Shrimp back opening and gutting thread method and device based on water jet technology and storage medium

Abstract

The application discloses a shrimp back opening and gut removing method based on a water jet technology, an electronic device and a computer readable storage medium, the position of a water jet nozzle is adjusted horizontally, so that the back opening depth of the water jet acting on the shrimp is adapted to the gut line depth of the shrimp; the position of the water jet nozzle is adjusted longitudinally, so that the shrimp is cut by the shearing section of the water jet throughout the back opening process; the linear velocity of the shrimp clamp is adjusted, so that the back opening force of the water jet acting on the shrimp is adapted to the optimal shrimp back opening force. The application is used for realizing efficient and low-loss shrimp back opening and gut removing integrated operation, which can not only improve the processing efficiency, but also reduce the meat damage to the shrimp in the processing process.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of aquatic product processing, and in particular to a shrimp back opening and gut removing method based on water jet technology, an electronic device and a computer readable storage medium. BACKGROUND

[0002] The traditional manual labor method is used in the back opening and gut removing processing of shrimps, which has high labor intensity, low efficiency, high labor cost and long processing time, and the product is easy to deteriorate; therefore, many aquatic product enterprises have already or are preparing to use machine processing to improve the degree of automation.

[0003] The common shrimp processing machine on the market can refer to the shrimp back opening and gut removing and peeling machine disclosed in the Chinese patent publication with the authorization announcement number CN201957680U, or the automatic shrimp peeling machine disclosed in the Chinese patent publication with the authorization announcement number CN204104652U. These existing shrimp processing machines can automatically complete a series of processing actions such as shrimp positioning and clamping, posture arrangement, back opening, gut removing, and peeling.

[0004] In the back opening process of the above-mentioned existing shrimp processing machine, a disc cutter is used to cut the shrimps, and the cutter is easy to become blunt after long-term operation, which will cause a large extrusion to the shrimps and result in meat damage; in the gut removing process, a brush is used to wash the shrimps after back opening, and repeated extrusion and friction will further increase the meat damage of the shrimps. Therefore, how to improve the processing efficiency of the machine and reduce the meat damage of the shrimps caused by the machine has become a technical problem to be solved in the field. SUMMARY

[0005] In order to overcome the shortcomings of the prior art, the purpose of the present application is to provide a shrimp back opening and gut removing method based on water jet technology, an electronic device and a computer readable storage medium, which are used to realize efficient and low-damage shrimp back opening and gut removing integrated operation, and can not only improve the processing efficiency, but also reduce the meat damage of the shrimps caused in the processing process.

[0006] The shrimp back opening and gut removing method based on water jet technology of the present application adopts the following technical scheme:

[0007] A shrimp back opening and gut removing method based on water jet technology is applied to a shrimp back opening and gut removing device, which comprises a rotating workbench, a shrimp clamp and a water jet nozzle. The shrimp clamp is installed at the outer edge of the rotating workbench, and when the water jet nozzle is at the initial position, the water jet path thereof is tangent to the rotating workbench. The method comprises the following steps:

[0008] Step 1, adjust the position of the water jet nozzle horizontally: according to the type and size of the shrimp to be processed, identify the depth of the shrimp's intestinal line, and adjust the position of the water jet nozzle horizontally to make the water jet act on the shrimp's back opening depth and the shrimp's intestinal line depth.

[0009] Step 2, adjust the position of the water jet nozzle vertically: according to the length of the water jet's cutting section, adjust the position of the water jet nozzle vertically to make the shrimp be cut by the water jet's cutting section throughout the back opening process.

[0010] Step 3, adjust the speed of the shrimp clamp: according to the type and quality of the shrimp, select the optimal shrimp back opening force, calculate the reference value of the speed of the shrimp clamp according to the optimal shrimp back opening force, and adjust the speed of the shrimp clamp to the reference value to make the water jet act on the shrimp's back opening force and the optimal shrimp back opening force.

[0011] Further, in step 3, the shrimp clamp is driven by a rotating workbench to make circular motion, and the speed of the shrimp clamp is adjusted by adjusting the speed of the rotating workbench.

[0012] Further, the method further comprises the following steps:

[0013] Step 4, adjust the clamping force of the shrimp clamp: when the shrimp is outside the cutting area of the water jet, adjust the clamping force of the shrimp clamp to a first critical clamping force; when the shrimp is in the cutting area of the water jet, adjust the clamping force of the shrimp clamp to a second critical clamping force; and the first critical clamping force is greater than the second critical clamping force.

