Fish fillet trimming system and method of operation thereof

Abstract

The application discloses a fish slice trimming system and a running method thereof. The fish slice trimming system and the running method thereof have an image recognition area and a trimming operation area. A gate device (2) is arranged between the image recognition area and the trimming operation area. A camera (4) is arranged in the image recognition area, which is used for collecting image data of fish slices. A water jet device (3) is arranged in the trimming operation area, which is used for implementing trimming operation on the fish slices. A water vapor control pipeline system (5) is further arranged in the fish slice trimming system, which is used for injecting air into the image recognition area to maintain a positive pressure environment of the image recognition area, and extracting air from the trimming operation area to maintain a micro-negative pressure environment of the trimming operation area. The fish slice trimming system and the running method thereof can reduce the interference of water vapor generated in the trimming operation area on the image recognition area.

Description

Technical Field

[0001] This invention relates to aquatic meat processing equipment, and more particularly to a fish fillet trimming system and its operation method. Background Technology

[0002] Currently, water jet cutting is used to trim fish fillets. To ensure the quality of trimming, a special camera is needed to perform image recognition on the fish fillets before trimming, so as to control the water jet to trim the fish fillets precisely.

[0003] The current problem is:

[0004] When water jets are used to trim fish fillets, a large amount of water vapor is generated. This water vapor will adversely affect the camera's acquisition of fish fillet image data. Due to the interference of water vapor, the camera cannot obtain high-quality fish fillet image data. Summary of the Invention

[0005] The purpose of this invention is to provide a fish fillet trimming system and its operating method, which can reduce the interference of water vapor generated in the trimming operation area on the image recognition area.

[0006] To achieve the above-mentioned technical objectives, the present invention adopts the following technical solution:

[0007] A fish fillet trimming system includes an image recognition area and a trimming operation area. The image recognition area and the trimming operation area are adjacent, and a gate device is installed between them. A fish fillet conveying system is provided for the image recognition area and the trimming operation area, capable of transferring fish fillets from the image recognition area to the trimming operation area. A camera is installed in the image recognition area to acquire image data of the fish fillets. A water jet device is installed in the trimming operation area to perform trimming operations on the fish fillets. The fish fillet trimming system also includes a water vapor control system for injecting air into the image recognition area to maintain a positive pressure environment and for extracting air from the trimming operation area to maintain a slightly negative pressure environment.

[0008] Furthermore, the water vapor control piping system has port A, port B, port C, and port D; port A is connected to the external atmosphere and is used to discharge the gas in the water vapor control piping system to the atmosphere; port B is connected to the trimming operation area and is used to draw the gas in the trimming operation area into the water vapor control piping system; port C is connected to the image recognition area and is used to inject atmospheric gas into the image recognition area; port D is connected to the external atmosphere and is used to introduce atmospheric gas into the water vapor control piping system; the water vapor control piping system is equipped with fans and control valves, the function of which is to control the fans and control valves to realize the functions of port A, port B, port C, and port D.

[0009] Furthermore, the water vapor control piping system is specifically configured as follows: the water vapor control piping system has pipe nodes A, B, C, and D, and pipe outlets A, B, C, and D; pipe nodes A, B, C, and D are sequentially connected to form a closed-loop connection; pipe outlet A is connected to pipe node A, pipe outlet B is connected to pipe node B, pipe outlet C is connected to pipe node C, and pipe outlet D is connected to pipe node D; pipe outlet A is connected to the external atmosphere, pipe outlet B is connected to the trimming operation area, pipe outlet C is connected to the image recognition area, and pipe outlet D is connected to the external atmosphere; the water vapor... The control piping system includes a first fan, a second fan, a first control valve, a second control valve, a third control valve, a fourth control valve, a fifth control valve, and a sixth control valve. The first control valve, the first fan, and the second control valve are connected in series on the pipeline connecting pipeline node A to pipeline node B. The third control valve is located on the pipeline connecting pipeline node D to pipeline node A. The fourth control valve is located on the pipeline connecting pipeline node B to pipeline node C. The second fan is located on the pipeline connecting pipeline node C to pipeline node D. The fifth control valve is located at pipe outlet D. The sixth control valve is located on the pipeline connecting pipeline node C to pipe outlet C.

[0010] Furthermore, the water vapor control piping system is equipped with a condenser A, a heater B, and a heater C; the condenser A is located at pipe outlet A, the heater B is located at pipe outlet B, and the heater C is located at pipe outlet C.

[0011] Furthermore, louvers are installed at both inlet A and inlet D of the water vapor control piping system.

[0012] Furthermore, temperature and humidity sensors are configured for the trimming area and the image recognition area.

[0013] Furthermore, the fish fillet conveying system is equipped with a first object sensor, a second object sensor, and a third object sensor. The first object sensor is located at the inlet of the fish fillet conveying system, the second object sensor is located on the upstream side of the gate device, and the third object sensor is located on the downstream side of the gate device.

