Fish sorting system, sorting device, and alignment device

Abstract

To provide a fish selection system which can suppress damage on fishes, and accurately select fishes.SOLUTION: A fish selection system 1 selects fishes FS. The fish selection system 1 comprises: an alignment device 10 for aligning fishes so that, a cranio caudal direction of the fishes FS is along a transport direction; a transport device 21, 31 which has a transport plane on which the aligned fishes FS are mounted, and transports the fishes FS on the transport plane to the transport direction; a distribution device 30 which has a wall surface extending in a direction along the transport direction above the transport plane, and moves the wall surface in an extrusion direction being a direction orthogonal to the transport direction and being a direction along the transport plane, for extruding the fishes FS to outside of the transport plane, by the wall surface; and a control unit 20 which acquires from the fishes FS, selection basic information being a base of the selection, then controls the distribution device on the basis of the acquired selection basic information.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a fish sorting system, a sorting device, and an alignment device. [Background technology]

[0002] A fish sorting system for sorting fish is known. For example, a fish sorting system described in Patent Document 1 sorts fish by lining up fish so that the head-to-tail direction of the fish is perpendicular to the conveying direction, placing the aligned fish on a conveying surface, conveying the fish on the conveying surface in the conveying direction, and pushing the conveyed fish out of the conveying surface. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 53-58399 Summary of the Invention [Problem to be solved by the invention]

[0004] However, the head and tail of a fish are relatively sharp. Therefore, if the fish is pushed in the head-to-tail direction, the fish is likely to be injured. Furthermore, if the position where the pushing force acts on the fish changes, the direction in which the pushed fish moves is likely to change relatively significantly. As described above, in the fish sorting system, there is a risk that the fish may be damaged or that the fish may not be sorted with high accuracy.

[0005] One of the objects of the present invention is to suppress damage to fish and to sort fish with high accuracy. [Means for solving the problem]

[0006] In one aspect, a fish sorting system sorts fish. The fish sorting system an aligning device that aligns the fish so that the head-to-tail direction of the fish is along the conveying direction; a conveying device having a conveying surface on which the aligned fish are placed and conveying the fish on the conveying surface in a conveying direction; a sorting device having a wall surface extending in a direction along the conveying direction above the conveying surface, the wall surface pushing out the fish out of the conveying surface by moving the wall surface in a pushing direction which is a direction along the conveying surface and a direction perpendicular to the conveying direction; a control device that acquires basic sorting information from the fish, which is the basis for sorting, and controls the sorting device based on the acquired basic sorting information; Equipped with.

[0007] In another aspect, the sorting device sorts fish on the conveying surface being conveyed in the conveying direction. The sorting device is The device has a wall surface extending above the conveying surface in a direction along the conveying direction, and by moving the wall surface in a pushing direction that is a direction along the conveying surface and a direction perpendicular to the conveying direction, the wall surface pushes the fish being conveyed out of the conveying surface.

[0008] In another aspect, the alignment device comprises: a conveying unit having a conveying surface on which fish are placed and conveying the fish on the conveying surface in a conveying direction; a pair of side wall bodies each having a pair of side wall surfaces forming a passage extending in a direction along the conveying direction above the conveying surface; a drive unit that reciprocates at least one of the pair of side wall bodies in a direction along the conveyance direction so that one of the pair of side wall bodies moves relative to the other of the pair of side wall bodies in a direction along the conveyance direction; Equipped with. [Effects of the Invention]

[0009] This reduces damage to the fish and allows the fish to be sorted with high accuracy. [Brief explanation of the drawings]

[0010] [Figure 1] 1 is a perspective view of a fish sorting system according to a first embodiment. FIG. [Figure 2]1 is a perspective view of a fish sorting system according to a first embodiment. FIG. [Figure 3] FIG. 1 is a plan view of a fish sorting system according to a first embodiment. [Figure 4] FIG. 1 is a side view of a fish sorting system according to a first embodiment. [Figure 5] FIG. 2 is a perspective view of the alignment device of the first embodiment. [Figure 6] FIG. 2 is a perspective view of the alignment device of the first embodiment. [Figure 7] FIG. 2 is a plan view of the alignment device of the first embodiment. [Figure 8] FIG. 2 is a side view of the alignment device of the first embodiment. [Figure 9] FIG. 2 is a front view of the alignment device of the first embodiment. [Figure 10] 5A to 5C are explanatory views showing the operation of the alignment device of the first embodiment. [Figure 11] FIG. 2 is a perspective view of the control device of the first embodiment. [Figure 12] FIG. 2 is a perspective view of the control device of the first embodiment. [Figure 13] 1 is a perspective view of the control device of the first embodiment with a shield removed; [Figure 14] FIG. 2 is a block diagram illustrating the configuration of a control unit according to the first embodiment. [Figure 15] 1 is a perspective view of a sorting device according to a first embodiment. FIG. [Figure 16] 1 is a perspective view of a sorting device according to a first embodiment. FIG. [Figure 17] FIG. 1 is a plan view of a sorting device according to a first embodiment. [Figure 18] FIG. 2 is a side view of the sorting device of the first embodiment. [Figure 19] FIG. 2 is a perspective view of a distribution unit according to the first embodiment. [Figure 20] FIG. 4 is an explanatory diagram illustrating the operation of a distribution unit according to the first embodiment. [Figure 21] 4 is a flowchart showing the operation of the fish sorting system of the first embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0011] Hereinafter, embodiments of a fish sorting system, a sorting device, and an aligning device of the present invention will be described with reference to FIGS.

[0012] First Embodiment (overview) The fish sorting system of the first embodiment sorts fish and includes an aligning device, a transporting device, a sorting device, and a control device. The aligning device aligns the fish so that the head-to-tail direction of the fish is along the conveying direction. The conveying device has a conveying surface on which the aligned fish are placed, and conveys the fish on the conveying surface in a conveying direction. The sorting device has a wall surface extending above the conveying surface in a direction along the conveying direction, and by moving the wall surface in an extrusion direction which is a direction along the conveying surface and perpendicular to the conveying direction, the wall surface pushes the fish out of the conveying surface. The control device acquires basic sorting information that forms the basis for sorting from the fish, and controls the sorting device based on the acquired basic sorting information.

[0013] This allows the fish to be pushed in a direction perpendicular to the head-to-tail direction of the fish, which reduces damage to the fish compared to when the fish is pushed in the head-to-tail direction. Furthermore, the back and belly of the fish are more rounded than the head and tail of the fish. Therefore, fluctuations in the direction in which the pushed-out fish travels due to fluctuations in the position where the wall surface contacts the fish can be reduced. As a result, the fish can be pushed in the pushing direction with high precision. In this way, the fish sorting system can suppress damage to the fish and sort the fish with high accuracy. Next, the fish sorting system of the first embodiment will be described in detail with reference to FIGS.

[0014] (Configuration: Fish sorting system) 1 to 4, the fish sorting system 1 of the first embodiment sorts fish FS. The fish sorting system 1 includes an alignment device 10 including a first conveying unit 11, a second conveying unit 21, a control device 20, a third conveying unit 31, and a sorting device 30. In this example, each device and each conveying unit constituting the fish sorting system 1 is supported by a support unit (not shown).

[0015] The fish sorting system 1 will be described below using a right-handed Cartesian coordinate system having an x-axis, a y-axis, and a z-axis. In this example, the x-axis direction, the y-axis direction, and the z-axis direction may respectively be expressed as the left-right direction of the fish sorting system 1, the front-rear direction of the fish sorting system 1, and the up-down direction of the fish sorting system 1. Also, in this example, the positive direction of the x-axis, the negative direction of the x-axis, the positive direction of the y-axis, the negative direction of the y-axis, the positive direction of the z-axis, and the negative direction of the z-axis may respectively be expressed as the right direction of the fish sorting system 1, the left direction of the fish sorting system 1, the front direction of the fish sorting system 1, the rear direction of the fish sorting system 1, the up direction of the fish sorting system 1, and the down direction of the fish sorting system 1.

[0016] In this example, the positive direction of the z axis and the negative direction of the z axis correspond to the vertically upward direction (in other words, the upward direction) and the vertically downward direction (in other words, the downward direction), respectively.

