A highly efficient and intelligent fully automatic fish processing device

Abstract

The invention relates to an efficient, intelligent and fully automatic fish processing device. The conveyor belt groups are arranged in a conveying order, namely, a first conveyor belt group, a second conveyor belt group and a third conveyor belt group. The first conveyor belt group screens out substandard farmed fishes through a pre-treatment device and kills the fishes at low temperature through a cold nitrogen device, so as to maximize the freshness of the fishes. Then, the second conveyor belt group automatically removes the head and tail and cuts the fish belly to remove the internal organs through a head and tail cutting and fish belly cutting device. Finally, the third conveyor belt group removes the large bones of the fish through a large bone removing device, and then removes the fish scales through a scale removing device, so as to realize efficient, intelligent and fully automatic fish processing.

Description

Technical Field

[0001] The present invention relates to the technical field related to fish processing automation, and in particular to a highly efficient, intelligent and fully automatic fish processing device. Background Art

[0002] Fish processing refers to the process of treating and processing fish in various ways to meet different needs and uses.

[0003] At present, most of the fish processing methods in the market are manual processing or semi-automatic processing. Manual processing is done by experienced staff to process the fish meat. This method is very dependent on the staff's experience level and the processing effect of different types of fish will vary greatly. Semi-automatic processing is done by staff controlling local processing devices to assist part of the processing process to complete the processing of the fish meat. This method also depends on the staff's experience level in fish meat processing, and also requires the staff to be familiar with each local processing tool and be able to coordinate their use, which will lead to low fish processing efficiency. Summary of the invention

[0004] The purpose of the present invention is to solve at least one of the deficiencies of the prior art and to provide a highly efficient, intelligent and fully automatic fish processing device.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] Specifically, a highly efficient and intelligent fully automatic fish processing device is proposed, comprising:

[0007] frame;

[0008] A conveyor belt group is arranged on the frame, and the conveyor belt group includes a first conveyor belt group, a second conveyor belt group and a third conveyor belt group arranged in a conveying order, and the speed decreases from the first conveyor belt group to the third conveyor belt group;

[0009] a pretreatment device, arranged on the first conveyor belt group, the pretreatment device comprising a screening device and a cold nitrogen device in the order of transportation by the first conveyor belt group, the screening device being used to screen out substandard farmed fish in a machine vision-based manner, and the cold nitrogen device being used to perform cold nitrogen spraying treatment on the farmed fish after being treated by the screening device;

[0010] The head and tail removal and fish belly cutting device is arranged on the second conveyor belt group, and is used to remove the head and tail and cut the fish belly and remove the internal organs of the farmed fish after being treated by the cold nitrogen device;

[0011] A large bone removal device is arranged on the third conveyor belt group, and is used to remove large bones from the farmed fish after being processed by the head and tail removal and fish belly cutting devices;

[0012] The fish scale removal device is arranged on the third conveyor belt group and is used for removing the scales of the farmed fish after being processed by the large bone removal device.

[0013] Further, specifically, the screening device includes a depth camera for acquiring images of farmed fish and its associated machine vision recognition system and a scraping device;

[0014] The depth camera is fixedly arranged on one side of the first conveyor belt group and focuses on a preset position of the first conveyor belt group. The machine vision recognition system is used to collect image information of the depth camera and perform image recognition to screen out substandard fish from farmed fish.

[0015] The picking device comprises a picking mechanism arranged on one side of the frame, the picking mechanism comprises a fixing assembly, which is fixed to the frame through the fixing assembly, the fixing assembly is connected to one end of a transmission rod through a rotating shaft, and a picking plate is fixedly arranged on the other end of the transmission rod, and the picking device is used to pass the fish that do not meet the standards to a collecting device fixedly arranged on the other side of the frame through the picking plate, thereby screening out the first conveyor belt group;

[0016] The collecting device comprises a slide and a box body, wherein a relatively high side of the slide abuts against the conveyor belt of the first conveyor belt group, and a relatively low side of the slide is connected to an entrance of the box body.

