Shrimp sorting system and method

Abstract

The sorting systems and methods described herein provide for sorting of prawns. The sorting system may be combined with a delivery system. The sorting system employs rotating slide pairs and optional guide chutes to deliver shrimps to selected delivery locations.

Description

[0001] Related Applications

[0002] This application claims the benefit of U.S. Provisional Application Serial No. 63 / 404,618, filed on September 8, 2022, entitled “SHRIMP SORTING SYSTEMS AND METHODS,” under 35 U.S.C. §119, the entire contents of which are incorporated herein by reference. Technical Field

[0003] Described herein are shrimp sorting systems and methods and delivery systems for delivering shrimp to the sorting systems. Background Art

[0004] Shrimp processed for human consumption may be sorted by size. In addition to size, shrimp may be sorted based on the processing performed on the shrimp, such as, for example, de-heading, shelling, deveining, etc. Sorting of shrimp may be used to facilitate packaging of shrimp having the same or similar physical characteristics for wholesale or retail sale. Summary of the invention

[0005] The shrimp sorting systems and methods described herein are configured in one or more embodiments for sorting shrimp and delivering the sorted shrimp to a selected delivery location. The sorting system can be combined with a delivery system for delivering the shrimp for sorting. The sorting system uses a rotating slide to deliver the shrimp to a selected delivery location.

[0006] In the shrimp processing industry, in addition to (or in lieu of) weighing or measuring to determine the size of the shrimp, the shrimp may undergo a number of selected processes, such as decapitation (to remove the shrimp's head), shelling (to remove the shrimp's shell), deveining (to remove the shrimp's veins), etc. For size, the shrimp may be sorted based on their weight and / or length. In one or more embodiments, the shrimp may be sorted into weight ranges and / or length ranges. For example, shrimp may be sorted by weight based on how many shrimps are needed for a total of one pound (e.g., 8-12 shrimps (sometimes called "giant shrimp"), 13-25 shrimps (sometimes called "jumbo shrimp"), 26-35 shrimps (sometimes called "large shrimp"), 36-50 shrimps (sometimes called "medium shrimp"), and 51-71+ shrimps (sometimes called "mini shrimp")).

[0007] While some sorting systems exist for batch-processed shrimp, sorting of individually processed shrimp is typically done manually (often by humans who also manually process the shrimp for one or more processes). Sorting systems for batch-processed shrimp are not able to accurately sort individually processed shrimp (or are uneconomical to use with individually processed shrimp). Manually sorting shrimp that has been individually processed by a machine is inefficient in addition to the inaccuracies that come with manually sorting manually processed shrimp.

[0008] The sorting system described herein is capable of quickly and accurately sorting shrimp without the disadvantages associated with batch sorting systems and manual sorting.

[0009] In one or more embodiments of the sorting systems and methods for sorting individual shrimp described herein, the sorting systems and methods can accurately and effectively sort shrimp that may have a variety of different physical characteristics. These physical characteristics may include one or more physical characteristics such as size (based on actual measurement or inferred weight, length, girth, etc.), head removal status (e.g., head or no head), deveining status (e.g., mud veins removed or not removed), shelling status (shell and / or pleura / swimming feet removed or not removed), etc. In one or more embodiments, the sorting system and method are able to accurately sort the shrimp delivered to the sorting system with any combination of selected physical characteristics, even when continuous shrimp are delivered to the sorting system and have one or more sets of different physical characteristics that require the shrimp to be separated from each other.

[0010] In a first aspect, one or more embodiments of a sorting system as described herein include: a first receiver defining a first passage extending from a first receiving end to a first transfer end; a second receiver defining a second passage extending from a second receiving end to a second transfer end; a first carrier including a first tray located below the first transfer end, the first tray being configured to receive shrimp passing through the first receiver from the first receiving end to the first transfer end, wherein the first carrier further includes a first guide extending from the first tray to the first carrier end located below the first tray; a second carrier including a second tray located below the second transfer end, the second tray being configured to receive shrimp passing through the second receiver from the second receiving end to the first transfer end to the shrimp of the second transfer end, the second carrier also includes a second guide, the second guide extending from the second tray to the second carrier end located below the second tray; a first carrier actuator, which is operably connected to the first carrier end, the first carrier actuator is configured to rotate the first carrier around the first carrier axis, the rotation of the first carrier around the first carrier axis causes the first carrier end to move along a first arc around the first carrier axis; a second carrier actuator, which is operably connected to the second carrier end, the second carrier actuator is configured to rotate the second carrier around the second carrier axis, wherein the rotation of the second carrier around the second carrier axis causes the second carrier end to move along a second arc around the second carrier axis; multiple delivery positions, It is located below the first carrier and the second carrier, wherein movement of the first carrier end along the first arc causes the first carrier end to move over a plurality of delivery positions, and movement of the second carrier end along the second arc causes the second carrier end to move over a plurality of delivery positions; and a controller, which is operably connected to the first carrier actuator and the second carrier actuator, the controller being configured to: operate the first carrier actuator to rotate the first carrier around the first carrier axis so that the first carrier end is positioned over a first delivery position among a plurality of delivery positions, so that when the first carrier end is positioned over the first delivery position, each shrimp passing through the first receiver is delivered to the first carrier after passing along the first carrier and leaving the first carrier at the first carrier end. delivery position; operating the second carrier actuator to rotate the second carrier around the second carrier axis so that the end of the second carrier is positioned above a second delivery position among the multiple delivery positions, so that when the end of the second carrier is positioned above the second delivery position, each shrimp passing through the second receiver is delivered to the second delivery position after passing along the second carrier and leaving the second carrier at the end of the second carrier; operating the first carrier actuator to rotate the first carrier around the first carrier axis so that the end of the first carrier is positioned above the second delivery position, so that when the end of the first carrier is positioned above the second delivery position, each shrimp passing through the first receiver is delivered to the second delivery position after passing along the first carrier and leaving the first carrier at the end of the first carrier.

[0011] In one or more embodiments of the sorting system as described herein, the controller is configured to operate the first carrier actuator to rotate the first carrier about the first carrier axis so that the end of the first carrier is positioned above a third delivery position among the plurality of delivery positions, so that when the end of the first carrier is positioned above the third delivery position, each shrimp passing through the first receiver is delivered to the third delivery position after passing along the first carrier and leaving the first carrier at the end of the first carrier.

[0012] In one or more embodiments of the sorting system as described herein, the controller is configured to operate the second carrier actuator to rotate the second carrier about the second carrier axis so that the second carrier end is positioned above a third delivery position, so that when the second carrier end is positioned above the third delivery position, each shrimp passing through the second receiver is delivered to the third delivery position after passing along the second carrier and leaving the second carrier at the second carrier end.

[0013] In one or more embodiments of the sorting system as described herein, the controller is configured to operate the first carrier actuator and the second carrier actuator so that both the first carrier end and the second carrier end are simultaneously positioned above the third delivery position, so that when both the first carrier end and the second carrier end are positioned above the third delivery position, each shrimp passing through the first receiver and each shrimp passing through the second receiver is delivered to the third delivery position.

[0014] In one or more embodiments of the sorting system as described herein, the first carrier, the first carrier axis, and the first arc are configured to position the first carrier end over any selected delivery position of a plurality of delivery positions.

[0015] In one or more embodiments of the sorting system as described herein, the second carrier, the second carrier axis, and the second arc are configured to position the second carrier end above any selected delivery position of a plurality of delivery positions.

[0016] In one or more embodiments of the sorting system as described herein, the first carrier axis passes through a first tray for first carriers and, optionally, the second carrier axis passes through a second tray for second carriers.

[0017] In one or more embodiments of the sorting system as described herein, the first carrier axis and the second carrier axis are oriented substantially vertically and / or the first carrier axis and the second carrier axis are aligned with each other.

[0018] In one or more embodiments of the sorting system as described herein, the controller is configured to receive a signal indicating a first physical characteristic of each shrimp passing through the first receiver, wherein optionally, the first physical characteristic is one of: a selected weight range, a selected length range, a head-off state, and a shell-off state; and identify a selected delivery location from a plurality of delivery locations for each shrimp passing through the first receiver having the first physical characteristic based at least in part on the first physical characteristic.

[0019] In one or more embodiments of the sorting system as described herein, the controller is configured to operate the first carrier actuator to rotate the first carrier about the first carrier axis so that the end of the first carrier is positioned above the selected delivery position, so that when the end of the first carrier is positioned above the selected delivery position, each shrimp having the first physical characteristic passing through the first receiver is delivered to the selected delivery position after passing along the first carrier and leaving the first carrier at the end of the first carrier.