[0017] FIG. 1 is a view of the fish sorting system 1 as viewed from a position to the right of the fish sorting system 1, in front of the fish sorting system 1, and above the fish sorting system 1 (in other words, a right-front-upper perspective view). FIG. 2 is a view of the fish sorting system 1 as viewed from a position to the right of the fish sorting system 1, in front of the fish sorting system 1, and above the fish sorting system 1 (in other words, a right-rear-upper perspective view). FIG. 3 is a view of the fish sorting system 1 as viewed from above the fish sorting system 1 (in other words, a plan view). FIG. 4 is a view of the fish sorting system 1 as viewed from the right of the fish sorting system 1 (in other words, a right-side view).

[0018] Each of the first conveying unit 11, the second conveying unit 21, and the third conveying unit 31 has a conveying surface that has a predetermined width at its end in the positive direction of the z-axis and extends in the y-axis direction. Each of the first conveying unit 11, the second conveying unit 21, and the third conveying unit 31 moves the conveying surface in a predetermined conveying direction (in this example, a direction along the conveying surface and toward the positive direction of the y-axis). As a result, each of the first conveying unit 11, the second conveying unit 21, and the third conveying unit 31 moves (in other words, conveys) an object (in this example, a fish FS) placed on the conveying surface in the conveying direction.

[0019] In this example, the conveying speed, which is the speed at which the conveying surface of the first conveying unit 11 moves (in other words, the speed at which an object placed on the conveying surface moves), is 0.1 m / s. The conveying speed of the first conveying unit 11 may be 0.01 m / s to 0.4 m / s.

[0020] The conveying speed of the second conveying section 21 is higher than the conveying speed of the first conveying section 11. In this example, the conveying speed of the second conveying section 21 is 0.5 m / s. The conveying speed of the second conveying section 21 may be 0.2 m / s to 1.5 m / s.

[0021] The conveying speed of the third conveying section 31 is equal to the conveying speed of the second conveying section 21. The conveying speed of the third conveying section 31 may be different from the conveying speed of the second conveying section 21. For example, the conveying speed of the third conveying section 31 may be higher than the conveying speed of the second conveying section 21. In this example, the conveying speed of the third conveying section 31 is 0.5 m / s. The conveying speed of the third conveying section 31 may be 0.2 m / s to 1.5 m / s.

[0022] In this example, each of the first conveying section 11, the second conveying section 21, and the third conveying section 31 includes a belt-type conveyor. Note that each of the first conveying section 11, the second conveying section 21, and the third conveying section 31 may include a conveyor other than a belt-type conveyor (for example, a chain-type or roller-type conveyor). In this example, the direction opposite to the conveying direction and the conveying direction may be expressed as the upstream direction and the downstream direction, respectively.

[0023] The first conveying section 11, the second conveying section 21, and the third conveying section 31 are positioned consecutively in the conveying direction. In other words, the downstream end of the first conveying section 11 and the upstream end of the second conveying section 21 are adjacent to each other, and the downstream end of the second conveying section 21 and the upstream end of the third conveying section 31 are adjacent to each other. In this example, the second transport unit 21 and the third transport unit 31 correspond to a transport device.

[0024] In this example, the conveying surface of the first conveying section 11 is inclined with respect to the horizontal plane so that the downstream end is positioned vertically higher than the upstream end. In this example, the inclination angle at which the conveying surface of the first conveying section 11 is inclined with respect to the horizontal plane is 3 degrees. The inclination angle of the first conveying section 11 may be an angle between 0.1 degrees and 10 degrees. In this example, the inclination angle of the first conveying section 11 is changeable. The conveying surface of the first conveying section 11 may be parallel to the horizontal plane.

[0025] In this example, the conveying surfaces of the second conveying section 21 and the third conveying section 31 are parallel to the horizontal plane. Note that the conveying surfaces of the second conveying section 21 and the third conveying section 31 may be inclined with respect to the horizontal plane.

[0026] In this example, the coefficient of friction of the conveying surface of the second conveying section 21 is higher than the coefficient of friction of the conveying surfaces of the first conveying section 11 and the third conveying section 31. In this example, the reflectivity of the conveying surface of the second conveying section 21 to light is lower than the reflectivity of the first conveying section 11 and the third conveying section 31 to light.

[0027] In this example, the conveying surface of the second conveying section 21 is black and has an uneven surface. The conveying surface of the second conveying section 21 may be smooth. In this example, the conveying surfaces of the first conveying section 11 and the third conveying section 31 are smooth.

[0028] The alignment device 10 constitutes the upstream end of the fish sorting system 1. The alignment device 10 aligns the fish FS so that the head-to-tail direction of the fish FS is along the conveying direction. The head-to-tail direction is the direction connecting the head of the fish FS and the tail of the fish FS. In this example, the alignment device 10 aligns the fish FS in rows to form multiple rows (three rows in this example) along the conveying direction. As a result, the second conveying unit 21 and the third conveying unit 31 form multiple rows and convey the fish FS in the conveying direction, with the head-to-tail direction of the fish FS aligned in each row along the conveying direction.

[0029] In this example, of the three columns formed by the alignment device 10, the column at the end in the negative direction of the x-axis is referred to as the first column, the center column in the x-axis direction is referred to as the second column, and the column at the end in the positive direction of the x-axis is referred to as the third column. The alignment device 10 will be described in detail later.

[0030] The control device 20 acquires basic sorting information, which is the basis for sorting, from the fish FS being transported on the transport surface of the second transport unit 21, and controls the sorting device 30 based on the acquired basic sorting information. The control device 20 includes a control unit 22. The control device 20 will be described in detail later.

[0031] The sorting device 30 sorts the fish FS being transported on the transport surface of the third transport section 31 under the control of the control device 20. The details of the sorting device 30 will be described later.

[0032] (Configuration: Alignment device) Next, the alignment device 10 will be described in detail. As shown in FIGS. 5 to 10, the alignment device 10 includes an outer wall portion 12, a first moving body portion 13, and a second moving body portion 14. Fig. 5 is a right-front upper perspective view of the alignment device 10. Fig. 6 is a right-rear upper perspective view of the alignment device 10. Fig. 7 is a plan view of the alignment device 10. Fig. 8 is a right side view of the alignment device 10. Fig. 9 is a view of the alignment device 10 as seen from the front of the alignment device 10 (in other words, a front view). Fig. 10 is a plan view showing the operation of the first moving body unit 13 and the second moving body unit 14 of the alignment device 10.

[0033] The outer wall portion 12 has a pair of outer wall bodies that stand upright relative to the conveying surface. In this example, each of the pair of outer wall bodies is flat. The pair of outer wall bodies extend along the conveying direction of the first conveying portion 11 from an end of the first conveying portion 11 in the upstream direction to an end of the first conveying portion 11 in the downstream direction.

[0034] The pair of outer wall bodies are positioned adjacent to the first conveying section 11 at both ends of the first conveying section 11 in the width direction (in this example, the x-axis direction) outside the conveying surface of the first conveying section 11. The width direction is a direction along the conveying surface of the first conveying section 11 and perpendicular to the conveying direction. The outer wall bodies 12 are fixed so as to be immovable relative to the first conveying section 11.

[0035] With this configuration, the pair of outer wall bodies face each other across a space on the conveying surface of the first conveying section 11.

[0036] The first moving body 13 and the second moving body 14 are each located above the conveying surface of the first conveying section 11 and include a downstream end of the first conveying section 11. The first moving body 13 includes a first side wall 131, a second side wall 132, a third side wall 133, and a support 134. The second moving body 14 includes a first side wall 141, a second side wall 142, a third side wall 143, and a support 144.

[0037] The first side wall 131, the second side wall 132, the third side wall 133, the first side wall 141, the second side wall 142, and the third side wall 143 are also referred to as side wall groups 131-133 and 141-143.

[0038] Each of the side wall groups 131 to 133 and 141 to 143 stands on the conveyance surface. In this example, each of the side wall groups 131 to 133 and 141 to 143 is flat. Each of the side wall groups 131 to 133 and 141 to 143 extends in the conveyance direction.