[0014] Furthermore, the camera is a structured light 3D camera.

[0015] Furthermore, the fish fillet conveying system includes an image recognition area conveyor belt and a trimming area conveyor belt; the image recognition area conveyor belt is located in the image recognition area, and the trimming area conveyor belt is located in the trimming operation area. The image recognition area conveyor belt and the trimming area conveyor belt are connected together to form the fish fillet conveying system.

[0016] A method for operating a fish fillet trimming system, wherein the fish fillet trimming system is as described above, and the method for operating the fish fillet trimming system includes: Start-up state: system self-check and initialization, preheating and preparation, operator confirmation of equipment readiness; Operation state: fish fillet conveying and identification, water jet cutting, environmental control and monitoring, fish fillet collection; Shutdown state: completion of current tasks and shutdown of each system, delayed shutdown of water vapor control piping, equipment cleaning and inspection, equipment locking and operation recording.

[0017] The main advantages of the fish fillet trimming system and its operation method of the present invention compared with the prior art are as follows:

[0018] In the fish fillet trimming system, a water vapor control system is installed for the trimming operation area and the image recognition area. This water vapor control system can extract air from the trimming operation area to maintain a slightly negative pressure environment, and inject air into the image recognition area to maintain a positive pressure environment. This can reduce the interference of water vapor generated in the trimming operation area on the image recognition area, and create good environmental conditions for the camera in the image recognition area to acquire high-quality fish fillet image data. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the external structure of the fish fillet trimming system of the present invention;

[0020] Figure 2 This is a first disassembly diagram of the fish fillet trimming system of the present invention, which mainly shows the image recognition area and the trimming operation area.

[0021] Figure 3 This is a second disassembly diagram of the fish fillet trimming system of the present invention;

[0022] Figure 4 This is a third disassembly diagram of the fish fillet trimming system of the present invention, which is a top view;

[0023] Figure 5 This is a fourth disassembly diagram of the fish fillet trimming system of the present invention. Detailed Implementation

[0024] The following provides further details on specific embodiments of the present invention:

[0025] Implementation method 1:

[0026] See Figures 1 to 5 This embodiment 1 provides a fish fillet trimming system, the basic function of which is to trim fish fillets.

[0027] First of all, it should be noted that those skilled in the art will understand that the fish fillet trimming system has an overall framework structure, and all other equipment and components are assembled and set up based on this overall framework structure.

[0028] In addition, the fish fillet trimming system is equipped with a main control computer. All electronically controlled devices in the system are controlled by this main control computer, and all data processing is also performed by relevant data processing programs set in the main control computer. For example, the main control computer has an image recognition processing program. The fish fillet images acquired by the camera 4 are processed by the image recognition processing program. The image recognition processing program extracts the outline of the fish fillet using a deep learning algorithm, calculates the trimming path, and then the main control computer controls the water jet device 3 to trim the fish fillet according to the calculated trimming path.

[0029] See Figures 2 to 4 The fish fillet trimming system of this embodiment 1 includes two conveyor belts 1, namely the image recognition area conveyor belt 11 and the trimming area conveyor belt 12.

[0030] It should be noted that the conveyor belt 1 used in this embodiment 1 is a chain mesh conveyor belt specifically designed for conveying fish fillets. The two conveyor belts 1 are connected together to form the overall fish fillet conveying system. The end of the image recognition area conveyor belt 11 furthest from the trimming area conveyor belt 12 serves as the feed end of the entire fish fillet conveying system, and the end of the trimming area conveyor belt 12 furthest from the image recognition area conveyor belt 11 serves as the discharge end of the entire fish fillet conveying system.

[0031] The two conveyor belts 1 correspond to two working areas respectively. For ease of description, the area where the image recognition area conveyor belt 11 is located is defined as the image recognition area (e.g., Figure 2 The area indicated by the middle arrow E1 is defined as the trimming operation area (e.g., the area where the trimming conveyor belt 12 is located). Figure 2 (The area indicated by the middle arrow E2).

[0032] The two conveyor belts 1 are each controlled independently by a servo motor, and are seamlessly connected. Fish fillet raw materials can pass through the image recognition area conveyor belt 11 (i.e., the image recognition area) and the trimming area conveyor belt 12 (i.e., the trimming operation area) to complete image recognition and trimming operations. The two conveyor belts are independently controlled and can be set at different speeds to meet the needs of image recognition and trimming operations.

[0033] The trimming operation mentioned here refers to the water jet device 3 cutting specific parts of the fish fillet according to the motion path planned by the main control computer.

[0034] See Figure 2 and Figure 4 A camera 4 is installed above the image recognition area conveyor belt 11, that is, in the image recognition area.

[0035] It should be noted that the camera 4 is a high-definition structured light 3D camera, which can acquire 3D image data of the fish slices.

