Design And Experiment Of The Processing Device Of Hypophthalmichthys Molitrix’s Heads Based On Machine Vision

Silver carp’s heads have a high market value.The dishes made from silver carp’s heads have good flavor and high nutritional value.At present,the machining process of silver carp’s heads has not been mechanized.Most processing factories of silver carp’s heads still uses manual processing,which is inefficient and cannot divide the head evenly.Given the lack of domestic freshwater fish’s heads processing equipment and the low degree of mechanization of processing of fish’s heads,based on the actual needs of silver carp’s heads machining,this paper designs the processing device of silver carp’s heads based on machine vision;and carries out relevant experiments to realize the automatic processing of silver carp’s heads.The main research contents and conclusions of this paper are as follows:(1)The processing device of silver carp’s heads based on machine vision is designed.The machine vision technology is used to accurately plan the cutting part of the fish’s head,and the servo motor,cylinder,and stepping motor are controlled to cooperate,to realize the accurate cutting of the fish head and the automatic processing of semi sectioning.(2)The control system of the processing device of silver carp’s heads based on machine vision is designed and built.The system mainly includes software control system and a hardware control system.The software control systems include a human-computer interaction interface of silver carp heads processing control system and silver carp body image processing software.The hardware control system includes a computer,Arduino control board,photoelectric sensor,grating sensor,relay,time-delay relay,stepping motor,servo motor,and serial port module.(3)The cutting path method of silver carp’s heads based on machine vision is studied.The standards of fish head flat cutting and oblique cutting applicable to this study are clarified.The linear fitting between fish body length and the horizontal distance from fish body snout to ventral fin root and between fish body length and fish body snout to reproductive pore are carried out respectively,and the determination coefficients are 0.924 and 0.945 respectively.The calculation method of the coordinates of the upper cutting point and the lower cutting point on the cutting path during the flat cutting and oblique cutting of silver carp heads is proposed.Through the coordinates of the upper cutting point and the lower cutting point,the rotation angle of the cutting tool and the forward distance of the servo motor when the grating sensor detects the fish body is obtained.Through experiments to verify the detection accuracy of fish body length,it is concluded that the linear fitting determination coefficient between the camera measured value and the actual measured value of fish body length is 0.996,and the root means the square error is 1.41 mm,indicating that using the camera to detect the body length of silver carp has high accuracy.(4)Verify the working performance of the silver carp heads processing test device.The control accuracy of the control system is verified.The verification results show that the variation coefficient of the actual inclination angle of the cutting disc cutter controlled by the stepping motor is less than 6%,and the variation coefficient of the actual distance of the vertical clamping conveyor belt driven by the servo motor is less than 5%,indicating that the control accuracy of the control system is high.The performance test of the test device is carried out.The results show that the determination coefficients of the linear fitting between the actual horizontal distance from the snout to the upper cutting point and the lower cutting point and the predicted horizontal distance are 0.924 and 0.907 respectively,the root mean square error is 1.72 mm and 1.57 mm respectively,the appearance score of silver carp heads is 0.87 ± 0.03,the score is first class,the detection time of cutting path is 0.048 ± 0.008 s,and the processing time of each fish is 12.88 ± 0.39 s.When the fish head is cut obliquely,the linear fitting determination coefficient of the actual horizontal distance between the upper cutting point and the lower cutting point of the fish body snout and the predicted horizontal distance is 0.911 and 0.985,the root means the square error is 6.31 mm and 2.61 mm respectively,the appearance score of silver carp heads is 0.88 ± 0.02,the score is first class,the detection time of cutting path is 0.055 ± 0.009 s,and the processing time of each fish is 13.28 ± 0.36 s.The results show that the horizontal cutting and oblique cutting of silver carp heads have high accuracy.