[0017] Further, specifically, the fish scale removal device includes a mechanical arm, a fish scale processing cylinder and a camera device, wherein:

[0018] The robotic arm is fixedly arranged at the end of the third conveyor belt group of the frame, and the upper end of the robotic arm is fixedly connected to a fish scale processing cylinder by a buckle. A camera device is also arranged at a preset position of the robotic arm just above the fish scale processing cylinder. The fish scales are scraped off by rotating the rotating brush in the fish scale processing cylinder. The camera device is used to collect image information of the farmed fish, and then determine whether to start the fish scale processing cylinder to work.

[0019] Furthermore, a water spraying device is also provided in the fish scale processing cylinder, through which water with a certain dynamic potential energy is sprayed to act on the fish body, thereby enhancing the descaling effect and cleaning the fish body.

[0020] Furthermore, the camera device is also provided with an automatic cleaning device, and the automatic cleaning device is fixedly arranged on the upper end of the camera device via a fixing rod.

[0021] Further, specifically, the robotic arm is fixed to the ground through a fixing base, a rotating shaft is provided on the fixing base, the rotating shaft can rotate 360°, the rotating shaft and the telescopic adjustment device are fixedly connected with a fish scale processing cylinder by a snap, and the telescopic adjustment device is used to adjust the position of the fish scale processing cylinder.

[0022] Further, specifically, the large bone removal device includes a clamp leaf segment, the clamp leaf segment is made into a preset bending arc to form a bone knife to remove fish bones, the clamp leaf segment is connected to a telescopic adjustment plate through a curved connecting segment, and the telescopic adjustment plate is fixedly arranged on the third conveyor belt group.

[0023] Furthermore, specifically, a non-slip soft rubber layer is provided on the inner side of the clip leaf segment.

[0024] Furthermore, the first conveyor belt group, the second conveyor belt group and the third conveyor belt group are all provided with telescopic devices, and the telescopic devices are used to adjust the width of the conveyor belts.

[0025] The present invention proposes a highly efficient, intelligent, fully automatic fish processing device, which has the following beneficial effects compared with the prior art:

[0026] The present invention proposes an efficient, intelligent and fully automatic fish processing device, wherein the conveyor belt groups are arranged in a conveying order to form a first conveyor belt group, a second conveyor belt group and a third conveyor belt group, wherein the first conveyor belt group screens out substandard farmed fish through a pre-treatment device and kills the fish at low temperature through a cold nitrogen device, thereby maximizing the freshness of the fish; then the second conveyor belt group automatically removes the head and tail and cuts the belly of the fish to remove the internal organs through a head and tail cutting and fish belly cutting device; finally, the third conveyor belt group removes the large bones of the fish through a large bone removing device, and then removes the scales of the fish through a scale removing device, thereby realizing efficient, intelligent and fully automatic fish processing. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The above and other features of the present disclosure will become more apparent by describing in detail the embodiments shown in the accompanying drawings. The same reference numerals in the accompanying drawings of the present disclosure represent the same or similar elements. Obviously, the accompanying drawings described below are only some embodiments of the present disclosure. For those skilled in the art, other accompanying drawings can be obtained based on these accompanying drawings without creative work. In the accompanying drawings:

[0028] Figure 1 The figure shows a structural principle diagram of a high-efficiency intelligent fully automatic fish processing device of the present invention from one perspective;

[0029] Figure 2 Shown is a structural principle diagram of another perspective of a highly efficient, intelligent, fully automatic fish processing device of the present invention;

[0030] Figure 3 Shown is a schematic diagram of a camera of a fish scale removal device and an automatic camera cleaning device of the present invention;

[0031] Figure 4 The figure is a schematic diagram of the structure of the picking mechanism of the present invention;

[0032] Figure 5 The figure shows the structure schematic diagram of the large bone removal device of the present invention;

[0033] Figure 6 The figure shows a schematic diagram of the anti-slip soft rubber layer of the large bone removal device of the present invention;

[0034] Figure 7 Shown is a schematic structural diagram of the fish scale removal device of the present invention. DETAILED DESCRIPTION

[0035] The following will be combined with the embodiments and drawings to clearly and completely describe the concept, specific structure and technical effects of the present invention, so as to fully understand the purpose, scheme and effect of the present invention. It should be noted that the embodiments in this application and the features in the embodiments can be combined with each other without conflict. The same reference numerals used throughout the drawings indicate the same or similar parts.

