Self-closing baffle for one-directional animal travel

Abstract

A self-closing baffle includes a body having a first end and a second end. The body has a circular base having a first end and a second end, and a plurality of triangular segments that extend longitudinally from one end of the base and that define a wall of the body. A first end of each segment is movably attached to the second end of the base.

Description

[0001] TITLE

[0002] SELF-CLOSING BAFFLE FOR ONE-DIRECTIONAL ANIMAL TRAVEL

[0003] RELATED APPLICATIONS

[0004]

[0001] This application claims priority to United States Provisional Application No. 63 / 712384 filed under 35 U.S.C. § 111(b) on 25 October 2024, the disclosure of which is incorporated herein by reference in its entirety.

[0005] STATEMENT REGARDING FEDERALLY SPONSORED RESEARCH

[0006]

[0002] This invention was made with no government support. The government has no rights in this invention.

[0007] BACKGROUND OF THE INVENTION

[0008]

[0003] This invention relates in general to devices for the trapping of nuisance animals. In particular, this invention relates to an improved structure for such a device, such as a trap, that is structured and configured such that an animal, such as a nuisance animal, may easily enter the device through an entry opening, but is subsequently unable to exit through the entry opening.

[0009]

[0004] Invasive alien species are a significant threat to biodiversity, especially in the Great Lakes. Invasive alien species exert damage as predators, competitors, parasites, hybridizers, and disease vectors. They generally share the common features of high rates of reproduction, few natural predators, and an ability to thrive in many environments. Their impact on native ecosystems, habitats, and species can be severe and is often irreversible. The options for controlling invasive alien species are currently limited, generally to manual removal and poison control.

[0005] For example, sea lampreys have been in the Great Lakes since the 1850s, and kill about 5 tons of fish per year. The common carp, which has been in the Great Lakes since the 1830s, uproots plants, decreases water quality, and is an omnivorous competitor. Asian carp are similarly prolific omnivorous competitors, alter food webs and ecological communities, and are predators of plankton.

[0010] Snakeheads have been reproducing in the United States since 2002, and have expanded from being found in a few locales to being a voracious top-level predator that impoverishes the trophic web in freshwater.

[0011]

[0006] North America has about 45 species of invasive alien species of freshwater fish, but the problem is global. For instance, Nile perch, which were introduced to Lake Victoria in 1950, have become a voracious top-level predator in the African Great Lakes, causing the extinction of hundreds of native fish species and impoverishing trophic webs.

[0012]

[0007] The problem of invasive alien species is also not limited to freshwater, or even to water. For example, lionfish on the Atlantic East coast, cane toads in Hawaii and the Caribbean, pythons in the Everglades, rats on islands, and rabbits in Australia have all become problematic. Confronting these threats is costly, as governments spend tens of millions of dollars to combat invasive alien species.

[0013]

[0008] In general, the introduction of an invasive alien species (IAS) into an ecosystem has a profound and negative impact on ecosystems, economies, and human health. The success in entering new habitats often is based on a release from predation and competition keeping their populations in check, favorable environmental conditions that may be particularly suitable for growth and reproduction, an absence of diseases and parasites, human activities that inadvertently help invasive species to establish and thrive, and a favorable capacity to adapt to new environments with traits like rapid reproduction, high dispersal rates, or the ability to tolerate a wide range of environmental conditions.

[0014]

[0009] Uncontrolled population expansion can bring about biodiversity loss by out competing native fauna for resources like food, water, and habitat, leading to population declines and even extinction. With a capability of altering habitats and their natural food webs, invasive species can disrupt the establish flow of natural resources. As vectors of diseases that are novel to native fauna, IAS can bring devastating consequences. In agriculture, losses can arise from crop damage, reduced agricultural productivity, property damage, and inhibited economic activity. Human health impacts arise when invasive species act as vectors for disease transmission to humans.

[0015]

[0010] To mitigate the negative impacts of invasive alien species, it is important to implement preventative measures, early detection, and rapid responses in controlling established populations and minimizing their damage. A central part of this strategy is the conduct of effective trapping efforts that can capture and arrest individuals in a holding compartment. The deployment of a directional selective gate is an essential requirement.

[0016] [Oil] Nowhere is this need more urgent than in the case of invasive pythons that have established successful breeding populations in the early 1990s in the Florida Everglades. Despite significant efforts by the Florida Fish and Wildlife Conservation Commission and others, snake populations continue to expand. The increasing number of pythons are associated with a wide range of negative outcomes, many native mammal species are facing extinction, food webs have been disrupted, and the increase in human-python encounters raises a major public safety concern. A concerted control effort has recently been initiated in order to reduce invasive snake numbers with enhanced efforts in hunting, changes in land management, and most importantly, trapping. Trapping offers significant potential because snakes are known to readily utilize cavities, including natural cavities formed in trees, rocks, leaf litter, or underground burrows. These cavities serve important purposes in sheltering them from harassment by predators, support their needs for temperature regulation, and offer preferred sites as shelter, breeding, hibernation, and hunting grounds. The natural inclination of snakes to slither into tight spaces is a biological property that should aid in trapping efforts.

[0017]

[0012] Thus, there is a need in the art for methods and devices for controlling invasive alien species. More specifically, there is a need to provide an improved trap opening.