[0036] See Figures 2 to 4 Above the trimming area conveyor belt 12, that is, in the trimming operation area, a prior art water jet device 3 is installed. The water jet device 3 is used to perform trimming operations on the fish fillets on the trimming area conveyor belt 12 by generating the movement path of the water jet device 3 based on the fish fillet image data acquired by the camera 4 and the main control computer.

[0037] The water jet device 3 is essentially assembled from a water jet head, a lifting mechanism, and a two-dimensional translation drive mechanism. The two-dimensional translation drive mechanism is installed based on the overall frame structure, the lifting mechanism is installed based on the moving end of the two-dimensional translation drive mechanism, and the water jet head is installed based on the lifting end of the lifting mechanism.

[0038] Overall, the water jet head is positioned above the trimming area conveyor belt 12, facing downwards towards it. Both the two-dimensional translation drive mechanism and the lifting mechanism are self-driven, allowing the water jet head to move freely within the accessible two-dimensional plane. Furthermore, the water jet head can descend to approach the trimming area conveyor belt 12 and then rise back to its original position.

[0039] More specifically,

[0040] The waterjet cutting device 3 mainly includes: a high-precision ball screw module, a servo motor, an angle sensor (which measures the movement speed and distance of the three axes), and a laser displacement sensor. The high-precision ball screw module comprises three axes (X, Y, and Z axes). The servo motor drives the high-precision ball screw module to achieve precise speed and position control. Combined with the laser displacement sensor, it achieves high-precision positioning of the high-precision ball screw module. The high-precision ball screw module adopts a closed structure, making it waterproof and dustproof, enabling low-maintenance operation. A cutter head assembly is mounted on the Z-axis of the high-precision ball screw module. The movement of the X, Y, and Z axes controls the waterjet cutting position.

[0041] The cutting area parameters of the water jet device 3 are as follows:

[0042] Cutting range: 500*800mm, effective X-axis travel: 500mm, effective Y-axis travel: 800mm, effective Z-axis travel: 50mm (servo).

[0043] Maximum operating speed of X, Y, and Z axes: 3m / min; cutting accuracy: ±0.1mm; repeatability: ±0.02mm; pure water cutting head nozzle: 0.15mm-0.17mm.

[0044] Maximum water pressure and maximum flow rate: 1L / min; continuous cutting pressure: 280Mpa; maximum conveyor chain speed: 12m / min.

[0045] See Figure 5 In addition, the waterjet device 3 is also equipped with a high-pressure pump 7 and a water supply and drainage system 8, which are based on existing technology. The high-pressure pump is used to provide a high-pressure water source for the waterjet device 3, and the water supply and drainage system is used to provide a water source for the waterjet device 3 and to discharge wastewater generated during the cutting operation.

[0046] It must be noted that the water jet device 3 is a device based on existing technology, and its structure and working principle are common knowledge known to those skilled in the art. The water jet device 3 itself is not the innovation of this application.

[0047] See Figure 1 At the junction of the image recognition area conveyor belt 11 and the trimming area conveyor belt 12, a prior art gate device 2 is also provided, which separates the image recognition area from the trimming operation area. A prior art gate drive motor 21 is specially configured for the gate device 2, which can drive the gate device 2 to perform the actions of "raising to open the gate" and "lowering to close the gate".

[0048] The function of the gate device 2 is to isolate the image recognition area from the trimming operation area so as to prevent the moisture generated in the trimming operation area from having an adverse effect on the image recognition area.

[0049] Specifically, when the fish fillet at the image recognition area conveyor belt 11 needs to be moved to the trimming area conveyor belt 12, the control gate device 2 rises to open the gate, allowing the fish fillet at the image recognition area conveyor belt 11 to pass through the gate device 2 and move to the trimming area conveyor belt 12. Then, the control gate device 2 descends to close the gate. When the water jet device 3 at the trimming area conveyor belt 12 performs the cutting action, the generated water vapor is blocked by the gate device 2 and cannot enter the image recognition area, thus ensuring that the camera 4 is not affected by water vapor when acquiring the image of the fish fillet.

[0050] It should be noted that when the gate device 2 is in the closed state, the image recognition area and the trimming operation area are relatively independent and closed areas. Only when the gate device 2 is in the open state is the image recognition area connected to the trimming operation area so that the fish fillets can be transferred from the image recognition area to the trimming operation area.

[0051] The entire fish fillet conveying system is equipped with three sets of object detection sensors 6: a first object detection sensor 61, a second object detection sensor 62, and a third object detection sensor 63. It should be noted that the object detection sensors 6 are existing through-beam laser grating sensors, which trigger a sensing signal when light is blocked.

