Fish interior organ inspection assembly

Abstract

Fish interior organ inspection assembly (100) for anesthetized fish, wherein the fish interior organ inspection assembly (100) comprises a fish line-up unit (200) and a fish interior organ inspection unit (300), wherein the fish interior organ inspection unit (300) is configured to be movable in both the horizontal and vertical plane in relation to the fish line-up unit (200) and in relation to a fish (10) received therein for inspection of the interior organs of the fish (10), wherein the fish line-up unit (200) being movably arranged in transversal direction of a support structure (400).

Description

[0001] Fish interior organ inspection assembly

[0002] The disclosed embodiments relate to a fish interior organ inspection assembly.

[0003] The disclosed embodiments especially relate to a fish interior organ inspection assembly suitable for determination of gender and / or health and quality of a fish.

[0004] Background

[0005] Presently there has been an increasing focus on automated solutions for vaccination and sorting prior to or after vaccination of anesthetized (alive) fish, and especially automated solutions ensuring that the fish welfare is maintained.

[0006] In connection with vaccination and sorting operations of anesthetized fish it is relevant to know the gender of the fish, both for improved accuracy in the vaccination procedure and for sorting after vaccination has been performed.

[0007] In some operations it is also desirable to sort a batch of fish according to gender.

[0008] From GB2201772 Al it is known a system where fish is forced to swim past a fixed ultrasound probe in a tube, among others, for determining the gender and wherein the determined gender can be used for e.g. sorting. A disadvantage with this solution is that the fish will have to swim past the fixed ultrasound probe as well as the accuracy is low due to the fish is not stationary during the ultrasound scan. The solution further suffers from limited detection area.

[0009] JP2017161419 A2 discloses an ultrasound probe for estimating interior organs of a fish, where the ultrasound probe is provided with a handle so that it can be easily moved. Due to the ultrasound probe is designed to be manually operated, the accuracy of the estimation will be low, as well as the time used for estimating will be high. The solution will not be suitable for use in a system for treatment / vaccination and / or sorting fish with a considerable volume.

[0010] In NO343355 Bl is described the use of fixed detection units positioned above a transport belt where fish is transported, wherein the detection unit may comprise an ultrasound sensor. Due to the ultrasound sensor being fixed at a position above the fish, the accuracy of the gender determination will be low. The solution further suffers from limited detection area and / or limited resolution. From JP2020103042 A2 is known a system where fish is transported past a number of ultrasound probes, which probes are attached to arms for adjustment, as well as can be arranged to be in spring-biased engagement with the fish as it passes by means of a transport belt. As the solutions discussed above, also this solution requires that the fish is moved past the ultrasound probes that results in that all fishes are scanned in a different manner and thus the accuracy of the scan is low. The solution further suffers from limited detection area.

[0011] W012008843 Al, in the name of the applicant, describes a system utilizing detection units arranged above a transport belt transporting fish for treatment / vaccination and sorting. The system also comprises a carrying device making a fish ready for treatment and sorting. As for the solutions above, also this system suffers from the ultrasound probe being stationary arranged a distance above the transport belt transporting fish resulting in that all the fishes will be scanned in a different manner (depending on the orientation on the transport belt) and thus the accuracy of the ultrasound scan is low. The solution further suffers from limited detection area and / or limited resolution.

[0012] In NO 20221145 Al is disclosed methods and systems for improvements in aquaculture that allow for increasing the number and growth efficiency of fish in an aquaculture setting (or other animals in other settings) by identifying or predicting characteristics of the animals based on visual or ultrasound images of the animals obtained through non-invasive means. The animals are sorted based on the characteristics.

[0013] WO 2022131929 Al describes a scanning system for imaging a subject. The system comprises a conduit having a base on which the subject is supported during scanning. The conduit defines a pathway for the organism to move across the base from an inlet to an outlet. The system comprises an imaging device located in a region of the base forming the pathway and means for transporting the subject along the pathway from the inlet to the outlet, and over the imaging device. Also described is a method for automatic imaging and sorting of an animal. As the solutions discussed above, also this solution requires that the fish is moved past the ultrasound probes that results in that all fishes are scanned in a different manner and thus the accuracy of the scan is low. The solution further suffers from limited detection area.

[0014] None of the prior art solutions enable a compact solution for inspecting of interior organs with the purpose of determining health and quality of the fish.

[0015] There is accordingly a need for a fish interior organ inspection assembly that solves the above- mentioned drawbacks of prior art. Summary

[0016] The disclosed embodiments provide a fish interior organ inspection assembly (FIOIA).

[0017] Provided herein is a FIOIA entirely or partly solving the drawbacks and lacks of prior art solutions.

[0018] Provided herein is a FIOIA utilizing ultrasound to inspect the interior organs of a fish.

[0019] Also provided herein is a FIOIA suitable for inspecting the interior organs of anesthetized fish in connection with a vaccination and / or sorting operation.

[0020] Also provided herein is a FIOIA making use of at least one movable ultrasound probe to inspect the interior organs of a fish.

[0021] Provided herein is a FIOIA that automatically is adapting according to size and length a fish to inspect the interior organs thereof.

[0022] Also provided herein is a FIOIA enabling the determination of the gender of a fish.

[0023] Provided herein is a FIOIA enabling the determination of health and quality of a fish.

[0024] Also provided herein is a FIOIA that does not suffer from limited detection area of the at least one ultrasound probe.

