CN115981178A - Simulation system and method for fish and aquatic product slaughtering - Google Patents
Simulation system and method for fish and aquatic product slaughtering Download PDFInfo
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- CN115981178A CN115981178A CN202211632885.8A CN202211632885A CN115981178A CN 115981178 A CN115981178 A CN 115981178A CN 202211632885 A CN202211632885 A CN 202211632885A CN 115981178 A CN115981178 A CN 115981178A
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- 238000004088 simulation Methods 0.000 title claims abstract description 41
- 241000251468 Actinopterygii Species 0.000 title claims abstract description 37
- 238000003307 slaughter Methods 0.000 title claims abstract description 29
- 238000000034 method Methods 0.000 title claims abstract description 15
- 239000010410 layer Substances 0.000 claims abstract description 20
- 239000002346 layers by function Substances 0.000 claims abstract description 9
- 238000005520 cutting process Methods 0.000 claims description 42
- 238000013473 artificial intelligence Methods 0.000 claims description 6
- 238000004364 calculation method Methods 0.000 claims description 5
- 238000007726 management method Methods 0.000 claims description 3
- 230000000007 visual effect Effects 0.000 abstract description 5
- 238000004422 calculation algorithm Methods 0.000 abstract description 4
- 230000001360 synchronised effect Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/80—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in fisheries management
- Y02A40/81—Aquaculture, e.g. of fish
Abstract
The invention discloses a simulation system and a method for fish and aquatic product slaughtering, wherein the simulation system comprises a functional layer, an equipment abstraction layer and an equipment layer; the device layer comprises virtual devices and actual devices, the virtual devices comprise virtual cameras, virtual mechanical arms and virtual end tools, the actual devices comprise actual cameras, actual mechanical arms and actual end tools, and the virtual devices and the actual devices are in state synchronization; the equipment abstraction layer provides a camera interface for the virtual camera and the actual camera, provides a mechanical arm interface for the virtual mechanical arm and the actual mechanical arm, and provides an end tool interface for the virtual end tool and the actual end tool; the functional layer comprises a calibration module, a 3D simulation module and a track planning module. The functional layer, the equipment abstraction layer and the equipment layer form a visual application simulation experiment environment in which a visual algorithm and a mechanical arm work cooperatively, and the fish and aquatic products can be slaughtered by the robot according to the track recognized by the machine vision.
Description
Technical Field
The invention relates to the technical field of industrial robots, in particular to a simulation system and method for fish and aquatic product slaughtering.
Background
Industrial robots can safely and efficiently complete heavy production tasks and are applied in a large number in various industries. At present, in an industrial robot manual teaching mode, a mechanical arm can only walk on a fixed route, and the mechanical arm needs a machine vision detection result to dynamically adjust a motion track for more requirements depending on machine vision in actual business. The applications of the existing industrial robots increasingly rely on machine vision, so that perfect cooperation between the machine vision and the robot is required. If the visual algorithm and the mechanical arm can be combined and applied to fish and aquatic product slaughtering, the method is a breakthrough in the prior art.
Disclosure of Invention
The invention aims to provide a simulation system and method for fish aquatic product slaughtering.
The technical scheme of the invention is as follows:
a simulation system for fish and aquatic product slaughtering comprises a functional layer, an equipment abstraction layer and an equipment layer;
the device layer comprises virtual equipment and actual equipment, wherein the virtual equipment comprises a virtual camera, a virtual mechanical arm and a virtual end tool, the actual equipment comprises an actual camera, an actual mechanical arm and an actual end tool, the virtual camera and the actual camera are in state synchronization, the virtual mechanical arm and the actual mechanical arm are in state synchronization, and the virtual end tool and the actual end tool are in state synchronization;
the equipment abstraction layer provides a camera interface for the virtual camera and the actual camera, provides a mechanical arm interface for the virtual mechanical arm and the actual mechanical arm, and provides an end tool interface for the virtual end tool and the actual end tool, so as to carry out unified management on the virtual equipment and the actual equipment and support the state synchronization of the simulation environment and the actual environment;
the functional layer comprises a calibration module, a 3D simulation module and a track planning module, the calibration module provides a position calibration function of an actual camera, an actual mechanical arm and an actual tail end tool, the 3D simulation module provides simulation display of a simulation environment, the track planning module provides a calculation function of a cutting track, and the cutting track is calculated according to a scanning point cloud result of the actual camera.
Wherein the actual camera is a 3D camera.
Wherein, the actual arm is six arms.
Wherein the actual tip tool is an electrode cutter.
