Apparatus and method for stunning fish
Patent Information
- Application Number
- EP2022733429
- Authority / Receiving Office
- EP · EP
- Patent Type
- Applications
- Current Assignee / Owner
- Filing Date
- 2022-06-15
- Publication Date
- 2025-04-23
AI Technical Summary
Existing fish stunning devices require additional equipment and sensory effort to determine fish size accurately, making them error-prone and maintenance-intensive in industrial use.
A fish stunning device that uses a fish length detection device to determine fish size, allowing for automatic adjustment of the positioning and trigger devices based on fish length, reducing the need for complex size determination equipment and ensuring precise positioning for optimal stunning and bleeding.
The solution enables reliable and precise determination of fish size with minimal equipment, reducing errors and maintenance, and optimizing the positioning for efficient stunning and bleeding processes.
Smart Images
Figure 1.1
Abstract
Description
[0001] Device and method for stunning fish
[0002] The present invention relates to a fish stunning device, comprising a fish feed device configured for head-first conveyance of fish, a fish receiving chamber configured to be loaded with fish in a head-first position by means of the fish feed device, a positioning device with a positioning means acting on the fish head, which is configured to stun the fish, hold the fish in a stop position in the fish receiving chamber, and release the fish after stunning, an anesthetic acting on the head-side region of the fish to stun the fish in the stop position, a trigger device configured to determine the stop position and to trigger the action of the anesthetic on the head-side region of the fish, a control unit configured to control the fish positioning device, the trigger device, and the anesthetic,a fish size detection device designed to determine the fish size, a controllable position actuator designed to locally adjust the fish positioning means such that the position of the fish head relative to the anesthetic in the stop position is automatically adjustable according to the fish size.
[0003] Furthermore, the invention relates to a method for automatically stunning fish, comprising conveying fish head-first by means of a fish feed device, feeding a fish receiving chamber by means of the fish feed device with fish in a head-first position, determining a stop position and a time for triggering the action of an anesthetic on the head-side region of the fish by means of a trigger device, holding the fish in the stop position in the fish receiving chamber by means of a positioning device with a positioning means acting on the fish head, controlling the positioning device, the trigger device and the anesthetic by means of a control unit, determining the fish size by means of a fish size detection device, adjusting the fish positioning means by means of a controllably movable position actuator which is designed for locally adjusting the positioning means,that the position of the fish head relative to the anesthetic in the stop position is automatically adjustable according to the size of the fish, stunning the fish in the stop position by applying an anesthetic to the head-side area of the fish and releasing the fish after stunning by means of the positioning device.
[0004] A fish stunning device with the aforementioned features is known from document WO 2016 / 026540 A1. Fish are fed to the fish stunning device one at a time. The fish enter the fish receiving chamber, one at a time, in a prone position and head first, with or in a water stream. The trigger device is located there. The fish's head strikes this under its own weight, thereby reaching a temporary stop position. The trigger device has a stop element that is mounted for sliding or pivoting movement. A sensor means that responds to the fish head striking the stop element of the trigger device triggers the operation of the stunning device. The stunning device comprises a stunning tool and, optionally, a bleeding tool.
[0005] To optimally stun the fish in a humane manner, the fish's head is fixed in the stop position using the positioning device, and the optimal position is adjusted depending on the fish size using the controllable positioning actuator. Such a device, technically improved compared to the one in document WO 2016 / 026540 A1, and a corresponding method are already disclosed in patent application EP 16736876 (publication number 3484299) filed by the applicant. Therefore, reference is made to application EP 16736876 in its entirety, and its contents are hereby incorporated into this application.
[0006] The disadvantage is that determining fish size requires additional equipment and sensors, which complicates the device and the process and makes it error-prone and maintenance-intensive in harsh industrial applications.
[0007] The object of the present invention is therefore to propose a corresponding device that allows reliable fish size determination for optimal adjustment of the aforementioned positioning device with the least possible equipment expenditure. Furthermore, the object is to propose a corresponding method.
[0008] The object is achieved by a device with the features mentioned at the outset in that the fish size detection device comprises a fish length detection device configured to determine the fish length, and the fish size detection device is designed to determine the fish size based on the fish length. It has been found that the fish length is a reliable starting value from which conclusions can be drawn about the actual fish size. In this way, the equipment required to determine the fish size can be reduced to a minimum, since essentially no complex devices for determining fish size, such as weighing devices or the like, are required. Rather, when determining the fish length as a starting point for determining the fish size, numerous components present in such a fish stunning device can be used.With the least possible equipment effort, a reliable and precise determination of the fish size is still possible in order to carry out the exact adjustment of the positioning device depending on the fish size on this basis.
[0009] Fish size is defined as a quantity that allows the fish to be assigned to corresponding fish size ranges and / or fish size classes. For example, fish size is characterized by body volume, mass, maximum width between the lateral flanks, anatomically determined size ratios, such as the ratio of the head to the total length of the fish, and the like. Fish size is therefore a value or range of values that allows the classification of fish into various predefined fish size classes.
