Intelligent cutting method and device for large white squid slices

Abstract

The invention discloses an intelligent cutting method and device for large white squid slices, and the intelligent cutting device for the large white squid slices comprises a conveying mechanism, a scanning and positioning mechanism, a grabbing and rotating mechanism and a cutting mechanism. The scanning and positioning mechanism is arranged at a feeding hole of the conveying mechanism and is suspended above the conveying mechanism; the grabbing and rotating mechanism is arranged behind the scanning and positioning mechanism; and the cutting mechanism is arranged between the grabbing and rotating mechanism and the discharge hole of the conveying mechanism. The device can meet the production requirement of large-scale continuous cutting of large-white squid slices in factories, so that the labor cost of enterprises is reduced, and the production efficiency is improved. Meanwhile, raw material utilization rate is increased, waste is reduced, and additional value of raw materials is increased.

Description

Technical Field

[0001] The invention belongs to the field of ocean squid processing, and in particular relates to an intelligent squid fillet segmentation method and device. Background Art

[0002] Since aquatic product processing enterprises process many varieties of products and the raw materials are irregular, it is difficult to realize automated and intelligent processing. Therefore, there has been little research on intelligent production and processing technology in the field of aquatic product processing. Up to now, aquatic product processing is still mainly manual, and the application of automated and intelligent processing equipment accounts for a low proportion. Taking the extraction of squid slices as an example, the current method is a fixed distance circular knife and manual placement. Workers place the frozen squid slices in front of the circular knife, and then the subsequent process frames the cut squid slices. The fixed distance makes the utilization rate of squid slices low and the waste serious. At the same time, at least two workers are required to place and collect the materials.

[0003] With the progress of the times, intelligence has brought industrial production to a new level. Intelligent manufacturing technology can also be applied to the aquatic product processing industry. By replacing manual work such as thawing, slicing, cutting, automatic cooking, sorting and packaging with intelligent manufacturing equipment, it can not only significantly reduce labor costs, but also significantly improve product quality, reduce processing losses, and improve the utilization rate of limited aquatic resources. Summary of the invention

[0004] In view of the deficiencies in the prior art, the present invention provides an intelligent method and device for segmenting squid fillets.

[0005] The squid white slices described in the present invention refer to squid raw materials obtained by cutting the squid carcass into half, spreading it flat and then single freezing it; and the squid white slices refer to squid semi-finished products obtained by cutting the squid white slices into certain widths.

[0006] On the one hand, the present invention provides an intelligent squid fillet cutting device, comprising a conveying mechanism, a scanning and positioning mechanism, a grasping and rotating mechanism, and a cutting mechanism.

[0007] The scanning and positioning mechanism is arranged at the feed port of the conveying mechanism and is suspended above the conveying mechanism; the grabbing and rotating mechanism is arranged behind the scanning and positioning mechanism; and the dividing mechanism is arranged between the grabbing and rotating mechanism and the discharge port of the conveying mechanism.

[0008] On the other hand, the present invention also provides an intelligent squid fillet segmentation method using the intelligent squid fillet segmentation device as described above, comprising the following steps:

[0009] The squid slices to be processed are placed at the feed inlet of the conveying mechanism, and the conveying mechanism drives the squid slices to move forward.

[0010] The scanning and positioning mechanism scans and images the large white squid slices, and the control processing system pre-processes the imaging data and calculates the grasping parameters and the material taking and cutting position data.

[0011] The scanned squid pieces are moved to the bottom of the grabbing and rotating mechanism through the conveying mechanism. The grabbing and rotating mechanism receives the grabbing parameter data, grabs the squid pieces and moves them to the set position, and puts them back to the conveying mechanism in an aligned manner.

[0012] The straightened squid slices follow the conveying mechanism to move to the dividing mechanism, and the dividing mechanism receives the material taking and cutting position data. The squid slices are divided into squid slices of corresponding sizes during the movement and finally leave from the discharging port.

