Automatic fish processing system

Abstract

The fish processing system may include a fish immobilization subsystem, a tools subsystem, an analysis subsystem, and / or other suitable components that may optionally be part of the fish processing subsystem. Additionally or alternatively, the system may optionally include an intake subsystem, a discharge subsystem, and / or any other suitable components.

Description

Technical Field

[0001] Cross - Reference to Related Applications This application claims the benefit of U.S. Provisional Application No. 63 / 451,508, filed Mar. 10, 2023, which is hereby incorporated by reference in its entirety.

[0002] The present invention generally relates to the field of food processing, and more specifically, to a novel and useful system for automatic fish processing in the field of food processing.

Brief Description of the Drawings

[0003] [Figure 1] FIG. 1 is a schematic diagram of a variation of the system. [Figure 2] FIG. 2 is a schematic diagram of a variation of the system. [Figure 3] FIGS. 3A and 3B are illustrations and schematic diagrams showing variations of the system, respectively. [Figure 4] FIGS. 4A and 4B are schematic diagrams showing variations of the method. [Figure 5] FIGS. 5A and 5B are diagrams showing variations of the orientation for fixing live fish. [Figure 6] FIGS. 6A and 6B are diagrams showing variations of the euthanasia station. [Figure 7] FIGS. 7A - 7E are diagrams showing variations of the nose stopper. [Figure 8] FIGS. 8A - 8E are diagrams showing variations of the live fish fixing mechanism. [Figure 9] FIG. 9 is a diagram showing a variation of the live fish fixture. [Figure 10] FIG. 10 is a diagram showing a variation of the intake station. [Figure 11] FIGS. 11A and 11B are diagrams showing variations of the bleeding station and the bleeding station in use, respectively. [Figure 12]Figure 12 shows variations in the drill killing mechanism. [Figure 13] Figures 13A to 13E show variations in the procedures for performing euthanasia. [Figure 14] Figure 14 shows variations in determining the control trajectory using the measurement system. [Figure 15] Figures 15A and 15B show variations of the fish-fixed subsystem. [Figure 16] Figure 16 shows variations of a system equipped with multiple rollers. [Figure 17] Figures 17A and 17B show variations of the fish-fixing subsystem equipped with a stopper. [Modes for carrying out the invention]

[0004] The following description of embodiments of the present invention is not intended to limit the invention to those embodiments, but rather to enable those skilled in the art to manufacture and use the invention.

[0005] 1. Overview As shown in Figure 1, the fish processing system 101 may include a fish immobilization subsystem 200, a tool subsystem 300, an analysis subsystem 400, and / or other suitable components that may optionally be part of the fish processing subsystem 102. Additionally or alternatively, the system 101 may optionally include an intake subsystem 100, an discharge subsystem 500, and / or any other suitable components.

[0006] In an exemplary example, the system (e.g., an automated fish processing robot) can accept one (or more) live fish (optionally of different species and sizes) at a time into the fish processing subsystem 102. Optionally, the fish fixing subsystem 200 can be automatically deployed to fix the fish in a known location. The analysis subsystem 400 can sample a set of fish measurements before, after, and / or during the fixing of the fish, and based on the set of measurements, can identify a set of fish attributes (e.g., species, size, pattern, etc.). Based on the set of measurements, the analysis subsystem 400 can decide whether to approve or reject the processing of the fish (e.g., if the fish does not meet regulatory requirements related to size, seasonality, etc.). If rejected, the fish can be released. If processing is approved, based on the set of measurements, the analysis subsystem 400 can determine a set of tool parameters for controlling the tool subsystem 300 to process the fish.

[0007] In an exemplary example, the tool subsystem includes a toolset such as a drill, a blade (e.g., a vibrating blade), and / or any other suitable tools. Processing of a fish by the tool subsystem 300 may include performing one or more tool operations (e.g., a drilling operation, an incision operation, etc.). Before performing one or more incision operations, the fish fixation subsystem 200 may position the fish so that it aligns with one or more tools, the tool subsystem 300 may position the tools so that they align with the fish, and / or the fish may be positioned in other ways. The drill can be used to perform one or more drilling operations (e.g., to euthanize the fish by drilling a hole in its brain). In the example, the drill rotates around its axis and translates along the axis to puncture the fish. In a further example, the drill may be tilted further obliquely with respect to the axis and / or translated perpendicularly with respect to the axis to extend the reach of the drill bit within the brain cavity of the fish. The blade can be used to perform one or more cutting operations (for example, bleeding a fish by cutting near the gills, tail, and / or other suitable locations).

[0008] However, the system can include other appropriate elements.

[0009] 2. Technical Effects Variations in automated fish processing technology can offer several advantages compared to conventional systems and methods.

[0010] Firstly, processing live fish is a difficult task to automate due to their strength and movement, and fish typically thrash about in an attempt to survive once captured. To overcome these challenges, variations of this system feature a live restraint system that can apply sufficient force to restrain the fish while minimizing its thrashing, allowing for gentle handling.

[0011] Secondly, the system variations are adaptable to a wide variety of fish species and sizes, as they include movable fasteners and / or tools (euthanasia tools, bleeding tools, etc.) that can be arbitrarily adjusted (e.g., automatically adjusted) based on the attributes of the accepted fish (e.g., fish species and / or size). This allows the system to accept a wide variety of fish, and to quickly euthanize (e.g., by delivering a precise blow to the brain) and precisely bleed the fish that the system accepts (e.g., those sorted at the intake station) (e.g., by delivering a precise blow to the brain) (e.g., this allows for a greater yield of harvestable meat).

[0012] Thirdly, variations of this technology can yield higher quality fish products (e.g., meat, skin, organs, bones, tail, etc.) by reducing or preventing stress on fish before euthanasia. Compared to other animals caught for meat (cattle, pigs, etc.), there are few standards governing humane euthanasia for fish worldwide, and they are often killed in inhumane ways (suffocation, gill pulling, ice bed method, etc.), causing the fish to thrash around and experience stress before death. Violent shaking releases lactic acid from the fish, which not only hardens the meat and worsens the flavor (e.g., increasing the muscle pH), but also damages the fish and leaves black spots on the meat, reducing the quality of the fish. When stressed, fish secrete stress hormones (e.g., cortisol), which causes the meat to dry out, taste bad, become dull in color, and otherwise deteriorate in quality, resulting in a decline in meat quality. This technique can reduce the time fish have to release stress hormones (e.g., by killing the fish quickly and accurately), place live fish in an intake station that creates a stress-free environment (such as a dark, humid environment or an environment where they swim against the current), and / or reduce stress on the fish in other ways. Reducing the fish's stress level reduces the suffering of the fish before ikejime, reduces or completely prevents the release of stress hormones (e.g., cortisol) that can degrade meat quality, prevents the fish from struggling to escape the system (which could inadvertently damage the system hardware), and / or other benefits. Variations of this technique can adopt the techniques, benefits, and / or goals of ikejime and / or its variations, which include a step of euthanizing the fish by delivering one or more sharp blows to the head. This process requires great precision but is one of the most humane ways to kill fish, resulting in minimal stress on the fish and improved food quality.

[0013] Fourthly, a variation of this technique involves euthanizing fish by inducing brain death, which offers several additional advantages. For example, the inventors discovered that a fish's heartbeat continues for a certain period of time (e.g., a few seconds, a few minutes) after brain death, and that if the fish is then cut open within a threshold time (e.g., a few seconds, a few minutes), the fish will pump its own blood and self-bleed.

[0014] However, this technology may also bring other suitable advantages.

[0015] 3. System As shown in FIG. 1, the fish processing system 101 may include a fish fixing subsystem 200, a tool subsystem 300, an analysis subsystem 400, and / or other suitable components. Additionally or alternatively, the system 101 can optionally include an intake subsystem 100, an exhaust subsystem 500, and / or any other suitable components.

[0016] This system preferably functions to kill live fish and bleed them. However, the system can additionally or alternatively perform functions such as collecting biological data of fish, sorting live fish, post-processing of clamped fish, and / or other functions. The system is preferably configured to process multiple types of fish, but can alternatively be configured to process a single type of fish. This system can be installed and / or operated on ships (e.g., fishing boats), on land (e.g., near fish farms, inside seafood processing factories, etc.), and / or in other forms.

[0017] Some or all stations, subsystems, and / or areas of the system can include humidifying elements (e.g., mist, hose, sprinkler, etc.). The humidifying elements can operate continuously, periodically, on demand, and / or at other frequencies.

[0018] The system may optionally include one or more transport subsystems, which may function to move fish between stations and / or in and out of the system. Transport subsystems may include driven or passive transport mechanisms. In a first variation, the transport subsystem uses gravity to passively move fish between stations. For example, each subsequent station is lower than the previous one. In a second variation, the transport subsystem includes controlled flow elements (hoses, water jets, etc.). For example, the controlled flow elements induce a water flow that moves in the opposite direction to the intended fish migration path, causing the fish to swim against the current. In another example, the controlled flow elements flow downstream, pushing the fish towards subsequent stations. In a third variation, the transport subsystem includes conveyor belts for moving fish between stations. In a fourth variation, the transport subsystem includes force elements that apply force to the fish to actively move them between stations. Any combination of these various variations can be used to transport fish through the system; however, fish may be transported in other ways. Alternatively, some or all of the processes described herein may be carried out in one location (for example, a single seafood processing facility).