[0052] The first object detection sensor 61 is located upstream of the map recognition area conveyor belt 11, at the entrance of the entire fish fillet conveying system. The second object detection sensor 62 is located downstream of the map recognition area conveyor belt 11, upstream of the gate device 2. The third object detection sensor 63 is located upstream of the trimming area conveyor belt 12, downstream of the gate device 2. The function of these three sets of object detection sensors 6 is to detect the location of the fish fillets along the fish fillet conveying system, so as to coordinate the operation of the camera 4, gate device 2, and water jet device 3 based on the location information of the fish fillets.

[0053] Specifically, when the first object detection sensor 61 detects that a fish fillet has entered the image recognition area, the camera 4 is activated and acquires image data of the fish fillet material, including point cloud and color data. This allows the camera to create a 2D image and depth map of the target fish fillet, thereby providing precise three-dimensional data support for subsequent waterjet cutting and improving the accuracy and quality of the cutting.

[0054] When the second object sensor 62 detects that fish fillets have arrived at the upstream side of the gate device 2, the gate device 2 is opened under control, and the fish fillets in the image recognition area are transferred to the trimming operation area.

[0055] When the third object sensor 63 detects fish fillets, it determines that the fish fillets have passed through the gate device 2 and have completely entered the trimming operation area. The gate device 2 is then closed in a controlled manner, and the water jet device 3 is then controlled to trim the fish fillets.

[0056] Since "when the water jet device 3 is used to trim the fish fillets, the gate device 2 is in a closed state, that is, the trimming area is isolated from the image recognition area", the water vapor generated by the operation of the water jet device 3 will not enter the image recognition area, thus not having an adverse effect on "the camera 4 acquiring a clear image of the fish fillets".

[0057] It should be noted that the image recognition area conveyor belt 11, the trimming area conveyor belt 12, the camera 4, the water jet device 3, and the gate device 2 mentioned earlier are all controlled by the main control computer. The operation of these devices is automatically coordinated and controlled by the pre-set program in the main control computer.

[0058] It should be noted that the feed end and discharge end of the fish fillet conveying system are also the feed port and discharge port of the entire fish fillet trimming system. The fish fillets enter the fish fillet trimming system through the feed port. Under the conveying action of the fish fillet conveying system, the fish fillets pass through the image recognition area, the gate device 2, and the trimming operation area in sequence, and then leave the fish fillet trimming system through the discharge port.

[0059] See Figure 3 and Figure 4 The fish fillet trimming system of this embodiment 1 is further equipped with a piping system, which, for ease of description, is defined as the water vapor control piping system 5. The installation of this water vapor control piping system 5 is a significant innovation of this embodiment 1. The functions of this water vapor control piping system 5 include:

[0060] 1) Remove air from the repair work area to maintain a slightly negative pressure environment and ensure that moisture does not escape;

[0061] 2) Inject air into the image recognition area to maintain a positive air pressure environment in the image recognition area and ensure that water vapor does not enter from the gap of the gate device 2.

[0062] Specifically, the water vapor control piping system 5 is essentially an integrated piping system. This water vapor control piping system 5 has four piping nodes, which, for ease of description, will be named as follows: Pipeline Node A (e.g., ...). Figure 4 (point indicated by middle arrow A), pipe node B (e.g.) Figure 4 (Indicated by the middle arrow B), pipe node C (e.g.) Figure 4 (as indicated by the middle arrow C) and pipe node D (e.g.) Figure 4(As indicated by the middle arrow D). These four pipeline nodes are connected sequentially to form a closed-loop pipeline.

[0063] The water vapor control piping system 5 also has four pipe openings, which, for ease of description, will be named as follows: Pipe Opening A (e.g., ...). Figure 4 (point indicated by the middle arrow A1), pipe opening B (as shown) Figure 4 (point indicated by the middle arrow B1), pipe opening C (as shown) Figure 4 (indicated by the middle arrow C1) and the nozzle D (as shown) Figure 4 (As indicated by the middle arrow D1). Pipe port A connects to pipe node A, pipe port B connects to pipe node B, pipe port C connects to pipe node C, and pipe port D connects to pipe node D.

[0064] The water vapor control piping system 5 is equipped with two fans (axial flow fans) and multiple control valves (pneumatic butterfly valves). The two fans are a first fan 521 and a second fan 522, respectively; the multiple control valves include a first control valve 511, a second control valve 512, a third control valve 513, a fourth control valve 514, a fifth control valve 515, and a sixth control valve 516.

[0065] The specific configuration of these fans and control valves is as follows:

[0066] The first control valve 511, the first fan 521, and the second control valve 512 are connected in series on the pipeline connecting pipeline node A to pipeline node B.

[0067] The third control valve 513 is installed on the pipeline connecting pipeline node D to pipeline node A;

[0068] The fourth control valve 514 is installed on the pipeline connecting pipeline node B to pipeline node C;

[0069] The second fan 522 is installed on the pipeline connecting pipeline node C to pipeline node D;

[0070] The fifth control valve 515 is located at pipe port D;

[0071] The sixth control valve 516 is installed on the pipeline connecting pipeline node C to pipe outlet C.

