A water jet path planning method and system for tilapia trimming

Abstract

The application provides a water jet path planning method and system for tilapia trimming, comprising the following steps: firstly, obtaining an image of a tilapia fillet to be trimmed, and determining a tilapia fillet contour image; then, establishing a maximum circumscribed rectangle of the tilapia fillet contour image, and analyzing the tilapia fillet contour image inside the maximum circumscribed rectangle, so as to obtain a smooth contour edge curve of a trimming area of the tilapia fillet; and then, determining a trimming path of the trimming area of the tilapia fillet in a rectangular coordinate, and converting the trimming path into a trimming path of the trimming area of the tilapia fillet in a water jet trimming system coordinate system; the application has the beneficial effects that: through automatic processes such as image acquisition, pretreatment, edge detection and curve fitting, the application realizes accurate planning of the trimming path, reduces the need for manual operation, guarantees the accuracy and consistency of the trimming area, thereby greatly improving the trimming efficiency, and effectively avoiding the problems of excessive trimming or insufficient trimming.

Description

[0001] This invention relates to the field of tilapia trimming technology, and in particular to a water jet path planning method and system for tilapia trimming. Background Technology

[0002] Tilapia fillets are highly regarded in the international market for their delicate texture and unique flavor. During the tilapia fillet preparation process, workers need to remove areas containing fish bones or with poor flavor, such as the dorsal fin, pelvic fin, and caudal fin, to ensure the taste and safety of the fillets. The dorsal and pelvic fin areas of the tilapia fillets obtained after slicing often contain a lot of bones and hard bones. If not handled properly, this will directly affect the eating experience and may pose a safety risk to consumers.

[0003] Current tilapia fillet trimming relies entirely on manual labor, leading to inconsistencies in trimming quality and quality control. On one hand, manual trimming is relatively inefficient, and its quality is affected by worker experience and skill levels, making consistency difficult to guarantee. On the other hand, manual trimming is highly subjective, resulting in inconsistent quality standards and impacting overall product quality and market competitiveness. Therefore, proposing a waterjet working path planning method suitable for tilapia trimming, which improves trimming efficiency while ensuring trimming quality and product consistency, is a pressing issue for the tilapia fillet processing industry. Summary of the Invention

[0004] In view of the shortcomings of the prior art described above, the purpose of this invention is to provide a water jet path planning method and system for trimming tilapia fillets, which solves the problems of the prior art where trimming tilapia fillets relies entirely on manual labor, resulting in differences in trimming quality and quality control.

[0005] To achieve the above and other related objectives, the present invention provides the following technical solution:

[0006] A water jet path planning method for trimming tilapia fillets includes the following steps: acquiring an image of the tilapia fillet to be trimmed, and obtaining an edge image of the tilapia fillet based on the image; extracting a contour image of the tilapia fillet from the edge image, and establishing a maximum bounding rectangle of the contour image, and establishing a Cartesian coordinate system based on the maximum bounding rectangle; analyzing the contour image of the tilapia fillet inside the maximum bounding rectangle, and obtaining a smooth contour edge curve of the tilapia fillet to be trimmed area based on the analysis result, wherein the contour edge curve of the tilapia fillet to be trimmed area includes the contour edge curve of the dorsal fin area, the contour edge curve of the pelvic fin area, and the contour edge curve of the caudal fin area; determining the trimming path of the tilapia fillet to be trimmed area in Cartesian coordinates based on the contour edge curve of the tilapia fillet to be trimmed area, and transforming the trimming path of the tilapia fillet to be trimmed area in Cartesian coordinates into the trimming path of the tilapia fillet to be trimmed area in the coordinate system of the water jet trimming system.

[0007] A water jet path planning system for trimming tilapia fillets includes: an image acquisition and preprocessing module for acquiring an image of the tilapia fillet to be trimmed and obtaining an edge image of the tilapia fillet based on the image; a maximum bounding rectangle establishment module for extracting the tilapia fillet contour image from the edge image and establishing a maximum bounding rectangle of the tilapia fillet contour image, and establishing a Cartesian coordinate system based on the maximum bounding rectangle; and a contour image analysis module for analyzing the tilapia fillet contour image within the maximum bounding rectangle and processing the analysis results. A smooth contour edge curve of the tilapia fillet to be trimmed is obtained, wherein the contour edge curve of the tilapia fillet to be trimmed includes the contour edge curve of the dorsal fin region, the contour edge curve of the pelvic fin region, and the contour edge curve of the caudal fin region; a trimming path determination module is used to determine the trimming path of the tilapia fillet to be trimmed in rectangular coordinates based on the contour edge curve of the tilapia fillet to be trimmed, and transform the trimming path of the tilapia fillet to be trimmed in rectangular coordinates into the trimming path of the tilapia fillet to be trimmed in the coordinate system of the water jet trimming system.