[0019] In a specific example (e.g., the example shown in Figure 2), the fish processing system may include an intake station, an euthanasia station, a bleeding station, a post-processing station, and a discharge station. The intake station (e.g., the fish processing subsystem) may include a container, an enclosure system, and a sorting system including a sensor set and a discharge gate system. The euthanasia station (e.g., the fish processing subsystem) may include a sensor set, a bio-fixation mechanism, an euthanasia mechanism, and an euthanasia control system that controls the euthanasia mechanism and can plan the euthanasia trajectory based on measurements sampled by the sensor set. The bleeding station (e.g., the fish processing subsystem) may include a sensor set, a fixation mechanism, a bleeding mechanism set, and a bleeding control system that controls the bleeding mechanism and can plan the bleeding trajectory based on measurements sampled by the sensor set. In a particular example, fish may optionally be transported between stations using gravity (e.g., the example shown in Figure 3A), in which case all stations are positioned diagonally to each other, and when gates are opened between stations, the fish move along a chute. Optionally, controlled flow elements assist in fish transport by providing lubrication and / or cleaning forces for transporting fish between stations. However, multiple stations can also be located side-by-side in one location, with at least two of the following processes—intake, euthanasia, and / or bleeding—performed at the same station.

[0020] Preferably, if the system includes multiple stations, the stations in the system are arranged such that each subsequent station is positioned lower than the preceding station. For example, each station is adjacent to the preceding station but positioned lower than the preceding station (e.g., at an angle of 0° to 90° with respect to the gravity vector, at an angle of 30° to 60° with respect to the gravity vector, at an angle of 45° with respect to the gravity vector, etc.). In a second example, the stations are arranged to be stacked vertically. Alternatively, the stations may be arranged on the same horizontal plane, at the same spatial location (e.g., overlapping), or in other arrangements. The system and / or each station can be defined as a bottom (e.g., the side closest to the ground), top, bottom, front, back, and / or other. Each station can be defined as a lower side and an upper side (e.g., the side furthest from the lower side). Each station may have walls along one or more sides, which may be sealed or otherwise sealed. Preferably, the bottom is inclined with respect to the gravity vector, but may be perpendicular to the gravity vector.

[0021] Each station preferably has an entrance and exit for fish. However, it is also possible to have only one opening that serves as an entrance and exit. The entrance and exit may be positioned opposite each other (for example, the entrance may be positioned along the rear side of the station and the exit along the front side of the station, or the entrance and exit may be positioned laterally across the station). Alternatively, the exit may be located near the entrance. Preferably, the entrance is positioned higher than the exit (for example, the bottom of the station may be at an angle to the gravity vector, or the entrance may be at the top of the station and fish may be dropped into the station). Alternatively, the entrance and exit may be located on either side of the station.

[0022] However, the system may also include other elements.

[0023] 3.1 Intake subsystem 100 The system may optionally include an intake subsystem 100 that performs the function of receiving live fish. The intake subsystem may optionally further function to ensure that one fish at a time enters the fish processing subsystem.

[0024] The fish 11 may pass through the intake subsystem 100 before entering the fish processing subsystem 102. However, the system may, alternatively, not include an intake subsystem (for example, the fish may be received directly in the fish processing subsystem), the intake subsystem may be a component of the fish processing subsystem, and / or the system may have any other configuration.

[0025] In a preferred embodiment, the intake subsystem is located upstream of the fish processing subsystem, and the intake subsystem is physically higher (e.g., relative to the ground) than the fish processing subsystem. Optionally, the intake subsystem is connected to the fish processing subsystem by a chute, and fish are released from the intake subsystem to the fish processing subsystem (e.g., by levers, opening and closing doors, etc.) and moved between these stations by gravity. Additionally or alternatively, the intake subsystem may be located at the same level as and / or lower than the fish processing subsystem and may include additional mechanisms (e.g., water jets that create a sloped flow that causes fish to swim against the current, moving platforms, conveyors, etc.) and / or other configurations that enable the system to transport fish between these stations.

[0026] In the first variation, the intake subsystem may include an opening (e.g., a hole, chute, door, etc.) into which fish are dropped (e.g., one at a time, in batches, etc.). The fish may be dropped into the opening by an operator (e.g., an operator holding fish in a net), a machine, and / or any other suitable entity.

[0027] In a second variation, the intake subsystem may include a tank for receiving multiple fish and an enclosure subsystem (e.g., including gates, ledges positioned to allow movement in only one direction, selection hoses, narrow areas through which only a single fish can pass) that selectively allow a group of fish (e.g., one fish at a time) to enter the fish processing subsystem or to lead the fish to the discharge subsystem. Optionally, the enclosure subsystem may include a fish regulator. The fish regulator preferably comprises two gates for sorting fish based on data collected by a measuring system. One gate leads to an euthanasia station. The other gate leads to an outlet (e.g., a gate, door, chute, discharge station as described herein).

[0028] In a third variation, the intake subsystem may include and / or interface with an analysis subsystem (e.g., the same or different as that used in the fish processing subsystem) which includes a set of models that identify a set of fish attributes (e.g., size, species, defects, etc.) based on a set of fish measurements (e.g., images) within the intake subsystem. A set of sensors (e.g., cameras) may be configured to sample a set of measurements, and the analysis subsystem may be configured to selectively pass fish from the intake subsystem to the fish processing subsystem only if they meet a set of criteria (e.g., size exceeds a threshold, seasonal species, etc.). For example, if the analysis subsystem determines that a fish fails to meet the set of criteria, the enclosure subsystem may discharge the fish directly instead of passing it to the fish processing subsystem.

[0029] However, the capture subsystem may have other configurations and may include other appropriate components.

[0030] 3.2 Fish Processing Subsystem 102 The system may optionally include a fish processing subsystem 102 (collectively referred to as a station, for example, in this document), which may function to process fish by performing the functions of one or more subsystems (e.g., fixing, tooling, and analysis) in an integrated station. Additionally or alternatively, the system may include multiple stations to perform a series of operations.

[0031] The fish processing subsystem 102 preferably includes a fish immobilization subsystem 200 (e.g., equivalently referred to herein as a live immobilization mechanism), a tool subsystem 300, an analysis subsystem 400, and / or any other suitable elements. Additionally or alternatively, 102 may include an intake subsystem 100, an discharge subsystem 500, and / or any other suitable components. Additionally or alternatively, 102 may include any combination of the fish immobilization subsystem 200, the tool subsystem 300, and the analysis subsystem 400 (e.g., a sorting station having a fish immobilization subsystem and an analysis subsystem, a processing station having a fish immobilization subsystem and a tool subsystem, etc.).

[0032] A fish processing subsystem 102 (e.g., a bleeding station, an euthanasia station, etc.) may be defined by a principal axis (e.g., a longitudinal axis) pointing in the direction of the fish's preferred orientation (e.g., the direction in which the fish's spine is parallel to the principal axis when fixed). However, the principal axis may be oriented in other directions relative to the fish. Generally, a fish processing subsystem has at least an inlet, an outlet, an upper side, and a lower side, but may be defined in other embodiments. A transport subsystem optionally transports fish to the fish processing subsystem headfirst or tailfirst, but may instead introduce the fish horizontally or from other directions. The principal axis may intersect the inlet (e.g., when fish are transported headfirst to the station, as in the examples shown in Figures 6A and 6B), be below the inlet (e.g., when fish are dropped into the station), and / or be oriented in other directions relative to the inlet.

[0033] Preferably, the fish processing subsystem is located in a sealed darkroom and / or a darkroom is defined to minimize stress on the fish by reducing exposure to light; however, the fish processing subsystem may, additionally or alternatively, be in an open environment, allowing light to enter and / or include lighting elements and / or be in other configurations.

[0034] In variations, the fish processing subsystem can be defined by a bottom and a top. The bottom may be relatively proximal (e.g., compared to the top) to a reference base plane defined by the ground, a floor (e.g., the floor of a fish processing facility, the deck of a ship, etc.), and / or any other suitable surface on which the fish processing subsystem is used or installed. Preferably, the bottom of the fish processing subsystem is sloped downward with respect to the reference base plane (see, for example, Figure 6B). Preferably, the downward slope is less than 90° (e.g., less than 90°, less than 85°, less than 80°, less than 75°, less than 70°, less than 65°, less than 60°, less than 55°, less than 50°, less than 45°, less than 40°, less than 35°, less than 30°, less than 25°, less than 20°, etc.), so that the fish processing subsystem can use gravity to position the fish precisely in a known location rather than physically moving the fish to a known location (e.g., the fish are in contact with the tip of their noses within the system). However, the bottom may be substantially parallel to the base surface and / or otherwise configured. The fish processing subsystem may additionally or alternatively be defined by one or more sides (e.g., front end, rear end, left, right, etc.), walls (e.g., external sides), and / or any other suitable shape. Additionally or alternatively, the fish processing subsystem may include an internal translational mechanism (e.g., rollers, tracks, treads, belts, water flow, or jets, etc.), which may be configured to move fish between locations within the fish processing subsystem (e.g., from a first location where a first set of processing steps is performed to a second location where a second set of processing steps is performed, and optionally further to a third location where a third set of processing steps is performed, etc.).

[0035] In the first variation, a single station may include fixation, tooling, and analysis subsystems and be configured to perform multiple processing steps simultaneously (e.g., to improve throughput) or sequentially (e.g., to ensure that the fish are completely euthanized before performing subsequent tooling operations). The advantage of the first variation is that the machine size is reduced because multiple steps are performed in a single station (in contrast to prior art, for example, where separate fish processing operations are often performed in entirely different machines). Optionally, multiple processing steps can be performed without re-fixing the fish between steps, further saving time and power costs. In the first example, euthanasia and bleeding are performed in a single station. In the second example, euthanasia, bleeding, and further processing (e.g., filleting) are performed in a single station.

