An automatic underwater fish screening system

Abstract

The present invention provides an underwater fish automatic screening system, comprising: a buoy; a fish frame assembly, wherein the fish frame comprises a cylindrical fixed frame and a rotating frame, wherein the rotating frame is sleeved on the inner side of the fixed frame, and a unique fish outlet passage is generated by the rotating cooperation between the rotating frame and the fixed frame, wherein the fish outlet passage points to an independent space corresponding to the current fish classification; a fish driving device, wherein the fish driving device is fixedly connected to the bottom of the rotating frame and is used to apply a directional driving action to the fish inside the rotating frame through a grid structure on the rotating frame; and a control system. The present invention has a reasonable structural design and is reliable in use, and can, in particular, perform graded management of farmed live fish without leaving the water, which not only reduces the labor intensity of the staff, but also significantly improves the mechanization level of fishery equipment.

Description

Technical Field

[0001] The invention relates to the technical field of classification and catching, and in particular to an automatic underwater fish screening system. Background Art

[0002] In the process of aquaculture seedling raising or breeding, the grading method commonly used by aquaculture enterprises in my country is generally manual grading. First, the breeding workers catch the live fish to be graded, grade the fish based on experience, and then put them into fish ponds of different qualities. This grading method requires the grading target to be caught from the fish pond and out of the water. The consequence of doing so may cause damage to the fish body, and it is very likely to draw wrong conclusions, which is a futile waste of manpower and material resources, and the grading efficiency is very low. Based on this current state of industrial development, aquaculture technology is now in urgent need of a device that can perform automatic grading operations underwater. Summary of the invention

[0003] In view of the deficiencies in the prior art, the purpose of the present invention is to provide an automatic underwater fish screening system that can not only accurately grade and classify farmed fish, but also operate for a long time without damaging the fish and scaring the fish to cause economic losses.

[0004] The technical means adopted by the present invention are as follows:

[0005] An underwater fish automatic screening system, comprising:

[0006] A buoy, the buoy being used to control the depth of the fish frame assembly under water;

[0007] A fish frame assembly, wherein the fish frame comprises a cylindrical fixed frame and a rotating frame, wherein the rotating frame is sleeved inside the fixed frame, and a unique fish outlet passage is generated by the rotating cooperation between the rotating frame and the fixed frame, and the fish outlet passage points to an independent space corresponding to the current fish classification;

[0008] a fish driving device, the fish driving device being fixedly connected to the bottom of the rotating frame and used for applying a directional driving action to the fish inside the rotating frame through the grid structure on the rotating frame, so that the fish can swim out through the fish outlet passage facing the driving direction; and

[0009] A control system, wherein the first control end of the control system is connected to a first driving device, and the second control end is connected to a second driving device, the first driving device is used to drive the rotating frame to rotate, and the second driving device is used to drive the fish driving device to move.

[0010] Furthermore, the system also includes an image acquisition device, which is used to extract fish body image information in the rotating frame, analyze the fish body image information through a host computer to obtain a fish body classification result, and send the fish body classification result to a control system, which converts the fish body classification result into a control instruction for controlling the rotation of the rotating frame, so that the rotating fish outlet of the rotating frame is aligned with the corresponding classification fish outlet.

[0011] Furthermore, a fixed fish inlet and a plurality of classified fish outlets are circumferentially arranged on the fixed frame, and a rotating fish inlet and a rotating fish outlet are relatively arranged on the rotating frame, and when the rotating frame inside the fixed frame rotates, the classified fish outlets can periodically dock with the rotating fish outlet, wherein the fixed fish inlet, the fixed fish inlet, the rotating fish inlet and the rotating fish outlet are of similar shape and size, and grid structures are distributed on both sides of the rotating fish inlet and the rotating fish outlet, and the grids are connected through the grid structure at the bottom of the rotating frame.

[0012] Furthermore, the fish driving device comprises a plurality of base plates arranged at equal intervals, each of the base plates being fixed by a first rotating shaft and a second rotating shaft, the first rotating shaft passing through a middle position of each base plate, and the second rotating shaft passing through a lower position of each base plate;

[0013] A first connecting rod is fixedly connected to the first rotating shaft between any two bottom plates, and a second connecting rod is fixedly connected to the second rotating shaft between any two bottom plates, and the first connecting rod and the second connecting rod correspond to each other one by one;

[0014] The free end of the first connecting rod is connected to the free end of the corresponding second connecting rod through a third connecting rod, and the upper end of the third connecting rod is connected to a flexible brush;

[0015] When the first rotating shaft and the second rotating shaft rotate synchronously, the third connecting rod is driven to make circular motion on the vertical plane through the first connecting rod and the second connecting rod respectively. At this time, the flexible brush connected to the end of the third connecting rod periodically enters the rotating frame from the grid and then leaves.

