Bird vaccination system and method for controlling at least one actuator of the bird vaccination system
A fluid delivery system for birds in transport adjusts its position based on real-time image data to ensure precise and efficient fluid administration, addressing the challenge of varying bird shapes and positions during continuous movement.
Patent Information
- Authority / Receiving Office
- RU · RU
- Patent Type
- Patents
- Current Assignee / Owner
- AGRI ADVANCED TEHNOLOGIES GMBH
- Filing Date
- 2022-08-04
- Publication Date
- 2026-07-01
AI Technical Summary
Efficient and accurate administration of fluids, such as vaccinations, to birds during transport is challenging due to variations in bird shape and position, requiring systems that can adapt to continuous movement without stopping the transport mechanism.
A fluid delivery system that uses image data acquisition and control circuits to position a liquid supply opening relative to a bird in real-time, adjusting its position based on three-dimensional surface contour data, allowing for precise fluid administration while the bird is moving.
Enables high-throughput, accurate, and efficient fluid delivery to birds in motion, reducing stress and increasing administration efficiency without halting the transport process.
Smart Images
Figure 00000001_ABST
Abstract
Description
[0001] The invention relates to fluid administration systems, in particular, the administration of fluid for vaccination of birds, and methods of use in combination with such systems. The invention relates to systems that enable automatic vaccination of birds during transport by a transport mechanism.
[0002] Background Art of the Present Invention
[0003] Poultry farming is an important area of agricultural technology. Birds, such as chickens and other poultry, are bred and kept as useful animals. To ensure animal welfare and reduce the risk of disease spread, animals are administered fluids, such as vaccinations.
[0004] To improve the efficiency, consistency, and accuracy of fluid administration, it is advisable to administer fluid(s) semi-automated or fully automated. Automation of fluid administration procedures can also reduce stress levels in animals.
[0005] WO 2017 / 125387 A1 discloses a system and method for handling, classifying, and vaccinating live birds. The system may comprise one or more vaccination stations.
[0006] US 2015 / 0144071 A1 discloses a positioning device for registering birds and a vaccination system.
[0007] Efficiently administering fluids such as vaccination fluids to birds is challenging.
[0008] Essence of the present invention
[0009] The aim of the invention is to create improved systems and methods for positioning a fluid delivery port for administering a fluid(s) to a bird. Specifically, the aim of the invention is to create systems and methods for controlling such systems that enable the efficient administration of a fluid(s), such as a vaccination fluid, to a bird. The aim of the invention is also to create systems and methods for controlling such systems that enable the administration of a fluid(s), such as a vaccination fluid, to a bird while a transport mechanism holds and transports the bird.
[0010] According to embodiments of the invention, systems and methods are provided that allow a fluid delivery opening to be positioned relative to a bird for administering a fluid, such as a vaccination fluid, during continuous movement of the bird by a transport mechanism.
[0011] In some embodiments, image data acquisition may be performed to obtain image data of the bird. Based on the acquired image data, the fluid delivery opening may be automatically positioned relative to the bird. Image acquisition and positioning of the fluid delivery opening relative to the bird may be performed while the bird is continuously moved by the transport mechanism.
[0012] In some embodiments, a fluid delivery device comprising a fluid delivery opening may be located on an applicator holder. The applicator holder may be movably mounted on a support. The fluid delivery opening may be movably located on the applicator holder. The fluid delivery opening may be positioned within an opening in the support element. During operation, the support element may be pressed against a part of the bird's body to administer the vaccine, with the fluid delivery opening being delivered to the bird through the opening in the support element.
[0013] According to an embodiment, a system is proposed that is configured to administer a liquid to a bird, while a transport mechanism holds the bird and transports it in a first direction. The system comprises a liquid supply device that includes a liquid supply opening configured to deliver at least one liquid to the bird, at least one actuator that ensures movement of at least the liquid supply opening, at least one control circuit configured to control at least one actuator, and a data collection device configured to collect image data of the bird held on the transport mechanism.At least one control circuit is configured to control at least one actuator for adjusting the position of the liquid supply opening relative to the bird based on image data for introducing the liquid.
[0014] This system enables efficient liquid injection while birds are moving through the transport mechanism without having to stop the birds. By controlling the liquid injection port position based on image data, various bird shapes and / or bird positions relative to the transport mechanism can be automatically taken into account. This ensures proper liquid injection.
[0015] At least one control circuit may control at least one actuator to adjust the position of the liquid supply opening relative to the bird based on the image data for introducing the liquid during the movement of the bird by the transport mechanism.
[0016] The liquid may be a therapeutic liquid.
[0017] The liquid may be a vaccination liquid.
[0018] The system may be a bird vaccination system.
[0019] The system may comprise a reservoir for a vaccination liquid in fluid communication with a liquid supply opening.
[0020] The fluid supply device may comprise a needle having a tip at which an opening is provided for supplying fluid.
[0021] At least one control circuit may adjust the position of the liquid supply hole based on the image data so that the liquid supply hole coincides with the bird at a desired position determined based on the image data.