[0020] In one or more embodiments of the sorting system as described herein, the controller is configured to receive a signal indicative of a first physical characteristic of each shrimp passing through the second receiver; and identify a second selected delivery location from the plurality of delivery locations for each shrimp having the first physical characteristic passing through the second receiver based at least in part on the first physical characteristic of each shrimp passing through the second receiver.

[0021] In one or more embodiments of the sorting system as described herein, the controller is configured to operate the second carrier actuator to rotate the second carrier about the second carrier axis so that the end of the second carrier is positioned above the second selected delivery position, so that when the end of the second carrier is positioned above the second selected delivery position, each shrimp having the first physical characteristic passing through the second receiver is delivered to the second selected delivery position after passing along the second carrier and leaving the second carrier at the end of the second carrier.

[0022] In one or more embodiments of the sorting system as described herein, when the first physical characteristic of the shrimp passing through the first receiver and the first physical characteristic of the shrimp passing through the second receiver are the same, the selected delivery location and the second selected delivery location are the same delivery location among the plurality of delivery locations.

[0023] In one or more embodiments of the sorting system as described herein, when the first physical characteristic of the shrimp passing through the first receiver and the first physical characteristic of the shrimp passing through the second receiver are different, the selected delivery location and the second selected delivery location are different delivery locations among the plurality of delivery locations.

[0024] In one or more embodiments of the sorting system as described herein, the system includes a plurality of guide chutes located between a first arc and a plurality of delivery positions, the plurality of guide chutes also being located between a second arc and a plurality of delivery positions, wherein each of the plurality of guide chutes includes an upper end and a lower end, wherein shrimp entering each of the plurality of guide chutes through the upper end of the guide chute passes through the guide chute and exits the guide chute through the lower end of the guide chute, wherein movement of the first carrier end along the first arc causes the first carrier end to move above the upper ends of the plurality of guide chutes, and wherein movement of the second carrier end along the second arc causes the second carrier end to move above the upper ends of the plurality of guide chutes.

[0025] In one or more embodiments of a sorting system comprising a guide chute as described herein, each guide chute of the plurality of guide chutes is configured to deliver shrimp passing through the guide chute to only one selected delivery location of the plurality of delivery locations.

[0026] In one or more embodiments of a sorting system including a guide chute as described herein, a selected guide chute of the plurality of guide chutes includes a ramp, wherein shrimp delivered to the selected guide chute by a first carrier moves laterally / horizontally and vertically along the ramp toward a lower end of the selected guide chute under the action of gravity, shrimp delivered to the selected guide chute by a second carrier moves vertically toward the lower end of the selected guide chute under the action of gravity, and shrimp delivered to the selected guide chute from both the first carrier and the second carrier are delivered to the same selected delivery position directly below the lower end of the selected guide chute. In one or more embodiments, shrimp delivered to the selected guide chute by a second carrier moves only vertically toward the lower end of the selected guide chute under the action of gravity.

[0027] In one or more embodiments of a sorting system including a guide chute as described herein, a second selected guide chute among the plurality of guide chutes includes a ramp, wherein shrimp delivered to the second selected guide chute by the second carrier moves laterally / horizontally and vertically along the ramp toward a lower end of the second selected guide chute under the action of gravity, shrimp delivered to the second selected guide chute by the first carrier moves vertically toward the lower end of the selected guide chute under the action of gravity, and shrimp delivered to the second selected guide chute from both the first carrier and the second carrier are delivered to the same second selected delivery position located directly below the lower end of the second selected guide chute.

[0028] In one or more embodiments of a sorting system as described herein, the system includes a container positioned at each of a plurality of delivery locations.

[0029] In a second aspect, the invention includes a method of sorting shrimp using the shrimp sorting system described herein.

[0030] In a third aspect, one or more embodiments of a method for sorting shrimp as described herein may include: determining a physical characteristic of a first shrimp; identifying a first selected delivery location among a plurality of delivery locations based at least in part on the physical characteristic of the first shrimp; rotating the first carrier about a first carrier axis so that a first carrier end of the first carrier is positioned to deliver the first shrimp to the first selected delivery location; delivering the first shrimp to a first tray of the first carrier, wherein the first shrimp moves along the first carrier from the first tray to the first carrier end under the action of gravity to be delivered to the first selected delivery location; determining a physical characteristic of a second shrimp; identifying a second selected delivery location among a plurality of delivery locations based at least in part on the physical characteristic of the second shrimp; rotating the second carrier about a second carrier axis so that a second carrier end of the second carrier is positioned to deliver the second shrimp to the second selected delivery location; and delivering the second shrimp to a second tray of the second carrier, wherein the second shrimp moves along the second carrier from the second tray to the second carrier end under the action of gravity to be delivered to the second selected delivery location.

[0031] In one or more embodiments of a method of sorting shrimp as described herein, the method includes rotating the first carrier about a first carrier axis to deliver the first shrimp to a first selected delivery position prior to delivering the first shrimp to a first tray of the first carrier.

[0032] In one or more embodiments of the method of sorting shrimp as described herein, when the physical characteristic of the first shrimp is the same as the physical characteristic of the second shrimp, the first selected delivery location and the second selected delivery location are the same delivery location.

[0033] In one or more embodiments of a method of sorting shrimp as described herein, the method includes guiding a first shrimp to a first selected delivery location using a guide chute, the guide chute moving the first shrimp laterally relative to a direction of gravity before the first shrimp reaches the first selected delivery station and after the first shrimp leaves an end of a first carrier.

[0034] In one or more embodiments of the method of sorting shrimp as described herein, rotating the first carrier about a first carrier axis moves the first carrier end along a first arc, and rotating the second carrier about a second carrier axis moves the second carrier end along a second arc, wherein the first arc and the second arc do not intersect.

[0035] In one or more embodiments of the method of sorting shrimp as described herein, the first slide axis and the second slide axis are aligned with each other and / or wherein the first slide axis and the second slide axis are oriented substantially vertically.

[0036] In one or more embodiments of the method of sorting shrimp as described herein, a first carrier includes a first tray configured to receive shrimp and a first guide extending from the first tray to an end of the first carrier located below the first tray, wherein the first carrier axis extends through the first tray, and a second carrier includes a second tray configured to receive shrimp and a second guide extending from the second tray to an end of the second carrier located below the second tray, wherein the second carrier axis extends through the second tray.

[0037] In one or more embodiments of the method of sorting shrimp as described herein, the physical characteristic of the first shrimp is one of: a selected weight range, a selected length range, a headed state, and a shelled state.

[0038] In one or more embodiments of the method of sorting shrimp as described herein, the physical characteristic of the second shrimp is one of: a selected weight range, a selected length range, a head-less state, and a shell-less state.

[0039] In a fourth aspect, one or more embodiments of the delivery and sorting system as described herein may include: a plurality of channels, each of the plurality of channels including a plurality of clamps arranged along a channel axis extending through an unloading position; a channel actuator configured to advance the plurality of channels along the channel axis so that the plurality of clamps move along the channel axis to the unloading position; a plurality of unloaders at the unloading position, wherein each of the plurality of unloaders is configured to remove shrimp from the clamps at the unloading position in one of the plurality of channels; a first receiver defining a first passage extending from a first receiving end to a first transfer end, wherein the first receiver is configured to receive shrimp removed from the clamps at the unloading position in a first channel of the plurality of channels; a second receiver defining a second passage extending from a second receiving end to a second transfer end, wherein the second receiver is configured to receive shrimp removed from the clamps at the unloading position in a second channel of the plurality of channels; a first carrier including a first tray located below the first transfer end, the first tray being configured to receive shrimp passing through the first receiver from the first receiving end to the first transfer end, wherein the first carrier also includes a first guide extending from the first tray to a first guide located below the first tray a first slide end portion; a second slide including a second tray located below the second transfer end portion, the second tray being configured to receive shrimps from the second receiving end portion to the second transfer end portion through the second receiver, wherein the second slide further includes a second guide member, the second guide member extending from the second tray to the second slide end portion located below the second tray; a first slide actuator operably connected to the first slide end portion and configured to rotate the first slide about a first slide axis, wherein the rotation of the first slide about the first slide axis causes the first slide end portion to move along a first arc about the first slide axis; a second slide actuator operably connected to the first slide end portion and configured to rotate the first slide about a first slide axis. a first carrier actuator configured to rotate the second carrier about a second carrier axis, wherein rotation of the second carrier about the second carrier axis causes the second carrier end to move along a second arc about the second carrier axis; a plurality of delivery positions located below the first carrier and the second carrier, wherein movement of the first carrier end along the first arc causes the first carrier end to move over the plurality of delivery positions, and movement of the second carrier end along the second arc causes the second carrier end to move over the plurality of delivery positions; and a controller operably connected to the plurality of unloaders, the first carrier actuator, and the second carrier actuator.The controller is configured to: operate the channel actuator to advance multiple channels along the channel axis; operate multiple unloaders to remove shrimp from multiple clamps at the unloading position; operate the first carrier actuator to rotate the first carrier around the first carrier axis so that the first carrier end is positioned above a first delivery position among multiple delivery positions; operate the second carrier actuator to rotate the second carrier around the second carrier axis so that the second carrier end is positioned above a second delivery position among multiple delivery positions; and after operating the first carrier actuator to rotate the first carrier around the first carrier axis so that the first carrier end is located above the second delivery position, operate the first carrier actuator to rotate the first carrier around the first carrier axis so that the first carrier end is located above the second delivery position.