[0025] Provided herein is a FIOIA ensuring that all fish to have the interior organs inspected are inspected / scanned from the same position / basis.

[0026] Also provided herein is a FIOIA using information from the inspection of the interior organs of a fish in as input to a vaccination unit and / or sorting unit.

[0027] Also provided herein is a FIOIA determining the gender of a fish and using the determination of gender as input to a vaccination unit and / or sorting unit.

[0028] Provided herein is a FIOIA providing a more accurate inspection of the interior organs of a fish.

[0029] Also provided herein is FIOIA providing a more accurate determination of gender of a fish.

[0030] Also provided herein is FIOIA providing a more accurate determination / assessment of the health and quality of a fish. Also provided herein is a FIOIA enabling a more compact solution for vaccination and / or sorting of anesthetized fish.

[0031] Provided herein is a FIOIA enabling a completely automated solution for vaccination and / or sorting of fish.

[0032] Also provided herein is a FIOIA enabling higher amount of vaccinated and / or sorted fish per time unit.

[0033] Also provided herein is a FIOIA enabling documentation of the health and quality of fish.

[0034] Further preferable features of the present invention will appear from the following description, claims and attached drawings.

[0035] The invention

[0036] A fish interior organ inspection assembly according to the present invention is defined by the technical features of claim 1. Preferable features of the fish interior organ inspection assembly are described in the dependent claims.

[0037] The present invention is related to a fish interior organ inspection assembly (FIOIA) enabling determination of gender and / or health and quality of fish.

[0038] The FIOIA according to the present invention is suitable for use in a treatment / vaccination and / or sorting lines / systems for anesthetized (alive) fish.

[0039] A FIOIA for anesthetized fish according to the present invention comprises a fish line-up unit and a fish interior organ inspection unit (FIOIU), wherein the FIOIU is configured to be movable in both the horizontal and vertical plane in relation to the fish line-up unit and in relation to a fish received therein for inspection of the interior organs of the fish for determination of gender and / or health and quality thereof.

[0040] In accordance with the present invention, the FIOIU comprises at least one ultrasound probe that is arranged movable in relation to the fish line-up unit and fish received therein.

[0041] According to one embodiment of the FIOIA according to the present invention, the fish line-up unit comprises an upper axial side that is multi-profiled forming at least three inclined levels from a first axial side towards a second axial side, wherein the at least three inclined levels are subsequently arranged in decreasing height of the fish line-up unit. In this manner forming a stepped upper surface with different levels configured to receive fish according to different functions of the FIOIA.

[0042] In accordance with one embodiment of the FIOIA according to the present invention, the fish lineup unit is movably arranged in transversal direction of a support structure to enable a fish to move between the different inclined levels.

[0043] According to one embodiment of the FIOIA according to the present invention, the fish line-up unit comprises a first inclined level configured for receiving a fish from a supply system or unit, preparing a fish to be inspected. The fish line-up unit further comprises a second inclined level configured for receiving a fish to have the interior organs inspected from the first inclined level, the second inclined level being positioned at lower horizontal plane than the first inclined level. The fish line-up unit further comprises a third inclined level configured for receiving an inspected fish from the second inclined level to be vaccinated (or treated in another manner) and / or sorted, the third inclined level being positioned at a lower horizontal plane than the second inclined level.

[0044] In accordance with one embodiment of the FIOIA according to the present invention, the at least one ultrasound probe is configured to be movable in both the horizontal and vertical plane in relation to the second inclined level of the fish line-up unit and thus fish received therein by an actuator assembly.

[0045] According to a one embodiment of the FIOIA according to the present invention, the FIOIA comprises a transversally extending structure member acting as fish stopper at a second lowermost longitudinal distal end of the at least three inclined levels, configured to engage with the nose of a fish received therein.

[0046] In accordance with an embodiment of the FIOIA according to the present invention, the first and second inclined levels are inclined with an angle from the horizontal plane in both axial and transversal directions, such that, when a fish is received therein it will slide towards the lowermost end and stop at a transversally extending structure member when the nose of the fish is in engagement therewith.

[0047] According to one embodiment of the FIOIA according to the present invention, the FIOIA comprises elongated fish retaining members, extending in axial direction of the FIOIA, where one elongated fish retaining member, respectively, is associated with the respective inclined level. In this manner, when the fish line-up unit is in inspection and treatment / vaccination position, the fish retaining member is in engagement with the fish, and when the fish line-up unit is retracted (moved away from the fish retaining members), fish is allowed to move one step down / next inclined level, and the fish line-up unit is returned to enable fish inspection and perform treatment / vaccination.

[0048] In accordance with one embodiment of the present invention, the FIOIA comprises an integrated vaccination unit or a vaccination unit is arranged thereto associated with the third inclined level of the fish line-up unit configured for vaccination of inspected fish.

[0049] According to one embodiment of the present invention, the FIOIA comprises an integrated sorting unit or a sorting unit is arranged thereto associated with the third inclined level of the fish line-up unit configured for sorting of vaccinated and / or inspected fish. The sorting unit will be arranged below the third inclined level to receive fish therefrom for sorting.

[0050] In accordance with one embodiment of the FIOIA according to the present invention, the FIOIU comprises an elongated probe holder configured for arrangement to the actuator assembly at a first axial side and for arrangement of the at least one ultrasound probe at a second axial side thereof.