[0039] In this example, the length in the transport direction of each of the side wall groups 131-133 and 141-143 is 30% to 50% of the length in the transport direction of the first transport section 11. Note that the length in the transport direction of each of the side wall groups 131-133 and 141-143 may be 50% to 100% of the length in the transport direction of the first transport section 11.

[0040] Each of the side wall groups 131 to 133 is supported by a support 134 above the conveying surface of the first conveying section 11 so as to be spaced a predetermined gap from the conveying surface. Each of the side wall groups 141 to 143 is supported by a support 144 above the conveying surface of the first conveying section 11 so as to be spaced a predetermined gap from the conveying surface.

[0041] The side wall groups 131-133 and 141-143 are spaced apart from one another in the width direction. In this example, the side wall groups 131-133 and 141-143 form a plurality of passages (three in this example) extending in the conveying direction. Note that the number of passages formed by the aligning device 10 may be one, two, or four or more.

[0042] The first side wall 131 is located near one end in the width direction (in this example, the end in the negative x-axis direction) of the conveying surface of the first conveying section 11. The third side wall 143 is located near the other end in the width direction (in this example, the end in the positive x-axis direction) of the conveying surface of the first conveying section 11.

[0043] The first side wall 141 is positioned opposite the first side wall 131. Therefore, the side wall surface of the first side wall 131, which is the end surface in the positive direction of the x-axis, and the side wall surface of the first side wall 141, which is the end surface in the negative direction of the x-axis, form a first passage. In other words, the first side wall 131 and the first side wall 141 each have a pair of side wall surfaces that form the first passage.

[0044] The second side wall 132 and the second side wall 142 are positioned opposite each other with the center in the width direction sandwiched between them. In this example, the side wall surface of the second side wall 142 that is the end face in the positive direction of the x-axis and the side wall surface of the second side wall 132 that is the end face in the negative direction of the x-axis form a second passage. In other words, the second side wall 132 and the second side wall 142 each have a pair of side wall surfaces that form the second passage.

[0045] The third side wall 133 is positioned opposite the third side wall 143. Therefore, the side wall surface of the third side wall 133, which is the end surface in the positive direction of the x-axis, and the side wall surface of the third side wall 143, which is the end surface in the negative direction of the x-axis, form a third passage. In other words, the third side wall 133 and the third side wall 143 each have a pair of side wall surfaces that form the third passage.

[0046] At the upstream ends of the second side wall body 132 and the third side wall body 133, the widthwise distance between the two side wall surfaces that the second side wall body 132 and the third side wall body 133 have respectively becomes shorter as they move upstream so that the two side wall surfaces guide the fish FS into the second passage and the third passage, respectively.

[0047] In this example, the upstream end portions of the second side wall body 132 and the third side wall body 133 are swingable such that the central axis of the swing extends in a direction perpendicular to the conveying surface of the first conveying section 11. Furthermore, the upstream end portions of the second side wall body 132 and the third side wall body 133 are swingably connected to each other such that the central axis of the swing extends in a direction perpendicular to the conveying surface of the first conveying section 11.

[0048] The second side wall 132 and the third side wall 133 are fixed to the support 134 so that their positions in the width direction can be changed. Therefore, the distance in the width direction between the two side wall surfaces of the second side wall 132 and the third side wall 133 is changeable. In other words, by changing the positions in the width direction of the second side wall 132 and the third side wall 133, the lengths in the width direction of the second passage and the third passage are changed.

[0049] The second side wall 132 and the third side wall 133 have a guide portion 1321 and a guide portion 1331, respectively, at their ends in the upstream direction. 6, 7, and 9, the guide portion 1321 has an arc-shaped curved surface whose center is located further in the negative x-axis direction than the side wall surface of the second side wall body 132. In this example, the curvature of the guide portion 1321 decreases toward the downstream direction. The guide portion 1331 has an arc-shaped curved surface whose center is located further in the positive x-axis direction than the side wall surface of the third side wall body 133. In this example, the curvature of the guide portion 1331 decreases toward the downstream direction.

[0050] According to this, when a fish FS having a dorsal-ventral direction aligned with the vertical direction comes into contact with the guide portions 1321 and 1331, the posture of the fish FS can be changed to a posture with a dorsal-ventral direction aligned with the horizontal direction. The dorsal-ventral direction of the fish FS is the direction connecting the dorsum and belly of the fish FS. This makes it possible to prevent the fish FS aligned in each row from overlapping each other in the direction along the transport direction.

[0051] At the upstream ends of the first side wall body 141 and the second side wall body 142, the widthwise distance between the two side wall surfaces that the first side wall body 141 and the second side wall body 142 each have becomes shorter as they move upstream so that the two side wall surfaces guide the fish FS into the first passage and the second passage, respectively.

[0052] In this example, the upstream end portions of the first side wall body 141 and the second side wall body 142 are each swingable such that the central axis of the swing extends in a direction perpendicular to the conveying surface of the first conveying section 11. Furthermore, the upstream end portions of the first side wall body 141 and the second side wall body 142 are swingably connected to each other such that the central axis of the swing extends in a direction perpendicular to the conveying surface of the first conveying section 11.

[0053] Each of the first side wall body 141 and the second side wall body 142 is fixed to the support body 144 so that its position in the width direction can be changed. Therefore, the distance in the width direction between the two side wall surfaces of the first side wall body 141 and the second side wall body 142 is changeable. In other words, by changing the positions in the width direction of the first side wall body 141 and the second side wall body 142, the lengths in the width direction of the first passage and the second passage are each changed.

[0054] The first side wall body 141 and the second side wall body 142 have a guide portion 1411 and a guide portion 1421, respectively, at their ends in the upstream direction. 6, 7, and 9, the guide portion 1411 has an arc-shaped curved surface whose center is located further in the negative x-axis direction than the side wall surface of the first side wall body 141. In this example, the curvature of the guide portion 1411 decreases toward the downstream direction. The guide portion 1421 has an arc-shaped curved surface whose center is located further in the positive x-axis direction than the side wall surface of the second side wall body 142. In this example, the curvature of the guide portion 1421 decreases toward the downstream direction.

[0055] According to this, when a fish FS having a posture in which its dorsal-ventral direction is aligned with the vertical direction comes into contact with the guide parts 1411 and 1421, the posture of the fish FS can be changed to a posture in which its dorsal-ventral direction is aligned with the horizontal direction. This makes it possible to prevent the fish FS aligned in each row from overlapping with each other in the direction of transport.

[0056] The support body 134 supports and integrally connects the first side wall body 131, the second side wall body 132, and the third side wall body 133. Therefore, the support body 134 supports the second side wall body 132 and the third side wall body 133, which are sandwiched between the second passage and the third passage, which are two adjacent passages.

[0057] The support body 144 supports and integrally connects the first side wall body 141, the second side wall body 142, and the third side wall body 143. Therefore, the support body 144 supports the first side wall body 141 and the second side wall body 142, which are sandwiched between the first passage and the second passage, which are two adjacent passages.

[0058] As shown in FIG. 10, the alignment device 10 includes a drive unit (not shown), which repeatedly moves the first moving body unit 13 and the second moving body unit 14 back and forth in the conveying direction. In this example, moving periods and stopping periods alternate in the alignment device 10. During the moving periods, the alignment device 10 moves the first moving body unit 13 and the second moving body unit 14. During the stopping periods, the alignment device 10 stops the first moving body unit 13 and the second moving body unit 14.

[0059] In this example, the length of the moving period is 1 second. However, the length of the moving period may be 0.5 to 2 seconds. In this example, the length of the stop period is equal to the length of the moving period. However, the length of the stop period may be different from the length of the moving period. For example, the length of the stop period may be 0.5 to 2 seconds.

[0060] The alignment device 10 moves the first moving body 13 and the second moving body 14 in opposite directions. Therefore, as shown in Fig. 10(A), in the first movement period, the alignment device 10 moves the first moving body 13 in the conveying direction AR1 and moves the second moving body 14 in the opposite direction AR2 to the conveying direction.

[0061] As a result, the first side wall body 131 having the side wall surface forming the first passage moves in the conveying direction, and the first side wall body 141 having the side wall surface forming the first passage moves in the opposite direction to the conveying direction. Further, the second side wall body 132 having the side wall surface forming the second passage moves in the conveying direction, and the second side wall body 142 having the side wall surface forming the second passage moves in the opposite direction to the conveying direction. Further, the third side wall body 133 having the side wall surface forming the third passage moves in the conveying direction, and the third side wall body 143 having the side wall surface forming the third passage moves in the opposite direction to the conveying direction.

