Apparatus and method for stunning fish

Abstract

The invention relates to a fish feeding device adapted for transporting fish head-first, a fish receiving space (10) configured for loading the fish head-first by the fish feeding device, positioning means (11) having positioning means (12) adapted for holding the fish in a stop position in the fish receiving space (10) and for releasing the fish after stunning, stunning means (13) acting on a head region of the fish to stunning the fish in the stop position, a triggering device (16) adapted for determining the stop position and for triggering the effect of the stunning means (13) on the head region of the fish, and a device for feeding the fish head-first, the device comprising: The present invention relates to a fish stunning apparatus comprising a control unit adapted for controlling the moth device (16) and the stunning means (13), a fish size sensing device adapted for determining the fish size, and a controllably movable position actuator adapted for locally adjusting the fish positioning means (12) such that the position of each of the fish heads relative to the stunning means (13) in the rest position is adapted to be adjusted in a self-actuated manner depending on the fish size, characterized in that the fish size sensing device comprises a fish length sensing device adapted for determining the fish length, the fish size sensing device being configured for determining the fish size based on the fish length. The present invention further relates to a method for automatically stunning fish.

Description

[Technical Field]

[0001] The present invention relates to a fish stunning apparatus, the apparatus comprising: a fish feeding device adapted for transporting fish head-first; a fish receiving space configured for loading the fish head-first by the fish feeding device; a positioning device having positioning means for holding the fish in a stopping position in the fish receiving space and for releasing the fish after stunning it in order to stunning it; stunning means acting on a head region of the fish to stunning it in the stopping position; a trigger device adapted for determining the stopping position and for triggering the effect of the stunning means on the head region of the fish; a control unit adapted for controlling the fish positioning device, the trigger device and the stunning means; a fish size sensing device adapted for determining the fish size; and a controllably movable position actuator adapted for locally adjusting the fish positioning means such that the position of each of the fish's head relative to the stunning means in the stopping position is adapted to be adjusted in a self-actuated manner depending on the fish size.

[0002] the fish size by a fish size sensing device; adjusting the fish positioning means by a controllably movable position actuator adapted for locally adjusting the positioning means such that the position of each of the fish's head relative to the stunning means at the stop position is adapted to be independently adjustable depending on the fish size; stunning the fish at the stop position by the stunning means acting on the head region of the fish; and releasing the fish by the positioning means after stunning. [Background technology]

[0003] A fish stunning device with the above-mentioned features is known from document WO 2016 / 026540 A1. Fish are fed individually, one after the other, into the fish stunning device. They arrive individually in a face-down position, head first, with or in the water flow, in a fish receiving space. A trigger device is arranged in the fish receiving space. The heads of the fish impact the trigger device due to their own weight and reach a temporary stop position. The trigger device has an abutment element mounted in a slidable or pivotable manner. Sensor means, which react to the abutment of the fish's head against the abutment element of the trigger device, trigger the operation of the stunning means. The stunning means comprises not only a stunning tool but also an optional bleeding tool.

[0004] In order to stun the fish optimally and in an animal welfare-compliant manner, the fish's head is fixed in a rest position by a positioning means, the optimal position for which being set by a controllably movable position actuator depending on the fish size. Such a device, which is technically improved compared to that of document WO 2016 / 026540 A1, and a corresponding method are already known from patent application EP 16736876 (publication number 3484299) from the Applicant's company. We therefore refer to patent application EP 16736876 in its entirety, the content of which is hereby incorporated by reference.

[0005] The drawback is that the cooperation of additional devices and sensors is required to determine fish size, which makes the device as well as the method complex and generally prone to breakdowns and expensive maintenance during heavy industrial use.

[0006] The problem of the present invention is therefore to propose a corresponding apparatus which allows a reliable fish size determination for an optimal adjustment of said positioning device with as little equipment effort as possible. The problem further consists in proposing a corresponding method.

[0007] This problem is solved by an apparatus having the above-described features in that the fish size sensing device comprises a fish length sensing device adapted to determine fish length, and the fish size sensing device is configured to determine fish size based on the fish length. Fish length has been found to be a reliable starting parameter from which conclusions about the actual fish size can be drawn. The cooperation of the apparatus for determining fish size can thus be minimized, since complex devices for determining fish size, such as weighing devices, are hardly required. Instead, one can rely on numerous components already provided in such fish stunning apparatus for determining fish length as a starting criterion for determining fish size. Thus, a reliable and accurate determination of fish size is possible with the minimum possible cooperation of the apparatus for performing accurate adjustments of the positioning device according to the fish size.

[0008] Fish size is understood as a parameter that allows assigning a fish to a corresponding fish size range and / or fish size class. Fish size is characterized, for example, by the volume, mass, maximum width between sides of the fish body, and anatomical size relationships, for example, the relationship between the head and the total fish length. Fish size is therefore a value or range of values ​​that also allows assigning a fish to different defined fish size classes.

