基于机器视觉的鲢鱼头加工装置设计及试验  

Design and test of silver carp head processing device based on machine vision

作　　者：杨俊 万鹏[1,2] 黄毓毅 朱明 谭鹤群[1,2] 吴文锦 丁安子[3] YANG Jun;WAN Peng;HUANG Yuyi;ZHU Ming;TAN Hequn;WU Wenjin;DING Anzi(College of Engineering,Huazhong Agricultural University,Wuhan 430070,China;Ministry of Agriculture and Rural Affairs Key Laboratory of Agricultural Equipment in Mid-Lower Yangtze River,Wuhan 430070,China;Institute of Agricultural Products Processing and Nuclear-Agricultural Technology,Hubei Academy of Agricultural Sciences,Wuhan 430070,China)

机构地区：[1]华中农业大学工学院,武汉430070 [2]农业农村部长江中下游农业装备重点实验室,武汉430070 [3]湖北省农业科学院农产品加工与核农技术研究所,武汉430070

出　　处：《华中农业大学学报》2023年第1期178-187,共10页Journal of Huazhong Agricultural University

基　　金：国家重点研发计划项目(2019YFD0901801);湖北省农业科技创新中心2020年重大科技研发专项(2020-620-000-002-03);湖北省农业科技创新中心创新团队项目(2016620000001044)。

摘　　要：针对目前国内淡水鱼鱼头加工装备缺乏、鱼头加工机械化程度低等问题,以鲢(Hypophthalmichthys molitrix)为研究对象,设计了基于机器视觉的鲢鱼头加工装置。鲢鱼头加工装置由鱼体输送装置、鱼体图像采集装置、鱼体翻转部件、立式夹持输送带、鱼头切割部件、鱼头剖切部件和装置控制系统等部分组成。鱼体图像采集装置获取输送装置上的鱼体图像,计算鱼头切割路径;鲢鱼体经鱼体翻转部件进入立式夹持输送带,在立式夹持输送带作用下向前移动;当鱼体到达鱼头切割位置,立式夹持输送带调整鱼体位置后停止,鱼头切割部件按照鱼头切割路径对鱼体进行切割后复位,立式夹持输送带带动鱼头继续前进;切割后的鱼头经过鱼头剖切部件将鱼头对半剖切。样机性能试验结果显示,鲢鱼头切割后,鱼体吻端分别至上切割点和下切割点的实际水平距离与预测水平距离的线性拟合的决定系数分别为0.911和0.985,均方根误差分别为6.31、2.61 mm;鱼头切割路径检测时间为(0.055±0.009)s,鱼头加工时间为(13.28±0.35)s,鱼头的外观评分为0.88±0.02,满足鲢鱼头加工的生产要求。A silver carp head processing device was designed based on machine vision to solve problems including the lack of domestic freshwater fish head processing equipment and the low degree of mechanization of fish head processing.This device is composed of a fish body conveying device,fish body image acquisition device,fish body turnover part,vertical clamping conveyor belt,fish head cutting part,fish head sectioning part,device control system.The fish body image acquisition device obtains the fish body image on the conveying device and calculates the fish head cutting path.The fish body enters the vertical clamping conveyor belt through the fish body turnover part and moves forward under the action of the vertical clamping conveyor belt.When the fish body reaches the fish head cutting position,the vertical clamping conveyor belt stops after adjusting the fish body position,the fish head cutting part cuts the fish body according to the fish head cutting path and resets,and the vertical clamping conveyor belt drives the fish head forward.The cut fish head is a section in half through the fish head sectioning part.The performance of the prototype was tested with silver carp.The results showed that the determination coefficients of the linear fitting between the actual horizontal distance from the upper cutting point and the lower cutting point and the predicted horizontal distance after the fish head was cut were 0.911 and 0.985,with the root means square errors of 6.31mm and 2.61 mm.The detection time of fish head cutting path,the processing time of fish head,and the appearance score of the fish head was(0.055±0.009)s,(13.28±0.35)s,and 0.88±0.02,meeting the production requirements of the silver carp head processing.It will provide new methods and equipment for the industry of silver carp head processing and theoretical and methodological references for the automatic processing of silver carp head.

关 键 词：鲢 鱼头加工 机器视觉 自动化加工 精准切割 切割路径规划 

分 类 号：TP391.41[自动化与计算机技术—计算机应用技术]