[0062] In a first stop period following the first movement period, the alignment device 10 stops the first moving body unit 13 and the second moving body unit 14.

[0063] In the second movement period following the first stop period, as shown in (B) of Figure 10, the alignment device 10 moves the first moving body unit 13 in the opposite direction AR3 to the conveying direction and moves the second moving body unit 14 in the conveying direction AR4.

[0064] As a result, the first side wall body 131 having the side wall surface forming the first passage moves in the opposite direction to the conveying direction, and the first side wall body 141 having the side wall surface forming the first passage moves in the conveying direction. Further, the second side wall body 132 having the side wall surface forming the second passage moves in the opposite direction to the conveying direction, and the second side wall body 142 having the side wall surface forming the second passage moves in the conveying direction. Furthermore, the third side wall body 133 having a side wall surface that forms the third passage moves in the opposite direction to the conveying direction, and the third side wall body 143 having a side wall surface that forms the third passage moves in the conveying direction.

[0065] In a second stop period following the second movement period, the alignment device 10 stops the first moving body unit 13 and the second moving body unit 14. The alignment device 10 repeats a first movement period, a first stop period, a second movement period, and a second stop period.

[0066] In this way, the alignment device 10 repeatedly moves the first moving body unit 13 and the second moving body unit 14 back and forth in the direction along the conveying direction, thereby aligning the fish FS in rows to form multiple rows (three rows in this example) along the conveying direction, and with the head-to-tail direction of the fish FS aligned along the conveying direction.

[0067] In this example, the alignment device 10 moves both of a pair of side wall bodies, each of which has a pair of side wall surfaces that form a passage, back and forth. However, in a modification of the first embodiment, the alignment device 10 may move only one of a pair of side wall bodies, each of which has a pair of side wall surfaces that form a passage, back and forth. Also, in a modification of the first embodiment, the alignment device 10 may align the fish FS without moving the first moving body unit 13 and the second moving body unit 14.

[0068] (Configuration: Control device) Next, the control device 20 will be described in detail. 11 to 13, the control device 20 includes a shield 23, a plurality of (three in this example) pairs of light source units 24, a first imaging unit 25, and a second imaging unit 26. The number of light source units included in the control device 20 may be a number other than three pairs. The number of each of the first imaging units and second imaging units included in the control device 20 may be two or more. The control device 20 may also include a light source unit 24, a first image capturing unit 25, and a second image capturing unit 26, each of which corresponds to a plurality of rows formed by the aligning device 10.

[0069] Fig. 11 is a right-front upper perspective view of the control device 20. Fig. 12 is a right-rear upper perspective view of the control device 20. Fig. 13 is a right-front upper perspective view of the control device 20 with the shielding body 23 removed.

[0070] The shielding body 23 is located above the conveying surface of the second conveying section 21, and covers the entire conveying surface in the width direction of the conveying surface, and covers the conveying surface except for both ends in the conveying direction. The shielding body 23 has an outer wall that blocks light. For example, at least a portion of the outer wall may be made of a light-blocking plate or cloth. In this example, the shielding body 23 has a rectangular prism shape that extends in the conveying direction.

[0071] The shield 23 forms an internal space together with the conveying surface of the second conveying section 21. The shield 23 has an inlet section and an outlet section that communicate the internal space with the outside of the shield 23. The inlet section constitutes the upstream end of the shield 23. The inlet section extends in the upstream direction at a vertically downward end of the shield 23. The outlet section constitutes the downstream end of the shield 23. The outlet section extends in the downstream direction at a vertically downward end of the shield 23. The heights of the inlet section and the outlet section are each lower than the height of the center of the shield 23 in the conveying direction.

[0072] With this configuration, the shielding body 23 shields the fish FS, the first photographing unit 25, and the second photographing unit 26 so as to form an internal space to accommodate the fish FS, the first photographing unit 25, and the second photographing unit 26 transported on the transport surface of the second transporting unit 21.

[0073] 13, the light source unit 24 generates light in the internal space formed by the shielding body 23 and the transport surface of the second transport unit 21. In this example, the light source unit 24 includes a plurality of LEDs (Light Emitting Diodes) arranged in a linear pattern and a diffusion plate that diffuses the light so as to uniformly illuminate the fish FS. In this example, the light source unit 24 is located above the transport surface of the second transport unit 21 and in an area that is vertically lower than the first photographing unit 25 and the second photographing unit 26. With this configuration, the light source unit 24 illuminates the fish FS being transported on the transport surface of the second transport unit 21.

[0074] The first photographing unit 25 photographs the fish FS and acquires a visible light image representing the photographed fish FS. The visible light image is an image that represents the intensity of visible light reflected by the fish FS for each of a plurality of pixels. In this example, the plurality of pixels included in the visible light image are arranged in a grid pattern.

[0075] In this example, the first image capturing unit 25 includes a color camera or an RGB (Red Green Blue) camera. The first image capturing unit 25 may be a black and white camera. The first image capturing unit 25 is located vertically above the conveying surface of the second conveying unit 21. In this example, the first imaging section 25 acquires a still image. Note that the first imaging section 25 may acquire a moving image instead of or in addition to the still image.

[0076] The second image capturing unit 26 captures an image of the fish FS and obtains a distance image representing the captured fish FS. The distance image is an image that represents the distance between a reference plane and the fish FS for each of a plurality of pixels. In this example, the reference plane forms a horizontal plane. In other words, in this example, the reference plane is a plane perpendicular to the vertical direction. Note that the reference plane may be inclined with respect to the horizontal plane. In this example, the plurality of pixels included in the distance image are arranged in a grid pattern.

[0077] In this example, the second image capturing unit 26 includes a TOF (Time Of Flight) camera. Note that the second image capturing unit 26 may acquire distance images by using a stereo camera instead of a TOF camera. The second image capturing unit 26 may also include a distance measuring sensor that measures the distance between a reference plane and the fish FS for each of a plurality of pixels arranged in a linear array, and acquire distance images based on the distance measured each time the fish FS moves a predetermined distance.

[0078] The second photographing unit 26 is located vertically above the transport surface of the second transport unit 21. In this example, the second photographing unit 26 acquires still images. Note that the second photographing unit 26 may acquire moving images instead of or in addition to still images.

[0079] 14, the control unit 22 includes a processing unit 221 and a storage unit 222. In this example, at least a part of the control unit 22 is configured by an LSI (Large Scale Integration) circuit. Note that at least a part of the control unit 22 may be configured by a programmable logic circuit (for example, a PLD (Programmable Logic Device) or an FPGA (Field-Programmable Gate Array)). Furthermore, the control unit 22 may include a desktop computer, a laptop computer, a tablet computer, a smartphone, or the like.

[0080] The control unit 22 controls each part of the fish sorting system 1 by the processing unit 221 executing a program stored in the storage device 222. In this example, the control by the control unit 22 is performed by the control unit 22 sending and receiving signals to and from each part of the fish sorting system 1. In this example, the control unit 22 is connected to the first photographing unit 25, the second photographing unit 26, a first passage sensor 34L described below, a second passage sensor 34C described below, a third passage sensor 34R described below, first sorting units 321L to 324L described below, second sorting units 325C to 327C described below, third sorting units 321R to 324R described below, and a fourth sorting unit 33 described below by signal lines for sending and receiving signals. As a result, the control unit 22 realizes the functions described below.

[0081] The processing device 221 may include a central processing unit (CPU), a micro processing unit (MPU), a graphical processing unit (GPU), or a digital signal processor (DSP). The storage device 222 may include a random access memory (RAM), a semiconductor memory, an organic memory, a hard disk drive (HDD), or a solid state drive (SSD).

[0082] (Configuration: sorting device) Next, details of the sorting device 30 will be explained. As shown in Figures 15 to 20, the sorting device 30 includes multiple (four in this example) first sorting sections 321L to 324L, multiple (three in this example) second sorting sections 325C to 327C, multiple (four in this example) third sorting sections 321R to 324R, a fourth sorting section 33, a first passing sensor 34L, a second passing sensor 34C, and a third passing sensor 34R.

