Automatic scallop opening and column taking integrated device based on machine vision

Abstract

The application discloses a scallop automatic opening and column taking integrated device based on machine vision, a rack is provided with a clamping device, an opening mechanism, a scraping mechanism and a visual identification device; the clamping device is used for clamping and fixing scallops, and the clamping device comprises a turntable driving mechanism used for driving the rotation of the scallops; the opening mechanism is used for opening the scallop shell; the scraping mechanism is used for scraping the column from the inner wall of the shell; the visual identification device comprises an industrial camera used for collecting scallop images and a control box used for processing the images and outputting a rotation angle instruction; the turntable driving mechanism drives the rotation of the clamped scallops according to the rotation angle instruction output by the control box, so that the shell opening of the scallops faces a unified direction. The scheme can realize the automatic opening and column taking of scallops and improve the processing efficiency.

Description

Technical Field

[0001] This invention relates to the field of seafood processing equipment technology, and in particular to an integrated device for automatic scallop shell opening and adductor removal based on machine vision. Background Technology

[0002] Scallops are a delicious seafood product and are very popular. However, the scallop production season is mainly in spring and autumn, when the weather is colder. Scallop processing is still mainly done by traditional manual methods, resulting in low automation, low efficiency, and increased labor costs. Currently, there are very few safe and efficient automated machines for processing scallops. Therefore, this paper proposes to design a scallop processing adductor (skeletal column) removal device.

[0003] The information disclosed in this background section is only intended to enhance the understanding of the background technology of this application, and therefore may include prior art that is not known to those skilled in the art. Summary of the Invention

[0004] To address the problems mentioned in the background art, this invention proposes an integrated automatic scallop shell-opening and adductor extraction device based on machine vision, comprising: frame; A clamping device, which is mounted on the frame, is used to clamp and fix the scallops. The clamping device includes a turntable drive mechanism for driving the scallops to rotate. A shell-opening mechanism, which is mounted on the frame, is used to open the scallop shell. A scraping mechanism, mounted on the frame, is used to scrape the adductor muscle from the inner wall of the shell; A visual recognition device, comprising an industrial camera for acquiring images of scallops and a control box for processing images and outputting rotation angle commands; The turntable drive mechanism drives the clamped scallop to rotate according to the rotation angle command output by the control box, so that the scallop's shell opening faces the same direction.

[0005] In some embodiments of this application, the image processing algorithm built into the control box includes an image preprocessing module for grayscale conversion and filtering of the acquired images, a contour extraction module for extracting scallop contour features, and an attitude calculation module for calculating the shell opening orientation angle based on the extracted contour features.

[0006] In some embodiments of this application, the shell-opening mechanism includes two symmetrically mounted saw blades and a vertical cylinder that drives the saw blades to move vertically, wherein the saw blades have a wedge-shaped pointed structure.

[0007] In some embodiments of this application, the scraping mechanism includes two scrapers arranged in opposite directions and a drive motor that drives the scrapers to reciprocate horizontally. The scrapers are elongated arc-shaped structures.

[0008] In some embodiments of this application, the integrated device further includes a suction device, which includes a negative pressure suction tube for real-time suction of debris and dirt during the opening and scraping process.

[0009] In some embodiments of this application, the clamping device further includes a push rod and a three-jaw clamp connected to the push rod. The push rod is used to push the scallop to different processing stations, and the inner side of the three-jaw clamp is provided with an anti-slip pad.

[0010] In some embodiments of this application, the integrated device further includes a horizontal cylinder and a linkage mechanism for driving the clamping device to move horizontally between different processing stations.

[0011] In some embodiments of this application, the workflow of the integrated device includes a feeding and clamping stage, a visual recognition and posture adjustment stage, a shell opening stage, a scraping of adductor muscle stage, and a discharging stage performed sequentially.

[0012] Compared with the prior art, the advantages and positive effects of the present invention are: This application uses a combination of visual recognition and mechanical rotation to solve the problem of low positioning accuracy and high processing efficiency requirements caused by the irregular shape and large size difference of scallops. It achieves rapid and accurate uniformity of scallop posture, thereby providing a consistent benchmark for subsequent shell opening and adductor removal processes, and improving processing efficiency and adductor integrity.

[0013] Other features and advantages of the present invention will become clearer after reading the detailed embodiments of the invention in conjunction with the accompanying drawings. Attached Figure Description

[0014] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0015] Figure 1 This is a structural diagram of a clamping device and a shell-opening mechanism according to some embodiments; Figure 2 This is a structural diagram of a scraping mechanism according to some embodiments.

[0016] Figure label: 1. Push rod; 2. Clamp; 3. Saw blade; 4. Vertical cylinder; 5. Industrial camera; 6. Control box; 7. Scraper; 8. Drive motor. Detailed Implementation

[0017] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0018] In the description of this application, it should be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0019] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0020] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0021] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0022] The following disclosure provides many different embodiments or examples for implementing various structures of the invention. To simplify the disclosure, specific examples of components and arrangements are described below. These are merely examples and are not intended to limit the invention. Furthermore, reference numerals and / or letters may be repeated in different examples; such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed. In addition, examples of various specific processes and materials are provided in this invention, but those skilled in the art will recognize the application of other processes and / or the use of other materials.