[0014] Further, in step 4, the first critical clamping force and the second critical clamping force refer to the minimum clamping force required to maintain the uniform circular motion of the shrimp at the reference value in step 3.

[0015] Further, in step 4, calculate the motion time t1 required for the shrimp to reach the cutting area of the water jet from the starting point of the motion path, calculate the motion time t2 of the shrimp in the cutting area of the water jet, adjust the clamping force of the shrimp clamp to the first critical clamping force from the starting point of the motion path, adjust the clamping force of the shrimp clamp to the second critical clamping force after the motion time t1, adjust the clamping force of the shrimp clamp to the first critical clamping force after the motion time t2, or release the shrimp clamp, and wait for the shrimp clamp to return to the starting point of the motion path.

[0016] Further, the shrimp back opening and intestinal line removing device further comprises a camera device for acquiring images of the shrimp to be processed to identify the type and size of the shrimp.

[0017] Further, in the shrimp back opening and gutting device, the shrimp only clamp is provided with a servo motor for loosening and clamping the shrimp only clamp, and after the shrimp is clamped by the clamp, a certain feeding amount is continuously applied to the driving end of the two end blocks according to the experimental value measured in advance, so as to generate the expected clamping force between the clamps without exceeding the crushing force of the shrimp.

[0018] The electronic device of the present application adopts the following technical solution:

[0019] An electronic device comprises a memory, a processor, and a computer program stored on the memory and executable on the processor, and when the processor executes the computer program, the shrimp back opening and gutting method is realized.

[0020] The computer readable storage medium of the present application adopts the following technical solution:

[0021] A computer readable storage medium having a computer program stored thereon, and when the processor executes the computer program, the shrimp back opening and gutting method is realized.

[0022] Compared with the prior art, the beneficial effects of the present application are:

[0023] The shrimp back opening and gutting method based on water jet technology, electronic device and computer readable storage medium provided by the present application are used to realize efficient and low-loss shrimp back opening and gutting integrated operation, which not only improves the processing efficiency, but also reduces the meat damage to the shrimp during processing. BRIEF DESCRIPTION OF DRAWINGS

[0024] Figure 1 is a force analysis diagram of the shrimp in contact with the water jet in the embodiment of the present application;

[0025] Figure 2 is a geometric principle diagram of the shrimp back opening depth and the distance between the water jet nozzle and the shrimp height in the embodiment of the present application;

[0026] Figure 3 is a geometric principle diagram of the shrimp clamp movement in one cycle in the embodiment of the present application;

[0027] Figure 4 is a flowchart of the shrimp back opening and gutting method based on water jet technology in the embodiment of the present application. DETAILED DESCRIPTION

[0028] In the following, the present application will be further described in conjunction with the drawings and specific embodiments, and it should be noted that the following described embodiments or technical features can be combined to form new embodiments without conflict.

[0029] REFERENCE Figures 1-4The shrimp back opening and gut thread removing method based on the water jet technology is applied to a shrimp back opening and gut thread removing device, and specifically, the shrimp back opening and gut thread removing device is similar to the prior application CN219698912U, and the shrimp back opening and gut thread removing device comprises a rotating workbench, a shrimp clamp, a water jet nozzle and a camera device, the shrimp clamp is installed at the outer edge of the rotating workbench, the water jet nozzle is tangent to the rotating workbench when the water jet nozzle is at an initial position, and the camera device is used to obtain an image of a shrimp to be processed, so as to identify the type and size of the shrimp. In addition, the shrimp back opening and gut thread removing device of the embodiment of the present application is different from the prior application CN219698912U in that the shrimp clamp is provided with a servo motor, which is used to realize loosening and clamping of the shrimp clamp and adjustment of clamping force; after the shrimp is clamped by the clamp, a certain feed amount is continuously applied to the driving end of the two end blocks according to the experimental value measured in advance, so as to generate an expected clamping force between the clamps without exceeding the crushing force of the shrimp.

