CN114342854A - An automatic screening system for underwater fish - Google Patents

Abstract

The invention provides an automatic underwater fish screening system, which comprises: a float bowl; the fish frame assembly comprises a cylindrical fixed frame and a rotating frame, the rotating frame is sleeved on the inner side of the fixed frame, a unique fish outlet passage is generated through the rotating fit of the rotating frame and the fixed frame, and the fish outlet passage points to an independent space corresponding to the current fish body classification; the fish driving device is fixedly connected to the bottom of the rotating frame and used for applying directional driving action to fish bodies in the rotating frame through a grid structure on the rotating frame; and a control system. The invention has reasonable structural design and reliable use, and particularly can carry out the graded management of the cultured live fishes under the condition of not leaving water, thereby not only reducing the labor intensity of workers, but also obviously improving the mechanization level of fishery equipment.

Description

An automatic screening system for underwater fish

technical field

The invention relates to the technical field of classification, collection and capture, in particular, to an automatic screening system for underwater fish.

Background technique

In the process of aquaculture seedling or aquaculture cultivation, the grading method commonly used by Chinese aquaculture enterprises is generally manual grading. First, the live fish to be graded are caught by the aquaculture workers, and the fish are graded by experience, and then put into aquaculture fish ponds of different quality. This grading method requires the grading target to be fished out of the fish pond to keep it out of the water. The consequence of this is that it may cause damage to the fish body, and it is very likely to draw wrong conclusions, waste manpower and material resources in vain, and the grading efficiency is very high. Low. Based on this industrial development status, aquaculture technology urgently needs a device that can perform automatic grading operations underwater.

SUMMARY OF THE INVENTION

In view of the deficiencies of the prior art, the purpose of the present invention is to provide an automatic screening system for underwater fish, which can not only manage the cultured fish by classification and classification more accurately, but also operate for a long time without damaging the fish, and It will not frighten the fish and cause economic losses.

The technical means adopted in the present invention are as follows:

An automatic screening system for underwater fish, comprising:

a buoy for controlling the underwater depth of the fish frame assembly;

The fish frame assembly, the fish frame includes a cylindrical fixed frame and a rotating frame, the rotating frame is sleeved on the inside of the fixed frame, and the rotating frame and the fixed frame are rotated and matched to generate a unique fish outlet channel, the fish outlet The pathway points to an independent space corresponding to the current fish body classification;

A fish driving device, the fish driving device is fixedly connected to the bottom of the rotating frame, and is used to apply a directional driving action to the fish body inside the rotating frame through the grid structure on the rotating frame, so that the The fish are able to swim out of the fish passage in the direction of the drive; and

A control system, the first control end of the control system is connected to a first drive device, the second control end is connected to a second drive device, the first drive device is used to drive the rotating frame to rotate, and the second drive device is used for for driving the action of the fish driving device.

Further, the system further includes an image acquisition device, the image acquisition device is used to extract the fish body image information in the rotating frame, analyze the fish body image information through the host computer to obtain a fish body classification result, and classify the fish body image information. The classification result is sent to the control system, and the control system converts the fish classification result into a control command for controlling the rotation of the rotating frame, so that the rotating fish outlet of the rotating frame is aligned with the corresponding classification fish outlet.

Further, the fixed frame is circumferentially arranged with a fixed fish inlet and several classified fish outlets, and a rotating fish inlet and a rotating fish outlet are oppositely arranged on the rotating frame. When the inner rotating frame rotates, the classification fish outlet can be docked with the rotating fish outlet periodically, wherein the fixed fish inlet, the fixed fish inlet, the rotating fish inlet and the rotating fish outlet are connected to each other. The shapes and sizes are equivalent, and grid structures are distributed on both sides of the rotating fish inlet and the rotating fish outlet, and the grids are communicated through the grid structures at the bottom of the rotating frame.