[0022] At least one control circuit can be used to determine the position of the bird relative to the holding bracket on which the bird is held and / or to determine physiological characteristics (such as the size of the bird and / or the breast size of the bird), to determine the desired position of the liquid supply opening based on the position of the bird relative to the holding bracket and / or the physiological characteristics and to control at least one actuator based on the position of the bird relative to the holding bracket.
[0023] The data acquisition device may include an image sensor.
[0024] The system can perform feature extraction based on the bird image(s) captured by the image sensor.
[0025] The data collection device may contain an infrared camera.
[0026] The data collection device may contain a three-dimensional camera system.
[0027] The data acquisition device may comprise a structured light imaging system.
[0028] The data collection device may contain a stereo camera system.
[0029] The data acquisition device may include an interface for receiving image data. At least one control circuit may be operatively connected to the interface.
[0030] At least one data collection device may comprise a projector configured to output a line of visible or infrared light, and an image sensor configured to obtain an image of the line projected onto the bird.
[0031] The image sensor can acquire a series of frames while the transport mechanism moves the bird along the line of visible or infrared light.
[0032] At least one control circuit can control at least one actuator based on several successively received frames in time from a sequence of frames.
[0033] The visible or infrared light line may be located in front of the liquid supply device relative to the first direction.
[0034] The data acquisition device or at least one control circuit may comprise at least one integrated circuit configured to calculate the surface contour data of the bird.
[0035] At least one control circuit may control at least one actuator based on surface contour data.
[0036] Surface contour data can contain 3D surface contour data.
[0037] Surface contour data may contain point cloud.
[0038] At least one control circuit can control at least one actuator to adjust the position of the liquid supply opening relative to the bird in at least a first direction, optionally both in the first direction and in a second direction orthogonal to the first direction.
[0039] The second direction can be vertical direction.
[0040] The transportation mechanism can move the bird in the first direction at the transportation speed.
[0041] At least one control circuit may control at least one actuator such that the liquid supply opening may move in a first direction at one or more first speeds different from the transport speed before the liquid supply opening coincides with the bird.
[0042] One or more of the first speeds may depend on the image data.
[0043] At least one control circuit may control at least one actuator such that the liquid supply opening may move in the first direction at a second speed, which may be equal to the transport speed, during the release of at least one liquid through the liquid supply opening.
[0044] At least one control circuit can control at least one actuator so that the liquid supply opening performs a reciprocating movement in the first direction.
[0045] The system may further comprise a support and an applicator holder movably mounted on the support.
[0046] At least one actuator may move the applicator holder relative to the support to move the liquid supply opening.
[0047] The liquid supply device can be installed such that the liquid supply opening can move relative to the applicator holder.
[0048] The liquid supply device can be movably mounted on the applicator holder.
[0049] The liquid supply hole may be configured to rotate and / or move translationally relative to the applicator holder.
[0050] The system may further comprise a suspension, in particular a gimbal suspension, between the liquid supply device and the applicator holder.
[0051] The system may further comprise a support element configured to support the bird.
[0052] The support member may comprise an opening in which an opening for supplying a liquid for performing vaccination may be located or configured to be located.
[0053] The support element and / or applicator holder may comprise a connecting mechanism for reversibly and detachably attaching the support element to the applicator holder.
[0054] The support element may comprise at least one additional opening in which at least one additional opening for supplying liquid may be located or configured to be located.
[0055] The system may further comprise one or more additional liquid delivery devices comprising one or more additional outlets for delivering one or more additional liquids to the bird.
[0056] The system may further comprise one or more additional replaceable support elements, each of which is configured to be reversibly and detachably attached to the applicator holder.
[0057] The support element and at least one of the replaceable support elements may have different sizes and / or shapes.
[0058] The system may be capable of performing one or more chest vaccinations, wing vaccinations, and eye vaccinations while the bird is restrained on the transport mechanism by its scapulohumeral joint.
[0059] The bird handling system may include a transport mechanism configured to transport the bird and a bird vaccination system.
[0060] The transport mechanism may comprise a holding bracket configured to hold a bird.
[0061] At least one control circuit may be configured to determine the position of the bird relative to the holding bracket, to determine the desired position of the liquid supply opening based on the position of the bird relative to the holding bracket, and to control at least one actuator based on the position of the bird relative to the holding bracket.
[0062] The holding bracket can hold the bird by the scapulohumeral joint.
[0063] The system may be designed to administer liquid to at least 1000, at least 2000, at least 3000, at least 4000, at least 5000, or at least 6000 birds per hour.
[0064] The system may be capable of vaccinating at least 1000, at least 2000, at least 3000, at least 4000, at least 5000, or at least 6000 birds per hour.
[0065] According to another embodiment, a method for controlling at least one actuator of a system is provided. The system comprises a fluid delivery device comprising a fluid delivery opening for delivering at least one liquid to a bird and at least one actuator for moving at least the fluid delivery opening. The method may include receiving, by at least one control circuit, image data of a bird from a data collection device and controlling, by at least one control circuit, at least one actuator for positioning the fluid delivery opening relative to the bird based on the image data before vaccination and during movement of the bird by the transport mechanism.