[0030] On the basis of the shrimp back opening and gut thread removing device, the shrimp back opening and gut thread removing method of the embodiment of the present application comprises the following steps:

[0031] Step 1, transversely adjusting the position of the water jet nozzle: according to the type and size of the shrimp to be processed, the depth of the gut thread of the shrimp is identified, and the position of the water jet nozzle is transversely adjusted, so that the back opening depth d of the shrimp subjected to the water jet is adapted to the depth of the gut thread of the shrimp; referring to Figures 1-3 , the transverse movement distance of the water jet nozzle is the back opening depth d of the shrimp;

[0032] Step 2, longitudinally adjusting the position of the water jet nozzle: the position of the water jet nozzle is longitudinally adjusted according to the length of the shearing section of the water jet, so that the shrimp is cut by the shearing section of the water jet throughout the back opening process;

[0033] Step 3, adjusting the rotating speed of the shrimp clamp: according to the type and quality of the shrimp, the optimal back opening force of the shrimp is selected, the reference value of the rotating speed of the shrimp clamp is calculated according to the optimal back opening force of the shrimp, and the rotating speed of the shrimp clamp is adjusted to the reference value, so that the back opening force of the shrimp subjected to the water jet is adapted to the optimal back opening force of the shrimp.

[0034] Specifically, in step 3, the shrimp clamp is driven by the rotating workbench to do circular motion, and the rotating speed of the shrimp clamp is adjusted by adjusting the rotating speed of the rotating workbench.

[0035] Specifically, the shrimp back opening and gut thread removing method of the embodiment of the present application further comprises the following steps:

[0036] Step 4, adjust the clamping force of the shrimp clamp: when the shrimp is outside the cutting area of the water jet, adjust the clamping force of the shrimp clamp to the first critical clamping force N1; when the shrimp is in the cutting area of the water jet, adjust the clamping force of the shrimp clamp to the second critical clamping force N2; and the first critical clamping force N1 is greater than the second critical clamping force N2. Wherein, the cutting area of the water jet can correspond to the BC arc segment in the reference Figure 3 . .

[0037] Specifically, in step 4, the first critical clamping force N1 and the second critical clamping force N2 refer to the minimum clamping force required to maintain uniform circular motion of the shrimp at the reference speed in step 3.

[0038] Specifically, in step 4, the motion time t1 required for the shrimp to reach the cutting area of the water jet from the starting point of the motion path is calculated, the motion time t2 when the shrimp is in the cutting area of the water jet is calculated, the clamping force of the shrimp clamp is adjusted to the first critical clamping force from the starting point of the motion path, the clamping force of the shrimp clamp is adjusted to the second critical clamping force after the motion time t1, the clamping force of the shrimp clamp is adjusted to the first critical clamping force after the motion time t2, or the shrimp clamp is released, and the shrimp clamp is returned to the starting point of the motion path.

[0039] The principles of the embodiments of the present application are specifically described below.

[0040] (A) Analysis of shrimp force and calculation of back force and critical clamping force.

[0041] The rolling pressure roller and the feeding channel in the prior application CN219698912U can center and press the shrimp inside the shrimp clamp, so that the attitude of the shrimp is approximately arc-shaped, and therefore the force analysis on the shrimp can be performed according to the arc processing.

[0042] In order to minimize the damage of the shrimp clamp to the shrimp body, the clamping force should be adjusted to the critical force, that is, the critical point that just meets the requirements of the shrimp rotating on the rotating workbench without falling off and sliding under the action of the water jet, that is, the minimum clamping force required to maintain uniform circular velocity of the shrimp, and the clamping force in this case is defined as the critical clamping force.

[0043] The critical clamping force can be analyzed in two cases, one is the critical clamping force before the shrimp body contacts the water jet, defined as the first critical clamping force N1, and the other is the critical clamping force when the shrimp body contacts the water jet, defined as the second critical clamping force N2.

[0044] (A1) In the case where the rotating workbench speed or the shrimp clamp speed is determined (based on the radius b of the rotating workbench, the two parameters can be converted to each other), the analysis of the first critical clamping force N1 is as follows:

[0045] F O the normal friction force f n provided by the shrimp body clamp

[0046] F O = f n (1)

[0047] wherein

[0048] f n = μ n N1 (2)

[0049] F O = mbw 2 = 4mπ 2 bv 2 (3)

[0050] At this time, the first critical clamping force of the shrimp clamp is:

[0051]

[0052] wherein μ n is the normal friction coefficient between the shrimp and the shrimp clamp; N1 is the first critical clamping force provided by the shrimp clamp; F O is the centripetal force of the shrimp before contacting the water knife; m is the mass of the shrimp; v is the rotating speed of the shrimp clamp (equivalent to the rotating speed of the rotating table); w is the angular speed of the rotating table; and b is the radius of the rotating table.