[0013] Beneficial effects of the invention: The invention can meet the production demand of large-scale continuous segmentation of squid slices, thereby reducing the labor cost of enterprises and improving production efficiency. At the same time, it can improve the utilization rate of raw materials, reduce waste, and increase the added value of raw materials. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is a location layout diagram of an intelligent squid fillet cutting device according to an embodiment of the present application.

[0015] Figure 2 This is a schematic diagram of the scanning and positioning mechanism of an embodiment of the present application.

[0016] Figure 3 This is a schematic diagram of the grabbing and rotating mechanism of an embodiment of the present application.

[0017] Figure 4 This is a schematic diagram of the segmentation mechanism of an embodiment of the present application.

[0018] Figure 5 This is a flow chart of an intelligent method for segmenting squid fillets according to an embodiment of the present application.

[0019] Figure 6 This is a flowchart of the preprocessing of the imaging data of the squid white film in the embodiment of the present application.

[0020] Figure 7 Schematic diagram of the material taking and cutting positions of large white squid slices in the embodiment of the present application. DETAILED DESCRIPTION

[0021] 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 will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0022] The embodiment of the present application provides an intelligent squid fillet cutting device, which includes a conveying mechanism, a scanning and positioning mechanism, a grasping and rotating mechanism, and a cutting mechanism.

[0023] The scanning and positioning mechanism is arranged at the feed port of the conveying mechanism and is suspended above the conveying mechanism; the grabbing and rotating mechanism is arranged behind the scanning and positioning mechanism; and the dividing mechanism is arranged between the grabbing and rotating mechanism and the discharge port of the conveying mechanism.

[0024] Furthermore, the intelligent squid fillet segmentation device also includes a control terminal, wherein a control processing system is provided inside the control terminal, and the control processing system is used to control the operation of all electrical components on the device.

[0025] Furthermore, the control and processing system includes a control system and a processing system; the control system is used to detect the position of the large white squid slices and mobilize the operation of electrical components; the processing system is used to process the image data of the large white squid slices, calculate the cutting position and determine the specific coordinate position of the large white squid slices on the conveyor belt.

[0026] Furthermore, the scanning and positioning mechanism includes a scanner and a scanner fixing bracket; the scanner fixing bracket spans across both sides of the conveying mechanism, and the scanner is fixed on the top of the scanner fixing bracket to achieve real-time scanning and imaging of the squid white pieces.

[0027] Furthermore, the grabbing and rotating mechanism is provided with a slider for driving the grabbing assembly and the rotating assembly to move above the grabbing point; the grabbing assembly grabs the large white squid slices, and the rotating assembly rotates to a set angle to move the large white squid slices to a set position on the conveyor belt, and then puts them back into the conveying mechanism after being straightened.

[0028] Furthermore, the segmentation mechanism comprises a movable knife row and a fixed knife row. The segmentation mechanism receives data from the control processing system and automatically moves the circular knife to a corresponding position to segment the squid slices.

[0029] The present application also provides an intelligent squid fillet segmentation method using the intelligent squid fillet segmentation device as described above, comprising the following steps:

[0030] The squid slices to be processed are placed at the feed inlet of the conveying mechanism, and the conveying mechanism drives the squid slices to move forward.

[0031] The scanning and positioning mechanism scans and images the large white squid slices, and the control processing system pre-processes the imaging data and calculates the grasping parameters and the material taking and cutting position data.

[0032] The scanned squid pieces are moved to the bottom of the grabbing and rotating mechanism through the conveying mechanism. The grabbing and rotating mechanism receives the grabbing parameter data, grabs the squid pieces and moves them to the set position, and puts them back to the conveying mechanism in an aligned manner.

[0033] The straightened squid slices follow the conveying mechanism to move to the dividing mechanism, and the dividing mechanism receives the material taking and cutting position data. The squid slices are divided into squid slices of corresponding sizes during the movement and finally leave from the discharging port.