[0036] Reference Figure 1 as well as Figure 2 Embodiment 1: The present invention provides a highly efficient, intelligent, fully automatic fish processing device, comprising:

[0037] Rack 100;

[0038] A conveyor belt group is arranged on the frame 100, and the conveyor belt group includes a first conveyor belt group 210, a second conveyor belt group 220 and a second conveyor belt group 220 arranged in a conveying order, and the speed decreases from the first conveyor belt group 210 to the third conveyor belt group 230;

[0039] A pretreatment device is arranged on the first conveyor belt group 210. The pretreatment device includes a screening device 211 and a cold nitrogen device 212 in the order of transportation by the first conveyor belt group 210. The screening device 211 is used to screen out substandard farmed fish in a machine vision-based manner. The cold nitrogen device 212 is used to spray cold nitrogen on the farmed fish after being processed by the screening device 211. The liquid nitrogen pipeline port 2121 is arranged at the top of the entire rack 100.

[0040] The head and tail removal and fish belly cutting device 221 is arranged on the second conveyor belt group 220, and is used to remove the head and tail and cut the fish belly and remove the internal organs of the farmed fish after being treated by the cold nitrogen device 212;

[0041] A deboning device 231 is provided on the third conveyor belt group 230 and is used for deboning the farmed fish after being processed by the head and tail removal and fish belly cutting device 221;

[0042] The fish scale removal device 232 is disposed on the third conveyor belt group 230 and is used for removing scales from the farmed fish processed by the large bone removal device 231 .

[0043] In this preferred embodiment, the conveyor belt groups are arranged in the order of conveying, namely, the first conveyor belt group 210, the second conveyor belt group 220 and the second conveyor belt group 220, wherein the first conveyor belt group 210 screens out substandard farmed fish through the pre-treatment device and kills the fish at low temperature through the cold nitrogen device 212, thereby maximizing the freshness of the fish; then the second conveyor belt group 220 automatically removes the head and tail and cuts the fish belly and removes the internal organs through the head and tail removal and fish belly cutting device 221; finally, the third conveyor belt group 230 removes the large bones of the fish through the large bone removal device 231, and then removes the fish scales through the fish scale removal device 232, thereby realizing efficient, intelligent and fully automatic fish processing. And the three conveyor belts are loaded in sequence from left to right, and the speed from the third conveyor belt group 230 to the first conveyor belt group 210 decreases, effectively transmitting the fish and performing different steps of processing.

[0044] As a preferred embodiment of the present invention, specifically, the screening device 211 includes a depth camera for acquiring images of farmed fish and its associated machine vision recognition system and a scraping device;

[0045] Among them, as a preferred embodiment, a conveyor belt transmission speed adjustment scheme is pre-set, the speed of the first conveyor belt group 210 is a fixed preset value, and the second conveyor belt group is preset with multiple speed gears, each speed gear corresponds to a fish area range, and a mapping relationship between the fish area range and the speed gear is established, and each speed gear is associated with the third conveyor belt group; the screening device 211 of the first conveyor belt group 210 obtains the current captured image after screening, performs image recognition on the current captured image to obtain the area value of the fish therein, determines the fish area range in which the area value is located, reads the speed gear of the second conveyor belt group based on the fish area range, and determines the speed gear of the second conveyor belt group based on this, and then determines the speed gear of the third conveyor belt group, so as to dynamically balance the transportation speeds of the second conveyor belt group and the third conveyor belt group, ensuring that when processing fish with different area differences, the relevant workstations can complete the corresponding work in an orderly manner, thereby ensuring the processing effect.

[0046] Among them, the image recognition is performed on the current captured image to obtain the area value of the fish therein, including the following:

[0047] Performing noise reduction processing on the current captured image to obtain a grayscale captured image;

[0048] Performing edge detection on the grayscale captured image using a classical edge detection operator to obtain an edge image;

[0049] Performing fish range detection on the edge image to obtain a fish range image, i.e., a ROI area, and calculating the fish area in the ROI area to obtain a rough area value of the fish;

[0050] Eliminate the impurity area in the rough fish area value to obtain the accurate fish area value;

[0051] Specifically, the fish range detection is performed on the edge image to obtain a fish range image, i.e., a ROI area, and the fish area in the ROI area is calculated to obtain a rough area value of the fish, including:

[0052] Based on Matlab software, the edge image is binarized to obtain a binary image;

[0053] The bwlabel function in Matlab software is called to process the binary image into connected regions to obtain a labeled connected image, in which there are multiple connected regions.