[0010] The controllable position actuator is configured to act on the fish positioning means to automatically adjust the position of the fish's head relative to the stunning device in the stop position according to the fish size. Further preferably, the position actuator is configured to also adjust the position of the trigger device together with the fish positioning means. In this way, the position of the trigger device is also adjusted according to the fish size. A fish stunning device within the meaning of this invention is understood to mean the fatal stunning of the fish. Stunning takes place in two stages. First, the fish is stunned using a stunning tool, thus rendering it unconscious. Subsequently, bleeding, resulting in death, is initiated using a bleeding tool.In other words, the fish stunning device within the meaning of the present invention also constitutes a fish slaughtering device. Preferably, the fish stunning device is designed to switch the operation of the bleeding tool on and off in a controllable manner. This makes it possible to check whether the stunning tool is working properly and is stunning the fish, preferably irreversibly.
[0011] A useful embodiment of the invention is characterized in that the fish size detection device is configured to determine, based on the fish length, whether the specific size of the fish falls into one of at least two predetermined fish size ranges, and to define the respective fish size range as the fish size. In this way, it is possible to determine the fish size of the respective fish and to determine which of the predetermined fish size ranges the fish falls into. This offers the advantage that, on the one hand, the positioning device is optimally positioned depending on the fish size, and, on the other hand, the position of the positioning device can be maintained upon successive arrival of fish whose size falls into the same fish size range.
[0012] In this way, the number of repositionings of the positioning device can be reduced to a minimum. However, the present invention is not limited to a division into the two predefined fish size ranges mentioned. Depending on the desired precision of the positioning device's position adjustment, any number of fish size ranges can be specified. If desired, it is even possible to individually adjust and adapt the positioning device for each fish size to ensure optimal positioning of the fish in the stop position.
[0013] A preferred development of the invention is characterized in that the fish size detection device comprises a sensor device configured to determine the fish's length. Such a sensor device for determining fish length offers the advantage of requiring minimal equipment. The fish length can be determined with sufficient accuracy using such a sensor device and provides a reliable starting point for determining fish size.
[0014] A further expedient embodiment of the invention is characterized in that the sensor device comprises at least two sensors arranged at a distance from one another in the longitudinal direction of the fish receiving chamber, which sensors are configured to detect the presence of the fish in the respective detection range of the sensor and to provide detection signals. The sensors are therefore arranged in the region of the fish receiving chamber, for example in the side walls. Alternatively, the sensors are arranged in front of the fish receiving chamber, i.e. upstream, so that the fish pass through them before entering the fish receiving chamber. The position of the sensors is preferably selected such that sufficient time remains in any case to determine the fish size based on the detection signals and, based on these, to position the positioning means accordingly before the fish reaches the stop position.
[0015] According to a further preferred embodiment of the invention, the sensor device comprises an evaluation unit configured to determine the fish length based on the detection signals. In other words, the evaluation unit is configured to determine the actual fish length based on the detection signals of the sensor device in order to use these as a starting point for determining the fish size.
[0016] A further expedient embodiment of the invention is characterized in that the evaluation unit is further configured to check, on the basis of the detection signals, whether, when detecting the presence of the fish in the detection area of a first sensor of the sensors arranged on the anesthetic side, the presence of the fish in the detection area is also detected by a second sensor of the sensors arranged on the fish feed device side.
[0017] In addition, the evaluation unit is configured to determine the fish size based on the larger of the predefined fish size ranges if the presence of the fish is detected in both detection ranges of the first and second sensors, and to determine the smaller of the predefined fish size ranges if the presence of the fish is detected. In other words, the evaluation unit detects when the first sensor detects the presence of a fish in its detection range and then checks whether the second sensor has also detected the presence of a fish in its detection range. If this is the case, the fish is within the larger predefined fish size range; otherwise, the fish is within the smaller predefined fish size range. Advantageously, such a measurement can be carried out both when the fish is stationary, i.e. static, and when the fish is moving, i.e. dynamic.
[0018] A further expedient embodiment of the invention is characterized in that further sensors, spaced apart from one another, are arranged in the longitudinal direction of the fish receiving space, which sensors are configured to detect the presence of the fish in the respective detection range of the sensor and to provide detection signals, and the evaluation device is further configured to determine, on the basis of the detection signals, whether the fish size falls within a fish size range corresponding to the distance between the first sensor and one of the further sensors, and to determine the respective fish size range as the fish size. Advantageously, this makes it possible to determine which size category the respective fish fall into. The adjustment of the position of the positioning means is then preferably carried out based on the determined fish size ranges.
[0019] According to a further preferred embodiment, the fish receiving chamber has a floor element, wherein the floor element forms an inclined plane inclined toward the anesthetic in the direction of gravity, so that after the fish receiving chamber has been loaded, the fish are guided along the floor element by the action of gravity. This offers the advantage that the fish automatically slide or glide toward the anesthetic. By specifying the angle of inclination of the inclined plane, it is possible to influence the movement sequence and thus the speed or acceleration of the fish. The angle of inclination of the floor element is preferably adjustable.