[0040] In one or more embodiments of the delivery and sorting system as described herein, the controller is configured to operate the first carrier actuator to rotate the first carrier about the first carrier axis so that the end of the first carrier is positioned above a third delivery position among a plurality of delivery positions, so that when the end of the first carrier is positioned above the third delivery position, each shrimp passing through the first receiver is delivered to the third delivery position after passing along the first carrier and leaving the first carrier at the end of the first carrier.

[0041] In one or more embodiments of the delivery and sorting system as described herein, the controller is configured to operate the second carrier actuator to rotate the second carrier about the second carrier axis so that the second carrier end is positioned above a third delivery position, so that when the second carrier end is positioned above the third delivery position, each shrimp passing through the second receiver is delivered to the third delivery position after passing along the second carrier and leaving the second carrier at the second carrier end.

[0042] In one or more embodiments of the delivery and sorting system as described herein, the controller is configured to operate the first carrier actuator and the second carrier actuator so that both the first carrier end and the second carrier end are simultaneously positioned above the third delivery position, so that when both the first carrier end and the second carrier end are positioned above the third delivery position, each shrimp passing through the first receiver and each shrimp passing through the second receiver is delivered to the third delivery position.

[0043] In one or more embodiments of the delivery and sorting system as described herein, the first carrier and the first arc are configured to position the first carrier end above any selected delivery position among a plurality of delivery positions, and optionally, the second carrier and the second arc are configured to position the second carrier end above any selected delivery position among a plurality of delivery positions.

[0044] In one or more embodiments of the delivery and sorting system as described herein, the controller is configured to receive a signal indicative of a first physical characteristic of each shrimp passing through the first receiver, wherein, optionally, the first physical characteristic is one of: a selected weight range, a selected length range, a head-off state, and a shell-off state; and identify a selected delivery location from a plurality of delivery locations for each shrimp passing through the first receiver having the first physical characteristic based at least in part on the first physical characteristic.

[0045] In one or more embodiments of the delivery and sorting system as described herein, the controller is configured to operate the first carrier actuator to rotate the first carrier about the first carrier axis so that the end of the first carrier is positioned above the selected delivery position, so that when the end of the first carrier is positioned above the selected delivery position, each shrimp having the first physical characteristic passing through the first receiver is delivered to the selected delivery position after passing along the first carrier and leaving the first carrier at the end of the first carrier.

[0046] In one or more embodiments of the delivery and sorting system as described herein, the controller is configured to receive a signal indicative of a first physical characteristic of each shrimp passing through the second receiver; and identify a second selected delivery location from a plurality of delivery locations for each shrimp having the first physical characteristic passing through the second receiver based at least in part on the first physical characteristic of each shrimp passing through the second receiver.

[0047] In one or more embodiments of the delivery and sorting system as described herein, the controller is configured to operate the second carrier actuator to rotate the second carrier about the second carrier axis so that the end of the second carrier is positioned above the second selected delivery position, so that when the end of the second carrier is positioned above the second selected delivery position, each shrimp having the first physical characteristic passing through the second receiver is delivered to the second selected delivery position after passing along the second carrier and leaving the second carrier at the end of the second carrier.

[0048] In one or more embodiments of the delivery and sorting system as described herein, when the first physical characteristic of the shrimp passing through the first receiver and the first physical characteristic of the shrimp passing through the second receiver are the same, the selected delivery location and the second selected delivery location are the same delivery location among the plurality of delivery locations.

[0049] In one or more embodiments of the delivery and sorting system as described herein, when the first physical characteristic of the shrimp passing through the first receiver and the first physical characteristic of the shrimp passing through the second receiver are different, the selected delivery location and the second selected delivery location are different delivery locations among the plurality of delivery locations.

[0050] In one or more embodiments of the delivery and sorting system as described herein, the system includes a plurality of guide chutes located between a first arc and a plurality of delivery positions, the plurality of guide chutes also being located between a second arc and a plurality of delivery positions, wherein each of the plurality of guide chutes includes an upper end and a lower end, shrimp entering each of the plurality of guide chutes through the upper end of the guide chute passes through the guide chute and leaves the guide chute through the lower end of the guide chute, wherein movement of the first carrier end along the first arc moves the first carrier end above the upper end of the guide chute, and movement of the second carrier end along the second arc moves the second carrier end above the upper ends of the plurality of guide chutes.

[0051] In one or more embodiments of the delivery and sorting system as described herein, each guide chute of the plurality of guide chutes is configured to deliver shrimp passing through the guide chute to only one selected delivery location of the plurality of delivery locations.

[0052] In one or more embodiments of the delivery and sorting system as described herein, a selected guide chute among the plurality of guide chutes comprises a ramp, wherein shrimp delivered to the selected guide chute by a first carrier moves laterally / horizontally and vertically along the ramp toward a lower end of the selected guide chute under the action of gravity, shrimp delivered to the selected guide chute by a second carrier moves vertically toward a lower end of the selected guide chute under the action of gravity, and shrimp delivered to the selected guide chute from both the first carrier and the second carrier are delivered to the same selected delivery position located directly below the lower end of the selected guide chute.

[0053] In one or more embodiments of the delivery and sorting system as described herein, the shrimp delivered by the second carrier to the selected guide chute only move vertically towards the lower end of the selected guide chute under the effect of gravity.

[0054] In one or more embodiments of the delivery and sorting system as described herein, a second selected guide chute among the plurality of guide chutes includes a ramp, wherein shrimp delivered to the second selected guide chute by the second carrier moves laterally / horizontally and vertically along the ramp toward a lower end of the second selected guide chute under the action of gravity, shrimp delivered to the second selected guide chute by the first carrier moves vertically toward a lower end of the selected guide chute under the action of gravity, and shrimp delivered to the second selected guide chute from both the first carrier and the second carrier are delivered to the same second selected delivery position located directly below the lower end of the second selected guide chute.

[0055] In one or more embodiments of the delivery and sorting system as described herein, the system includes a container located at each of a plurality of delivery locations.

[0056] In a fifth aspect, the invention includes a method of delivering and sorting shrimp using the shrimp delivery and sorting system described herein.

[0057] As used herein, the term "shrimp" should be interpreted as referring to crustaceans harvested for human consumption, which are referred to as shrimp or prawns in the suborder Pieocyemata (shrimp) and the suborder Dendrobranchiata (prawns). In addition, because the physical characteristics of shrimp that can be sorted using the shrimp sorting systems and methods described herein can vary widely, any dimensions discussed herein are provided only as a general guide, and further refinement of any such dimensions may be required to optimize the operation of the shrimp sorting systems and methods described herein based on, for example, the size, species, and / or general conditions of the shrimp being processed.

[0058] If used herein, relative terms such as above, below, top, bottom, etc. (unless otherwise indicated in the specification and / or claims) are used solely to facilitate description of the various features of the shrimp sorting systems and methods described herein, and should not be construed as requiring any particular orientation of the shrimp sorting systems and / or methods described herein (e.g., where gravity is required and / or used to achieve a desired result), unless otherwise specified.

[0059] As used herein, the term "aligned with" as used in connection with various components, axes, directions of travel, etc., includes both parallel and substantially parallel arrangements. For example, two axes (or other components, features, etc.) may be described as being "aligned with" when both axes (or other components, features, etc.) are completely parallel or nearly parallel to each other, e.g., the axes (or other components, features, etc.) may form an angle greater than 0° but 10° or less with each other.

[0060] If used herein, the term "substantially" has the same meaning as "significantly" and can be understood to modify the subsequent term by at least about 75%, at least about 90%, at least about 95%, or at least about 98%. As used herein, the term "substantially not" has the same meaning as "not significantly" and can be understood to have the opposite meaning of "substantially", i.e., modifying the subsequent term by no more than 25%, no more than 10%, no more than 5%, or no more than 2%.

[0061] Numerical values ​​used herein include normal variations in measurements as would be expected by one skilled in the art and should be understood to have the same meaning as “about” and cover a typical range of error, such as ±5% of the stated value.

[0062] Terms such as "a," "an," and "the" are not intended to refer to only a singular entity, but include the general class of which a specific example may be used for illustration.