[0036] In a second variation, two or more stations (e.g., two or more stations in an integrated fish processing system) may be configured to perform sequential processing steps separately. Multiple stations can be configured to perform euthanasia, bleeding, post-processing, intake, discharge, and / or one or more other appropriate steps. In one example (e.g., the example shown in Figures 3A and 3B), the first station may be configured to perform euthanasia and the second station may be configured to perform bleeding. Optionally, either the euthanasia station and / or the bleeding station may be further configured to perform any additional steps (e.g., intake, post-processing, discharge, etc.). Optionally, one or more additional stations may be configured to perform any additional steps (e.g., intake, post-processing, discharge, etc.).

[0037] In a third variation, the system may include multiple (e.g., two or more) replicated stations configured to process multiple fish in parallel (e.g., to improve the system's throughput). In the example, the system may include a column of fish processing subsystems, with individual fish being placed into each individual fish processing subsystem one at a time. Optionally, fish may be sorted based on one or more attributes (e.g., species, size, quality, etc.) and then directed (e.g., via the enclosure and gate systems described herein) to specific stations based on the attributes (e.g., stations configured to process fish matching one or more attributes).

[0038] In the fourth variation, separate versions of the system can be created, each system and its fish processing subsystem 102 providing a special function (e.g., two or more stations in a separate but compatible fish processing system). This variation allows for easy integration into an existing fish processing assembly line without a complete system overhaul. In the first example, the first version of the system is manufactured for euthanasia, and the second version of the system is manufactured for bleeding. Optionally, a third version can be created to perform one or more post-processing steps (e.g., filleting, packaging, post-inspection). In the second example, the first version of the system may be manufactured to perform euthanasia and bleeding, and the second version of the system may be manufactured to perform one or more post-processing steps (e.g., filleting, packaging, post-inspection). In the third example, the first version of the system is manufactured to perform intake, and one or more subsequent versions of the system can perform one or more subsequent processing steps.

[0039] The bleeding station may optionally include a bleeding area and / or active bleeding elements, which may function to hold the fish during bleeding. The bleeding area may be the same as one or more tool areas (e.g., cutting areas) or a separate container (e.g., a tank). The bleeding station and / or bleeding area may optionally further include a fluid volume (e.g., bleeding by osmosis), pressurized fluid (e.g., for forcibly draining blood from the bleeding incision), hoses (e.g., for supplying water to the area), coolants (e.g., ice, air conditioning, etc.), drainage (e.g., grates, holes, gutters, etc.), coatings, and / or other elements.

[0040] However, the fish processing subsystem may have other configurations and / or include other suitable components.

[0041] 3.3 Fish-fixed subsystem 200 The system may include a fish restraint subsystem 200, which functions to restrain the fish, allowing the system to perform tool operations (e.g., cutting), physical manipulation of the fish, measurement collection, and / or any other one or more operations related to the restrained fish. Restraining the fish (e.g., during tool operations, measurement sampling, etc.) improves the precision of tool operations, reduces the complexity of planning tool operations, decreases the number of degrees of freedom required for the toolset to perform tool operations, improves the precision of the model, and / or reduces the complexity of the model (e.g., by allowing measurement sampling under controlled conditions), and / or other appropriate benefits.

[0042] Restraining a fish may include preventing the fish from moving in one or more directions, making contact with the fish at one or more locations, preventing the fish from moving in one or more directions, preventing the fish from rotating about one or more axes, and / or any other appropriate action.

[0043] Preferably, the fish-fixing subsystem 200 orients the fish upright (e.g., vertically) within the fish-processing subsystem, with the fish's belly relatively close to the bottom of the fish-processing subsystem and the fish's spine relatively close to the top of the fish-processing subsystem (e.g., the fish's long axis is substantially parallel to the bottom and top of the fish-processing subsystem), and since fish are generally substantially symmetrical with respect to the sagittal plane, this may provide the advantage that the fish-fixing subsystem can control the orientation of the fish within the system. However, the fish-fixing subsystem may additionally or alternatively fix the fish lying on its side (e.g., relative to the bottom), with the fish's nose relatively close to the top of the fish-processing subsystem and the fish's tail relatively close to the bottom of the fish-processing subsystem, upside down, angled with respect to the bottom and / or top, and / or in any other suitable orientation. Preferably, the fish-fixing subsystem 200 orients the fish forward within the fish-processing subsystem so that the fish enters (and optionally exits) the fish-fixing subsystem face first. However, the fish-fixing subsystem may additionally or alternatively orient the fish backward, laterally (for example, in a direction in which the fish enters the fish-fixing subsystem laterally), and / or in other suitable directions.

[0044] The fish-fixing subsystem 200 (for example, equivalently referred to herein as the fish-fixing mechanism) preferably includes some or all of a restraining member 210, a set of manipulators 220, a set of actuators 230, and / or any other suitable components.

[0045] Preferably, the fish-fixing subsystem 200 does not obstruct and / or restrict the tool path. However, the tool path can be adapted to bypass the fish-fixing subsystem, either additionally or alternatively.

[0046] Preferably, the fish fixation subsystem 200 does not obstruct the measurement path (e.g., the fish fixation subsystem does not visually obscure or interfere with the imaging system), thereby providing many advantages such as performing imaging at the same location as the intervention (e.g., improving the accuracy of puncture and / or incision), performing imaging simultaneously with or close to the intervention (e.g., within a few seconds, within one second, within two seconds, etc.) (e.g., improving the efficiency and / or throughput of the system), and / or other benefits. In the first example, if the measurement includes an external image, the restraint (and / or set of manipulators) may include transparent (e.g., clear) and / or translucent material (e.g., clear vinyl). In the second example, if the measurement includes an internal image, the restraint (and / or set of manipulators) may include material suitable for the respective internal image modality (e.g., X-ray plastic, etc.). In the third example, if the measurement subsystem includes sensors that need to come into contact with the fish to collect measurements (e.g., tactile sensors, force sensors, etc.), the fish-fixing subsystem is designed to not physically obstruct the sensors (e.g., not located between the sensors and the fish). In the fourth example, the fish-fixing subsystem includes a set of sensors used to collect measurements (e.g., electrical sensors) and electrically non-reactive material. However, the measurement path can be adapted to bypass the fish-fixing subsystem, either additionally or alternatively.

[0047] The restraint device 210 may function to directly restrain the fish (e.g., hold, work hold, compress, etc.). In variations, the restraint device may function to hold live fish in place for euthanasia (e.g., a live fish fixation device), to hold euthanized fish when they are cut open by a bleeding mechanism (e.g., a dead fish fixation device), and / or to hold them when they are processed by another set of tools, and / or other functions.

[0048] Generally, the restraint material is in direct contact with at least a portion of the fish, but does not necessarily have to be in direct contact with the fish (for example, if the fish is held in a tank, the restraint material, including the tank walls, generally does not come into contact with the fish). The position of the restraint material can be fixed and / or variable within the fish processing subsystem (e.g., including one or more translational and rotational axes), and the position of the restraint material is controlled by a control subsystem.

[0049] In a preferred embodiment, the restraint material 210 is a transparent and flexible material. Examples of transparent and flexible restraint material 210 include vinyl, plastic, and / or other suitable materials. However, additional or alternative embodiments (e.g., clear and inflexible, flexible and inflexible, etc.) may be created.

[0050] Preferably, the restraint material 210 is transparent (e.g., see-through, transparent, etc.) so that a visual sensor (e.g., a camera) can sample images of the fish through the restraint material, thereby enabling analysis of the fish using a computer vision model, collection of additional data about the fish, and / or other desirable advantages. However, the restraint material may, additionally or alternatively, not be transparent (e.g., if internal images such as X-rays are being sampled).

[0051] More preferably, the restraint material 210 is flexible and has high plasticity (e.g., can be configured to bend without fracturing, and the material plastically deforms under stress from a fish and returns to its original shape when the applied stress is removed) and low elasticity (the material does not exhibit elastic deformation even when stressed by a fish). The advantage of a preferred highly plastic and inelastic flexible material is that the restraint material can accommodate both a variety of fish sizes and contours (e.g., allowing the system to accommodate a wider variety of fish) while still being able to firmly and completely restrain the fish (e.g., preventing the movement of live fish within the fish restraint subsystem). However, the restraint material may additionally or alternatively have a high degree of plasticity and high elasticity (e.g., the material elastically deforms under stress from a fish and returns to its original shape when the applied stress is removed), a low degree of plasticity and high elasticity, semi-flexible (e.g., having moderate elasticity and / or plasticity), inflexible (e.g., rigidly restraining the fish), rigid, elastic, and / or other configurations.

[0052] More preferably, the restraint 210 is made of one or more sheets of a restraining material (e.g., vinyl sheet, vinyl wrap, etc.), which may provide simultaneous restraint of the fish in the vertical and lateral directions, complete fixation of the fish without escape because there are no holes for the fish to slip through the sheet, minimization or elimination of localized stress increases (e.g., since the sheet is unstructured / amorphous, there are no stress increases that would normally arise from rigid elements or flexible joints), and / or other desirable advantages. However, the restraint may additionally or alternatively be configured as end effectors (e.g., a set of one or more claws, grippers, clamps, etc.), straps, sliders, sets of workpiece holding components, and / or any other suitable form.

[0053] The fish fixing subsystem 200 may include a set of one or more manipulators 220 (e.g., members) capable of manipulating (e.g., positioning) the restraint material and / or the fish. In an example, the manipulators (e.g., manipulators for manipulating the restraint material) may include a set of rollers, a clamping mechanism, a support 222 (e.g., a movable base), and / or any other suitable form. In a further example, the manipulators (e.g., manipulators for manipulating the fish) may include robotic limbs (e.g., arms, hands, fingers, etc.), bumpers (e.g., nose plates), and / or any other suitable form. The position of the manipulators (e.g., rollers, clamping mechanism, support 222, etc.) may be fixed within the fish processing subsystem and / or variable within the fish processing subsystem (e.g., including one or more translational axes, rotational axes, etc.), and the position of the manipulators is controlled by a control subsystem.