[0023] This application provides an integrated automatic scallop shell-opening and adductor removal device based on machine vision, referring to... Figure 1 and Figure 2 This includes: frame; A clamping device, which is mounted on the frame, is used to clamp and fix the scallops. The clamping device includes a turntable drive mechanism for driving the scallops to rotate. The shell-opening mechanism, which is mounted on the frame, is used to open the scallop shell. The scraping mechanism, mounted on the frame, is used to scrape the adductor muscle off the inner wall of the shell; The visual recognition device includes an industrial camera 5 for capturing images of scallops and a control box 6 for processing images and outputting rotation angle commands. The turntable drive mechanism drives the clamped scallops to rotate according to the rotation angle command output by the control box 6, so that the scallops' shell openings face the same direction.

[0024] This application uses a combination of visual recognition and mechanical rotation to solve the problem of low positioning accuracy and high processing efficiency requirements caused by the irregular shape and large size difference of scallops. It achieves rapid and accurate uniformity of scallop posture, thereby providing a consistent benchmark for subsequent shell opening and adductor removal processes, and improving processing efficiency and adductor integrity.

[0025] In some embodiments of this application, the image processing algorithm built into the control box 6 includes an image preprocessing module for grayscale conversion and filtering of the acquired image, a contour extraction module for extracting scallop contour features, and an attitude calculation module for calculating the shell opening orientation angle based on the extracted contour features.

[0026] By employing image processing algorithms that include preprocessing, contour extraction, and pose calculation, the scallop images are processed systematically, improving the recognition accuracy of non-standard, reflective, and textured objects like scallops, and further ensuring the uniformity of pose.

[0027] In some embodiments of this application, the shell-opening mechanism includes two symmetrically mounted saw blades 3 and a vertical cylinder 4 that drives the saw blades 3 to move vertically. The saw blades 3 have a wedge-shaped pointed structure.

[0028] Vertical cylinder 4 is fixed above the machine frame, and its piston rod is connected to saw blade 3 at its lower end. Saw blade 3 has a wedge-shaped tip structure and a thin cutting edge, which can move downward under the drive of the cylinder to accurately insert into the scallop shell opening that has already undergone posture correction. After the scallop is pushed to the shell opening position by push rod 1, vertical cylinder 4 drives saw blade 3 to feed downward. After the wedge-shaped tip inserts into the shell opening, it gradually opens the shell with the stroke of the piston rod, keeping the shell open and reserving operating space for subsequent scraping of the adductor muscle and suction of dirt.

[0029] By employing symmetrically arranged wedge-shaped saw blades 3, balanced force and gradual insertion are achieved at the scallop shell opening, avoiding shell breakage caused by unilateral force or instantaneous impact, and further improving the success rate and stability of shell opening.

[0030] In some embodiments of this application, the scraping mechanism includes two scrapers 7 arranged in opposite directions and a drive motor 8 that drives the scrapers 7 to reciprocate horizontally.

[0031] The scraper 7 is a long, arc-shaped structure. Its front end curvature matches the contour of the scallop's inner wall, allowing it to extend into the opened shell. The rear end of the scraper 7 is connected to the transmission mechanism of the drive motor 8. The drive motor 8 is connected to the cam drive via a belt, pulley, and provides continuous and stable horizontal reciprocating power to the scraper 7. After the shell is opened, the push rod 1 pushes the scallop to the scraping station. The drive motor 8 starts, driving the scraper 7 horizontally through the transmission mechanism. The arc-shaped blade smoothly scrapes against the inner wall of the scallop, completely scraping the adductor muscle from the shell. The device has two sets of scrapers 7 facing opposite directions, which can scrape the adductor muscles on both sides of the scallop separately, further improving the efficiency and integrity of the muscle removal.

[0032] By employing an arc-shaped scraper 7 that moves in opposite directions, good adhesion between the scraper 7 and the inner wall of the scallop is achieved, and bidirectional scraping is performed, increasing the scraping area, reducing local pressure, and further reducing damage to the adductor tissue.

[0033] In some embodiments of this application, the radius of curvature of the front end of the scraper 7 is 30mm to 80mm, which achieves a good match with the curvature of the inner wall of common scallops. If the radius of curvature is too small, the contact area will be insufficient, and if the radius of curvature is too large, the scraping force will not be concentrated, thus further optimizing the scraping effect.

[0034] In some embodiments of this application, the integrated device further includes a suction device, which includes a negative pressure suction tube for real-time suction of debris and dirt during the opening and scraping process.

[0035] The negative pressure suction pipe extends to the shell opening and scraping operation area, using negative pressure to remove shell debris, internal organs, and bodily fluids in real time. The water spray pipe is aimed at the symmetrical saw blade 3 and scraper 7, allowing for intermittent water spraying to lubricate the blades or to spray off the adductor muscles carried out.

