Arrangement for fish visual classification and grading

Abstract

The utility model belongs to fish sorting equipment technical field, concretely relates to a fish visual classification, grading device arrangement structure. The utility model discloses the reasonable arrangement of sample introduction module, attitude correction module, high -definition imaging and counting module, weighing module, visual sensing module, mechanical arm sorting module, and whole structure is compact, and the floor area is small, and the installation maintenance is convenient, and the function integration is high, can improve fish sorting's work efficiency greatly, through the attitude correction module to the fish sample introduction attitude correction, has guaranteed the accuracy of high -definition imaging and counting, cooperates the multiple visual sensors of the arrangement on the flexible conveyer belt, can whole process obtain fish state information, improves fish sorting's accuracy, the utility model adopts six -axis mechanical arm to cooperate multiple flexible mechanical paw and carries out fish sorting, has replaced manual operation, has effectively reduced the artificial cost, has also avoided the influence of human factor to the sorting process simultaneously, and its application prospect is broad, and easy to promote.

Description

Technical Field

[0001] This utility model belongs to the technical field of fish sorting equipment, specifically relating to a fish visual classification and grading device arrangement structure. Background Technology

[0002] In the seafood processing industry, fish classification and grading are crucial core processes, directly impacting the quality and value of subsequent processed products and influencing a company's economic benefits and market competitiveness. Traditional fish classification and grading methods rely primarily on manual labor, requiring operators to sort fish of different species, sizes, and qualities based on visual observation and experience. This method is not only inefficient and unable to meet the production demands of modern large-scale seafood processing, but also highly susceptible to human factors such as operator fatigue and differences in subjective judgment standards, making it difficult to guarantee the accuracy and consistency of classification and grading, and prone to misjudgments and omissions.

[0003] With the rapid iteration of automation technology, especially the breakthroughs in artificial intelligence and machine vision, fish visual classification and grading devices have been widely used in the aquatic product processing industry. However, existing fish visual classification and grading devices have poor overall integration, with each functional component set up separately and far apart, resulting in a large overall footprint, low equipment operating efficiency, and high maintenance costs. Utility Model Content

[0004] The technical problem to be solved by this utility model is to provide a fish visual classification and grading device arrangement structure, which has a compact structure, high functional integration, stable and reliable use, and can greatly improve the work efficiency and sorting accuracy of fish sorting and reduce labor costs.

[0005] The technical solution adopted by this utility model to solve the above-mentioned technical problems is as follows:

[0006] A fish visual classification and grading device layout structure mainly includes: a sample injection module, an attitude correction module, a high-definition imaging and counting module, a weighing module, a visual sensing module, a robotic arm sorting module, and a controller;

[0007] The sample introduction module includes a sample introduction conveyor belt 1; the attitude correction module includes a rotating mechanical brush 3 located directly above the front of the sample introduction conveyor belt 1, and the rotating mechanical brush 3 is connected to a mounting bracket 2 on one side of the sample introduction conveyor belt 1; the imaging and counting module includes an imaging camera 4 and an infrared counting sensor 6 located directly above the middle of the sample introduction conveyor belt 1, and the imaging camera 4 and the infrared counting sensor 6 are both fixedly installed inside an imaging box housing 12 covering the sample introduction conveyor belt 1; the weighing module includes a weighing sensor 5 located below the rear of the sample introduction conveyor belt 1, and a flexible conveyor belt 7 is located directly below the end of the sample introduction conveyor belt 1; the vision sensing module includes multiple vision sensors 10 arranged at equal intervals along the flexible conveyor belt 7; the robotic arm sorting module includes a six-axis robotic arm 8 located on one side of the flexible conveyor belt 7, and multiple flexible mechanical claws 9 are installed at the end of the six-axis robotic arm 8.

[0008] The imaging camera 4, infrared counting sensor 6, weighing sensor 5, vision sensor 10, six-axis robotic arm 8, and flexible robotic claw 9 are all electrically connected to the controller via signal cables.

[0009] Preferably, a plurality of negative pressure adsorption holes 11 are uniformly formed on the upper surface of the flexible conveyor belt 7, and the negative pressure adsorption holes 11 are connected to an air pump located below the flexible conveyor belt 7 through an air extraction pipe.