[0054] The manipulator set 220 may optionally include a set of rollers 221 (e.g., rigid rollers) for spreading and rolling (e.g., unfolding) the restraint material sheet and / or manipulating any other components. Preferably, the rollers are positioned near the top of the fish processing subsystem 102, with the fish positioned below the rollers. However, the rollers may additionally or alternatively be positioned below the fish, in front of the fish, behind the fish, on one or more sides of the fish, and / or in other positions. Optionally, when spread, a gap may be left between the fish and the rollers, and when unfolded, the rollers may roll up the restraint material until there is no gap between at least a portion of the fish and the rollers (e.g., a gap of 0 cm, the fish is compressed with a gap of 0 cm, etc.). Optionally, gap elimination, tension metrics, and / or other appropriate values ​​indicating the cessation of rolling may be determined by the analysis subsystem. Preferably, the manipulator set 220 may include two rollers, but additionally or alternatively, it may include one roller, two or more rollers, no rollers, and / or any other appropriate number of rollers. As an optional variation, if the system includes multiple rollers (e.g., two or more rollers), the additional rollers can function as tension elements, as means for transporting fish (e.g., a conveyor), and / or perform other functions. In a particular example (e.g., shown in Figure 16), the fish-holding subsystem may include multiple rollers 221 oriented horizontally, vertically, and / or at any other angle relative to the fish-holding subsystem, which can transport the fish through the fish-holding subsystem until the fish reaches a desired position, and then stop rotating to hold the fish in the desired position.

[0055] Additionally or alternatively, the set of manipulators 220 may optionally include clamps and / or grippers for grasping and pulling restraints, sliders and / or rails for folding / unfolding restraints (e.g., restraints coupled to sliders), rotary joints that can rotate / rotate the restraints themselves, conveyors, pulleys, tension adjustment systems, winches and / or hoists, and / or other manipulator sets.

[0056] The manipulator set 220 may optionally include a support 222 on which a fish can be held still. Preferably, the support 222 is rigid (e.g., the support 222 functions as a structural member), so that the fish fixing subsystem 200 can support the weight of the fish, precisely position the fish within the fish fixing subsystem, and maintain the fish's position (e.g., so that the fish does not move when the tool performs tool operations such as cutting or puncturing the fish). However, the support 222 may additionally or alternatively be elastic, padded (e.g., so that the fish is not injured by the force of its own weight), and / or otherwise configured. The support may be transparent or opaque.

[0057] In a preferred variation, the support 222 is grooved (e.g., U-groove, V-groove, square groove, etc.), and the long axis of the fish is optionally aligned with the groove 223, so that the groove provides a firm resting point for the fish, thereby counteracting the fish's flapping within the fish-fixing subsystem and keeping the fish upright within the fish-fixing subsystem as the restraint tightens the fish and pushes its elements (e.g., the bulge along the fish's lower belly) into the groove. However, the support 222 may additionally or alternatively have a flat shape (e.g., so that the fish is fixed flat against the base), a curved shape (e.g., so that the fish is fixed so that it fits into a recess in the curve), and / or any other suitable shape. Optionally, the support 222 may be tilted to guide and / or move the fish along the support (e.g., until the fish hits the bumper 225). Additionally or alternatively, there may be a mechanism (e.g., a flow of water, a belt, etc.) and / or any other suitable mechanism to facilitate movement along the support.

[0058] The support 222 (and / or any other component of the fish fixation subsystem 200) may optionally include one or more holes 224, which are larger than any particular cutting tool in the set of cutting tools so that one or more tools can extend through each hole (for example, when operated). In a particular example, the support 222 includes holes through which cutting tools pass (for example, vertically, diagonally, etc.) to cut a fish.

[0059] The manipulator set 220 may optionally include one or more bumpers 225 (e.g., equivalently referred to herein as stop mechanisms) which may function to control the movement of the fish in one or more further directions (e.g., directions other than those controlled by the restraints 210 and / or manipulators 220). In the example, the bumpers 225 may prevent the fish from moving further relative to other components of the fish restraint subsystem (e.g., plastic sheeting, supports, etc.). Optionally, the bumpers may also be moving elements (e.g., passive moving elements controlled by the control subsystem) that position the fish for a processing operation (e.g., positioning the fish's gills over an incision element, positioning the fish so that its brain is within range of a target operation such as a puncture, etc.). In variations, bumpers can be positioned head-side relative to the fish (e.g., nose stopper / face restraint element to prevent the fish from moving forward), tail-side relative to the fish (e.g., restraining the tail, which may theoretically thrash around depending on the system, even if the fish's sides are restrained), below the fish (e.g., supporting the fish's weight), above the fish, around the fish, on any side of the fish (e.g., controlling lateral movement), and / or in other suitable locations. Stopping mechanisms can be positioned near the front end of the station (e.g., the distal end relative to the fish's entrance), the rear end, near the bottom and / or top, and / or in other locations. Stopping mechanisms can be operated automatically (e.g., by piston action, a locking mechanism, etc.), by the fish (e.g., the fish's contact with a lever pushes up the nose block), by a spring, and / or in other ways. The stopper (for example, the examples shown in Figures 7A-7E) may be flat (e.g., a block, plate, as shown in the example in Figure 7B), concave (e.g., the inside of a square, groove, cone, etc., into which the fish's face faces), and / or other shapes. In the example shown in Figure 17A, the stopper may include a face mask 226 into which the fish's face 11 is compressed. In the example shown in Figure 17B, the stopper may include a tapered element 227 configured to taper a sheet of restraining material (for example, to prevent the fish from moving in a direction parallel to the roller).The tapered element includes two sides and / or two components (e.g., a fork-shaped element with two forks, two parallel bars, parallel dowels, parallel rollers, a component with slits defining two sides, etc.) and can compress one or more sheets of restraining material between the two sides and / or two components.

[0060] The set of actuators 230 may function to deploy restraints, manipulators, and / or other components of the fish-fixing subsystem. The set of actuators may be communicatively coupled to the control subsystem 430. In the example, the set of actuators may include some or all mechanical actuators, electrical actuators, electromechanical actuators, pneumatic actuators, and / or other suitable actuators.

[0061] In the first variation (for example, shown in Figure 15A), the fish-fixing subsystem may include two rollers, two restraints (e.g., vinyl sheets), and a support 222 on which the fish can be placed. Preferably, the sheets are transparent, but they may instead be opaque, translucent (e.g., frosted), or any combination. The rollers are arranged parallel to each other and may be coupled at the first end of each restraint sheet to the sheet of one restraint so that as the rollers rotate, they roll up or unroll the sheets of each restraint. The second end of each sheet of restraint can be coupled to a base. In the first specific example, the support 222 is provided with a groove 223 (e.g., a U-groove, a V-groove, etc.) where the long axis of the fish is aligned with the groove, and the two restraint sheets are attached to both sides of the groove (for example, shown in Figure 15A). In a second specific example (for example, shown in Figure 15B), the support 222 has one or more sets of holes, and a control subsystem 430 allows a tool 310 (e.g., a cutting tool) to extend upward and pierce a fish through the base. The inventors discovered an unexpected result: when two rollers are rapidly deployed to wind up two sheets of material simultaneously (e.g., 1 second, 0.5 seconds, 0.2 seconds, 2 seconds, 5 seconds, etc.), the fish-fixing subsystem self-centers and the fish is wound up symmetrically aligned between the two sheets, even if the fish continues to thrash around until it enters the fish-fixing subsystem in a displaced state and is completely restrained. In a third specific example (for example, shown in Figure 9), the fish-fixing subsystem may include a bumper 225, in addition to or alternative to either one or both of the first two specific examples. Optionally, the bumper can be automatically activated by sliding on a trigger when a fish enters the fish-holding subsystem, and after processing (e.g., euthanasia, bleeding, etc.) is complete, the release mechanism can be activated (e.g., shown at the bottom of Figure 9) to release the fish by rotating it around the pivot point 228.

[0062] In a second variation (for example, shown in Figure 8E), the fish-fixing subsystem may include two rollers and one continuous restraint material sheet (e.g., a vinyl sheet) that can restrain the fish and optionally provide further support (e.g., the fish hangs from the rollers by the restraint material sheet). The two opposing ends of the continuous restraint sheet are coupled to the two rollers and wound around them. In the second variation, the two rollers can be wound up simultaneously to position the fish in the center of the two opposing faces of the continuous sheet. In the example, if the fish is large (e.g., 10 pounds, 25 pounds, 50 pounds, etc.) and too heavy to be damaged when placed on a pedestal, supporting the fish with a single continuous sheet of restraint material can prevent injury.

[0063] In a third variation, the fish-fixing subsystem may include a transparent, inflexible (e.g., rigid) restraint. In this example, the restraint may include one or more members (e.g., a sheet, a bowl-shaped or other contoured member) that can translate and / or rotate when actuated to compress the fish. The fish may be compressed between two members, between one member and another surface (e.g., a support 222, a wall, etc.), and / or in other ways. The fish may be compressed by members on both sides of the fish, by members above and below the fish (e.g., dorsoventrally), by members at the front and rear of the fish, and / or in other ways. In the first specific example, the fish is compressed (e.g., on its sides) by a transparent plastic or glass plate against the support 222 (e.g., a base plate with holes from which a set of cutters can protrude) so that the fish can be imaged through the transparent plastic or glass plate. In the second specific example, the fish-fixing subsystem includes a tank (e.g., filled with water). The tank walls (e.g., components) can be translated along their long axis to compress the fish (e.g., examples shown in Figures 5A and 5B). Optionally, one or more walls may have holes to release water when the walls close.

