened on one side is pushed onto the fish body transverse chain wheel conveying mechanism by the pushing mechanism.
The fish body transverse chain wheel conveying mechanism drives the fish body to be conveyed forwards, the fish body is shaped and cut after passing through the cutting knife row on the fish body transverse chain wheel conveying mechanism, the fish body after shaping and cutting continues to be conveyed forwards through the 3D scanning system, and the 3D scanning system distinguishes different fish bodies after whole cutting through scanning and imaging.
The two-shaft electric sliding table assembly in the fish body leftover material selecting and sorting mechanism reads coordinates of the unqualified cut blocks, and then drives the vacuum chuck assembly to suck out the unqualified fish body leftover materials, the unqualified fish body leftover materials are placed in the waste material frame, and the qualified fish body leftover materials continue to be conveyed forwards to enter a next packaging link.
The beneficial effects of the invention are as follows: the automatic cutting of fish body shaping and automatic sorting function of cut fish body products can be realized, the problems of low efficiency, low cost rate, difficult sorting of cut fish body products and the like of the existing manual cutting are solved, and automatic and intelligent processing and production of fish bodies are realized.
Drawings
Fig. 1a and 1b are schematic diagrams of an intelligent squid shaping automatic slicing and sorting device;
FIG. 2 is a schematic diagram of a process for cutting squid slices into squid strips;
FIGS. 3a, 3b and 3c are schematic views of a cutter bar mechanism;
FIG. 4 is a schematic view of a leveling mechanism;
fig. 5 is a schematic diagram of the qualified and unqualified squid blocks after cutting;
FIG. 6 is a flow chart of a control system off-spec squid block removal algorithm;
FIG. 7 is a schematic diagram of the pneumatic control of a single vacuum nozzle;
fig. 8 is a structural diagram of a squid leftover material selecting and sorting mechanism.
In the figure 1, a 1-squid block longitudinal chain wheel conveying mechanism, a 2-cutting knife row, a 3-propelling mechanism, a 4-single-side leveling mechanism, a 5-squid block transverse chain wheel conveying mechanism, a 6-cutting knife row, a 7-3D scanning system, an 8-waste frame, a 9-two-axis electric sliding table assembly, a 10-control system and an 11-vacuum chuck assembly are shown;
In fig. 7, 701-a dry filter, 702-a pressure regulating valve, 703-a solenoid valve, 704-a vacuum generator, 705-a silencer, 706-an air filter, 707-a suction cup, 708-a check valve, 709-a pressure gauge;
801-transverse motorized slipway, 802-longitudinal motorized slipway, 803-vacuum chuck assembly mounting plate, 804-vacuum chuck in fig. 8.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
The fish body automatic leveling device mainly comprises a fish body chain wheel conveying mechanism, a cutting knife row, a propelling mechanism, a single-side leveling mechanism, a 3D scanning system and a fish body leftover material selecting and sorting mechanism.
The fish body longitudinal chain wheel conveying mechanism and the fish body transverse chain wheel conveying mechanism have the same structure and comprise conveying chain plates and metal lining plates, wherein a driving motor, a conveying belt driving chain wheel, a conveying belt driven chain wheel and a chain wheel tensioning mechanism are arranged in the conveying chain plates and the metal lining plates. The inside both ends of carrying the link joint are fixed by conveyer belt drive sprocket and conveyer belt driven sprocket respectively, and a metal welt is lined on the inboard of conveyer link joint lower surface, sprocket tensioning mechanism rises tightly to the chain, and the positive reverse rotation of built-in driving motor control conveyer chain and the conveying speed of conveyer chain are opened on the conveyer link joint and are had equidistant blade groove, prevent to produce the destruction to the link joint when blade cutting on the knife row.
The cutting knife row comprises a two-way bearing seat, a knife blade rotating shaft, a knife blade group, a thickness separation sheet, a driving motor and a safety shield, wherein the knife blade rotating shaft is erected on the vertical bearing seat, the knife blade rotating shaft is provided with the knife blade group, each knife blade in the knife blade group is separated by the thickness separation sheet, the safety shield is movably covered on the knife blade group, the knife blade rotating shaft is driven by the driving motor, and the erection axis of the knife blade rotating shaft is perpendicular to the conveying direction of the fish body.