[0010] Preferably, the imaging chamber housing 12 is positioned above the middle of the sample feeding conveyor belt 1, and the sample feeding conveyor belt 1 enters from the inlet end of the imaging chamber housing 12 and exits from the outlet end of the imaging chamber housing 12.

[0011] Preferably, guide plates are provided on both sides of the entrance end of the imaging box housing 12, and the distance between the guide plates on both sides gradually decreases along the direction of fish movement until only one fish can pass through.

[0012] Preferably, the imaging box housing 12 is provided with a plurality of imaging cameras 4, which respectively capture images of passing fish from different angles.

[0013] Preferably, the robotic arm sorting module further includes multiple sorting collection boxes, which are arranged within the working range of the six-axis robotic arm 8.

[0014] Preferably, the six-axis robotic arm 8 is equipped with three flexible mechanical claws 9 at its end, which are used to grab three fish in a single transport.

[0015] Preferably, the upper surface of the flexible conveyor belt 7 is covered with an array of silicone anti-slip bumps.

[0016] Compared with the prior art, the present invention has the following main advantages:

[0017] 1. This utility model has a compact overall structure, small footprint, convenient installation and maintenance, and high functional integration through the reasonable arrangement of the sample injection module, attitude correction module, high-definition imaging and counting module, weighing module, vision sensing module and robotic arm sorting module, which can greatly improve the work efficiency of fish sorting.

[0018] 2. This utility model corrects the fish's feeding posture through a posture correction module, ensuring the accuracy of high-definition imaging and counting. Combined with multiple sets of visual sensors arranged on the flexible conveyor belt, it can acquire fish status information throughout the process, thereby improving the accuracy of fish sorting.

[0019] 3. This utility model uses a six-axis robotic arm in conjunction with multiple sets of flexible mechanical claws to sort fish, replacing manual operation, effectively reducing labor costs, and avoiding the impact of human factors on the sorting process. It has high practical value, broad application prospects, and is easy to promote. Attached Figure Description

[0020] Figure 1 This is a front view of the fish visual classification and grading device arrangement structure in an embodiment of this utility model;

[0021] Figure 2 This is a front view of the fish visual classification and grading device arrangement structure in an embodiment of this utility model.

[0022] In the diagram: 1-sample infeed conveyor belt, 2-mounting frame, 3-rotating mechanical brush, 4-imaging camera, 5-weighing sensor, 6-infrared counting sensor, 7-flexible conveyor belt, 8-six-axis robotic arm, 9-flexible mechanical gripper, 10-vision sensor, 11-negative pressure adsorption hole, 12-imaging box housing, 13-controller. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, 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. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0024] Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0025] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0026] In the description of this application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this application is in use. 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.

[0027] The features and performance of this application will be further described in detail below with reference to the embodiments.

[0028] This embodiment provides a structure for arranging a visual classification and grading device for fish, such as... Figures 1-2 As shown, it mainly includes: a sample injection module, an attitude correction module, a high-definition imaging and counting module, a weighing module, a vision sensing module, a robotic arm sorting module, and a controller;

[0029] The sample injection module includes a sample injection conveyor belt 1, and the attitude correction module includes a rotating mechanical brush 3 disposed directly above the front of the sample injection conveyor belt 1. The rotating mechanical brush 3 is connected to a mounting bracket 2 on one side of the sample injection conveyor belt 1.

[0030] The imaging and counting module includes an imaging camera 4 and an infrared counting sensor 6 located directly above the middle of the sample feeding conveyor belt 1. Both the imaging camera 4 and the infrared counting sensor 6 are fixedly installed inside the imaging box housing 12 covering the sample feeding conveyor belt 1.

[0031] The weighing module includes a weighing sensor 5 located below the rear of the sample feeding conveyor belt 1, and a flexible conveyor belt 7 located directly below the end of the sample feeding conveyor belt 1.

[0032] The visual sensing module includes a plurality of visual sensors 10 arranged at equal intervals along the flexible conveyor belt 7.