Further, the fish driving device includes several base plates arranged at equal intervals, each of the base plates is fixed by a first rotating shaft and a second rotating shaft, the first rotating shaft passes through the middle position of each base plate, and the second rotating shaft passes through the middle position of each base plate. Pass the lower position of each bottom plate;

The first connecting rod is fixedly connected to the first rotating shaft between any two base plates, and the second connecting rod is fixedly connected to the second rotating shaft between any two base plates, and the first connecting rod and the second connecting rod are in one-to-one correspondence. ;

The free end of the first connecting rod is connected with the free end of the corresponding second connecting rod through a third connecting rod, and the upper end of the third connecting rod is connected with a flexible brush;

When the first rotating shaft and the second rotating shaft rotate synchronously, the third connecting rod is driven by the first connecting rod and the second connecting rod to make a circular motion on the vertical plane, and is connected to the end of the third connecting rod. The flexible brush periodically enters the rotating frame from the grid and then leaves.

Further, the number of bottom plates of the fish driving device is adapted to the number of grids on the fish frame.

Further, the second driving device includes a waterproof motor, the waterproof motor is fixedly connected with a driving gear, the driving gear is meshed with a driven gear, and the driven gear is fixed on the first rotating shaft or the second rotating shaft.

Further, both the first rotating shaft and the second rotating shaft pass through the center line of the bottom plate.

Further, the bottom plate is fixedly connected with the lower part of the rotating frame through fixing bolts, and a sealing ring is arranged at the connection.

Compared with the prior art, the present invention has the following advantages:

1. The present invention corresponds the fish import and export to the target position through the fish frame structure, and directionally drives the fish through the flexible grid of the fish driving device, so as to realize the classification operation of the living fish in seawater culture, the classification is accurate, and the work efficiency is high. .

2. The rotational motion of the fish driving device in the present invention is generated by a waterproof motor and transmitted by a gear transmission mechanism. The material of this structure uses a flexible material, which reduces the damage caused to the fish target during the grading operation. Safe farming equipment and machinery.

3. The present invention adopts the combination of fish driving device and fish frame structure orientation to classify live fish in marine culture, which helps to increase classification categories, and users can customize different classification directions to maximize economic benefits.

4. The present invention uses the buoyancy device as the source of buoyancy, and by adjusting the buoyancy of the buoyancy, the overall water level of the device is changed, so as to be close to the normal living water level of the target fish, thereby achieving the purpose of underwater classification and increasing the operating capacity and applicability of the equipment.

The invention can identify and classify the cultured fish in the breeding environment, has reasonable system structure design, reliable use, reduces the labor intensity of staff, has strong practical value, and greatly improves the mechanization level of fishery equipment.

Description of drawings

In order to illustrate the embodiments of the present invention or the technical solutions in the prior art more clearly, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description These are some embodiments of the present invention, and for those of ordinary skill in the art, other drawings can also be obtained from these drawings without any creative effort.

FIG. 1 is a schematic structural diagram of an underwater fish automatic screening system of the present invention.

FIG. 2 is a schematic structural diagram of a fixed frame in the present invention.

FIG. 3 is a schematic view of the structure of the rotating frame in the present invention.

FIG. 4 is a schematic structural diagram of the fish driving device in the present invention.

FIG. 5 is a schematic diagram of the combination of the fish frame assembly and the fish driving device according to the present invention.

6 is a perspective view of the combination of the fish frame assembly and the fish driving device of the present invention.

FIG. 7 is a schematic structural diagram of a breeding box for fish to be classified in the embodiment.

FIG. 8 is a schematic diagram of the arrangement position of the bait delivery device in the embodiment.

FIG. 9 is a schematic diagram of the calculation of the length of the fish body in the embodiment.

In the figure: 1, buoy; 2, fish frame assembly; 201, fixed frame; 2011, fixed fish inlet; 2012, classified fish outlet; 202, rotating frame; 2021, rotating fish inlet; 2022, rotating fish outlet 3, fish driving device; 301, bottom plate; 302, first shaft; 302, second shaft; 304, first connecting rod; 305, second connecting rod; 306, third connecting rod; 307, flexible brush ; 308, fixed screw; 401, waterproof motor; 402, driving gear; 403, driven gear; 5, breeding box; 501, partition partition; 6, feeding mechanism.