[0066] The liquid may be a therapeutic liquid or a non-therapeutic liquid.
[0067] The liquid may be a vaccination liquid.
[0068] The method can be carried out before vaccinating the bird.
[0069] The method may end with the placement of a fluid injection hole before vaccinating the bird. That is, the vaccination step itself may not be part of the method.
[0070] The method may include vaccination.
[0071] Additional optional features that may be implemented in the method correspond to the optional features disclosed in connection with the claimed system.
[0072] The method can be performed automatically using the system according to the embodiment.
[0073] According to another embodiment, a system is proposed for administering a liquid, such as a vaccination liquid, to a bird, while a transport mechanism holds the bird and moves it in a first direction. The system may comprise a support, an applicator holder movably mounted on the support, a liquid supply device mounted on the applicator holder and comprising a liquid supply opening for delivering at least one liquid to the bird, at least one actuator configured to shift the applicator holder, and at least one control circuit configured to control at least one actuator.
[0074] At least one control circuit provides flexible control of the actuator depending on the position and / or size of the bird.
[0075] At least one actuator may cause the applicator holder to move in a first direction to administer the liquid while the bird is being moved by the transport mechanism.
[0076] The liquid may be a therapeutic liquid.
[0077] The liquid may be a vaccination liquid.
[0078] The system may be a bird vaccination system.
[0079] The system may comprise a reservoir for a vaccination liquid in fluid communication with a liquid supply opening.
[0080] The fluid delivery device may comprise a needle having a tip having an opening for delivering the fluid.
[0081] The liquid supply device can be mounted on the applicator holder such that the liquid supply opening can move relative to the applicator holder.
[0082] The liquid supply device may be mounted on the applicator holder such that the liquid supply opening can move relative to the applicator holder in a first direction and / or in a second direction transverse to the first direction.
[0083] The second direction can be vertical direction.
[0084] The liquid supply device may be mounted on the applicator holder such that the liquid supply opening can be rotated and / or translated relative to the applicator holder.
[0085] The system may further comprise a suspension, in particular a gimbal suspension, between the liquid supply device and the applicator holder.
[0086] At least one control circuit may control the position of the liquid supply opening relative to the bird based on three-dimensional data of the surface contour of the bird.
[0087] The system may further comprise a data acquisition device for acquiring three-dimensional data of the surface contour of the bird.
[0088] The data acquisition device may include an image sensor.
[0089] The system can perform feature extraction based on the bird image(s) captured by the image sensor.
[0090] The data collection device may contain an infrared camera.
[0091] The data collection device may include a three-dimensional camera system.
[0092] The data acquisition device may comprise a structured light imaging system.
[0093] The data collection device may contain a stereo camera system.
[0094] The data acquisition device may comprise an interface for receiving image data. At least one control circuit may be operatively connected to the interface.
[0095] The system may further comprise a support element configured to rest on the bird, wherein the support element comprises an opening in which an opening for supplying a liquid for performing vaccination may be located or configured to be located.
[0096] The support element may comprise at least one additional opening in which at least one additional device for supplying liquid for performing vaccination may be located.
[0097] The system may further comprise one or more additional liquid delivery devices comprising one or more additional outlets for delivering one or more additional liquids to the bird.
[0098] The system may further comprise one or more additional replaceable support elements, each of which is configured to be reversibly and detachably attached to the applicator holder.
[0099] The support element and at least one of the replaceable support elements may have different sizes and / or shapes.
[0100] The support element and / or applicator holder may comprise a connecting mechanism for reversibly and detachably attaching the support element to the applicator holder.
[0101] The system may further comprise one or more additional liquid delivery devices mounted on the applicator holder and comprising one or more additional liquid delivery openings for delivering one or more additional liquids to the bird.
[0102] At least one control circuit can control at least one actuator such that the applicator holder moves in the first direction at a transport speed that corresponds to the transport speed of the transport mechanism, during the release of at least one liquid through the liquid supply opening.
[0103] The system may be capable of performing at least one of a chest vaccination, a wing vaccination, and an eye vaccination while the bird is restrained on the transport mechanism by its scapulohumeral joint.
[0104] The system may be designed to administer liquid to at least 1000, at least 2000, at least 3000, at least 4000, at least 5000, or at least 6000 birds per hour.
[0105] The system may be capable of vaccinating at least 1000, at least 2000, at least 3000, at least 4000, at least 5000, or at least 6000 birds per hour.
[0106] The bird handling system may include a transport mechanism configured to transport a bird, and a fluid administration system located near the transport mechanism for administering a fluid to the bird, for example, for vaccinating the bird.
[0107] According to another embodiment, a method is provided for controlling the operation of at least one actuator of a system, wherein the system comprises an applicator holder, a liquid supply device mounted on the applicator holder and comprising a liquid supply opening for delivering at least one liquid to a bird, and at least one actuator. The method may include receiving, by at least one control circuit, information about a bird that is moved in a first direction by a transport mechanism, and controlling, by at least one control circuit, at least one actuator to move the applicator holder in the first direction to administer the liquid during the movement of the bird by the transport mechanism.
