Invention Grant
- Patent Title: Automated crab meat picking system and method
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Application No.: US16373979Application Date: 2019-04-03
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Publication No.: US11337432B1Publication Date: 2022-05-24
- Inventor: Yang Tao , Robert Vinson , Dongyi Wang , Maxwell Holmes , Gary E. Seibel
- Applicant: UNIVERSITY OF MARYLAND, COLLEGE PARK
- Applicant Address: US MD College Park
- Assignee: UNIVERSITY OF MARYLAND, COLLEGE PARK
- Current Assignee: UNIVERSITY OF MARYLAND, COLLEGE PARK
- Current Assignee Address: US MD College Park
- Agency: Rosenberg, Klein & Lee
- Main IPC: A22C29/02
- IPC: A22C29/02 ; A23L17/40 ; G06K9/78 ; B65B35/44 ; G06T7/70

Abstract:
A vision guided intelligent system for automated crab meat picking operates in a fully automated or semi-automatic modes of operation using a crab meat picking routine based on (a) the CNN model localization of back-fin knuckles algorithm, and/or (b) the Deep Learning model which accurately locates not only knuckle positions, but also crab legs and crab cores, with a high pixel accuracy (up to 0.9843), and low computation time. The subject system uses a concept of analyzing crab morphologies obtained from digital crab images, and, using a Deep Learning architecture integrated in the system, segments crab images into five regions of interest in a single step with high accuracy and efficiency. The image segmentation results are used for generating crab cut lines in XYZ and angular directions, determining starting cutting points in Z plane, and guiding cutting tools and end effectors to automatically cut crabs and harvest crab meat.
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