Detailed ways

It should be noted that the embodiments of the present invention and the features of the embodiments may be combined with each other under the condition of no conflict. The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.

In order to make the purposes, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments It is only a part of the embodiments of the present invention, but not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

In the description of the present invention, it should be understood that the orientations indicated by orientation words such as "front, rear, top, bottom, left, right", "horizontal, vertical, vertical, horizontal" and "top, bottom" etc. Or the positional relationship is usually based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, and these orientation words do not indicate or imply the indicated device or element unless otherwise stated. It must have a specific orientation or be constructed and operated in a specific orientation, so it should not be construed as a limitation on the scope of protection of the present invention: the orientation words "inside and outside" refer to the inside and outside relative to the contour of each component itself.

For ease of description, spatially relative terms, such as "on", "over", "on the surface", "above", etc., may be used herein to describe what is shown in the figures. The spatial positional relationship of one device or feature shown to other devices or features. It should be understood that spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "above" or "over" other devices or features would then be oriented "below" or "over" the other devices or features under its device or structure". Thus, the exemplary term "above" can encompass both an orientation of "above" and "below." The device may also be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptions used herein interpreted accordingly.

In addition, it should be noted that the use of words such as "first" and "second" to define components is only for the convenience of distinguishing corresponding components. Unless otherwise stated, the above words have no special meaning and therefore cannot be understood to limit the scope of protection of the present invention.

The present invention provides a set of live fish classification and catching system matching with cage culture, which can meet different requirements for the classification of fish forms during the artificial culture of fish, for example, to screen out fish that are large enough to meet market conditions, Or screen out the under-fed live fish that are too small in shape, and the present invention can classify and capture the target fish.

Specifically, as shown in FIG. 1 , the present invention provides an underwater fish automatic screening system, which mainly includes a buoy 1 , a fish frame assembly 2 , a fish driving device 3 and a control system. The invention uses the buoyancy device as the source of buoyancy, and by adjusting the buoyancy of the buoyancy, the overall water level of the device is changed, so as to be close to the normal living water level of the target fish, thereby achieving the purpose of underwater classification and increasing the operating capacity and applicability of the equipment. The fish frame 2 includes a cylindrical fixed frame 201 and a rotating frame 202, which are assembled together, and the rotating frame 202 is on the inside. By rotating the rotating frame 202 and the fixed frame 201, a unique fish outlet channel can be generated, and the fish outlet channel points to an independent space corresponding to the current fish body classification. The fish driving device 3 is fixedly connected to the bottom of the rotating frame 202, and is used to apply a directional driving action to the fish body inside the rotating frame 202 through the grid structure on the rotating frame 202, so that the fish body can Swim out from the fish out channel facing the driving direction. There are two main functions of the control system in the present invention, the first is to control the rotation of the rotating frame 202 , and the second is to control the action of the fish driving device 3 . The first control end of the control system is connected to the first drive device, the second control end is connected to the second drive device, the first drive device is used to drive the rotating frame 202 to rotate, and the second drive device is used to drive the Fish repelling device 3 actions.

Preferably, as shown in FIGS. 2-3 , a fixed fish inlet 2011 and a plurality of classified fish outlets 2012 are arranged circumferentially on the fixing frame 201 . The rotating frame 202 is provided with a rotating fish inlet 2021 and a rotating fish outlet 2022. When the rotating frame 202 inside the fixed frame 201 rotates, the classification fish outlet 2012 can be periodically matched with the rotating fish outlet. The ports 2022 are docked, wherein the fixed fish inlet 2011, the fixed fish inlet 2011, the rotating fish inlet 2021 and the rotating fish outlet 2022 are of the same shape and size, and the rotating fish inlet 2021 and the rotating fish outlet 2022 are on both sides of the Grid structures are distributed, and the grids are communicated through the grid structures at the bottom of the rotating frame 202 .

