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公开(公告)号：KR101444211B1
公开(公告)日：2014-09-30
申请号：KR1020130158566
申请日：2013-12-18
Applicant: 대한민국(관리부서:국립수산과학원)
Abstract: The present invention relates to an algorithm by which a fish abdominal position for vaccine injection is determined based on morphological measurement data including the total length (TL), the body width (WL), and the weight (W) of the fish. More particularly, according to the fish vaccine injection position following algorithm of the present invention, abdominal position and shape including a linear distance (ML) from a mouth end portion to the abdomen, the length of the abdomen (AL), and the width of the abdomen (AW) are detected through fish X-raying and weight center point coordinates of an injection area where an internal organ is absent are obtained with the ML line being the x axis and the AW line being the y axis. Then, the coordinates are deduced into an equation using TL, TL and WL, or TL, WL, and W as variables, that is, morphological injection position coordinates. According to the present invention, the injection position following can be more accurate than in the related art in which the correlation between the total length and the body width of the fish and the like are analyzed for morphological injection position following based on an injection position manually marked on an outer surface of the fish body by an injection specialist. Also, according to the present invention, damage to the internal organ attributable to the vaccine injection can be minimized. In addition, the present invention can be effectively applied to various types of automated vaccine injection devices, including the automated vaccine injection devices of the related art in which a vision system and a rectangular coordinates robot are used.
Abstract translation: 本发明涉及一种基于包括鱼的总长（TL），体宽（WL）和重量（W））的形态学测量数据来确定用于疫苗注射的鱼腹部位置的算法。 更具体地，根据本发明的鱼疫苗注射位置跟随算法，腹部位置和形状包括从口端部到腹部的线性距离（ML），腹部长度（AL）和宽度 通过鱼X射线检测腹部（AW），并且通过ML线为x轴并且AW线为y轴，获得不存在内脏的注射区域的体重中心点坐标。 然后，使用TL，TL和WL或TL，WL和W作为变量，即形态注入位置坐标，将坐标推导到等式中。 根据本发明，以下的注射位置可以比现有技术更准确，其中分析了基于手动的注射位置的跟随的形状注射位置之间的鱼等的总长度和体宽之间的相关性 由注射专家在鱼体的外表面标记。 另外，根据本发明，由于疫苗注射引起的内部器官的损伤能够最小化。 此外，本发明可以有效地应用于各种类型的自动疫苗注射装置，包括其中使用视觉系统和直角坐标机器人的现有技术的自动疫苗注射装置。
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公开(公告)号：KR101277802B1
公开(公告)日：2013-06-27
申请号：KR1020120132748
申请日：2012-11-22
Applicant: 대한민국(관리부서:국립수산과학원)
Abstract: PURPOSE: An automatic injection apparatus of a vaccine for a fish is provided to maximize efficiency of vaccination by enabling injection of an accurate amount. CONSTITUTION: An automatic injection apparatus of a vaccine for a fish comprises an apparatus body(1) which is equipped with an apparatus housing in the upper part of an apparatus table; a fish transfer conveyer(10) which is longitudinally mounted to the apparatus table and extended into the apparatus housing; a rectangular coordinate robot(20) which consists of an x-axis robot, a y-axis robot, and a z-axis robot; a camera(9) which is installed in the upper part of the apparatus housing, along with an illuminating unit and takes a picture of a fish; and an image processor, main controller, and robot controller which are inserted into the apparatus table.
