Automatic throwing device for positioning water surface target through vision and control method of automatic throwing device

Abstract

The invention discloses an automatic putting device for positioning a water surface target by vision and a control method thereof, and the device comprises a machine vision part which is used for positioning a food table, detecting the three-dimensional shape of the food table through an accurate algorithm in visual image processing, and obtaining the three-dimensional coordinates of the geometric center space of the food table as the positioning coordinates of putting a material cake or an object; open type thin flat plates are symmetrically arranged in the multi-stage material containing barrel, and the supporting force of the thin flat plates is smaller than the self gravity of the material cake; the automatic putting part is used for putting quantitative material cakes on the plane of the food table below the automatic putting part, and the multi-stage material containing barrel is arranged above the automatic putting part; a method for building a miniature visual platform to monitor the total quantity of soft-shelled turtles in a fishpond in real time is put forward for the first time, a long platform slightly higher than the water surface is built on the water surface of the fishpond according to the habits of the soft-shelled turtles so that the soft-shelled turtles can climb to the platform surface to bask, the total soft-shelled turtles are counted through visual image processing, the soft-shelled turtle mass is calculated according to the shape of a single soft-shelled turtle, and the total mass is obtained; and then positioning and quantitative feeding are carried out on the position of the water surface food table through machine vision.

Description

technical field [0001] The invention relates to the field of aquatic automation machinery for automatic positioning of water targets and a device for feeding materials, in particular to an automatic feeding device for turtles based on machine vision. Background technique [0002] Soft-shelled turtle is one of the important aquatic products in my country, especially Chinese soft-shelled turtle is a unique fine soft-shelled turtle species in China. Chinese soft-shelled turtle is also called soft-shelled turtle. It is not only rich in nutrition but also has high medicinal value, and is deeply loved by the public. During the breeding process, soft-shelled turtle feed is required to be freshly made and fed. It is often made into round cakes or pellets and placed on a food table fixed on the water surface. The daily feeding amount is required to be about 5% of the total mass of soft-shelled turtles. Feed twice in the morning and afternoon. At present, it has entered into large-sc...

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Problems solved by technology

[0004] According to patent search and market survey, no relevant prior art was found. Therefore, we have developed an automatic delivery device and its control method for visually locating water surface targets.

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