[0008] An electronic device includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the water jet path planning method for tilapia trimming as described above.

[0009] In one embodiment of the present invention, obtaining the tilapia fillet edge image from the tilapia fillet image includes: preprocessing the tilapia fillet image, performing edge detection on the preprocessed tilapia fillet image, and obtaining the tilapia fillet edge image based on the edge detection result.

[0010] In one embodiment of the present invention, the step of extracting the tilapia fillet outline image from the tilapia fillet edge image and establishing the maximum bounding rectangle of the tilapia fillet outline image, and establishing a rectangular coordinate system based on the maximum bounding rectangle, includes: extracting the outline of the tilapia fillet in the tilapia fillet edge image and traversing the extracted outline point set; calculating the extracted outline point set and updating the boundary of the bounding rectangle based on the calculation result until the maximum bounding rectangle of the tilapia fillet outline image is obtained; and establishing a rectangular coordinate system by taking the lower left corner of the maximum bounding rectangle as the origin of the coordinate system, with the X-axis along the horizontal direction of the maximum bounding rectangle and the Y-axis along the vertical direction of the maximum bounding rectangle.

[0011] In one embodiment of the present invention, the step of analyzing the tilapia fillet contour image within the largest bounding rectangle and obtaining a smooth contour edge curve of the tilapia fillet area to be trimmed based on the analysis results includes: using a trained machine learning model to identify the tilapia fillet contour image within the largest bounding rectangle, obtaining the contour features of the tilapia fillet area to be trimmed based on the identification results; mapping the contour features of the tilapia fillet area to be trimmed to coordinates, fitting the mapped contour of the tilapia fillet area to be trimmed, and obtaining a smooth contour edge curve of the tilapia fillet area to be trimmed based on the fitting results.

[0012] In one embodiment of the present invention, determining the trimming path of the tilapia fillet to be trimmed in rectangular coordinates based on the contour edge curve of the area to be trimmed includes: offsetting the contour edge curve of the area to be trimmed along the axial direction, and determining the trimming path of the tilapia fillet to be trimmed in rectangular coordinates based on the offset result, wherein the trimming path of the tilapia fillet to be trimmed includes a dorsal fin area trimming curve, a pelvic fin area trimming curve, and a caudal fin area trimming curve.

[0013] In one embodiment of the present invention, the step of transforming the trimming path of the tilapia fillet to be trimmed in rectangular coordinates into the trimming path of the tilapia fillet to be trimmed in the coordinate system of the water jet trimming system includes: using a coordinate system transformation method to transform the trimming path of the tilapia fillet to be trimmed in rectangular coordinates into the trimming path of the tilapia fillet to be trimmed in the coordinate system of the water jet trimming system.

[0014] In one embodiment of the present invention, the step of transforming the trimming path of the tilapia fillet to be trimmed in rectangular coordinates to the trimming path of the tilapia fillet to be trimmed in the coordinate system of the water jet trimming system using a coordinate system transformation method includes: transforming the trimming path of the tilapia fillet to be trimmed in rectangular coordinates to the trimming path of the tilapia fillet to be trimmed in the coordinate system of the water jet trimming system according to the following formula: ; The coordinate system of the tilapia fillet image is as follows: f The coordinate system of the water jet trimming system is Using coordinate system transformation methods, the two-dimensional coordinate system is transformed. f Transform to two-dimensional coordinate system , It is a linear transformation matrix between two coordinate systems. It is a translation vector.

[0015] In one embodiment of the present invention, after transforming the trimming path of the tilapia fillet to be trimmed in rectangular coordinates into the trimming path of the tilapia fillet to be trimmed in the coordinate system of the water jet trimming system, the method further includes: using the water jet trimming system to trim the tilapia fillet according to the trimming path of the tilapia fillet to be trimmed in the coordinate system of the water jet trimming system.