[0051] According to one embodiment of the FIOIA according to the present invention, the actuator assembly comprises a first controllable actuator and an elongated actuator arm arranged to the first controllable actuator by a first proximal side via a connection interface and sliding movably to the support structure at a second distal side.

[0052] In accordance with one embodiment of the FIOIA according to the present invention, the elongated probe holder is pivotably arranged to the distal side of the actuator arm via a shaft and a controllable device or actuator enabling movement of the elongated probe holder in the horizontal plane, in transversal direction of the fish line-up unit.

[0053] According to one embodiment of the FIOIA according to the present invention, the probe holder being arranged to the actuator arm via an upper probe holder support member protruding mainly perpendicular from upper side of the actuator arm, comprising an axially extending track or recess and wherein the probe holder is arranged to the upper probe holder support member via a fixed device or controllable actuator arranged to the axially extending track or recess.

[0054] Accordingly, by the FIOIA according to the present invention is provided a movable fish interior organ inspection unit (at least one ultrasound probe) that in an automated manner adjusts according to length and size of a fish and inspects the interior organs of the fish prior to treatment / vaccination at lower step of the fish line-up unit. Information from the inspection of the interior organs of the respective fish, such as gender, is used as input to the vaccination unit or other treatment equipment and / or settings for the sorting unit after performed vaccination / treatment of the inspected fish or for sorting without treatment / vaccination.

[0055] By the present invention is provided a FIOIA that does not suffer from low resolution or limited detection area due to that the FIOIU is movable in both the horizontal and vertical plane in relation to the fish line-up unit and fish received therein.

[0056] The FIOIA provides a solution enabling automated inspection of the interior organs of fish removing any manual processes or requirement of the fish moving during the inspection, that in addition enables integration with the treatment / vaccination unit and sorting unit.

[0057] As the fish in the present invention lies still during the inspection of the interior organs, the accuracy of the inspection is considerably higher than with the prior art solutions.

[0058] Due to that all fishes to have the interior organs inspected are positioned at the same basis position when the inspection is performed, all the fishes will be inspected / scanned from the same basis, increasing the accuracy of the inspection.

[0059] The FIOIA thus enables gender determination as well as determination / documentation of health and quality of each inspected fish.

[0060] In addition to the above mentioned, a more compact solution / system can be achieved compared to prior art systems.

[0061] Further preferable features and advantageous details of the present invention will appear from the following example description, claims and attached drawings.

[0062] Example

[0063] The present invention will below be described in further detail with references to the attached drawings, where

[0064] Fig. la-c are principle drawings of a fish interior organ inspection assembly according to one embodiment of the present invention, Fig. 2 is a block diagram showing the controlling of a fish interior organ inspection assembly according to the present invention, and

[0065] Fig. 3 is a principle drawing showing the fish interior organ inspection assembly according to the present invention with a vaccination unit and sorting unit integrated or arranged thereto.

[0066] The disclosed embodiments of the present invention is related to a fish interior organ inspection assembly (FIOIA) 100 enabling inspection of the interior organs of a fish 10 for determination of gender and / or health and quality thereof.

[0067] The disclosed embodiments of the FIOIA 100 according to the present invention enable inspection of the interior organs of fish 10 prior to treatment / vaccination and / or sorting of anesthetized (alive) fish 10.

[0068] Reference is made to Fig. la-c showing principle drawings of a FIOIA 100 according to one embodiment of the present invention, wherein the FIOIA 100 comprises a fish line-up unit 200 and a fish interior organ inspection unit (FIOIU) 300 arranged to a support structure 400.

[0069] In accordance with the present invention, the FIOIU 300 is configured to be movable in both the horizontal and vertical plane in relation to the fish line-up unit 200 and in relation to a fish 10 received therein for inspection of the interior organs of the fish 10. In accordance with one embodiment of the present invention, the FIOIU 300 comprises at least one ultrasound probe 310 for inspection the interior organs of the fish 10.

[0070] In Fig. lb is shown a principle drawing of an embodiment of a fish line-up unit 200 according to the present invention in further detail. The fish line-up unit 200 comprises an elongated main body 201 having a first distal longitudinal end 202 and a second (opposite) distal longitudinal end 203, first 204 and second 205 (opposite) axial sides, as well as upper and lower axial sides, thus forming a mainly rectangular shape. The upper axial side of the elongated main body 201 is multi-profiled forming at least three inclined levels 210, 220, 230 from the first axial side 204 towards the second axial side 205, for receiving fish 10 to be inspected and vaccinated / treated and / or sorted. In accordance to the present invention, the at least three inclined levels 210-230 are subsequently arranged in decreasing height of the main body 201 and thus forming inclined steps at different horizontal levels in the upper side of the main body 201 / fish line-up unit 200. In accordance with the present invention, the first inclined level 210 is configured for receiving a fish 10 from a supply system (not shown) and aligning the supplied fish 10 to be received in the second inclined level 210.

[0071] The second inclined level 220 is configured for receiving fish 10 from the first inclined level 210 and enabling inspection of the interior organs of the received fish 10 by the FIOIU 300.

[0072] The third inclined level 230 is configured for receiving inspected fish 10 from the second inclined level 220 and enabling vaccination / treatment and / or sorting of the inspected fish 10.

[0073] Accordingly, the fish line-up unit 200 is formed by at least three inclined levels 210-230 arranged at subsequently lower horizontal planes from the first longitudinal side 204 to the second longitudinal side 205.

