Avian vaccination system and method for controlling at least one actuator of an avian vaccination system - Patents.com

Abstract

The avian vaccination system (30) is operative to perform vaccination of a bird (100) while the bird (100) is held on the transport mechanism (20) and transported by the transport mechanism (20) along a first direction (101). The avian vaccination system (30) comprises a fluid ejection device comprising a fluid ejection opening (61) operative to eject at least one vaccination fluid into the bird (100), at least one actuator (33) operative to effect displacement of at least the fluid ejection opening (61), at least one control circuit (36) operative to control the at least one actuator (33), and a data acquisition device (37, 50) operative to capture image data of the bird (100) held on the transport mechanism (20). At least one control circuit (36) operates to control at least one actuator (33) to adjust the position of the fluid discharge opening (61) relative to the bird (100) based on image data to perform vaccination while the bird (100) is moved by the transport mechanism (20).

Description

[Technical field]

[0001] The present invention relates to a system for administering a fluid, in particular a vaccination fluid, and to a method for use in connection with such a system. The present invention relates to a system which allows birds to be vaccinated in an automated manner while they are transported by a transport mechanism. [Background technology]

[0002] Bird breeding is an important branch of agricultural technology. Birds, such as chickens or other poultry, are kept for food and as useful animals. To protect the health of the animals and reduce the risk of spreading disease, fluids, such as vaccination fluids, are administered to the animals.

[0003] To increase the efficiency, consistency, and accuracy of fluid administration, it is desirable for the administration of fluids to be performed in a semi-automated or fully automated manner. Automation of the fluid administration procedure can also reduce the stress level of the animal.

[0004] US Patent No. 5,399,633 discloses a system and method for handling, grading and vaccinating live birds. The system may include one or more vaccination stations.

[0005] US Pat. No. 5,399,433 discloses a positioning device for presenting birds and a vaccination system.

[0006] Administering fluids, such as vaccination fluids, to birds in an efficient manner is a challenge. [Prior art documents] [Patent documents]

[0007] [Patent Document 1] International Publication No. 2017 / 125387 [Patent Document 2] US Patent Application Publication No. 2015 / 0144071 Summary of the Invention [Problem to be solved by the invention]

[0008] It is an object of the present invention to provide an improved system and method for positioning a fluid discharge opening for administering a fluid to a bird. In particular, it is an object of the present invention to provide a system and a control method for such a system that allows a fluid, such as a vaccination fluid, to be administered to a bird in an efficient manner. It is also an object of the present invention to provide a system and a control method for such a system that allows a fluid, such as a vaccination fluid, to be administered to a bird while the bird is held and moved by a transport mechanism. [Means for solving the problem]

[0009] According to an embodiment of the present invention, a system and method are provided that operates to position a fluid discharge opening relative to a bird for administering a fluid, such as a vaccination fluid, while the bird is moved in a continuous manner by a transport mechanism.

[0010] In some embodiments, image data acquisition may be performed to capture image data of the bird. The fluid ejection opening may be automatically positioned relative to the bird based on the captured image data. The image data acquisition and positioning of the fluid ejection opening relative to the bird may be performed while the bird is being continuously moved by the transport mechanism.

[0011] In some embodiments, the fluid delivery device comprising a fluid discharge opening may be disposed on an applicator carrier. The applicator carrier may be movably mounted on a support. The fluid discharge opening may be disposed on the applicator carrier so as to be displaceable relative to the applicator carrier. The fluid discharge opening may be disposed or positionable through an opening in an abutment member. In operation, the abutment member may be pressed against a part of a bird's body to perform vaccination, and the fluid discharge opening impacts the bird through the opening in the abutment member.

[0012] According to one embodiment, a system is provided that operates to administer a fluid to a bird while the bird is held on a transport mechanism and transported by the transport mechanism along a first direction. The system comprises a fluid ejection device comprising a fluid ejection opening operative to eject at least one fluid to the bird, at least one actuator operative to effect a displacement of at least the fluid ejection opening, at least one control circuit operative to control the at least one actuator, and a data acquisition device operative to capture image data of the bird held on the transport mechanism. The at least one control circuit is operative to control the at least one actuator to adjust a position of the fluid ejection opening relative to the bird based on the image data for administering the fluid.

[0013] The system allows for the administration of fluid in an efficient manner while the bird is being moved by the transport mechanism, without the need to stop the movement of the bird. By controlling the position of the fluid discharge opening based on image data, different bird shapes and / or bird positions relative to the transport mechanism can be taken into account in an automatic manner. Accurate administration of fluid can be ensured.

[0014] The at least one control circuit may be operative to control the at least one actuator to adjust a position of the fluid discharge opening relative to the bird based on the image data for administering the fluid while the bird is being moved by the transport mechanism.

[0015] The fluid may be a therapeutic fluid.

[0016] The fluid may be a vaccination fluid.

[0017] The system may be an avian vaccination system.

[0018] The system may comprise a vaccination fluid reservoir in fluid communication with the fluid outlet opening.

[0019] The fluid ejection device may comprise a needle having a tip with a fluid ejection opening therein.

[0020] The at least one control circuit may be operable to adjust a position of the fluid discharge opening based on the image data such that the fluid discharge opening impacts the bird at a target location identified based on the image data.

