摘要
根据鱼腹轮廓的变化,精确控制剖腹刀具柔性切割是杀鱼机要突破的关键技术之一,为了提高杀鱼机的智能化水平,设计了一种用于杀鱼机剖腹刀具自动控制的视觉检测方法。该方法通过角点检测、筛选提取位于臀鳍下方的出刀点;利用灰度中值对入刀点感兴趣区域进行阈值分割,通过各连通域最小外接矩形的长边斜率、像素面积、长宽比三个特征参数提取鱼鳃下方的入刀点;通过标定技术,最终得到两点之间鱼体腹部轮廓的世界坐标信息,作为输出量控制刀具实时柔性调节。结果显示:通过试验,验证了实际加工中所选择的入刀点、出刀点的位置与本研究得到的两个点的位置具有一致性,同时验证了经过相机标定后得到的腹部轮廓与真实的鱼腹轮廓重合。研究表明,该方法可解决传统杀鱼机中剖腹刀具固定产生的剖切深度过大或过小的问题,为杀鱼机剖腹刀具精确控制提供数据支持。
With the change of fish belly contour,accurately controlling the flexible cutting of laparotomy cutter is one of the key technologies to be broken of fish killing machine,in order to improve the intelligent level of fish killing machine,a visual inspection method was designed to control the laparotomy tool automatically.The end-cutting point under the hip fin was extracted by corner detection and screening,the ROI region of interest of the tool entry point is segmented by using the gray median value,and the start-cutting point was extracted by three characteristic parameters:the long side slope,pixel area and ratio of long side to short side of the smallest circumscribed rectangle in each connected region;integrated the calibration factors and the image coordinate of points between start-cutting point and end-cutting point,the world coordinate of the abdominal contour was obtained,which was used as the controlling input information for the real-time flexible adjustment.The results show that the experiment verified that the positions of the start-cutting point and end-cutting point selected in the actual machining are consistent with the positions of the two points obtained in this study.At the same time,it is verified that the abdominal contour obtained after camera calibration coincides with the real fish belly contour.The research showed that this method can solve the cutting length and depth problems in traditional fish killing machines,and it can provide data support for the accurate control of laparotomy tools in fish killing machines.
作者
郑贵君
周聪玲
王永强
ZHENG Guijun;ZHOU Congling;WANG Yongqiang(College of Mechanical Engineering,Tianjin University of Science&Technology,Tianjin 300222,China)
出处
《渔业现代化》
CSCD
2022年第4期104-112,共9页
Fishery Modernization
关键词
视觉检测
杀鱼机剖腹刀具
鱼体腹部轮廓
visual inspection
laparotomy knife of fish killing machine
abdominal contour of fish