[0020] A further expedient embodiment of the invention is characterized in that the fish size detection device comprises a time difference detection unit configured to determine, based on the detection signals from at least two of the sensors, at least one time interval required by the fish to move from the one detection range of one of the sensors to at least one other detection range of at least one of the other sensors. The fish size detection device has a processing unit configured to determine the fish length based on the determined at least one time interval and on a kinematic model describing the movement of the fish in the fish receiving space. In other words, the time difference detection unit is configured to determine the "fall time" of the fish on the inclined plane, i.e., the time required by the fish to pass both of the sensors.By modeling the movement of the fish on this inclined plane, it is possible to determine the fish length using the aforementioned kinematic model, which then serves as the starting point for determining the fish size.
[0021] According to a further preferred embodiment of the invention, the kinematic model comprises at least one distance-time equation that at least approximately describes the movement of the fish as a function of the angle of inclination of the inclined plane. For example, the kinematic model is linear. In this case, a uniform or uniformly accelerated movement of the fish is assumed for simplicity.
[0022] A preferred development of the invention is characterized in that the kinematic model comprises empirically determined movement data. A kinematic model based on empirically determined movement data has the advantage that the movement data has been determined for a large number of different fish and reflects the actual kinematic conditions. In this way, it is possible to determine the fish length and thus the fish size with corresponding precision for a large number of fish species and sizes.
[0023] A further expedient embodiment of the invention is characterized in that the kinematic model is created on the basis of a self-learning neural network.
[0024] The use of such a neural network offers the advantage of a highly precise determination of the actual fish size based on previously learned empirical values.
[0025] A further advantageous embodiment of the invention is characterized in that, after loading the fish receiving chamber with one of the fish, the control unit is configured to first cause the fish size detection device to determine the fish size and then, by means of the controllably movable position actuator, to automatically adjust the position of the fish head relative to the anesthetic in the stop position according to the fish size. In this way, optimal fixation of the respective fish in the stop position is always achieved, ensuring reliable stunning and subsequent bleeding. The stop position is preferably determined before the fish temporarily rests in it.
[0026] A further expedient embodiment of the invention is characterized in that the fish length detection device is further configured to determine a head-to-total length ratio based on the fish size, and the control unit is configured to adjust the position of the fish head in the stop position according to the head-to-total length ratio. The ratio of the length of the fish head to the total length of the fish represents a reliable starting point for determining the position of the fish head in the stop position. The fish length detection device comprises, for example, a database in which the head-to-total length ratios for different fish sizes are stored for different fish species. In this way, the fish length detection device is configured to determine the head-to-total length ratio based on the fish size.The fish length detection device is further configured to determine the position of the fish head in the stop position based on the determined head-to-total length ratio. For this purpose, a database can also be used, for example, in which the positions corresponding to the head-to-total length ratios for optimal positioning of the fish head are stored.
[0027] A further expedient embodiment of the invention is characterized in that the control unit comprises a belly / back position detection unit which is designed to detect whether the fish is oriented with its belly side facing upwards, and if the fish is oriented with its belly side facing upwards, to discharge the fish from the fish receiving chamber. In this way, the correct position of the fish in the fish receiving chamber is always ensured, namely with its belly facing downwards. Fish which enter the fish receiving chamber with their backs facing downwards are discharged and, after changing the belly / back positions, are fed back into the fish receiving chamber if necessary or are manually processed. For example, the fish reach a collecting basin via a separate path from which they can be fed back in later.This ensures that stunning and bleeding in accordance with animal welfare standards is always guaranteed. A further expedient embodiment of the invention is characterized in that the control unit further comprises a spawning hook detection device configured to detect changes in the fish caused by sexual dimorphism and to adjust the determined head length-to-total length ratio based on an anatomical model of the fish in accordance with the detected spawning hook condition of the fish. For this purpose, the spawning hook detection device comprises corresponding sensors configured to detect and evaluate both anatomical changes in the fish caused by the spawning hook condition and / or color changes. Fish with spawning hooks, for example, have a longer head relative to their total fish length.
[0028] A further advantageous embodiment of the invention is characterized in that the spawning hook detection device comprises at least one optical sensor configured to optically scan the ventral side of the fish and to detect the spawning hook condition by comparing it with a predetermined brightness value or brightness profile. In fish with spawning hooks, the ventral side is generally darker than in fish without spawning hooks. By specifying appropriate brightness values, brightness profiles, brightness ranges, and / or brightness thresholds, the described comparison can be used to detect whether the fish is in the spawning hook condition or not, and to take this into account when determining the head length-to-total length ratio.
[0029] An advantageous embodiment of the invention is characterized in that the fish length detection device is further designed to determine fish size ranges based on a predetermined distribution of fish sizes and / or on a determined fish size distribution, and if the respectively determined fish size lies within one of these fish size ranges, to adjust the position of the fish head in the stop position according to a position specification predetermined for the respective fish size range. This increases the robustness of the classification of the fish into the said fish size ranges with regard to measurement errors and / or measurement inaccuracies when determining the fish size. Preferably, the position of the fish head relative to the anesthetic in the stop position is set up so as to be automatically adjustable according to the fish size, i.e. is set as a function of the respectively determined fish size range.Furthermore, the object is achieved by a corresponding method having the features mentioned above by determining the fish length using a fish length detection device and determining the fish size based on the fish length using the fish size detection device. The associated advantages have already been sufficiently explained above in connection with the device according to the invention. This applies analogously to the following method features, so that reference is made to the advantages of the respective features of the device according to the invention in connection with these.