[0034] Furthermore, the control and processing system performs preprocessing on the imaging data in the following specific steps:

[0035] Matrix instantiation and data stream storage are adopted to sample and interpolate imaging data based on resolution, matrix cutting and coordinate transformation are performed on structural features, threshold filtering is performed on the characteristics of the squid flakes, and convolution denoising and discrete points are performed on the squid flakes, so as to obtain the shape contour information of the squid flakes.

[0036] Furthermore, the grabbing parameters specifically include: grabbing point: the center point of the large white squid piece; rotation angle: the angle between the large white squid piece and the straightened posture; coordinates: the specific position coordinates of the large white squid piece on the conveyor belt.

[0037] Furthermore, the steps of calculating the material taking and cutting position are specifically as follows:

[0038] Construct the first-cut waste combination according to the desired width and weight setting;

[0039] Construct a recursive function to traverse all material taking width combinations;

[0040] Calculate the volume of each material taking width for all combinations and construct the yield and width weighted reward function;

[0041] The reward value of each material extraction method is calculated through the reward function, and the optimal solution is output.

[0042] like Figure 1 As shown, the intelligent squid slice cutting device provided in this embodiment mainly includes: a scanning and positioning mechanism 1, a squid slice 2, a grabbing and rotating mechanism 3, a conveying mechanism 5, a cutting mechanism and a control terminal.

[0043] The dividing mechanism mainly comprises three groups of movable knife rows 4 and one group of fixed knife rows 6.

[0044] The conveying mechanism 5 comprises a belt and a motor, and is used to convey the squid slices from the feed inlet to the discharge outlet.

[0045] like Figure 2As shown, the scanning and positioning mechanism 1 is mainly composed of a scanner fixing bracket 1-1 and a scanner 1-2. The scanner fixing bracket 1-1 spans across both sides of the conveying mechanism, and the scanner is fixed on the top of the scanner fixing bracket to achieve real-time scanning of the squid slices and transmit the data to the control processing system.

[0046] like Figure 3 As shown, the grabbing and rotating mechanism is mainly composed of a servo motor 3-1, a slide 3-2, a cylinder 3-3, a cylinder connecting plate 3-4, a rotating table connecting plate 3-5, a rotating table 3-6, a suction cup connecting frame 3-7, a vacuum suction cup 3-8 and a slide bracket 3-9.

[0047] The slide bracket 3-9 spans across both sides of the conveying mechanism, and the slide 3-2 is installed on the top of the slide bracket 3-9 to drive the cylinder 3-3, the rotating table 3-6 and the vacuum suction cup 3-8 to move. The cylinder 3-3 is connected to the slider of the slide 3-2 through the cylinder connecting plate 3-4, and the rotating table 3-6 is connected to the piston rod of the cylinder 3-3 through the rotating table connecting plate 3-5. The vacuum suction cup 3-8 is fixed on both sides of the suction cup connecting frame 3-7 and connected to the rotating table.

[0048] The scanned squid piece moves to the bottom of the grabbing and rotating mechanism through the conveying mechanism. The grabbing and rotating mechanism receives the center point (i.e., grabbing point) data of the data processing system, the specific position coordinates of the squid piece on the conveyor belt, and the angle (i.e., rotation angle) between the squid piece and the corrected posture. The vacuum suction cup moves above the center point, and the sensor detects that the squid piece enters the bottom of the grabbing and rotating mechanism. The cylinder piston rod extends, and the vacuum suction cup is attached to the surface of the squid piece. The cylinder lower limit sensor is triggered, and the vacuum suction cup works and sucks the squid piece. The cylinder piston rod is retracted to lift the squid piece, and the cylinder lower limit sensor signal goes out. The upper limit sensor is triggered, and the rotating table rotates the corresponding angle according to the angle information of the data processing system, and moves the squid piece to the set position on the conveyor belt to correct it. The vacuum suction cup releases the squid piece and returns it to the conveyor belt.

