Abstract: Fish vaccine injection is an effective way to prevent fish diseases. At present, the injection of Ctenopharyngodon idellus vaccine is entirely by hand. Aiming at the low efficiency of manual injection and the poor precision of injection caused by the experience and hand feeling of the inject location, a scheme of replacing manual injection with mechanical automatic injection was proposed. A Ctenopharyngodon idellus vaccine injection machine with high degree of automation was developed, and object morphology was used to analyze the characteristics of Ctenopharyngodon idellus, so as to realize the function of turning the head and tail of the fish; the grating measuring sensor was used to calculate the length of Ctenopharyngodon idellus; the chromaticity sensor was used to distinguish the fish abdomen and fin; the photoelectric sensor was used to separate different channels to achieve multi-channel injection of Ctenopharyngodon idellus vaccine; the stepper motor was used to achieve accurate fish picking, as well as the automatic adjustment of injection positions of fry of different lengths; the discriminating device of the injection machine controlled by Siemens PLC was coordinated with the power execution unit to realize precise injection. The performance test results show that when the belt transmission speed was 2 m/s, 100-120 mm fry could be automatically sorted and injected continuously and rapidly. The injection efficiency was about 900 fry/h, and the fry that did not meet the conditions could be returned to the pool. Three weeks after automatic injection of normal saline, the survival rate of the tested fry was 98.8 %. The research shows that the control system is reliable and efficient, which lays a foundation for the research and application of China fish vaccine injection.

Key words: vaccine injection, Ctenopharyngodon idellus, PLC, grating measurement sensor, fish recognition

摘要： 鱼类疫苗注射是鱼类防病的有效手段。目前草鱼（Ctenopharyngodon idellus）的疫苗注射完全依靠人工，针对人工注射效率低，且注射位置凭经验和手感导致注射精准度差的问题，提出以机械自动化注射代替人工注射的方案。研制一种自动化程度较高的草鱼疫苗注射机，采用物体形态学对草鱼特征进行分析，实现鱼头、鱼尾调头的功能；运用光栅测量传感器计算草鱼的长度；色度传感器实现对鱼腹、鱼鳍判别的功能；光电传感器分选不同通道，实现草鱼疫苗多通道注射；步进电机实现精准拨鱼，以及对不同体长鱼苗的打针部位自动调节；采用西门子PLC控制注射机的判别装置与动力执行单元相互协调动作，实现精准化注射。性能测试结果显示，皮带传输速度为2 m/s时，可将100~120 mm的鱼苗自动分选，连续快速注射，注射效率约为900条/h，对于不满足条件的鱼苗送回鱼池。试验的鱼苗在自动注射生理盐水后，暂养3周，存活率98.8 %。研究表明，该控制系统可靠、高效，为国产鱼用疫苗注射的研究应用打下了基础。

关键词: 疫苗注射, 草鱼, PLC, 光栅测量传感器, 鱼体识别