[0108] The liquid may be a therapeutic liquid or a non-therapeutic liquid.
[0109] The liquid may be a vaccination liquid.
[0110] The method can be carried out before vaccinating the bird.
[0111] The method may end with the placement of a fluid injection hole before vaccinating the bird. That is, the vaccination step itself may not be part of the method.
[0112] The method may include vaccination.
[0113] Additional optional features that may be implemented in the method correspond to the optional features disclosed in connection with the claimed system.
[0114] The method can be performed automatically using the system according to the embodiment.
[0115] The invention achieves various effects and advantages. The systems and methods allow for positioning a liquid delivery opening for delivering liquid to a bird while the transport mechanism holds and transports the bird. By controlling the position of the liquid delivery opening in response to, for example, image data indicating the position of the bird on the holding element and / or the size of the bird being transported by the transport mechanism, the liquid can be delivered with high accuracy and efficiency, without requiring the transport mechanism to be stopped.
[0116] Brief description of drawings
[0117] Embodiments of the invention will be described with reference to the drawings.
[0118] Fig. 1 shows a schematic view of the poultry processing system.
[0119] Fig. 2 shows a schematic view of the poultry processing system.
[0120] Figure 3 shows a block diagram of the method.
[0121] Fig. 4 shows a schematic view of a bird and a liquid supply device located by the system near the bird.
[0122] Fig. 5 is a graph showing the speed at which the liquid supply hole moves.
[0123] Fig. 6 shows the three-dimensional data of the surface contour.
[0124] Fig. 7 is an enlarged partial view of the components of the poultry vaccination system.
[0125] Fig. 8 shows an enlarged partial view of the components of the poultry vaccination system.
[0126] Fig. 9 is an enlarged partial view of the components of the poultry vaccination system.
[0127] Fig. 10 and 11 show schematic diagrams of the bird vaccination system.
[0128] Fig. 12 shows a schematic view of the poultry processing system.
[0129] Fig. 13 is a schematic view of a holding element of a poultry processing system.
[0130] Detailed Disclosure of the Present Invention
[0131] Embodiments of the invention will be described with reference to the drawings, in which identical or similar reference numerals designate identical or similar components.
[0132] Although embodiments are described with respect to the location of the opening for delivering a liquid for vaccinating birds, the systems and methods can be used to administer a variety of different liquids to a bird.
[0133] Fig. 1 shows a schematic view of a poultry processing system 10. The poultry processing system 10 comprises a transport mechanism 20 and a bird vaccination system 30. The bird vaccination system 30 is located near the transport mechanism 20. The transport mechanism 20 is configured to move the bird 100 in a first direction 101 past the bird vaccination system 30.
[0134] The transport mechanism 20 may comprise a holding element 22. The holding element 22 may hold the bird 100. A plurality of holding elements 22 may be provided on the conveyor, each of which is configured to receive a bird. The transport mechanism 20 may have an insert section in which birds can be manually placed in the holding elements 22. The transport mechanism 20 can ensure that birds are placed in the holding elements 22 by at least three, at least five, at least seven, at least nine human operators simultaneously. The holding elements 22 may be reversibly detachable, with the ability to engage with the conveyor of the transport mechanism 20 and / or disengage from it, or may be fixedly installed on the conveyor. The holding elements 22 may comprise one or more movable components for fixing and releasing the bird.
[0135] The bird vaccination system 30 comprises a support 31. The support 31 may have wheels and / or rollers 32 that allow the support 31 to be positioned near the transport mechanism 20. The bird vaccination system 30 comprises an applicator holder 41. The applicator holder 41 comprises one or more fluid supply devices having an opening (openings) 61 for supplying the fluid. The opening 61 for supplying the fluid may be provided on needles or other injection elements that are intended to pierce the skin of the bird 31 to perform subcutaneous, intramuscular or other administration of a vaccine or other fluids. The opening 61 for supplying the fluid may be located or configured to be located in the opening 43 of the support element 42 or through it. During operation, the support member 42 can be pressed against the bird 100, ensuring the delivery of liquid to the bird through the opening(s) 61 for supplying liquid.
[0136] The actuator holder 41 with the liquid supply device(s) located thereon and the support element 42 may have a vaccination head 40. The vaccination head 40 may be positioned relative to the support 30 for performing the vaccination.
[0137] The bird vaccination system 30 comprises an actuator 33. The actuator 33 can move the applicator holder 41. The actuator 33 may comprise an actuator 34, which may comprise one or more motors. The actuator 33 may comprise a linkage mechanism 35 connected between the actuator 34 and the applicator holder 41. The linkage mechanism 35 may comprise one, two, or more than two levers. The one, two, or more than two levers of the linkage mechanism may be rotatably attached to the applicator holder. The actuator 33 may comprise a robot, such as a two-axis robot or a three-axis robot.