[0009] A controllably movable position actuator is configured to act on the fish positioning means to self-actuately adjust the position of the fish's head relative to the stunning means in the rest position depending on the size of the fish. The position actuator is further preferably configured to adjust the position of the trigger device together with the fish positioning means. In this way, the position of the trigger device can also be adjusted depending on the size of the fish. [Prior art documents] [Patent documents]

[0010] [Patent Document 1] WO2016 / 026540A1 publication [Patent Document 2] EP16736876 publication Summary of the Invention

[0011] A fish stunning device in accordance with the present invention is understood to stun a fish, causing it to die. Stunning occurs in two stages: the fish is first stunned by a stunning tool, causing it to lose consciousness; then, fatal bleeding is induced. In other words, a fish stunning device in accordance with the present invention therefore also forms a fish slaughtering device. The fish stunning device is preferably configured such that the operation of the bleeding tool is variably controlled by switching it on and off. In this way, it can be verified whether the stunning tool is functioning correctly and stunning the fish, preferably irreversibly.

[0012] An advantageous design embodiment of the present invention is characterized in that the fish size sensing device is adapted to determine whether a particular size of a fish falls into one of at least two defined fish size ranges based on the fish length, and to determine each fish size range as the fish size. In this way, it is possible to determine which fish size each fish is and which of the defined fish size ranges it falls into. This has the advantage that, on the one hand, the positioning device is optimally positioned according to the fish size, and, on the other hand, the position of the positioning device can be maintained even if fish whose sizes fall into the same fish size range arrive consecutively.

[0013] In this way, the number of repositioning of the positioning device can be minimized. However, the invention is not limited to classification into the two defined fish size ranges. Any number of fish size ranges can be defined depending on the desired accuracy of the positioning adjustment of the positioning device. If desired, the positioning device can even be adjusted and adapted individually for each fish size to ensure optimal positioning of the fish in the stopping position.

[0014] A preferred further development of the invention is characterized in that the fish size sensing device comprises a sensor device adapted to determine the fish length of the fish. Such a sensor device for determining the fish length offers the advantage that the cooperation of the device is as low as possible. The fish length can be determined with such a sensor device with sufficient accuracy, providing a reliable starting point for determining the fish size.

[0015] A further advantageous embodiment of the present 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 space, the sensors being adapted to detect the presence of fish in their respective sensing areas and providing a detection signal. The sensors are therefore arranged in an area of ​​the fish-receiving space, for example on a side wall. Alternatively, the sensors are arranged in front of, for example upstream of, the fish-receiving space, so that the fish pass the sensors before reaching the fish-receiving space. The positions of the sensors are preferably selected in any case so that there remains sufficient time to determine the size of the fish based on the detection signal and to position the positioning means based on said fish size before the fish reaches the stop position.

[0016] According to a further preferred embodiment of the invention, the sensor device comprises an evaluation unit adapted for determining 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 and use it as a starting criterion for the determination.

[0017] A further advantageous embodiment of the invention is characterized in that the evaluation unit is further adapted to check, when a first one of the sensors arranged on the stunning means side detects the presence of a fish in its sensing area, whether a second one of the sensors arranged on the fish feeding device side has also detected the presence of a fish in its sensing area based on the detection signal.

[0018] Furthermore, the evaluation unit is adapted to determine the fish size as the larger of the respective defined fish size ranges if the presence of a fish is detected in the sensing areas of both the first and second sensors, and to determine the fish size as the smaller of the respective defined fish size ranges if not. In other words, the evaluation unit recognizes that the first sensor has detected the presence of a fish in its sensing area, and then checks whether the second sensor has also detected the presence of a fish in its sensing area. In this case, the fish has a size within the defined large fish size range; otherwise, the fish has a size within the defined small fish size range. Advantageously, such measurements can be performed not only when the fish is stationary, i.e., statically, but also when it is moving, i.e., dynamically.

[0019] A further advantageous embodiment of the present invention is characterized in that further sensors spaced apart from one another are arranged in the longitudinal direction of the fish-receiving space, the sensors being adapted to detect the presence of fish in their respective sensing areas and provide detection signals, and the evaluation device is further adapted to determine, based on the detection signals, whether the fish size falls into a corresponding fish size range depending on the distance between the first sensor and one of the further sensors, and to determine each fish size range as the fish size. In this way, it can advantageously be determined which size category each fish falls into. Adjustment of the position of the positioning means is then preferably performed based on the determined fish size range.

[0020] According to a further preferred embodiment, the fish receiving space has floor elements which form an inclined surface inclined in the direction of gravity towards the stunning means, so that after placing the fish in the fish receiving space, the fish are guided by sliding on the floor elements under the influence of gravity. This has the advantage that the fish automatically slide or slide down towards the stunning means. By defining the inclination angle of the inclined surface, the path of movement of the fish and therefore the speed or acceleration of the fish can be influenced. Preferably, the inclination angle of the floor elements is configured to be adjustable.