[0021] The at least one control circuit may be operable to determine a position of the bird relative to the holding bracket on which the bird is held and / or to determine a physiological characteristic (such as the size of the bird and / or the bird's breast size), to determine a target position of the fluid ejection opening based on the position of the bird relative to the holding bracket and / or the physiological characteristic, and to control at least one actuator based on the position of the bird relative to the holding bracket.

[0022] The data acquisition device may comprise an image sensor.

[0023] The system may be operable to perform feature extraction based on images of the bird captured by the image sensor.

[0024] The data acquisition device may comprise an infrared camera.

[0025] The data acquisition device may comprise a 3D camera system.

[0026] The data acquisition device may comprise a structured light imaging system.

[0027] The data acquisition device may comprise a stereo camera system.

[0028] The data acquisition device may comprise an interface for receiving the image data. At least one control circuit may be operatively coupled to the interface.

[0029] The at least one data acquisition device may comprise a projector operative to output a line of visible or infrared light, and an image sensor operative to capture an image of the projected line at the bird.

[0030] The image sensor may be operable to capture a series of frames while the transport mechanism moves the bird across a line of visible or infrared light.

[0031] The at least one control circuit may be operable to control at least one actuator based on a number of chronologically captured frames of the series of frames.

[0032] The line of visible or infrared light may be positioned upstream of the fluid ejection device relative to the first direction.

[0033] The data acquisition device or at least one control circuit may comprise at least one integrated circuit operative to calculate surface contour data of the bird.

[0034] The at least one control circuit is operable to control the at least one actuator based on the surface contour data.

[0035] The surface contour data may include 3D surface contour data.

[0036] The surface contour data may include a cloud of points.

[0037] The at least one control circuit may be operable to control the at least one actuator to adjust a position of the fluid discharge opening relative to the bird at least along a first direction, and optionally along both the first direction and a second direction orthogonal to the first direction.

[0038] The second direction may be a vertical direction.

[0039] The conveying mechanism may be operable to move the birds in a first direction at a conveying speed.

[0040] The at least one control circuit may be operable to control the at least one actuator such that the fluid discharge opening can be displaced along a first direction at one or more first speeds different from the conveying speed before the fluid discharge opening impacts the bird.

[0041] The one or more first rates may be dependent on the image data.

[0042] The at least one control circuit may be operative to control the at least one actuator such that the fluid ejection opening may be displaced along the first direction at a second velocity, which may be equal to the conveying velocity, while the at least one fluid is ejected through the fluid ejection opening.

[0043] The at least one control circuit is operable to control the at least one actuator to reciprocate the fluid ejection opening along a first direction.

[0044] The system may further include a support and an applicator carrier movably mounted to the support.

[0045] At least one actuator is operable to displace the applicator carrier relative to the support to displace the fluid ejection opening.

[0046] The fluid delivery device may be mounted such that the fluid discharge opening may be displaceable relative to the applicator carrier.

[0047] The fluid delivery device may be displaceably mounted on the applicator carrier.

[0048] The fluid ejection opening may be configured to pivot and / or translate relative to the applicator carrier.

[0049] The system may further comprise a suspension, in particular a Cardan suspension, between the fluid delivery device and the applicator carrier.

[0050] The system may further comprise an abutment member operable to abut the bird.

[0051] The abutment member may comprise an opening through which the fluid discharge opening is positioned or may be positionable for performing the vaccination.

[0052] The abutment member and / or the applicator carrier may be provided with a coupling mechanism for reversibly releasable attachment of the abutment member to the applicator carrier.

[0053] The abutment member may comprise at least one additional opening in which the at least one additional fluid discharge opening may be positioned or positionable.

[0054] The system may further comprise one or more additional fluid ejection devices comprising one or more additional ejection openings for delivering one or more additional fluids to the bird.

[0055] The system may further comprise one or more additional replacement abutment members, each operative for reversible releasable attachment to the applicator carrier.

[0056] The abutment member and the at least one replacement abutment member may have different sizes and / or shapes.

[0057] The system may be operable to perform one or more of breast vaccination, wing vaccination, eye vaccination whilst the bird is held on the transport mechanism by its glenohumeral joint.

[0058] A bird handling system for processing birds may comprise a transport mechanism operative to transport the birds and a system for vaccinating the birds.

[0059] The transport mechanism may include a holding bracket operable to hold the bird.

[0060] The at least one control circuit may be operable to determine a position of the bird relative to the retaining bracket, determine a target position of the fluid ejection opening based on the position of the bird relative to the retaining bracket, and control the at least one actuator based on the position of the bird relative to the retaining bracket.

[0061] The retaining bracket is operable to retain the bird by its glenohumeral joint.

[0062] The system may be operable to administer fluid to at least 1000, at least 2000, at least 3000, at least 4000, at least 5000, or at least 6000 birds per hour.

[0063] The system may be operable to vaccinate at least 1000, at least 2000, at least 3000, at least 4000, at least 5000, or at least 6000 birds per hour.

[0064] According to another embodiment, there is provided a method of controlling at least one actuator of a system comprising a fluid ejection device comprising a fluid ejection opening for ejecting at least one fluid into a bird and at least one actuator operative to effect a displacement of the fluid ejection opening. The method may include receiving, by the at least one control circuit, image data of the bird from a data acquisition device, and controlling, by the at least one control circuit, the at least one actuator to position the fluid ejection opening relative to the bird based on the image data while the bird is being moved by the transport mechanism prior to performing the vaccination.