[0030] A further expedient embodiment of the invention is characterized by checking on the basis of the fish length whether the determined size of the fish falls into one of at least two predetermined fish size ranges and determining the fish size as the respective fish size range.
[0031] A preferred development of the invention is characterized by detecting the presence of the fish in the respective detection range of the sensor and providing detection signals.
[0032] A further expedient embodiment of the invention is characterized by detecting the presence of the fish in the respective detection area of the sensor and providing detection signals by means of at least two sensors of the sensor device arranged at a distance from one another in the longitudinal direction of the fish receiving space.
[0033] A further expedient embodiment of the invention is characterized by determining the fish length on the basis of the detection signals by means of an evaluation device of the sensor device.
[0034] A preferred development of the invention is characterized by checking on the basis of the detection signals by means of the evaluation unit whether, when detecting the presence of the fish in the detection range of a first sensor of the sensors arranged on the anesthetic side, the presence of the fish in the detection range is also detected by means of a second sensor of the sensors arranged on the fish feed device side and, if the presence of the fish is detected in both detection ranges of the first and second sensors, to determine the fish size of the larger of the predetermined fish size ranges and otherwise to determine the smaller of the predetermined fish size ranges.
[0035] A further expedient embodiment of the invention is characterized by detecting the presence of the fish in the respective detection range of the sensor and providing detection signals by means of further sensors arranged at a distance from one another in the longitudinal direction of the fish receiving space and determining the respective fish size range as the fish size on the basis of the detection signals if the fish size falls into a fish size range corresponding to the distance between the first sensor and one of the further sensors, by means of the evaluation device.
[0036] A further expedient embodiment of the invention is characterized in that, after the fish have been loaded into the fish receiving chamber, the fish are guided in a sliding manner on a floor element of the receiving element under the influence of gravity, wherein the floor element forms an inclined plane inclined towards the anesthetic in the direction of gravity.
[0037] A preferred development of the invention is characterized by determining at least one time interval which the fish requires in order to move from the one detection area of one of the sensors to at least one other detection area of at least one other of the sensors, by means of a time difference detection unit of the fish size detection device on the basis of the detection signals from at least two of the sensors and determining the fish length of the fish on the basis of a kinematic model describing the movement of the fish in the fish receiving space by means of a processing unit of the fish size detection device.
[0038] A preferred development of the invention is characterized in that the kinematic model comprises at least one path-time equation which at least approximately describes the movement of the fish as a function of an angle of inclination of the inclined plane.
[0039] According to a further preferred embodiment, the kinematic model comprises empirically determined movement data. A further expedient embodiment of the invention is characterized in that the kinematic model is created based on a self-learning neural network.
[0040] A preferred development of the invention is characterized by causing the fish size detection device to first determine the size of the fish after loading the fish receiving space and then to automatically adjust the position of the fish head relative to the anesthetic in the stop position according to the fish size by means of the controllable position actuator.
[0041] A further expedient embodiment of the invention is characterized by determining a head-to-total length ratio based on the fish size by means of the fish length detection device and adjusting the position of the fish head in the stop position in accordance with the head-to-total length ratio by means of the control unit.
[0042] A further expedient embodiment of the invention is characterized by detecting, by means of a belly / back position detection unit of the control unit, whether the fish is oriented with its belly side facing down, and if the fish is oriented with its belly side facing up, discharging the fish from the fish receiving space.
[0043] A preferred development of the invention is characterized by detecting sexual dimorphism-related changes in the fish by means of a spawning hook detection device of the control unit and adapting the determined head-to-total length ratio based on an anatomical model of the fish according to the detected spawning hook condition of the fish.
[0044] A preferred development of the invention is characterized by optically scanning the belly side of the fish using at least one optical sensor of the spawning hook detection device and determining a brightness value or a brightness profile, as well as comparing it with a predetermined brightness value or brightness profile in order to detect the spawning hook condition. Further preferred and / or expedient features and embodiments of the invention emerge from the subclaims and the description. Particularly preferred embodiments are explained in more detail with reference to the accompanying drawings.
[0045] The drawing shows:
[0046] Fig. 1 shows an exemplary embodiment of a fish stunning device.
[0047] Fig. 1 schematically illustrates a fish stunning device. For clarity, Fig. 1 does not show the fish to be stunned, nor a fish feeding device configured to feed each fish head-first into a fish receiving chamber 10 designed to receive one fish at a time. In other words, the fish receiving chamber 10 is designed such that it can be loaded with fish head-first. The fish are thus fed head-first into the fish receiving chamber 10.
[0048] The device and method according to the invention are described in more detail below with reference to the drawing. The fish stunning device according to the invention also comprises a positioning device 11 with a positioning means 12 engaging the fish's head. The positioning means 12 is configured to hold the fish in a stop position in the fish receiving chamber 10 in order to fix it for stunning. Furthermore, the positioning means 12 is configured to release the fish from this fixation after stunning.
[0049] The fish stunning device according to the invention further comprises an anesthetic 13 that acts to stun the fish in the stop position. The anesthetic 13 preferably comprises a stunning tool 14 that mechanically acts on the head region of the fish to stun it, as well as a bleeding tool 15 that acts on the underside of the fish in the area between the head and gills. The anesthetic 13 is preferably designed to irreversibly stun the fish.