[0074] In accordance with the present invention, the first 210, second 220 and third 230 inclined levels are inclined with an angle downwards from the horizontal plane in the transversal direction of the main body 201, from the first axial side 204 towards the second axial side 205 of the main body 201.

[0075] The first 210, second 220 and third 230 inclined levels can be configured with the same angles from the horizontal plane or with different angles, depending on the desired configuration.

[0076] In accordance with the present invention, the second 220 and third 230 inclined levels are in addition inclined with an angle downwards from the horizontal plane in the axial direction of the main body 201, from the first distal longitudinal end 202 to the second distal longitudinal end 203.

[0077] The angles of the second inclined level 220 are configured for enabling inspection of the interior organs by the FIOIU 300, while the angles of the third inclined level 230 are configured for enabling vaccination by a vaccination unit 500, or other treatment. Depending on the FIOIU 300 and vaccination unit 500, the second 220 and third 230 inclined levels can be configured with the same angles from the horizontal plane or with different angles. By that the second 220 and third 230 inclined levels are inclined in the transversal direction, the received fish will always slide towards the lowermost point, such that all fish have the same basis / starting point for inspection and vaccination / treatment operations.

[0078] The respective width and angle will further be configured according to the fish type in questions.

[0079] In accordance with one embodiment of the FIOIA 100 according to the present invention, the fish line-up unit 200 is movably arranged in transversal direction of the support structure 400. In accordance with one embodiment of the present invention, the fish line-up unit 200 comprises a carriage 240 arranged to lower side of the main body 201, wherein the carriage 240 (Fig. la) is movably arranged to / in the support structure 400 on guide tracks 410 arranged in the support structure 400. The movement of the carriage 240 and thus fish line-up unit 200 is controlled by at least one controllable actuator 241 associated with the carriage 240. Accordingly, the fish line-up unit 200 is movable between an inspection and treatment / vaccination position, for receiving a fish, aligning a fish and inspection and vaccination / treatment actions, respectively, and retracted positions allowing fish to move to the respective next inclined level 210-230, as well as for the discharging of fish after inspection and vaccination / treatment, further described below.

[0080] In accordance with the FIOIA 100 according to the present invention, the support structure 400 further comprises a transversally extending structure member 420 (see Fig. lc) acting as a fish stopper at the second (lowermost) longitudinal distal end 203 of the first 210, second 220 and third 230 inclined levels, configured to engage with the nose of a fish 10 to be aligned (stabilized), inspected and vaccinated / treated and / or sorted, respectively. This also ensures that all operations / actions on a received fish 10 has the same basis with the nose engaging the transversally extending structure member 420. The support structure 400 further comprises a similar transversally extending support structure 420 at the opposite side of the support structure 400, as shown in Fig. 3, for structural stiffness and protection of the fish line-up unit 200 and movement thereof. The mentioned transversally extending support members 420 further form attachment structures for the vaccination unit 500 and sorting unit 600, if present.

[0081] The support structure 400 further comprises first 430, second 431 and third 432 elongated fish retaining members, extending in axial direction of the support structure 400 / FIOIA 100, wherein the first elongated fish retaining member 430 is associated with the first inclined level 210, the second elongated fish retaining member 431 is associated with the second inclined level 220 and the third elongated fish retaining member 432 is associated with the third inclined level 230.

[0082] In accordance with the shown embodiment, the respective elongated fish retaining member 430- 432 is arranged to the transversally extending support member 420 with a proximal end and extends perpendicularly from the transversally extending support member 420 and extends mainly in the vertical plane in the axial direction of the FIOIA 100 and ends in a free end positioned towards or in vicinity of the first longitudinal distal end 203 of the fish line-up unit 200.

[0083] In the shown embodiment, the first 210 and second 220 elongated fish retaining members extend with the transversal side (width) mainly in the vertical plane, while the third elongated fish retaining member 230 is arranged with the transversal side (width) with an angle in relation to the vertical plane to enable access to the inspected fish 10 for the vaccination unit 500 or other treatment unit, as well as directing a vaccinated or unvaccinated fish 10 into a sorting unit 600 posited below the fish line-up unit 200. Other configurations of the fish retaining members 430-432 will be within the knowledge of the skilled person.

[0084] In this manner the fish line-up unit 200 is configured to move transversally in the support structure 400, moving the inclined levels 210-230 away from the respective fish retaining members 430-432, enabling a received fish to move from the first inclined level 210 to the second inclined level 220, from the second inclined level 220 and to the third inclined level 230, and from the third inclined level 230 and to a sorting unit 600, respectively, one step for each time the fish line-up unit 200 is moved transversally back and forth in the support structure 400, and away from and towards the respective fish retaining members 430-432.

[0085] The FIOIU 300 according to the present invention comprises at least one ultrasound probe 310, as mentioned above, an elongated probe holder 320 and an actuator assembly 330 enabling the at least one ultrasound probe 310 to be movable both in the horizontal plane (axial direction) and vertical plane / direction in relation to the second inclined level 220 and fish 10 received therein.

[0086] The elongated probe holder 320 is configured for arrangement to the actuator assembly 330 at a first axial side thereof and for arrangement of the at least one ultrasound probe 310 at a second (opposite) axial side thereof.

[0087] The FIOIU 300 may comprise two or more ultrasound probes 310 observing a fish 10 from different angles to improve the accuracy or resolution of the inspection of the interior organs of the fish, or for redundancy.