[0065] The fluid may be a therapeutic fluid or a non-therapeutic fluid.

[0066] The fluid may be a vaccination fluid.

[0067] The method may be carried out prior to vaccinating the birds.

[0068] The method may be completed by positioning the fluid discharge opening prior to vaccinating the bird, i.e. such a vaccination step may not form part of the method.

[0069] The method may include carrying out a vaccination.

[0070] Additional optional features that may be implemented in the method correspond to the optional features disclosed in connection with the claimed system.

[0071] The method may be performed automatically using a system according to one embodiment.

[0072] According to another embodiment, there is provided a system for administering a fluid, such as a vaccination fluid, to a bird while the bird is held on a transport mechanism and moved by the transport mechanism along a first direction. The system may comprise a support, an applicator carrier movably mounted on the support, a fluid ejection device mounted on the applicator carrier and comprising a fluid ejection opening for ejecting at least one fluid to the bird, at least one actuator operative to effect displacement of the applicator carrier, and at least one control circuit operative to control the at least one actuator.

[0073] At least one control circuit allows the actuators to be controlled in a generic manner depending on the position and / or size of the bird.

[0074] At least one actuator is operable to displace the applicator carrier along a first direction to administer fluid while the bird is being moved by the transport mechanism.

[0075] The fluid may be a therapeutic fluid.

[0076] The fluid may be a vaccination fluid.

[0077] The system may be an avian vaccination system.

[0078] The system may comprise a vaccination fluid reservoir in fluid communication with the fluid outlet opening.

[0079] The fluid ejection device may comprise a needle having a tip with a fluid ejection opening therein.

[0080] The fluid delivery device may be mounted to the applicator carrier such that the fluid discharge opening is displaceable relative to the applicator carrier.

[0081] The fluid delivery device may be mounted to the applicator carrier such that the fluid discharge opening is displaceable relative to the applicator carrier along a first direction and / or along a second direction transverse to the first direction.

[0082] The second direction may be a vertical direction.

[0083] The fluid delivery device may be mounted to the applicator carrier such that the fluid discharge opening is pivotable and / or displaceable in a translational manner relative to the applicator carrier.

[0084] The system may further comprise a suspension, in particular a Cardan suspension, between the fluid delivery device and the applicator carrier.

[0085] The at least one control circuit may be operable to control the position of the fluid discharge opening relative to the bird based on three-dimensional surface contour data of the bird.

[0086] The system may further comprise a data acquisition device for acquiring three-dimensional surface contour data of the bird.

[0087] The data acquisition device may comprise an image sensor.

[0088] The system may be operable to perform feature extraction based on images of the bird captured by the image sensor.

[0089] The data acquisition device may comprise an infrared camera.

[0090] The data acquisition device may comprise a 3D camera system.

[0091] The data acquisition device may comprise a structured light imaging system.

[0092] The data acquisition device may comprise a stereo camera system.

[0093] The data acquisition device may comprise an interface for receiving the image data. At least one control circuit may be operatively coupled to the interface.

[0094] The system may further comprise an abutment member operable to abut against the bird, the abutment member comprising an opening through which the fluid discharge opening is positioned or may be positionable for performing vaccination.

[0095] The abutment member may comprise at least one additional opening through which at least one additional fluid ejection device may be positionable for performing vaccination.

[0096] The system may further comprise one or more additional fluid ejection devices comprising one or more additional ejection openings for delivering one or more additional fluids to the bird.

[0097] The system may further comprise one or more additional replacement abutment members, each operative for reversible releasable attachment to the applicator carrier.

[0098] The abutment member and the at least one replacement abutment member may have different sizes and / or shapes.

[0099] The abutment member and / or the applicator carrier may be provided with a coupling mechanism for reversibly releasable attachment of the abutment member to the applicator carrier.

[0100] The system may further comprise one or more additional fluid ejection devices mounted on the applicator carrier and comprising one or more additional fluid ejection openings for delivering one or more additional fluids to the bird.

[0101] The at least one control circuit may be operative to control the at least one actuator such that the applicator carrier is displaced along a first direction at a conveying speed corresponding to a conveying speed of the conveying mechanism while the at least one fluid is discharged through the fluid discharge opening.

[0102] The system may be operable to perform at least one of breast vaccination, wing vaccination, eye vaccination while the bird is held on the transport mechanism by its glenohumeral joint.

[0103] The system may be operable to administer fluid to at least 1000, at least 2000, at least 3000, at least 4000, at least 5000, or at least 6000 birds per hour.

[0104] The system may be operable to vaccinate at least 1000, at least 2000, at least 3000, at least 4000, at least 5000, or at least 6000 birds per hour.

[0105] A bird handling system for handling birds may comprise a transport mechanism operative to transport the birds and a system for administering a fluid operative to be positioned adjacent to the transport mechanism for administering the fluid to the birds, for example to vaccinate the birds.

[0106] According to another embodiment, there is provided a method of controlling operation of at least one actuator of a system comprising an applicator carrier, a fluid ejection device attached to the applicator carrier and comprising a fluid ejection opening for ejecting at least one fluid to a bird, and at least one actuator. The method may include receiving, by the at least one control circuit, information regarding a bird being moved in a first direction by a transport mechanism, and controlling, by the at least one control circuit, the at least one actuator to effect a displacement of the applicator carrier along the first direction to administer fluid while the bird is being moved by the transport mechanism.