[0050] The present invention further comprises a trigger device 16 configured to determine the stop position and to trigger the action of the anesthetic 13 on the head-side region of the fish. The trigger device 16 comprises at least one movably, preferably pivotably, mounted stop element 17, against which the fish rests with its head upon reaching the stop position, thereby triggering the action of the anesthetic 13.
[0051] To control the positioning device 11, the trigger device 16, and the anesthetic 13, a control unit—not shown in the drawing—is provided, for example, a computer controller whose operation will be explained in more detail below. The trigger device 16 preferably comprises at least one sensor element, by means of which a change in the position of the stop element 17 when a fish head rests against the stop element 17 can be detected and evaluated by the control unit.
[0052] The fish stunning device according to the invention further comprises a fish size detection device designed to determine the fish size, as well as a controllably movable position actuator (not shown in the drawing). The position actuator is configured for locally adjusting the positioning means 12 such that the position of the fish head relative to the stunning means 13 in the stop position is automatically adjustable according to the fish size. The functioning of such a position actuator is well known, for example, from document EP 3484299 A1 originating from the applicant's company. In this regard, reference is made to application EP 16736876, the content of which is hereby incorporated into this application.
[0053] The fish size detection device is configured and designed to determine the fish size based on the fish length. This makes it particularly easy to determine the fish size as precisely as possible or to assign the respective fish to a fish size class, thus optimally adjusting the positioning means 12 and adapting it to the respective fish size.
[0054] Preferably, the fish size detection device is configured to determine, based on the fish length, whether the specific size of the fish falls within one of at least two predefined fish size ranges and to define the respective fish size range as the fish size. The division into two fish size ranges offers the advantage that, on the one hand, a sufficiently precise adjustment of the positioning means 12 is possible to ensure optimal action of the anesthetic 13, while, at the same time, the number of required position adjustments of the positioning means 12 is reduced to a minimum. If, for example, two fish follow one another that can be assigned to the same fish size range, the positioning means 12 can remain in the previously set position.Depending on the desired positioning accuracy, it is possible to specify more than two fish size ranges and to move the positioning means 12 into different positions according to the number of fish size ranges.
[0055] The fish size detection device preferably comprises a sensor device 18 configured to determine the fish length. In principle, any device by means of which the determined fish length can be assigned to a length category that is related to the previously mentioned predefined fish size ranges is suitable as the sensor device 18.
[0056] As shown in Figure 1, the sensor device 18 comprises at least two first and second sensors 19, 20 arranged at a distance from one another in the longitudinal direction of the fish receiving space. The sensors 19, 20 are configured to detect the presence of the fish in the respective detection range of the sensor 19, 20 and to provide corresponding detection signals. The sensors 19, 20 can, for example, be designed as contactless sensors or as electromechanical sensors. Particularly preferably, the sensors 19, 20 are each designed as light barriers, in particular reflective or forked light barriers, which detect the presence of a fish when it is present in their detection range. In principle, however, other sensor types are also suitable, for example proximity sensors or ultrasonic or radar-based sensors, by means of which the presence of a fish can be detected.
[0057] The sensor device preferably comprises an evaluation unit configured to determine the fish length based on the detection signals. For this purpose, the evaluation unit is particularly designed to infer the fish length based on the distance between the first and second sensors and the provided detection signals.
[0058] Advantageously, the evaluation unit is further configured to check, based on the detection signals, whether, upon detecting the presence of the fish in the detection range of the first sensor 19 arranged on the anesthetic side, the presence of the fish in the detection range is also detected by the second sensor 20 of the sensors arranged on the fish feeder side. If the presence of the fish is detected in both detection ranges of the first and second sensors 19, 20, the larger of the specified fish size ranges is determined as the fish size; otherwise, the smaller of the specified fish size ranges is determined. In other words, the measuring principle is based on dividing the actual fish size into at least two fish size ranges and reliably determining which of the two fish size ranges the respective fish falls into.
[0059] More preferably, the number of sensors 19, 20 is not limited to two. A further advantageous embodiment of the invention—not shown in the drawing—is characterized in that additional sensors, spaced apart from one another, are arranged in the longitudinal direction of the fish receiving space 10. These are configured in a manner analogous to the sensors 19, 20 to detect the presence of the fish in the respective detection area and provide corresponding detection signals. The evaluation device is accordingly further configured to determine, based on the detection signals, whether the fish size falls within a fish size range corresponding to the distance between the first sensor 19 and one of the additional sensors, and to determine the respective fish size range as the fish size.In this way, it is possible to divide the actual fish size into further areas, namely into a number of n-1 areas, where n corresponds to the number of sensors arranged along the fish receiving space 10.
[0060] Further preferably, the fish receiving chamber 10 has a floor element 21. The floor element 21 forms an inclined plane inclined toward the anesthetic 13 in the direction of gravity. This causes the fish to be processed to slide along the floor element 21 under the influence of gravity after being loaded into the fish receiving chamber 10. In other words, the fish in the fish receiving chamber 10 "slides" automatically under the influence of gravity along the inclined plane toward the anesthetic 13, passing the aforementioned sensor device 18.