The unilateral leveling mechanism consists of a pushing cylinder and a leveling plate. The propelling mechanism consists of a propelling cylinder and a propelling plate.
The 3D scanning system mainly comprises a 3D scanner, a scanner fixing bracket and a processing system. The scanner fixing support stretches across two sides of the fish body transverse chain wheel conveying mechanism, and the 3D scanner is fixed at the center position of the top of the scanner fixing support, so that scanning imaging analysis of the cut fish body is realized.
The fish body leftover material selecting and sorting mechanism mainly comprises a two-shaft electric sliding table assembly, a vacuum chuck assembly and a chuck control system, wherein the vacuum chuck assembly is fixed at the end part of the two-shaft electric sliding table assembly, and is connected with an electromagnetic valve and a vacuum generator of the chuck control system through an air pipe, and the two-shaft electric sliding table assembly is fixed at the upper side of the sprocket conveying mechanism.
The method for slicing, processing and sorting the fish body by using the device comprises the following steps:
The fish body is placed on a chain plate of the fish body longitudinal chain wheel conveying mechanism, the fish body is driven to be conveyed forwards, the fish body on the chain plate passes through a cutting knife row on the fish body longitudinal chain wheel conveying mechanism, and the cutting knife row longitudinally cuts the fish body.
The fish body after being cut longitudinally is conveyed forwards continuously through a fish body longitudinal conveying plate chain, after the fish body longitudinal chain wheel conveying mechanism and the fish body transverse chain wheel conveying mechanism are connected, the fish body is flattened on one side by the one-side flattening mechanism, and then the fish body after being flattened on one side is pushed onto the fish body transverse chain wheel conveying mechanism by the pushing mechanism.
The fish body transverse chain wheel conveying mechanism drives the fish body to be conveyed forwards, the fish body is shaped and cut after passing through the cutting knife row on the fish body transverse chain wheel conveying mechanism, the fish body after shaping and cutting continues to be conveyed forwards through the 3D scanning system, and the 3D scanning system distinguishes different fish bodies after whole cutting through scanning and imaging.
The two-shaft electric sliding table assembly in the fish body leftover material selecting and sorting mechanism reads coordinates of the unqualified cut blocks, and then drives the vacuum chuck assembly to suck out the unqualified fish body leftover materials, the unqualified fish body leftover materials are placed in the waste material frame, and the qualified fish body leftover materials continue to be conveyed forwards to enter a next packaging link.
The following squid is used as an example:
according to the embodiment, the block-shaped squid is mainly cut longitudinally and transversely in a fixed size, then the cut squid is automatically sorted, and the squid slices with different specifications can be cut by adjusting different intervals between the blades on the cutting knife row through changing different thickness separation sheets.
As shown in fig. 1a and 1b, the device mainly comprises a squid block longitudinal chain wheel conveying mechanism 1, a cutting knife row 2, a propelling mechanism 3, a single-side leveling mechanism 4, a squid block transverse chain wheel conveying mechanism 5, a cutting knife row 6, a 3d scanning system 7, a waste frame 8, a two-shaft electric sliding table assembly 9, a control system 10 and a vacuum chuck assembly.
The squid block chain wheel longitudinal conveying mechanism mainly comprises a conveying chain plate, a metal lining plate in the chain plate, a built-in driving motor, a profile frame, a conveying belt driving chain wheel, a conveying belt driven chain wheel, a chain wheel tensioning mechanism and a motion control system. The two ends of the inner part of the conveying chain plate are respectively provided with a conveying belt driving chain wheel and a conveying belt driven chain wheel which are fixed, the inner side of the lower surface of the conveying chain plate is lined with a metal plate, and the conveying chain is used for tensioning the chain through a chain wheel tensioning mechanism.