[0088] In connection with gender determination, the at least one ultrasound probe 310 is used for inspecting the sexual organs, especially the gonad, of the fish 10. In particular, for female fish, the sexual organs, especially the gonad, are clearly visible in an ultrasound image of the fish 10. Male fishes usually have paired testes that produce sperm, while female fishes usually have paired ovaries that produce eggs. According to the present invention, the ultrasound probe 10 images together with image processing techniques are used to locate and isolate the gonad and properties thereof to determine the gender of the fish 10 in question.

[0089] In connection with determination of health and quality of the fish 10, at least one ultrasound probe

[0090] 310 is used for inspecting interior organs, such as one or more of: liver, stomach, intestine, heart, swim bladder, kidney, testicle, ureter, efferent duct, urinary bladder, spleen, and gills, which are indicators of the health and quality of a fish 10. Especially, heart, liver, kidneys, and spleen are indicators of the health state and quality of a fish 10. According to the present invention, the ultrasound probe 10 images together with image processing techniques are used to locate and isolate the interior organs of interest and properties thereof to determine the health and quality of the fish 10 in question. The use of welfare indicators to determine the health of a fish is, e.g., regulated by "https: / / nofima.no / wp-content / uploads / 2016 / 06 / Velferdsindikatorer-for- oppdrettslaks-2018.pdf", that works as a guidance for everyone within the fish industry today.

[0091] The actuator assembly 330 comprises a first controllable actuator 331, such as an electric motor, arranged to the support structure 400 / the transversally extending support member 420 by a suitable mounting device 332, such as a bracket. In accordance with one embodiment of the present invention, the controllable actuator 331 is arranged with the rotation axis thereof in the transversal direction of the FIOIU 200, such that the rotation axis aligns with the longitudinal direction of the second inclined level 220. The actuator assembly 330 further comprises an elongated actuator arm 333 arranged with a proximal side thereof to the rotation shaft of the controllable actuator 331 via a connection interface 334, such as an eccentric disc, arranging the elongated actuator arm 333 in an offset rotational connection to the rotation shaft of the controllable actuator 331. The elongated actuator arm 333 is at a second (opposite) distal side thereof provided with an axially extending opening / track 335 at upper axial side thereof, via which the elongated actuator arm 333 is sliding movably arranged in axial direction of the FIOIU 200 and support structure 400 via a connector member 336 arranging the elongated actuator member 333 to the fish retaining member 431.

[0092] The elongated probe holder 320 is at the first axial side arranged to the distal side of the actuator arm 333 by means of a shaft 337 arranged under the mentioned opening / track 335 via a controllable device or actuator 338, such as an adjustment screw, electric motor or similar. The mentioned shaft 337 and controllable device or actuator 338 thus form a hinged connection of the probe holder 320 to the distal end of the actuator arm 333. By means of the controllable device or actuator 338, the probe holder 320 is arranged axially adjustable on the mentioned shaft 337 enabling movement of the probe holder 320 in the horizontal plane, in transversal direction of the FIOIU 200 / support structure 400. In this manner the probe holder 320 is linearly movable in transversal direction of the second inclined level 220 and in relation to fish 10 received therein.

[0093] The probe holder 320 is further arranged to the actuator arm 333 via an upper probe holder support member 339, protruding mainly perpendicular from upper side of the actuator arm 333, and arranged at a distance from the mentioned opening / track 335. The upper probe holder support member 339 is formed with an axially extending track or recess 340 and wherein the probe holder 320 is arranged to the upper probe holder support member 339 via a fixed device or controllable actuator 341, such as an adjustment screw, electric motor or similar, arranged to the axially extending track or recess 340.

[0094] Accordingly, the elongated probe holder 320 extends in longitudinal direction of the actuator arm 333, from the distal side towards the transversally extending support member 420, i.e. towards the lowermost side of the second inclined level 220.

[0095] Accordingly, the movement of the distal end of the probe holder 320 and thus at least one ultrasound probe 310 in the vertical plane will follow the offset rotational connection of the actuator arm 333 due to the connection between the upper probe holder support member 339 that affect the position in the vertical plane of the distal end of the probe holder 320 and thus at least one ultrasound probe 310 in angular sectors of the rotation of the controllable actuator 331, further described below. In other words, when the controllable actuator rotates 331, the movement of the actuator arm 333 by the connection interface 334 and thus the upper probe holder support member 339, results in that the distal end of the probe holder 320 will be lifted and lowered while the proximal end pivots about the mentioned shaft 337, thus lifting and lowering the at least one ultrasound probe 310 in the vertical plane depending on the rotational position of the rotational connection of the actuator arm 333 at the controllable actuator 331.

[0096] In accordance with one embodiment of the present invention, the fixed device or controllable actuator 341 is configured so that maximum lifting height in the vertical plane of the distal end of the probe holder 320 and at least one ultrasound probe 310 is achieved when the rotational position of rotational connection of the actuator arm 333 is in the highest vertical point (12 o'clock) on the rotational axis of the connection interface 334 and controllable actuator 331. This point will be referred to as 0 degrees (starting point) below for both the connection interface 334 and controllable actuator 331. In this manner, when the controllable actuator 331 / connection interface 334 rotates this affects the movement of the actuator arm 333 and upper probe holder support member 339, and thus the at least one ultrasound probe 310 via the probe holder 320.