[0107] The fluid may be a therapeutic fluid or a non-therapeutic fluid.

[0108] The fluid may be a vaccination fluid.

[0109] The method may be carried out prior to vaccinating the birds.

[0110] The method may be completed by positioning the fluid discharge opening prior to vaccinating the bird, i.e. such a vaccination step may not form part of the method.

[0111] The method may include carrying out a vaccination.

[0112] Additional optional features that may be implemented in the method correspond to the optional features disclosed in connection with the claimed system.

[0113] The method may be performed automatically using a system according to one embodiment.

[0114] The present invention provides various effects and advantages. The system and method allows for positioning of a fluid discharge opening for administering fluid to a bird while the bird is held and moved on the transport mechanism. For example, by controlling the position of the fluid discharge opening in response to image data indicative of the position of the bird on the holding member and / or the size of the bird being moved by the transport mechanism, fluid may be administered in a highly accurate and efficient manner without the need to stop movement of the transport mechanism.

[0115] An embodiment of the present invention will now be described with reference to the drawings. [Brief description of the drawings]

[0116] [Figure 1] FIG. 1 is a schematic diagram of a bird handling system. [Diagram 2] FIG. 1 is a schematic diagram of a bird handling system. [Diagram 3] 1 is a flowchart of one method. [Figure 4] FIG. 1 is a schematic diagram of a bird and a fluid delivery device positioned near the bird by the system. [Diagram 5] 11 is a graph showing the rate at which a fluid ejection opening is displaced. [Figure 6] FIG. 1 is a diagram of 3D surface contour data. [Figure 7] FIG. 2 is an enlarged partial view of components of the avian vaccination system. [Figure 8] FIG. 2 is an enlarged partial view of components of the avian vaccination system. [Figure 9] FIG. 2 is an enlarged partial view of components of the avian vaccination system. [Figure 10] FIG. 1 is a schematic diagram of an avian vaccination system. [Figure 11] FIG. 1 is a schematic diagram of an avian vaccination system. [Figure 12] FIG. 1 is a schematic diagram of a bird handling system. [Figure 13] FIG. 2 is a schematic diagram of a retaining member of the bird handling system; DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0117] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of the present invention will now be described with reference to the drawings, in which like or similar reference numbers indicate like or similar components.

[0118] Although the embodiments are described in relation to positioning fluid discharge openings for avian vaccination, the systems and methods may be used to administer a variety of different fluids to birds.

[0119] 1 is a schematic diagram of a bird handling system 10. The bird handling system 10 comprises a transport mechanism 20 and an bird vaccination system 30. The bird vaccination system 30 is operative to be positioned adjacent to the transport mechanism 20. The transport mechanism 20 is operative to move birds 100 in a first direction 101 past the bird vaccination system 30.

[0120] The transport mechanism 20 may comprise a retaining member 22. The retaining member 22 may be operable to retain a bird 100. A plurality of retaining members 22 may be provided on the conveyor, each operable to receive a bird. The transport mechanism 20 may have an insertion section by which a bird may be manually positioned in the retaining member 22. The transport mechanism 20 may allow at least three, at least five, at least seven, at least nine human operators to simultaneously place birds in the retaining member 22. The retaining member 22 may be reversibly releasably engageable with and / or releasable from the conveyor of the transport mechanism 20, or may be fixedly mounted on the conveyor. The retaining member 22 may comprise one or more moveable components for engaging and releasing the birds.

[0121] The avian vaccination system 30 comprises a support 31. The support 31 may have casters and / or rollers 32 that allow the support 31 to be positioned adjacent the transport mechanism 20. The avian vaccination system 30 comprises an applicator carrier 41. The applicator carrier 41 carries one or more fluid ejection devices having a fluid ejection opening 61. The fluid ejection opening 61 may be provided on a needle or other injection element that operates to pierce the skin of the bird 100 for subcutaneous, intramuscular or other administration of a vaccine or other fluid. The fluid ejection opening 61 may be positioned or positionable in or through the opening 43 of the abutment member 42. In operation, the abutment member 42 may be pressed against the bird 100 and fluid may be ejected into the bird via the fluid ejection opening 61.

[0122] The actuator carrier 41 on which the fluid delivery device is arranged and the abutment member 42 may mount a vaccination head 40. The vaccination head 40 may be positionable relative to the support 31 for carrying out the vaccination.

[0123] The avian vaccination system 30 comprises an actuator 33. The actuator 33 may be operable to displace an applicator carrier 41. The actuator 33 may comprise a drive 34, which may include one or more motors. The actuator 33 may comprise a linkage 35 coupled between the drive 34 and the applicator carrier 41. The linkage 35 may comprise one, two or more lever arms. The one, two or more lever arms of the linkage may be pivotally attached to the applicator carrier. The actuator 33 may comprise a robot, such as a two-axis robot or a three-axis robot.

[0124] The actuator 33 may be operable such that the position of the applicator carrier 41 is changed when the actuator 33 operates, and the orientation of the applicator carrier 41 may remain the same when the applicator carrier 41 is displaced under the action of the actuator 33. The actuator 33 may be operable to displace the applicator carrier 41 provided with the fluid discharge openings 61 along at least a first direction 101. The actuator 33 may be operable to displace the applicator carrier 41 provided with the fluid discharge openings 61 along a second direction 102, which may be a vertical direction. The actuator 33 may be operable to displace the applicator carrier 41 provided with the fluid discharge openings 61 along a third direction 103, which may be a horizontal direction transverse to the first direction 101.