[0054] At this point, the average pixel value of all connected areas is calculated;

[0055] Eliminate the connected areas whose average pixel value is less than the pixel value threshold, and then perform an inversion operation on the eliminated image to obtain the ROI area image;

[0056] The regionprops function in Matlab software is called to calculate the area of ​​all connected regions in the ROI area image. At this time, the area of ​​the connected region is the rough area value of the fish.

[0057] Specifically, the impurity area in the rough fish area value is eliminated to obtain the accurate fish area value, including:

[0058] Calculate the pixel area value of the connected area retained in the ROI area image, and calculate the average pixel area value of the connected area in the ROI area image;

[0059] The error index is preset, and the connected area whose pixel area value is greater than the average pixel area value minus the error index is defined as the impurity area. The area value obtained by removing the impurity area is the accurate area value of the fish.

[0060] The depth camera is fixedly arranged on one side of the first conveyor belt group 210 and is focused on a preset position of the first conveyor belt group 210. The machine vision recognition system is used to collect image information of the depth camera and perform image recognition to screen out substandard fish from farmed fish.

[0061] Reference Figure 4 The picking device includes a picking mechanism 300 disposed on one side of the frame 100, and the picking mechanism 300 includes a fixing assembly 310, which is fixed to the frame 100 through the fixing assembly 310, and the fixing assembly 310 is connected to one end of a transmission rod 330 through a rotating shaft 320, and a picking plate 340 is fixedly disposed on the other end of the transmission rod 330, and the picking device is used to pass the picking plate 340 to the collecting device 400 fixedly disposed on the other side of the frame 100, thereby screening out the first conveyor belt group 210;

[0062] The collecting device 400 includes a slide 410 and a box 420 . The relatively high side of the slide 410 abuts against the conveyor belt of the first conveyor belt group 210 , and the relatively low side of the slide 410 is connected to the entrance of the box 420 .

[0063] In this preferred embodiment, the introduction of the pre-processing system can not only reduce errors and losses in subsequent operations, but also ensure the efficiency and quality of the processing process. The screening device 211 next to the conveyor belt is equipped with a depth camera to realize fish type recognition and screening, reducing manpower input, and intelligently screen out substandard fish from farmed fish through image recognition by the visual detection system, and then the farmed fish that do not meet the requirements can be quickly screened out through the scraping device and the collection device 400, wherein the side door of the box body 420 can be opened to facilitate the removal of farmed fish that do not meet the requirements for subsequent analysis and tracing.

[0064] Reference Figure 7 As a preferred embodiment of the present invention, specifically, the fish scale removal device 232 includes a mechanical arm 2321, a fish scale treatment cylinder 2322 and a camera device 2323, wherein:

[0065] The robotic arm 2321 is fixedly arranged at the end of the third conveyor belt group 230 of the frame 100. The upper end of the robotic arm 2321 is fixedly connected to a fish scale processing cylinder 2322 by a buckle. A camera device 2323 is also arranged at a preset position of the robotic arm 2321 just above the fish scale processing cylinder 2322. The fish scales are scraped off by rotating the rotating brush in the fish scale processing cylinder 2322. The camera device 2323 is used to collect image information of the farmed fish, and then determine whether to start the fish scale processing cylinder 2322 to work.

[0066] In this preferred embodiment, by setting a triangular snap-on 23221 on the surface of the fish scale processing tube 2322, the fish scales can be tightly fixed to ensure that they will not slide or loosen during the processing process. The action is more stable and accurate, which reduces the probability of accidental scraping and also reduces damage to the fish body during the processing. In addition, a rotating brush is added to the fish scale processing tube 2322 to remove the fish scales with the help of the friction of the rotating brush, thereby improving the efficiency of fish scale processing.

[0067] As a preferred embodiment of the present invention, a water spraying device is also provided in the fish scale processing cylinder 2322, through which water with a certain dynamic potential energy is sprayed to act on the fish body, thereby enhancing the descaling effect and cleaning the fish body.