Specifically, when the rotating frame 202 rotates, its side surface will slide over the fixed fish inlet 2011 on the fixed frame 201. When the rotating fish inlet 2021 and the fixed fish inlet 2011 are facing each other, a fish body that can accommodate fish is formed. Access to the inside of the fish frame assembly 2 from the outside. And when the rotating fish outlet 2022 is in direct alignment with a certain classification fish outlet, a passage for accommodating fish to swim out from the inside of the fish frame assembly 2 is just formed. At this time, only need to dock the pathway with the determined screening area to complete the screening and classification of fish.

Preferably, as shown in FIGS. 4-5 , the fish driving device 3 can apply a directional driving action to the fish body inside the fish frame assembly 2 through the grid on the rotating frame 202 . It mainly includes several base plates 301 arranged at equal intervals, and each base plate is fixed by a first rotating shaft 302 and a second rotating shaft 303 . The first rotating shaft 302 passes through the middle position of each bottom plate, and the second rotating shaft 303 passes through the lower position of each bottom plate; the first rotating shaft 302 between any two bottom plates 301 is fixedly connected to the first connecting rod 304, and any two bottom plates are fixedly connected to the first connecting rod 304. The second connecting rod 305 is fixedly connected to the second rotating shaft 303 between 301, and the first connecting rod 304 and the second connecting rod 305 are in one-to-one correspondence; the free end of the first connecting rod 304 and its corresponding second connecting rod The free ends of 305 are connected by a third connecting rod 306 , and the upper end of the third connecting rod 306 is connected with a flexible brush 307 . Further preferably, the number of bottom plates 301 of the fish driving device 3 is adapted to the number of grids on the rotating frame 202 . The bottom plate 301 is fixedly connected to the lower part of the rotating frame 202 through fixing bolts 308, and a sealing ring is provided at the connection.

In this application, the action of the fish driving device is driven by the second driving device, as shown in FIG. 6 , which specifically includes a waterproof motor 401 , the waterproof motor 401 is fixedly connected with the driving gear 402 , and the driving gear 402 is meshed with the driven gear 403 . , the driven gear 403 is fixed on the first rotating shaft 302 or the second rotating shaft 303 . Both the first rotating shaft 302 and the second rotating shaft 303 pass through the center line of the bottom plate 301 .

Specifically, after the waterproof motor is started, the output power is transmitted to the first rotating shaft 302 connected to the driven gear 403 through the driving gear 402 and the driven gear 403, and the first rotating shaft 302 and the second rotating shaft 303 are driven to rotate synchronously. , respectively through the first link 304 and the second link 305 to drive the third link 306 to make a circular motion on the vertical plane. At this time, the flexible brush 307 connected to the end of the third link 306 can periodically Enter the rotating frame 202 from the grid and then leave. When the third link 306 moves upward, the flexible brush 307 at its end gradually enters the interior of the rotating frame 202 , and when the third link 306 moves downward, the flexible brush 307 at the end leaves the interior of the rotating frame 202 .

As a preferred embodiment of the present invention, the screening system further includes an image acquisition device, which is used to extract the fish body image information in the rotating frame 202, and analyze the fish body image information through the host computer to obtain a fish body classification result, The fish body classification result is sent to the control system, and the control system converts the fish body classification result into a control instruction for controlling the rotation of the rotating frame 202, so that the rotating fish outlet 2022 of the rotating frame 202 is aligned with the corresponding classification fish outlet 2012.

The solution of the present invention will be further described below through a specific application example.

In this embodiment, a method is proposed in the artificial breeding process of fish, which can meet the needs of classifying and harvesting under-fed live fish that are large enough to meet market conditions or that are too small, and if necessary, have poor health conditions. Mechatronics system for harvesting of live fish.