[0125] The bird vaccination system 30 comprises one or more control circuits 36. The control circuits 36 may comprise one or more integrated circuits (ICs) 36'. The ICs 36' may include any one or any combination of a processor, a controller, an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), or any combination of these or other integrated circuits. The control circuits 36 may be operative to control the actuators 33. The control circuits 36 may be operative to control the actuators based on at least one image of the bird 100.

[0126] By way of example, and as will be described in more detail below, control circuitry 36 may include: receiving image data indicative of a three-dimensional (3D) surface profile of the bird 100 or indicative of an IR image of the bird; determining a target position for the impact of the fluid discharge opening 61 on the bird 100; - controlling the actuator 33 so that the fluid discharge opening 61 impacts the bird 100 at the target location; It may operate as follows: Meanwhile, bird 100 is continuously moving in first direction 101 at a conveying speed indicated generally by arrow 104. Control circuitry 36 can control actuator 33 in response to the image data such that applicator carrier 41 conveys at a variable speed that is dependent on the image data, thereby positioning fluid discharge opening 61 proximate to the target location.

[0127] The bird vaccination system 30 may comprise a camera 50 for image data acquisition. The camera 50 may be operable to capture 2D images, 3D images (i.e. images with depth information for each of a plurality of pixels), and / or infrared (IR) images. The camera 50 may comprise an image sensor 51. The image sensor 51 may be coupled to the control circuit 36 ​​via an interface 37. The interface 37 may be a data interface. The interface 37 may be a wired or wireless interface.

[0128] The camera 50 may be provided separately from the support 31, or may be attached to the support. By providing the camera 50 separately from the support 31, versatility is improved. By attaching the camera 50 to the support 31, convenience for the user is improved.

[0129] The camera 50 is positioned generally upstream, along the first direction 101, of the applicator carrier 41. That is, the camera 50 and the applicator carrier 41 are positioned such that birds 100 pass the camera 50 before passing the applicator carrier 41.

[0130] The control circuitry 36 may be operable to control the actuator 33 in response to image data received at the interface 37 and / or from the camera 50. The camera 50 and / or the control circuitry 36 may be operable to post-process the captured image data. By way of illustration, 3D surface contour data may be derived from the image data captured by the image sensor 51.

[0131] 2 shows a bird handling system comprising a camera 50 implemented as a structured light 3D camera. The camera 50 may comprise a projector 51 operative to output structured light. The image sensor 51 captures one or more time series frames showing the bird 100 while illuminated by the structured light. The projector 52 may comprise a light source 54, which may be a laser light source. The projector 52 may comprise an optical element 54 for generating the structured light. The optical element 54 may comprise one or more scanners (such as a galvanometer scanner), one or more apertures, one or more lenses, and / or one or more beam splitters.

[0132] Alternatively, a stereo camera may be used to capture the 3D image data.

[0133] 2, projector 52 may output a triangle or sector 55 of visible or infrared light. A line 56 of light may impinge on bird 100, causing line 56 to curve to follow the surface contour of bird 100. Several image frames captured in a time-sequential manner by image sensor 51 may show bird 100 with line 56 projected onto it as bird 100 is moved over line 56 by transport mechanism 20. Control circuitry 36 may control actuator 33 in response to the 3D image information derived from the time-sequential image frames.

[0134] 3 is a flow chart of the method 70. The method 70 may be performed automatically by the avian vaccination system 30.

[0135] Image data acquisition is performed at step 71. Acquiring image data may include capturing 3D and / or IR image information. Acquiring image data may include capturing 3D surface contour information of the bird using a structured light 3D camera.

[0136] A target location where the fluid ejection opening will impact the bird is identified in step 72. Identifying the target location may include one or more of: using the image data acquired in step 71 to determine a position of the bird 100 relative to the holding bracket on which the bird 100 is held and / or a physiological characteristic of the bird 100; and identifying a target location for the fluid ejection opening as a function of the position of the bird 100 relative to the holding bracket 22 and / or the physiological characteristic of the bird 100.

[0137] In step 73, the actuator 33 may be controlled in response to the target position identified in step 72. Controlling the actuator 33 may include controlling the rate at which the applicator carrier 41 is displaced along the first direction 101. Controlling the actuator 33 may include controlling the rotational speed of an output shaft of a motor of the actuator 33 and / or controlling a servo drive in response to the target position identified in step 72.

[0138] The actuator 33 is - before the fluid discharge opening 61 comes into contact with the bird 100, the applicator carrier 41 is displaced along a first direction 101 with a velocity profile that depends on the acquired image data, after the fluid discharge opening 61 has come into contact with the bird 100, the applicator carrier 41 is displaced along the first direction 101 with a velocity profile that is independent of the acquired image data and that is equal to the conveying speed at which the bird 100 is being moved by the conveying mechanism 20 It can be controlled in such a manner.

[0139] Steps 71-73 may be repeated in a repetitive manner to continuously administer fluid (e.g., vaccination fluid) to the birds. The repetition rate may be fairly high, for example to accommodate vaccinations of at least 1000, at least 2000, at least 3000, at least 4000, at least 5000, or at least 6000 birds per hour.