[0064] In a fourth variation (for example, the example shown in Figure 8A), the fish-holding subsystem includes one or more grippers (equivalently referred to herein as grips or fingers). The grippers can be operated by rotating them to a closed position or by translating them to a closed position. The grippers are made of a flexible, semi-flexible, or rigid material. One example includes two sets of rotary grippers, each with multiple fingers. These grippers are positioned so that the fingers surround the fish when closed. The grippers may be concave along their inner surface, flat along their inner surface, and / or have other configurations. Optionally, the grippers may be made of a high-friction and / or abrasive material and / or reinforced to increase friction between the gripper and the fish (for example, the example shown in Figure 8C).

[0065] In the fifth variation (for example, the example shown in Figure 8B), the fish securing subsystem includes one or more straps. These straps can be arranged longitudinally (e.g., to wrap around the sides of the fish), transversely (e.g., to engage with the top and bottom of the fish), and / or in other configurations. For example, the fish is secured with the straps (e.g., by pulling the straps, rotating the rod to which the straps are attached, etc.) and the underside of the fish is compressed against the base plate.

[0066] In a sixth variation (for example, the example shown in Figure 8D), the fish-fixing subsystem includes one or more inflatable bags (e.g., air bladders) positioned around the workspace and configured to inflate around the fish, and a pump that inflates these bags to compress the fish.

[0067] However, the fish body fixation subsystem may have other configurations and / or include other suitable components.

[0068] 3.4 Tool Subsystem 300 The system may include a tool subsystem 300 that can function to perform robotic fish processing operations (for example, in an automated or semi-automated manner). The tool subsystem 300 may receive a set of control signals (for example, equivalently referred to herein as commands) from a control subsystem, which may include tool trajectories, parameters, and / or any other appropriate commands.

[0069] The tool subsystem can perform a set of tool operations based on a set of received control signals. Preferably, the tool operations include at least one of euthanasia of fish, bleeding of fish, or both. However, the tool operations may additionally or alternatively include post-processing (e.g., filleting, skinning, scaling, finning, spine removal, washing, bleeding, deboning, packaging, etc.), control of other system elements other than tools (e.g., fasteners, sensors, transport elements, etc.), and / or other processing of fish.

[0070] Preferably, upon receiving a set of control signals, the tool subsystem executes the set of control signals, but additionally or alternatively, it may trigger actions such as alarms (e.g., sounding an alarm, sending an alarm notification to an endpoint such as a supervisor), safety actions (e.g., shutting off the system, stopping the movement of one or more system elements, draining the contents of the fish processing subsystem 102, flushing out the fish processing subsystem 102, etc.), confirmation requests to continue the intended control signals (e.g., by a manual operator), and / or any other appropriate actions. Optionally, actions may be triggered if the analysis subsystem determines that an object other than a fish (e.g., a human hand) has been detected in the system, if the analysis subsystem determines that the system is malfunctioning (e.g., in need of maintenance), and / or under other appropriate conditions.

[0071] The tool subsystem 300 may include a set of tools 310 (e.g., equivalently referred to herein as cutting tools) containing any number and / or combination of cutting tools, their respective actuators, positioning mechanisms (e.g., gantry, gimbal, screws, etc.), positioning supports (e.g., positioning surfaces) 301, and / or any other suitable components. In variations, the tools may be used for euthanasia tools (e.g., killing tools, such as the examples shown in Figures 13A-13E), bleeding tools, post-processing tools, and / or any other suitable purposes. In variations, the cutting tools may refer to any tools that penetrate (e.g., puncture, core drilling, splitting, separation, straight cuts, through drills, etc.) any surface of a fish (e.g., skin, gills, lungs, bones, brain, tissue, etc.). In variations, multiple tools and / or tool heads may be operated simultaneously (e.g., examples shown in Figures 13A and 13C).

[0072] In variations, the tool set 310 may include drills (e.g., examples shown in Figures 12 and 13D-13E), blades, saws, any other cutting tools, spikes, blades, clubs, spears, pressurized fluids (e.g., water jets, air jets, etc.), lasers, electrode sets, fishing priests, butts (e.g., fishing butts), hot wires, and / or any other suitable tools. Preferably, different tools are used to perform different tool operations (e.g., using a drill for euthanasia and a saw for bleeding), but optionally the same tool can be used for multiple tool operations.

[0073] Preferably, the toolset 310 includes a cutting subsystem 311 used for euthanasia (e.g., for killing fish), but may be used additionally or alternatively for other fish processing steps. The inventors have found that euthanasia by drilling through the brain of a fish is particularly advantageous because, once the bit penetrates the brain, the drill sucks it in, allowing for more error-free destruction of the brain than a non-rotating tool (this is especially important for fish with relatively small brains and large brain cavities, where accurately hitting the brain is difficult).

[0074] The cutting subsystem may include a drill equipped with a drill bit and a chuck. However, the tool set 310 may include other tools. Examples of drill bits may include cannula drills, spur point bits, drill bits designed to reduce slippage (e.g., Bradley point drill bits, split point drill bits, auger drill bits, carbide-tipped masonry drill bits, diamond drill bits, step drill bits, and countersink drill bits), tusk and / or spiked drill bits, grooved drill bits (e.g., single groove, double groove, triple groove, 4 groove, etc.), and / or any other suitable drills. The inventors have found that euthanasia of brains using grooved drills is even more particularly advantageous because the grooves remove material (e.g., brain tissue) as the bit penetrates the brain. The inventors have further found that Bradley point drills (and / or other drills or other similar drills designed to reduce slippage) can reduce the risk of the drill slipping in the slippery and slimy heads of fish, thereby offering the advantage of euthanizing fish more accurately and quickly and reducing stress on the fish.

[0075] The tool set 310 may include a cutting subsystem 312 which may include blades and / or saws. The cutting subsystem is preferably used to perform bleeding, but may additionally or alternatively be used for other fish processing steps (e.g., euthanasia, filleting, etc.). Examples of blades may include circular saw blades, band saw blades, jigsaw blades, reciprocating saw blades, bow saw blades, utility knife blades, planer blades, miter saw blades, scroll saw blades, concrete saw blades, rotary blades, hexagonal blades, dadd blades, and / or other suitable blades. Examples of saws may include vibratory saws, meat saws, circular saws, plunge saws, band saws, reciprocating saws, double-edged reciprocating saws, buck saws, coping saws, jigsaws, bow saws, panel saws, flush saws, tenon saws, fret saws, crosscut saws, rip saws, bow saws, chainsaws, miter saws, scroll saws, table saws, and / or other suitable saws. In the first specific example, vibratory saws and / or reciprocating saws (e.g., two-blade reciprocating saws) can offer a unique advantage for cutting fish, having a relatively large mechanical advantage in a very small form factor, which makes it possible to manufacture the entire system for fish processing in smaller units (e.g., portable units, units that can be installed on a ship, etc.). In the second specific example, circular saws are particularly effective for cutting fish fixed to a base. In the third specific example, plunge cut saws are also effective for cutting fish fixed to a base, as they can conform to the fish's specific shape (e.g., because the cut can be started from any starting point).

[0076] Preferably, the tool subsystem 300 includes a set of tools used to process (e.g., euthanasia, bleeding, etc.) multiple fish of different attributes (e.g., species, size, etc.) sequentially, without the need to change tools between processing successive fish of different attributes. Processing multiple fish of various attributes sequentially without changing tools provides improved throughput (e.g., eliminating the time required for tool changes), reduced system complexity, and / or other appropriate benefits. Additionally or alternatively, two or more fish of different types (e.g., species, size, and / or any other attributes) can be processed with different toolsets, in which case the tools can be selected (e.g., by the analysis subsystem 400) and exchanged (e.g., by the control subsystem) between fish being processed sequentially based on the attributes of one or more fish, thereby providing the benefit of minimizing the size of the cuts made by the tools (e.g., the size of the cuts is only as large as required by an appropriate safety factor for fish having a particular set of attributes). However, the system may optionally include multiple toolsets (e.g., those with different tool parameters such as type and size, backup tools, etc.) and optionally include even more sets of tool holders. In variations, tools can be replaced when determined based on the attributes of one or more fish (e.g., species, size, etc.), when a tool fails (e.g., wear, breakage, warping, etc.), in response to a request (e.g., input from the operator), and / or at any other appropriate time. Optionally, tools (e.g., tool type, tool size, etc.) and / or sets of tools may be specific to the attributes of one or more fish. However, tools may also be used generically across all fish and / or one or more species.

[0077] The tools can be operated automatically, pneumatically (e.g., using springs, pistons, capacitors, etc.), mechanically, electrically, manually, and / or otherwise. The tool subsystem may include a single tool, but preferably the tool system includes multiple tools. In variations with multiple tools, the tools can be operated independently (e.g., simultaneously, sequentially, etc.), simultaneously, and / or otherwise. In a preferred variation, the tool subsystem includes at least two tools (e.g., tools for performing euthanasia and bleeding). In one example, the first tool (e.g., an euthanasia tool such as a drill) is positioned relatively close to the fish's head when the fish enters the system, and the second tool is positioned relatively close to the fish's gills (e.g., near the lower abdomen), tail, and / or other suitable locations when the fish enters the system.

[0078] In the first variation, the tool subsystem includes a drill and one or more additional cutting tools. Each of these drills and cutting tools may be fixed or movable. The cutting tools are preferably deployed after the drill has been deployed (e.g., after brain death, after confirmation of brain death), but may additionally or alternatively be deployed before the drill has been deployed, simultaneously with the drill's deployment, and / or at any other appropriate time. In the first example, the tool subsystem includes a drill and one cutting tool (e.g., a fixed cutting tool, a movable cutting tool) that makes one incision at one target anatomical location of the fish. In the second example, the tool subsystem includes a drill and one movable cutting tool that makes multiple incisions at multiple target anatomical locations of the fish. In the third example, the tool subsystem includes a drill and two cutting tools (e.g., a fixed cutting tool, a movable cutting tool) that each make one incision at one target anatomical location of the fish. Optionally, the tool subsystem may include additional tools for performing further post-processing steps.