[0138] The actuator 33 can operate in such a way that the position of the applicator holder 41 changes when the actuator 33 operates, while the orientation of the applicator holder 41 can remain the same, since the applicator holder 41 is displaced under the action of the actuator 33. The actuator 33 can move the applicator holder 41 with the opening 61 for supplying liquid provided thereon, at least in the first direction 101. The actuator 33 can move the applicator holder 41 with the opening 61 for supplying liquid provided thereon, in the second direction 102, which may be a vertical direction. The actuator 33 can move the applicator holder 41 with the opening 61 for supplying liquid provided thereon in the third direction 103, which may be a horizontal direction, transverse to the first direction 101.
[0139] The bird vaccination system 30 comprises one or more control circuits 36. The control circuit 36 may comprise one or more integrated circuits (IC) 36'. The IC 36' may comprise any processor, controller, application-specific integrated circuit (ASIC), field-programmable gate array (FPGA), or any combination of these or other integrated circuits. The control circuit 36 may control the actuator 33. The control circuit 36 may control the actuator based on at least one image of the bird 100.
[0140] For illustration purposes and as will be explained in more detail below, control circuit 36 may be operated so that
[0141] - obtain image data indicating a three-dimensional (3D) surface outline of the bird 100 or indicating an IR image of the bird,
[0142] - determine the required position for the hole 61 for supplying liquid to the bird 100 and
[0143] - control the actuator 33 so that the hole 61 for supplying liquid hits the bird 100 in the desired position,
[0144] all this time, the bird 100 continuously moves in the first direction 101 at a transport speed schematically indicated by the arrow 104. The control circuit 36 can control the actuator 33 in response to the image data, so that the applicator holder 41 moves at a varying speed, which depends on the image data, in order to thus position the liquid supply hole 61 close to the desired position.
[0145] The bird vaccination system 30 may comprise a camera 50 for acquiring image data. The camera 50 may acquire a 2D image, a 3D image (i.e., an image having depth information for each of a plurality of pixels), and / or an infrared (IR) image. The camera 50 may comprise an image sensor 51. The image sensor 51 may be connected 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.
[0146] Camera 50 can be provided separately from support 31 or can be mounted on the support. Having camera 50 separate from support 31 provides increased versatility. Mounting camera 50 on support 31 provides increased user convenience.
[0147] The camera 50 is located, as a rule, in front of the applicator holder 41 in the first direction 101. That is, the camera 50 and the applicator holder 41 are located so that the bird 100 passes by the camera 50 before it passes through the applicator holder 41.
[0148] The control circuit 36 can control the actuator 33 in response to image data received through the interface 37 and / or received from the camera 50. The camera 50 and / or the control circuit 36 can be configured to subsequently process the received image data. For example, three-dimensional surface contour data can be obtained from the image data received by the image sensor 51.
[0149] Figure 2 shows a bird control system comprising a camera 50, which is implemented as a 3D camera with structured light. The camera 50 may comprise a projector 51 configured to output structured light. The image sensor 51 receives one or more time-sequential frames showing the bird 100 when it is illuminated by structured light. The projector 52 may comprise a light source 54, which may be a laser light source. The projector 52 may comprise optics 54 for generating structured light. The optics 54 may comprise one or more scanners (such as galvanometric scanners), one or more apertures, one or more lenses, and / or one or more beam splitters.
[0150] Alternatively, a stereo camera can be used to obtain 3D image data.
[0151] As shown in Fig. 2, the projector 52 can emit light in a triangular or fan-shaped form 55 of visible or infrared light. The light line 56 can fall on the bird 100, causing the line 56 to bend according to the contour of the surface of the bird 100. Several image frames obtained by the image sensor 51 sequentially in time can show the bird 100 with the line 56 projected onto it when the bird 100 moves past the line 56 using the transport mechanism 20. The control circuit 36 can control the actuator 33 depending on the three-dimensional image data obtained from the image frames sequential in time.
[0152] Fig. 3 shows a flow chart of the method 70. The method 70 can be performed automatically by the bird vaccination system 30.
[0153] At step 71, image data acquisition is performed. Image data acquisition may include acquiring three-dimensional and / or infrared image data. Image data acquisition may include acquiring three-dimensional data of the bird's surface contour using a three-dimensional structured light camera.
[0154] In step 72, a desired position is determined at which the liquid supply opening should reach the bird. Identifying the desired position may include one or more of the following actions: determining, using the image data obtained in step 71, the position of the bird 100 relative to the holding bracket on which the bird 100 is held, and / or the physiological characteristics of the bird 100; and determining the desired position of the liquid supply opening depending on the position of the bird 100 relative to the holding bracket 22 and / or the physiological characteristics of the bird 100.
[0155] At step 73, the actuator 33 can be controlled in response to the desired position determined at step 72. Controlling the actuator 33 can include controlling the speed at which the applicator holder 41 moves in the first direction 101. Controlling the actuator 33 can include controlling the speed of rotation of the output shaft of the motor of the actuator 33 and / or controlling the servo drive depending on the desired position determined at step 72.