[0140] 4 is a schematic diagram illustrating the operation of the bird vaccination system 30. 3D or IR image data is processed to identify a target position 105 where the fluid discharge opening 61 will impact the bird 100. The fluid delivery device 60 with the fluid discharge opening 61 is displaced to effect a relative displacement of the applicator carrier 41 with respect to the bird 100 while the bird 100 itself is moved at a conveying speed 104. The actuator 33 is controlled in response to the image data such that the fluid discharge opening 61 impacts the bird 100 at the target position 105.

[0141] The fluid delivery device 60 with the fluid discharge opening 61 may perform a reciprocating motion 106 along the first direction 101 to return the fluid delivery device 60 to its initial position once vaccination is completed.

[0142] 5 is a schematic illustration of a time-dependent velocity of the applicator carrier 41. The time-dependent velocity may be implemented to (a) accurately position the fluid discharge opening 61 relative to the bird 100 in a first time interval 75, (b) displace the applicator carrier 41 with the fluid discharge opening 61 together with the bird in a second time interval 76, and (c) return the applicator carrier 41 to its initial position in a third time interval 77 once fluid administration (e.g. vaccination) is completed.

[0143] The velocity profile in the first time interval 75 depends on the acquired image data. By way of example, the applicator carrier 41 with the fluid discharge opening 61 is adjusted to the movement speed v at which the bird is moving in order to ensure that the fluid discharge opening 61 is positioned in a manner that depends on the position and / or size of the bird, as reflected by the image data. t It may be necessary to displace faster or slower than

[0144] The velocity during the second time interval 76 is substantially constant and is proportional to the moving speed v at which the birds are being moved by the transport mechanism 20. t may be equal to

[0145] The speed during the third time interval 77 may be independent of the image data and may return the applicator carrier 41 to the initial position before the next operating cycle begins.

[0146] 6 shows exemplary surface contour data 78 of a bird derived from a series of image frames captured using the 3D line camera 50. The surface contour data 78 may be a point cloud, with each point representing a point on the surface of the bird 100. The surface contour data 78 may be used to identify the location of one or more of the chest of the bird 100, the wings of the bird 100, the eyes of the bird 100 for administering a fluid (e.g., a vaccination fluid).

[0147] Figures 7 to 9 are partial views of the bird vaccination system. The vaccination head 40 is operable to be displaced by the actuator 33. The vaccination head 40 comprises an applicator carrier 41 and an abutment member 42. The abutment member 42 has one or more openings 43 with fluid discharge openings positioned or positionable for administering fluid to the bird 100.

[0148] The abutment member 42 with the fluid discharge opening 61 and the fluid delivery device may be actively pressed against the bird 100 when the applicator carrier 41 is positioned as required to administer fluid. The abutment member 42 may have a contoured surface 44 shaped to abuttingly receive a part of the bird's body such as the bird's 100 chest, wing or head.

[0149] The abutment member 42 may be reversibly releasably attached to the applicator carrier 41. The bird vaccination system 30 may comprise one or more additional abutment members all reversibly releasably attachable to the applicator carrier 41. The different abutment members may correspond to different sizes, shapes and / or body parts of the bird depending on the bird being vaccinated (e.g. the bird's below rating) and / or depending on the part of the body to which the fluid is administered (e.g. chest, wing, eye).

[0150] The abutment member 42 may be displaceably arranged relative to the applicator carrier 41. The abutment member 42 may be displaceable relative to the applicator carrier 41 along at least a third direction 103 that is orthogonal to the first direction 101 (in which the bird 100 is moving through the avian vaccination system 30) and the second direction 102 (which is vertical). The abutment member 42 and / or the applicator carrier 41 may comprise a linear guide mechanism 45 that may include a tubular section and a rod matingly received in the tubular section.

[0151] The avian vaccination system 30 may comprise one or more biasing members 46 biasing the abutment member 42 to the rest position. For fluid administration, the abutment member 42 must be displaced against the bias of the biasing member 46.

[0152] A fluid delivery assembly 62 is attached to the applicator carrier 41. The fluid delivery assembly 62 may include one or more syringe barrels and / or one or more needles for administering fluids. The fluid delivery assembly 62 may be attached to the applicator carrier 41 via a suspension 64. The suspension 64 may allow the fluid discharge opening 61 to pivot relative to the applicator carrier 41 to better fit the bird's body. The suspension 64 may allow the fluid discharge opening 61 to pivot about a first pivot axis 65 and, optionally, about a second pivot axis. The suspension 64 may be a Cardan suspension.

[0153] Fluid delivery assembly 62 may include two or more fluid discharge openings (e.g., three or more needle tips). Each of the different fluid discharge openings may be operable to dispense a different one of several fluids.

[0154] The fluid delivery assembly 62 may include connectors 66 for receiving and / or dispensing a fluid, such as a vaccination fluid. A reservoir for the fluid may be provided locally to the fluid delivery assembly 62 and / or separate from the vaccination head 40. Different ones of the connectors 66 may be in fluid communication with different ones of the fluid discharge openings.

[0155] 10 and 11 are perspective views of the avian vaccination system 30. The avian vaccination system 30 may include one or more locking mechanisms 39 for fixedly locking the avian vaccination system 30 in position adjacent to the transport mechanism 20.

[0156] A housing 38 may be disposed on the support 31 to house various electronic components of the camera 50, such as a control circuit 36, an interface (37), and optionally at least an image sensor 51 and / or a structured light projector 52.