[0061] Adjacent to the floor element 21 is a ramp 22, on which the fish rests head-on. The ramp 22 is preferably pivotable and is pivoted in the direction of gravity to release the fish from the fish-receiving chamber 10. The ramp 22 is preferably arranged at an upward incline relative to the floor element 21, counter to the direction of gravity, and is designed to slow the fish's movement to a standstill.
[0062] Advantageously, the fish size detection device according to the invention comprises a time difference detection unit (not shown in the drawing). This unit is configured to determine, based on the detection signals from at least two of the sensors 19, 20, at least one time interval required by the fish to move from the detection range of one of the sensors 19, 20 to at least one other detection range of at least one of the other sensors 20, 19. In other words, the time difference detection unit is configured to detect the time required by the fish to travel the distance between the second sensor 20 and the first sensor 19.
[0063] The fish size detection device also has a processing unit configured to determine the fish length based on the determined at least one time interval and a kinematic model describing the fish's movement in the fish-holding space. In the simplest case, such a kinematic model describes the fish's movement under the influence of gravity as a uniform movement at a constant speed. The kinematic model can also represent the fish's movement as a uniformly accelerated movement. Taking at least the determined time interval into account, the kinematic model is then used to infer and determine the fish's length. In other words, the kinematic model is configured to estimate the expected movement dynamics of the fish.For example, if the speed of the fish is represented as a function of time by the kinematic model, the actual size of the fish can be determined by determining the given time interval.
[0064] Further preferably, the kinematic model comprises at least one distance-time equation that at least approximately describes the movement of the fish as a function of the angle of inclination of the inclined plane. In addition to the factors already mentioned, the angle of inclination is also taken into account when modeling the fish's movement in order to determine the fish's length.
[0065] Alternatively, the kinematic model includes empirically determined movement data, for example, obtained through previous experiments. The relationship between the determined time interval and fish length is stored in a database, for example, and accessed to determine fish length.
[0066] More preferably, the kinematic model is based on a self-learning neural network. Such a neural network is previously trained to determine the fish length based on the other variables. Advantageously, the neural network is configured to continue to self-learn during operation.
[0067] Advantageously, the control unit is configured to first cause the fish size detection device to determine the fish size after the fish receiving chamber 10 has been loaded with one of the fish. Subsequently, the position of the fish head relative to the anesthetic in the stop position is automatically adjusted by the control unit using the movable position actuator, depending on the fish size.
[0068] The fish length detection device is preferably further configured to determine a head-to-total length ratio based on the fish size. It has been found that the ratio of a fish's head length to its total length provides a reliable starting point for determining the optimal position of the fish's head in the stop position for optimal stunning of the fish. The control unit is particularly configured to adjust the position of the fish's head in the stop position based on the head-to-total length ratio.
[0069] Optionally, the control unit includes a belly / back position detection unit (not shown in the drawing). This is designed to detect whether the fish is oriented with its belly side facing up, and if the fish is oriented with its belly side facing up, to eject the fish from the fish receiving chamber 10 before stunning. This ensures that the fish is always brought to the stunning agent 13 in the correct position.
[0070] The present invention further preferably comprises a spawning hook detection device which is configured to detect sexual dimorphism-related changes in the fish and to adapt the determined head length to total length ratio based on an anatomical model of the fish according to the detected spawning hook state of the fish.
[0071] The spawning hook detection device comprises at least one optical sensor which is configured to optically scan the belly side of the fish and to detect the spawning hook condition by comparison with a predetermined brightness value, brightness profile or brightness range.
[0072] The above statements in connection with the device according to the invention also apply analogously to the method according to the invention, so that only selected aspects of the method will be discussed again below. For the rest, reference is made to the above statements in connection with the method according to the invention.
[0073] The fish are conveyed head-first by means of a fish feed device (not shown in the drawing), and one of the fish is loaded into the fish receiving chamber 10 at a time. Subsequently, the stop position and the time for initiating the application of an anesthetic 13 to the head-end area of the fish are determined by means of a trigger device 16.
[0074] In this stop position, the fish is held in the fish receiving chamber 10 by the positioning device 11. For this purpose, the positioning means 12 engage the fish's head. The positioning device 11, the trigger device 16, and the anesthetic 13 are controlled by the control unit.
[0075] The fish size detection device determines the fish size in order to adjust the positioning means 12 based on the fish size. The positioning means 12 is then adjusted using a controllable position actuator. The position actuator is configured for the local adjustment of the positioning means 12 such that the position of the fish head relative to the anesthetic device 13 in the stop position can be automatically adjusted according to the fish size.
[0076] The fish is stunned in the stop position by applying the anaesthetic 13 to the head area of the fish. As previously described, a blow is preferably first applied to the skull of the fish using the stunning tool 14 to render it unconscious, before the bleeding of the fish is initiated using a bleeding tool 15.
[0077] After stunning, the fish is then released by means of the positioning device 11, i.e., released from its restraint. To determine the fish size, the fish length is determined using the fish length detection device, and the fish size is determined based on the fish length using the fish size detection device. Preferably, fish size ranges are also determined using the fish length detection device based on a predetermined distribution of fish sizes and / or on a determined fish size distribution. If the respectively determined fish size lies within one of these fish size ranges, the position of the fish head in the stop position is adjusted according to a position specification predefined for the respective fish size range.
