Study On Automatic Injection Machine For Fish Based On Machine Vision

With the development of intensive and large-scale farming models,the problem of fish diseases has become increasingly prominent.Vaccination can effectively reduce the environmental pollution caused by traditional fish disease prevention methods and improve food safety.In general,the vaccination is performed manually,which is costly and inefficient.Thus,the development of automatic vaccine injection system is urgently required in order to reduce the cost and increase the efficiency of vaccination procedures while maximizing their benefits.In this paper,the shape parameters of the fish and the injection site was measured and the relationship among them were analyzed.The model of the injection site was established,and it was applied to the automatic injection machine based on machine vision.The key mechanisms of the automatic injection machine were developed and the control systems was designed.The main conclusions are as follows:1.When the base of the pelvic fin is selected as the injection site,there is a significant correlation between the shape parameters,such as the length,width and thickness of the fish,and the distance between the injection site and the mouth of the fish,the correlation coefficient is bigger than 0.9.The injection site(S)can be expressed as equation involving the length(L)and the width(W)as S=0.398L+0.222W-0.096(R2=0.993),the residual is between-0.198 and 0.276 cm,and the maximum error is 4.02%.2.Designed the image acquisition and processing system of the fish,including machine vision system and image processing algorithm.Threshold segmentation,image.smoothing,morphological operation and edge detection based on MATLAB were used to obtain parameters such as length and width of the fish.The average error in the length direction was 0.75%.Compared to the actual injection site,the error of calculated injection site was between-0.36 and 0.246 cm,which satisfies the injection requirement.The injection site can be obtained by the algorithm.3.Completed the design of the key mechanism of the automatic injection machine,including the clamping and releasing mechanism and the injection mechanism.The method of clamping and releasing for the fish was determined.The key parameters such as the length of the splint,the connecting rod and the cylinder the clamping and releasing mechanism were analyzed and calculated.The clamping cylinder and releasing cylinder were selected to realize the automatic clamping and release of the fish.The injection mechanism was designed by reforming the continuous syringe.The injection cylinder,the infusion cylinder and the stepping motor were selected,so the continuous accurate and automatic injection of the vaccine can be realized.4.Completed the design of the control system of the automatic injection machine,including hardware selection,PLC software and MATLAB.The automatic clamping of the fish,adjusting of injection position,inserting needle and infusing into the fish,and releasing of the fish were realized by the control system.