[0157] 12 is a diagram of a bird handling system. The bird handling system comprises a transport mechanism 20 and an avian vaccination system 30. The transport mechanism 20 comprises a holding bracket 22 which holds the birds while they are transported by the transport mechanism 20. Functional units such as a weighting unit and / or a grading unit may be integrated into the transport mechanism 20.

[0158] The computer of the transport mechanism 20 may be communicatively coupled to the avian vaccination system 10. For example, information regarding the weight of one or more birds may be communicated from the computer of the transport mechanism 20 to the control circuitry 36 of the avian vaccination system for dosage adjustment or other purposes. Information regarding vaccination may be communicated from the transport mechanism 20 to the vaccination system 10 for use, for example, in ranking or determining the location at which birds are released from the transport mechanism 20.

[0159] 13 is a perspective view of a retaining bracket of the transport mechanism 20. The retaining bracket 22 may be constructed and operated as described, for example, in U.S. Pat. No. 5,399,363. The retaining bracket 22 may include a main member 26 and two generally V-shaped members 23, 24. Each V-shaped member 23, 24 has an apex segment 25 operative to engage a bird by its glenohumeral joint. The V-shaped members 23, 24 may be displaceable relative to the main member 26 to receive and / or release the bird. The retaining bracket 22 may have an engagement section 27 for engaging a conveyor of the transport mechanism 20.

[0160] Various effects and advantages are achieved by the systems and methods according to the embodiments. The systems and methods provide efficient positioning of a fluid discharge opening for administering fluid to a bird. Fluids, such as vaccination fluids, can be administered to birds in an efficient manner. Differences in the position of the bird relative to its holding bracket and / or differences in the bird's physiology may be taken into account when controlling the actuator for positioning the fluid discharge opening. The control of the actuator may be performed in a fully or at least partially automated manner, resulting in high throughput and fast processing times.

[0161] While embodiments may use 3D surface contour information to perform control actions in a fluid dispensing system, the systems and methods may process IR images to determine how fluid ejection openings should be positioned.

[0162] While embodiments may use 3D surface contour information to perform control operations in a fluid dispensing system, the systems and methods may perform feature extraction based on 2D or 3D images to determine how the fluid ejection openings should be positioned.

[0163] Although embodiments may be used in connection with vaccination systems, the systems and methods may be used generally to administer a variety of therapeutic or non-therapeutic fluids. [Explanation of symbols]

[0164] 10 bird handling system, 20 transport mechanism, 22 holding member, holding bracket, 30 bird vaccination system, 31 support, 32 castors and / or rollers, 33 actuator, 34 drive, 35 link mechanism, 36 control circuit, 37 interface, 38 housing, 39 locking mechanism, 40 vaccination head, 41 actuator carrier, 42 abutment member, 43 opening, 44 contoured surface, 45 linear guide mechanism, coupling mechanism, 46 biasing member, suspension, coupling mechanism, 50 camera, 51 image sensor, 3D camera system, 52 projector, 3D camera system, 54 light source, optical element, 55 triangle or sector, 56 visible or infrared light line, 60 fluid delivery device, 61 fluid discharge opening, 62 fluid delivery assembly, 64 suspension, 65 first pivot axis, 66 connector, 75 first time interval, 76 Second time interval, 77 Third time interval, 78 Surface contour data, 100 Bird, 101 First direction, 102 Second direction, 103 Third direction, 104 Arrow, 105 Target position

Claims

1. 1. An avian vaccination system (30) operative to carry out vaccination of a bird (100) while the bird (100) is held on a conveying mechanism (20) and conveyed by said conveying mechanism (20) along a first direction (101), comprising: The avian vaccination system (30) comprises: a fluid discharge device (60, 62) comprising a fluid discharge opening (61) operable to discharge at least one vaccination fluid into said bird (100); at least one actuator (33) operative to effect displacement of at least said fluid discharge opening (61); at least one control circuit (36) operative to control at least one said actuator (33); a data acquisition device (37, 50) operable to capture image data of the bird (100) held on the transport mechanism (20); Including, A bird vaccination system (30), wherein at least one control circuit (36) operates to control at least one actuator (33) to adjust the position of the fluid discharge opening (61) relative to the bird (100) based on the image data to perform the vaccination while the bird (100) is being moved by the transport mechanism (20).

2. 2. The bird vaccination system (30) of claim 1, wherein at least one of the control circuits (36) operates to adjust the position of the fluid discharge opening (61) based on the image data so that the fluid discharge opening (61) collides with the bird (100) at a target position (105) identified based on the image data.

3. 2. The avian vaccination system (30) of claim 1, wherein the data acquisition device (37, 50) comprises a 2D camera, a 3D camera system (51, 52), or an infrared camera.

4. 2. Avian vaccination system (30) according to claim 1, wherein said data acquisition device (37, 50) comprises a 3D camera system (51, 52), i.e. a structured light imaging system.

5. 2. A bird vaccination system (30) as described in claim 1, wherein at least one of the data acquisition devices (37, 50) comprises a projector (52) operative to output a line (56) of visible or infrared light and an image sensor (51) operative to capture an image of the line projected onto the bird (100).

6. A bird vaccination system (30) as described in claim 5, wherein the image sensor (51) operates to capture a series of frames while the conveying mechanism (20) moves the bird (100) across the line (56) of visible or infrared light.

