Research On Key Technology Of Turbot Vaccine Automatic Injection Machine

China has the highest production and most varieties of flounder paralichthys in the world.The ever-increasing scale of aquaculture industry has further exposed the aquatic diseases suffered by Flounder paralichthys.As a crucial tactic of disease prevention,vaccination is environment-friendly and stable in immune effect.However,manual injection remains as the primary means for vaccination of flounder paralichthys,resulting in compromised efficiency,quality of injection,and constrained scale of aquaculture industry.This situation calls for an urgent situation of developing an automated unit for vaccine injection of flounder paralichthys.In case of turbots with a length of 180～270mm,this paper attempts to identify how the shape parameter of turbot is associated with the site of vaccine injection.The injection site was confirmed using machine vision technology.The critical mechanism and control system of the automated unit for vaccine injection of turbots was designed according to the stress characteristics of the fish belly.Finally,the manufactured prototype unit was tested.The main content and conclusion are described below:1.The injection-site prediction model was build and validated using machine vision technology.A coordinate system is established with the foremost end of the fish mouth as the origin,and the center line of the fish body as x axis.The overall length L,body length BL,total width W of turbots,and the horizontal and vertical coordinates of the injection site G_X,G_Y were measured.The relations among these parameters were examined by linear regression.The best prediction model was selected from comparison.A deep learning-based algorithm was developed for the body length recognition of Flounder paralichthys.After the calculation,the errors of body length range from-4.39 mm to 4.2mm,and the maximum relative error is 3.87%.The body length is substituted into the model,all predicted coordinates fall into the allowable injection region,which satisfies the specified requirement.2.The stress process of needle body during injection was analyzed,and an injection mechanism was tailored for turbot.According to the load-displacement curve,the process of inserting the needle body into the belly of turbot is divided to four phases:pre-puncture,in-tissue,convergence and withdrawing.The rigidity and cutting force of the needle body in each phase were calculated.A pneumatic automated injection mechanism was designed,which comprises regulating element,actuating element and syringe.This automated injection mechanism is used to control the depth of injection,so that the success rate of vaccine injection of turbot can be assured.3.The automated prototype unit for vaccine injection of turbot was manufactured and tested.This prototype unit comprises an image acquisition device,a conveyance device and an injection device.The internal and external parameters of the camera were analyzed,the horizontal and vertical coordinates of injection sites in the pixel coordinate system were transformed to the syringe coordinate system by means of hand-eye calibration.The real-time feedback of injection site image and machine operation status was achieved by designing control system,finalizing the general plan,programming master and slave computer software and designing the HMI.In the vaccine injection test,the working efficiency of the prototype unit was measured as about 1,000 pcs/hr.