[0083] The number of each of the first sorting sections and the third sorting sections included in the sorting device 30 may be three or less, or five or more. The number of second sorting sections included in the sorting device 30 may be two or less, or four or more. For example, the number of sorting sections included in the sorting device 30 may be determined according to the number of categories of fish FS to be sorted.

[0084] Fig. 15 is a right-front upper perspective view of the sorting device 30. Fig. 16 is a right-rear upper perspective view of the sorting device 30. Fig. 17 is a plan view of the sorting device 30. Fig. 18 is a right side view of the sorting device 30. Fig. 19 is a right-front upper perspective view of the second sorting section 325C. Fig. 20 is an explanatory diagram showing an overview of the operation of the second sorting section 325C.

[0085] The multiple first sorting sections 321L to 324L are located at positions including the upstream end of the sorting device 30. Each of the multiple first sorting sections 321L to 324L sorts the fish FS that are aligned in the first row formed by the alignment device 10 from among the fish FS on the conveying surface of the third conveying section 31.

[0086] The second sorting sections 325C to 327C and the fourth sorting section 33 are positioned downstream of the first sorting sections 321L to 324L of the sorting device 30. The fourth sorting section 33 is positioned downstream of the second sorting sections 325C to 327C. Each of the second sorting sections 325C to 327C and the fourth sorting section 33 sorts the fish FS that have been aligned in the second row formed by the aligning device 10 from among the fish FS on the conveying surface of the third transport section 31.

[0087] The multiple third sorting sections 321R to 324R are located at positions including the upstream end of the sorting device 30. Each of the multiple third sorting sections 321R to 324R sorts the fish FS that are arranged in the third row formed by the aligning device 10 from among the fish FS on the transport surface of the third transport section 31. In this example, the first sorting units 321L-324L and the third sorting units 321R-324R are positioned to face each other in the width direction (x-axis direction in this example). The width direction is a direction along the conveying surface of the third conveying unit 31 and perpendicular to the conveying direction.

[0088] 16 and 17, the first passage sensor 34L is located upstream of the plurality of first sorting sections 321L to 324L and adjacent to the plurality of first sorting sections 321L to 324L. The first passage sensor 34L detects the passage of the fish FS arranged in the first row formed by the aligning device 10 among the fish FS on the conveying surface of the third conveying section 31 (in this example, the passage of the leading ends of the fish FS in the conveying direction).

[0089] The second passage sensor 34C is located upstream of the second sorting sections 325C to 327C and adjacent to the second sorting sections 325C to 327C. The second passage sensor 34C detects the passage of the fish FS aligned in the second row formed by the alignment device 10 among the fish FS on the conveying surface of the third conveying section 31 (in this example, the passage of the leading ends of the fish FS in the conveying direction).

[0090] The third passage sensor 34R is located upstream of the plurality of third sorting sections 321R to 324R and adjacent to the plurality of third sorting sections 321R to 324R. The third passage sensor 34R detects the passage of fish FS aligned in the third row formed by the alignment device 10 among the fish FS on the conveying surface of the third conveying section 31 (in this example, the passage of the leading ends of the fish FS in the conveying direction). In this example, each of the first passage sensor 34L, the second passage sensor 34C, and the third passage sensor 34R uses infrared rays to detect the passage of a fish FS.

[0091] As shown in FIG. 19, the second distribution section 325C includes a plurality of (three in this example) rotating sections 3211, a plurality of (two in this example) annular bodies 3212, a plurality of (three in this example) protrusions 3213, an inclined section 3221, and a storage section 3222.

[0092] Each of the rotating parts 3211 is rotatably supported above the conveying surface of the third conveying part 31 with its central axis of rotation extending in the conveying direction. Each of the rotating parts 3211 has a pair of disk parts at both ends in the conveying direction. The pair of disk parts are spaced apart from each other by a predetermined distance in the width direction.

[0093] Two of the plurality of rotators 3211 face the conveying surface of the third transport unit 31 and are positioned apart from each other by a predetermined distance in the width direction. The other of the plurality of rotators 3211 are positioned higher than the two rotators 3211. In this example, when the second sorting unit 325C is viewed in the direction along the conveying direction, the central axes of rotation of the three rotators 3211 are positioned at the vertices of an equilateral triangle whose base is parallel to the conveying surface of the third transport unit 31.

[0094] The plurality of annular bodies 3212 are wound around pairs of disk portions of the plurality of rotating parts 3211, respectively. As a result, the plurality of annular bodies 3212 are circulatably supported by the plurality of rotating parts 3211 above the conveying surface of the third conveying part 31 so as to have opposing portions that are portions that face the conveying surface. In other words, the opposing portions extend parallel to the conveying surface of the third conveying part 31.

[0095] In this example, the disk portion of the rotating portion 3211 is a sprocket, and the ring-shaped body 3212 is a roller chain. Alternatively, the disk portion of the rotating portion 3211 may be a pulley, and the ring-shaped body 3212 may be a belt.

[0096] Each of the plurality of protrusions 3213 has a rectangular, flat plate shape. Each of the plurality of protrusions 3213 extends in the conveyance direction across the plurality of annular bodies 3212. In other words, each of the plurality of protrusions 3213 has a wall surface that extends in the conveyance direction.

[0097] The plurality of protrusions 3213 are fixed to the plurality of annular bodies 3212 so as to protrude outward from the plurality of annular bodies 3212. In this example, when the second sorting section 325C is viewed in the conveying direction, each of the plurality of protrusions 3213 extends in the normal direction of the portion of the outer surface of the plurality of annular bodies 3212 to which the protrusion 3213 is fixed.

[0098] Therefore, when the portion of the plurality of annular bodies 3212 to which the protrusion 3213 is fixed is the opposing portion, the protrusion 3213 extends downward from the opposing portion. When the portion of the plurality of annular bodies 3212 to which the protrusion 3213 is fixed is the opposing portion, the protrusion 3213 is located above the conveying surface of the third conveying section 31 so as to be separated by a predetermined gap from the conveying surface.

[0099] The plurality of protrusions 3213 each have a plurality of positions spaced apart at predetermined intervals along the plurality of ring-shaped bodies 3212. In other words, the plurality of protrusions 3213 are positioned at equal intervals along the plurality of ring-shaped bodies 3212.

[0100] 20, the second sorting unit 325C includes a drive unit (not shown), and the drive unit rotates one of the plurality of rotation units 3211 for a drive period in accordance with a drive instruction signal from the control unit 22. The rotation direction of the rotation unit 3211 of the second sorting unit 325C is counterclockwise when the second sorting unit 325C is viewed facing the conveyance direction.

[0101] The drive period is a period during which the multiple ring-shaped bodies 3212 are circulated by the distance between the protrusions 3213 along the multiple ring-shaped bodies 3212. In this example, the length of the drive period is 0.6 [s]. In this example, the speed at which the protrusions 3213 move is 0.76 [m / s]. The length of the drive period may be 0.2 [s] to 1.2 [s]. The speed at which the protrusions 3213 move may also be 0.3 [m / s] to 1.5 [m / s].

[0102] As a result, the plurality of annular bodies 3212 circulate in a counterclockwise direction when the second sorting unit 325C is viewed in the conveying direction in accordance with the rotation of the rotating unit 3211. Therefore, among the plurality of rotating units 3211, the rotating units 3211 other than the rotating unit 3211 rotated by the driving unit are also rotated.

[0103] As a result, the facing portions of the multiple annular bodies 3212 that face the conveying surface of the third conveying unit 31 move in the extrusion direction. The extrusion direction is a direction along the conveying surface of the third conveying unit 31 and a direction perpendicular to the conveying direction. In this example, the extrusion direction with respect to the second sorting unit 325C is the positive direction of the x-axis.

[0104] Therefore, as shown in (A) of Figure 20, the protrusion 3213 located at the end of the opposing portions of the multiple annular bodies 3212 in the negative direction of the x-axis (in other words, the standby position) moves in the extrusion direction as the multiple annular bodies 3212 circulate.