[0049] like Figure 4 As shown, the movable knife row 4 is composed of a bearing seat 4-1, a slide 4-2, a linear rail fixing plate 4-3, a linear rail 4-4, a bearing connecting plate 4-5, a connecting plate 4-6, a knife shaft 4-7, a circular knife 4-8 and a motor 4-9.

[0050] The slide 4-2 is installed on one side of the conveyor belt, and the bearing seat 4-1 is installed on the slider of the slide 4-2 through the bearing connecting plate 4-5. The linear rail 4-4 is fixed to the other side of the conveyor belt through the linear rail fixing plate 4-3, and the bearing seat 4-1 is installed on the linear rail slider through the connecting plate 4-6. The knife shaft 4-7 connects and fixes the bearing seat on the slider of the slide 4-2 and the bearing seat on the linear rail 4-4 in a one-to-one correspondence. The circular knife 4-8 is installed at the corresponding position of the knife shaft 4-7, so that the circular knife 4-8 and the linear rail 4-4 are driven to move when the slide of the slide moves. The motor 4-9 is installed on one side of the knife shaft 4-7 to drive the knife shaft 4-7 and the circular knife 4-8 to rotate.

[0051] The fixed knife row 6 is composed of a bearing seat 4-1, a knife shaft 4-7, a circular knife 4-8 and a motor 4-9. Two bearing seats 4-1 are distributed on both sides of the conveying mechanism, the knife shaft 4-7 is installed on the bearing seat 4-1 and fixed, the circular knife 4-8 is installed on the knife shaft 4-7, and the motor 4-9 is installed on one side of the knife shaft 4-7.

[0052] The cutting mechanism receives data from the control processing system and automatically moves the circular knife to the corresponding position. The motor drives the circular knife to rotate at high speed. During the movement, the large white squid slices are cut into squid white slices of corresponding sizes by the circular knife and finally leave from the discharge port.

[0053] A control processing system is disposed inside the control terminal, and the control processing system is used to control the operation of all electrical components on the device.

[0054] The control and processing system includes a control system and a processing system, which are used to identify the outline of the squid slices, calculate the squid slice grabbing parameters, determine the position coordinates of the squid slices on the conveyor belt, and control the segmentation distance of the segmentation mechanism and the grabbing point of the grabbing rotation mechanism.

[0055] The control system includes various types of sensors, PLC, motion control module, input and output module, relays and other electronic components. Various types of sensors include limit switches, position detection sensors, proximity switches, etc. Various types of sensors are distributed in the upper and lower limits of the cylinder, the front and rear limits of the slide, and the middle position of the conveying mechanism. It is used to detect the position of the squid slices and determine the starting position of the slide. The PLC mainly receives the signals of each sensor, communicates with the industrial computer, and sends motion instructions to the servo motor and the cylinder, so as to control the safe and stable operation of each action of the equipment. The motion control module mainly reads the real-time position of the servo motor and transmits it to the PLC to control the movement of the servo motor. The input and output module receives the sensor signal and transmits it to the PLC, and outputs the information processed by the PLC to each actuator.

[0056] The processing system includes sensor data preprocessing and cutting position calculation. Sensor data preprocessing mainly corrects the acquired squid image with respect to sensor field of view, resolution, distortion, noise, coordinates and other parameters, so as to extract accurate squid white slice contour data and convert it into a cutting coordinate system representation. The grabbing parameters are calculated according to the outer contour of the squid white slice, and the specific position coordinates of the squid white slice on the conveyor belt are determined. The material taking and cutting position algorithm mainly determines the cutting position of the squid white slice according to user needs, so as to minimize waste while maximizing the material taking volume that meets the user's expected width. The material taking and cutting position algorithm will calculate an optimal cutting method without waste from multiple material taking methods for the same piece of squid white slice.

[0057] like Figure 5 As shown, the method flow of using the above-mentioned intelligent squid fillet segmentation device to segment squid fillet is as follows:

[0058] When the device is started, each slide moves to find the origin position until all the origin position sensors are triggered. The squid slices to be processed are placed at the feeding port of the conveying mechanism, and the conveying mechanism drives the squid slices to move forward and pass through the scanning positioning mechanism.