[0063] The terms "a", "an" and "the" are used interchangeably with the term "at least one". The phrases "at least one" and "comprising at least one" followed by a list of items refer to any one of the listed items and any combination of two or more of the listed items.

[0064] As used herein, the term "or" is generally used in its ordinary sense, including "and / or", unless the content clearly dictates otherwise. The term "and / or" means one or all of the listed elements or a combination of any two or more of the listed elements.

[0065] Numerical ranges recited by endpoints include all numbers subsumed within that range (e.g., 1 to 5 includes 1, 1.5, 2, 2.75, 3, 3.80, 4, 5, etc., or 10 or less includes 10, 9.4, 7.6, 5, 4.3, 2.9, 1.62, 0.3, etc.) Where a range of values ​​is "up to" or "at least" a particular value, that value is included in the range.

[0066] The words "preferred" and "preferably" refer to embodiments that may provide certain benefits in certain circumstances. However, other embodiments may also be preferred under the same or other circumstances. In addition, the recitation of one or more preferred embodiments does not mean that other embodiments are not useful, and is not intended to exclude other embodiments from the scope of the present disclosure (including the claims).

[0067] The above summary of the invention is not intended to describe each embodiment or every implementation of the shrimp sorting system and method described herein. Rather, a more complete understanding of the invention will become apparent and understandable by reference to the following description of illustrative embodiments and claims and by considering the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0068] Figure 1 is a front perspective view of an illustrative embodiment of a sorting system as described herein.

[0069] Figure 2 yes Figure 1 Rear perspective view of the sorting system.

[0070] Figure 3 yes Figure 1-Figure 2 Side view of a sorting system with the frame and other components removed for clarity.

[0071] Figure 4 yes Figure 1-Figure 2 A perspective view of a receiver in a sorting system.

[0072] Figure 5 yes Figure 1-Figure 4 Top view of the carriers and guide chutes of the sorting system depicted in .

[0073] Figure 6 Yes Figure 5 Side view of the carrier and guide chute depicted in .

[0074] Figure 7 Yes Figure 5-Figure 6 Bottom view of the carrier and guide chute depicted in .

[0075] Figure 8 yes Figure 5-Figure 7 A top perspective view of an individual guide chute of the guide chutes depicted in FIG.

[0076] Fig. 9 yes Figure 8 A bottom perspective view of the guide chute depicted in FIG.

[0077] Fig.10 yes Figure 8-Figure 9 A side view of the guide chute depicted in FIG.

[0078] Fig.11 is a perspective view of one illustrative embodiment of an array of containers positioned at a set of delivery positions of a guide chute for a sorting system described herein.

[0079] Fig.12 yes Fig.11 A top view of the container.

[0080] Fig.13 As described in this article Figure 1 A top view of an illustrative embodiment of a sorting system and a set of channels for delivering shrimp to the sorting system for sorting.

[0081] Fig.14 is a perspective view of an illustrative embodiment of a set of unloaders and fixtures and a channel used in an illustrative embodiment of a delivery device for delivering fixtures to a sorting system as described herein.

[0082] Fig.15 After ejecting / unloading the shrimp from the jig as described herein Fig.14 A side view of the components depicted in FIG.

[0083] Fig.16 is a schematic block diagram of components that may be used in one or more embodiments of a sorting system as described herein.

[0084] Although the above-mentioned drawings (which may or may not be drawn to scale) illustrate embodiments of the present invention, other embodiments are also contemplated, as noted in the discussion. In all cases, this disclosure presents the present invention by way of representation and not limitation. It should be appreciated that numerous other modifications and embodiments may be devised by those skilled in the art that fall within the scope of the present invention. DETAILED DESCRIPTION

[0085] In the following description, reference is made to the accompanying drawings which form a part hereof, and in which are shown by way of illustration specific embodiments. It is to be understood that other embodiments may be utilized and changes may be made without departing from the scope of the present invention.

[0086] An exemplary embodiment of a sorting system as described herein is Figure 1-Figure 2 Depicted in various views, Figure 1 is a front perspective view of the depicted embodiment of the sorting system 10, and Figure 2 is a rear view of the sorting system 10 .

[0087] The illustrative embodiment of the depicted sorting system 10 includes a first receiver 20-1 and a second receiver 20-2 (which may be collectively referred to herein as receivers 20). The first receiver 20-1 and the second receiver 20-2 are supported on a frame above a set of guide chutes 40. A set of containers 60 are arranged below the set of guide chutes 40. In one or more embodiments, as described herein, shrimps can be selectively delivered to the containers 60 based on one or more physical characteristics, including but not limited to size, head removal status, shell removal status, deveining status, etc.

[0088] Each of the receivers 20 defines a passage extending from a receiving end to a transfer end. In particular, receiver 20-1 extends from receiving end 22-1 to transfer end 24-1, and receiver 20-2 extends from receiving end 22-2 to transfer end 24-2. Shrimp introduced into each of the receivers 20 through the receiving end travels along the passage to the transfer end. In particular, shrimp introduced into receiving end 22-1 of receiver 20-1 travels along the passage defined by receiver 20-1 to transfer end 24-1, where the shrimp exits receiver 20-1 at transfer end 24-1. Similarly, shrimp introduced into receiving end 22-2 of receiver 20-2 travels along the passage defined by receiver 20-2 to transfer end 24-2, where the shrimp exits receiver 20-2 at transfer end 24-2.

[0089] Figure 3 yes Figure 1-Figure 2 A side view of the sorting system 10 is shown with the frame and other components removed for clarity. Figure 3As seen in FIG. 1 , the sorting system 10 includes a pair of slides 30-1 and 30-2 (collectively referred to herein as slides 30) located between a set of guide chutes 40 and a receiver 20. The slides 30 rotate over the selectable set of guide chutes 40 to distribute each shrimp delivered to the slide to a selected guide chute in the set of guide chutes 40. In particular, the slide 30-1 rotates about a slide axis 31-1 and the slide 30-2 rotates about a slide axis 31-2.

[0090] Also refer to Figure 3 Each guide chute in an optional set of guide chutes 40 is individually numbered, wherein the set of guide chutes 40 includes guide chutes 40-1, 40-2, 40-3, 40-4, 40-5 and 40-6. Each slide 30 rotates so that shrimp delivered to each slide 30 can be delivered to any one of the guide chutes 40 and subsequently delivered to a selected delivery position defined by each container in a set of containers 60.

[0091] Figure 4 is Figure 1-Figure 3 20 is a perspective view of a pair of receivers 20 used in the system depicted in FIG. Figure 4 As depicted in and described herein, receiver 20-1 includes a passage extending between receiving end 22-1 and transfer end 24-1, and receiver 20-2 includes a passage extending between receiving end 22-2 and transfer end 24-2. Shrimp delivered to receiving end 22-1 of receiver 20-1 move along the passage within receiver 20-1 to transfer end 24-1, where the shrimp exit receiver 20-1 and are deposited on carrier 30-1. Shrimp delivered to receiving end 22-2 of receiver 20-2 move along the passage within receiver 20-2 to transfer end 24-2, where the shrimp exit receiver 20-2 and are deposited on carrier 30-2.

[0092] Figure 5-Figure 7 Only the carrier sheet 30 and the optional guide chute 40 are depicted to clearly illustrate the movement of the shrimp along the carrier sheet 30 and through the guide chute 40. Figure 5-Figure 6, the slide 30-1 extends between the tray 32-1 and the slide end 34-1, wherein the slide end 34-1 is located below the tray 32-1, so that the shrimp deposited on the tray 32-1 of the slide 30-1 generally moves along the slide 30-1 to the slide end 34-1, and the shrimp leaves the slide 30-1 at the slide end 34-1. Similarly, the slide 30-2 extends between the tray 32-2 and the slide end 34-2, wherein the slide end 34-2 is located below the tray 32-2, so that the shrimp deposited on the tray 32-2 of the slide 30-2 generally moves along the slide 30-2 to the slide end 34-2, and the shrimp leaves the slide 30-2 at the slide end 34-2.

[0093] As described herein, shrimp are deposited onto the tray 32-1 / 32-2 from the transfer end 24-1 / 24-2 of the receiver 20. The movement of the shrimp along the slide 30-1 / 30-2 under the force of gravity may be affected by various factors, including the surface and material of the slide 30-1 / 30-2, the angle or vertical descent from the tray 32-1 / 32-2 to the slide end 34-1 / 34-2, the presence of any lubricant (e.g., water, etc.), etc.