As shown in fig. 3a, 3b and 3c, the cutter bar 2 and the cutter bar 6 are composed of a double-sided bearing block 301, a blade rotation shaft 302, a blade set 303, a thickness separation sheet 304, a driving motor 305, and a safety shield 306. As shown in fig. 4, the propulsion mechanism 3 and the one-sided leveling mechanism 4 are each composed of a propulsion cylinder 401 and a flat plate 402. The 3D scanning system 7 mainly consists of a 3D scanner, a scanner mounting and a processing system. The scanner fixed bolster spanes in squid piece sprocket conveying mechanism both sides, and the 3D scanner is fixed in scanner fixed bolster top central point position, realizes carrying out scanning imaging analysis to the squid piece after the cutting, chooses out unqualified leftover bits. The squid leftover material selecting and sorting mechanism mainly comprises a two-shaft electric sliding table assembly, a vacuum chuck assembly and a chuck control system. The vacuum chuck assembly is fixed at the end part of the two-axis electric sliding table assembly, the vacuum chuck is connected with an electromagnetic valve of the chuck control system through an air pipe, the control of the vacuum chuck is shown in fig. 7, and the control system 10 controls the gas circuit on-off of the vacuum generator through controlling the two-position two-way electromagnetic valve 703, so as to control the suction of the vacuum chuck. The two-shaft electric sliding table assembly is fixed on the upper side of the chain wheel conveying mechanism and further comprises a dry filter 701, a pressure regulating valve 702, a vacuum generator 704, a silencer 705, an air filter 706, a sucker 707, a one-way valve 708 and a pressure gauge 709. The squid leftover material selecting and sorting mechanism mainly comprises a two-shaft electric sliding table assembly (comprising a transverse electric sliding table 801 and a longitudinal electric sliding table 802), a vacuum chuck assembly (comprising a vacuum chuck assembly mounting plate 803 and a vacuum chuck 804) and a chuck control system, wherein the vacuum chuck assembly is fixed at the end part of the two-shaft electric sliding table assembly, and is connected with an electromagnetic valve and a vacuum generator of the chuck control system through an air pipe, and the two-shaft electric sliding table assembly is fixed at the upper side of the sprocket conveying mechanism, as shown in fig. 8.
The process of carrying out squid fixed weight shaping slicing by the device is as follows:
Putting the squid on the chain plate of the longitudinal chain wheel conveying mechanism, the motor of the longitudinal conveying mechanism rotates to drive the squid to move forwards, the squid on the conveying chain plate passes through a cutting knife row on the longitudinal conveying belt, the cutting knife row longitudinally cuts the squid, the cutting process from a to b in the attached drawing 2 is completed, the longitudinally cut squid continuously passes through the longitudinal conveying plate chain to be conveyed forwards, after the squid reaches the unilateral leveling mechanism and the pushing position, the unilateral leveling process of the squid from b to c in the attached drawing 2 is completed by the leveling mechanism, the pushing plate pushes the unilateral leveled squid onto the chain plate of the transverse conveying mechanism, the transverse conveying mechanism drives the squid to be conveyed forwards, the shaping cutting of the squid is completed after the cutting knife row on the transverse conveying mechanism, namely, the squid from c to D in the attached drawing 2 is completed, the squid is continuously conveyed forwards through a 3D scanning system, the chain plate of the conveying mechanism is made of blue nylon material, the color of squid strips is white, the 3D scanning imaging system is used for differentiating the squid strips after the whole squid strips are cut by scanning, the imaging algorithm data of the squid strips are received, and the algorithm data of the squid strips are processed, and the algorithm image data of the image is displayed on the image module 6.