7. A bird vaccination system (30) as described in claim 6, wherein at least one of the control circuits (36) operates to control at least one of the actuators (33) based on some chronologically captured frames of the series of frames.

8. A bird vaccination system (30) as described in claim 6, wherein the line (56) of visible or infrared light is positioned upstream relative to the first direction (101) of the fluid discharge device (60, 62).

9. 2. A bird vaccination system (30) as described in claim 1, wherein the data acquisition device (37, 50) or at least one of the control circuits (36) comprises at least one integrated circuit operative to calculate surface contour data (78) of the bird (100), and at least one of the control circuits (36) operative to control at least one of the actuators (33) based on the surface contour data (78).

10. An avian vaccination system (30) as described in claim 9, wherein the surface contour data (78) includes 3D surface contour data and / or the surface contour data (78) includes a point cloud.

11. 2. The bird vaccination system (30) of claim 1, wherein at least one said control circuit (36) operates to control at least one said actuator (33) to adjust the position of the fluid discharge opening (61) relative to the bird (100) at least along the first direction (101).

12. A bird vaccination system (30) as described in claim 11, wherein at least one of the control circuits (36) operates to control at least one of the actuators (33) to adjust the position of the fluid discharge opening (61) relative to the bird (100) at least along the first direction (101) and both along the first direction (101) and a second direction (102, 103) perpendicular to the first direction (101).

13. the conveying mechanism (20) is operative to move the birds (100) in the first direction (101) at a conveying speed, and the at least one control circuit (36) is operative to control the at least one actuator (33); Before the fluid discharge opening (61) impacts the bird (100), the fluid discharge opening (61) is displaced along the first direction (101) at one or more first velocities different from the conveying speed, the one or more first velocities being dependent on the image data; and / or While at least one of the vaccination fluids is being discharged through said fluid discharge opening (61), said fluid discharge opening (61) is displaced along said first direction (101) at a second speed equal to said conveying speed.

10. An avian vaccination system (30) according to claim 1.

14. 2. A bird vaccination system (30) as described in claim 1, further comprising a support (31) and an applicator carrier (41) movably mounted on the support (31), wherein at least one of the actuators (33) operates to displace the applicator carrier (41) relative to the support (31) to displace the fluid discharge opening (61).

15. 15. An avian vaccination system (30) according to claim 14, wherein the fluid delivery device is mounted such that the fluid discharge opening (61) is displaceable relative to the applicator carrier (41).

16. An avian vaccination system (30) as described in claim 15, wherein the fluid delivery device is displaceably mounted on the applicator carrier (41).

17. A bird vaccination system (30) as described in claim 15, wherein the fluid discharge opening (61) is arranged for rotational and / or translational movement relative to the applicator carrier (41).

18. A bird vaccination system (30) as described in claim 15, further comprising a suspension (46) between the fluid delivery device and the applicator carrier (41).

19. A bird vaccination system (30) as described in claim 18, wherein the suspension (46) is a cardan suspension (46).

20. 2. A bird vaccination system (30) as described in claim 1, further comprising an abutment member (42) that operates to abut against the bird (100), the abutment member (42) comprising an opening through which the fluid discharge opening (61) is positioned or positionable to perform the vaccination.

21. A bird vaccination system (30) as described in claim 20, wherein the abutment member (42) and / or the applicator carrier (41) are provided with a coupling mechanism (45, 46) for reversibly releasable attachment of the abutment member (42) to the applicator carrier (41).

22. An avian vaccination system (30) as described in Claim 20, wherein the abutment member (42) has at least one additional opening in which at least one additional fluid discharge opening is positioned or can be positioned.

23. The avian vaccination system (30) Breast vaccination and Wing vaccination and Ocular vaccination and and operable to perform one or more of:

10. The avian vaccination system (30) of claim 1, wherein the bird (100) is held on the transport mechanism (20) by its glenohumeral joint.

24. A bird (100) handling system, comprising: a transport mechanism (20) operable to transport the bird (100); The bird vaccination system (30) according to any one of claims 1 to 13 for vaccinating the birds (100), Equipped with Bird (100) handling system.

25. A bird (100) handling system as described in claim 24, wherein the transport mechanism (20) comprises a holding bracket (22) operative to hold the bird (100), and at least one of the control circuits (36) is operative to determine the position of the bird (100) relative to the holding bracket (22) and / or the physiological characteristics of the bird (100), determine a target position of the fluid discharge opening (61) based on the position of the bird (100) relative to the holding bracket (22) and / or based on the physiological characteristics of the bird (100), and control at least one of the actuators (33) based on the target position (105).

26. A bird (100) handling system as described in claim 25, wherein the holding bracket (22) operates to hold the bird (100) by the bird's glenohumeral joint.

27. A method for controlling at least one actuator (33) of an avian vaccination system (30), comprising the steps of: The avian vaccination system (30) comprises: a fluid discharge device (60, 62) comprising a fluid discharge opening (61) for discharging at least one vaccination fluid into a bird (100), and at least one actuator (33) operative to cause a displacement of at least said fluid discharge opening (61), The method comprises: receiving, by at least one control circuit (36), image data of said bird (100) from a data acquisition device (37, 50); controlling, by the at least one control circuit (36), the at least one actuator (33) to position the fluid discharge opening (61) relative to the bird (100) based on the image data while the bird (100) is being moved by a transport mechanism (20) before carrying out vaccination; A method comprising:

Images