[0072] The port A is connected to the outside atmosphere. In essence, the port A is an outlet port, which can discharge the gas that enters the water vapor control pipe system 5 through the port B to the atmosphere.

[0073] The port B is connected to the repair work area. The port B is actually an air inlet, which can draw the gas in the repair work area into the water vapor control pipe system 5 under the guidance of the first fan 521.

[0074] The port C is connected to the image recognition area. The port C is actually an air outlet, which can inject "atmospheric gas that enters the water vapor control pipe system 5 through the port D" into the image recognition area.

[0075] The port D is connected to the outside atmosphere. In essence, the port D is an air inlet, which can introduce outside atmospheric gas into the water vapor control pipe system 5.

[0076] In addition, a condenser A501 is installed at pipe port A, a heater B502 is installed at pipe port B, and a heater C503 is installed at pipe port C.

[0077] It should be noted that the flow direction of the first fan 521 is from pipeline node B to pipeline node A; the flow direction of the second fan 522 is from pipeline node D to pipeline node C.

[0078] The condenser A501 installed at pipe port A is designed to condense water vapor in the exhaust air, thus preventing the exhaust gas from affecting the air humidity in the area where the fish fillet trimming system is located.

[0079] The heater B502 installed at pipe port B is used to dry the repair area with hot air after the repair work is completed, ensuring a dry internal environment and extending the equipment life.

[0080] A heater C503 is installed at pipe opening C. Its function is to use hot air to dry the image recognition area after the finishing work is completed, so as to ensure a dry internal environment and extend the equipment life.

[0081] The aforementioned condenser A501, heater B502, heater C503, first control valve 511, second control valve 512, third control valve 513, fourth control valve 514, fifth control valve 515, sixth control valve 516, first fan 521, second fan 522, etc., are all controlled by the main control computer. The main control computer can control these devices to "maintain a slightly negative pressure environment in the trimming work area" and "maintain a positive pressure environment in the image recognition area".

[0082] In addition, temperature sensors and humidity sensors are also configured for the trimming operation area and the image recognition area. The temperature sensors and humidity sensors transmit signals to the main control computer, which can monitor the temperature and humidity of the trimming operation area and the image recognition area through the temperature sensors and humidity sensors, thereby providing a basis for controlling the operation of the entire water vapor control pipeline system 5, so as to control the temperature and humidity of the trimming operation area and the image recognition area.

[0083] The following describes the working principle of the water vapor control piping system 5:

[0084] During equipment operation, it is necessary to "extract air (high humidity air) from the trimming area to maintain a slightly negative pressure environment" and "inject air (dry air) into the image recognition area to maintain a positive pressure environment."

[0085] Control the opening of the first control valve 511, the second control valve 512, and the condenser A501.

[0086] Turn on the first fan 521 to switch to the mode of supplying air to the outside atmosphere.

[0087] Control the opening of the fifth control valve 515 and the sixth control valve 516.

[0088] Turn on the second fan 522 to supply air to the image recognition area.

[0089] Control the third control valve 513, the fourth control valve 514, heater B502, and heater C503 to close.

[0090] This ensures that "a slightly negative pressure environment is maintained in the trimming area" and "a positive pressure environment is maintained in the image recognition area".

[0091] When the equipment is shut down, it is necessary to ensure that the internal environment of the repair work area and the image recognition area is dry.

[0092] Control the opening of the fourth control valve 514, the fifth control valve 515, and the sixth control valve 516.

[0093] Turn on the second fan 522 to supply air to the image recognition area.

[0094] Control heaters B502 and C503 to turn on.

[0095] Controlling condenser A501, first control valve 511, second control valve 512, third control valve 513, and first fan 521 are closed.

[0096] The power of heaters B502 and C503 is controlled by temperature and humidity sensors to ensure suitable temperature and humidity in the trimming and image recognition areas. When the internal environment of the trimming and image recognition areas reaches the set humidity and temperature for a set time, the system stops working.

[0097] The water vapor control piping system 5 used in the fish fillet trimming system of this embodiment 1 produces the following effects:

[0098] Using first fan 521 and second fan 522, controlled by temperature and humidity sensors, water mist removal and hot air drying dehumidification are achieved in the trimming area. To prevent water mist from affecting normal trimming operations and image recognition, a condenser A501 is installed at pipe outlet A to condense water vapor, preventing excessive water vapor exhaust into the external space and reducing the ambient humidity in the area where the fish fillet trimming system is located. First fan 521 and second fan 522 establish a slightly positive and slightly negative pressure environment in the trimming and image recognition areas, controlling water vapor interference in the image recognition area and reducing humidity in the trimming area.