1. Image preprocessing:
Removing salt and pepper noise through median filtering, and removing Gaussian noise through Gaussian filtering;
Extracting the contour of the image data through a Canny operator, and detecting the effective contour of the squid block;
Selecting a rectangular ROI region according to the transverse and longitudinal maximum values of the contour coordinates;
2. And (3) establishing a coordinate system:
performing linear detection on the image in the ROI area through an LSD algorithm to obtain cutting lines of the squid blocks in the transverse direction and the longitudinal direction, and calculating the cutting direction of the squid blocks;
Taking a certain point of the ROI area as a coordinate origin, taking the direction of a cutting line as a coordinate axis direction, establishing a squid block plane coordinate system, and calculating and recording an inverse matrix of a transformation matrix of the coordinate system and an original image;
3. Virtual cutting:
Establishing a virtual cutting grid of a chess board according to the known cutter spacing and a coordinate system;
Forming virtual cutting blocks of squid blocks by matching the contour and the straight line of the squid block image, and recording the center coordinates of each squid block;
4. and (5) judging the qualified dicing:
carrying out normalization processing on the image data in each virtual cut block, and rounding upwards to generate a binary image;
calculating the effective area of each virtual cut, comparing the effective area with a set value of the effective area of a qualified squid block, judging whether the squid cut is qualified or not, and recording coordinates of non-qualified cut;
5. outputting unqualified block coordinates
Obtaining coordinates of the unqualified cut blocks in the original image through the coordinate system and an inverse transformation matrix of the original image; the cut squid pieces with a white color in fig. 5 are qualified squid pieces, and the squid pieces marked with a black color are unqualified squid pieces.
Outputting the coordinates of the unqualified cut pieces to a squid leftover material selecting and sorting mechanism.
The two-axis electric sliding table assembly reads coordinates of the unqualified cut blocks through the control system, and then drives the vacuum chuck assembly to suck out unqualified squid leftover materials, the unqualified squid leftover materials are placed in a waste material frame beside a production line, qualified squid strips continue to be conveyed forwards, and the next packaging link is entered.
Claims (4)
1. The device comprises a fish body longitudinal chain wheel conveying mechanism, a fish body transverse chain wheel conveying mechanism, a cutting knife row, a pushing mechanism, a single-side leveling mechanism, a 3D scanning system and a fish body leftover material selecting and sorting mechanism;
The fish body longitudinal chain wheel conveying mechanism and the fish body transverse chain wheel conveying mechanism are arranged at right angles, the fish body to be processed is conveyed to the fish body transverse chain wheel conveying mechanism after passing through the fish body longitudinal chain wheel conveying mechanism, the joint of the fish body longitudinal chain wheel conveying mechanism and the fish body transverse chain wheel conveying mechanism is provided with the propelling mechanism and the single-side leveling mechanism, the single-side leveling mechanism is used for leveling the fish body conveyed by the fish body longitudinal chain wheel conveying mechanism at one side, and the propelling mechanism is used for pushing the fish body leveled at one side to the fish body transverse chain wheel conveying mechanism;
The 3D scanning system is positioned on the fish body transverse chain wheel conveying mechanism and is used for scanning the fish body after cutting is completed; the fish body leftover material selecting and sorting mechanism is used for sorting the cut fish bodies and distinguishing qualified fish bodies and fish body leftover materials;
The fish body leftover material selecting and sorting mechanism mainly comprises a two-shaft electric sliding table assembly, a vacuum chuck assembly and a chuck control system, wherein the vacuum chuck assembly is fixed at the end part of the two-shaft electric sliding table assembly, the vacuum chuck assembly is connected with an electromagnetic valve and a vacuum generator of the chuck control system through an air pipe, and the two-shaft electric sliding table assembly is fixed at the upper side of the sprocket conveying mechanism;
The cutter blade row consists of a two-way bearing seat, a blade rotating shaft, a blade group, a thickness separation sheet, a driving motor and a safety shield, wherein the blade rotating shaft is erected on the vertical bearing seat, the blade rotating shaft is provided with the blade group, each blade in the blade group is separated by the thickness separation sheet, the safety shield is movably covered on the blade group, the blade rotating shaft is driven by the driving motor, and the erection axis of the blade rotating shaft is vertical to the conveying direction of the fish body;