[0016] As described above, the water jet path planning method and system for tilapia trimming of the present invention has the following beneficial effects: The water jet path planning method proposed in this invention brings significant benefits to the production efficiency and quality control of the tilapia trimming process; from the perspective of production efficiency and quality control, this method achieves precise planning of the trimming path through automated processes such as image acquisition, preprocessing, edge detection, and curve fitting, reducing the need for manual operation, ensuring the accuracy and consistency of the trimming area, thereby greatly improving trimming efficiency, and effectively avoiding the problems of over-trimming or under-trimming, improving the appearance quality and edible value of tilapia products; at the same time, combined with a high-efficiency water jet trimming system, it ensures the speed and continuity of the trimming process, further improving the overall production cycle. Attached Figure Description

[0017] Figure 1 The flowchart shown is a water jet path planning method for trimming tilapia according to the first embodiment of the present invention.

[0018] Figure 2 The flowchart shown is a water jet path planning method for trimming tilapia according to the second embodiment of the present invention.

[0019] Figure 3 The diagram shows a water jet path planning system for trimming tilapia according to the third embodiment of the present invention.

[0020] Figure 4 The diagram shows an electronic device according to the fourth embodiment of the present invention.

[0021] Figure 5 The image shown is a schematic diagram of a tilapia fillet to be trimmed, captured by a high-definition camera in this invention.

[0022] Figure 6 This is a schematic diagram illustrating the process of establishing the largest bounding rectangle on the outline image of tilapia fillets in this invention. Detailed Implementation

[0023] The following specific examples illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. It should be noted that, unless otherwise specified, the following embodiments and features described herein can be combined with each other.

[0024] The first embodiment of the present invention relates to a water jet path planning method for trimming tilapia, the process of which is as follows: Figure 1 As shown, the details are as follows:

[0025] Step 101: Obtain the image of the tilapia fillet to be trimmed, and obtain the edge image of the tilapia fillet based on the image.

[0026] Specifically, before obtaining images of the tilapia fillets to be trimmed, the process includes: placing the tilapia fillets on a conveyor belt in a fixed orientation, with the flesh side facing upwards, the fillet side downwards, and the head side facing the direction of transport; and then photographing the tilapia fillets using a high-definition camera to obtain images of the tilapia fillets to be trimmed. For details, please refer to [link to relevant documentation]. Figure 5 ;

[0027] Furthermore, it should be noted that the specific steps for obtaining the tilapia fillet edge image from the tilapia fillet image are as follows: First, the tilapia fillet image is preprocessed; then, edge detection is performed on the preprocessed tilapia fillet image; the tilapia fillet edge image is obtained based on the edge detection results. The preprocessing of the tilapia fillet image includes operations such as grayscale conversion and noise reduction to improve the image quality and facilitate subsequent processing. The color image of the tilapia fillet is converted to a grayscale image using the following formula: , Represents grayscale value, , and The values ​​of the red, green, and blue channels in the color image are represented respectively. The neighborhood averaging method is used to reduce noise in the tilapia fillet image. The edge detection algorithm based on global nested edge detection (HED) is used to perform edge detection on the preprocessed tilapia fillet image to generate a tilapia fillet edge image. The edges in the tilapia fillet edge image are represented in the form of lines.

[0028] Step 102: Extract the tilapia fillet outline image from the tilapia fillet edge image, establish the maximum bounding rectangle of the tilapia fillet outline image, and establish a rectangular coordinate system based on the maximum bounding rectangle.

[0029] Specifically, firstly, the outline of the tilapia fillet is extracted from the edge image of the tilapia fillet, and the extracted outline point set is traversed; then, the extracted outline point set is calculated, and the boundary of the bounding rectangle is updated according to the calculation result until the maximum bounding rectangle of the tilapia fillet outline image is obtained; then, the lower left corner of the maximum bounding rectangle is used as the origin of the coordinate system, the X-axis is along the horizontal direction of the maximum bounding rectangle, and the Y-axis is along the vertical direction of the maximum bounding rectangle, thus establishing a rectangular coordinate system.

[0030] More specifically, a contour extraction algorithm (such as the `findContours` function in OpenCV) is used to extract the contours of the tilapia fillets from the binary image. The extracted contour point set is traversed, and for each contour point, its position relative to the current bounding rectangle is calculated. If the contour point is outside the current bounding rectangle, the boundary of the bounding rectangle is updated to include the contour point. This process is repeated until all contour points have been traversed, resulting in the final maximum bounding rectangle, thus establishing the maximum bounding rectangle of the tilapia fillet contour image. Then, a Cartesian coordinate system is established with the lower left corner of the maximum bounding rectangle as the origin, the X-axis along the horizontal direction of the maximum bounding rectangle, and the Y-axis along the vertical direction of the maximum bounding rectangle. f Ensure that all axes of the coordinate system are unit vectors for accurate coordinate transformations and calculations. Please refer to [link to relevant documentation] for details. Figure 6 .