[0016] Furthermore, the number of bottom plates of the fish driving device is adapted to the number of grids on the fish frame.

[0017] Furthermore, the second driving device comprises a waterproof motor, the waterproof motor is fixedly connected to a driving gear, the driving gear is meshed with a driven gear, and the driven gear is fixed on the first rotating shaft or the second rotating shaft.

[0018] Furthermore, the first rotating shaft and the second rotating shaft both pass through the center line of the bottom plate.

[0019] Furthermore, the bottom plate is fixedly connected to the lower part of the rotating frame by fixing bolts, and a sealing ring is provided at the connection.

[0020] Compared with the prior art, the present invention has the following advantages:

[0021] 1. The present invention uses a fish frame structure to correspond the fish inlet and outlet to the target position, and uses the flexible grid of the fish driving device to directionally drive the fish, thereby realizing the classification operation of living fish cultured in seawater, with accurate classification and high work efficiency.

[0022] 2. The rotational motion of the fish driving device in the present invention is generated by a waterproof motor and transmitted through a gear transmission mechanism. The material of this structure uses flexible materials, which reduces the damage to the fish targets during the grading operation, and is a safe breeding equipment machine.

[0023] 3. The present invention adopts a combination of a fish driving device and a fish frame structure orientation to classify live fish in seawater culture, which helps to increase the number of classification categories. Users can customize different classification directions to maximize economic benefits.

[0024] 4. The present invention adopts a float device as a buoyancy source. By adjusting the buoyancy of the float, the overall water level of the device is changed so as to be close to the normal living water level of the target fish, thereby achieving the purpose of underwater classification and increasing the operating capacity and applicability of the equipment.

[0025] The present invention can perform intra-species identification and grading processing on farmed fish in a farming environment, the system structure is reasonably designed and reliable to use, the labor intensity of staff is reduced, the invention has strong practical value, and the mechanization level of fishery equipment is greatly improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0027] Figure 1 The present invention is a schematic diagram of the structure of an automatic underwater fish screening system.

[0028] Figure 2 It is a schematic diagram of the fixed frame structure in the present invention.

[0029] Figure 3 It is a schematic diagram of the rotating frame structure in the present invention.

[0030] Figure 4 It is a schematic diagram of the structure of the fish driving device in the present invention.

[0031] Figure 5It is a schematic diagram of the combination of the fish frame assembly and the fish driving device of the present invention.

[0032] Figure 6 It is a perspective view of the combination of the fish frame assembly and the fish driving device of the present invention.

[0033] Figure 7 Schematic diagram of the structure of the breeding box for fish to be classified in the embodiment.

[0034] Figure 8 Schematic diagram of the bait delivery device arrangement in the embodiment.

[0035] Fig. 9 Schematic diagram of fish body length calculation in the embodiment.

[0036] In the figure: 1. buoy; 2. fish frame assembly; 201. fixed frame; 2011. fixed fish inlet; 2012. classified fish outlet; 202. rotating frame; 2021. rotating fish inlet; 2022. rotating fish outlet; 3. fish driving device; 301. bottom plate; 302. first rotating shaft; 302. second rotating shaft; 304. first connecting rod; 305. second connecting rod; 306. third connecting rod; 307. flexible brush; 308. fixing screw; 401. waterproof motor; 402. driving gear; 403. driven gear; 5. breeding box; 501. partition partition; 6. bait delivery mechanism. DETAILED DESCRIPTION

[0037] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0038] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the present invention and its application or use. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0039] In the description of the present invention, it is necessary to understand that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the drawings. They are only for the convenience of describing the present invention and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of the present invention: the directional words "inside and outside" refer to the inside and outside relative to the contours of each component itself.

[0040] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below their position devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0041] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. If not otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of the present invention.

[0042] The present invention provides a live fish classification and capture system for supporting cage culture, which can meet different requirements for fish morphological classification during fish artificial breeding, for example, screen out fish that are large enough to meet the conditions for listing, or screen out live fish that are too small and underfed. The present invention can classify and capture target fish.