[0033] The robotic arm sorting module includes a six-axis robotic arm 8 disposed on one side of the flexible conveyor belt 7, and the end of the six-axis robotic arm 8 is equipped with multiple flexible robotic claws 9.

[0034] Furthermore, the imaging camera 4, infrared counting sensor 6, weighing sensor 5, vision sensor 10, six-axis robotic arm 8, and flexible robotic claw 9 are all electrically connected to the controller via signal cables.

[0035] Furthermore, the upper surface of the flexible conveyor belt 7 is uniformly provided with a plurality of negative pressure adsorption holes 11. The negative pressure adsorption holes 11 are connected to an air pump located below the flexible conveyor belt 7 through an air extraction pipe to ensure that the fish are laid flat and do not roll during transportation.

[0036] Furthermore, the imaging chamber housing 12 is positioned above the middle of the sample delivery conveyor belt 1. The sample delivery conveyor belt 1 enters from the inlet end of the imaging chamber housing 12 and exits from the outlet end of the imaging chamber housing 12. The fish sample delivery posture is corrected by the front attitude correction module, which can effectively ensure the accuracy of high-definition imaging and fish counting inside the imaging chamber.

[0037] Furthermore, guide plates are provided on both sides of the entrance end of the imaging box housing 12, and the distance between the two guide plates gradually decreases along the direction of fish movement until only one fish can pass through, so as to avoid congestion of fish in the imaging box.

[0038] Furthermore, the imaging box housing 12 is equipped with multiple imaging cameras 4, which take pictures of the passing fish from different angles. The multiple angles of shooting can comprehensively obtain the appearance information of the fish, such as body shape, color, texture, etc., and provide more basis for fish classification.

[0039] Furthermore, the robotic arm sorting module also includes multiple sorting collection boxes, which are set within the working range of the six-axis robotic arm 8. The robotic arm sorting module can place fish of different categories and grades into their corresponding sorting collection boxes to achieve orderly collection of fish.

[0040] Furthermore, the six-axis robotic arm 8 is specifically equipped with three flexible mechanical claws 9 at its end, which are used to simultaneously transport and grab three fish at a time, thereby improving the sorting and transportation efficiency of the robotic arm.

[0041] Furthermore, the upper surface of the flexible conveyor belt 7 is covered with an array of silicone anti-slip bumps to increase the coefficient of friction of the upper surface of the flexible conveyor belt.

[0042] In practical use:

[0043] 1) Fish Feeding: Fish to be sorted are fed into the feeding conveyor belt at a rate of 20 fish per minute; 2) Fish Posture Correction: The posture of the fish on the feeding conveyor belt is corrected by a rotating mechanical brush, and with the help of the guide plate at the entrance of the imaging chamber, the fish enter the high-definition imaging module in a uniform posture; 3) High-Definition Imaging and Counting: Multiple high-definition cameras installed inside the imaging chamber take pictures of the fish from different angles, and the number of fish is recorded by an infrared counting sensor. At the same time, the acquired appearance image information and counting information are transmitted to the controller; 4) Fish Weighing: The weighing sensor at the lower rear of the feeding conveyor belt weighs the fish. 5) Grading decision: The controller processes and analyzes the received image information, counting information, and weight information to determine the classification and grading of the fish, and sends the grasping, classification, and grading command to the robotic arm sorting module; 6) Visual positioning: Multiple visual sensors are set at equal intervals along the flexible conveyor belt to monitor the fish's status throughout the transportation process and feed it back to the controller to adjust the fish classification and grading strategy in real time; 7) Robotic arm sorting: The six-axis robotic arm drives the flexible mechanical claw to grasp the fish and place it into the corresponding classification collection box, completing the fish classification and grading process.

[0044] Furthermore, all parts of this application that are not described in detail are the same as or implemented using existing technology.

[0045] In summary:

[0046] 1. This utility model has a compact overall structure, small footprint, convenient installation and maintenance, and high functional integration through the reasonable arrangement of the sample injection module, attitude correction module, high-definition imaging and counting module, weighing module, vision sensing module and robotic arm sorting module, which can greatly improve the work efficiency of fish sorting.