[0059] The scanner scans the conveyor belt in real time and determines whether there is a large white squid piece entering the scanning area. When the large white squid piece enters the scanning area, the scanner scans the large white squid piece and sends the scanning data to the control processing system.

[0060] The control processing system performs data preprocessing on the imaging data and calculates the grasping parameters and the material cutting position data according to the outer contour of the squid slice.

[0061] Further, if Figure 6 As shown in the figure, the specific process of data preprocessing for imaging data is as follows: using matrix instantiation and data stream storage, data sampling and interpolation based on resolution, matrix cutting and coordinate transformation of structural features, threshold filtering of squid white sheet characteristics, and constructing a kernel function to perform convolution denoising and remove discrete points on the squid white sheet, thereby obtaining the shape contour information of the squid white sheet. Since the position of the squid white sheet is uncertain when it enters the conveyor belt, it may be on the left or on the right, or the position of the squid white sheet is not correct (even the tail is facing forward), it is necessary to ensure that the squid white sheet is in a fixed position and passes the cutting position with its head facing forward during the subsequent cutting. Therefore, it is necessary to calculate the center point as the grasping point, the specific position coordinates of the squid white sheet on the conveyor belt, and the rotation angle according to the shape contour of the squid white sheet.

[0062] The control processing system determines the cutting position of the processed squid white slice image, and the algorithm calculates the best cutting method without waste from multiple ways of taking the same squid white slice. The specific process is as follows:

[0063] S1. Set according to the expected width and weight:

[0064]

[0065] In the formula Indicates width, represents the weight ratio, A represents the set of width and weight combinations, and n is a positive integer.

[0066] S2. Construct the first waste combination:

[0067]

[0068] In the formula Indicates the first knife position, represents the set of all possible cutter distances for removing waste, It represents the minimum difference of the elements in the waste removal cutter distance set, where m and a are positive integers.

[0069] S3. Construct a recursive function to traverse all material width combinations and find all combinations:

[0070]

[0071]

[0072] in It is a functional function: through recursion, it traverses all possibilities of material extraction; is the remaining width, is the current material fetching position combination, The current number of picking knives.

[0073] The set Cut of all material taking methods is expressed as:

[0074] S4. Calculate the volume of each material taking width for all combinations:

[0075]

[0076] In the formula Indicates the width is is the total volume of , V is the set of all volumes, and Cut(z) is the last item in the Cut set.

[0077] S5. Construct the rate and width weighted reward function and calculate the reward value of each material extraction method:

[0078]

[0079] where k v represents the overall yield coefficient; Get the set of reward values ​​Y: Y = {y(cut(1)), y(cut(2)), y(cut(3))…y(cut(z))}

[0080] S6. Output the optimal solution according to the reward value, such as Figure 7 As shown, li, wj, wk, and wl are a set of optimal cutting positions for the large white squid slices.

[0081] The scanned squid pieces are moved to the bottom of the grabbing and rotating mechanism through the conveying mechanism. The grabbing and rotating mechanism receives the grabbing parameter data, grabs the squid pieces and moves them to the set position, and puts them back to the conveying mechanism in an aligned manner.

[0082] The straightened squid slices follow the conveyor mechanism to the splitting mechanism. The movable knife row receives data from the data processing system, moves the circular knife to the corresponding position and determines whether the circular knife is in place. If not, it continues to move. After it is in place, the motor drives the circular knife to rotate at high speed. The squid slices straightened by the grabbing and rotating mechanism continue to move forward with the conveyor belt and pass through the splitting mechanism. During the movement, the squid slices are split into squid slices of corresponding sizes by the circular knife, and finally leave from the discharge port according to width and scraps.

[0083] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the spirit and scope of the technical solution of the present invention.