[0097] When the controllable actuator rotates 331 / connection interface 334 rotates contraclockwise, seen in the rotation axis of the controllable actuator 331 / connection interface 334, from 0 to approximately 90 degrees, this results in that the distal end of the probe holder 320 will be lowered while the proximal end pivots about the mentioned shaft 337, thus lowering the at least one ultrasound probe 310 in the vertical plane into engagement with a fish 10 received in the second inclined level 220. In this position, the fixed device or controllable actuator 341 moves out of engagement with the upper probe holder support member 336.

[0098] When the controllable actuator 331 / connection interface 334 continuous to rotate contraclockwise from 90 degrees to approximately 270 degrees, the at least one ultrasound probe 310 remains in engagement with the fish 10, while the actuator arm 333 is affected a linear movement in the axial direction of the FIOIA 100 / second inclined level 220, due to the sliding connection 335 / 336 at the distal end. The linear movement results in that, due to the probe holder 320 being arranged to the actuator arm 333 via the shaft 337, is correspondingly moved linearly in the axial direction of the FIOIA 100 / second inclined level 220, and wherein the at least one ultrasound probe 310 in sliding engagement is moved a corresponding distance along the surface of the fish 10 providing a scan of the fish 10 and of the interior organs thereof. In the position of 270 degrees, the fixed device or controllable actuator 341 again moves into engagement with the upper probe holder support member 339 and further rotation will lift the distal end of the probe holder 320 and thus at least one ultrasound probe 310. The available axial distance of the performed scanning will be dependent on the connection interface 334 and the offset distance between the rotation shaft of the controllable actuator 331 and connection point of the actuator arm 333 to the connection interface 334. The mentioned opening / track 335 must of course have the required length to allow the actuator arm 333 to move the required distance.

[0099] When the controllable actuator 331 / connection interface 334 continuous to rotate contraclockwise from 270 to approximately 360 degrees (starting point 0 degrees), the distal end of the probe holder 320 is again lifted and lifting the at least one ultrasound probe 310 in the vertical plane out of engagement with the fish 10 and into the highest position in the vertical plane. In this position the fish line-up unit 200 is moved back and forth in transversal direction / horizontal plane to allow scanned fish 10 to move to the third inclined level 230 and a new fish 10 to be scanned to be retrieved in the second inclined level 220. After a new fish 10 is in place, the above described rotation cycle can be repeated to perform scanning of a new fish 10.

[0100] Even though it is described that the rotation is contraclockwise the rotation cycle and scanning operation may equally be performed by rotating clockwise. The difference will be if the at least one ultrasound probe 310 is moving against the fish shells or with the fish shells. Both rotational directions thus result in the same scanning results.

[0101] In this manner the actuator assembly 330 enables movement as well as adjustment of the at least one ultrasound probe 310 in both the horizontal plane and vertical plane. In this manner, the movement / manoeuvring of the at least one ultrasound probe 310 can be controlled both in relation to the size and height of the fish 10, as well as controlled to perform an inspection / scanning of the interior organs of the fish 10.

[0102] In accordance with a further embodiment of the present invention, the FIOIA 100 further comprises a fish stabilizing member 350 used for stabilizing the fish 10 after it has been supplied to the fish line-up unit 200. Further, the fish stabilizing member 350 can also be provided with one or more sensors (not shown) confirming that a fish 10 is present in the first inclined level 210. In a further embodiment of the fish stabilizing member 350 it is spring-biased to provide a pretension force on the fish 10.

[0103] The FIOIA 100 according to the present invention is suitable for receiving the fish 10 with the head / nose in the axial direction and the abdomen in downwards direction in the set-up shown in the Figures. Due to the nose is a more precise point of the fish to navigate from than the tail, the nose is used as the engaging part of the fish 10 with the fish stopper. Similarly, the distance / position of the interior organs is more accurate from the abdomen than from the back, the accuracy of the inspection of the interior organs is higher and more rapid to perform, the fish 10 is arranged with the abdomen downwards.

[0104] The FIOIA 100 according to the present invention will typically be arranged to at least one transport unit (not shown) upstream the FIOIA 100 configured to receive anesthetized fish from a supply unit / system (not shown) at one end thereof, transporting the fish 10 past at least one detection unit 110 by the at least one transport unit arranged and supplying fish to the FIOIA 100. Between the FIOIA 100 according to the present invention and the transport unit it may further be arranged an active back / abdomen orientation unit if desirable. Such systems also comprise means for singularization, controlling and / or correction head / tail direction, as well as control means for controlling the back / abdomen direction. Such means are described in in NO347823 Bl and NO343355 Bl, both in the name of the applicant. E.g. the FIOIA 100 according to the present invention is arranged downstream the active back / abdomen orientation unit in NO347823.

[0105] In accordance with a further embodiment of the present invention, the at least one detection unit 110 arranged upstream the FIOIA 100 is used to provide information, such as length and size, to a control unit 700 (Fig. 2.) controlling the FIOIA 100 according to the present invention, as well as provide information to the vaccination unit 500 and sorting unit 600, in addition to information from the FIOIU 300. Accordingly, the information from the at least one detection unit 110 is used to rapidly and accurately control the FIOIU 300 to perform inspection of the interior organs the fish 10 by controlling the controllable actuators 331 and controllable actuators 338, 341 if required or present, in correct position in relation to a fish 10 received in the second inclined level 220 and to perform an inspection / scan of the interior organs of the received fish 10. In cases where the fish are of similar size and length the controllable actuators 338, 341 will not require controlling as they may be configured in the correct position prior to a process, but when the size and length varies, the possibility to control of these features will be appreciated.