[0053] (A1) Analysis on the second critical clamping force N2 is as follows:

[0054] Let θ be the included angle between the tangent direction at the contact point of the water knife and the shrimp body, b be the radius of the rotating table, F N be the force of the water knife acting on the shrimp, F’ N be the back-opening force of the water knife acting on the shrimp, F” N be the component of the water knife acting force in the tangent direction of the rotating table, and d be the back-opening depth of the shrimp (also referred to as the cutting distance of the water knife).

[0055] When the back-opening depth of the shrimp is d (d < b), θ can be expressed as:

[0056]

[0057] the back-opening force F’ N perpendicular to the shrimp body is equal to the water knife acting force F N in the radius direction of the rotating disc:

[0058] F’ N = F N sinθ (6)

[0059] Water jet force F N In the tangential direction of the rotating table component F" N F" = F cos θ (7)

[0060] F" N = F cos θ (7) N cos θ (7)

[0061] Since the shrimp body is uniformly circular motion during the whole process of being clamped by the rotating disc, the speed does not change, so the centripetal force F O of the shrimp body is constant, which is the same as the centripetal force before the shrimp body contacts the water jet, that is, 4mπ 2 bv 2 .

[0062] The component F" of the water jet force in the tangential direction of the rotating table N is equal to the tangential friction force f t2 experienced by the shrimp in the tangential direction, that is:

[0063] F" N = f t2 (8)

[0064] The centripetal force F O of the shrimp, the normal friction force f n2 generated by the shrimp clamp, and the back-opening force F' N exerted on the shrimp body by the water jet can be provided and discussed in two cases:

[0065] a. Working condition 1: Assuming that the normal friction force f n2 is in the direction away from the center, at this time the centripetal force of the shrimp is:

[0066] F O = F' N -f n2 (9)

[0067] Where:

[0068] f n2 = μ n N2 (10)

[0069] f t2 = μ t N2 (11)

[0070] In the formula, μ t is the tangential friction coefficient between the shrimp and the shrimp clamp; N2 is the second critical clamping force provided by the shrimp clamp; the tangential friction coefficient μ t may be different from the normal friction coefficient μ n , because the patterns, protrusions, etc. in the shrimp clamp may be different in the normal and tangential directions.

[0071] At this time, the second critical clamping force of the shrimp clamp is:

[0072]

[0073] By combining equations (3), (5)-(12), the following equation can be obtained:

[0074]

[0075] b, working condition 2: assuming the normal friction force f n2 When the direction is towards the center of the circle, at this time the centripetal force of the shrimp is:

[0076] F O = F' N + f n2 (15)

[0077] Wherein:

[0078] f n2 = mu n N2 (16)

[0079] f t2 = mu t N2 (17)

[0080] At this time, the second critical clamping force of the shrimp clamp is:

[0081]

[0082] By combining equations (3), (5)-(8), (15)-(18), the following equation can be obtained:

[0083]

[0084]

[0085] Comparing the two working conditions a and b, it is obvious that the critical clamping force of the clamp in working condition b is smaller, and working condition b is also easier to realize in practice, so working condition b is selected as the working condition of the shrimp water jet back opening.

[0086] It can be seen that, under the condition that the radius b of the rotating workbench is fixed, the back opening force is affected by the rotation speed v of the shrimp clamp, the mass m of the shrimp, the normal friction coefficient mu n between the shrimp and the shrimp clamp, the tangential friction coefficient mu t between the shrimp and the shrimp clamp, and the back opening depth d of the shrimp.

[0087] It should be noted that: the mass m of the shrimp: the specifications of the shrimps processed in the same batch are the same, and the mass can be considered the same. The mass of the shrimp is weighed before processing, and the data is input into the control system. n: Using the friction coefficient tester, the normal direction friction coefficient of shrimp and one end of the shrimp clamp block is measured; the tangential friction coefficient μ t : Using the friction coefficient tester, the tangential friction coefficient of shrimp and one end of the shrimp clamp block is measured.

[0088] (B) Analysis of the whole process of rotating workbench rotation.

[0089] In order to avoid frequent adjustment of equipment parameters, shrimp processing plant generally uses the same batch of specifications of shrimp as the object for processing in the same time period, and the length of the same batch of shrimp can be considered the same, which is set as l; of course, it can also be identified by the camera device.