[0099] The advantages of the fish fillet trimming system of this embodiment 1 are:

[0100] In the fish fillet trimming system, a water vapor control pipe system 5 is set up for the trimming operation area and the image recognition area. This water vapor control pipe system 5 can "extract air from the trimming operation area to maintain a slightly negative pressure environment in the trimming operation area" and "inject air into the image recognition area to maintain a positive pressure environment in the image recognition area". In this way, the interference caused by water vapor generated in the trimming operation area to the image recognition area can be reduced, creating a good environmental condition for the camera 4 in the image recognition area to acquire high-quality fish fillet image data.

[0101] It should be noted that louvers 9 are installed at both pipe openings A and D of the water vapor control piping system 5.

[0102] Implementation Method 2:

[0103] This second embodiment provides a method for operating the fish fillet trimming system of the first embodiment, which mainly includes a start-up state, a running state, and a shutdown state, as detailed below:

[0104] Startup status:

[0105] System self-test and initialization (control system, conveying system, image recognition system, water jet device 3, water vapor control piping system 5, high pressure pump system, water supply and drainage system).

[0106] Preheating and preparation (high-pressure pump, water vapor control piping system 5, image recognition system).

[0107] The operator confirms that the equipment is ready.

[0108] Running status:

[0109] Fish fillet delivery and identification (fish fillet delivery, trigger image recognition, path planning).

[0110] Water jet cutting (transported to the trimming section, cutting performed, water mist removal).

[0111] Environmental control and monitoring (temperature and humidity monitoring, system monitoring and alarms).

[0112] Fish fillets collected (cutting completed).

[0113] Power off status:

[0114] Complete the current task and shut down all systems.

[0115] The water vapor control piping system is shut down after a delay, and the equipment is cleaned and inspected.

[0116] Equipment locking and operation records.

[0117] The equipment can quickly initialize and enter its optimal working state upon startup, efficiently and accurately complete the fish fillet trimming task during operation, and thoroughly clean and maintain it after shutdown to ensure long-term stable operation and high-quality production.

[0118] More specifically,

[0119] 1. Startup Status

[0120] The system automatically runs a self-test program to check the communication status of each subsystem (conveying system, image recognition system, water jet device 3, water vapor control piping system 5, high-pressure pump system, water supply and drainage system) and whether key sensors (laser grating sensor, temperature sensor, humidity sensor, etc.) are functioning properly.

[0121] Conveying system initialization: A# chain mesh conveyor belt (identification section) and B# chain mesh conveyor belt (trimming section) enter continuous operation mode and servo working mode respectively, and the servo motor performs zero-point calibration.

[0122] Image recognition system initialization: The structured light 3D camera performs a self-test and calibrates optical parameters to ensure clear imaging.

[0123] Waterjet device initialization: The high-precision ball screw module is used for position calibration, and the laser displacement sensor is used for zero-point calibration to ensure cutting accuracy.

[0124] Water vapor control piping initialization: Components such as axial flow fan, pneumatic butterfly valve, semiconductor condenser, and electric heater undergo self-testing to ensure normal system operation.

[0125] High-pressure pump system initialization: The motor directly drives the high-pressure pump to perform pressure calibration to ensure stable water pressure.

[0126] Water supply and drainage system initialization: The water level sensor in the water supply tank detects the water level, and the water replenishment pump automatically replenishes water according to the water level to ensure the normal operation of the water supply system.

[0127] High-pressure pump system preheating: Start the high-pressure pump and run it at low pressure for 30 seconds to ensure system lubrication and pressure stability.

[0128] Preheating of the water vapor control piping system: Turn on the axial flow fan and semiconductor condenser, run for 1 minute to ensure the system is in working condition.

[0129] The operator confirms the equipment initialization is complete via the human-machine interface (HMI), and the system enters standby mode, ready to receive fish fillets.

[0130] 2. Running Status

[0131] Fish fillet delivery and identification:

[0132] Fish fillet conveying: The fish fillets are conveyed to the A# chain conveyor belt (identification section).

[0133] Image recognition trigger: When the #1 through-beam laser grating sensor detects the fish fillet, it triggers the image recognition system, and the structured light 3D camera captures the depth data and 2D image of the fish fillet.

[0134] Data processing and path planning: The image recognition system extracts the outline of the fish fillet using a deep learning algorithm, calculates the trimming path, and transmits the path file to the water jet device 3.

[0135] Waterjet cutting:

[0136] Fish fillets are transported to the trimming section: The fish fillets enter the B# chain mesh conveyor belt (trimming section) via the conveyor belt. The speed of the conveyor belt is adjusted according to the position of the fish fillets and the trimming path to ensure stable transport of the fish fillets.

[0137] Cutting execution: The waterjet unit 3, based on the trimming path provided by the image recognition system, controls the waterjet head to perform precise cutting via a high-precision ball screw module. During the cutting process, water pressure, flow rate, and cutting head position are monitored in real time to ensure a cutting accuracy of ±0.1mm and a repeatability of ±0.02mm.