[0106] The most common used solution to acquire information of fish 10 is to use at least one detection unit 110, e.g., comprising at least one camera 111 (see Fig. 2) and at least one illumination source 112 (see Fig. 2) arranged above a transport unit (belt). The illumination source 112 can, e.g., be a laser line generator and the camera 111 can be a 2D or 3D camera or consist of several cameras 111, enabling an imaging method providing a 3D-measurement of a passing fish 10 (moved by the transport unit), i.e. a form of orthographical map, which provides information about the fish 10 that is to be used both for vaccination and sorting, as well as for controlling the FIOIA 100 according to the present invention. From an orthographical map, determination of the most optimal injection point for vaccination based on the geometry of the fish in three dimensions, length, height, and thickness, as well as back / abdomen orientation. The length, height and thickness of the fish 10 is also in the present invention used for controlling the FIOIA 100 according to the present invention, for automated controlling of the at least one ultrasound probe 310 in relation to the fish 10 in question. The detection unit 110 can further be configured for detecting one or more of: injuries, cuts or deviations, biomass. The information lacking from such detection units 110 is an accurate inspection of the interior organs, hereunder detection of gender, assessment of health and quality based on the interior organs, which is provided by the FIOIA 100 according to the present invention.

[0107] A vaccination unit 500 suitable for integration with the FIOIA 100 according to the present invention, as shown in the figures, is arranged downstream the FIOIA 100 according to the present invention, and configured to engage a fish 10 in the third inclined level 230 of the fish line-up unit 200, the vaccination unit 500 being configured to engage the fish 10 inspected by the FIOIA 100 according to the present invention. Examples of suitable vaccination units 500 are described in, among others, the mentioned publications NO347823 Bl and NO343355 Bl. In alternative embodiments suitable vaccination units 500 are arrangement to the FIOIA 100 for cooperation therewith.

[0108] Reference is now made to Fig. 2. The FIOIA 100 according to the present invention comprises a dedicated control unit 700 or the control thereof is integrated in a control unit of a connected system, such as a control unit for the systems in NO347823 Bl or NO343355 Bl. The control unit 700 is configured to, by comprising means and / or software, control the FIOIU 300 based on detected length, height and thickness of a fish 10 acquired from the information from the at least one detection unit 110, to position the at least one ultrasound probe 310 in accordance with the length, height and thickness of the fish 10 in question, as well as performing an inspection / scanning of the interior organs of the fish 10 in question, i.e. fish 10 received in the second inclined level 220.

[0109] The control unit 700 is further configured to, by comprising means and / or software, control the fish line-up unit 200, by controlling the actuator 241, control the progress of the fish 10 from the first inclined level 210 to the second inclined level 220 for inspection, and from the second inclined level 220 to the third inclined level 230 for vaccination (treatment) by the vaccination unit 500, and after vaccination or without vaccination, from the third inclined level 230 and into the sorting unit 600. The vaccination unit 500 according to the present invention is arranged for single vaccination, polyvaccination, or muscular vaccination.

[0110] The mentioned sorting unit 600 comprises an inclined receiving channel 601 (Fig. la) positioned below the fish line-up unit 200, below the third inclined level 230, configured to receive fish (vaccinated or not) from the third inclined level 230 when the fish line-up unit 200 is in retracted position. The sorting unit 600 further comprises a controllable channel 602 (Fig. 2, 3) arranged in the extension of the inclined receiving channel 601 enabling sorting of the fish 10 to different subchannels (not shown) according to desired preferences. An example of such sub-channels can be found in NO 331843 Bl, in the name of the applicant.

[0111] In addition to the above mentioned, the control unit 700 may be configured for, by comprising means and / or software one or more of: controlling an orientation unit (not shown) for orienting a fish in head / tail direction, controlling a singularization unit (not shown), controlling an active back / abdomen assembly (not shown), controlling the vaccination unit 500, hereunder, injection coordinates for vaccination, injection depth of vaccination, dosage quantity controlling the sorting unit 600, analyzing / detecting / calculating, as well as documenting, based on information from the at least one detection unit 110 and at least one ultrasound unit 310, one or more of: length (or fork length), height, injuries, biomass (theoretical weight), injuries, health, quality heart, kidneys, as well as gender, etc. Sorting is, e.g., based on length, height, biomass or similar, as detected by at least one detection unit 110 as well as gender as detected by the FIOIU 300. The at sorting unit 600 may be associated with a separate control unit (not shown) or the control unit 700 is configured to, by comprising means and / or software, control the sorting unit 600 based on, e.g., length, height, biomass, gender, or similar. The sorting may also be based on sorting out unwanted, un-vaccinated or undetectable fish. Sorting criteria for unwanted fish that is not to be vaccinated is, e.g., injuries or deviations, such as gill cover, humpback, pinching injuries etc., or based on length, height. The sorting may also be based on other criteria for unwanted fish, as well as undetectable fish.

[0112] Examples of singularization units and orientation units are found in NO342304 Bl and NO331843 Bl, in the name of the applicant.