[0021] A further advantageous embodiment of the present invention is characterized in that the fish size sensing device comprises a time difference sensing unit adapted to determine, based on the detection signals of at least two of the sensors, at least one time interval required for a fish to move from one sensing area of ​​one of the sensors to at least one other sensing area of ​​another of the sensors, and the fish size sensing device has a processing unit adapted to determine the fish length of the fish based on the determined at least one time interval based on a cine model representing the fish's movement in the fish receiving space. In other words, the time difference sensing unit is adapted to determine the "fall time" of the fish on the inclined plane, i.e., the time required for the fish to pass both sensors. By modeling the path of the fish's movement on the inclined plane, it is possible to determine the fish length using the cine model, which then serves as a starting criterion for determining the fish size.

[0022] According to a further preferred embodiment of the present invention, the cine model comprises at least one path / time equation, which at least approximately describes the movement of the fish as a function of the inclination angle of the inclined plane. The cine model is, for example, of linear construction. For simplicity, a uniform or uniformly accelerated movement of the fish is assumed in this case.

[0023] A preferred further development of the invention is characterized in that the movie model comprises empirically determined motion data. A movie model based on empirically determined motion data has the advantage that the motion data is determined for a number of different fish and reflects real relationships in the movie. Thus, for a number of fish species and sizes, fish length and therefore fish size can be accurately determined.

[0024] A further advantageous embodiment of the present invention is characterized in that the movie model is established on the basis of a self-learning neuron network. The use of such a neuron network has the advantage of determining the actual fish size very accurately based on previously learned empirical values.

[0025] A further advantageous embodiment of the present invention is characterized in that, after placing one of the fish in the fish receiving space, the control unit is configured to cause the fish size sensing device to first determine the size of the fish, and then to self-actuate by means of the controllably movable position actuator to set the position of the fish's head relative to the stunning means at the stopping position according to the fish size. In this way, an optimal fixation of each fish in the stopping position at all times is achieved, ensuring reliable stunning and subsequent bleeding. The determination of the stopping position is preferably performed before the fish is temporarily placed in the stopping position.

[0026] A further advantageous embodiment of the present invention is characterized in that the fish length sensing device is further configured to determine a head-to-length relationship based on the fish size, and the control unit is adapted to set a position of the fish's head at the stop position depending on the head-to-length relationship. The relationship between the fish's head length and the fish's length constitutes a reliable starting criterion for determining the position of the fish's head at the stop position. The fish length sensing device, for example, comprises a database in which the head-to-length relationships of different fish species are stored. The fish length sensing device is thus configured to determine the head-to-length relationship based on the fish size. The fish length sensing device is further adapted to determine the position of the fish's head at the stop position based on the determined head-to-length relationship. For example, a database in which positions associated with the head-to-length relationship for each optimal positioning of the fish's head can be stored can be used for this purpose.

[0027] A further advantageous embodiment of the present invention is characterized in that the control unit comprises a prone / supine position sensing unit configured to recognize whether the fish are aligned ventrally up or not and to separate the fish from the fish receiving space if the fish are aligned ventrally up. In this way, the correct position of the fish in the fish receiving space is always ensured, i.e., the fish are aligned with their bellies facing downwards. Fish that reach the fish receiving space in a back-down position can be separated and fed back into the fish receiving space or can be post-processed after changing to a prone / supine position. For example, the fish can reach the collection pond via an alternative route and be fed back from there. In this way, animal welfare-compliant stunning and bleeding is always reliably guaranteed.

[0028] In a further advantageous embodiment of the present invention, the control unit further comprises a chipe recognition device adapted to detect sexual dimorphism-related changes in the fish and to adjust the determined head length to total length relationship according to the chipe status of the fish determined based on an anatomical model of the fish. To this end, the chipe recognition device comprises corresponding sensors configured to sense and evaluate both anatomical and / or color changes caused by the chipe status of the fish. For example, a fish with chipe has a long head compared to its total length.

[0029] A further advantageous design of the present invention is characterized in that the kip recognition device comprises at least one optical sensor adapted to optically scan the ventral side of the fish and detect the kip state through comparison with defined brightness values ​​or brightness profiles. The ventral side of a fish with kip is usually darker than the ventral side of a fish without kip. By defining corresponding brightness values, brightness profiles, brightness regions, and / or brightness thresholds, said comparison can enable recognition of whether the fish is in kip state or not, which can be taken into account when determining the head length to total length relationship.

[0030] An advantageous embodiment of the present invention is characterized in that the fish length sensing device is further configured to determine fish size ranges based on a predetermined fish size distribution and / or the determined fish size ranges, and if the determined respective fish size is within one of these fish size ranges, set the position of the fish's head to a stop position according to a position definition defined for the respective fish size range, thereby improving robustness of classifying the fish into said fish size ranges against measurement errors and / or measurement inaccuracies in determining the fish size. Preferably, the position of the fish's head is adapted to be self-activatedly set relative to the stunning means at a stop position each time depending on the fish size, and thus depending on the respective detected fish size range.

[0031] The problem is further solved by a corresponding method with the above-mentioned features, by determining the fish length by a fish length sensing device and determining the fish size based on the fish length by a fish size sensing device, the advantages associated therewith have already been fully explained above in relation to the apparatus according to the invention. As this also applies to the features of the method below, we will refer to the advantages of each feature of the apparatus according to the invention in relation to the method.