[0047] 2. This utility model corrects the fish's feeding posture through a posture correction module, ensuring the accuracy of high-definition imaging and counting. Combined with multiple sets of visual sensors arranged on the flexible conveyor belt, it can acquire fish status information throughout the process, thereby improving the accuracy of fish sorting.

[0048] 3. This utility model uses a six-axis robotic arm in conjunction with multiple sets of flexible mechanical claws to sort fish, replacing manual operation, effectively reducing labor costs, and avoiding the impact of human factors on the sorting process. It has high practical value, broad application prospects, and is easy to promote.

[0049] The above embodiments are only used to illustrate the design concept and features of this utility model, and their purpose is to enable those skilled in the art to understand the content of this utility model and implement it accordingly. The protection scope of this utility model is not limited to the above embodiments. Therefore, all equivalent changes or modifications made based on the principles and design ideas disclosed in this utility model are within the protection scope of this utility model.

Claims

1. A structure for arranging a visual classification and grading device for fish, characterized in that: The system includes a sample introduction module, an attitude correction module, an imaging and counting module, a weighing module, a vision sensing module, a robotic arm sorting module, and a controller. The sample introduction module includes a sample introduction conveyor belt (1). The attitude correction module includes a rotating mechanical brush (3) located directly above the front of the sample introduction conveyor belt (1), and the rotating mechanical brush (3) is connected to a mounting bracket (2) on one side of the sample introduction conveyor belt (1). The imaging and counting module includes an imaging camera (4) and an infrared counting sensor (6) located directly above the middle of the sample introduction conveyor belt (1). The imaging camera (4) and the infrared counting sensor (6) are... The sensors (6) are all fixedly installed inside the imaging box housing (12) covering the sample feeding conveyor belt (1); the weighing module includes a weighing sensor (5) located below the rear of the sample feeding conveyor belt (1), and a flexible conveyor belt (7) is located directly below the end of the sample feeding conveyor belt (1); the vision sensing module includes multiple vision sensors (10) arranged at equal intervals along the flexible conveyor belt (7); the robotic arm sorting module includes a six-axis robotic arm (8) located on one side of the flexible conveyor belt (7), and multiple flexible robotic claws (9) are installed at the end of the six-axis robotic arm (8); The imaging camera (4), infrared counting sensor (6), weighing sensor (5), vision sensor (10), six-axis robotic arm (8), and flexible robotic claw (9) are all electrically connected to the controller via signal cables.

2. The arrangement structure of the visual classification and grading device for fish species according to claim 1, characterized in that: The upper surface of the flexible conveyor belt (7) is uniformly provided with a plurality of negative pressure adsorption holes (11), and the negative pressure adsorption holes (11) are connected to an air pump located below the flexible conveyor belt (7) through an air extraction pipe.

3. The arrangement structure of the visual classification and grading device for fish species according to claim 1, characterized in that: The imaging chamber housing (12) is positioned above the middle of the sample feeding conveyor belt (1). The sample feeding conveyor belt (1) enters from the inlet end of the imaging chamber housing (12) and exits from the outlet end of the imaging chamber housing (12).

4. The arrangement structure of the visual classification and grading device for fish species according to claim 3, characterized in that: The imaging box housing (12) has guide plates on both sides of the entrance end, and the distance between the guide plates on both sides gradually decreases along the direction of fish movement until only one fish can pass through.

5. The arrangement structure of the visual classification and grading device for fish species according to claim 1, characterized in that: The imaging box housing (12) is equipped with multiple imaging cameras (4), which take pictures of the passing fish from different angles.

6. The arrangement structure of the visual classification and grading device for fish species according to claim 1, characterized in that: The robotic arm sorting module also includes multiple sorting collection boxes, which are set within the working range of the six-axis robotic arm (8).

7. The arrangement structure of the visual classification and grading device for fish species according to claim 6, characterized in that: The six-axis robotic arm (8) is specifically equipped with three flexible mechanical claws (9) at its end, which are used to grab three fish in a single transport.

8. The arrangement structure of the visual classification and grading device for fish species according to claim 1, characterized in that: The upper surface of the flexible conveyor belt (7) is covered with an array of silicone anti-slip bumps.

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