[0031] Step 103: Analyze the outline image of the tilapia fillet inside the largest bounding rectangle, and obtain the outline edge curve of the smooth tilapia fillet area to be trimmed based on the analysis results.

[0032] Specifically, firstly, a trained machine learning model is used to identify the outline image of the tilapia fillet inside the largest bounding rectangle, and the outline features of the tilapia fillet to be trimmed are obtained based on the identification results; then, the outline features of the tilapia fillet to be trimmed are coordinated, and the outline of the coordinated tilapia fillet to be trimmed is fitted, and the smooth outline edge curve of the tilapia fillet to be trimmed is obtained based on the fitting results.

[0033] More specifically, the outline image of the tilapia fillet inside the largest bounding rectangle is analyzed. Edge detection algorithms (such as Canny edge detection) are used to identify the edges of the tilapia fillet region. The outline of the tilapia fillet region is the area to be trimmed. A machine learning model containing the tilapia fillet image is constructed. This model is trained using deep learning methods such as convolutional neural networks (CNN) to identify the outline features of the tilapia fillet region to be trimmed (the outlines of the dorsal fin region, pelvic fin region, and caudal fin region). Based on the previously established Cartesian coordinate system, the pixel coordinates of each point in the tilapia fillet outline image are... ,in, It is a horizontal position. It is a vertical position, converted to a rectangular coordinate system. f The actual coordinates in the image are calculated using a linear mapping, and the conversion formula is as follows: ; The actual width and height refer to the actual geometric dimensions of the tilapia fillet, thereby realizing the coordinate representation of the contour features of the area to be trimmed in the tilapia fillet.

[0034] Then, a fitting model (including straight lines, circles, ellipses, and polynomial curves) is selected, and mathematical methods such as the least squares method are used to establish fitting equations for the coordinate values ​​of the contours of the tilapia fillets to be trimmed (the contours of the dorsal fin area, the pelvic fin area, and the caudal fin area), forming a smooth edge curve of the dorsal fin area contour. ventral fin region outline edge curve and the contour edge curve of the caudal fin area .

[0035] Step 104: Determine the trimming path of the tilapia fillet to be trimmed in rectangular coordinates based on the contour edge curve of the area to be trimmed, and transform the trimming path of the tilapia fillet to be trimmed in rectangular coordinates into the trimming path of the tilapia fillet to be trimmed in the coordinate system of the water jet trimming system.

[0036] Specifically, the steps for determining the trimming path of the tilapia fillet to be trimmed in rectangular coordinates based on the contour edge curve of the area to be trimmed are as follows: offset the contour edge curve of the tilapia fillet to be trimmed along the axis direction, and determine the trimming path of the tilapia fillet to be trimmed in rectangular coordinates based on the offset result.

[0037] More specifically, the trimming of the dorsal fin area needs to be done along... The offset distance in the negative direction of the axis is , The size depends on the length characteristics of the tilapia fillet, generally ,in, The length of the tilapia fillet It is a proportionality coefficient. It is a constant term, generally 5 8mm; the adjusted curve for the offset dorsal fin area is as follows: ;

[0038] Trimming of the pelvic fin area needs to follow The offset distance in the positive direction of the axis is , The size depends on the length characteristics of the tilapia fillet, generally ,in, The length of the tilapia fillet It is a proportionality coefficient. It is a constant term, generally 3 8mm; the adjusted curve for the ventral fin area after offset is as follows ;

[0039] The trimming of the caudal fin area needs to follow The offset distance in the negative direction of the axis is , The size depends on the length characteristics of the tilapia fillet, generally ,in, The length of the tilapia fillet It is a proportionality coefficient. It is a constant term, generally 10 12mm; the adjusted curve for the offset caudal fin area is as follows Therefore, the equation for the trimming path of tilapia fillets is: Trimming curve of the dorsal fin area. ; Pelvic fin area trimming curve Tail fin area trimming curve .