[0032] A further advantageous embodiment of the present invention is characterized by determining whether a particular size of the fish falls within one of at least two defined fish size ranges based on the fish length, and determining the fish size as the respective fish size range.

[0033] A preferred further development of the invention is characterized by detecting the presence of a fish in the respective sensitive area of ​​the sensor and providing a detection signal.

[0034] A further advantageous embodiment of the invention is characterized by detecting the presence of fish in the respective sensing areas of the sensors and providing a detection signal by at least two sensors of the sensor device arranged spaced apart from each other in the longitudinal direction of the fish receiving space.

[0035] A further advantageous embodiment of the invention is characterized in that the fish length is determined by an evaluation device of the sensor device on the basis of the detection signal.

[0036] A preferred further development of the present invention is characterized in that, when detecting the presence of a fish in the sensing area of ​​a first sensor among the sensors arranged on the stunning means side based on the detection signal by the evaluation unit, it is determined whether the presence of a fish has also been detected in the sensing area of ​​a second sensor among the sensors arranged on the fish supply device side, and if the presence of a fish in the sensing areas of both the first and second sensors is detected, the fish size is determined to be the larger of the specified fish size ranges, respectively, and if not, the fish size is determined to be the smaller of the specified fish size ranges, respectively.

[0037] A further advantageous embodiment of the present invention is characterized by detecting the presence of a fish in the sensing area of ​​each of the sensors and providing a detection signal by further sensors arranged at intervals from each other in the longitudinal direction of the fish receiving space, and by determining the respective fish size range as the fish size based on the detection signal by the evaluation device if the fish size falls within a fish size range corresponding to the distance between the first sensor and one of the further sensors.

[0038] A further advantageous embodiment of the invention is characterized in that after the fish have been placed in the fish receiving space, the fish are guided by sliding on a floor element of the receiving element under the influence of gravity, the floor element forming a suitable inclined surface in the direction of gravity relative to the stunning means.

[0039] A preferred further development of the invention is characterized by determining, by a time difference sensing unit of the fish size sensing device based on the detection signals of at least two of the sensors, at least one time interval required for the fish to move from one sensing area of ​​one of the sensors to at least one other sensing area of ​​at least one other of the sensors, and determining, by a processing unit of the fish size sensing device based on a cine model representing the movement of the fish in the fish receiving space, a fish length of the fish.

[0040] A preferred further development of the invention is characterized in that the cinematic model comprises at least one path / time equation which at least approximately describes the movement of the fish as a function of the inclination angle of the inclined plane.

[0041] According to a further preferred embodiment, the movie model comprises empirically determined motion data.

[0042] A further advantageous embodiment of the invention is characterized in that the movie model is generated on the basis of a self-learning neuron network.

[0043] A preferred further development of the invention is characterized by activating the fish size sensing device to determine the fish size in advance after loading the fish into the fish receiving space, and then setting the position of the fish's head relative to the stunning means in the stop position in a self-actuating manner depending on the fish size by means of a controllably movable position actuator.

[0044] A further advantageous embodiment of the present invention is characterized by determining the head-to-total length relationship based on the fish size by the fish length sensing device, and by setting the position of the fish's head at the stop position according to the head-to-total length relationship by the control unit.

[0045] A further advantageous embodiment of the present invention is characterized by the prone / supine position sensing unit of the control unit recognizing whether the fish are lying aligned with their ventral side down or not, and separating the fish from the fish receiving space if they are lying with their ventral side up.

[0046] A preferred further development of the invention is characterized by detecting sexual dimorphism-related changes in the fish by means of a chirp recognition device of the control unit and adjusting the determined head-to-total length relationship based on an anatomical model of the fish depending on the determined chirp status of the fish.

[0047] A preferred further development of the invention is characterized by optically scanning the ventral side of the fish by an optical sensor of the kip recognition device to determine a brightness value or brightness profile, and in addition, comparing the brightness value or brightness profile with a predetermined brightness value or brightness profile to detect the kip state.

[0048] Further preferred and / or advantageous features and design embodiments of the invention emerge from the dependent claims and the detailed description. Particularly preferred embodiments are explained in more detail with reference to the accompanying drawings. [Brief explanation of the drawings]

[0049] [Figure 1] FIG. 1 shows an example embodiment of a fish stunner. DETAILED DESCRIPTION OF THE INVENTION

[0050] A fish stunning apparatus is illustrated schematically in Figure 1. For the sake of further clarity, Figure 1 does not show the fish to be stunned, nor a fish feeding device adapted for feeding each fish head first into a fish-receiving space 10 configured for individual reception of each fish. In other words, the fish-receiving space 10 is configured such that the fish can be loaded head first. Thus, the fish are fed head first into the fish-receiving space 10.

[0051] The method according to the invention as well as the apparatus according to the invention will be explained in more detail below with reference to the drawings. The fish stunning apparatus of the invention further comprises a positioning device 11 having positioning means 12 for biting the head of the fish. The positioning means 12 is adapted to hold the fish in a stop position within the fish-receiving space 10 in order to fix the fish in order to stun it. The positioning means 12 is further adapted to loosen and release the fish from this fixation after it has been stunned.