[0094] As described herein, an optional set of guide chute grooves 40 includes chute grooves 40-1, 40-2, 40-3, 40-4, 40-5 and 40-6 arranged along the Y axis. Figure 5 and Figure 7 As described herein, the slides are rotated about their respective slide axes to direct the shrimp delivered to the tray of each slide to a selected guide chute. Figure 5 , the slide 30-1 is configured to rotate about the slide axis 31-1, wherein the rotation of the slide 30-1 about the slide axis 31-1 causes the slide end 34-1 to move along an arc 35-1 centered on the slide axis 31-1. The arc 35-1 extends over all guide chutes 40, so that the rotation of the slide 30-1 about the slide axis 31-1 can be used to position the slide end 34-1 over any selected guide chute 40. Therefore, shrimp deposited on the tray 32-1 of the slide 30-1 can be delivered to any one of the guide chutes 40 based on the position of the slide end 34-1.

[0095] Similarly, the slide 30-2 is configured to rotate about the slide axis 31-2, wherein rotation of the slide 30-2 about the slide axis 31-2 causes the slide end 34-2 to move along an arc 35-2 centered on the slide axis 31-2. The arc 35-2 extends over all guide chutes 40, so that rotation of the slide 30-2 about the slide axis 31-2 can be used to position the slide end 34-2 over any selected guide chute 40. Thus, shrimp deposited on the tray 32-2 of the slide 30-2 can be delivered to any one of the guide chutes 40 based on the position of the slide end 34-2.

[0096] In one or more embodiments, the arcs 35-1 and 35-2 followed by the carrier ends 34-1 and 34-2 of the carriers 30-1 and 30-2 do not intersect so that the carrier ends 34-1 and 34-2 do not interfere or collide with each other during rotation of the carriers 30 about their respective axes.

[0097] refer to Figure 7 (which comprises part of a frame supporting components of a sorting system) (see also Fig.13 )as well as Figure 3 and Figure 5-Figure 6 , depicts a slide actuator for rotating slides 30 about their respective axes. In particular, actuator 38-1 is operably connected to slide 30-1 to rotate slide 30-1 about slide axis 31-1, and actuator 38-2 is operably connected to slide 30-2 to rotate slide 30-2 about slide axis 31-2. Actuators 38-1 / 38-2 can be provided in any suitable form such as pneumatic motors, electric motors, hydraulic motors, solenoids, pistons, etc., which are directly connected to slides 30-1 / 30-2 or operably connected to slides 30-1 / 30-2 through any suitable mechanism (e.g., gears, belts, etc.). As used herein, the term "actuator" (and variations thereof) refers to any combination of a drive unit and a transfer assembly for achieving rotation of a slide about its respective axis.

[0098] In one or more embodiments, the slide axis 31-1 can be described as passing through the tray 32-1 of the slide 30-1, and alternatively, the slide axis 31-2 can be described as passing through the tray 32-2 of the slide 30-2. In one or more embodiments, the slide axes 31-1 and 31-2 can be aligned with each other. In one or more embodiments, the slide axes 31-1 and 31-2 can be described as being oriented generally vertically (relative to the direction of gravity acting on shrimp passing through the sorting system). Although in one or more embodiments, the slide axes 31-1 and 31-2 can be oriented vertically (e.g., to maximize the gravity that moves the shrimp along the slide 30), in one or more alternative embodiments of the sorting system as described herein, the slide axes may not be oriented vertically.

[0099] Figure 8-Figure 10 A guide chute 40-1 is depicted separately from an optional set of guide chutes 40 to describe features common to all guide chutes in the depicted sorting system. The guide chute 40-1 includes a lower end 42-1 and an upper end 44-1. Shrimp entering the guide chute 40-1 through the upper end 44-1 pass through the guide chute 40-1 and exit the guide chute through the lower end 42-1. The size of the opening provided in the lower end 42-1 of the guide chute 40-1 is designed so that shrimp passing through the guide chute 40-1 enter only one selected container 60 at a selected delivery location below the set of guide chutes 40.

[0100] Because both slides 30-1 and 30-2 deliver shrimp into the opening at the upper end 44-1 of the guide chute 40-1, and the ends 34-1 and 34-2 do not interfere with each other, the opening at the upper end 44-1 must be large enough to receive shrimp from both slides 30 in the depicted sorting system. In the depicted embodiment, when the slide end 34-2 of the slide 30-2 is positioned at the left end of its arc 35-2 (see, e.g., Figure 5 ), the carrier end 34-2 of the carrier 30-2 is directly above both the opening in the upper end 44-1 and the opening in the lower end 42-1 of the guide chute 40-1, so that shrimp leaving the carrier 30-2 can fall directly into the container 60 located below the opening in the lower end 42-1 of the guide chute 40-1.

[0101] In contrast, when the slide 30-1 is positioned at the left end of its arc 35-2 (see e.g. Figure 5 ), the slide end 34-1 of the slide 30-1 is directly above the opening in the upper end 44-1 of the guide chute 40-1, but the slide end 34-1 of the slide 30-1 is not directly above the opening in the lower end 42-1 of the guide chute 40-1. Therefore, shrimps leaving the slide 30-2 may fall directly into the guide chute 40-1, but will travel along the ramp 46-1 of the guide chute 40-1 until the shrimps reach the opening in the lower end 42-1 of the guide chute 40-1, where they fall into the container 60 located below the opening in the lower end 42-1 of the guide chute 40-1.

[0102] The ramp 46-1 of the guide chute 40-1, and similar ramps found in each of the guide chutes 40-2, 40-3, 40-4, 40-5 and 40-6, can be described as guiding or moving the shrimp in a lateral or horizontal direction relative to the direction of gravity (e.g., aligned with the X-axis in the Cartesian coordinate system shown in the figure) after the shrimp leave the end of the carrier before the shrimp arrives at the selected delivery station.

[0103] Figure 11-Figure 12 A set of exemplary delivery locations is depicted that can be used to receive shrimp passing through a sorting system including a guide chute as described herein. In the depicted set of delivery locations 60-1, 60-2, 60-3, 60-4, 60-5, and 60-6 (which will be collectively referred to as delivery locations 60), each delivery location 60 is occupied or defined by a bucket-like container, wherein the opening of each container defines one of the delivery locations 60, and the guide chute 40 of the sorting system is configured to deliver the shrimp passing through the guide chute 40 to the delivery location.

[0104] The optional guide chutes provide a number of advantages. In one or more embodiments, the guide chutes 40 allow for separation / sorting and delivery of the shrimp into delivery locations or groups. Although the depicted embodiment includes six different guide chutes (one guide chute for each of the six delivery locations in the depicted embodiment of the sorting system), one or more alternative sorting systems may include a set of guide chutes configured to deliver / separate / sort the shrimp into as few as two delivery locations / groups, three delivery locations / groups, four delivery locations / groups, five delivery locations / groups, or more than six delivery locations / groups.

[0105] In the absence of the optional guide chute 40, each carrier 30 can be configured to deliver shrimp to as few as two different delivery locations, or any other selected number of delivery locations (subject, of course, to physical size constraints based on the length of the arc traveled by the carrier end, the size of the shrimp being delivered, etc.).

[0106] In one or more embodiments, the shrimp delivered to each delivery location / container 60 can be delivered to each delivery location / container 60 based on one or more physical characteristics associated with the shrimp. For example, each delivery location / container 60 can receive shrimp in a different size range (based on actual measured or inferred weight, length, girth, etc.). Other physical characteristics of the shrimp that can be used to determine which delivery location / container each shrimp should be delivered to can include head status (e.g., with head or without head), devein status (e.g., mud veins removed or not removed), shelled status (shell and / or pleura / swimmers removed or not removed), etc.

[0107] In one or more embodiments of the shrimp sorting system as described herein, a combination of physical features can be used to determine the delivery location / container 60 to which the shrimp are to be delivered. For example, shrimp within the same size range but with different head, deveined, and / or shelled states can be delivered to different delivery locations / containers 60.

[0108] Although in the depicted embodiment, the delivery location 60 is defined by a container, one or more alternative embodiments may involve a delivery location defined by a landing area of ​​a delivery system that is configured to deliver the shrimp away from the delivery location so that operation of the sorting system can be more continuous without the need to remove and replace containers as they are filled with shrimp.

[0109] In one or more embodiments, a method for sorting shrimp as described herein may include: determining physical characteristics of a first shrimp (e.g., a selected weight range, a selected length range, a head-off state, a shell-off state, etc.); identifying a first selected delivery location (e.g., delivery location 60-1) in a set of delivery locations (e.g., delivery locations 60) based at least in part on the physical characteristics of the first shrimp; rotating a first carrier (e.g., carrier 30-1) around a first carrier axis (e.g., carrier axis 31-1) so that a first carrier end (e.g., carrier end 34-1) of the first carrier is positioned to deliver the first shrimp to the first selected delivery location; delivering the first shrimp to a first tray (e.g., tray 32-1) of the first carrier, wherein the first shrimp moves from the first tray to the first carrier end under the action of gravity along the first carrier (e.g., first carrier 30-1) to deliver it to the first selected delivery location (e.g., delivery location 60-1).