[0040] Furthermore, the specific steps for transforming the trimming path of the tilapia fillet to be trimmed in rectangular coordinates into the trimming path of the tilapia fillet to be trimmed in the coordinate system of the water jet trimming system are as follows: the trimming path of the tilapia fillet to be trimmed in rectangular coordinates is transformed into the trimming path of the tilapia fillet to be trimmed in the coordinate system of the water jet trimming system by using the coordinate system transformation method.

[0041] Furthermore, the waterjet dressing system mainly consists of a three-axis motion mechanism and a water jet. During the dressing process, the waterjet path is the working path of the water jet. The coordinate system of the waterjet dressing system is... The original coordinate system of the tilapia slice image was f Using coordinate system transformation methods to transform the two-dimensional coordinate system f Transform to two-dimensional coordinate system : ; ,in, These are linear transformation matrices between two coordinate systems (for rotation and scaling transformations, they are linear transformation matrices between two coordinate systems). , , , (or a combination of scaling factors). It is a translation vector;

[0042] Original f The tilapia fillet trimming curve function in the coordinate system is converted to Functions in a coordinate system, tilapia fillet coordinate system f Middle function exist The corresponding function in the coordinate system The corresponding equation for the trimming path in the water jet trimming system coordinate system is: Dorsal fin region trimming curve ; Pelvic fin area trimming curve Tail region trimming curve ; , and All are coordinate systems The corresponding offset.

[0043] In practical applications, the specific steps of the water jet path planning method are as follows: Step 1: Obtain the trajectory curve of the tilapia fillet:

[0044] (1) Image acquisition: A high-definition camera with a resolution of 4000x3000 pixels was used to take an image of tilapia fillets in a fixed position, with the fish meat side facing upward, the fillets side facing downward, and the fish head side facing the direction of transport.

[0045] (2) Preprocessing: Convert the captured color image into a grayscale image. The grayscale value is calculated using the following formula: ,use The neighborhood averaging method is used to denoise grayscale images.

[0046] (3) Edge detection and extraction: The HED algorithm is used to perform edge detection on the preprocessed image to generate the tilapia fillet edge image. Then, the OpenCV findContours function is used to extract the tilapia fillet contour from the binary edge image.

[0047] (4) Coordinate system establishment and coordinate transformation: Based on the extracted contour, the maximum bounding rectangle of the tilapia fillet is determined, and its lower left corner coordinates are (1000, 1500). Therefore, a rectangular coordinate system is established. f With the origin at (1000, 1500), the X-axis along the horizontal direction and the Y-axis along the vertical direction, the pixel coordinates of each point in the contour image are transformed into a coordinate system. f The actual coordinates in the image are given. The actual width of the tilapia fillet is 300mm, and the height is 200mm. Therefore, the conversion formulas are: x = (pixel X − 1000) / 4 * 300 / 3000; y = (pixel Y − 1500) / 3 * 200 / 2000. Then, through curve fitting, the edge curves of the dorsal fin, pelvic fin, and caudal fin areas are obtained. , , .

[0048] Step 2: Establish the trimming area curve for tilapia fillets: The length of the tilapia fillet is 250mm. Based on empirical formulas, the trimming offset of the dorsal fin area is calculated. The amount of offset adjustment in the pelvic fin area The amount of offset adjustment in the caudal fin area Therefore, the adjusted curves after offset are as follows: ; ; .

[0049] Step 3: Convert to water jet path: Coordinate system of the water jet trimming system and f There is a 45-degree rotation between them, and a translation vector. The transformation matrix is ​​then: The translation vector is: =50, =30; Using the coordinate system transformation formula, f Transformation of trimming curves in coordinate system In the coordinate system, taking the dorsal fin region as an example, the transformed trimming path equation is: ; here It is the transformed function form, not a simple linear transformation, because the original function... It may be non-linear; in practical applications, it is necessary to... Perform interpolation or fitting to obtain the result. Corresponding function in coordinate system Similarly, the trimming path equations for the pelvic and caudal fin regions can be obtained. and The values ​​and formulas in the above examples can be accurately calculated and calibrated based on specific tilapia fillet sizes, image resolutions, water jet system parameters, etc.

[0050] The second embodiment of the present invention relates to a water jet path planning method for trimming tilapia. The second embodiment is a detailed description of the entire first embodiment. The main detailed description is that: in the second embodiment of the present invention, an implementation method is specified, which describes the specific process of trimming tilapia fillets using a water jet trimming system according to the trimming path of the tilapia fillet area to be trimmed in the coordinate system of the water jet trimming system.