The method is characterized in that:
Placing the fish body on a chain plate of a fish body longitudinal chain wheel conveying mechanism, driving the fish body to be conveyed forwards, and enabling the fish body on the chain plate to pass through a cutting knife row on the fish body longitudinal chain wheel conveying mechanism, wherein the cutting knife row longitudinally cuts the fish body;
The fish body after being cut longitudinally is conveyed forwards continuously through a fish body longitudinal conveying plate chain, after the fish body longitudinal chain wheel conveying mechanism and the fish body transverse chain wheel conveying mechanism are connected, the fish body is flattened on one side by a single-side flattening mechanism, and then the fish body after being flattened on one side is pushed onto the fish body transverse chain wheel conveying mechanism by a pushing mechanism;
The fish body transverse chain wheel conveying mechanism drives the fish body to be conveyed forwards, the fish body is shaped and cut after passing through a cutting knife row on the fish body transverse chain wheel conveying mechanism, the shaped and cut fish body is continuously conveyed forwards through a 3D scanning system, and the 3D scanning system distinguishes different fish bodies after the whole cutting through scanning imaging;
The two-axis electric sliding table component in the fish body leftover material selecting and sorting mechanism reads the coordinates of the unqualified cut blocks, and then drives the vacuum chuck component to suck out the unqualified fish body leftover materials, and the unqualified fish body leftover materials are placed in a waste material frame, and the qualified part is continuously conveyed forwards to enter a next packaging link;
The 3D scanning system executes the following procedures after acquiring the fish body image:
(1) Image preprocessing:
Removing salt and pepper noise through median filtering, and removing Gaussian noise through Gaussian filtering;
Extracting the outline of the image data through a Canny operator, and detecting the effective outline of the fish body;
Selecting a rectangular ROI region according to the transverse and longitudinal maximum values of the contour coordinates;
(2) And (3) establishing a coordinate system:
performing linear detection on the image in the ROI area through an LSD algorithm to obtain cutting lines of the fish body in the transverse direction and the longitudinal direction, and calculating the cutting direction of the fish body;
A certain point of the ROI area is taken as an origin of coordinates, the direction of a cutting line is taken as a coordinate axis direction, a fish plane coordinate system is established, and an inverse matrix of a transformation matrix of the coordinate system and an original image is calculated and recorded;
(3) Virtual cutting:
Establishing a virtual cutting grid of a chess board according to the known cutter spacing and a coordinate system;
Forming virtual fish body cutting blocks by matching with the outline and the straight line of the fish body image, and recording the center coordinates of each fish body;
(4) And (5) judging the qualified cutting blocks:
carrying out normalization processing on the image data in each virtual cut block, and rounding upwards to generate a binary image;
calculating the effective area of each virtual cut block, comparing the effective area with a set value of the effective area of the qualified fish body, judging whether the fish body cut block is qualified or not, and recording coordinates of non-qualified cut blocks;
(5) Outputting unqualified block coordinates
Obtaining coordinates of the unqualified cut blocks in the original image through the coordinate system and an inverse transformation matrix of the original image;
outputting the coordinates of the unqualified cut blocks to a fish body leftover material selecting and sorting mechanism.
2. The method according to claim 1, characterized in that: the unilateral leveling mechanism consists of a pushing cylinder and a leveling plate.
3. The method according to claim 1, characterized in that: the propelling mechanism consists of a propelling cylinder and a propelling plate.
4. The method according to claim 1, characterized in that: the 3D scanning system mainly comprises a 3D scanner, a scanner fixing bracket and a processing system; the scanner fixing support stretches across two sides of the fish body transverse chain wheel conveying mechanism, and the 3D scanner is fixed at the center position of the top of the scanner fixing support, so that scanning imaging analysis of the cut fish body is realized.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911313624.8A CN111034773B (en) | 2019-12-19 | 2019-12-19 | Fish body slicing processing and sorting integrated device and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911313624.8A CN111034773B (en) | 2019-12-19 | 2019-12-19 | Fish body slicing processing and sorting integrated device and method |
Publications (2)
| Publication Number | Publication Date |
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| CN111034773A CN111034773A (en) | 2020-04-21 |
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