[0079] In the second variation, the tool subsystem includes a first tool configured for euthanasia (e.g., a spike, a set of spikes, a pneumatic butt, etc.) and a second toolset configured for bleeding (e.g., an incision element). Optionally, the tool subsystem may include additional tools for performing further post-processing steps.

[0080] In a third variation, the tool subsystem includes a jet cutter capable of cutting a fish with pressurized water, pressurized air, and / or other pressurized fluids. In this variation, the jet cutter may penetrate the entire fish (e.g., puncture from the entrance to the exit of the fish, or completely sever a part of the body such as the head or tail) or only a part of the fish. In this variation (e.g., if the cut does not completely cut from the entrance side to the exit side of the fish), the tool subsystem includes multiple jet cutters configured to cut the fish at two or more locations simultaneously to prevent a pressure increase of the pressurized fluid within the fish, which could cause deformation of the fish or other damage to the flesh. Optionally, the tool subsystem may include additional tools for performing further post-processing steps.

[0081] Optionally, one or more tools may extend through one or more holes and / or gaps in the fish restraint subsystem (e.g., holes in support 222, gaps between fingers of claw restraint variation, gaps between two sheets of restraint material). Additionally or alternatively, the fish restraint subsystem may hold the fish such that a portion of the fish protrudes over a restraint element (e.g., restraint material, manipulator, etc.) so that a tool does not need to directly bypass the restraint element.

[0082] Each tool can have any number of degrees of freedom (e.g., translation, rotation, etc.) and can have the ability to position the tool so that it can cut the fish at the optimal entry point and / or entry angle, and / or other functions. To generate these degrees of freedom, the tool subsystem can include parallel linkage mechanisms, rail and slider sets, serial linkage mechanisms, rotary joints and / or actuators, linear joints and / or actuators, spherical mechanisms, articulated robots, Cartesian robots, polar robots, articulated arm robots, cylindrical robots, SCARA robots, hybrid mechanisms, and / or other suitable elements to support the tool.

[0083] In the first variation, any tool has a fixed position and can be operated by rotating, vibrating, and / or otherwise moving to a predetermined position. In this variation, the fish-fixing subsystem can move the fish toward the tool when the tool is activated to initiate tool operation. As an example, at least one of the euthanasia mechanism or the bleeding mechanism may be static.

[0084] In the second variation, any tool may have a single translational degree of freedom (e.g., able to move vertically, laterally, etc.) and optionally one or more rotational degrees of freedom. In this variation, a fish-fixing subsystem can be used to position a fish in line with the tool's line of action, so that when the tool moves along its single translational degree of freedom, it will cut the fish at the desired entry point. Additionally or alternatively, a control subsystem may use this translational degree of freedom to position the tool and use the fish-fixing system to move the fish toward the tool. Optionally, the entry angle can be further adjusted by setting an additional rotational degree of freedom for the tool. In the first example, the tool may include a drill that rotates around its long axis and translates along the same long axis (e.g., to penetrate the fish's brain). In the second example, the tool may include a saw (e.g., a vibratory saw, circular saw, etc.) that translates in one direction to intersect the fish (e.g., to penetrate the fish's lower belly upwards through a support). In the third example, the tool may include a spike and / or other suitable tool. In a specific example, the toolset includes a uniaxial cutting tool (e.g., the example shown in Figure 11A). In this specific example, it is preferable that the fixture restrains the fish so that the main components of the fish (e.g., gills, tail, etc.) are aligned with the axis of the cutting tool. The tool can translate along its single axis to cut the fish, and may optionally move with additional modalities (e.g., rotation, vibration, etc.) appropriate to the type of tool (e.g., circular saw, band saw, etc.). The cutting tool can translate along its line of motion to a specified cutting depth (e.g., a depth determined by the CV system, a hardcoded depth, etc.). If the cutting tool is used to cut multiple features (e.g., tail and gills), the fish may optionally be moved between cuts (e.g., moving the fixture holding the fish, stopping the fixture holding the fish, moving the fish, moving the fixture again, etc.).

[0085] In the third variation, any tool has at least two translational degrees of freedom (e.g., positioned along the first translational degree of freedom and operating along the second, or positioned along both translational degrees of freedom, where the fish-fixing subsystem moves the fish toward the tool), and is constrained to move along one at a time, or can move freely along both simultaneously. Adding translational degrees of freedom allows the tool subsystem to position the tool at a more optimal entry point. In the first example of the third variation, the toolset may include a drill. In the example, the drill can translate along its long axis (e.g., for cutting the fish) and along an additional line offset from the long axis of the drill (e.g., a line parallel to the sagittal plane of the fish) (e.g., for positioning the drill before cutting). Because the outer surface of fish skin is slippery and often slippery, the more degrees of freedom the drill has, the more optimally the drill can penetrate the fish (e.g., entering at an angle substantially perpendicular to the fish's surface at the entry point). In the second example of the third variation, the toolset may include a biaxial cutting tool (e.g., the example shown in Figure 11A). This tool can optionally move along one or more tool positioning axes (e.g., to position its cutting line of action in a straight line with a key feature), move along a single axis (e.g., as in the first variation) or along multiple axes (e.g., the cut traces a two-dimensional cut of the fish) to cut the fish. In the first example, the fish is fixed so that the tool positioning axis is substantially parallel to the fish's spine and perpendicular to the fish's sagittal plane, and the cutting line of action is substantially perpendicular to the fish's spine (e.g., the cutting tool intersects the side of the fish's tail). In the second example, the fish is fixed so that both the tool positioning axis and the cutting line of action are substantially perpendicular to the fish's long axis. In specific examples, the cutting tool is restricted to move perpendicular and lateral to the base of the bleeding station.The base plate of the bleeding station has a hole through which a cutting tool can pass. The fish is positioned so that its gills are above the hole (as determined, for example, by the CV system), and the cutting tool positions itself to make an incision near the fish's lower abdomen, depending on which side the fish is lying on (as determined, for example, by the CV system). The cutting tool moves along a first axis (e.g., lateral) and optionally a second axis (e.g., vertical) for positioning, and then moves along the cutting line through the gills (e.g., upward or lateral relative to the base plate).

[0086] In the fourth variation, any tool may have one or more (e.g., two, three, etc.) rotational degrees of freedom in addition to or replacing the translational degrees of freedom. In the first example, the tool comprises a drill, and the rotational degrees of freedom may include rotation around the long axis of the drill and one or more rotations at an angle to the long axis of the drill. In the first example, the tool comprises a cutting tool (e.g., a saw, blade, jet, etc.). Optionally, the rotational angle may also include an operating angle, in which case the cutting tool moves in an arc motion relative to the outside of the fish that is cutting, rather than translating to cut the fish, or in addition to translation. Optionally, the rotational angle may also include an entry angle, in which case the cut enters the fish at a specific angle (e.g., an optimal angle determined by the analysis subsystem).

[0087] In a fifth variation, the tool may additionally or alternatively include an active bleeding element that functions to push blood through the fish's blood vessels after incision. The active bleeding element may include a tube and a pressurized fluid (e.g., pressurized saline, pressurized water, pressurized air, etc.) and / or other active bleeding elements. The tube (e.g., a pipe, hose, etc.) may move along one or more axes and be positioned near the major blood vessels to pump the pressurized fluid through the fish after incision. Additionally or alternatively, after one or more tool operations (e.g., cutting) have been performed, the fish may be placed in a holding chamber (e.g., a tank) (e.g., by opening a chute and dropping the fish in) to be passively bled.

[0088] Since the system can include any quantity and combination of tools, all of the above variations are combinable (for example, the first three variations and a fourth variation).

[0089] However, the tool subsystem may have other configurations and / or include other suitable components.

[0090] 3.5 Analysis Subsystem 400 The system may include and / or interface with an analytical subsystem 400 that can identify information about fish and control the operation of the fish processing apparatus. In variations, the analytical subsystem may perform verification (e.g., ensuring that only fish meeting a set of criteria are processed by the system), verify that steps have been performed properly (e.g., confirming euthanasia / brain death, confirming that restraints properly hold the fish before performing the steps), collect data about the fish (e.g., species, size, quality metrics, time, etc.), determine tool parameters, send control commands to the tool subsystem, and / or perform other functions. In variations, the analytical subsystem may include any of the systems, methods, or components described in U.S. Application No. 18 / 582,481 filed February 20, 2024, or U.S. Application No. 17 / 984,084 filed November 9, 2022, each of which is incorporated herein by this reference in its entirety.

[0091] The analysis subsystem includes and / or can interface with one or more of the following: a measurement system 410, a processing module 420, a control subsystem 430, a communication system 440, and / or any other suitable components.

[0092] The measurement system 410 may include one or more sensors that function to sample fish measurements. Types of sensors include cameras, tactile sensors (e.g., embedded in a strap), weighers, force sensors, displacement sensors, tension meters, pressure sensors, vibration sensors, current sensors, voltage sensors, ECGs, and / or other sensors. Each station (e.g., equivalently referred to herein as the fish processing subsystem 102) may include one or more sensors of the same and / or different types. In a preferred embodiment, the measurement system 410 includes a set of one or more cameras positioned to image the fish through a fixed subsystem (e.g., through a transparent restraint of the fixed subsystem). However, the measurement system 410 may include other sensors and / or other configurations. Sensors may be positioned on the station in any manner: along any side of the station (e.g., front, back, top, bottom, left, right, etc.), at the intersection of any side of the station, along the contour of the station (e.g., if the station has contoured edges and / or sides), at any angle to the station, inside the station, outside the station, and / or otherwise. For example, cameras may be positioned along the sides of each station to capture sorting and / or euthanasia images, or along the bottom and / or top of each station to capture bleeding images (for example, the example shown in Figure 10). However, sensors may be in other arrangements. In the example, each mechanism and / or station may be controlled based on sensor measurements, which may be used to determine fish attributes (e.g., location, species, size, weight, etc.), features (e.g., key points), control trajectories, and / or other information (e.g., using one or more machine learning models, computer vision models, and / or any other suitable models, such as the example shown in Figure 14).