Claims
Fish stunning device comprising a fish feeding device configured for head-first conveying of fish, a fish receiving chamber (10) designed for loading fish in a head-first position by means of the fish feeding device, a positioning device (11) with a positioning means (12) acting on the fish head, which is configured to stun the fish, to hold the fish in a stop position in the fish receiving chamber (10) and to release the fish after stunning, an anesthetic agent (13) acting on the head-side region of the fish for stunning the fish in the stop position, a trigger device (16) configured for determining the stop position and for triggering the action of the anesthetic agent (13) on the head-side region of the fish, a control unit configured for controlling the positioning device (11), the trigger device (16) and the anesthetic agent (13),a fish size detection device designed for determining fish size, a controllable position actuator which is configured for local adjustment of the positioning means (12) such that the position of the fish head relative to the anesthetic agent (13) in the stop position is automatically adjustable according to the fish size, characterized in that, The fish size detection device comprises a fish length detection device configured to determine the fish length, and the fish size detection device is configured to determine the fish size based on the fish length. Device according to claim 1, characterized in that the fish size detection device is configured to determine, based on the fish length, whether the determined size of the fish falls within one of at least two predetermined fish size ranges and to define the respective fish size range as the fish size. Device according to claim 2, characterized in that the fish size detection device comprises a sensor device (18) configured to determine the fish length.Device according to claim 3, characterized in that the sensor device (18) comprises at least two sensors (19, 20) arranged at a distance from each other in the longitudinal direction of the fish receiving chamber (10), which are configured to detect the presence of the fish in the respective detection range of the sensor and to provide detection signals. Device according to claim 4, characterized in that the sensor device (18) comprises an evaluation unit which is configured to determine the fish length based on the detection signals.Device according to claim 5, characterized in that the evaluation unit is further configured to check, on the basis of the detection signals, whether, when the presence of the fish is detected in the detection range of the first sensor (19) arranged on the anesthetic side, the presence of the fish in the detection range is also detected by means of the second sensor (20) arranged on the fish feeding device side, and if so. The device according to claim 6 is characterized in that further spaced-apart sensors are arranged in the longitudinal direction of the fish receiving chamber (10), which are configured to detect the presence of the fish in the respective detection range of the sensor and to provide detection signals, and the evaluation unit is further configured to determine, based on the detection signals, whether the fish size falls within a fish size range corresponding to the distance between the first sensor (19) and one of the further sensors, and to determine the respective fish size range as the fish size.Device according to one of claims 1 to 7, characterized in that the fish receiving chamber (10) has a bottom element (21), wherein the bottom element (21) forms an inclined plane inclined towards the anesthetic agent (13) in the direction of gravity, so that the fish are guided sliding on the bottom element (21) under the influence of gravity after the fish receiving chamber (10) has been loaded.Device according to claim 8, characterized in that the fish size detection device comprises a time difference detection unit which is configured to determine, on the basis of the detection signals of at least two of the sensors, at least one time interval which the fish needs to move from one detection area of one of the sensors to at least one other detection area of at least one other of the sensors, and the fish size detection device has a processing unit which is configured, starting from the determined at least one time interval, to determine the length of the fish on the basis of a kinematic model describing the movement of the fish in the fish reception space (10). Device according to claim 9, characterized in that the kinematic model comprises at least one displacement-time equation that at least approximately describes the movement of the fish as a function of an inclination angle of the inclined plane. Device according to claim 9 or 10, characterized in that the kinematic model comprises empirically determined motion data. Device according to claim 9 or 11, characterized in that the kinematic model is based on a self-learning neural network.A device according to any one of claims 1 to 12, characterized in that the control unit is configured, after the fish receiving chamber (10) has been loaded with one of the fish, to first cause the fish size detection device to determine the size of the fish and then, by means of the controllable position actuator, to automatically adjust the position of the fish head relative to the anesthetic (13) in the stop position according to the size of the fish. A device according to any one of claims 1 to 13, characterized in that the fish length detection device is further configured to determine a head-to-total length ratio based on the size of the fish and the control unit is configured to adjust the position of the fish head in the stop position according to the head-to-total length ratio.Device according to one of claims 1 to 14 characterized in that the control unit comprises a belly / back position detection unit which is designed to detect whether the fish is lying with its belly side facing upwards. is aligned, and if the fish is aligned with its belly side facing upwards, to remove the fish from the fish intake chamber.
16. Device according to one of claims 1 to 15, characterized in that the fish length detection device is further designed to determine fish size ranges based on a predetermined distribution of fish sizes and / or on a determined fish size distribution, and if the respective determined fish size lies within one of these fish size ranges, to adjust the position of the fish head in the stop position according to a position specification specified for the respective fish size range.
17. Device according to claim 16, characterized in that the control unit further comprises a spawning hook detection device which is configured to detect sexual dimorphism-related changes in the fish and to adjust the determined head length-to-total length ratio based on an anatomical model of the fish according to the detected spawning hook state of the fish.
18. Device according to claim 17, characterized in that the spawning hook detection device comprises at least one optical sensor which is configured to optically scan the underside of the fish and to detect the spawning hook state by comparison with a predetermined brightness value or brightness profile.