Abstract translation: 目的：提供一种用于鱼类疫苗的自动注射装置，以通过使注射量达到最大化来最大限度地提高疫苗接种效率。 构成：用于鱼类疫苗的自动注射装置包括在装置台的上部装备有装置壳体的装置主体（1） 鱼传送输送机（10），其纵向地安装到设备台并延伸到设备壳体中; 由x轴机器人，y轴机器人和z轴机器人组成的直角坐标机器人（20） 安装在设备壳体的上部的照相机（9）连同照明单元并拍摄鱼的照片; 以及插入到装置台中的图像处理器，主控制器和机器人控制器。
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公开(公告)号：KR101278630B1
公开(公告)日：2013-06-25
申请号：KR1020130046524
申请日：2013-04-26
Applicant: 대한민국(관리부서:국립수산과학원)
Abstract: PURPOSE: A vaccine automatic inoculation method through morphological image processing of fish is provided to control depth of injection based on the depth of a fish body for vaccine inoculation and to consecutively perform one-way input and automatic output of the fish. CONSTITUTION: A vaccine automatic inoculation method through morphological image processing of fishes comprises the following steps: (S1) injecting anesthetized fish into a fish transfer conveyor; (S2) measuring the depth of the fish while transferring the fish to the fish transfer conveyor; (S3) recording monoscopic images; (S4) determining insertion position and the depth of injection based on the depth of the measured fish while measuring the width of the fish; (S5) inserting an injection needle into the abdominal cavities of the fish; (S6) injecting vaccine into the abdominal cavities of the fish; and (S7) discharging the fish to the outside while returning a cross coordinate robot back to an initial position. [Reference numerals] (S1) Step of anesthetizing and injecting fish; (S2) Step of measuring the depth of the fish while transferring the fish to the fish transfer conveyor; (S3) Step of recording monoscopic images; (S4) Step of analyzing image and determining insertion position; (S5) Step of setting vertical coordinate robot; (S6) Step of injecting vaccine; (S7) Step of restoring system and discharging fish
Abstract translation: 目的：通过鱼类形态学图像处理提供疫苗自动接种方法，根据疫苗接种的鱼体深度控制注射深度，并连续执行鱼的单向输入和自动输出。 构成：通过鱼类形态学图像处理的疫苗自动接种方法，包括以下步骤：（S1）将麻醉鱼注射到鱼传送带上; （S2）在将鱼转移到鱼输送机上时测量鱼的深度; （S3）记录单视场图像; （S4）在测量鱼的宽度的同时基于所测量的鱼的深度来确定插入位置和深度; （S5）将注射针插入鱼的腹腔中; （S6）将疫苗注射到鱼的腹腔中; 和（S7）在将十字坐标机器人返回到初始位置的同时将鱼排出到外部。 [参考号]（S1）麻醉和注射鱼的步骤 （S2）将鱼转移到鱼传送带上时测量鱼的深度的步骤; （S3）记录单视野图像的步骤; （S4）分析图像并确定插入位置的步骤; （S5）设置垂直坐标机器人的步骤; （S6）疫苗注射步骤 （S7）恢复系统和排放鱼的步骤
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公开(公告)号：KR101201430B1
公开(公告)日：2012-11-23
申请号：KR1020120005715
申请日：2012-01-18
Applicant: 대한민국(관리부서:국립수산과학원)
Abstract: PURPOSE: An automatic vaccinating method for fishes and a vaccinating apparatus are provided to minimize damage due to careless vaccine treatment. CONSTITUTION: An automatic vaccinating method for fishes is as follows. A vaccination tray is transferred while a fish is put on the vaccination tray mounted in a fish transfer robot(10). The plane image of the fish is photographed. The abdominal cavity position of the fish is determined by reading the plane image of the fish. A horizontal moving robot(20) and a vertical moving robot(30) are operated. Vaccine is injected into the abdominal cavity of the fish. The vaccination tray and a syringe body are restored to an initial position.
Abstract translation: 目的：提供一种鱼和一个疫苗接种装置的自动疫苗接种方法，以尽量减少因粗心的疫苗治疗而造成的损害。 规定：鱼的自动疫苗接种方法如下。 在将鱼放在安装在鱼传送机器人（10）中的疫苗接种盘上时，转移接种盘。 拍摄鱼的平面图像。 通过阅读鱼的平面图像来确定鱼的腹腔位置。 操作水平移动机器人（20）和垂直移动机器人（30）。 将疫苗注入鱼的腹腔。 接种托盘和注射器主体恢复到初始位置。
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公开(公告)号：KR100683571B1
公开(公告)日：2007-02-16
申请号：KR1020060102489
申请日：2006-10-20
Applicant: 대한민국(관리부서:국립수산과학원)
Abstract: An apparatus for crushing and discharging jelly fish using a turbine pump is provided to rapidly and conveniently separating jellyfish from fishing implement, to minimize the cost and time required to the separation process of jellyfish, and to keep fish product fresh. The apparatus for crushing and discharging jelly fish using a turbine pump comprises: a pump body(10) comprising a front compartment and a rear compartment; a turbine pump operated by driving motor(3); a jellyfish influx hose(13) established on the front side of the pump body(10); a jellyfish efflux hose(22) for discharging the crushed jellyfish established on the rear side of the pump body(10); and a jellyfish suctioning hopper(14) having a radial cutting blade, which is established on the margin of the jellyfish influx hose(13).
