用于甲壳类动物自动分类的水下机器人手臂的视觉伺服

IF 5.7 Q1 AGRICULTURAL ENGINEERING
Giacomo Picardi , Anna Astolfi , Karthik Seemakurthy , Bradley Hurst , Elena Piana , Petra Bosilj , Marcello Calisti
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引用次数: 0

摘要

甲壳类水产养殖是一个快速增长的部门,自动化特定任务有助于提高其经济回报和可持续性。本文介绍了一种用于小龙虾养殖的甲壳类动物大小分选的自主机器人系统。该系统是与一家小龙虾养殖公司密切合作设计的,采用了系统的用户驱动方法。它由一个防水机械臂和一个装有摄像头的定制笼爪组成,还有一个视觉系统,用于检测小龙虾并按大小分类。介绍了系统设计的各个方面:从机械手和夹持器的设计和控制,到视觉系统的开发和系统集成。该系统在受控的实验室环境中使用合成小龙虾模型进行评估,并在一个农场的活小龙虾水箱中进行评估。我们的评估表明,该系统能够根据小龙虾的大小识别和选择小龙虾,并安全地将它们捕获在笼夹中而不会造成任何伤害。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Visual servoing of an underwater robotics arm for automatic sorting of crustaceans
Crustaceans aquaculture is a rapidly growing sector, and automatising specific tasks can contribute to increasing its economic return as well as its sustainability. In this paper, we present an autonomous robotic system for sorting crustaceans by size, applied to crayfish farming. The system was designed in close collaboration with a crayfish farming company following a systematic user-driven approach. It consists of a waterproof robotic arm with a custom caging gripper lodging a camera, and a vision system to detect crayfish and sort them by size. All aspects of system design are presented: from manipulator and gripper design and control, to the development of the vision system, and the system integration. The system is evaluated in a controlled laboratory environment using synthetic crayfish models, and in a tank with live crayfish on a farm. Our evaluation shows that the presented system is capable of recognizing and selecting crayfish based on their size, and safely entrapping them in the caging gripper without causing any damage.
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