[0043] Specifically, if Figure 1As shown, the present invention provides an underwater fish automatic screening system, which mainly includes a float 1, a fish frame assembly 2, a fish driving device 3 and a control system. The present invention adopts a float device as a buoyancy source, and by adjusting the buoyancy of the float, the overall water level of the device is changed, so as to be close to the normal living water level of the target fish, thereby achieving the purpose of underwater classification and increasing the operating capacity and applicability of the equipment. The fish frame 2 includes a cylindrical fixed frame 201 and a rotating frame 202, which are fitted together, and the rotating frame 202 is on the inner side. The rotating frame 202 and the fixed frame 201 can be rotated to form a unique fish outlet passage, and the fish outlet passage points to an independent space corresponding to the current fish classification. The fish driving device 3 is fixedly connected to the bottom of the rotating frame 202, and is used to apply a directional driving action to the fish body inside the rotating frame 202 through the grid structure on the rotating frame 202, so that the fish body can swim out from the fish outlet passage facing the driving direction. The control system in the present invention has two main functions, the first is to control the rotation of the rotating frame 202, and the second is to control the action of the fish driving device 3. The first control end of the control system is connected to the first driving device, and the second control end is connected to the second driving device. The first driving device is used to drive the rotating frame 202 to rotate, and the second driving device is used to drive the fish driving device 3 to move.

[0044] Preferably, if Figure 2-3 As shown, a fixed fish inlet 2011 and a plurality of classified fish outlets 2012 are arranged circumferentially on the fixed frame 201. A rotating fish inlet 2021 and a rotating fish outlet 2022 are arranged relatively on the rotating frame 202. When the rotating frame 202 inside the fixed frame 201 rotates, the classified fish outlets 2012 can periodically dock with the rotating fish outlet 2022. The fixed fish inlet 2011, the fixed fish inlet 2011, the rotating fish inlet 2021 and the rotating fish outlet 2022 are of similar shape and size, and grid structures are distributed on both sides of the rotating fish inlet 2021 and the rotating fish outlet 2022, and the grids are connected through the grid structure at the bottom of the rotating frame 202.

[0045] Specifically, when the rotating frame 202 rotates, its side will slide over the fixed fish inlet 2011 on the fixed frame 201. When the rotating fish inlet 2021 and the fixed fish inlet 2011 are facing each other, a passage is formed to allow fish to enter the fish frame assembly 2 from the outside. When the rotating fish outlet 222 is facing a certain classification fish outlet, a passage is formed to allow fish to swim out of the fish frame assembly 2. At this time, the passage only needs to be docked with the determined screening area to complete the screening and classification of fish.

[0046] Preferably, if Figure 4-5The fish repelling device 3 shown can apply a directional repelling action to the fish body inside the fish frame assembly 2 through the grid on the rotating frame 202. It mainly includes a number of base plates 301 arranged at equal intervals, and each base plate is fixed by a first rotating shaft 302 and a second rotating shaft 303. The first rotating shaft 302 passes through the middle position of each base plate, and the second rotating shaft 303 passes through the lower position of each base plate; the first rotating shaft 302 between any two base plates 301 is fixedly connected to the first connecting rod 304, and the second rotating shaft 303 between any two base plates 301 is fixedly connected to the second connecting rod 305, and the first connecting rod 304 and the second connecting rod 305 correspond to each other one by one; the free end of the first connecting rod 304 is connected to the free end of the corresponding second connecting rod 305 through a third connecting rod 306, and the upper end of the third connecting rod 306 is connected to a flexible brush 307. Further preferably, the number of base plates 301 of the fish repelling device 3 is adapted to the number of grids on the rotating frame 202. The bottom plate 301 is fixedly connected to the lower part of the rotating frame 202 by means of fixing bolts 308, and a sealing ring is provided at the connection.

[0047] In the present application, the fish driving device is driven by the second driving device, such as Figure 6 As shown, it specifically includes a waterproof motor 401, which is fixedly connected to a driving gear 402, which is meshed with a driven gear 403, and the driven gear 403 is fixed on a first rotating shaft 302 or a second rotating shaft 303. Both the first rotating shaft 302 and the second rotating shaft 303 pass through the center line of the bottom plate 301.