Abstract translation: 本发明提供了一种利用涡轮泵压碎和排出果冻鱼的装置，以便快速方便地将水母从渔具中分离出来，以最小化水母分离过程所需的成本和时间，并保持鱼产品的新鲜度。 该用于使用涡轮泵压碎和排出果冻鱼的设备包括：包括前室和后室的泵体（10） 由驱动马达（3）操作的涡轮泵; 建立在泵体（10）前侧的水母流入软管（13）; 一个水母流出软管（22），用于排出建立在泵体（10）后侧的破碎水母; 以及具有在水母流入软管（13）的边缘上建立的径向切割刀片的水母抽吸漏斗（14）。
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Patent Agency Ranking
公开(公告)号：KR102226015B1
公开(公告)日：2021-03-11
申请号：KR1020200158475
申请日：2020-11-24
Applicant: 대한민국(관리부서:국립수산과학원)
Abstract: 본발명은어선의운항시나조업시발생할수 있는선원들의안전사고를예방하기위한안전관리시스템에관한것으로서, 더욱상세하게는어선의운항으로부터조업작업에이르기까지의전과정에걸쳐사고의위험에처한선원당사자또는이를발견한다른선원이자신의신체에착용한웨어러블송수신기의신호버튼을이용하여어선의중앙통제장치로사고위험신호를즉시전송시킬수 있도록하고, 상기중앙통제장치에서는선원들이바다에빠지는안전사고가주로발생하는운항모드와선원들이조업기계에의하여부상을당하는안전사고가주로발생하는조업모드에맞추어, 운항모드시에는어선의운항속도를감속시키거나어선의운항을일시정지시키는한편, 조업모드시에는특정조업기계또는갑판상에설치된모든조업기계의작동을일시중지시킨다음, 나머지선원들에게사고위험의발생상황을일괄적으로신속히전달시키는관리조치를수행함에따라, 안전사고에의한인명피해가발생하기이전에해당피해를유발시키는가장큰 위험요소를어선내부에서선원들과중앙통제장치간의직접적이며빠른정보교환을거쳐신속하고안전하게무마시킬수 있는동시에, 사고위험신호를전송한선원이외의다른모든선원들이즉시집결하여현장수습과후속처리에협력함으로서정상작업으로의조기복귀가가능토록한 어선용웨어러블선원안전관리시스템에관한것이다.
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公开(公告)号：KR102220583B1
公开(公告)日：2021-02-26
申请号：KR1020190166947
申请日：2019-12-13
Applicant: 대한민국(관리부서:국립수산과학원)
IPC: A01K79/02 , A01K93/02 , A01K75/04 , F21S9/02 , F21V23/04 , F21W111/04 , F21Y115/10
Abstract: 본발명은주낙어구나통발어구등의모릿줄에적용되어해당모릿줄을소정의높이만큼해저면으로부터부상시키는데 사용되는부자에관한것으로서, 더욱상세하게는상부케이스와하부케이스가센터바디상에조립설치되는방식으로하여부자몸통을구성하고, 상기상부케이스의내,외측에배터리와스위치수단을각각설치하며, 상기하부케이스의내측에는스위치수단에의하여선택적으로점등되는조명램프를설치함으로서, 해당부자가수중집어등의역할을병행하여붕장어나낙지등의어획량을크게증대시킬수 있도록하되, 상기스위치수단으로서부자가위치하는수심층의수압에의하여상부케이스의내측방향으로볼록하게돌출되는탄성패드를적용시킴에따라, 주낙어구나통발어구등을해저면으로드리움과동시에조명램프가자동점등되고, 주낙어구나통발어구등을선상으로걷어들임과동시에조명램프가자동소등되게하여조업의편의성과효율성및 대상어종의어획성능을한층더 극대화시킬수 있도록한 수중집어등겸용부자에관한것이다.
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公开(公告)号：KR101493963B1
公开(公告)日：2015-02-23
申请号：KR1020140121970
申请日：2014-09-15
Applicant: 대한민국(관리부서:국립수산과학원)
CPC classification number: Y02A40/81 , Y02A40/812 , Y02A40/845 , A01K61/85 , A01K61/60
Abstract: 본 발명은 수상가두리와 함께 설치되어 양식어류의 먹이를 공급토록 한 사료공급장치에 관한 것으로서, 더욱 상세하게는 사료투입관과 사료배출관이 상,하단측에 각각 연결되고 내부에는 부유식 사료가 저장되며 고압가스탱크가 내장형 또는 외장형으로 설치된 사료저장탱크를 해저면에 안착시킨 상태에서, 상기 사료배출관으로부터 가두리그물의 하부측 중심부에 이르기까지 밸브기구를 구비하는 사료분배관과 펌프기구를 구비하는 진공조성관과 밸브기구를 구비하는 해수투입관과 사료공급관을 순차적으로 연결 설치하는 한편, 상기 고압가스탱크의 가스주입밸브를 포함하는 각각의 밸브기구와 펌프기구를 배터리 및 제어기구가 내장된 컨트롤부이와 접속시킴으로서, 사료저장탱크의 내압과 부압(負壓)의 압력차를 이용한 진공조성관으로의 사료투입과, 해수공급에 의한 가두리그물 내부로의 부상식 사료공급이 각각의 밸브기구 및 펌프기구에 의하여 순차적으로 반복 수행될 수 있도록 하고, 사료의 공급 과정에서 발생하는 사료저장탱크의 내압저하를 고압가스탱크로부터 배출되는 공기압에 의하여 보상시킬 수 있도록 하며, 이로 인하여 양식어류의 먹이공급에 가장 적합한 상향 분산식 사료공급을 통하여 양식어류간의 고른 성장을 도모하고, 급이관리에 필요한 비용과 인력 및 사료의 불필요한 낭비를 최소화시킬 수 있도록 한 수상가두리용 내압조정식 수중 상향 사료공급장치에 관한 것이다.
