METHOD FOR CONTROLLING HEPATOPANCREAS POSTURE OF SHELLFISH, METHOD FOR CONTROLLING SUCTION FORCE FOR REMOVING HEPATOPANCREAS, AND APPARATUS FOR AUTOMATICALLY REMOVING HEPATOPANCREAS OF SHELLFISH

摘要

PROBLEM TO BE SOLVED: To provide a method for controlling hepatopancreas posture of shellfish and a method capable of controlling the suction force for removing hepatopancreas, capable of facilitating the accurate and precise removal of only the hepatopancreas part regardless of the largeness and the posture of the bare body of the shellfish, and further to provide an apparatus for automatically removing the hepatopancreas of shellfish. ;SOLUTION: The picture of the whole bare body 9 of a shellfish placed on a placing board 1 is taken by a picture-taking part 4, and the position of the center of gravity of a hepatopancreas part 91 is calculated by extracting only the image signal of the hepatopancreas. A vector from a starting point of the center of rotation of the placing board 1 to the center of the gravity is specified, and an angle between the vector and a vector connecting the specified position of the center of the gravity and a suction nozzle 7 previously set on a plane coordinate is calculated. The bare body 9 of the shellfish placed on the placing board 1 is rotated and moved at the rotating and moving angle corresponding to the calculated angle so that the position of the center of the gravity of the hepatopancreas may correspond to the suction nozzle 7, and the hepatopancreas part 91 is sucked and removed after moving the sucking nozzle 7 to the optimum removing distance.;COPYRIGHT: (C)2000,JPO