[0093] The processing module 420 may function to determine a set of information based on measurements sampled by the measurement system 410. The set of information may include fish attributes (e.g., species, size, quality indicators, condition, etc.), the location of anatomical features of interest, tool parameters, and / or any other relevant information. The processing module 420 may include one or more models, which may function to identify fish attributes (e.g., fish attribute model), determine the location of anatomical features of interest (e.g., fish part model), determine the optimal tool trajectory and / or other parameters (e.g., trajectory model), verify the execution of method steps (e.g., euthanasia verification), and / or perform other functions. At least one subset of the models may specialize in at least one of the following: fish species, fish size parameters (e.g., length, grade, weight, etc.), season, operating conditions, other attributes, and / or other parameters. A particular model may optionally be obtained based on each combination of parameters (e.g., fish species, size parameters, attributes, etc.). However, all models are general-purpose (applicable to all fish species, seasons, sizes, etc.), and can be applied to a subset of possible parameters, and / or otherwise.

[0094] The processing module 420 may optionally include a control subsystem 430, which may function to generate and transmit control signals to the tool subsystem. The control subsystem may generate control signals (e.g., to plan the tool trajectory) based on measurements sampled by the measurement system 410. Preferably, the processing module 420 uses a set of models (e.g., computer vision-based models, machine learning models, etc.) to automatically determine the trajectory and / or other operating parameters (e.g., tool parameters) based on the measurements, although the trajectory and / or other operating parameters may additionally or alternatively be determined by inputs (e.g., operator inputs), a set of predefined parameters retrieved from a database (e.g., based on current machine settings, fish attributes / size / other parameters, etc.), and / or by other means.

[0095] The communication system 440 may function to transmit information between one or more system elements and / or between system elements and external systems. 440 may include positioning technologies (such as GPS, INS, RF, ECS, ECDIS, radar, AIS, GNSS, depth finders and acoustic finders, compass systems, lidar and sonar systems), satellite communication systems, WiFi, LTE, data connectivity to ships and / or factories where the system is installed, web platforms, databases, and / or any other suitable communication systems.

[0096] However, the analysis subsystem may have other configurations and / or include other suitable components.

[0097] 3.6 Emission Subsystem 500 The system may optionally include a discharge subsystem 500 (e.g., equivalently referred to herein as a “discharge station”) capable of removing processed fish from the system. Fish can be discharged from the system into labeled containers, unlabeled containers, ice sheets, tanks (e.g., water tanks, to allow further natural bleeding through incisions made by the system), unspecified endpoints, and / or in other ways. Optionally, fish can be sorted at the discharge station according to their attributes (e.g., species, quality, size, etc.) and optionally discharged into containers together with other fish that share one or more attributes.

[0098] Any transport subsystem described herein may be used for fish discharge. Discharge stations may include hoses for flushing fish out of the system (e.g., with water, another type of liquid solution, etc.). Discharge stations may include gates (and optionally chutes) for selectively discharging fish from the system. Discharge stations may include conveyor belts that can transport fish to an unspecified endpoint (e.g., the end of the conveyor belt is the same for all fish) or to a specific endpoint (e.g., the conveyor belt releases fish at a selected endpoint).

[0099] However, the discharge subsystem may have other configurations and / or include other suitable components.

[0100] 4. Method As shown in Figure 4A, the method may include the steps of receiving fish, sampling a set of fish measurements S100, optionally sorting fish S200, fixing fish S300, performing a toolset operation S400, optionally discharging fish, and / or any other appropriate operation. The method may serve the functions of rapidly and humanely euthanizing fish, performing a series of processing steps on fish (e.g., bleeding), and / or other functions.

[0101] However, this method may be carried out in other ways.

[0102] 4.2 Step S100 to sample a set of fish measurements Step S100, which samples a set of fish measurements, may function to collect a set of information that can be used to identify a set of fish attributes, sort fish, fix fish, perform toolset operations on fish, track fish data, and / or identify any other relevant information about fish.

[0103] In variations, the measurement system can be used to determine the fish's reception, when to activate the fixation device, the final position of the fixation device, whether the fixation was successful, the bleeding method (e.g., type of tool, tool configuration, etc.), the bleeding trajectory (e.g., by identifying the location of key features such as the tail, gills, head, fins, stripes, etc.), and / or other factors.

[0104] The step of sampling a set of measurements may include using one of the measurement systems 410 described herein. Measurements of a fish can be sampled before receiving the fish, after receiving the fish, before restraining the fish, simultaneously with restraining the fish, before performing one or more tool operations, during subsequent tool operations, after processing the fish (e.g., during the verification stage), and / or at any other appropriate time.

[0105] However, the step of sampling a set of fish measurements may be carried out in other ways.

[0106] 4.3 Fish sorting step S200 This method may optionally include a fish sorting step S200, which may serve to determine whether the fish meet a set of processing requirements. In variations, the fish are sorted based on the identification of attributes (e.g., size and species) by an analytical subsystem (e.g., a trained model) (e.g., through one of the gates of the enclosure subsystem). The fish sorting step is typically performed based on a set of measurements, following a step S100 in which a set of fish measurements is sampled.

[0107] In the first variation, fish are automatically sorted using a vision-based system. For example, a computer vision model classifies the fish based on a series of images collected by a measurement system, so that each gate opens selectively and the fish are released.

[0108] In a second variation, a vision-based system combined with other sensor modalities is used to automatically sort fish. In one example, one or more models (e.g., machine learning, heuristics, etc.) determine the gate based on a series of images collected by the measurement system and other measurements (e.g., sound, force, etc.).

[0109] In a third variation, the fish are sorted manually. For example, the sorting mechanism includes a binary input device (e.g., a button, switch, etc.) that allows a human operator to input gate selections. In a third variation, the shape of the sorting system can passively sort the fish. For example, the inner diameter of the sorting system gradually decreases with distance from the opening, so that only fish from a specific area of ​​the sorting system (e.g., the upstream area) are collected for further processing.

[0110] However, the step of sorting the fish can be done in other ways.

[0111] 4.4 Step S300 for securing the fish The fish-fixing step S300 can function to automatically restrain the fish in a known location (for example, to enable humane, precise, and rapid euthanasia). The restraint can be deployed automatically (for example, by an automatic restraint subsystem), mechanically (for example, triggered in response to an input force), electrically, manually (for example, by a human operator), and / or otherwise triggered.

[0112] In variations, the step of securing the fish may include automatically and / or manually activating the fish securing mechanism. The fish securing mechanism can move with one or more degrees of freedom (translation, rotation, 1D, 2D, 3D, etc.). In variations, the securing mechanism can move along one or more axes to restrain the fish, and can optionally move along one or more axes to a position that restrains the fish. As an example, the size of the fish and the fish's position within the station are determined using a measuring system, and the position of the securing device is adjusted so that the fish aligns with the desired toolpath. In the non-operating state, the securing device is moved to a position that leaves an opening the same width as or wider than the entrance.

[0113] In variations, the step of securing the fish optionally includes restraining the fish at an angle to the ground, thereby restraining the fish by both a restraining material (e.g., two sheets of transparent restraining material as described herein) and a stopper (e.g., a bumper in front of the fish that is lower than the fish in the z-direction).

[0114] In variations, the step of securing the fish may include restraining the fish within the station so that its longitudinal axis is parallel to the bottom surface of the station (e.g., the fish is secured so that it is lateral, upright, etc.). Alternatively, the fish may be held in other orientations relative to the bottom surface of the station. In the first example, the fish is secured vertically (e.g., with its sagittal plane substantially perpendicular to the bottom surface of the station) for one or more incisions (e.g., an euthanasia incision and an exsanguination incision). In the second example, the fish is secured laterally (e.g., for an exsanguination incision) so that its sagittal plane is substantially parallel to the bottom surface of the station (e.g., the fish is lateral to the work surface).

[0115] Preferably, in operation, the fish restraint mechanism restrains the fish with clamping forces (e.g., substantially perpendicular to the main axis of the station, perpendicular to the surface of the fish, etc.) and / or normal forces toward the fish (equivalently referred to herein as compressive forces). Additionally or alternatively, the fish may also be restrained by holding the fixture in a state where the fish is pulling on it (e.g., pulling on the tail or head, etc.). The clamping forces can restrain the fish perpendicular to the fish (e.g., using two opposing lateral forces, or a lateral force that biases the fish against the wall), lateral (e.g., using a downward force that biases the fish against the bottom surface of the station), and / or at any other suitable position. Optionally, additional elements (e.g., bumpers) may provide restraining forces perpendicular to the axis of the clamping forces.

[0116] However, the step of securing the fish can be done in other ways.

[0117] 4.5 Step S400 to perform a set of tool operations Step S400, which performs a set of tool operations, may function to euthanize, bleed, post-process (e.g., fillet, scale, etc.), and / or process the fish in other ways. Preferably, as shown in Figure 4B, the set of tool operations includes euthanizing the fish, bleeding the fish, and optionally further processing the fish (e.g., filleting, packaging, scale, etc.).