[0156] The actuator 33 can be controlled such that:
[0157] - before the opening 61 for supplying liquid contacts the bird 100, the applicator holder 41 moves in the first direction 101 with a speed profile that depends on the received image data;
[0158] - after the liquid supply hole 61 contacts the bird 100, the applicator holder 41 moves in the first direction 101 with a speed profile that is independent of the received image data and is equal to the transport speed with which the bird 100 is moved by the transport mechanism 20.
[0159] Steps 71-73 can be repeated iteratively to sequentially administer a liquid (e.g., a vaccination liquid) to the birds. The repetition frequency can be high enough, for example, to ensure vaccination of at least 1,000, at least 2,000, at least 3,000, at least 4,000, at least 5,000, or at least 6,000 birds per hour.
[0160] Fig. 4 is a diagram illustrating the operation of the bird vaccination system 30. Three-dimensional image data or IR image data are processed to determine a desired position 105 at which the liquid supply hole 61 should collide with the bird 100. The liquid supply device 60 with the liquid supply hole 61 is displaced, causing a relative displacement of the applicator holder 41 relative to the bird 100, while the bird 100 itself moves at a transport speed 104. The actuator 33 is controlled depending on the image data so that the liquid supply hole 61 hits the bird 100 at the desired position 105.
[0161] The liquid supply device 60 with the liquid supply hole 61 can perform a reciprocating movement 106 in the first direction 101 to return the liquid supply device 60 to its original position after the vaccination is completed.
[0162] Figure 5 schematically shows the time-dependent speed of the applicator carrier 41. The time-dependent speed can be implemented for (a) correctly positioning the liquid supply opening 61 relative to the bird 100 in the first time interval 75, (b) moving the applicator holder 41 with the liquid supply opening 61 together with the bird in the second time interval 76 and (c) returning the applicator holder 41 to the initial position in the third time interval 77 after the completion of the liquid administration (for example, a vaccine).
[0163] The velocity profile in the first time interval 75 depends on the acquired image data. For example, the applicator holder 41 with the liquid delivery orifice 61 may have to be moved faster or slower than the velocity v t movement with which the bird is moved to ensure that the liquid supply opening 61 is positioned depending on the position and / or size of the bird, as reflected in the image data.
[0164] The speed in the second time interval 76 may be substantially constant and equal to the speed v t movement with which the bird is moved by the transport mechanism 20.
[0165] The speed in the third time interval 77 may not depend on the image data and may cause the applicator holder 41 to return to its original position before starting the next working cycle.
[0166] Figure 6 shows illustrative data 78 of a bird's surface contour obtained from a series of image frames obtained using a linear three-dimensional camera 50. The data 78 of the surface contour may be a cloud of points, where each point represents a point on the surface of the bird 100. The data 78 of the surface contour may be used to identify the location of one or more components from: the breast of the bird 100, the wings of the bird 100, the eyes of the bird 100 for the administration of a liquid (for example, a vaccination liquid).
[0167] Fig. 7-9 show partial views of the poultry vaccination system. The vaccination head 40 is moved by an actuator 33. The vaccination head 40 comprises an applicator holder 41 and a support member 42. The support member 42 has one or more openings 43 through which a liquid supply opening is positioned for administering the liquid to the bird 100.
[0168] The support member 42 and the liquid supply device with the liquid supply opening 61 can be actively pressed against the bird 100 when the applicator holder 41 is positioned as required for liquid administration. The support member 42 may have a contoured surface 44 shaped to fit against a part of the bird's body, such as the chest, wing, or head of the bird 100.
[0169] The support element 42 can be reversibly detachably attached to the applicator holder 41. The bird vaccination system 30 can comprise one or more additional support elements that are reversibly detachably attached to the applicator holder 41. Different support elements can correspond to different sizes, shapes, and / or body parts of birds depending on the birds to be vaccinated (e.g., after classification of birds) and / or depending on the body part into which the liquid is to be administered (e.g., chest, wing, eye).
[0170] The support element 42 may be movably arranged relative to the applicator holder 41. The support element 42 may be movable relative to the applicator holder 41 in at least a third direction 103, which is orthogonal to the first direction 101 (along which the bird 100 moves past the bird vaccination system 30), and in a second direction 102 (which is a vertical direction). The support element 42 and / or the applicator holder 41 may comprise a linear guide mechanism 45, which may include tubular sections and rods mating with the tubular sections.
[0171] The bird vaccination system 30 may comprise one or more biasing elements 46 that bias the support element 42 to its initial position. To administer fluid, the support element 42 should be biased against the biasing element(s) 46.
[0172] A fluid supply unit 62 is mounted on the applicator holder 41. The fluid supply unit 62 may comprise one or more syringe barrels and / or one or more needles for injecting fluid. The fluid supply unit 62 may be mounted on the applicator holder 41 using a suspension 64. The suspension 64 may allow the fluid supply opening(s) 61 to rotate relative to the applicator holder 41 to better conform to the bird's body. The suspension 64 may allow the fluid supply opening(s) 61 to rotate around a first rotation axis 65 and, optionally, around a second rotation axis. The suspension 64 may be a gimbal suspension.