Abstract translation: 本发明涉及一种与养鱼场一起饲养养殖鱼类的饲养装置，更具体地涉及一种具有调节内部压力的功能的用于水产养殖的潜水向上饲养装置，其中包括阀装置， 包括泵装置的真空成型管，包括阀装置和进料供给管的海水输入管，从进料排出管依次安装到作为进料储罐的鱼饲场的下侧的中心， 进料输入管和进料排放管分别连接到上端和下端，浮动进料储存在内部，高压气罐内部或外部安装，安装在海床上; 通过供给储罐的内部压力与负压之间的压力差和通过海水供应进入养鱼场的浮动进料供给，将真空成形管的进料输入能够通过每个阀装置和 所述泵装置通过将包括所述高压气体罐的气体喷射阀的每个所述阀装置和所述泵装置连接到包含电池的控制浮标和控制装置; 并且在进料供给过程中产生的进料储罐的内部压力的降低通过从高压气罐排出的空气的压力来补偿。 因此，通过向上分配供养养鱼最为合适的饲料供应，促进培养鱼的均匀生长，并且将饲料供应和不必要的废物管理所需的成本和人员降至最低。
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公开(公告)号：KR101444134B1
公开(公告)日：2014-10-01
申请号：KR1020140056467
申请日：2014-05-12
Applicant: 대한민국(관리부서:국립수산과학원)
IPC: A01K61/02
Abstract: The present invention relates to a fodder supplying device installed with a fish culturing holder so as to feed cultured fish. More specifically, while a fodder storing tank for storing a floating-type fodder is settled on the seabed, a fodder feeding pipe and a fodder discharging pipe are respectively connected with the top end and bottom end of the fodder storing tank. At the outlet side of the fodder discharging pipe, a fodder distributing pipe equipped with a valve tool and a vacuum composing pipe equipped with a pump tool are sequentially connected. A seawater feeding pipe equipped with a valve tool is connected with the vacuum composing pipe, and a fodder supplying pipe extended toward the bottom side central part of a holder net is connected with the inlet part of the seawater feeding pipe. The valve tool and pump tool are made to come in contact with a control buoy having a battery and a control tool equipped therein. Accordingly, fodder feeding into the vacuum composing pipe using the pressure difference of the atmospheric pressure and negative pressure and floating-type fodder supplying into the holder net by means of a seawater supply can be sequentially and repeatedly performed by means of the valve tool and pump tool. Bottom-up dispersing-type fodder supplying which is most appropriate when feeding cultured fish is performed, so that the cultured fish can be evenly grown. Moreover, unneeded waste in terms of cost, manpower, and fodder needed for managing feeding can be minimized, and breakdowns and malfunctions of the fodder supplying device caused by waves can be preemptively prevented.
Abstract translation: 本发明涉及一种装有鱼培养保持器的饲料供给装置，用于饲养培养的鱼。 更具体地说，在用于储存浮式饲料的饲料储存罐安置在海底上时，饲料供给管和饲料排出管分别与饲料储存罐的顶端和底端连接。 在饲料排出管的出口侧依次连接配备有阀工具的配料管和装备有泵工具的真空构成管的饲料分配管。 配备有阀工具的海水供给管与真空构成管连接，向保持架的底侧中央部延伸的饲料供给管与海水供给管的入口部连接。 使阀工具和泵工具与具有电池的控制浮标和配备有控制工具接触。 因此，通过利用海水供给到保持器网的大气压负压和浮动型饲料供给到真空构成管的饲料，可以依次通过阀工具和泵 工具。 进行供养培养的鱼最适合的自下而上的分散型饲料，能够均匀生长培养的鱼。 此外，可以最小化管理饲料所需的成本，人力和饲料方面的不必要的浪费，并且可以预先防止由波浪引起的饲料供应装置的故障和故障。
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