[0105] Then, the protrusion 3213 comes into contact with the fish FS on the conveying surface and pushes the fish FS on the conveying surface in the pushing direction, as shown in (B) of Figure 20. This pushes the fish FS on the conveying surface out of the conveying surface. The fish FS pushed out of the conveying surface slides down the inclined portion 3221 and is accommodated in the accommodation portion 3222.

[0106] Thereafter, the driving period ends, and the rotating parts 3211 and the annular bodies 3212 stop. At this point, as shown in Fig. 20(C), the protrusions 3213 are in the same position as they were before the previous driving period started (in other words, the state shown in Fig. 20(A)).

[0107] In this way, the second sorting section 325C moves the protrusion 3213 located below the opposing portions of the multiple annular bodies 3212 in the extrusion direction, causing the protrusion 3213 to push the fish FS on the conveying surface of the third conveying section 31 out of the conveying surface. In this example, the end face of the protrusion 3213 located below the opposing portions of the multiple annular bodies 3212 in the positive x-axis direction corresponds to the wall surface that pushes the fish FS out of the conveying surface.

[0108] As described above, the number of rotators 3211 included in the second sorting unit 325C is three. However, the number of rotators 3211 included in the second sorting unit 325C may be two. In this case, the two rotators 3211 may face the conveying surface of the third conveying unit 31 and may be positioned such that they are spaced apart by a predetermined distance in the width direction. Furthermore, the number of rotators 3211 included in the second sorting unit 325C may be four or more.

[0109] The second sorting unit 327C has a configuration similar to that of the second sorting unit 325C, except that it is positioned differently in the conveying direction. The second sorting unit 326C has a configuration similar to that of the second sorting unit 325C, except that it is positioned differently in the conveying direction and is configured symmetrically to the second sorting unit 325C with respect to a plane perpendicular to the conveying direction. Therefore, the extrusion direction for the second sorting unit 326C is the negative direction of the x-axis.

[0110] Each of the first sorting units 321L to 324L has the same configuration as the second sorting unit 325C, except that it is configured to sort the fish FS aligned in the first row, its position in the conveying direction is different, and it is configured to be plane-symmetrical to the second sorting unit 325C with respect to a plane perpendicular to the conveying direction. Therefore, the extrusion direction for each of the first sorting units 321L to 324L is the negative direction of the x-axis.

[0111] Each of the third sorting units 321R to 324R has the same configuration as the second sorting unit 325C, except that it is configured to sort the fish FS aligned in the third row and that its position in the conveying direction is different. Therefore, the extrusion direction for each of the third sorting units 321R to 324R is the positive direction of the x-axis.

[0112] The fourth sorting unit 33 is located above the conveying surface of the third conveying unit 31, at an end of the third conveying unit 31 in the conveying direction. The fourth sorting unit 33 is a flat plate extending in the vertical direction and in the conveying direction. The fourth sorting unit 33 is supported so that it can swing with its central axis of swing extending in the vertical direction.

[0113] The fourth sorting unit 33 swings to sort the fish FS on the conveying surface of the third conveying unit 31 into the inclined portion 3301L and the inclined portion 3301R. The inclined portion 3301L guides the fish FS on the conveying surface of the third conveying unit 31 to the storage unit 3302L. The inclined portion 3301R guides the fish FS on the conveying surface of the third conveying unit 31 to the storage unit 3302R.

[0114] (function) Next, the function of the control unit 22 will be described with reference to FIG. The control unit 22 acquires a visible light image representing the fish FS photographed by the first photographing unit 25. Furthermore, the control unit 22 acquires a distance image representing the fish FS photographed by the second photographing unit .

[0115] The control unit 22 acquires basic sorting information that serves as the basis for sorting based on the acquired distance image and visible light image. In this example, the basic sorting information includes body length information and fish species information. The body length information indicates the length of the fish FS in the head-to-tail direction (in other words, the body length). The fish species information indicates the type of fish FS in biology or ichthyology (in other words, the fish species).

[0116] In addition, the basic selection information may include at least one of sex information, fat information, weight information, and egg-laying information in addition to or instead of fish species information. Sex information indicates whether the fish is female or male. Fat information indicates the fat percentage, which is the ratio of the weight of fat contained in the fish FS to the weight of the fish FS. Weight information indicates the weight of the fish FS. Egg-laying information indicates whether the fish FS has eggs.

[0117] In this example, the control unit 22 uses the trained model to acquire basic selection information for each fish FS. The trained model is a model that acquires feature information representing the features of the distance image and the visible light image, and estimates basic information for sorting fish FS based on the acquired feature information. The trained model includes a neural network. In this example, the trained model includes a convolutional neural network. For example, the convolutional neural network includes a convolutional layer, a pooling layer, and a fully connected layer.

[0118] The control unit 22 may estimate the basic selection information for the fish FS using a neural network other than a convolutional neural network. The control unit 22 may also estimate the basic selection information for the fish FS using machine learning other than a neural network.

[0119] In this example, the trained model predetermines the weighting coefficients of the neural network by learning distance images and visible light images representing the fish FS and basic information for actual selection of the fish FS. For example, the trained model may include a trained model called VGG16, VGG19, ResNet, MobileNet, or DenseNet.

[0120] The control unit 22 may also acquire basic selection information for the fish FS without using machine learning. For example, the control device 20 may acquire fat information for the fish FS using near-infrared spectroscopy. The control device 20 may also be provided with a weight sensor that detects the weight of the fish FS, and may acquire weight information for the fish FS using the weight sensor.

[0121] The control unit 22 controls the sorting device 30 for each fish FS based on the basic sorting information acquired for each fish FS. In this example, the control unit 22 determines, for each fish FS, a drive allocation unit that is an allocation unit to be driven to allocate the fish FS, and a drive standby time.

[0122] The drive sorting unit is selected from among the first sorting units 321L to 324L for the fish FS arranged in the first row, from among the second sorting units 325C to 327C and the fourth sorting unit 33 for the fish FS arranged in the second row, and from among the third sorting units 321R to 324R for the fish FS arranged in the third row. In this example, the control unit 22 determines, as the drive allocation unit, an allocation unit that is associated in advance with the fish species indicated by the fish species information acquired for the fish FS.

[0123] The drive waiting time is the time from when the passage of the tip of the fish FS in the transport direction is detected by a passage sensor (in this example, the first passage sensor 34L, the second passage sensor 34C, or the third passage sensor 34R) to when the drive distribution unit determined for that fish FS is driven (in this example, when the drive period begins).

[0124] In this example, the drive waiting time is determined for each fish FS based on the body length information obtained for that fish FS so that the protrusion 3213 moves at the timing when the center of the fish FS in the head-to-tail direction reaches the center of the protrusion 3213 in the direction along the conveying direction. In this example, the drive standby time T is determined based on the distance D from the passage sensor to the center of the protrusion 3213 of the drive distribution unit in the conveying direction, the body length L, and the conveying speed S of the conveying surface of the third conveying unit 31. For example, the drive standby time T may be determined based on Equation 1.

number

[0125] In addition, the fish sorting system 1 may be configured to include a sorting machine (e.g., a roller-type sorting machine) that sorts fish FS according to their size, and the fish FS sorted by the sorting machine may be supplied to the alignment device 10.

[0126] (operation) Next, the operation of the fish sorting system 1 of the first embodiment will be described with reference to FIG. First, the fish FS are supplied from the upstream end of the aligning device 10. The fish FS are transported on the transport surface of the first transport section 11 in the transport direction.

[0127] The alignment device 10 repeatedly moves the first moving body unit 13 and the second moving body unit 14 back and forth in the direction along the conveying direction, thereby aligning the fish FS in rows to form multiple rows (three rows in this example) along the conveying direction, and with the head-to-tail direction of the fish FS aligned along the conveying direction.

[0128] Next, the aligned fish FS are supplied from the upstream end of the control device 20. The fish FS are transported on the transport surface of the second transport section 21 in the transport direction. The control device 20 acquires a visible light image using the first imaging unit 25 (step S201 in FIG. 21). Next, the control device 20 acquires a distance image using the second imaging unit 26 (step S102 in FIG. 21). Note that steps S101 and S102 may be executed in the reverse order to that shown in FIG. 21, or may be executed in parallel.