[0036] By using a negative pressure suction pipe to remove contaminants in real time, the accumulation of debris and dirt during processing is avoided, keeping the work area clean, preventing secondary pollution and equipment blockage, and further ensuring the continuous and stable operation of the device.

[0037] In some embodiments of this application, the clamping device further includes a push rod 1 and a three-jaw clamp 2 connected to the push rod 1. The push rod 1 is used to push the scallop to different processing stations, and the inner side of the three-jaw clamp 2 is provided with an anti-slip pad.

[0038] By employing a combination of push rod 1 and three-jaw clamp 2, and by setting anti-slip pads, reliable clamping of scallops and precise pushing between workstations are achieved, preventing slippage during the clamping process and further improving the versatility and processing safety of the device.

[0039] In some embodiments of this application, the clamping device further includes a vacuum suction cup for assisting in the adsorption and fixation of the scallop. The use of a vacuum suction cup enhances the fixation effect on the scallop, particularly preventing slippage and detachment during rotation, further improving the stability and precision of the clamping.

[0040] In some embodiments of this application, the integrated device further includes a horizontal cylinder and a linkage mechanism for driving the clamping device to move horizontally between different processing stations.

[0041] By using horizontal cylinders and linkage mechanisms to drive the movement of the workstation, the scallops are accurately transferred between different processing positions, avoiding manual handling and further improving the degree of automation and processing efficiency.

[0042] In some embodiments of this application, the workflow of the integrated device includes a sequential feeding and clamping stage, a visual recognition and posture adjustment stage, a shell-opening stage, a scallop adductor removal stage, and a discharge stage. During the visual recognition and posture adjustment stage, the control box 6 calculates rotation angle commands based on the acquired images, and the turntable drive mechanism drives the scallops to rotate to the target angle according to the commands.

[0043] By adopting a multi-stage, orderly workflow and specific visual recognition and posture adjustment logic, the coordinated operation and intelligent decision-making of each functional module are realized, avoiding interference and conflict between processes, and further improving the smoothness and intelligence level of the entire processing.

[0044] In some embodiments of this application, the drive motor 8 converts the rotary motion into the horizontal reciprocating motion of the scraper 7 through belt drive, pulley reduction and cam conversion mechanism.

[0045] By employing a transmission method that combines belt drive, pulley reduction, and cam conversion, a smooth transition from rotary motion to horizontal reciprocating motion is achieved, providing adjustable stroke and frequency, and further optimizing the smoothness and adjustability of the scraping action.

[0046] In some embodiments of this application, when the device is working, the push rod 1 works intermittently, pausing for a certain period of time in between to allow the shell to be fed.

[0047] In the description of the above embodiments, specific features, structures, materials, or characteristics may be combined in any suitable manner in one or more embodiments or examples.

[0048] The above are merely specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A machine vision-based integrated device for automatically opening and removing adductor muscles from scallops, characterized in that, Including: frame; A clamping device, which is mounted on the frame, is used to clamp and fix the scallops. The clamping device includes a turntable drive mechanism for driving the scallops to rotate. A shell-opening mechanism, which is mounted on the frame, is used to open the scallop shell. A scraping mechanism, mounted on the frame, is used to scrape the adductor muscle from the inner wall of the shell; A visual recognition device, comprising an industrial camera for acquiring images of scallops and a control box for processing images and outputting rotation angle commands; The turntable drive mechanism drives the clamped scallop to rotate according to the rotation angle command output by the control box, so that the scallop's shell opening faces the same direction.

2. The integrated device according to claim 1, characterized in that, The image processing algorithm built into the control box includes an image preprocessing module for grayscale conversion and filtering of the acquired images, a contour extraction module for extracting the contour features of scallops, and an attitude calculation module for calculating the orientation angle of the shell opening based on the extracted contour features.

3. The integrated device according to claim 1, characterized in that, The shell-opening mechanism includes two symmetrically mounted saw blades and a vertical cylinder that drives the saw blades to move vertically. The saw blades have a wedge-shaped pointed structure.

4. The integrated device according to claim 1, characterized in that, The scraping mechanism includes two scrapers arranged in opposite directions and a drive motor that drives the scrapers to reciprocate horizontally. The scrapers are long, arc-shaped structures.

5. The integrated device according to any one of claims 1 to 4, characterized in that, The integrated device also includes a suction device, which includes a negative pressure suction tube for real-time suction of debris and dirt during the shell opening and scraping process.

6. The integrated device according to any one of claims 1 to 4, characterized in that, The clamping device also includes a push rod and a three-jaw clamp connected to the push rod. The push rod is used to push the scallop to different processing stations, and the inner side of the three-jaw clamp is provided with an anti-slip pad.

7. The integrated device according to any one of claims 1 to 4, characterized in that, The integrated device also includes a horizontal cylinder and a linkage mechanism for driving the clamping device to move horizontally between different processing stations.

8. The integrated device according to any one of claims 1 to 4, characterized in that, The workflow of the integrated device includes the following stages in sequence: feeding and clamping, visual recognition and posture adjustment, shell opening, scraping off the adductor muscle, and discharging.

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