[0048] Specifically, when the waterproof motor is started, the output power is transmitted to the first rotating shaft 302 connected to the driven gear 403 through the driving gear 402 and the driven gear 403, and the first rotating shaft 302 and the second rotating shaft 303 are driven to rotate synchronously, and the third connecting rod 306 is driven to make a circular motion on the vertical plane through the first connecting rod 304 and the second connecting rod 305 respectively. At this time, the flexible brush 307 connected to the end of the third connecting rod 306 can periodically enter the rotating frame 202 from the grid and then leave. When the third connecting rod 306 moves upward, the flexible brush 307 at its end gradually enters the rotating frame 202, and when the third connecting rod 306 moves downward, the flexible brush 307 at its end leaves the rotating frame 202.

[0049] As a preferred embodiment of the present invention, the screening system also includes an image acquisition device, which is used to extract fish body image information in the rotating frame 202, analyze the fish body image information through a host computer to obtain a fish body classification result, and send the fish body classification result to a control system, which converts the fish body classification result into a control instruction for controlling the rotation of the rotating frame 202, so that the rotating fish outlet 2022 of the rotating frame 202 is aligned with the corresponding classification fish outlet 2012.

[0050] The solution of the present invention is further described below through a specific application example.

[0051] In this embodiment, a mechatronic system is disclosed which can meet the needs of classifying and catching live fish that are large enough to meet the conditions for listing or are too small to be fed, and can also catch live fish that are in poor health when necessary during the artificial breeding of fish.

[0052] Specifically, if Figure 7-8 As shown, the fish frame assembly 2 of the fish screening system is placed in the central circular area of ​​the classification breeding box 5, and the fish frame assembly 2 can be suspended at any depth of the breeding box 5 under the action of the buoy 1. The classification breeding box is divided into several different breeding spaces by multiple partition partitions, and the setting of independent breeding spaces can be set according to the classification requirements of fish. In this embodiment, the breeding box is divided into 5 breeding spaces by partition partitions, the largest of which is used to place all the fish to be screened before screening, and then the breeding spaces from left to right are used as temporary storage spaces for fish that meet the listing conditions, temporary storage spaces for underfed fish, temporary storage spaces for sick fish, and spare temporary storage spaces.

[0053] Screening begins, bait is put into the fish frame assembly 2 by using the bait throwing mechanism 6, and the control system controls the rotating frame 202 to rotate to the fish inlet station (i.e., the rotating frame 202 rotates to align the rotating fish inlet 2021 with the fixed fish inlet 2011), and the fish enters the fish frame assembly 2 from the fish inlet. The fixed frame 201 of the fish frame assembly has a plurality of classified fish outlets 2012, and each classified fish outlet 2012 corresponds to an independent temporary storage space. The image information of the fish body is collected by the image acquisition system, and sent to the host computer for analysis and calculation to obtain the fish body length data, health data or other data that can be used as a classification standard. The category of the current fish body is determined according to the analysis result, and the temporary storage space of the breeding box corresponding to the category is found.

[0054] Optionally, in one implementation of this embodiment, the host computer uses a 3D vision-based automatic fish image analysis method to extract fish length data and health data, including detecting the fish area in the image through the yolov3 algorithm, and then obtaining the coordinate information of the head, tail, and center point of the fish body of each fish in real time through the Intel RealSense D435i (depth camera), as well as the depth information of the above three points, and based on the above information, the actual length of the fish body is obtained according to the triangle midline theorem, such as Fig. 9As shown in the figure, point A indicates the installation position of the camera, point B indicates the front end of the fish body, which is the head point, point C indicates the rear end of the fish body, which is the tail point, and point D is the midpoint of line segment BC, which is the center point. The length a of line segment AB, the length b of line segment AC, and the length c of line segment AD are obtained through the depth camera. The length of line segment BC is the length of the fish body based on the triangle midline theorem. Then, according to the relationship between the body length and weight of the fish obtained in advance from the breeding practice, the weight of each fish can be estimated. At the same time, the fish body is judged whether it is injured based on the fish body image, so as to obtain the health data of the fish body.

[0055] Optionally, in another implementation of this embodiment, the breeder directly sends the fish length data, health data or other data that can be used as a grading standard to the control unit through observation, and determines the category to which the current fish belongs.

[0056] After determining the temporary storage space of the breeding box corresponding to the current fish category, the control system controls the rotating frame to rotate to the classification station (i.e., the rotating frame rotates 202 to rotate the fish outlet 2022 and aligns with the corresponding classification fish outlet 212). At this time, the control system controls the second drive device to start the fish driving device 3, and the flexible brush 307 enters the inside of the fish frame assembly 2, applies a driving action to the direction of the fish outlet, and forces the fish to swim from the inside of the fish frame assembly into the corresponding classification temporary storage space. Repeat the above steps until the fish to be classified are all classified. As a preferred embodiment of the present invention, this embodiment can also be combined with a fish farming intelligent decision-making system, and the fish species and classification are detected by underwater sensors, and then the waterproof motor of the present invention is controlled by a single-chip microcomputer to work, so as to achieve directional driving and capture of fish.