[0051] Please refer to this implementation method. Figure 2 The process includes the following steps, which are explained below:

[0052] Steps 201 to 204 are similar to steps 101 to 104 in the first embodiment, and will not be described again here.

[0053] Step 205: Use a water jet trimming system to trim the tilapia fillets according to the trimming path of the area to be trimmed in the coordinate system of the water jet trimming system.

[0054] In practical applications, the working parameters and process of the tilapia fillet waterjet trimming system are as follows: Working parameters of the waterjet trimming system: Working pressure 300 350 bar, high-pressure nozzle orifice diameter of 0.15 0.20mm, the water jet's movement speed is controlled at 10 20cm / s, the vertical distance between the water jet nozzle and the tilapia fillet surface is controlled at 10cm / s. 15mm;

[0055] Workflow: The water jet system includes a three-axis motion mechanism, a feeding and conveying system, and a water jet. The feeding and conveying system is equipped with a perforated conveyor belt (the conveyor belt's speed is adjustable) located below the three-axis motion mechanism. The three-axis motion mechanism includes... , , Axis, in A water jet is mounted on the shaft, and a three-axis motion mechanism controls the space of the water jet. The system features coordinates to enable arbitrary movement of the water jet; the feeding and conveying system is equipped with a mesh conveyor belt, and laser grating sensors are installed on the inlet and outlet sides of the feeding and conveying system to sense whether the tilapia fillets are entering or leaving the trimming area of ​​the water jet; the three-axis motion mechanism is equipped with a zero point position or an initial working position, the zero point position is a fixed coordinate (pre-set), and the initial working position is determined by the trimming path equation of each tilapia fillet to be trimmed;

[0056] After the tilapia fillets are positioned in a fixed manner, the trajectory curve is acquired at the front end, the trimming area curve is established, and the equation for converting the curve into a water jet path is generated. The equation parameters of the water jet path are then transmitted to the trimming intelligent control system, which controls the water jet system. When the laser grating sensor detects that a tilapia fillet has entered the water jet trimming area, the feeding and conveying system uses a timed control method to transport the tilapia fillet to the fixed trimming area and keeps the feeding and conveying system stationary. The water jet starts from the initial working position and trims the tilapia fillet according to the trimming path equation. After completion, the feeding and conveying system is restarted to send the tilapia fillet out of the trimming area (the laser grating sensor at the rear end determines whether it has left the trimming area). After completion, it waits for the next tilapia fillet to enter. In the non-trimming working state, the water jet is in a stopped state and no water is discharged.

[0057] The third embodiment of the present invention relates to a water jet path planning system for trimming tilapia. Please refer to [link to relevant documentation]. Figure 3 ,include:

[0058] The image acquisition and preprocessing module is used to acquire the image of the tilapia fillet to be trimmed, and to obtain the edge image of the tilapia fillet based on the image of the tilapia fillet;

[0059] The maximum bounding rectangle establishment module is used to extract the tilapia fillet outline image from the tilapia fillet edge image, establish the maximum bounding rectangle of the tilapia fillet outline image, and establish a rectangular coordinate system based on the maximum bounding rectangle;

[0060] The contour image analysis module is used to analyze the contour image of tilapia fillets inside the largest bounding rectangle. Based on the analysis results, the contour edge curves of the smooth tilapia fillet area to be trimmed are obtained. The contour edge curves of the tilapia fillet area to be trimmed include the contour edge curves of the dorsal fin area, the pelvic fin area, and the caudal fin area.

[0061] The trimming path determination module is used to determine the trimming path of the tilapia fillet to be trimmed in rectangular coordinates based on the contour edge curve of the area to be trimmed, and to transform the trimming path of the tilapia fillet to be trimmed in rectangular coordinates into the trimming path of the tilapia fillet to be trimmed in the coordinate system of the water jet trimming system.

[0062] It is not difficult to see that this embodiment is a system implementation corresponding to the first embodiment, and this embodiment can be implemented in conjunction with the first embodiment. The relevant technical details mentioned in the first embodiment are still valid in this embodiment, and will not be repeated here to reduce repetition. Accordingly, the relevant technical details mentioned in this embodiment can also be applied to the first embodiment.