[0173] The fluid supply unit 62 may comprise two or more fluid supply openings (e.g., more than two needle tips). Each of the different fluid supply openings may be designed to dispense one of several liquids.
[0174] The fluid supply unit 62 may include connectors 66 for receiving and / or dispensing a fluid, such as a vaccination fluid. Fluid reservoirs may be provided locally within the fluid supply unit 62 and / or separately from the vaccination head 40. Different connectors 66 may be in fluid communication with different fluid delivery openings.
[0175] Fig. 10 and 11 show perspective views of the bird vaccination system 30. The bird vaccination system 30 may comprise one or more locking mechanisms 39 for rigidly fixing the bird vaccination system 30 in position adjacent to the transport mechanism 20.
[0176] The housing 38 may be located on the support 31 for accommodating various electronic components, such as the control circuit 36, the interface (37) and, optionally, at least the image sensor 51 and / or the structured light projector 52 of the camera 50.
[0177] Fig. 12 shows a view of a poultry processing system. The poultry processing system includes a transport mechanism 20 and a bird vaccination system 30. The transport mechanism 20 includes holding brackets 22 that hold the bird during its transport by the transport mechanism 20. Functional units, such as weighing and / or sorting units, can be integrated into the transport mechanism 20.
[0178] A computer of the transport mechanism 20 may be connected to the bird vaccination system 10. Information, such as the weight of one or more birds, may be transmitted from the computer of the transport mechanism 20 to the control circuit(s) 36 of the bird vaccination system for dosage adjustment or other purposes. Vaccination information may be transmitted from the vaccination system 10 to the transport mechanism 20 for use, for example, in sorting or determining the position at which a bird should be released from the transport mechanism 20.
[0179] Fig. 13 is a perspective view of the holding bracket of the transport mechanism 20. The holding bracket 22 may have a configuration and operate as described, for example, in WO 2017 / 125387 A1. The holding bracket 22 may comprise a main element 26 and two generally V-shaped elements 23, 24. Each V-shaped element 23, 24 has an apical segment 25 configured to receive a bird by means of its shoulder-scapular joint. The V-shaped elements 23, 24 can move relative to the main element 26 to receive and / or release a bird. The holding bracket 22 may have an engaging section 27 for engaging with the conveyor of the transport mechanism 20.
[0180] The systems and methods according to the embodiments achieve various effects and advantages. The systems and methods provide for efficient positioning of a fluid delivery port for administering fluid(s) to a bird. The fluid(s), such as vaccination fluids, can be efficiently administered to the bird. When controlling the actuator for positioning the fluid delivery port, differences in the bird's position relative to its holding bracket and / or differences in the bird's physiology can be taken into account. The actuator can be controlled fully or at least partially automatically, which ensures high throughput and reduced process time.
[0181] Although embodiments may use three-dimensional surface contour information to perform control operations in a fluid delivery system, systems and methods may process IR images to determine how a fluid delivery opening should be positioned.
[0182] Although embodiments may use three-dimensional surface contour information to perform control operations in a fluid delivery system, systems and methods may perform feature extraction based on two-dimensional or three-dimensional images to determine how a fluid delivery opening should be positioned.
[0183] Although embodiments can be used in combination with vaccination systems, the systems and methods can generally be used to administer various therapeutic or non-therapeutic fluids.
Claims
1. A bird vaccination system (30) configured to vaccinate a bird (100) while the bird (100) is held on a transport mechanism (20) and transported by means of a transport mechanism (20) in a first direction (101), wherein the bird vaccination system (30) comprises: a device (60; 62) for supplying liquid, comprising an opening (61) for supplying liquid, configured to deliver at least one liquid for vaccination to the bird (100); at least one actuator (33) that ensures movement of at least an opening (61) for supplying liquid; at least one control circuit (36) configured to control at least one actuator (33); and a data collection device (37, 50) configured to collect image data of a bird (100) held on a transport mechanism (20); wherein at least one control circuit (36) is configured to control at least one actuator (33) for adjusting the position of the opening (61) for supplying liquid relative to the bird (100) based on image data for performing vaccination, while the bird (100) is moved by the transport mechanism (20); wherein the data acquisition device (37, 50) or at least one control circuit (36) comprises at least one integrated circuit configured to calculate surface contour data (78) of the bird (100), wherein the at least one control circuit (36) is configured to control at least one actuator (33) based on the surface contour data (78), wherein the surface contour data (78) comprises three-dimensional surface contour data, and / or wherein the surface contour data (78) comprises a point cloud.
2. The system (30) for vaccinating birds according to claim 1, in which at least one control circuit (36) is configured to adjust the position of the opening (61) for supplying liquid based on the image data so that the opening (61) for supplying liquid hits the bird (100) in the desired position (105) determined based on the image data.
3. The system (30) for vaccinating birds according to claim 1 or 2, in which the data collection device (37, 50) comprises a 2D camera, a 3D camera system (51, 52) or an infrared camera.
4. A system (30) for vaccinating birds according to any of the preceding claims, in which the data collection device (37, 50) comprises a 3D camera system (51, 52), in particular a structured light imaging system.