[0057] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An automatic underwater fish screening system, characterized in that: include: A buoy (1), wherein the buoy (1) is used to control the depth of the fish frame assembly (2) under water; A fish frame assembly (2), the fish frame assembly (2) comprising a cylindrical fixed frame (201) and a rotating frame (202), the rotating frame (202) being sleeved on the inner side of the fixed frame (201), and a unique fish outlet passage is generated by the rotating frame (202) and the fixed frame (201) rotating together, the fish outlet passage pointing to an independent space corresponding to the current fish classification; a fish driving device (3), the fish driving device (3) being fixedly connected to the bottom of the rotating frame (202) and being used to exert a directional driving action on the fish inside the rotating frame (202) through a grid structure on the rotating frame (202), so that the fish can swim out through a fish outlet passage facing the driving direction; as well as A control system, wherein a first control end of the control system is connected to a first driving device, and a second control end is connected to a second driving device, the first driving device is used to drive the rotating frame (202) to rotate, and the second driving device is used to drive the fish driving device (3) to move; The system further comprises an image acquisition device, the image acquisition device being used to extract fish image information in the rotating frame (202), analyze the fish image information through a host computer to obtain a fish classification result, send the fish classification result to a control system, and the control system converts the fish classification result into a control instruction for controlling the rotation of the rotating frame (202), so that the rotating fish outlet (222) of the rotating frame (202) is aligned with the corresponding classification fish outlet (212); A fixed fish inlet (211) and a plurality of classified fish outlets (212) are arranged circumferentially on the fixed frame (201), and a rotating fish inlet (221) and a rotating fish outlet (222) are arranged on the rotating frame (202) in a relative manner, and when the rotating frame (202) inside the fixed frame (201) rotates, the classified fish outlets (212) can periodically dock with the rotating fish outlet (222), wherein the fixed fish inlet (211), the fixed fish inlet (211), the rotating fish inlet (221) and the rotating fish outlet (222) are of similar shape and size, and grid structures are distributed on both sides of the rotating fish inlet (221) and the rotating fish outlet (222), and the grids are connected via the grid structure at the bottom of the rotating frame (202); The fish repelling device (3) comprises a plurality of base plates (301) arranged at equal intervals, each of the base plates being fixed by a first rotating shaft (302) and a second rotating shaft (303), wherein the first rotating shaft (302) passes through the middle of each base plate, and the second rotating shaft (303) passes through the lower part of each base plate; The first rotating shaft (302) between any two bottom plates (301) is fixedly connected to the first connecting rod (304), and the second rotating shaft (303) between any two bottom plates (301) is fixedly connected to the second connecting rod (305), and the first connecting rod (304) and the second connecting rod (305) correspond to each other one by one; The free end of the first connecting rod (304) is connected to the free end of the corresponding second connecting rod (305) via a third connecting rod (306), and the upper end of the third connecting rod (306) is connected to a flexible brush (307); When the first rotating shaft (302) and the second rotating shaft (303) rotate synchronously, the third connecting rod (306) is driven to perform circular motion on a vertical plane through the first connecting rod (304) and the second connecting rod (305) respectively, and at this time, the flexible brush (307) connected to the end of the third connecting rod (306) periodically enters the interior of the rotating frame (202) from the grid and then leaves.

2. The underwater fish automatic screening system according to claim 1, characterized in that: The number of the bottom plates (301) of the fish driving device (3) is adapted to the number of grids on the rotating frame (202).

3. The automatic underwater fish screening system according to claim 1, characterized in that: The second driving device comprises a waterproof motor (401), the waterproof motor (401) is fixedly connected to a driving gear (402), the driving gear (402) is meshed with a driven gear (403), and the driven gear (403) is fixed on the first rotating shaft (302) or the second rotating shaft (303).

4. The underwater fish automatic screening system according to claim 1, characterized in that: The first rotating shaft (302) and the second rotating shaft (303) both pass through the center line of the bottom plate (301).

5. The underwater fish automatic screening system according to claim 1, characterized in that: The bottom plate (301) is fixedly connected to the lower part of the rotating frame (202) via fixing bolts (308), and a sealing ring is provided at the connection.

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