Systems for automated fish processing
A system for fish processing can include: a fish fixturing subsystem, a tooling subsystem, an analysis subsystem, and/or any other suitable components, which can optionally be part of a fish processing subsystem. Additionally or alternatively, the system can optionally include: an intake subsystem, an expulsion subsystem, and/or any other suitable components.
1. A system for fish processing, comprising:
a fish fixturing subsystem comprising:
a clear restraining material configured to immobilize a live fish;
a set of fish processing tools;
a set of sensors configured to sample a set of measurements of the fish;
an analysis subsystem comprising a set of models configured to determine a set of control parameters for the set of fish processing tools based on the set of measurements.
2. The system of claim 1 , wherein the set of fish processing tools comprises a drill.
3. The system of claim 2 , wherein the set of control parameters comprises a point of entry and an angle of entry of the drill relative to a head of the fish and along a sagittal plane of the fish.
4. The system of claim 2 , wherein the set of control parameters comprises an angle of rotation of the drill offset from a drill primary axis during a drilling operation of the drill.
5. The system of claim 1 , wherein the clear restraining material is flexible and inelastic.
6. The system of claim 1 , wherein the clear restraining material comprises transparent sheet vinyl.
7. The system of claim 1 , wherein the fish fixturing subsystem further comprises a set of actuated rollers.
8. The system of claim 1 , wherein the set of fish processing tools comprises an oscillating blade.
9. The system of claim 1 , wherein the analysis subsystem further comprises a set of models configured to determine a set of control parameters for the fish fixturing subsystem based on the set of measurements.
10. The system of claim 1 , wherein the set of control parameters comprise a degree of rotation of a set of rollers that roll up the clear restraining material.
11. The system of claim 1 , wherein the set of sensors comprise a camera, wherein the camera is positioned with a view angle of the fish through the clear restraining material.
12. The system of claim 1 , wherein the system is configured to consecutively euthanize multiple fish of varying species using a same fish processing tool of the set of fish processing tools.
13. A system for processing a fish, comprising:
a fish fixturing subsystem;
a tooling subsystem comprising a rotating fish processing tool; and
an analysis subsystem comprising:
a set of sensors configured to output a set of measurements of the fish; and
a set of models configured to determine a set of control parameters for the tooling subsystem based on the set of measurements.
14. The system of claim 13 , wherein the fish fixturing subsystem comprises a clear, flexible sheet of restraining material that, when actuated, contact a set of contours of a live fish exterior.
15. The system of claim 13 , wherein the rotating fish processing tool comprises a drill.
16. The system of claim 13 , wherein the tooling subsystem further comprises an oscillating blade.
17. The system of claim 13 , wherein the tooling subsystem further comprises a parallel manipulator coupled to the rotating fish processing tool.
18. The system of claim 17 , wherein:
the rotating fish processing tool comprises a drill;
the parallel manipulator comprises a set of links configured to enable translation of the drill in a direction not parallel to the drill line of actuation; and
the set of control parameters comprise a set of translations of the drill orthogonal to the drill line of actuation during a drilling operation of the drill.
19. The system of claim 13 , wherein:
the rotating fish processing tool comprises a drill pointed in a first direction; and
the parallel manipulator comprises a set of links configured to enable a rotation of the drill at an angle offset from the first direction.
20. The system of claim 13 , wherein the system further comprises a control system configured to initiate the rotation of the drill at the angle offset from the first direction during a drilling operation of the drill.