5. A system (30) for vaccinating birds according to any of the preceding claims, in which at least one data collection device (37, 50) comprises a projector (52) configured to output a line (56) of visible or infrared light, and an image sensor (51) configured to obtain an image of the line projected onto the bird (100), optionally, the image sensor (51) is configured to obtain a series of frames while the transport mechanism (20) moves the bird (100) along the line (56) of visible or infrared light, further optionally, at least one control circuit (36) is configured to control at least one actuator (33) on the basis of several sequentially obtained frames from the series of frames, and / or optionally, the line (56) of visible or infrared light is located in front of the device (60; 62) for supplying liquid relative to the first direction (101).
6. A system (30) for vaccinating birds according to any of the preceding claims, in which at least one control circuit (36) is configured to control at least one actuator (33) for adjusting the position of the opening (61) for supplying liquid relative to the bird (100) in at least a first direction (101), optionally both in the first direction (101) and in a second direction (102, 103) orthogonal to the first direction (101).
7. A system (30) for vaccinating birds according to any of the preceding claims, in which the transport mechanism (20) is configured to move the bird (100) in the first direction (101) at a transport speed, and at least one control circuit (36) is configured to control at least one actuator (33) such that the opening (61) for supplying liquid is displaced in the first direction (101) at one or more first speeds different from the transport speed, before the opening (61) for supplying liquid coincides with the bird (100), wherein the one or more first speeds depend on the image data, and / or so that the opening (61) for supplying liquid is displaced in the first direction (101) at a second speed equal to the transport speed, while at least one vaccination liquid is released through the opening (61) for supplying liquid.
8. The system (30) for vaccinating birds according to any of the preceding claims, further comprising a support (31) and an applicator holder (41) mounted with the possibility of movement on the support (31), wherein at least one actuator (33) is configured to move the applicator holder (41) relative to the support (31) to shift the opening (61) for supplying liquid.
9. The system (30) for vaccinating birds according to claim 8, in which the device for supplying liquid is installed in such a way that the opening (61) for supplying liquid is displaceable relative to the holder (41) of the applicator, optionally, the device for supplying liquid is mounted with the possibility of movement on the holder (41) of the applicator, furthermore, optionally, the opening (61) for supplying liquid is made with the possibility of rotation and / or translational movement relative to the holder (41) of the applicator.
10. The system (30) for vaccinating birds according to claim 8 or 9, further comprising a suspension (46), in particular a cardan suspension (46), between the liquid supply device and the applicator holder (41).
11. The system (30) for vaccinating birds according to any of the preceding claims, further comprising a support element (42) adapted to rest on the bird (100), wherein the support element (42) comprises an opening in which an opening (61) for supplying a liquid for carrying out the vaccination is located or adapted to be located, optionally, the support element (42) and / or the holder (41) of the applicator comprise a connecting mechanism (45, 46) for reversibly and detachably fastening the support element (42) to the holder (41) of the applicator, and / or optionally, the support element (42) comprises at least one additional opening in which at least one additional opening for supplying liquid is located or is configured to be located.
12. A bird vaccination system (30) according to any one of the preceding claims, wherein the bird vaccination system (30) is configured to perform one or more of vaccinations in the chest, vaccinations in the wing, vaccinations in the eye, in this case, the bird (100) is held on the transport mechanism (20) by the scapulohumeral joint.
13. A poultry handling system (100) comprising: a transport mechanism (20) configured to transport a bird (100); and a system (30) for vaccinating birds according to any of the preceding paragraphs for vaccinating birds (100), wherein, optionally, the transport mechanism (20) comprises a holding bracket (22) configured to hold the bird (100), and at least one control circuit (36) is configured to determine the position of the bird (100) relative to the holding bracket (22) and / or the physiological characteristics of the bird (100) in order to determine the desired position of the opening (61) for supplying liquid 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 actuator (33) based on the desired position (105), wherein, optionally, the holding bracket (22) additionally holds the bird (100) by its scapulohumeral joint.
14. A method for controlling at least one actuator (33) of a bird vaccination system (30), wherein the bird vaccination system (30) comprises a device (60; 62) for supplying liquid, comprising an opening (61) for supplying liquid for delivering at least one vaccination liquid to a bird (100) and at least one actuator (33) that ensures movement of at least the opening (61) for supplying liquid, wherein the method includes the steps of: receiving, by means of at least one control circuit (36), image data of the bird (100) from the data collection device (37, 50); and control, using at least one control circuit (36), at least one actuator (33) for positioning the opening (61) for supplying liquid relative to the bird (100) based on image data before vaccination and during movement of the bird (100) by the transport mechanism (20); wherein the data acquisition device (37, 50) or at least one control circuit (36) comprises at least one integrated circuit configured to calculate surface contour data (78) of the bird (100), wherein the at least one control circuit (36) is configured to control at least one actuator (33) based on the surface contour data (78), wherein the surface contour data (78) comprises three-dimensional surface contour data, and / or wherein the surface contour data (78) comprises a point cloud.