[0110] The method may also include: determining physical characteristics of the second shrimp (e.g., a selected weight range, a selected length range, a head-less state, a shell-less state, etc.); identifying a second selected delivery location (e.g., delivery location 60-2) among a plurality of delivery locations based at least in part on the physical characteristics of the second shrimp; rotating a second carrier (e.g., carrier 30-2) about a second carrier axis (e.g., carrier axis 31-2) so that a second carrier end (e.g., carrier end 34-2) of the second carrier is positioned to deliver the second shrimp to the second selected delivery location (e.g., delivery location 60-2); and delivering the second shrimp to a second tray (e.g., tray 32-2) of the second carrier, wherein the second shrimp moves along the second carrier from the second tray to the second carrier end under the action of gravity for delivery to the second selected delivery location.

[0111] In one or more embodiments of the method of sorting shrimp described herein, the method may include rotating the first carrier 30-1 about the first carrier axis 31-1 to deliver the first shrimp to the first selected delivery position 60-1 before delivering the first shrimp to the first tray 32-1 of the first carrier 30-1.

[0112] In one or more embodiments of the method of sorting shrimp described herein, when the physical characteristics of the first shrimp are the same as the physical characteristics of the second shrimp, the first selected delivery location and the second selected delivery location in the set of delivery locations 60 are the same delivery location. For example, both the first shrimp and the second shrimp can be delivered to the delivery location 60-1 or any other selected delivery location.

[0113] In one or more embodiments of the method of sorting shrimp described herein, the method may include guiding the first shrimp to any selected delivery location using a guide chute that moves the first shrimp laterally relative to the direction of gravity after the first shrimp leaves the first carrier 30-1 and before the first shrimp reaches the selected delivery location.

[0114] The sorting system described herein can be paired with a delivery device for delivering the shrimp to be sorted to the sorting system described herein. Figure 13-Figure 15 An illustrative embodiment of a delivery device is depicted in FIG. 1 that may be used to deliver shrimp to be sorted to an illustrative embodiment of a sorting system as described herein.

[0115] exist Fig.13 In the schematic diagram of , the delivery device 100 includes a set of channels 14-1, 14-2, 14-3, 14-4 (collectively referred to herein as channels 14), which can be in the form of, for example, conveyor belts, tracks, etc. Each channel 14 defines a channel axis, wherein channel 14-1 defines a channel axis 11-1, channel 14-2 defines a channel axis 11-2, channel 14-3 defines a channel axis 11-3, and channel 14-4 defines a channel axis 11-4 (where channels are collectively referred to herein as channels 11). The channels 14 are arranged to deliver shrimp to an unloading position 102 proximate to the receivers 20-1 and 20-2 of the sorting system 10.

[0116] Each channel 14 includes a set of grippers 12 arranged along its channel axis 11, wherein the channel 14 is used to deliver the grippers 12 to the delivery location 102 by moving the grippers 12 in the direction of arrows 111. The grippers 12 in the depicted illustrative embodiment of the delivery device 100 include shrimp 13 carried by at least some of the grippers 12. Fig.12 As depicted in , some of the grippers may not carry shrimp (see, for example, channels 14-2 and 14-4, each of which includes at least one gripper 12 that does not carry shrimp 13).

[0117] The movement of the channels 14 is achieved using a channel actuator configured to advance each channel 14 along its channel axis so that the clamp 12 in each channel 14 moves along the channel axis 11 to the unloading position 102. The channel actuator can be in the form of any suitable drive system configured to move each channel and the shrimp carried by each channel in a desired direction, including but not limited to a motor, a piston, air or other fluid, etc.

[0118] The depicted illustrative embodiment of the delivery apparatus 100 also includes an unloader 16 located within the unloading position 102. The unloader 16 is configured to remove the shrimp 13 from the clamps 12 in each channel 14 at the unloading position 102. In one or more embodiments, the unloader 16 can be in the form of a plunger configured to force the shrimp 13 out of the clamps 12, a pick and place device configured to remove the shrimp 13 from the clamps 12, a release mechanism configured to open the clamps 12 to allow the shrimp 13 to fall out of the clamps 12 or otherwise disengage from the clamps 12, and the like.

[0119] Figure 14-15 One illustrative embodiment of a set of unloaders 16 in one illustrative embodiment of a delivery apparatus 100 is depicted, wherein the unloaders 16 are used to eject or remove shrimp 13 from grippers 12. In the depicted embodiment, grippers 12 are carried on gripper mounts 19 in groups of four grippers 12 using conveyor elements 18 (as opposed to providing a separate conveyor element for each lane, wherein each gripper 12 is carried individually in its own lane).

[0120] The unloader 16 in the illustrated embodiment is provided in the form of a plunger configured to force the shrimp 13 out of the gripper 12 using an actuator 17 (e.g., a piston operated hydraulically, pneumatically, using a solenoid, etc.). Fig.15 ), the actuator 17 is in Fig.14 retract.

[0121] When the shrimp 13 is in position relative to the unloader 16, the actuator 17 can be actuated to force the shrimp 13 out of the clamp 12, such as Fig.15 In the illustrative embodiment depicted, the plunger of the unloader 16 can be described as having an arcuate surface that acts on the ventral surface of the shrimp 13 to preferably reduce or eliminate damage to the shrimp 13 during the unloading / ejecting process. In addition, in one or more embodiments, the unloader 16 can provide sufficient velocity to the shrimp 13 so that the shrimp 13 is delivered into the receivers 20-1 and 20-2 through their respective receiving ends 22-1 and 22-2.

[0122] In one or more embodiments, unloader 16 can provide sufficient velocity to shrimp 13 so that shrimp 13 enters receptacles 20-1 and 20-2 at sufficient velocity to reach the transfer end of receptacle 24 for delivery to slide 30, as described herein. Movement of shrimp through each receptacle 20 can be enhanced by the use of one or more lubricants (e.g., water, etc.) delivered (e.g., sprayed, etc.) into each receptacle 20.

[0123] Fig.16 2 is a schematic diagram of components in one illustrative embodiment of a sorting system and delivery apparatus that may be used to sort shrimp as described herein. The depicted system includes a controller 200 operably connected to a pair of slide actuators 238, a channel actuator 260, and a data collector 270. The controller 200 is also operably connected to a set of unloaders 216 that may be used to remove shrimp from a gripper or other carrier that delivers the shrimp to an unloading location as described herein.

[0124] The carrier actuator 238 is operably connected to the carriers of the sorting system as described herein and is configured to rotate the carriers about their respective receiving axes as described herein.

[0125] Channel actuators 260 are operably connected to channels (e.g., conveyors, etc.) and are used to advance the channels along their respective channel axes as described herein.

[0126] As described herein, the unloader 216 can be used to remove shrimp from the grippers at the unloading position so that the shrimp can enter the receiver of the sorting system described herein for sorting as described herein. Figure 13-Figure 15 In the illustrative embodiment depicted in FIG. 1 , the unloader 16 may include an actuator 17 operably connected to the controller 200. In one or more embodiments, as Figure 13-Figure 15 The actuator 17 of the unloader 16 depicted in FIG. 1 may be operably connected to a control system for operating the delivery apparatus 100 and / or components of the sorting system described herein.

[0127] Fig.16The depicted illustrative embodiment of the system depicted in includes a data collector 270, which, in one or more embodiments, can be configured to obtain information indicative of at least one physical characteristic of shrimp to be delivered to a delivery location as described herein. The data collector 270 can be configured to detect, identify, and / or associate one or more physical characteristics with each shrimp to be sorted. In one or more embodiments, the data collector 270 can be in the form of a sensor (e.g., an optical sensor, a capacitive sensor, a vision system, a mass sensor, etc.). The data collector 270 can be configured to provide selected information selected from the group of size (determined by one or more of weight, length, girth, etc.), shelled status, headed status, and deveined status to the controller 200.

[0128] Characteristics such as a shelling state, a head removal state, and a deveining state can be associated with the selected shrimp by one or more processing stations located upstream of the unloading location 102, wherein the processing station is configured to shell, head, and / or devein the shrimp and associate these actions / states with specific shrimp in the clamps of the delivery device 100. Methods for shelling, heading, and / or deveining shrimp and associating these actions / states with similar methods and methods described herein can be found in one or more of International Publication Nos. WO 2021 / 158894 (SHRIMP PROCESSING SYSTEM, PROCESSING APPARATUS AND METHODS); WO 2021 / 158892 (SHRIMP PROCESSING SYSTEM, PROCESSING APPARATUS AND METHODS); and WO 2021 / 158897 (SHRIMP PROCESSING SYSTEM, PROCESSING APPARATUS AND METHODS). Figure 13-15 An illustrative example of devices and systems associated with a specific shrimp in the grippers of the delivery device depicted in FIG.