[0113] The control unit 700 according to the present invention can further be configured for using machine learning / artificial intelligence. By means of machine learning one can make predictions or calculations based on large amounts of data. Machine learning can be divided in several methods, which is known as, e.g., supervised learning, unsupervised learning, semi-supervised learning, and reinforcement learning that enable different approaches for processing of the acquired data / information depending on the result to be achieved. Accordingly, by providing the control unit 700 with means and / or software for machine learning the acquired data / information from the at least one detection unit 110 and FIOIU 300 can be processed to find patterns, trends and relationships, which can be used to improve the accuracy of the inspection of the interior organs, hereunder gender determination, health and quality determination / documentation, vaccination and / or sorting, if present, as well as the observation of the fishes.

[0114] In accordance with one embodiment of the FIOIA 100 according to the present invention, the at least one detection unit 110 arranged upstream the FIOIA 100 is configured to also detect gender. The control unit 700 can further be configured to compare results of the gender determination based on the ultrasound inspection of the interior organs with images and information from the images of the at least one detection unit 110. The comparison between the two different systems for determination of gender can according to the present invention be used for training of the machine learning / artificial intelligence in detection of gender.

[0115] Even though the shown embodiments include a vaccination unit 500, the present invention may also be used to sort fish according to gender, health, quality, etc. without the vaccination unit 500.

Claims

Claims1. Fish interior organ inspection assembly (100) for anesthetized fish, wherein the fish interior organ inspection assembly (100) comprises a fish line-up unit (200) and a fish interior organ inspection unit (300), wherein the fish interior organ inspection unit (300) is configured to be movable in the horizontal and vertical plane in relation to the fish line-up unit (200) and in relation to a fish (10) received therein for inspection of the interior organs of the fish (10), wherein the fish line-up unit (200) being movably arranged in transversal direction of a support structure (400).

2. Fish interior organ inspection assembly (100) according to claim 1, wherein the fish interior organ inspection unit (300) comprises at least one ultrasound probe (310).

3. Fish interior organ inspection assembly (100) according to claim 1, wherein an upper axial side of the fish line-up unit (200) is multi-profiled forming at least three inclined levels (210-230) from a first axial side (204) towards a second axial side (205), wherein the at least three inclined levels (210- 230) are subsequently arranged in decreasing height of the fish line-up unit (200).

4. Fish interior organ inspection assembly (100) according to claim 3, wherein the fish line-up unit (200) comprises a first inclined level (210) configured for receiving a fish (10) from a supply system or unit, a second inclined level (220) configured for receiving a fish (10) to be inspected, the second inclined level (220) being positioned at a lower horizontal plane than the first inclined level (210), and a third inclined level (230) configured for receiving an inspected fish (10) to be vaccinated and / or sorted, the third inclined level (230) being positioned at a lower horizontal plane than the second inclined level (220).

5. Fish interior organ inspection assembly (100) according to claims 2-4, wherein the at least one ultrasound probe (310) is configured to be movable in both the horizontal and vertical plane in relation to the second inclined level (220) of the fish line-up unit (200) and thus fish (10) received therein by an actuator assembly (330).

6. Fish interior organ inspection assembly (100) according to claim 3, wherein comprising a transversally extending structure member (420) acting as fish stopper at a second lowermost longitudinal distal end (203) of the at least three inclined levels (210-230), configured to engage with the nose of a fish (10) received therein.

7. Fish interior organ inspection assembly (100) according to claim 4, wherein the first (210) and second (220) inclined levels are inclined with an angle from the horizontal plane in both axial and transversal directions.

8. Fish interior organ inspection assembly (100) according to any preceding claim 2-7 , wherein comprising elongated fish retaining members (430-432), extending in axial direction of the fish interior organ inspection assembly (100), where one elongated fish retaining member (430, 432), respectively, is associated with the respective inclined level (210-230).

9. Fish interior organ inspection assembly (100) according to any preceding claim 4-8, wherein comprising an integrated vaccination unit (500) or a vaccination unit (500) is arranged thereto associated with the third inclined level (230) of the fish line-up unit (200) configured for vaccination of inspected fish (10).

10. Fish interior organ inspection assembly (100) according to any preceding claim 4-8, wherein comprising an integrated sorting unit (600) or a sorting unit (600) is arranged thereto associated with the third inclined level (230) of the fish line-up unit (200) configured for sorting of vaccinated and / or gender determined fish (10).

11. Fish interior organ inspection assembly (100) according to claim 5, wherein the fish interior organ inspection unit (300) comprises an elongated probe holder (320) configured for arrangement to the actuator assembly (330) at a first axial side and for arrangement of the at least one ultrasound probe (310) at a second axial side thereof.

12. Fish interior organ inspection assembly (100) according to claim 11, wherein the actuator assembly (330) comprises a first controllable actuator (331) and an elongated actuator arm (333) arranged to the first controllable actuator (331) by a first proximal side via a connection interface (334) and sliding movably to the support structure (400) at a second distal side enabling movement in the horizontal and vertical plane.

13. Fish interior organ inspection assembly (100) according to claim 12, wherein the elongated probe holder (320) is pivotably arranged to the distal side of the actuator arm (333) via a shaft (337) and a controllable device or actuator (338) enabling movement of the elongated probe holder (320) in the horizontal plane, in transversal direction of the fish line-up unit (200).

14. Fish interior organ inspection assembly (100) according to claim 13, wherein the probe holder (320) being arranged to the actuator arm (333) via an upper probe holder support member (339)protruding mainly perpendicular from upper side of the actuator arm (333), comprising an axially extending track or recess (340) and wherein the probe holder (320) is arranged to the upper probe holder support member (339) via a fixed device or controllable actuator (341) arranged to the axially extending track or recess (340).

Images