Specifically, as shown in FIGS. 7-8 , the fish frame assembly 2 of the above-mentioned fish screening system is placed in the central circular area of the classified breeding box 5 , and the fish frame assembly 2 can hover on the buoy under the action of the buoy 1 In any depth of breeding box 5. The classified breeding box is divided into several different breeding spaces by multiple partition partitions, and the setting of the independent breeding space can be set according to the classification requirements of fish. In this embodiment, the breeding box is divided into 5 breeding spaces by partition partitions, and the largest one is used to place all the fish to be screened before screening, and then each breeding space from left to right is used as the one that meets the market conditions. Fish temporary storage space, under-fed fish temporary storage space, sick fish temporary storage space, and spare temporary storage space.

At the beginning of screening, the bait casting mechanism 6 is used to put bait into the fish frame assembly 2, and the control system controls the rotating frame 202 to rotate to the fish feeding station (that is, the rotating frame 202 rotates until the rotating fish inlet 2021 is aligned with the fixed fish inlet 2011), The fish body enters the inside of the fish frame assembly 2 through the fish inlet. The fixed frame 201 of the fish frame assembly has a plurality of classification fish outlets 2012, and each classification fish outlet 2012 corresponds to an independent temporary storage space. The image information of the fish is collected by the image acquisition system, and sent to the host computer for analysis and calculation to obtain fish length data, health data or other data that can be used as grading standards. According to the analysis result, the category of the current fish is judged, and the temporary storage space of the breeding box corresponding to the category is found.

Optionally, in an implementation of this embodiment, the host computer adopts a 3D vision-based automatic fish image analysis method to extract fish body length data and health data, including detecting fish body images through the yolov3 algorithm. In the fish body area, through the Intel RealSense D435i (depth camera), the coordinate information of the fish head, fish tail, fish body center point and the depth information of the above three points of each fish are obtained in real time, and based on the above information, according to the triangle center line theorem Obtain the actual length of the fish body, as shown in Figure 9. In the figure, point A represents the installation position of the camera, point B represents the front end point of the fish body, which is the head point, and point C represents the rear end point of the fish body, which is the fish tail point. , Point D is the midpoint of the line segment BC, which is the center point. The length a of the line segment AB, the length b of the line segment AC and the length c of the line segment AD are obtained through the depth camera. The length of the line segment BC is obtained based on the triangle center line theorem. The length is the length of the fish body . Then, the body weight of each fish can be estimated according to the relationship between the body length and body weight of the fish obtained in advance by the breeding practice. Colleagues judge whether the fish is injured or not based on the image of the fish, so as to obtain the health data of the fish.

Optionally, in another implementation of this embodiment, the breeder directly issues fish length data, health data or other data that can be used as grading standards to the control unit through observation, and judges the category of the current fish. .

After determining the temporary storage space of the breeding box corresponding to the current fish body type, the rotating frame is controlled by the control system to rotate to the classification station (that is, the rotating frame rotates 202 to turn the fish outlet 2022 to align with the corresponding classification fish outlet 2012). When the control system controls the second driving device to start the action of the fish driving device 3, the flexible brush 307 enters the inside of the fish frame assembly 2, and applies a driving action to the fish outlet direction, forcing the fish body to swim into the corresponding fish frame assembly. The classification staging space. Repeat the above steps until all fish to be classified are classified. As a preferred embodiment of the present invention, this embodiment can also be combined with an intelligent decision-making system for fish farming, detecting fish species and grading through underwater sensors, and then controlling the operation of the waterproof motor of the present invention through a single-chip microcomputer, so as to realize the directional drive of fish catch.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, but not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: The technical solutions described in the foregoing embodiments can still be modified, or some or all of the technical features thereof can be equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the embodiments of the present invention. scope.