[0052] The fish stunning device invention further comprises stunning means 13 for stunning the fish in the resting position. The stunning means 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 region between the head and the gills. The stunning means 13 is preferably adapted to irreversibly stun the fish.

[0053] The invention further comprises a triggering device 16 adapted to determine the stopping position and to trigger the action of the stunning means 13 in the head region of the fish. The triggering device 16 comprises at least one movable, preferably pivotally movable, mounting abutment element 17 against which the fish head-side abuts when it reaches the stopping position, which then triggers the action of the stunning means 13.

[0054] A control unit, not shown, e.g. a computer controller, is provided for controlling the positioning device 11, the triggering device 16 and the stunning means 13, the function of which is explained further below. The triggering device 16 preferably comprises at least one sensor element, by means of which a change in position of the abutment element 17 can be sensed when the head of the fish abuts against it, which change in position can be evaluated by the control unit.

[0055] The fish stunning device according to the invention further comprises, not shown, a fish size sensing device configured for determining the size of the fish, as well as a controllably movable position actuator. The position actuator is adapted for adjusting the position of the positioning means 12 so that the position of the fish's head relative to the stunning means 13 is adapted to be adjustable in a self-acting manner in a rest position each time according to the fish size. The operating mode of such a position actuator is sufficiently known, for example from document EP 3 484 299 A1 from the Applicant's company. We refer in this respect to application EP 16 736 876, the contents of which are incorporated herein.

[0056] The fish size sensing device is adapted and configured to determine the size of the fish based on its length, thus making it possible in a particularly simple manner to determine the size of the fish as accurately as possible and to assign each fish to a fish size class and optimally adjust the positioning means 12 to the respective fish size.

[0057] The fish size sensing device is preferably adapted to determine whether the determined fish size falls into one of at least two defined fish size ranges based on the fish length, and to determine each fish size range as the fish size. Classifying the fish into two size ranges has the advantage that, on the one hand, the positioning means 12 can be adjusted accurately enough to ensure optimal effectiveness of the stunning means 13, and, on the other hand, the number of position adjustments of the positioning means 12 is minimized. For example, if two fish that can be assigned to the same fish size range follow each other, the positioning means 12 can remain in the previously set position. Depending on the desired positioning accuracy, it is possible to define two or more fish size ranges and displace the positioning means 12 to different positions depending on the number of fish size ranges.

[0058] The fish sensing device preferably comprises a sensor device 18 adapted to determine the fish length of the fish. In principle, any device capable of assigning the determined fish length to a length category related to the aforementioned defined fish size ranges is suitable as sensor device 18.

[0059] As shown in FIG. 1 , the sensor device 18 includes at least two sensors, a first sensor 19 and a second sensor 20, arranged at a distance from each other in the longitudinal direction of the fish-receiving space. The sensors 19 and 20 are adapted to detect the presence of fish in their respective sensing areas and provide a corresponding detection signal. The sensors 19 and 20 can be configured, for example, as contactless sensors or electromechanical sensors. The sensors 19 and 20 are particularly preferably each configured as a light barrier, in particular a reflective light barrier or a fork-type light barrier, that detects the presence of a fish when the fish appears in the sensing area. However, in principle, other sensor types capable of detecting the presence of fish, such as proximity sensors or radar-based sensors, are also suitable.

[0060] The sensor device preferably comprises an evaluation unit adapted for determining the fish length based on the detection signals, the evaluation unit therefore being configured in particular for estimating the fish length based on the provided detection signals as well as the distance between the first and second sensors.

[0061] The evaluation unit is advantageously further adapted to check, based on the detection signals, whether or not, while detecting the presence of a fish in the detection area determined by the first one of the sensors arranged on the fish supplying device side, the presence of a fish in the detection area of ​​the second sensor 20 arranged on the stunning means side has also been determined. If the presence of a fish is detected in the detection areas of both the first and second sensors 19, 20, the larger of the defined fish size ranges is determined as the fish size; otherwise, the smaller of the defined fish size ranges is determined. In other words, the measurement principle is based on classifying actual fish sizes into at least two fish size ranges and safely determining which of the two fish size ranges each fish falls into.

[0062] The number of sensors 19, 20 is preferably not limited to two. Although not shown, a further advantageous embodiment of the present invention is characterized in that further sensors are arranged at intervals along the longitudinal direction of the fish-receiving space 10. These sensors, like the sensors 19, 20, are adapted to detect the presence of fish in their respective detection areas and provide corresponding detection signals. The evaluation device is accordingly further adapted to determine, based on the detection signals, whether the fish size falls into 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. In this way, the actual fish size can be further classified, i.e., into n-1 number of ranges, where n is equal to the number of sensors arranged along the fish-receiving space 10.

[0063] The fish receiving space 10 further preferably comprises a floor element 21. The floor element 21 forms an inclined surface that slopes in the direction of gravity towards the stunning means 13. As a result, after being placed in the fish receiving space 10, the fish being processed are guided by sliding on the floor element 21 under the influence of gravity. In other words, under the influence of gravity, the fish "slide" in a self-actuated manner within the fish receiving space 10 along the inclined surface in the direction of the stunning means 13, passing the aforementioned sensor device 18.