[0129] Using selected information associated with each shrimp delivered to the unloading location through the channel of the delivery apparatus as described herein, the controller 200 can be configured to operate the slide actuator 238 to rotate a slide operably connected to the slide actuator 238 about its slide axis so that the slide end of the slide is above the selected guide chute so that the shrimp leaving the slide is delivered to a selected delivery location among a set of delivery locations, wherein the selected delivery location is selected at least in part based on the selected physical characteristics provided about the delivered shrimp. After positioning the slide end above the guide chute configured to deliver the shrimp to the selected delivery location, the unloader can be operated to remove the shrimp from the selected fixture located at the unloading location, wherein positioning the slide includes rotating the slide so that the slide end is above the guide chute associated with the selected delivery location.

[0130] The controller 200 may be provided in any suitable form and may, for example, include a memory and a controller. For example, the controller may be in the form of one or more microprocessors, field programmable gate arrays (FPGAs), digital signal processors (DSPs), microcontrollers, application specific integrated circuit (ASIC) state machines, and the like. The controller may include one or more any suitable input devices (e.g., keyboards, touch screens, mice, trackballs, and the like) and display devices (e.g., monitors (which may or may not be touch screens), indicator lights, and the like), the input devices being configured to allow a user to operate the sorting system and / or delivery and sorting system described herein, and the display devices being configured to transmit information to the user. Although not depicted separately, the controller 200 may be incorporated into a pneumatic and / or hydraulic control system in those systems where one or more actuators use pneumatic and / or hydraulic components.

[0131] refer to Figure 13-14 In one or more embodiments of the sorting system as described herein, the controller 200 can be configured to operate the channel actuators 260 to advance the channels 14 along their respective channel axes 11.

[0132] The controller 200 may also be configured to operate the unloader 216 to remove the shrimp from the clamp 12 at the unloading location 102 .

[0133] Another feature of one or more embodiments of the delivery and sorting system as described herein is the ability of the system to selectively deliver shrimp to one or more delivery locations arranged below the guide chutes described herein. In particular, although one pair of channels 14-1 and 14-2 are arranged to deliver shrimp to receiver 20-1, and a second pair of channels 14-3 and 14-4 are arranged to deliver shrimp to receiver 20-2, in many cases, the shrimp delivered by each pair of channels to each receiver 20 may or may not have the same physical characteristics (which requires them to be delivered to the same delivery location, as described herein).

[0134] For example, the load Fig.13 The shrimp 13 on the grippers 12 in the lane 14-1 of the embodiment may have one or more physical characteristics that are different from the shrimp 13 carried on the grippers 12 in the lane 14-2. Therefore, the shrimp 13 in the unloading location 102 on the lane 14-1 may need to be delivered to the first selected delivery location by the sorting system 10, while the shrimp 13 in the unloading location 102 on the lane 14-2 may need to be delivered to the second or third selected delivery location. In this case, the unloader 16 associated with the lane 14-1 can be actuated to deliver the shrimp into the receiver 20-1 to deliver to the first selected delivery location by rotating the slide 30-1 so that the slide end 34-1 is positioned above the guide chute associated with the first selected delivery location, as described herein. Because the shrimp 13 carried on the clamps 12 of channel 14-2 at the unloading position 102 have one or more physical properties that are different from the shrimp 13 on channel 14-1, the unloader associated with channel 14-2 can be actuated to deliver the shrimp 13 on channel 14-2 only after the carrier 30-1 has been rotated about its carrier axis to position the carrier end 34-1 over a different guide chute associated with a different selected delivery position.

[0135] As described herein, lanes 14 - 3 and 14 - 4 and their respective unloaders 16 may operate similarly to deliver shrimp 13 carried on grippers 12 in lanes 14 - 3 and 14 - 4 to the same or different selected delivery locations as desired based on one or more physical characteristics of the shrimp 13 .

[0136] although Figure 13-14 The delivery device 100 depicted in the drawings includes a pair of channels arranged to deliver shrimp to each of the receivers 20 of the sorting system 10, but one or more alternative embodiments of the delivery device that can be used with the sorting system described herein can include only a single channel for delivering shrimp to each receiver 20, or alternatively, can include three or more channels for delivering shrimp to each receiver 20.

[0137] The controller 200 may also be configured to operate a slide actuator 238 associated with the first slide to rotate the first slide about its slide axis so that the first slide end is positioned over an optional first guide chute, as described herein, configured to deliver the shrimp to a first selected delivery location in a set of delivery locations, as described herein. The controller 200 may also be configured to operate a second slide actuator 238 associated with the second slide to rotate the second slide about its slide axis so that the slide end of the second slide is positioned over an optional second guide chute, as described herein, configured to deliver the shrimp to a second selected delivery location in a set of delivery locations, as described herein.

[0138] In one or more embodiments, the second delivery location may be the same delivery location as the first delivery location, while in one or more alternative embodiments, the second delivery location and the first delivery location may be different delivery locations in the set of delivery locations.

[0139] In one or more embodiments, the controller 200 can also be configured to operate a carrier actuator 238 associated with the first carrier to rotate the first carrier about its carrier axis, and after operating the carrier actuator to rotate the first carrier about its carrier axis so that the end of the first carrier is located above the first guide chute, the carrier end of the first carrier is located above an optional third guide chute (which is configured to deliver the shrimp passing through the third guide chute to a third selected delivery position).

[0140] In one or more embodiments, the controller 200 may also be configured to operate the slide actuator 238 associated with the second slide to rotate the second slide about its slide axis, and after operating the slide actuator 238 to rotate the second slide about its slide axis so that the slide end of the second slide is located above the second guide chute (the second guide chute is configured to deliver the shrimp to the second selected delivery location), the slide end of the second slide is also located above the third guide chute (which is configured to deliver the shrimp passing through the third guide chute to the third selected delivery location). In one or more embodiments, the slide ends of the first slide and the second slide may be located above the third guide chute to simultaneously deliver the shrimp to the third selected delivery location.

[0141] All references and publications cited herein are expressly incorporated into the present disclosure by reference in their entirety, unless they may be directly contradictory to the present disclosure. Although specific illustrative embodiments have been described herein, it will be appreciated by those of ordinary skill in the art that various alternative and / or equivalent embodiments may replace the specific embodiments shown and described without departing from the scope of the present disclosure. It should be understood that the present disclosure is not intended to be unduly limited by the illustrative embodiments and examples set forth herein, and these examples and embodiments are presented only by way of example, and the scope of the present disclosure is intended to be limited only by the claims.

Claims

1. A sorting system comprising: a first receiver defining a first passage extending from a first receiving end to a first transfer end; a second receiver defining a second passage extending from a second receiving end to a second transfer end; a first carrier including a first tray below the first transfer end, the first tray configured to receive shrimp passing through the first receiver from the first receiving end to the first transfer end, wherein the first carrier further includes a first guide extending from the first tray to an end of the first carrier below the first tray; a second carrier including a second tray below the second transfer end, the second tray configured to receive shrimp passing through the second receiver from the second receiving end to the second transfer end, wherein the second carrier further includes a second guide extending from the second tray to an end of the second carrier below the second tray; a first slide actuator operably connected to the first slide end and configured to rotate the first slide about a first slide axis, wherein rotation of the first slide about the first slide axis causes the first slide end to move along a first arc about the first slide axis; a second slide actuator operably connected to the second slide end and configured to rotate the second slide about a second slide axis, wherein rotation of the second slide about the second slide axis causes the second slide end to move along a second arc about the second slide axis; a plurality of delivery locations below the first slide and the second slide, wherein movement of the first slide end along the first arc causes the first slide end to move over the plurality of delivery locations, and movement of the second slide end along the second arc causes the second slide end to move over the plurality of delivery locations; as well as a controller operably connected to the first slide actuator and the second slide actuator, the controller configured to: operating the first slide actuator to rotate the first slide about the first slide axis to position the first slide end above a first delivery position of the plurality of delivery positions, such that when the first slide end is positioned above the first delivery position, each shrimp passing through the first receptacle is delivered to the first delivery position after passing through the first slide and exiting the first slide at the first slide end; operating the second slide actuator to rotate the second slide about the second slide axis to position the second slide end over a second delivery position of the plurality of delivery positions, such that when the second slide end is positioned over the second delivery position, each shrimp passing through the second receptacle is delivered to the second delivery position after passing through the second slide and exiting the second slide at the second slide end; The first carrier actuator is operated to rotate the first carrier about the first carrier axis to position the first carrier end above the second delivery position, so that when the first carrier end is positioned above the second delivery position, each shrimp passing through the first receiver is delivered to the second delivery position after passing through the first carrier and leaving the first carrier at the first carrier end.