[0118] Preferably, the method involves performing one or more tool operations in one fish processing apparatus, but additionally or alternatively, one or more tool operations may be performed in another fish processing apparatus (for example, the fish may optionally be automatically transported between fish processing apparatuses by a conveyor, chute, etc., or transported within the same location, such as within the same fixing mechanism). In a preferred variation, at least the euthanasia of the fish and the bleeding of the fish are performed in the same apparatus (for example, without re-fixing the fish between the two steps). Preferably, the method involves performing multiple consecutive and / or simultaneous tool operations without re-fixing the fish between operations, but additionally or alternatively, it may include re-fixing the fish between two or more operations.

[0119] The inventors have found that it can be particularly advantageous to construct a tool system (e.g., particularly for euthanasia by drilling) in which the tool moves along one or more degrees of freedom than are required for the tool's operation during the tool's operation. In a first specific example, the drill can float, vibrate, and / or otherwise translate in one or more directions perpendicular to the drill's long axis while operating by translating along the drill's long axis during the fish cutting operation (e.g., while inducing brain death and euthanizing the fish). In a second specific example, the drill can change angle at an angle offset from the drill's long axis while operating by rotating around the drill's long axis during the fish cutting operation. In a third specific example, the drill can float and change angle relative to the drill's long axis during the fish cutting operation. In all three of these specific examples, the inventors have found that these additional movements improve the precision of the system (e.g., reduce the required tolerance of the system) and allow for effective targeting and incapacitation of the fish's brain. Performing such additional actions while the drill is rotating has the advantage of allowing the brain to be swept out by the drill's grooves, although similar techniques can be performed using non-rotating tools (such as butts or blades). Additionally or alternatively, the techniques of the first, second, and third specific examples can be used to target areas other than the fish brain (e.g., the heart, lungs, etc.) using the drill and / or any other tools (e.g., those described herein).

[0120] Preferably, the euthanasia step functions to induce brain death in the fish, but other means of euthanasia may be employed additionally or alternatively (e.g., unresponsiveness to stimuli, cessation of gill movement, loss of heartbeat, cessation of movement, etc.). This method may optionally include confirming euthanasia after the execution of the euthanasia tool operation (e.g., using an analysis subsystem). Euthanasia is preferably performed by cutting (e.g., cutting with a drill, cutting with a spike, cutting with a water jet, etc.), but additionally or alternatively, it may be performed by striking the head region (e.g., striking, pneumatic striking, etc.), decapitation, partial decapitation, electric shock, and / or any other suitable method (e.g., as shown in Figures 13B and 13C). The step of euthanizing the fish is preferably performed quickly while the fish is conscious (e.g., without putting the fish to sleep beforehand), which allows for the most humane euthanasia procedure, but the fish may also be anesthetized and then euthanized.

[0121] In preferred variations, the method of euthanasia involves piercing the fish's brain. However, additional or alternative methods of euthanasia may include striking the area around the fish's brain cavity once or multiple times with a blunt object (e.g., a rod, spear, etc.), applying a sharp force that penetrates the brain (e.g., a spike, spear, drill, etc.), electrocution, decapitation, and / or any other suitable method. In variations, the step of euthanizing the fish may be carried out using any of the tools described herein.

[0122] The step of bleeding the fish functions to remove blood from the fish's body after the step of euthanizing the fish (e.g., cutting the fish to induce bleeding and optionally further assisting bleeding). Preferably, the method includes bleeding the fish within a time frame after euthanasia while the heart is still beating (e.g., a few minutes, immediately after). However, the method may additionally or alternatively include a step of bleeding the fish simultaneously with the step of euthanizing the fish (e.g., to maximize processing efficiency).

[0123] Optionally, the step of bleeding the fish with the tool may include cutting the fish at one or more locations (e.g., the tail, gills, and / or any other location along the line of cutting action). Preferably, when cutting the tail, the line of cutting action is substantially perpendicular to the spine and directed upward or laterally to the underside of the fish (e.g., starting from the underside of the fish and extending toward the spine but not intersecting it, as shown in the example in Figure 11B). Alternatively, when cutting the tail, the spine may be cut. The tail cut preferably does not cut through the entire thickness of the fish (e.g., leaving a flap of lateral muscle and / or skin), but may instead cut through the entire thickness of the fish. In an example of the former variation, the tail cutting mechanism may be set at a predetermined distance from the bottom of the workstation so that the thickness of the fish is not cut completely. Preferably, when cutting the gills, the line of cutting passes through the lower belly of the fish and toward the spine, directed obliquely to the spine, or perpendicular to the spine. The gill incision preferably extends through the entire thickness of the fish, but may instead extend to a portion of the fish's thickness. However, the line of action of the incision may be in a different orientation. The cutting tool can move along one or more lines of action for positioning and cutting. The cutting tool can cut from top to bottom, bottom to top, one side to the other, and / or at any other angle relative to the bottom of the bleeding station.

[0124] Optionally, the method may include one or more post-processing steps. For example, a post-processing station (e.g., the same as or different from the station that performs euthanasia and / or bleeding) may be configured for vertebral removal. The vertebral removal tool may be a wire (e.g., for vertebral extraction), a hose (e.g., for vertebral crushing), and / or other suitable elements. The station may optionally include a lifting element (e.g., a gripper, a lever, a wire, etc.) to lift the fish's severed tail fin and expose the vertebral bone to the vertebral removal tool.

[0125] However, step S400, which performs a set of tool operations, may be performed in another way.

[0126] The various processes and / or elements described above can be executed and controlled by the same entity or different entities. In the latter variation, various subsystems can communicate with each other via APIs (e.g., using API requests and responses, API keys, etc.), requests, and / or other communication channels. Communication between systems can be encrypted (e.g., using symmetric or asymmetric keys), signed, and otherwise authenticated or authorized.

[0127] An alternative embodiment may implement the above method and / or processing module on a non-transient computer-readable medium which, when executed by a processing system, stores computer-readable instructions that cause the processing system to execute the method described herein. The instructions can be executed by a computer-executable component integrated with the computer-readable medium and / or processing system. The computer-readable medium may include any suitable computer-readable medium such as RAM, ROM, flash memory, EEPROM, optical devices (CD or DVD), hard drives, floppy drives, non-transient computer-readable medium, or any suitable device. The computer-executable component may include a computing system and / or processing system (e.g., including one or more colocation or distributed, remote or local processors) connected to the non-transient computer-readable medium, such as a CPU, GPU, TPUS, microprocessor, or ASIC, although the instructions may, alternatively or additionally, be executed by any suitable dedicated hardware device.

[0128] Embodiments of a system and / or method may include any combination and permutation of various system components and various method processes, and one or more instances of the methods and / or processes described herein may be performed asynchronously (e.g., sequentially), concurrently (e.g., in parallel), or in any other suitable order by and / or using one or more instances of the systems, elements, and / or entities described herein.

[0129] As those skilled in the art will recognize from the above-mentioned detailed description, drawings, and claims, modifications and changes can be made to embodiments of the present invention without departing from the scope of the invention as defined in the claims.

Claims

1. In a fish processing system, A fish-fixed subsystem, A fish fixing subsystem comprising a transparent restraint material configured to fix live fish, A set of fish processing tools, A set of sensors configured to sample a set of fish measurements, A system comprising: an analysis subsystem including a set of models configured to determine control parameters of a set of fish processing tools based on the set of measurements; and

2. The system according to claim 1, wherein the set of fish processing tools includes a drill.

3. The system according to claim 2, wherein the set of control parameters includes the entry point and entry angle of the drill along the sagittal plane of the fish with respect to the fish's head.

4. The system according to claim 2, wherein the set of control parameters includes the rotation angle of the drill, which is offset from the spindle of the drill during the cutting operation of the drill.

5. The system according to claim 1, wherein the transparent restraining material is flexible and non-elastic.

6. The system according to claim 1, wherein the transparent restraint material includes a transparent sheet of vinyl.

7. The system according to claim 1, wherein the fish fixing subsystem further comprises a set of operating rollers.

8. The system according to claim 1, wherein the set of fish processing tools includes a vibrating blade.

9. The system according to claim 1, wherein the analysis subsystem further includes a set of models configured to determine a set of control parameters for the fish-fixing subsystem based on the set of measurements.

10. The system according to claim 1, wherein the set of control parameters includes the degree of rotation of the set of rollers that wind up the transparent restraint material.

11. The system according to claim 1, wherein the set of sensors includes a camera, and the camera is positioned to have a field of view that allows a fish to enter through the transparent restraint material.

12. The system according to claim 1, wherein the system is configured to euthanize multiple fish of different species in succession using the same fish processing tool from the set of fish processing tools.

13. A fish processing system, Fish-fixing subsystem and A tool subsystem having a rotary fish processing tool, An analysis subsystem, A set of sensors configured to output a set of fish measurements, A system comprising: an analysis subsystem including a set of models configured to determine the control parameters of the tool subsystem based on the set of measured values;

14. The system according to claim 13, wherein the fish restraint subsystem includes a transparent, flexible sheet of restraint material that, when in operation, contacts a set of contours of the outer shape of a live fish.

15. The system according to claim 13, wherein the rotary fish processing tool includes a drill.

16. The system according to claim 13, wherein the tool subsystem further includes a vibrating blade.

17. The system according to claim 13, wherein the tool subsystem further includes a parallel manipulator coupled to the rotary fish processing tool.

18. The rotary fish processing tool includes a drill, The parallel manipulator includes a set of links configured to allow translation of the drill in a direction not parallel to the drill's operating line, The system according to claim 17, wherein the set of control parameters includes a set of drill translations perpendicular to the drill's operating line during the drill's cutting operation.

19. The rotary fish processing tool includes a drill directed in a first direction, The system according to claim 13, wherein the parallel manipulator includes a set of links configured to rotate the drill at an angle offset from the first direction.

20. The system according to claim 13, further comprising a control system configured to initiate the rotation of the drill at an angle offset from the first direction during the cutting operation of the drill.

Images