19. Methods for the automatic stunning of fish, comprising Head-first conveying of fish using a fish feeding device, Loading a fish receiving chamber (10) using the fish feeding device with fish in a head-first position, Determining a stop position and a time for triggering the action of an anesthetic (13) on the head-side area of the fish by means of a trigger device (16), Holding the fish in the stop position in the fish receiving chamber (10) by means of a positioning device (11) with a positioning means (12) engaging the fish head, Control of the positioning device (11), the trigger device (16) and the anesthetic (13) by means of a control unit, Determining fish size using a fish size measurement device, Adjustment of the positioning means (12) by means of a controllable position actuator, which is designed to locally adjust the positioning means (12) in such a way that the position of the fish head relative to the anesthetic (13) in the stop position is automatically adjustable according to the size of the fish, Stunning the fish in the stop position by applying an anesthetic (13) to the head-side area of the fish, Releasing the fish after stunning by means of the positioning device (11), characterized by Determining the fish length using a fish length detection device and determining the fish size based on the fish length using the fish size detection device. The method according to claim 19, characterized by checking, based on the fish length, whether the determined size of the fish falls within one of at least two predetermined fish size ranges and determining the fish size as the respective fish size range. The method of claim 20, characterized by detecting the presence of the fish in the respective detection range of the sensor and providing detection signals. The method of claim 21, characterized by detecting the presence of the fish in the respective detection range of the sensor and providing detection signals by means of at least two sensors (19, 20) of the sensor device (18) arranged spaced apart from each other in the longitudinal direction of the fish receiving space. The method of claim 22, characterized by determining the fish length based on the detection signals by means of an evaluation device of the sensor device (18).The method according to claim 23, characterized by checking, based on the detection signals, by means of the evaluation unit, whether, when the presence of the fish is detected in the detection range of the first sensor (19) arranged on the anesthetic side, the presence of the fish is also detected in the detection range by means of the second sensor (20) arranged on the fish feeding device side, and, if the presence of the fish is detected in both detection ranges of the first and second sensors (19, 20), to determine the fish size from the larger of the specified fish size ranges and, otherwise, to determine the smaller of the specified fish size ranges.Method according to claim 23, characterized by detecting the presence of the fish in the respective detection area of the sensor and providing detection signals by means of further sensors arranged at intervals in the longitudinal direction of the fish reception space (10) and determining the respective fish size range as the fish size on a basis. the detection signals, if the fish size falls within a fish size range corresponding to the distance between the first sensor and one of the other sensors, by means of the evaluation device.
26. Method according to one of claims 19 to 25, characterized in that, after being loaded into the fish receiving chamber (10), the fish are guided sliding on a floor element (21) of the fish receiving chamber (10) under the influence of gravity, wherein the floor element (21) forms an inclined plane inclined towards the anesthetic agent (13) in the direction of gravity.
27. Method according to claim 26, characterized by determining at least one time interval required for the fish to move from one detection area of one of the sensors to at least one other detection area of at least another of the sensors, by means of a time difference detection unit of the fish size detection device based on the detection signals of at least two of the sensors, and determining the length of the fish based on a kinematic model describing the movement of the fish in the fish recording space (10) by means of a processing unit of the fish size detection device.
28. Method according to claim 27, characterized in that the kinematic model comprises at least one distance-time equation which at least approximately describes the movement of the fish as a function of an inclination angle of the inclined plane.
29. Method according to claim 27 or 28, characterized in that the kinematic model comprises empirically determined motion data.
30. Method according to one of claims 27 or 29, characterized in that the kinematic model is created on the basis of a self-learning neural network.
31. Method according to one of claims 19 to 30 characterized by first causing the fish size detection device to determine the size of the fish after the fish receiving chamber (10) has been loaded and then automatically adjusting the position of the fish head relative to the anesthetic in the stop position according to the size of the fish by means of the control-movable position actuator.
32. Method according to one of claims 19 to 31, characterized by determining a head-to-total length ratio based on the fish size by means of the fish length detection device and adjusting the position of the fish head in the stop position according to the head-to-total length ratio by means of the control unit.
33. Method according to one of claims 19 to 32, characterized by detecting, by means of a belly / back position detection unit of the control unit, whether the fish is oriented with its belly side facing upwards, and if the fish is oriented with its belly side facing upwards, ejecting the fish from the fish receiving chamber (10).
34. Method according to claim 33, characterized by detecting changes in the fish due to sexual dimorphism by means of a spawning hook detection device of the control unit and adjusting the determined head-to-total length ratio based on an anatomical model of the fish according to the detected spawning hook state of the fish.
35. Method according to claim 34, characterized by optical scanning of the ventral side of the fish by means of at least one optical sensor of the A spawning hook detection device and the determination of a brightness value or brightness profile, as well as comparison with a predetermined brightness value or brightness profile, to detect the spawning hook state. A method according to any one of claims 19 to 35, characterized by determining fish size ranges using the fish length detection device based on a predetermined distribution of fish sizes and / or on a determined fish size distribution, and if the respective determined fish size lies within one of these fish size ranges, by setting the position of the fish head in the stop position according to a position specification predetermined for the respective fish size range.