[0064] The floor element 21 is followed by a ramp 22 on which the fish lie head-first. The ramp 22 is preferably configured to be rotatable and pivot in the direction of gravity to release the fish from the fish receiving space 10. The ramp 22 is preferably arranged to slope above the floor element 21, against the direction of gravity, and is adapted to slow the movement of the fish until it comes to a standstill.

[0065] The fish size sensing device preferably includes a time difference sensing unit (not shown) adapted to determine at least one time interval based on the detection signals from at least two of the sensors 19, 20, the time interval being required for a fish to move from the sensing area of ​​one of the sensors 19, 20 to at least one other sensing area of ​​at least one other of the sensors 20, 19. In other words, the time difference sensing unit is adapted to sense the time required for a fish to move the distance between the second sensor 20 and the first sensor 19.

[0066] The fish size sensing device further includes a processing unit adapted to determine the fish length based on at least one time interval determined based on a cine model representing the fish's movement in the fish receiving space. In the simplest case, such a cine model describes the fish's movement under the influence of gravity as a uniform movement with a constant velocity. The cine model can also reflect the fish's movement as a uniformly accelerated movement. Taking into account at least the determined time interval, the fish length is then estimated and determined by the cine model. In other words, the cine model is adapted to estimate the expected fish movement dynamics. For example, if the time-dependent speed of the fish is reflected by the cine model, the actual fish size can be estimated by determining the time interval.

[0067] The cine model further preferably comprises at least one path / time equation that at least approximately describes the movement of the fish as a function of the inclination angle of the inclined plane. In addition to the factors already mentioned, the inclination angle is also taken into account when modeling the movement of the fish and determining the fish length.

[0068] Alternatively, the cine model may comprise empirically determined motion data, e.g., determined during prior testing, and the correlation between the determined time intervals and the fish lengths may be stored, e.g., in a database, and subsequently accessed to determine the fish lengths.

[0069] The movie model is further preferably based on a self-learning neuronal network. Thus, such a neuronal network is first trained to determine the fish length based on other parameters. The neuronal network is preferably adapted to be configured to maintain self-learning during further operation.

[0070] The control unit is preferably configured to cause the fish size sensing device to first determine the fish size of the fish after placing one fish in the fish receiving space 10. By means of the controllably movable position actuator, the position of the fish's head relative to the stunning means in the rest position is then set by the control unit in a self-actuated manner according to the fish size.

[0071] The fish length sensing device is preferably further configured to determine a head-to-total length relationship based on fish size. It has been found that the relationship between a fish's head length and its total length forms a reliable starting criterion by which an optimal position of the fish's head in the stopping position can be determined for optimally stunning the fish. The control unit is particularly adapted to set the position of the fish's head in the stopping position in response to the head-to-total length relationship.

[0072] The control unit optionally comprises a prone / supine position sensing unit (not shown) which is configured to detect whether the fish is aligned ventral side up or not and, if so, to separate the fish from the fish-receiving space 10 before stunning. In this way it is ensured that the fish is always guided to the stunning means 13 in the correct position.

[0073] The present invention further preferably comprises a kinematic recognition device adapted to detect changes associated with sexual dimorphism in fish and to adjust a determined head length to total length relationship based on an anatomical model of the fish depending on the detected kinematic state of the fish.

[0074] The kip recognition device comprises at least one optical sensor adapted to optically scan the ventral side of the fish and to recognize the kip state by comparison with a defined brightness value, brightness profile, or brightness range.

[0075] The above-described embodiments relating to the device according to the invention also apply equally to the method according to the invention, so that in the following only selected aspects of the method need be discussed again, and apart from this we refer to the above description relating to the method according to the invention.

[0076] The fish are transported head first by a fish feeding device (not shown) and placed one by one into the fish receiving space 10. Next, the trigger device 16 determines the stopping position and time for triggering the operation of the stunning means 13 in the head region of the fish.

[0077] The fish is held in this rest position in the fish receiving space 10 by the positioning device 11. The positioning means 12 bites the head of the fish for this purpose. The positioning means 11, the trigger device 16 and the stunning means 13 are controlled for this purpose by the control unit.

[0078] A determination of the fish size is made by the fish size sensing device for adjusting the positioning means 12 based on the fish size. The positioning means 12 is then adjusted by a controllably movable position actuator adapted to locally adjust the positioning means 12 such that the position of each fish's head relative to the stunning means 13 is adapted to be self-actuatingly adjustable in a rest position depending on the fish size.

[0079] In the resting position, the fish is stunned by stunning means 13 acting on the cranial region of the fish. As mentioned above, the skull of the fish is preferably first struck by stunning tool 14 to render the fish unconscious before bleeding of the fish is initiated using bleeding tool 15.

[0080] After the fish is stunned, it is released, i.e., released from fixation, by the positioning device 11. The fish length is detected by the fish length sensing device to determine the fish size, and the fish size is determined by the fish size sensing device based on the fish length.