[0129] Next, the control device 20 acquires basic selection information for each fish FS based on the acquired visible light image and distance image (step S103 in FIG. 21). Next, the control device 20 determines a drive allocation unit and a drive standby time for each fish FS based on the acquired basic selection information (step S104 in FIG. 21).

[0130] The aligned fish FS are then supplied from the upstream end of the sorting device 30. The fish FS are transported in the transport direction on the transport surface of the third transport unit 31. Next, for each fish FS, the sorting device 30 drives the drive sorting unit (in this example, rotates the rotation unit 3211) so that the drive period of the drive sorting unit determined for that fish FS begins when the drive waiting time determined for that fish FS has elapsed after the fish FS passes through the passage sensor (step S105 in FIG. 21).

[0131] Therefore, in the drive distribution section, the protrusion 3213 moves in the pushing direction. As a result, the protrusion 3213 comes into contact with the fish FS on the conveying surface and pushes the fish FS on the conveying surface in the pushing direction. As a result, the fish FS on the conveying surface are pushed out of the conveying surface. The fish FS pushed out of the conveying surface slide down the inclined section 3221 and are stored in the storage section 3222. In this way, the sorting device 30 sorts each fish FS among the drive sorting sections determined for that fish FS. Next, the fish sorting system 1 repeatedly executes the processes of steps S101 to S105. As described above, the fish sorting system 1 of the first embodiment sorts the fish FS.

[0132] As described above, the fish sorting system 1 of the first embodiment sorts fish FS. The fish sorting system 1 includes an alignment device 10, a transport device (in this example, a second transport unit 21 and a third transport unit 31), a sorting device 30, and a control device 20. The aligning device 10 aligns the fish FS so that the head-to-tail direction of the fish FS is along the conveying direction. The transport devices 21 and 31 have a transport surface on which the aligned fish FS are placed, and transport the fish on the transport surface in the transport direction. The sorting device 30 has a wall surface extending above the conveying surface in a direction along the conveying direction, and by moving the wall surface in an extrusion direction which is a direction along the conveying surface and perpendicular to the conveying direction, the wall surface pushes the fish FS out of the conveying surface. The control device 20 acquires basic sorting information that is the basis for sorting from the fish FS, and controls the sorting device 30 based on the acquired basic sorting information.

[0133] This allows the fish FS to be pushed in a direction perpendicular to the head-to-tail direction of the fish FS, thereby reducing damage to the fish FS compared to when the fish FS is pushed in the head-to-tail direction of the fish FS. Furthermore, the back and belly of the fish FS are more rounded than the head and tail of the fish FS. Therefore, fluctuations in the direction in which the pushed-out fish FS travels due to fluctuations in the position where the wall surface contacts the fish FS can be reduced. As a result, the fish FS can be pushed in the pushing direction with high precision. In this way, the fish sorting system 1 can suppress damage to the fish FS and sort the fish FS with high accuracy.

[0134] Furthermore, in the fish sorting system 1 of the first embodiment, the basic sorting information includes body length information that indicates the length of the fish FS in the head-to-tail direction. Based on the acquired body length information, the control device 20 controls the sorting device 30 so that the wall surface moves at the timing when the center of the fish FS in the head-to-tail direction reaches the center of the wall surface in the direction along the conveyance direction.

[0135] This allows the position where the wall surface comes into contact with the fish FS to be brought sufficiently close to the center of gravity of the fish FS, thereby enabling the fish FS to be pushed out of the conveying surface with high precision.

[0136] Furthermore, in the fish sorting system 1 of the first embodiment, the sorting device 30 includes an annular body 3212, a plurality of protrusions 3213, and a drive unit. The annular body 3212 has a facing portion that faces the conveying surface above the conveying surface, is supported so as to be able to circulate, and the facing portion moves in the extrusion direction as the annular body 3212 circulates. The multiple protrusions 3213 are fixed to the annular body 3212 so as to protrude outward from the annular body 3212, and form a wall surface when positioned below the opposing portion, and each have multiple positions spaced apart from each other at a predetermined interval along the annular body 3212. The driving unit moves the wall surface in the extrusion direction by circulating the annular body 3212 by the distance corresponding to the interval between the protrusions 3213.

[0137] For example, if a wall body having a wall surface is moved from a standby position in the extrusion direction and then returned to the standby position by moving the wall body in the opposite direction to the extrusion direction, the wall body crosses the space through which the fish FS are transported, and subsequently transported fish FS may collide with the wall body. Therefore, in this case, the time interval until the successively transported fish FS reach the sorting device is set to a relatively long time. As a result, the fish FS cannot be sorted quickly.

[0138] In contrast, according to the fish sorting system 1, the protrusions 3213 constituting the wall surface move from the standby position in the push direction, causing the following protrusions 3213 to arrive at the standby position. Therefore, the time interval during which consecutively transported fish FS can be pushed out can be shortened. As a result, the fish FS can be sorted quickly. Furthermore, after the protrusions 3213 push out the fish FS, it is possible to prevent the protrusions 3213 from crossing the space through which the fish FS are transported. Therefore, it is possible to prevent the subsequently transported fish FS from colliding with the protrusions 3213.

[0139] Furthermore, in the fish sorting system 1 of the first embodiment, the aligning device 10 includes a first transport section 11 and a pair of side walls (for example, a first side wall 131 and a first side wall 141). The first transport section 11 has a transport surface on which the fish FS are placed, and transports the fish FS on the transport surface in a transport direction. The pair of side wall bodies each have a pair of side wall surfaces that form a passage extending in the conveying direction above the conveying surface. The alignment device 10 reciprocates at least one of the pair of side wall bodies in the direction along the conveyance direction so that one of the pair of side wall bodies moves relative to the other in the direction along the conveyance direction.

[0140] This allows the fish FS to be separated one by one and aligned with high precision so that the head-to-tail direction of the fish FS is aligned along the conveying direction. In this example, the fish FS aligned in each row can be prevented from overlapping with each other in the conveying direction. Therefore, the control device 20 can acquire basic sorting information with high precision. Furthermore, the sorting device 30 can sort the fish FS with high precision. Furthermore, the space occupied by the alignment device 10 can be made relatively small.

[0141] Furthermore, in the fish sorting system 1 of the first embodiment, the conveying surface of the first conveying section 11 is inclined with respect to the horizontal plane so that the end in the conveying direction is positioned vertically above the end in the opposite direction to the conveying direction, and is smooth.

[0142] This allows the fish FS to be separated one by one and aligned with high precision so that the head-to-tail direction of the fish FS is aligned along the conveying direction. In this example, it is possible to prevent the aligned fish FS from overlapping each other in the conveying direction.

[0143] Furthermore, in the fish sorting system 1 of the first embodiment, the conveying speed of the conveying devices (in this example, the second conveying section 21 and the third conveying section 31) is greater than the conveying speed of the first conveying section 11.

[0144] According to this, the distance between fish FS in the direction along the conveying direction increases as the fish FS transfer from the conveying surface of the first conveying section 11 to the conveying surface of the conveying device. Therefore, even if fish FS overlap each other in the direction along the conveying direction on the conveying surface of the first conveying section 11, the fish FS can be prevented from overlapping each other in the direction along the conveying direction on the conveying surface of the conveying device. Therefore, the control device 20 can acquire basic sorting information with high accuracy. Furthermore, the sorting device 30 can sort the fish FS with high accuracy.

[0145] Furthermore, in the fish sorting system 1 of the first embodiment, the alignment device 10 has multiple pairs of side wall bodies to form multiple passages, and is provided with a support (e.g., support 134) that supports two side wall bodies (e.g., second side wall body 132 and third side wall body 133) that are sandwiched between two adjacent passages (e.g., second passage and third passage) among the multiple passages.

[0146] At the ends of the two side wall bodies in the opposite direction to the conveying direction, the distance between the two side wall bodies in the width direction, which is a direction along the conveying surface and perpendicular to the conveying direction, becomes shorter as it moves in the opposite direction to the conveying direction, so that the two side wall surfaces each have guide the fish FS into two passages, and the distance between the two side wall surfaces in the width direction is fixed to a support so that it can be changed.