[0063] It is worth mentioning that all modules involved in this embodiment are logical modules. In practical applications, a logical unit can be a physical unit, a part of a physical unit, or a combination of multiple physical units. Furthermore, to highlight the innovative aspects of this invention, this embodiment does not introduce units that are not closely related to solving the technical problem proposed by this invention; however, this does not mean that other units are absent from this embodiment.

[0064] The fourth embodiment of the present invention relates to an electronic device; please refer to [link / reference]. Figure 4 ,include:

[0065] At least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the water jet path planning method for tilapia trimming as described above.

[0066] The memory and processor are connected via a bus, which can include any number of interconnecting buses and bridges, connecting various circuits of one or more processors and memories. The bus can also connect various other circuits, such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art and will not be described further herein. The bus interface provides an interface between the bus and the transceiver. The transceiver can be a single element or multiple elements, such as multiple receivers and transmitters, providing a unit for communicating with various other devices over a transmission medium. Data processed by the processor is transmitted over the wireless medium via an antenna, which further receives data and transmits it to the processor.

[0067] The processor manages the bus and general processing, and also provides various functions, including timing, peripheral interfaces, voltage regulation, power management, and other control functions. Memory is used to store data used by the processor during operation.

[0068] The fifth embodiment of the present invention relates to a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described method embodiments.

[0069] That is, those skilled in the art will understand that all or part of the steps in the methods of the above embodiments can be implemented by a program instructing related hardware. This program is stored in a storage medium and includes several instructions to cause a device (which may be a microcontroller, chip, etc.) or processor to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as a USB flash drive, a portable hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0070] In summary, the water jet path planning method proposed in this invention brings significant benefits to the tilapia trimming process in terms of production efficiency and quality control. From the perspective of production efficiency and quality control, this method achieves precise planning of the trimming path through automated processes such as image acquisition, preprocessing, edge detection, and curve fitting, reducing the need for manual operation, ensuring the accuracy and consistency of the trimming area, thereby greatly improving trimming efficiency. It also effectively avoids the problems of over-trimming or under-trimming, improving the appearance quality and edible value of tilapia products. At the same time, combined with a high-efficiency water jet trimming system, it ensures the speed and continuity of the trimming process, further improving the overall production cycle. In addition, the application of intelligent control system and laser grating sensor also enhances the stability and reliability of the trimming process, ensuring stable output of product quality.

[0071] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the invention. All equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in this invention should still be covered by the claims of this invention.

Claims

1. A water jet path planning method for trimming tilapia, characterized in that, Includes the following steps: Obtain an image of the tilapia fillet to be trimmed, and obtain an edge image of the tilapia fillet based on the image; Extract the tilapia fillet outline image from the tilapia fillet edge image, establish the maximum bounding rectangle of the tilapia fillet outline image, and establish a rectangular coordinate system based on the maximum bounding rectangle; The outline image of the tilapia fillet inside the largest bounding rectangle is analyzed, and the outline edge curve of the smooth tilapia fillet to be trimmed is obtained based on the analysis results. The outline edge curve of the tilapia fillet to be trimmed includes the outline edge curve of the dorsal fin region, the outline edge curve of the pelvic fin region, and the outline edge curve of the caudal fin region. The trimming path of the tilapia fillet to be trimmed in rectangular coordinates is determined based on the contour edge curve of the area to be trimmed, and the trimming path of the tilapia fillet to be trimmed in rectangular coordinates is transformed into the trimming path of the tilapia fillet to be trimmed in the coordinate system of the water jet trimming system.

2. The water jet path planning method for trimming tilapia according to claim 1, characterized in that: The step of obtaining the tilapia fillet edge image based on the tilapia fillet image includes: The tilapia fillet image is preprocessed, and edge detection is performed on the preprocessed tilapia fillet image to obtain the tilapia fillet edge image based on the edge detection results.

3. The water jet path planning method for tilapia trimming according to claim 1, characterized in that: The step of extracting the tilapia fillet outline image from the tilapia fillet edge image, establishing the maximum bounding rectangle of the tilapia fillet outline image, and establishing a Cartesian coordinate system based on the maximum bounding rectangle includes: Extract the outline of the tilapia fillet from the edge image of the tilapia fillet, and traverse the extracted outline point set; The bounding rectangle is calculated on the extracted contour point set and updated according to the calculation results until the maximum bounding rectangle of the tilapia fillet contour image is obtained. The lower left corner of the largest bounding rectangle is taken as the origin of the coordinate system, the X-axis is along the horizontal direction of the largest bounding rectangle, and the Y-axis is along the vertical direction of the largest bounding rectangle, thus establishing a rectangular coordinate system.