[0081] The fish size ranges are preferably also determined by the fish length sensing device based on the defined fish size distributions and / or the determined fish size distributions, and if the determined respective fish size is within one of the fish size ranges, the position of the fish head at the stop position is set according to the defined position for the respective fish size range.

Claims

1. 1. A fish stun device comprising: a fish feeding device for transporting the fish head first; a fish receiving space (10) for loading fish head first; a positioning device (11) having positioning means (12) adapted to hold the fish in a stopping position in the fish receiving space (10) and to release the fish after stunning it, for stunning the fish, for biting the head of the fish; stunning means (13) acting on the head region of the fish to stun the fish in the stopping position; a triggering device (16) adapted to determine the stopping position and to trigger the effect of the stunning means (13) on the cranial region of the fish; a control unit adapted to control the positioning device (11), the triggering device (16) and the stunning means (13); a fish size sensing device adapted to determine fish size; a controllably movable position actuator adapted to locally adjust the positioning means (12), such that the position of each of the fish heads relative to the stunning means (13) in the stop position is adjusted independently depending on the fish size; the fish size sensing device comprises a fish length sensing device for determining a length of the fish, the fish size sensing device configured to determine the fish size based on the length of the fish; the fish size sensing device is configured to determine whether a particular size of the fish falls within one of at least two defined fish size ranges based on the length of the fish, and to determine each of the fish size ranges as the fish size; the fish size sensing device comprises a sensor device (18) adapted to determine the length of the fish; the sensor device (18) comprises at least two sensors (19, 20) spaced apart from one another in the longitudinal direction of the fish-receiving space (10), the sensors being adapted to detect the presence of the fish in their respective sensing areas and to provide a detection signal; the sensor device (18) comprises an evaluation unit adapted to determine the length of the fish based on the detection signal; the evaluation unit is further adapted to verify, based on the detection signal, whether the presence of the fish in the detection area determined by a first sensor (19) of the sensors located on the fish supplying device side has been determined while detecting the presence of the fish in the detection area of ​​a second sensor (20) located on the stunning means side; if the presence of the fish is detected in the detection areas of both the first sensor and the second sensor (19, 20), a larger one of a defined fish size range is determined as the fish size; otherwise, a smaller one of a defined fish size range is determined as the fish size; further sensors are arranged at intervals along the length of the fish-receiving space (10), the sensors being adapted to detect the presence of the fish in the detection area of ​​each of the sensors and to provide a detection signal, the evaluation unit being configured to determine, based on the detection signal, whether the fish size falls within a corresponding fish size range determined by a distance between the first sensor (19) and one of the further sensors, and to determine each of the fish size ranges as the fish size; the fish receiving space (10) has a floor element (21) which forms an inclined surface inclined in the direction of gravity towards the stunning means (13), and the fish, after being placed in the fish receiving space (10), are guided by sliding on the floor element (21) under the influence of gravity; 10. A fish stunning device, characterized in that the fish size sensing device comprises a time difference sensing unit adapted to determine at least one time interval required for the fish to move from one sensing area of ​​one of the sensors to the sensing area of ​​at least one other of the other sensors based on the detection signals of at least two of the sensors, and the fish size sensing device comprises a processing unit adapted to determine the length of the fish based on the determined at least one time interval based on a cine model representing the movement of the fish in the fish receiving space (10).

2. 2. The fish stunning device of claim 1, wherein the cinematic model comprises at least one path / time equation, the path / time equation at least approximately representing the movement of the fish as a function of the angle of inclination of the inclined surface.

3. 10. The fish stunning device of claim 1, wherein the cinematic model comprises empirically determined motion data.

4. 2. The fish stunning device of claim 1, wherein the movie model is generated based on a self-learning neuron network.

5. 5. The fish stunning device according to claim 1, wherein the control unit is configured to cause the fish size sensing device to first determine the size of one of the fish after placing the fish in the fish receiving space (10), and then to self-actuately set the position of the fish's head relative to the stunning means (13) at the stop position according to the fish size.

6. 5. A fish stunning apparatus as claimed in any one of claims 1 to 4, characterized in that the fish length sensing device is further adapted for determining a head to total length relationship based on the fish size, and the control unit is adapted for setting a position of the head of the fish at the stop position depending on the head to total length relationship.

7. 5. A fish stunning device as claimed in any one of claims 1 to 4, characterized in that the control unit comprises a prone / supine position sensing unit configured to recognise whether the fish are aligned belly side up or not and to eject the fish from the fish receiving space if the fish are aligned belly side up.

8. 5. A fish stunning device as claimed in any one of claims 1 to 4, characterized in that the fish length sensing device is further configured to determine a fish size range based on the defined fish size distribution and / or the determined fish size distribution, and if the determined respective fish size is within one of these fish size ranges, to cause the position of the head of the fish to be located at the stop position according to a position definition defined for the respective fish size range.

9. 9. The fish stunning apparatus of claim 8, wherein the control unit further comprises a kip recognition device adapted to detect sexual dimorphism-related changes in the fish and to adjust the determined head length to total length relationship according to a determined kip status of the fish based on an anatomical model of the fish.