The fish and aquatic product slaughtering method of the fish and aquatic product slaughtering simulation system comprises the following steps:
s1, starting virtual equipment and actual equipment at the same time;
s2, loading and displaying the virtual equipment by the simulation software, and simultaneously connecting the virtual equipment with the actual equipment;
s3, calibrating the positions of the actual camera, the actual mechanical arm and the actual tail end tool;
s4, synchronizing the states of the virtual equipment and the actual equipment, and simulating a real environment in a virtual environment;
s5, fixing the fish at a cutting position;
s6, scanning point clouds by an actual camera, and synchronously displaying the point clouds in a virtual simulation scene;
s7, calculating a cutting track, and displaying the track in simulation software;
s8, converting the cutting track into an actual mechanical arm moving track;
s9, simulating a cutting process in simulation software;
and S10, carrying out a real cutting experiment in an actual environment.
Further, step S6, taking a picture through an actual camera to obtain 2D image data and 3D point cloud data.
Further, the cutting trajectory calculation method of step S7 includes:
s71, recognizing four cutting point positions of the back of the fish by using AI (artificial intelligence) by using the 2D image data;
s72, fitting an ellipse by using four cutting point positions to form a 2D cutting track;
and S73, converting the 2D cutting track into a 3D cutting track by using the 3D point cloud data.
Further, in step S8, after the 3D cutting trajectory is determined, the movement trajectory of the central point of the flange plate at the end of the actual mechanical arm is calculated according to the calibrated tool coordinates.
Compared with the prior art, the invention has the beneficial effects that: according to the fish and aquatic product slaughtering system, a visual application simulation experiment environment with a visual algorithm working in cooperation with a mechanical arm is formed by a calibration module, a 3D simulation module, a track planning module, an equipment abstraction layer, a virtual camera, an actual camera, a virtual mechanical arm, an actual mechanical arm, a virtual tail end tool and an actual tail end tool, and the fish and aquatic product slaughtering can be achieved through a robot according to a track recognized by the machine vision.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed for the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a system composition diagram of a simulation system for fish aquatic slaughtering provided by the invention;
FIG. 2 is a flow chart of a simulation method for fish aquatic slaughtering provided by the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In order to explain the technical means of the present invention, the following description will be given by way of specific examples.
Examples
Referring to fig. 1, the present embodiment provides a simulation system for fish and aquatic product slaughtering, which includes a functional layer, an equipment abstraction layer and an equipment layer.
The equipment layer includes virtual equipment and actual equipment, and virtual equipment includes virtual camera, virtual arm and virtual end instrument, and actual equipment includes actual camera, actual arm and actual end instrument, and in this embodiment, the actual camera is the 3D camera, and actual arm is six arms, and actual end instrument is the electrode cutter ware, and virtual camera is synchronous for the state with actual camera, and virtual arm is synchronous for the state with actual arm, and virtual end instrument is synchronous for the state with actual end instrument.
The equipment abstraction layer provides a camera interface for the virtual camera and the actual camera, provides a mechanical arm interface for the virtual mechanical arm and the actual mechanical arm, and provides an end tool interface for the virtual end tool and the actual end tool so as to carry out unified management on the virtual equipment and the actual equipment and support state synchronization of the simulation environment and the actual environment.
The functional layer comprises a calibration module, a 3D simulation module and a track planning module, the calibration module provides a position calibration function of an actual camera, an actual mechanical arm and an actual tail end tool, the 3D simulation module provides simulation display of a simulation environment, the track planning module provides a calculation function of a cutting track, and the cutting track is calculated according to a scanning point cloud result of the actual camera.
The fish and aquatic product slaughtering robot comprises a vision application simulation experiment environment which comprises a vision algorithm and a mechanical arm which work in a matched mode and is composed of a calibration module, a 3D simulation module, a track planning module, an equipment abstraction layer, a virtual camera, an actual camera, a virtual mechanical arm, an actual mechanical arm, a virtual tail end tool and an actual tail end tool, and can slaughter fish and aquatic products according to a track recognized by the robot in a vision mode.
The fish aquatic product slaughtering method of the simulation system for fish aquatic product slaughtering is shown in fig. 2 and comprises the following steps:
s1, simultaneously starting virtual equipment and actual equipment;
s2, loading and displaying the virtual equipment by the simulation software, and simultaneously connecting the virtual equipment with the actual equipment;
s3, calibrating the positions of the actual camera, the actual mechanical arm and the actual tail end tool;
once the position relationship is fixed, the calibration process only needs one time;
s4, synchronizing the states of the virtual equipment and the actual equipment, and simulating a real environment in the virtual environment;
s5, fixing the fish at a cutting position;
s6, scanning point clouds by an actual camera, and synchronously displaying the point clouds in a virtual simulation scene;
specifically, 2D image data and 3D point cloud data are obtained by taking a picture through an actual camera;
s7, calculating a cutting track, and displaying the track in simulation software;
the cutting track calculation method comprises the following steps:
s71, recognizing four cutting point positions of the back of the fish by using AI (artificial intelligence) by using the 2D image data;
s72, fitting an ellipse by using four cutting point positions to form a 2D cutting track;
s73, converting the 2D cutting track into a 3D cutting track by using the 3D point cloud data;
s8, converting the cutting track into an actual mechanical arm moving track;
specifically, after the 3D cutting track is determined, the moving track of the central point of the flange plate at the tail end of the actual mechanical arm is calculated according to the calibrated tool coordinates.