[0147] This allows the fish FS to be aligned in each of multiple rows. This allows the fish FS to be sorted quickly. Furthermore, since the two side wall bodies can be driven simultaneously, the number of drive devices for driving the side wall bodies can be reduced. Furthermore, the distance in the width direction between the two side wall surfaces can be changed depending on the size of the fish FS to be sorted. Therefore, while separating the fish FS one by one, the fish FS can be aligned with high precision so that the head-to-tail direction of the fish FS is aligned in the conveying direction.

[0148] The sorting device 30 of the first embodiment sorts the fish FS on the conveying surface being conveyed in the conveying direction. The sorting device 30 has a wall surface extending above the conveying surface in the direction along the conveying direction, and pushes the fish FS being conveyed by the wall surface out of the conveying surface by moving the wall surface in a pushing direction that is a direction along the conveying surface and perpendicular to the conveying direction.

[0149] According to this, when the fish FS on the conveying surface are aligned so that the head-to-tail direction of the fish FS is along the conveying direction, the fish FS are pushed in a direction perpendicular to the head-to-tail direction of the fish FS. Therefore, damage to the fish FS can be reduced compared to when the fish FS are pushed in the head-to-tail direction of the fish FS. In addition, the back and belly of the fish FS are more rounded than the head and tail of the fish FS. Therefore, fluctuations in the direction in which the pushed-out fish FS travels due to fluctuations in the position where the wall surface contacts the fish FS can be reduced. As a result, the fish FS can be pushed in the pushing direction with high precision.

[0150] The alignment device 10 of the first embodiment has a conveying surface on which the fish FS are placed, a first conveying section 11 that conveys the fish FS on the conveying surface in the conveying direction, and a pair of side wall bodies each having a pair of side wall surfaces that form a passage extending in the conveying direction above the conveying surface. The alignment device 10 moves at least one of the pair of side wall bodies back and forth in the direction along the conveying direction so that one of the pair of side wall bodies moves relative to the other in the direction along the conveying direction.

[0151] This allows the fish FS to be separated one by one and aligned with high precision so that the head-to-tail direction of the fish FS is aligned along the conveying direction. In this example, it is possible to prevent the aligned fish FS from overlapping each other in the conveying direction. Furthermore, the space occupied by the alignment device 10 can be made relatively small.

[0152] The present invention is not limited to the above-described embodiment. For example, various modifications that can be understood by a person skilled in the art may be made to the above-described embodiment without departing from the spirit of the present invention. [Explanation of symbols]

[0153] 1. Fish sorting system 10 Alignment device 11 First conveying section 12 Exterior wall 13 First Mobile Unit 131 First side wall 132 Second side wall 1321 Information Department 133 Third side wall 1331 Information Department 134 Support 14 Second Mobile Unit 141 First side wall 1411 Information Department 142 Second side wall 1421 Information Department 143 Third side wall 144 Support 20 Control device 21 Second conveying section 22 Control Unit 221 Processing equipment 222 Storage device 23 Shield 24 Light source section 25 First Filming Section 26 Second Filming Department 30 Sorting device 31 Third conveyor section 321L~324L 1st distribution section 325C~327C 2nd distribution part 321R~324R 3rd distribution part 3211 Rotating part 3212 Annular body 3213 Projection 3221 Slope 3222 Storage unit 33 4th distribution section 3301L Inclined section 3301R Slope section 3302L storage section 3302R Storage Unit 34L First Passage Sensor 34C Second Passage Sensor 34R 3rd passing sensor FS fish

Claims

1. A fish sorting system for sorting fish, comprising: an aligning device that aligns the fish so that the head-to-tail direction of the fish is along the conveying direction; a conveying device having a conveying surface on which the aligned fish are placed and conveying the fish on the conveying surface in the conveying direction; a sorting device having a wall surface extending above the conveying surface in a direction along the conveying direction, and the wall surface is moved in a pushing direction that is a direction along the conveying surface and a direction perpendicular to the conveying direction, so that the wall surface pushes the fish out of the conveying surface; a control device that acquires basic sorting information from the fish, which is the basis for the sorting, and controls the sorting device based on the acquired basic sorting information; Equipped with The basic selection information includes body length information representing the length of the fish in the head-to-tail direction, The control device controls the sorting device based on the acquired body length information so that the wall surface moves at the timing when the center of the fish in the head-to-tail direction reaches the center of the wall surface in the direction along the conveying direction.

2. A fish sorting system for sorting fish, comprising: an aligning device that aligns the fish so that the head-to-tail direction of the fish is along the conveying direction; a conveying device having a conveying surface on which the aligned fish are placed and conveying the fish on the conveying surface in the conveying direction; a sorting device having a wall surface extending above the conveying surface in a direction along the conveying direction, and the wall surface is moved in a pushing direction that is a direction along the conveying surface and a direction perpendicular to the conveying direction, so that the wall surface pushes the fish out of the conveying surface; a control device that acquires basic sorting information from the fish, which is the basis for the sorting, and controls the sorting device based on the acquired basic sorting information; Equipped with The distributing device is an annular body above the conveying surface, having a facing portion that faces the conveying surface, supported in a circulable manner, and having the facing portion move in the extrusion direction by circulation; a plurality of protrusions fixed to the annular body so as to protrude outward from the annular body, constituting the wall surface when positioned below the opposing portion, and each having a plurality of positions spaced apart from one another at predetermined intervals along the annular body; a drive unit that moves the wall surface in the extrusion direction by circulating the annular body by the interval; A fish sorting system comprising:

3. A fish sorting system for sorting fish, comprising: an aligning device that aligns the fish so that the head-to-tail direction of the fish is along the conveying direction; a conveying device having a conveying surface on which the aligned fish are placed and conveying the fish on the conveying surface in the conveying direction; a sorting device having a wall surface extending above the conveying surface in a direction along the conveying direction, and the wall surface is moved in a pushing direction that is a direction along the conveying surface and a direction perpendicular to the conveying direction, so that the wall surface pushes the fish out of the conveying surface; a control device that acquires basic sorting information from the fish, which is the basis for the sorting, and controls the sorting device based on the acquired basic sorting information; Equipped with The alignment device includes: a conveying unit having a conveying surface on which the fish is placed and conveying the fish on the conveying surface in the conveying direction; a pair of side wall bodies each having a pair of side wall surfaces that define a passage extending along the conveying direction above the conveying surface; Equipped with A fish sorting system in which at least one of the pair of side wall bodies is moved back and forth in a direction along the conveying direction so that one of the pair of side wall bodies moves relative to the other in a direction along the conveying direction.

4. 4. The fish sorting system according to claim 3, The alignment device includes: A plurality of pairs of the side wall bodies are provided to form a plurality of the passages, a support body for supporting two side wall bodies sandwiched between two adjacent passages among the plurality of passages, A fish sorting system in which the two side wall bodies are fixed to the support body so that at their ends in the opposite direction to the conveying direction, the two side wall surfaces each have become shorter in the width direction, which is along the conveying surface and perpendicular to the conveying direction, as they guide the fish into the two passages, and the width direction of the two side wall surfaces is changeable.

5. A sorting device that sorts fish on a conveying surface being conveyed in a conveying direction, The fish feeder has a wall surface extending above the conveying surface in a direction along the conveying direction, and is configured to push the conveyed fish out of the conveying surface by moving the wall surface in a pushing direction that is a direction along the conveying surface and a direction perpendicular to the conveying direction. an annular body above the conveying surface, having a facing portion that faces the conveying surface, supported in a circulable manner, and having the facing portion move in the extrusion direction by circulation; a plurality of protrusions fixed to the annular body so as to protrude outward from the annular body, constituting the wall surface when positioned below the opposing portion, and each having a plurality of positions spaced apart from one another at predetermined intervals along the annular body; a drive unit that moves the wall surface in the extrusion direction by circulating the annular body by the interval; A sorting device comprising:

6. a conveying section having a conveying surface on which fish are placed and conveying the fish on the conveying surface in a conveying direction; a pair of side wall bodies each having a pair of side wall surfaces that define a passage extending along the conveying direction above the conveying surface; Equipped with an alignment device that reciprocates at least one of the pair of side wall bodies in a direction along the conveying direction so that one of the pair of side wall bodies moves relative to the other in the direction along the conveying direction.

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