10. 10. A fish stunning apparatus as claimed in claim 9, characterized in that the kip recognition device comprises at least one optical sensor adapted to optically scan the ventral side of the fish and detect the kip state through comparison with a defined brightness value or brightness profile.

11. 1. A method for automatically stunning a fish, comprising: conveying the fish head first with a fish feeding device; placing the fish head-first into a fish receiving space (10) by the fish feeding device; determining a stop position and a time for triggering the effect of the stunning means (13) on the head region of said fish by a triggering device (16); holding the fish in said rest position in said fish receiving space (10) by a positioning device (11) having positioning means (12) for biting the head of the fish; controlling the positioning device (11), the trigger device (16) and the stunning means (13) by a control unit; determining fish size with a fish size sensing device; adjusting said positioning means (12) by means of a controllably movable position actuator adapted to locally adjust said positioning means (12), such that the position of each of said fish heads relative to said stunning means (13) in said stop position is independently adjustable depending on the fish size; stunning the fish in said resting position by stunning means (13) acting on the head region of the fish; and releasing the fish after stunning by the positioning means (11), determining the length of the fish with a fish length sensing device; determining the fish size based on the length of the fish with the fish size sensing device; determining whether a particular size of the fish falls within one of at least two defined fish size ranges based on the length of the fish; and determining the fish size as a respective one of the fish size ranges; Detecting the presence of the fish in a sensing area of ​​each of the sensors and providing a detection signal; detecting the presence of the fish in the sensing area of ​​each of the sensors and providing a detection signal by at least two sensors (19, 20) of a sensor device (18) spaced apart from each other in the longitudinal direction of the fish-receiving space; determining the length of the fish by an evaluation device of the sensor device (18) based on the detection signal; based on the detection signal from the evaluation unit, when detecting the presence of the fish in the sensing area of ​​the first sensor (19) arranged on the stunning means side, verifying whether the presence of the fish in the sensing area of ​​the second sensor (20) arranged on the fish supplying device side is also detected; if the presence of the fish in the sensing areas of both the first sensor and the second sensor (19, 20) is detected, determining the fish size to be the larger of the respective defined fish size ranges, and if not, determining the smaller of the respective defined fish size ranges; detecting the presence of the fish in the sensing areas of each of the sensors, providing detection signals by further sensors spaced apart from one another in the longitudinal direction of the fish-receiving space (10), and determining by the evaluation device, based on the detection signals, a respective fish size range as the fish size if the fish size falls within a fish size range corresponding to a distance between the first sensor and one of the further sensors; after placing the fish in the fish-receiving space (10), the fish are guided by sliding under the influence of gravity onto a floor element (21) of the fish-receiving space (10), the floor element (21) forming an inclined surface inclined in the direction of gravity towards the stunning means (13); the method being characterized by: determining, by a time difference sensing unit of the fish size sensing device based on the detection signals of at least two of the sensors, at least one time interval required for the fish to move from one sensing area of ​​one of the sensors to at least one other sensing area of ​​at least one of the other sensors; and determining, by a fish processing unit of the fish size sensing device, the length of the fish based on a cine model representing the movement of the fish in the fish receiving space (10).

12. 12. The method of claim 11, wherein the cine model comprises at least one path / time equation that at least approximately describes the movement of the fish as a function of the inclination angle of the inclined surface.

13. 12. The method of claim 11, wherein the cinematic model comprises empirically determined motion data.

14. 12. The method of claim 11, wherein the movie model is generated based on a self-learning neuronal network.

15. 15. The method according to any one of claims 11 to 14, characterized by activating the fish size sensing device after loading the fish into the fish receiving space (10) to first determine the fish size of the fish, and then setting the position of the fish's head relative to the stunning means at the stop position in a self-actuated manner by the controllably movable position actuator according to the fish size.

16. 15. The method of any one of claims 11 to 14, characterized by: determining, by the fish length sensing device, a head-to-total length relationship based on the fish size; and setting, by the control unit, a position of the head of the fish at the stop position according to the head-to-total length relationship.

17. 15. The method according to any one of claims 11 to 14, characterized by determining by a prone / supine position sensing unit of the control unit whether the fish is aligned belly side up or not, and ejecting the fish from the fish receiving space (10) if the fish is aligned belly side up.

18. 18. The method of claim 17, characterized by detecting sexually dimorphic associated changes in the fish by a chirp recognition device of the control unit, and adjusting the determined head-to-total length relationship based on an anatomical model of the fish according to the determined chirp state of the fish.

19. 20. The method of claim 18, characterized by optically scanning the ventral side of the fish with an optical sensor of the kip recognition device, determining a brightness value or brightness profile, and comparing the brightness value or brightness profile to a predetermined brightness value or brightness profile to detect the kip state.

20. 15. The method according to any one of claims 11 to 14, characterized by determining a fish size range by the fish size sensing device based on the defined distribution of fish sizes and / or the determined fish size distribution, and if the determined respective fish size is within one of these fish size ranges, setting the position of the fish head at the stopping position according to a position definition defined for the respective fish size range.

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