2. The sorting system according to claim 1, characterized in that: The controller is configured to operate the first carrier actuator to rotate the first carrier about the first carrier axis to position the end of the first carrier above a third delivery position among the plurality of delivery positions, so that when the end of the first carrier is positioned above the third delivery position, each shrimp passing through the first receiver is delivered to the third delivery position after being transferred through the first carrier and leaving the first carrier at the end of the first carrier.

3. The sorting system according to claim 2, characterized in that: the controller being configured to operate the second slide actuator to rotate the second slide about the second slide axis to position the second slide end above a third delivery location, such that when the second slide end is positioned above the third delivery location, each shrimp passing through the second receptacle is delivered to the third delivery location after passing through the second slide and exiting the second slide at the second slide end; And optionally, wherein the controller is configured to operate the first carrier actuator and the second carrier actuator so that both the first carrier end and the second carrier end are simultaneously positioned above the third delivery position, so that when both the first carrier end and the second carrier end are positioned above the third delivery position, each shrimp passing through the first receiver and each shrimp passing through the second receiver is delivered to the third delivery position.

4. A sorting system according to any one of the preceding claims, characterised in that The first slide, the first slide axis, and the first arc are configured to position the first slide end over any selected delivery position among a plurality of delivery positions; And optionally, wherein the second carrier, the second carrier axis and the second arc are configured to position the second carrier end above any selected delivery position among a plurality of delivery positions.

5. A sorting system according to any one of the preceding claims, characterised in that The first slide axis passes through a first tray of first slides, and optionally, wherein the second slide axis passes through a second tray of second slides; And optionally, wherein the first carrier axis and the second carrier axis are oriented substantially vertically and / or the first carrier axis and the second carrier axis are aligned with each other.

6. A sorting system according to any one of the preceding claims, characterised in that The controller is configured to: receiving a signal indicative of a first physical characteristic of each shrimp passing through the first receiver, wherein, optionally, the first physical characteristic is one of: a selected weight range, a selected length range, a headed state, and a shelled state; and identifying a selected delivery location among the plurality of delivery locations for each shrimp having the first physical characteristic that passes through the first receptacle based at least in part on the first physical characteristic; And optionally, operating the first carrier actuator to rotate the first carrier about the first carrier axis to position the end of the first carrier above the selected delivery position, so that when the end of the first carrier is positioned above the selected delivery position, each shrimp having the first physical characteristic passing through the first receiver is delivered to the selected delivery position after being transferred through the first carrier and leaving the first carrier at the end of the first carrier.

7. The sorting system according to claim 6, characterized in that: The controller is configured to: receiving a signal indicative of a first physical characteristic of each shrimp passing through the second receiver; and identifying a second selected delivery location among the plurality of delivery locations for each shrimp having the first physical characteristic that passes through the second receptacle based at least in part on the first physical characteristic of each shrimp that passes through the second receptacle; wherein optionally, when the first physical characteristic of the shrimp passing through the first receiver and the first physical characteristic of the shrimp passing through the second receiver are the same, the selected delivery location and the second selected delivery location are the same delivery location among the plurality of delivery locations; And wherein optionally, when the first physical characteristic of the shrimp passing through the first receptacle and the first physical characteristic of the shrimp passing through the second receptacle are different, the selected delivery location and the second selected delivery location are different delivery locations of the plurality of delivery locations.

8. The sorting system according to claim 7, characterized in that: The controller is configured to operate the second carrier actuator to rotate the second carrier about the second carrier axis to position the second carrier end above the second selected delivery position, so that when the second carrier end is positioned above the second selected delivery position, each shrimp having the first physical characteristic passing through the second receiver is delivered to the second selected delivery position after being transferred through the second carrier and leaving the second carrier at the second carrier end.

9. A sorting system according to any one of the preceding claims, characterised in that The system includes a plurality of guide chutes located between the first arc and the plurality of delivery positions, the plurality of guide chutes also being located between the second arc and the plurality of delivery positions, wherein each of the plurality of guide chutes includes an upper end and a lower end, shrimps entering each of the plurality of guide chutes through the upper end of the guide chute pass through the guide chute and exit the guide chute through the lower end of the guide chute, wherein movement of the first carrier end along the first arc moves the first carrier end above the upper ends of the plurality of guide chutes, and movement of the second carrier end along the second arc moves the second carrier end above the upper ends of the plurality of guide chutes.

10. The sorting system according to claim 9, characterized in that: Each guide chute of the plurality of guide chutes is configured to deliver shrimp passing through the guide chute to only one selected delivery location of the plurality of delivery locations.

11. The sorting system according to any one of claims 9 to 10, characterized in that: a selected guide chute of the plurality of guide chutes comprises a ramp, wherein shrimp delivered to the selected guide chute by the first carrier moves laterally / horizontally and vertically along the ramp toward a lower end of the selected guide chute under the action of gravity, wherein shrimp delivered to the selected guide chute by the second carrier moves vertically toward a lower end of the selected guide chute under the action of gravity, and shrimp delivered to the selected guide chute from both the first carrier and the second carrier are delivered to the same selected delivery position located directly below the lower end of the selected guide chute; Optionally, the shrimp delivered to the selected guide chute by the second carrier moves only vertically toward the lower end of the selected guide chute under the action of gravity; And optionally, a second selected guide chute among the plurality of guide chutes comprises a ramp, wherein shrimps delivered to the second selected guide chute by the second carrier move laterally / horizontally and vertically along the ramp toward a lower end of the second selected guide chute under the action of gravity, wherein shrimps delivered to the second selected guide chute by the first carrier move vertically toward the lower end of the selected guide chute under the action of gravity, and shrimps delivered to the second selected guide chute from both the first carrier and the second carrier are delivered to the same second selected delivery position located directly below the lower end of the second selected guide chute.

12. A method of sorting shrimps using the shrimp sorting system of any one of claims 1 to 11.

13. A method for sorting shrimps, the method comprising: Determine the physical characteristics of the first shrimp; identifying a first selected delivery location of a plurality of delivery locations based at least in part on a physical characteristic of the first shrimp; rotating the first slide about a first slide axis so that a first slide end of the first slide is positioned to deliver the first shrimp to a first selected delivery location; delivering the first shrimp to a first tray of the first slide, wherein the first shrimp moves under gravity along the first slide from the first tray to an end of the first slide for delivery to the first selected delivery location; determining the physical characteristics of the second shrimp; identifying a second selected delivery location among the plurality of delivery locations based at least in part on the physical characteristic of the second shrimp; rotating the second slide about a second slide axis so that a second slide end of the second slide is positioned to deliver the second shrimp to the second selected delivery location; as well as The second shrimp is delivered to a second tray of the second carrier, wherein the second shrimp moves under gravity along the second carrier from the second tray to an end of the second carrier for delivery to the second selected delivery location.

14. The method according to claim 13, characterized in that The method includes, prior to delivering the first shrimp to the first tray of the first carrier, rotating the first carrier about a first carrier axis to deliver the first shrimp to a first selected delivery location.

15. The method according to any one of claims 13 to 14, characterized in that When the physical characteristic of the first shrimp is the same as the physical characteristic of the second shrimp, the first selected delivery location and the second selected delivery location are the same delivery location; And optionally, the method includes guiding the first shrimp to a first selected delivery location using a guide chute, the guide chute moving the first shrimp laterally relative to the direction of gravity after the first shrimp leaves the first carrier end before the first shrimp reaches the first selected delivery station.

16. The method according to any one of claims 13 to 15, characterized in that Rotating the first carrier about the first carrier axis moves the first carrier end along a first arc, and rotating the second carrier about the second carrier axis moves the second carrier end along a second arc, wherein the first arc and the second arc do not intersect.

17. The method according to any one of claims 13 to 16, characterized in that The first slide axis and the second slide axis are aligned with each other and / or wherein the first slide axis and the second slide axis are oriented substantially vertically; And optionally, the first carrier includes a first tray configured to receive shrimp and a first guide extending from the first tray to an end of the first carrier located below the first tray, wherein the first carrier axis extends through the first tray, wherein the second carrier includes a second tray configured to receive shrimp and a second guide extending from the second tray to an end of the second carrier located below the second tray, and wherein the second carrier axis extends through the second tray.

18. The method according to any one of claims 13 to 17, characterized in that The physical characteristic of the first shrimp is one of: a selected weight range, a selected length range, a headless state, and a shelled state; And optionally, the physical characteristic of the second shrimp is one of: a selected weight range, a selected length range, a head-less state, and a shell-less state.

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