| China is the country with the largest aquaculture output in the world,and fusiform fish is the main freshwater aquaculture fish in China,named for its fusiform shape.With the growth of aquaculture scale,the disease problem of fusiform fish is becoming increasingly prominent.As an important means to prevent fish diseases,vaccine injection by machine has the advantages of fast operation and low labor intensity.However,due to the lack of appropriate automatic grading system,the existing domestic vaccine injection machine is difficult to meet the requirements of high quality and high efficiency of vaccine injection,foreign equipment is expensive,and is not suitable for domestic fish species in China,so it is urgent to develop a set of automatic grading system for fusiform fish vaccine injection machine.In this paper,grass carp(Ctenopharyngodon idellus)is taken as the research object,the friction characteristics of grass carp are analyzed,and based on the dynamics and kinematics analysis of vibration process,the fish dispersion and head-tail orientation mechanism is designed and verified by experiments.The relationship between the size of grass carp and the position of vaccine injection was studied.The size and injection position of grass carp were obtained by using machine vision technology.The automatic grading system of fusiform fish vaccine injection machine was designed.The main research contents and conclusions are as follows:1)Based on electromagnetic vibration technology,fish dispersion and head-tail orientation mechanism are designed.Through dynamics and kinematics analysis,the optimal combined motion state of fry in the process of head-tail orientation was determined as forward-forward sliding and backward-backward sliding.Through theoretical analysis and simulation calculation,a multi-parameter adjustable fish dispersion and head-tail orientation testing machine was designed,and the orthogonal test was used to obtain:When the plate spring installation angleβ=15°,plane angleθ_z=-4°,θ_z=-1°,the amplitude is 0.7mm,plane selected with raised surface of the silicone film,the machine’s maximum head-tail orientation rate is 0.87/s.2)The regression model of grass carp body size,grass carp weight and injection location was established,and the body size,weight and injection location of grass carp were predicted by combining with machine vision.The relationship among total length TL,distance from fish-eye center to fish-tail center EFL,body width BW,weight W,and injection position IP of grass carp was analyzed.A variety of linear and nonlinear prediction models were compared and analyzed,and the best model was selected.An algorithm based on deep learning was designed to predict the size,weight and injection position of grass carp.The average relative error of TL was 1.02%and the maximum absolute error was 4.06mm.The average relative error of EFL was 1.06%,and the maximum absolute error was 2.69mm.The average relative error of BW is 2.06%,and the maximum absolute error is 1.38mm.The average relative error of weight W is 3.66%and the maximum absolute error is 1.67g.The average relative error of IP was 0.75%,and the maximum absolute error was 1.69mm.3)The automatic grading system of the fusiform fish vaccine injection machine was designed and laboratory tests was carried out as well.The main structure of the system was designed,including the fry single row device,image acquisition device and deconsolidation device.The overall framework of the control system was designed and the control hardware was selected.The upper computer software based on Python multi-process and human-computer interaction interface based on Py QT are designed to realize the control of execution unit and real-time feedback of machine working state.Laboratory tests show that the system has a grading efficiency of 1636 pieces per hour with a successful rate higher than 95%. |
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