Claims

1. An intelligent method for segmenting squid slices, characterized in that: The following steps are involved: The squid slices to be processed are placed at the feeding port of the conveying mechanism, and the conveying mechanism drives the squid slices to move forward; The scanning and positioning mechanism scans and images the large white squid slices, and the control processing system pre-processes the imaging data and calculates the grabbing parameters and the material cutting position data; The scanned squid pieces are moved to the bottom of the grabbing and rotating mechanism through the conveying mechanism. The grabbing and rotating mechanism receives the grabbing parameter data, grabs the squid pieces and moves them to the set position, puts them back to the conveying mechanism; The straightened squid slices follow the conveying mechanism to move to the dividing mechanism, and the dividing mechanism receives the material taking and cutting position data. The squid slices are divided into squid slices of corresponding sizes during the movement and finally leave from the discharging port.

2. The intelligent squid slice segmentation method according to claim 1, characterized in that: The steps of preprocessing the imaging data by the control processing system are specifically as follows: Using matrix instantiation and data stream storage, the imaging data is sampled and interpolated based on the resolution; Perform matrix cropping and coordinate transformation on structural features, and perform threshold filtering on the characteristics of squid white flakes; Convolution denoising is performed on the squid's large white pieces to remove discrete points, so as to obtain the shape contour information of the squid's large white pieces.

3. The intelligent squid slice segmentation method according to claim 1 or 2, characterized in that: The crawling parameters specifically include: Grab point: the center point of the squid's large white piece; Rotation angle: the angle between the squid's large white piece and the straightened posture; Coordinates: The specific location coordinates of the squid slices on the conveyor belt.

4. The intelligent squid slice segmentation method according to claim 1 or 2, characterized in that: The steps of calculating the material taking and cutting position are specifically as follows: Construct the first-cut waste combination according to the desired width and weight setting; Construct a recursive function to traverse all material taking width combinations; Calculate the volume of each material taking width for all combinations and construct the yield and width weighted reward function; The reward value of each material extraction method is calculated through the reward function, and the optimal solution is output.

5. An intelligent squid fillet cutting device, used to implement the method according to any one of claims 1 to 4, characterized in that: It includes a conveying mechanism, a scanning and positioning mechanism, a grabbing and rotating mechanism, and a dividing mechanism; The scanning and positioning mechanism is arranged at the feed port of the conveying mechanism and is suspended above the conveying mechanism; The grabbing and rotating mechanism is arranged behind the scanning and positioning mechanism; The dividing mechanism is arranged between the grabbing and rotating mechanism and the discharge port of the conveying mechanism.

6. The intelligent squid slice cutting device according to claim 5, characterized in that: It also includes a control terminal, in which a control processing system is arranged, and the control processing system is used to control the operation of the electrical components on the device.

7. The intelligent squid slice cutting device according to claim 6, characterized in that: The control and processing system includes a control system and a processing system; The control system is used to detect the location of the large white squid piece and to mobilize the operation of the electrical components; The processing system is used to process the image data of the large white squid slices, calculate the cutting position and determine the specific coordinate position of the large white squid slices on the conveyor belt.

8. The intelligent squid slice cutting device according to claim 5, characterized in that: The scanning and positioning mechanism includes a scanner and a scanner fixing bracket; The scanner fixing bracket spans across both sides of the conveying mechanism, and the scanner is fixed on the top of the scanner fixing bracket to realize real-time scanning and imaging of the large white squid slices.

9. The intelligent squid slice cutting device according to claim 5, characterized in that: The grabbing and rotating mechanism is provided with a slider for driving the grabbing assembly and the rotating assembly to move above the grabbing point; The grabbing assembly grabs the large white slices of squid; The rotating assembly rotates at a set angle to move the large white squid slices to a set position on the conveyor belt, and then puts the large white squid slices back into the conveyor mechanism after being aligned.

10. The intelligent squid slice cutting device according to claim 5, characterized in that: The dividing mechanism comprises a movable knife row and a fixed knife row; The segmentation mechanism receives data from the control processing system and automatically moves the circular knife to the corresponding position to segment the squid slices.

Images