Hatching System Robotic Specimen Retrieval
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Solution Overview
Problem
Modern hatching systems in fish farming face challenges in accurately and efficiently removing dead or unhealthy fish eggs or fry from trays without damaging healthy ones, due to complex positioning and movement issues.
Innovation Solution
A robotic system utilizing a vacuum tube unit with a camera for image analysis and dual reference systems (global and local) to navigate and retrieve unhealthy specimens, allowing precise movement and correction to ensure accurate removal.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Area of stationary object
If a robot system uses a single global reference system to navigate and retrieve specimens, then the overall positioning coverage is improved, but positioning accuracy deteriorates due to accumulated movement errors
Solution Approach 1:
The reference system is segmented into two levels: a global reference system for coarse positioning of the robot over large areas, and a local image-based reference system for fine positioning of individual specimens. This segmentation allows each subsystem to optimize for its specific function, resolving the contradiction between coverage and precision.
Solution Approach 2:
The image processing system acts as an intermediary between the global reference system and the vacuum tube positioning. It captures images, identifies specimen positions, and provides corrected local coordinates that compensate for global system errors, enabling accurate retrieval despite accumulated positioning errors.
2Productivity
If the robot moves quickly to cover the tray area, then productivity is improved, but positioning accuracy deteriorates
Solution Approach 1:
The system performs preliminary actions in two stages: first, the robot quickly positions itself over candidate areas using the global reference system; second, the image processing system performs preliminary identification of specimens within those areas. This allows the robot to maintain high speed while the imaging system provides accurate localization data.
Solution Approach 2:
The mechanical positioning system is supplemented with an optical/image-based positioning system. Instead of relying solely on mechanical precision, the system uses image processing to detect specimen positions and correct for mechanical errors, enabling faster movement without sacrificing accuracy.
3Device complexity
If the vacuum tube is positioned precisely using only global coordinates, then system complexity is reduced, but retrieval accuracy deteriorates due to movement inaccuracies
Solution Approach 1:
The positioning function is segmented between the global reference system (for general navigation) and the local image-based reference system (for precise targeting). This segmentation allows the system to maintain relatively simple global coordinates while achieving high retrieval accuracy through local image-based corrections.
Solution Approach 2:
The image processing system provides feedback on actual specimen positions, which is used to correct the vacuum tube positioning. This feedback loop compensates for errors in the global reference system, improving retrieval accuracy without requiring a completely complex repositioning system.
4Measurement precision
If the system inspects every position thoroughly, then detection accuracy is improved, but processing time increases
Solution Approach 1:
The system applies partial inspection action by first using the global reference system to identify candidate areas of interest, then applying more thorough image-based inspection only to those specific areas. This avoids the need to thoroughly inspect every position while maintaining high detection accuracy for relevant specimens.
Solution Approach 2:
The global reference system performs a preliminary scan to identify potential specimen locations, which then guides the more time-consuming image processing and verification steps. This preliminary action filters out non-relevant areas, reducing total inspection time while maintaining detection accuracy for actual specimens.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The system reduces inaccuracies in specimen retrieval, effectively identifying and removing unhealthy eggs or fry while minimizing damage to healthy ones, enhancing the efficiency and accuracy of the hatching process.
Implementation Method 1
a vacuum tube unit is maneuvered above the tray, the vacuum tube unit including a camera for inspecting the eggs or fry in the hatching tray and locating and retrieving the selected eggs or fry
Data Source
AI summary
This invention relates to a system for detecting and retrieving selected specimens being at least one of fish eggs, roe or fry, from a water containing hatching tray. The system including retrieving unit including a tube having a width comparable to the size of the specimens to be retrieved, the tube end being configured to be position in the water, and a pump device cable of pumping water and specimens from said tray. It also includes a robot unit moving the retrieving unit in a predetermined path related to a first reference system over said tray. The system also includes an imaging device being configured to detect and select specimens having chosen characteristics, and a control unit defining a second reference system defined by the position of a selected specimen relative to the position of the retrieving unit, the system being configured to move the tube end to the position of the selected specimen and pumping the specimen into the tube.