[0068] In this preferred embodiment, a high-pressure water spray port is innovatively added to the fish scale treatment cylinder 2322 to spray water with a certain dynamic potential energy, thereby enhancing the descaling effect and cleaning the fish body.

[0069] The setting of the water spraying device includes the following:

[0070] 1. Water source connection: The connection part of the nozzle is usually an adjustable connection interface that can be connected to a standard water source pipe. This interface is usually threaded to ensure a sealed and stable connection.

[0071] 2. Control valve: It is used to control the opening and closing of water flow. When the fish is cut, start the control valve to open the water flow for flushing. When it is necessary to stop, operate the control valve again to close the water flow.

[0072] 3. Nozzle and spray hole: When the water flows into the sprinkler head through the control valve, it will be guided by the nozzle and sprayed out through the spray hole.

[0073] 4. Water pressure regulation: to ensure the stability and applicability of the water flow. The water pressure regulator can adjust the water flow pressure entering the sprinkler to meet the user's requirements.

[0074] As a preferred embodiment of the present invention, the camera device 2323 is further provided with an automatic cleaning device, and the automatic cleaning device is fixed to the upper end of the camera device 2323 via a fixing rod.

[0075] Reference Figure 3 In the preferred embodiment, the fish scale removal device 232 is equipped with a camera 2327 and an automatic cleaning camera device 2323 to ensure uninterrupted and accurate processing.

[0076] As a preferred embodiment of the present invention, specifically, the robotic arm 2321 is fixed to the ground through a fixed base 2324, and a rotating shaft 2325 is provided on the fixed base 2324. The rotating shaft 2325 can rotate 360°, and the rotating shaft 2325 and the telescopic adjustment device 2326 are fixedly connected to the fish scale processing tube 2322 by a snap-fit. The telescopic adjustment device 2326 is used to adjust the position of the fish scale processing tube 2322.

[0077] Among them, the preferred implementation of the automatic cleaning camera device 2323 is as follows:

[0078] 1. Rotating mechanism: The cleaning head is mounted on a 360-degree rotating platform and can be rotated in front of the camera for cleaning when needed.

[0079] 2. Telescopic mechanism: Use an electric telescopic rod to extend the cleaning head from the outside of the camera, and then retract it after cleaning to avoid long-term exposure to the outside.

[0080] 3. High-pressure nozzle: The high-pressure nozzle installed on the cleaning head can spray high-pressure cleaning fluid to wash away dirt from the lens surface.

[0081] 4. Nozzle angle adjustment: The nozzle can be adjusted in angle to ensure that the cleaning fluid evenly covers the lens surface.

[0082] 5. Rotating brush: A small rotating brush is installed on the cleaning head. The brush is driven by an electric motor and can gently brush the lens surface to remove stubborn stains.

[0083] 6. Soft brush: The brush is made of soft material to avoid scratching the lens surface.

[0084] In this preferred embodiment, the mechanical arm 2321 cooperates with the (device) adjustment device to be able to move 360°, and has strong flexibility. In addition, the structural design of the mechanical arm 2321 adopts a folding design, which can make the equipment more convenient to store and transport, and can also reduce the space occupied in the workplace. In addition, as another preferred method, a sturdy support rod and a bracket can be added to make the connection between the blade and the mechanical arm 2321 more stable. This support structure can enhance the stability of the entire device, making it less likely to move or shake during high-speed rotation and shearing. The use of a bayonet lock between the blade and the main body of the mechanical arm 2321 can ensure that the blade is firmly fixed to the mechanical arm 2321, avoiding loosening or falling off during use.

[0085] As a preferred embodiment of the present invention, specifically, the large bone removing device 231 includes a clamp leaf segment 2311, and the clamp leaf segment 2311 is made into a preset bending arc to form a bone knife to remove fish bones. The clamp leaf segment 2311 is connected to the telescopic adjustment plate 2313 through a curved connecting segment 2312, and the telescopic adjustment plate 2313 is fixedly arranged on the third conveyor belt group 230.

[0086] Reference Figure 5 In this preferred embodiment, the clamp is transformed into a large fish bone removal knife with an appropriate curvature, which can simulate the flexible movements of human hands and reach into the fish body to remove large fish bones for easy eating.