[0090] Reference Figure 3 , assuming that the starting point of the shrimp movement path is point A, that is, the shrimp first enters from point A of the work disc, after L1 travel, the shrimp reaches point B, starts to contact the water knife, and after L2+l travel, the shrimp leaves point C, the shrimp completely leaves the water knife cutting range, completes the back opening operation, and proceeds to the subsequent processing link, the clamp returns to point A after L3-l travel, and clamps the next shrimp. Among them:

[0091]

[0092] The time required for the shrimp to travel L1 is:

[0093]

[0094] The time required for the shrimp to complete the whole process of back opening is:

[0095]

[0096] After the shrimp completes the back opening operation, the clamp returns to the work disc point A, and the time required is:

[0097]

[0098] Adjustment of clamping force in the whole process of rotating workbench rotation:

[0099] (B1) First, the shrimp is clamped into the clamp from the work disc point A, in order to minimize the damage to the shrimp meat due to clamping, the clamping force of the clamp at this time is

[0100] (B2) After t1, the shrimp reaches point B and starts the water knife back opening operation, the clamping force of the clamp at this time is back opening force

[0101] (B3) After t2, the shrimp leaves point C, completes the water knife back opening operation, and proceeds to the subsequent processing link, the clamping force of the clamp at this time is kept at

[0102] (B4)After the last time length t3, the clamp returns to the working disc A point, repeating steps B1, B2, B3.

[0103] (C) Calculation of the water jet nozzle height constraint condition.

[0104] After the water jet is sprayed from the nozzle, the jet profile expands continuously, and the diameter gradually increases until the last water flow is completely dispersed. The turbulent mixing area expanding from the outside to the inside of the nozzle is called the shear section, in which the water jet back is completed, and the minimum damage to the shrimp meat can be achieved, so this area is set as the ideal shrimp back opening area. The shear section is located in the initial section of the water jet, and the expression formula is:

[0105] s0 = l·d p (27)

[0106] In the formula, s0 is the length of the shear section; l is the dimensionless initial section length, and the empirical value is 9.22; d p is the diameter of the water jet nozzle.

[0107] The initial height of the water jet nozzle from the shrimp is e, and when the water jet nozzle moves horizontally from the initial position by a distance d, the height e t of the water jet nozzle from the shrimp can be expressed as:

[0108] e t = e - (b - d) tan θ (28)

[0109] By combining equations (5) and (28), we get:

[0110]

[0111] In order to let the shrimp be in the ideal shrimp back opening area during the back opening process, the constraint condition for the height e t of the water jet nozzle is:

[0112] e t + 2b sin θ < s0 (30)

[0113] By combining equations (5), (29), and (30), we get:

[0114]

[0115] In the formula, b is the radius of the rotating workbench; d is the horizontal movement distance of the water jet nozzle, which can also be called the water jet cutting distance, the shrimp back opening depth, etc.

[0116] (D) According to the above calculation relationship such as formula (20) and (31), and the previous test data, the process parameter adjustment of the optimal shrimp opening back effect can be realized. Although the water jet cutting can realize the shrimp opening back and the gut removal integrated operation, different opening back forces can affect the shrimp opening back success rate, the shrimp meat damage rate and the shrimp line removal rate, that is, the opening back effect comprehensively considers the shrimp opening back success rate, the shrimp meat damage rate and the shrimp line removal rate and the like, according to the relationship between the opening back force and the opening back effect (obtained by the previous test), the optimal opening back force of the shrimp is selected.

[0117] According to formula (31), the constraint range of the initial height e of the water jet nozzle is calculated, and the water jet nozzle is lowered to the constraint range, so as to ensure that the shrimp is in the water jet shearing layer (ideal shrimp opening back area), and the lowest damage of the shrimp meat is realized.

[0118] According to formula (20), the radius b of the rotating worktable, the mass m of the shrimp, the normal friction coefficient μ n and the tangential friction coefficient μ t between the shrimp and the shrimp clamp are known, and the rotating speed v is adjusted, so as to adjust the opening back force to the optimal opening back force, and the shrimp opening back success rate and the shrimp line removal rate are maximized, and the shrimp meat damage rate is minimized.

[0119] In fact, the process parameter adjustment step is the shrimp opening back and gut removal method of the embodiment of the present application, as shown in Figure 4 .

[0120] The embodiment of the present application also provides an electronic device, which comprises a memory, a processor and a computer program stored in the memory and executable on the processor, and when the processor executes the computer program, the shrimp opening back and gut removal method of the embodiment of the present application is realized.