4. The water jet path planning method for tilapia trimming according to claim 1, characterized in that: The analysis of the tilapia fillet contour image within the largest bounding rectangle, and the resulting smooth contour edge curve of the tilapia fillet area to be trimmed, includes: The trained machine learning model is used to identify the outline image of the tilapia fillet inside the largest bounding rectangle, and the outline features of the area to be trimmed of the tilapia fillet are obtained based on the identification results. The contour features of the tilapia fillet to be trimmed are coordinated, and the contour of the coordinated tilapia fillet to be trimmed is fitted. Based on the fitting result, a smooth contour edge curve of the tilapia fillet to be trimmed is obtained.

5. The water jet path planning method for trimming tilapia according to claim 1, characterized in that: The step of determining the trimming path of the tilapia fillet to be trimmed in rectangular coordinates based on the contour edge curve of the area to be trimmed includes: The contour edge curve of the tilapia fillet to be trimmed is offset along the axial direction. Based on the offset result, the trimming path of the tilapia fillet to be trimmed in rectangular coordinates is determined. The trimming path of the tilapia fillet to be trimmed includes the trimming curve of the dorsal fin area, the trimming curve of the pelvic fin area, and the trimming curve of the caudal fin area.

6. The water jet path planning method for tilapia trimming according to claim 1, characterized in that: The process of transforming the trimming path of the tilapia fillet to be trimmed in rectangular coordinates into the trimming path of the tilapia fillet to be trimmed in the coordinate system of the water jet trimming system includes: The trimming path of the tilapia fillet to be trimmed in the rectangular coordinate system is transformed into the trimming path of the tilapia fillet to be trimmed in the coordinate system of the water jet trimming system using the coordinate system transformation method.

7. The water jet path planning method for trimming tilapia according to claim 6, characterized in that: The method of transforming the trimming path of the tilapia fillet to be trimmed in rectangular coordinates into the trimming path of the tilapia fillet to be trimmed in the coordinate system of the water jet trimming system includes: The trimming path of the tilapia fillet to be trimmed in the rectangular coordinate system is transformed into the trimming path of the tilapia fillet to be trimmed in the water jet trimming system coordinate system according to the following formula: ； ； Wherein, the coordinate system of the tilapia fillet image is f. The coordinate system of the water jet trimming system is: Using coordinate system transformation methods, the two-dimensional coordinate system f is transformed. Transform to two-dimensional coordinate system , It is a linear transformation matrix between two coordinate systems. It is a translation vector.

8. The water jet path planning method for trimming tilapia according to claim 1, characterized in that: After transforming the trimming path of the tilapia fillet to be trimmed in rectangular coordinates into the trimming path of the tilapia fillet to be trimmed in the coordinate system of the water jet trimming system, the method further includes: The tilapia fillets are trimmed using a water jet trimming system according to the trimming path of the area to be trimmed in the coordinate system coordinates.

9. A water jet path planning system for trimming tilapia, characterized in that: include: The image acquisition and preprocessing module is used to acquire the image of the tilapia fillet to be trimmed, and to obtain the edge image of the tilapia fillet based on the image of the tilapia fillet; The maximum bounding rectangle establishment module is used to extract the tilapia fillet outline image from the tilapia fillet edge image, establish the maximum bounding rectangle of the tilapia fillet outline image, and establish a rectangular coordinate system based on the maximum bounding rectangle; The contour image analysis module is used to analyze the contour image of the tilapia fillet inside the largest bounding rectangle. Based on the analysis results, the contour edge curve of the smooth tilapia fillet to be trimmed area is obtained. The contour edge curve of the tilapia fillet to be trimmed area includes the contour edge curve of the dorsal fin area, the contour edge curve of the pelvic fin area, and the contour edge curve of the caudal fin area. The trimming path determination module is used to determine the trimming path of the tilapia fillet to be trimmed in rectangular coordinates based on the contour edge curve of the area to be trimmed, and to transform the trimming path of the tilapia fillet to be trimmed in rectangular coordinates into the trimming path of the tilapia fillet to be trimmed in the coordinate system of the water jet trimming system.

10. An electronic device, characterized in that, include: At least one processor; as well as, A memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the water jet path planning method for tilapia trimming as described in any one of claims 1 to 8.

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