Robotic Fish Handling Unit with Vision-Based Orientation
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Solution Overview
Problem
Current live fish processing systems require physically challenging upstream orienting sub-systems, which cause stress to the fish and occupy a large footprint in fish hatcheries.
Innovation Solution
A fish handling unit with an inspection system and a conveyor assembly that transports live fish to a robotic cell with an end effector capable of interacting with the fish based on inspection data, eliminating the need for upstream orienting sub-systems.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If upstream orienting sub-systems are used to orient fish for automated vaccination, then automation capability is improved, but physical stress on fish increases and system footprint increases
Solution Approach 1:
The system performs preliminary actions by sedating the fish before processing and using image capture devices to pre-identify and track fish positions. This allows the robotic cell to interact with fish in their natural orientations without requiring physical orienting sub-systems, thereby reducing stress while maintaining automation.
Solution Approach 2:
The patent replaces mechanical orienting sub-systems with a vision-based system using image capture devices and a robotic cell with an end effector. The robotic cell uses visual information to locate and interact with fish directly, eliminating the need for mechanical conveyors and orienting devices that cause physical stress.
2Extent of automation
If upstream orienting sub-systems are used to orient fish for automated vaccination, then automation capability is improved, but system footprint increases
Solution Approach 1:
The patent merges the functions of fish conveyance, orientation, and vaccination into a single integrated robotic cell. The robotic cell performs multiple operations (grasping, orienting, vaccinating) in one location, eliminating the need for separate upstream orienting sub-systems and reducing the overall system footprint.
Solution Approach 2:
The robotic cell is designed as a universal system that can handle fish in various orientations and perform multiple functions including grasping, positioning, and vaccination. This multi-functionality eliminates the need for specialized upstream orienting equipment, thereby reducing the system footprint while maintaining full automation capability.
3Device complexity
If manual vaccination methods are used, then system complexity is reduced, but productivity decreases
Solution Approach 1:
The system employs self-service principles by using image capture devices to automatically identify and track fish, and the robotic cell to autonomously perform vaccination without human intervention. The system serves itself through automated fish positioning and treatment, eliminating manual labor while maintaining manageable complexity through modular design.
Data Source
AI summary
A fish handling unit for processing live fish is provided. Such fish handling unit includes an inspection system configured to inspect a plurality of live fish. A conveyor assembly transports the live fish to the inspection system. At least one robotic cell is in communication with the inspection system. The robotic cell has a controller configured to control operation thereof. An end effector is operably engaged with the robotic cell. The end effector interacts with the live fish moving along the conveyor assembly, based on information determined by the inspection system and received by the controller. The end effector may optionally be an integrated gripper and injection assembly capable of orientation and injection of the live fish. Associated devices and methods are also provided.