[0121] The embodiment of the present application also provides a computer readable storage medium, which stores a computer program, and when the processor executes the computer program, the shrimp opening back and gut removal method of the embodiment of the present application is realized.

[0122] The embodiment of the present application is used for realizing the shrimp opening back and gut removal integrated operation with high efficiency and low damage, which not only can improve the processing efficiency, but also can reduce the meat damage of the shrimp caused in the processing process.

[0123] The above embodiment is only the preferred embodiment of the present application, and cannot be used to limit the protection scope of the present application, and any non-substantial change and replacement made by the person skilled in the art on the basis of the present application belongs to the protection scope of the present application.

Claims

1. A shrimp back opening and gutting method based on water jet technology, applied to a shrimp back opening and gutting device, the shrimp back opening and gutting device comprising a rotating workbench, a shrimp clamp and a water jet nozzle, the shrimp clamp being installed at the outer edge of the rotating workbench, and the water jet nozzle being tangent to the rotating workbench when it is in an initial position, characterized in that, The method comprises the following steps: Step 1: horizontally adjust the position of the water jet nozzle: according to the type and size of the shrimp to be processed, the depth of the intestinal line of the shrimp is identified, and the position of the water jet nozzle is adjusted horizontally so that the water jet acts on the depth of the shrimp back opening and the depth of the intestinal line of the shrimp is adapted; Step 2: vertically adjust the position of the water jet nozzle: according to the length of the cutting section of the water jet, the position of the water jet nozzle is adjusted vertically so that the shrimp is cut by the cutting section of the water jet throughout the back opening process; Step 3: adjust the speed of the shrimp clamp: according to the type and quality of the shrimp, the optimal shrimp back opening force is selected, the reference value of the speed of the shrimp clamp is calculated according to the optimal shrimp back opening force, and the speed of the shrimp clamp is adjusted to the reference value so that the water jet acts on the back opening force of the shrimp and the optimal shrimp back opening force is adapted.

2. The method of claim 1, wherein the shrimp is opened and gutted by using a thread. In step 3, the shrimp clamp is driven by the rotating workbench to make circular motion, and the speed of the shrimp clamp is adjusted by adjusting the speed of the rotating workbench.

3. The method of claim 1, wherein the shrimp is opened by a back- cutting method. The method further comprises the following steps: Step 4: adjust the clamping force of the shrimp clamp: when the shrimp is outside the cutting area of the water jet, the clamping force of the shrimp clamp is adjusted to a first critical clamping force; when the shrimp is in the cutting area of the water jet, the clamping force of the shrimp clamp is adjusted to a second critical clamping force; and the first critical clamping force is greater than the second critical clamping force.

4. The method of claim 3 wherein the shrimp is opened by a back- cutting method. In step 4, the first critical clamping force and the second critical clamping force refer to the minimum clamping force required to maintain uniform circular motion of the shrimp at the reference value in step 3.

5. The method of claim 4, wherein the shrimp is opened by a back- cutting method. In step 4, the motion time t1 required for the shrimp to reach the cutting area of the water jet from the starting point of the motion path is calculated, the motion time t2 of the shrimp in the cutting area of the water jet is calculated, the clamping force of the shrimp clamp is adjusted to the first critical clamping force from the starting point of the motion path, the clamping force of the shrimp clamp is adjusted to the second critical clamping force after the motion time t1, and the clamping force of the shrimp clamp is adjusted to the first critical clamping force or the shrimp clamp is released after the motion time t2.

6. The method of claim 1 wherein the shrimp is opened and gutted by a thread. The shrimp back opening and intestinal line removing device further comprises a camera device for acquiring images of the shrimp to be processed to identify the type and size of the shrimp.

7. The method of claim 1 wherein the shrimp is opened and gutted by a thread. In the shrimp back opening and intestinal line removing device, the shrimp clamp is provided with a servo motor for releasing and clamping the shrimp, and after the shrimp is clamped by the clamp, a certain amount of feed is continuously applied to the driving end of the two end blocks according to the experimental value measured in advance to generate the expected clamping force between the clamps without exceeding the crushing force of the shrimp.

8. An electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, The processor executes the computer program to implement the shrimp back opening and intestinal line removing method of any one of claims 1-7.

9. A computer readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to implement the shrimp back opening and intestinal line removing method of any one of claims 1-7.

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