[0138] The main control computer acquires image data of the fish fillets through camera 4, calculates the thickness of the fish fillets, and sets the moving speed of the high-precision ball screw module and the water flow rate of the water jet device 3 according to different fish fillet thicknesses. Specifically:

[0139] (1) The thickness of the fish fillet meets the following requirements: 2mm≤fish fillet thickness≤5mm, the cutting pressure of the water jet device 3 is set to 220Mpa, the moving speed of the high-precision ball screw module is 2.8m / min, and the water flow rate is 0.8L / min;

[0140] (2) The thickness of the fish fillet meets the following requirements: 5mm < fish fillet thickness ≤ 10mm, the cutting pressure of the water jet device 3 is set to 260Mpa, the moving speed of the high-precision ball screw module is 2.8m / min, and the water flow rate is 0.9L / min;

[0141] (3) The thickness of the fish fillet meets the following requirements: 10mm < fish fillet thickness ≤ 15mm, the cutting pressure of the water jet device 3 is set to 280Mpa, the moving speed of the high-precision ball screw module is 2.8m / min, and the water flow rate is 1.0L / min.

[0142] Dynamic cutting parameter model

[0143]

[0144] Water mist removal: The water vapor control piping system 5 automatically adjusts the wind speed of the axial flow fan and the opening and closing of the pneumatic butterfly valve based on the feedback from the temperature and humidity sensors to maintain a slightly negative pressure environment in the finishing work area, ensuring that water mist does not escape. At the same time, positive pressure air is sent to the image recognition area to prevent water mist from entering.

[0145] Environmental control and monitoring:

[0146] Temperature and humidity monitoring: Temperature and humidity sensors monitor the temperature and humidity of the working area in real time. The control system automatically adjusts the operating parameters of the water vapor control piping system 5 based on the feedback data to ensure a stable working environment.

[0147] System monitoring and alarm: The main control computer monitors the operating status of each system in real time. When an abnormality is detected, an alarm is immediately issued and the operator is notified. At the same time, the system is automatically shut down to prevent equipment damage or product quality problems.

[0148] Fish fillet collection:

[0149] Cutting complete: After the fish fillets are trimmed, the conveyor belt will transport them out.

[0150] 3. Power off

[0151] Complete the current task: Ensure that the fish fillets currently being processed are cut and sent to the collection area.

[0152] Shut down the conveyor system: Sequentially shut down conveyor belts A# and B# to stop conveying.

[0153] Shut down the image recognition system: Turn off the structured light 3D camera and stop image acquisition.

[0154] 3. Turn off the waterjet device: Turn off the high-precision ball screw module and high-pressure pump to stop waterjet cutting.

[0155] Shut down the high-pressure pump system: Turn off the high-pressure pump and stop the water supply.

[0156] Shut down the water supply and drainage systems: Shut down the water supply and drainage systems and ensure that there is no residual water in the water tank and pipes.

[0157] Environmental cleanup and maintenance:

[0158] Water vapor control piping system 5 delayed shutdown: The dehumidification system continues to run for 5 minutes, using hot air to dry and dehumidify, eliminating residual water vapor, and then shuts down.

[0159] Equipment cleaning: Operators clean the cutting and identification areas to ensure that there are no residues on the equipment.

[0160] System check: Check whether each sensor and actuator is functioning properly, and record equipment operation data and maintenance requirements.

[0161] Equipment locking and logging:

[0162] Equipment locking: Locking the equipment via the control system to prevent unauthorized start-up.

[0163] Operation Log: The system automatically records the key parameters and equipment status of this operation, which is convenient for subsequent analysis and maintenance.

[0164] The following is a comparison of the effects and data verification of the fish fillet trimming system operation method in Embodiment 2:

[0165] The equipment has a processing speed of 360 pieces / hour, which is 1.44 times faster than manual trimming (250 pieces / hour), meeting the needs of continuous production.

[0166] Recognition accuracy: With the water vapor control piping system 5 enabled, a test on 300 salmon fillets of various sizes showed that the equipment's recognition accuracy reached 96% (288 fillets were effectively recognized), which is 6 percentage points higher than the existing recognition accuracy (90%).

[0167] Repair loss rate: The average loss rate of the experimental group was 6.2%, which was 3.6 percentage points lower than that of the manual control group (9.8%). The pass rate increased from 90.2% to 93.8%, an increase of 3.6%.

[0168] Cutting precision: The waterjet cutting precision is stable at ±0.1mm, and the edges are smoothly trimmed, meeting the processing standards for high-end fresh products.