[0087] Reference Figure 6 As a preferred embodiment of the present invention, specifically, a non-slip soft rubber layer 2315 is provided on the inner side of the clip leaf segment 2311 .

[0088] In this preferred embodiment, taking into account the problem of actual use, the anti-skid soft rubber clip leaf segment 2311 with an original anti-skid pattern improves the anti-skid performance of the clip leaf segment 2311.

[0089] As a preferred embodiment of the present invention, the first conveyor belt group 210, the second conveyor belt group 220 and the second conveyor belt group 220 are all provided with telescopic devices, and the telescopic devices are used to adjust the width of the conveyor belts.

[0090] In this preferred embodiment, the width of the conveyor belt can be adjusted by a telescopic device to achieve fish screening with higher adaptability.

[0091] Although the description of the present invention has been quite detailed and specifically describes several described embodiments, it is not intended to be limited to any of these details or embodiments or any particular embodiment, but should be regarded as providing a broad possible interpretation of these claims in view of the prior art by reference to the appended claims, thereby effectively covering the intended scope of the present invention. In addition, the above description of the present invention is based on the embodiments foreseeable by the inventor, and its purpose is to provide a useful description, and those non-substantial changes to the present invention that have not yet been foreseen may still represent equivalent changes to the present invention.

[0092] The above is only a preferred embodiment of the present invention. The present invention is not limited to the above implementation. As long as the technical effect of the present invention is achieved by the same means, it should belong to the protection scope of the present invention. Within the protection scope of the present invention, its technical scheme and / or implementation method can have various modifications and changes.

Claims

1. A highly efficient and intelligent fully automatic fish processing device, characterized in that: include, frame; A conveyor belt group is arranged on the frame, and the conveyor belt group includes a first conveyor belt group, a second conveyor belt group and a third conveyor belt group arranged in a conveying order, and the speed decreases from the first conveyor belt group to the third conveyor belt group; a pretreatment device, arranged on the first conveyor belt group, the pretreatment device comprising a screening device and a cold nitrogen device in the order of transportation by the first conveyor belt group, the screening device being used to screen out substandard farmed fish in a machine vision-based manner, and the cold nitrogen device being used to perform cold nitrogen spraying treatment on the farmed fish after being treated by the screening device; The head and tail removal and fish belly cutting device is arranged on the second conveyor belt group, and is used to remove the head and tail and cut the fish belly and remove the internal organs of the farmed fish after being treated by the cold nitrogen device; A large bone removal device is arranged on the third conveyor belt group, and is used to remove large bones from the farmed fish after being processed by the head and tail removal and fish belly cutting devices; A fish scale removal device, arranged on the third conveyor belt group, for removing scales from the farmed fish after being processed by the large bone removal device; Specifically, the screening device includes a depth camera for acquiring images of farmed fish and its associated machine vision recognition system and a scraping device; The depth camera is fixedly arranged on one side of the first conveyor belt group and focuses on a preset position of the first conveyor belt group. The machine vision recognition system is used to collect image information of the depth camera and perform image recognition to screen out substandard fish from farmed fish. A conveyor belt transmission speed adjustment scheme is pre-set, the speed of the first conveyor belt group is a fixed preset value, the second conveyor belt group is preset with multiple speed gears, each speed gear corresponds to a fish area range, and a mapping relationship between the fish area range and the speed gear is established, and each speed gear is associated with the third conveyor belt group; the screening device of the first conveyor belt group obtains the current captured image after screening, performs image recognition on the current captured image to obtain the area value of the fish therein, determines the fish area range in which the area value is located, reads the speed gear of the second conveyor belt group based on the fish area range, and determines the speed gear of the second conveyor belt group based on this, and then determines the speed gear of the third conveyor belt group; Among them, the image recognition of the current captured image is performed to obtain the area value of the fish therein, including the following: Performing noise reduction processing on the current captured image to obtain a grayscale captured image; Performing edge detection on the grayscale captured image using a classical edge detection operator to obtain an edge image; Performing fish range detection on the edge image to obtain a fish range image, i.e., a ROI area, and calculating the fish area in the ROI area to obtain a rough area value of the fish; Eliminate the impurity area in the rough fish area value to obtain the accurate fish area value; Specifically, the fish range detection is performed on the edge image to obtain a fish range image, i.e., a ROI area, and the fish area in the ROI area is calculated to obtain a rough area value of the fish, including: Based on Matlab software, the edge image is binarized to obtain a binary image; The bwlabel function in Matlab software is called to process the binary image into connected regions to obtain a labeled connected image, in which there are multiple connected regions. At this point, the average pixel value of all connected areas is calculated; Eliminate the connected areas whose average pixel value is less than the pixel value threshold, and then perform an inversion operation on the eliminated image to obtain the ROI area image; Call the regionprops function in Matlab software to calculate the area of ​​all connected regions in the ROI area image. At this time, the area of ​​the connected region is the rough area value of the fish; Specifically, the impurity area in the rough fish area value is eliminated to obtain the accurate fish area value, including: Calculate the pixel area value of the connected area retained in the ROI area image, and calculate the average pixel area value of the connected area in the ROI area image; The error index is preset, and the connected area whose pixel area value is greater than the average pixel area value minus the error index is defined as the impurity area. The area value obtained by removing the impurity area is the accurate area value of the fish.

