Development of a vaccine automation injection system for flatfish using a template matching

Nationally , flatfish vaccination has been performed manually , and is a laborious and time -consumingprocedure with low accuracy . The handling requirement also makes it prone to contamination . With a viewto eliminating these drawbacks , we designed an automatic vaccine system in which the injection is deliveredby aCartesian coordinate robot guided by avision system . The automatic vaccine injection system is drivenby an injection site location algorithm that uses atemplate -matching technique . The proposed algorithm wasdesigned to derive the time and possible angles of injection by comparing asearch area with atemplate . Thealgorithm is able to vaccinate various sizes of flatfish , even when they are loaded at different angles . Wevalidated the performance of the proposed algorithm by analyzing the injection error under randomlygenerated loading angles . The proposed algorithm allowed an injection rate of 2000 per hour on average .Vaccination of flatfish with a body length of up to 500 mm was possible , even when the orientation of thefish was random . The injection errors in various sizes of flatfish were very small, ranging from 0 to 0.6 mm .Keywords : Vision system , Cartesian coordinate robot, Flatfish , Template matching