Claims (8)

1. an underwater fish automatic screening system, is characterized in that, comprises: a buoy (1) for controlling the underwater depth of the fish frame assembly (2); A fish frame assembly (2), the fish frame assembly (2) includes a cylindrical fixed frame (201) and a rotating frame (202), the rotating frame (202) is sleeved on the inner side of the fixed frame (201), The rotating frame (202) is rotated and cooperated with the fixed frame (201) to generate a unique fish outlet passage, and the fish outlet passage points to an independent space corresponding to the current fish body classification; A fish driving device (3), the fish driving device (3) is fixedly connected to the bottom of the rotating frame (202), and is used to rotate toward the rotating frame (202) through a grid structure on the rotating frame (202). The fish inside the frame (202) exerts a directional driving action, so that the fish can swim out of the fish exit path that is facing the driving direction; and A control system, a first control end of the control system is connected to a first drive device, a second control end is connected to a second drive device, the first drive device is used to drive the rotating frame (202) to rotate, the second drive device The driving device is used for driving the action of the fish driving device (3). 2. An underwater fish automatic screening system according to claim 1, characterized in that, the system further comprises an image acquisition device, and the image acquisition device is used to extract the fish body image in the rotating frame (202). information, the upper computer analyzes the fish body image information to obtain the fish body classification result, and sends the fish body classification result to the control system, and the control system converts the fish body classification result into a control instruction for controlling the rotation of the rotating frame (202). , so that the rotating fish outlet (2022) of the rotating frame (202) is aligned with the corresponding classification fish outlet (2012). 3. a kind of underwater fish automatic screening system according to claim 1, is characterized in that, described fixed frame (201) is arranged with a fixed fish inlet (2011) and several classification fish outlet in the circumferential direction (2012), a rotating fish inlet (2021) and a rotating fish outlet (2022) are oppositely arranged on the rotating frame (202), when the rotating frame (202) inside the fixed frame (201) rotates , the classification fish outlet (2012) can be periodically docked with the rotating fish outlet (2022), wherein the fixed fish inlet (2011) and the fixed fish inlet (2011) rotate the fish inlet (2021) and the rotating fish outlet (2022) are of the same shape and size, and grid structures are distributed on both sides of the rotating fish inlet (2021) and the rotating fish outlet (2022), and the grids pass through the The grid structure at the bottom of the rotating frame (202) is connected. 4. a kind of underwater fish automatic screening system according to claim 3 is characterized in that, described fish driving device (3) comprises several base plates (301) that are arranged at equal intervals, and each described base plate passes through the first The rotating shaft (302) and the second rotating shaft (303) are fixed, the first rotating shaft (302) passes through the middle position of each bottom plate, and the second rotating shaft (303) passes through the lower position of each bottom plate; The first connecting rod (304) is fixedly connected to the first rotating shaft (302) between any two base plates (301), and the second connecting rod is fixedly connected to the second rotating shaft (303) between any two base plates (301). (305), the first connecting rod (304) and the second connecting rod (305) are in one-to-one correspondence; The free end of the first connecting rod (304) and the free end of the corresponding second connecting rod (305) are connected by a third connecting rod (306), and the upper end of the third connecting rod (306) is connected with a flexible brush (307); When the first rotating shaft (302) and the second rotating shaft (303) rotate synchronously, the third connecting rod (306) is driven on the vertical plane by the first connecting rod (304) and the second connecting rod (305) respectively Do a circular motion, at this time, the flexible brush (307) connected to the end of the third link (306) periodically enters the interior of the rotating frame (2) through the grid and then leaves. 5. A kind of underwater fish automatic screening system according to claim 4, is characterized in that, the number of the bottom plate (301) of described fish driving device (3) is the same as the number of grids on the rotating frame (202). adapt. 6. The automatic underwater fish screening system according to claim 4, wherein the second driving device comprises a waterproof motor (401), and the waterproof motor (401) is fixed to the driving gear (402) connected, the driving gear (402) meshes with the driven gear (403), and the driven gear (403) is fixed on the first rotating shaft (302) or the second rotating shaft (303). 7 . The automatic underwater fish screening system according to claim 4 , wherein the first rotating shaft ( 302 ) and the second rotating shaft ( 303 ) both pass through the center line of the bottom plate ( 301 ). 8 . 8. a kind of underwater fish automatic screening system according to claim 4 is characterized in that, bottom plate (301) is fixedly connected with the lower part of rotating frame (202) by fixing bolts (308), and the joint is provided with a sealing ring .

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