2. The efficient, intelligent, fully automatic fish processing device according to claim 1, characterized in that: The picking device comprises a picking mechanism arranged on one side of the frame, the picking mechanism comprises a fixing assembly, which is fixed to the frame through the fixing assembly, the fixing assembly is connected to one end of a transmission rod through a rotating shaft, and a picking plate is fixedly arranged on the other end of the transmission rod, and the picking device is used to pass the fish that do not meet the standards to a collecting device fixedly arranged on the other side of the frame through the picking plate, thereby screening out the first conveyor belt group; The collecting device comprises a slide and a box body, wherein a relatively high side of the slide abuts against the conveyor belt of the first conveyor belt group, and a relatively low side of the slide is connected to an entrance of the box body.

3. The efficient, intelligent and fully automatic fish processing device according to claim 1 is characterized in that: Specifically, the fish scale removal device includes a mechanical arm, a fish scale processing cylinder and a camera device, wherein: The robotic arm is fixedly arranged at the end of the third conveyor belt group of the frame, and the upper end of the robotic arm is fixedly connected to a fish scale processing cylinder by a buckle. A camera device is also arranged at a preset position of the robotic arm just above the fish scale processing cylinder. The fish scales are scraped off by rotating the rotating brush in the fish scale processing cylinder. The camera device is used to collect image information of the farmed fish, and then determine whether to start the fish scale processing cylinder to work.

4. The efficient, intelligent and fully automatic fish processing device according to claim 3 is characterized in that: A water spray device is also provided in the fish scale treatment cylinder, through which water with a certain dynamic potential energy is sprayed to act on the fish body, thereby enhancing the descaling effect and cleaning the fish body.

5. The efficient, intelligent and fully automatic fish processing device according to claim 3 is characterized in that: The camera device is also equipped with an automatic cleaning device, which is fixed to the upper end of the camera device through a fixing rod.

6. The efficient, intelligent and fully automatic fish processing device according to claim 4 is characterized in that: Specifically, the robotic arm is fixed to the ground through a fixing base, a rotating shaft is provided on the fixing base, the rotating shaft can rotate 360 ​​degrees, the rotating shaft and the telescopic adjustment device are fixedly connected with a fish scale treatment cylinder by a snap, and the telescopic adjustment device is used to adjust the position of the fish scale treatment cylinder.

7. The efficient, intelligent and fully automatic fish processing device according to claim 1 is characterized in that: Specifically, the large bone removal device includes a clamp leaf segment, which is made into a preset bending arc to form a bone knife to remove fish bones. The clamp leaf segment is connected to a telescopic adjustment plate through a curved connecting segment, and the telescopic adjustment plate is fixedly arranged on the third conveyor belt group.

8. The efficient, intelligent and fully automatic fish processing device according to claim 7 is characterized in that: Specifically, a non-slip soft rubber layer is provided on the inner side of the clip leaf segment.

9. The efficient, intelligent and fully automatic fish processing device according to claim 1 is characterized in that: The first conveyor belt group, the second conveyor belt group and the third conveyor belt group are all provided with telescopic devices, and the telescopic devices are used to adjust the width of the conveyor belts.

Images