[0169] For a comparison of the results and data verification, please refer to the table below:

[0170] Recognition accuracy 90％ 96％ +6pp Repairing loss rate 9.8％ 6.2％ -3.6pp

[0171] The above are merely preferred embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Therefore, any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A fish fillet trimming system, characterized in that: The fish fillet trimming system has an image recognition area and a trimming operation area; The image recognition area is adjacent to the trimming operation area, and a gate device (2) is provided between the image recognition area and the trimming operation area. A fish fillet conveying system is provided for the image recognition area and the trimming area. The fish fillet conveying system can transfer fish fillets from the image recognition area to the trimming area. A camera (4) is provided in the image recognition area, which is used to collect and acquire image data of the fish slices; A water jet device (3) is provided in the trimming area, which is used to trim the fish fillets. The fish fillet trimming system is also equipped with a water vapor control pipe system (5), which is used for, Air is injected into the image recognition area to maintain a positive pressure environment there. as well as, Air is removed from the repair work area to maintain a slightly negative pressure environment. The water vapor control piping system (5) has pipe opening A, pipe opening B, pipe opening C and pipe opening D; The port A is connected to the outside atmosphere and is used to discharge the gas in the water vapor control pipe system (5) to the atmosphere. The port B is connected to the trimming operation area and is used to draw gas from the trimming operation area into the water vapor control pipe system (5). The port C is connected to the image recognition area, and the port C is used to inject atmospheric gas into the image recognition area. The pipe opening D is connected to the external atmosphere and is used to introduce atmospheric gas into the water vapor control pipe system (5). The water vapor control piping system (5) is equipped with fans and control valves. The function of these fans and control valves is to realize the functions of the pipe ports A, B, C and D by controlling the fans and control valves. The water vapor control piping system (5) is equipped with a condenser A (501), a heater B (502) and a heater C (503); the condenser A (501) is located at pipe opening A, the heater B (502) is located at pipe opening B, and the heater C (503) is located at pipe opening C. Louvers (9) are installed at both port A and port D of the water vapor control piping system (5). Temperature and humidity sensors are configured for the trimming area and the image recognition area.

2. The fish fillet trimming system according to claim 1, characterized in that: The water vapor control piping system (5) has the following specific configuration: The water vapor control piping system (5) has pipe node A, pipe node B, pipe node C, pipe node D, pipe port A, pipe port B, pipe port C and pipe port D; Pipeline node A, pipeline node B, pipeline node C and pipeline node D are connected sequentially to form a closed-loop pipeline. The pipe port A is connected to pipe node A. The pipe port B is connected to the pipeline node B. The pipe opening C is connected to the pipeline node C. The pipe opening D is connected to the pipeline node D; The pipe opening A is connected to the outside atmosphere. The pipe opening B is connected to the trimming work area. The port C is connected to the image recognition area. The pipe opening D is connected to the outside atmosphere; The water vapor control piping system (5) is equipped with a first fan (521), a second fan (522), a first control valve (511), a second control valve (512), a third control valve (513), a fourth control valve (514), a fifth control valve (515), and a sixth control valve (516). The first control valve (511), the first fan (521), and the second control valve (512) are connected in series on the pipeline from pipeline node A to pipeline node B. The third control valve (513) is installed on the pipeline connecting pipeline node D to pipeline node A; The fourth control valve (514) is installed on the pipeline connecting pipeline node B to pipeline node C; The second fan (522) is installed on the pipeline connecting pipeline node C to pipeline node D; The fifth control valve (515) is located at pipe port D; The sixth control valve (516) is installed on the pipeline connecting pipeline node C to pipe port C.

3. The fish fillet trimming system according to claim 1, characterized in that: The fish fillet conveying system is equipped with a first object sensor (61), a second object sensor (62), and a third object sensor (63). The first object sensor (61) is located at the inlet of the fish fillet conveying system, the second object sensor (62) is located on the upstream side of the gate device (2), and the third object sensor (63) is located on the downstream side of the gate device (2).

4. The fish fillet trimming system according to claim 1, characterized in that: The camera (4) is a structured light 3D camera.

5. The fish fillet trimming system according to claim 1, characterized in that: The fish fillet conveying system includes a map reading area conveyor belt (11) and a trimming area conveyor belt (12). The image recognition area conveyor belt (11) is located in the image recognition area, and the trimming area conveyor belt (12) is located in the trimming operation area. The image recognition area conveyor belt (11) and the trimming area conveyor belt (12) are connected together to form the fish fillet conveying system.

6. A method for operating a fish fillet trimming system, wherein the fish fillet trimming system is the fish fillet trimming system as described in claim 1, characterized in that: The operation method of the fish fillet trimming system includes: Startup status: System self-test and initialization, warm-up and preparation, operator confirmation that the equipment is ready; Operational status: Fish fillet conveying and identification, water jet cutting, environmental control and monitoring, fish fillet collection; Shutdown status: Complete the current task and shut down each system, water vapor control pipeline (5) delayed shutdown, equipment cleaning and inspection, equipment locking and operation record.

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