S9, simulating a cutting process in simulation software;
and S10, carrying out a real cutting experiment in an actual environment.
The present invention is not limited to the above preferred embodiments, and any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. A simulation system for fish and aquatic product slaughtering is characterized in that: the device comprises a functional layer, a device abstraction layer and a device layer;
the device layer comprises virtual equipment and actual equipment, the virtual equipment comprises a virtual camera, a virtual mechanical arm and a virtual end tool, the actual equipment comprises an actual camera, an actual mechanical arm and an actual end tool, the virtual camera and the actual camera are in state synchronization, the virtual mechanical arm and the actual mechanical arm are in state synchronization, and the virtual end tool and the actual end tool are in state synchronization;
the equipment abstraction layer provides a camera interface for the virtual camera and the actual camera, provides a mechanical arm interface for the virtual mechanical arm and the actual mechanical arm, and provides an end tool interface for the virtual end tool and the actual end tool, so as to carry out unified management on the virtual equipment and the actual equipment and support the state synchronization of the simulation environment and the actual environment;
the functional layer comprises a calibration module, a 3D simulation module and a track planning module, the calibration module provides a position calibration function of an actual camera, an actual mechanical arm and an actual tail end tool, the 3D simulation module provides simulation display of a simulation environment, the track planning module provides a calculation function of a cutting track, and the cutting track is calculated according to a scanning point cloud result of the actual camera.
2. The simulation system for fish aquatic slaughtering according to claim 1, wherein: the actual camera is a 3D camera.
3. The simulation system for fish aquatic slaughtering according to claim 1, wherein: the actual mechanical arm is a six-axis mechanical arm.
4. The simulation system for fish aquatic slaughtering according to claim 1, wherein: the actual end tool is an electrode cutter.
5. A fish aquatic product slaughtering method using the simulation system for fish aquatic product slaughtering as claimed in any one of claims 1 to 4, comprising the steps of:
s1, simultaneously starting virtual equipment and actual equipment;
s2, loading and displaying the virtual equipment by the simulation software, and simultaneously connecting the virtual equipment with the actual equipment;
s3, calibrating the positions of the actual camera, the actual mechanical arm and the actual tail end tool;
s4, synchronizing the states of the virtual equipment and the actual equipment, and simulating a real environment in a virtual environment;
s5, fixing the fish at a cutting position;
s6, scanning point clouds by an actual camera, and synchronously displaying the point clouds in a virtual simulation scene;
s7, calculating a cutting track, and displaying the track in simulation software;
s8, converting the cutting track into an actual mechanical arm moving track;
s9, simulating a cutting process in simulation software;
and S10, carrying out a real cutting experiment in an actual environment.
6. The fish slaughtering method for use in the fish and aquatic product simulation system as claimed in claim 5, wherein in step S6, 2D image data and 3D point cloud data are obtained by taking a picture with an actual camera.
7. The fish aquatic product slaughtering method of the simulation system for fish aquatic product slaughtering as claimed in claim 6, wherein the cutting trajectory calculating method of step S7 comprises:
s71, recognizing four cutting point positions of the back of the fish by using AI (artificial intelligence) by using the 2D image data;
s72, fitting an ellipse by using four cutting point positions to form a 2D cutting track;
and S73, converting the 2D cutting track into a 3D cutting track by using the 3D point cloud data.
8. The fish aquatic slaughtering method of the fish aquatic slaughtering simulation system according to claim 7, wherein in the step S8, after the 3D cutting track is determined, the moving track of the central point of the flange plate at the tail end of the actual mechanical arm is calculated according to calibrated tool coordinates.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211632885.8A CN115981178A (en) | 2022-12-19 | 2022-12-19 | Simulation system and method for fish and aquatic product slaughtering |
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| CN202211632885.8A CN115981178A (en) | 2022-12-19 | 2022-12-19 | Simulation system and method for fish and aquatic product slaughtering |
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| CN115981178A true CN115981178A (en) | 2023-04-18 |
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