[0018] SUMMARY OF THE INVENTION

[0019]

[0013] This invention relates to an improved structure for a device, such as a trap, that is structured and configured such that an animal, such as a nuisance animal, may easily enter the device through an entry opening, but is subsequently unable to exit through the entry opening. More specifically, the invention relates to an improved self-closing baffle.

[0020]

[0014] In one embodiment, a self-closing baffle includes a body having a first end and a second end. The body has a circular base having a first end and a second end, and a plurality of triangular segments that extend longitudinally from one end of the base and that define a wall of the body. A first end of each segment is movably attached to the second end of the base.

[0021]

[0015] In another embodiment, a self-closing baffle includes a body having a first end and a second end. The body has a circular base having a first end and a second end, and a plurality of elongated rigid rods that define a wall of the body. A first end of each rod is movably attached to the second end of the base.

[0016] Various aspects of this invention will become apparent to those skilled in the art from the following detailed description of the preferred embodiment, when read in view of the accompanying drawings.

[0022] BRIEF DESCRIPTION OF THE DRAWINGS

[0023]

[0017] FIG. 1 is an illustration of an animal sensing system according to embodiments described herein.

[0024]

[0018] FIG. 2 is an illustration of an animal sensing system according to embodiments described herein.

[0025]

[0019] FIG. 3 is an illustration of an animal sensing system according to embodiments described herein.

[0026]

[0020] FIG. 4 is an illustration of an animal sensing system according to embodiments described herein.

[0027]

[0021] FIG. 5 is an illustration of statistical classification via discriminant function analysis (DFA).

[0028]

[0022] FIG. 6 is an illustration of classification by deep network learning.

[0029]

[0023] FIG. 7 is an illustration of a non-limiting example of an animal sensing system deployed as a fish excluder.

[0030]

[0024] FIG. 8 is an illustration of a non-limiting example of an animal sensing system having a significant number of exits.

[0031]

[0025] FIG. 9 is a block diagram showing a method of counting or classifying animals.

[0032]

[0026] FIG. 10 is a perspective view of a first embodiment of a self-closing baffle in accordance with this invention showing the self-closing baffle in a closed position.

[0027] FIG. 11 is a perspective view of the self-closing baffle illustrated in FIG. 10 showing the self-closing baffle in an open position.

[0033]

[0028] FIG. 12 is a top plan view of a second embodiment of a self-closing baffle in accordance with this invention showing the self-closing baffle in an open position.

[0034]

[0029] FIG. 13 is a perspective view of the second embodiment of the selfclosing baffle illustrated in FIG. 12 showing the self-closing baffle in a closed position.

[0035]

[0030] FIG. 14 is a perspective view of a third embodiment of a self-closing baffle in accordance with this invention showing the self-closing baffle in an open position.

[0036] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT

[0037]

[0031] Throughout this disclosure, various publications, patents, and published patent specifications are referenced by an identifying citation. The disclosures of these publications, patents, and published patent specifications are hereby incorporated by reference into the present disclosure in their entirety to more fully describe the state of the art to which this invention pertains.

[0038]

[0032] Provided is a system, apparatus, and method for sensing and, optionally, sorting animals such as fish as they move through a system (which may include the interior of an apparatus) configured to acquire characteristics of the animals and direct the animals into desired locations based on the measured characteristics. As generally depicted in FIG. 1, a sensor or sensor array in an input section of the animal sensing system may provide information about the characteristics of an individual animal entering the apparatus (e.g., size, shape, color, behavior) to a central processing unit (CPU). The CPU may extract specific features (morphological, behavioral, or surface appearance) and classify the individual animal according to pre- determined criteria. Depending on the outcome of this classification, the CPU controls a directional guide, such as a gate, which opens access to one of multiple output paths. An output section of the system contains the directional guide that controls whether an output path is open or closed. An output path for selected individuals may lead, for example, to a holding pen for further processing, or back to the environment. The criteria for animal classification may be obtained during an initial training phase, where animals of known species / status / size / sex / morphology can be analyzed as they traverse the system. Classification may be performed in one of several supervised or unsupervised ways, including multivariate statistical separation, machine and neural network learning, or genetic algorithms.

[0039]

[0033] In general, the animal sensing system is an active, computer-controlled device to sense, classify, sort, and / or catch passing animals such as fish in real time. The animal sensing system provides a solution for invasive alien species in an environment, diseased fish in aquaculture, for harvesting fish in aquaculture, for directing animals away from hazards, for preventing unwanted catches in nets, and so on. The animal sensing system is an automated device that classifies individual animals based on morphological, physiological, genetic, or behavioral characteristics, and channels the individual animals into separate paths based on the classification. The animal sensing system is an improved alternative to the manual collection or poison control currently used to separate, collect, and suppress invasive alien species of animals. The animal sensing system may be used with animals that are unmarked, untagged, or anonymous to the animal sensing system.

[0034] Referring now to FIGS. 1-4, an animal sensing system 10 may include an input section 12 connected to an output section 14 having a first output path 16 and a second output path 18. A directional guide 20 is disposed in the output section 14, or around the connection area 26 where the output section 14 meets the input section 12, and is configured to motivate a direction of travel of an animal, or direct an animal, as the animal passes through the animal sensing system 10. In one example, the directional guide 20 is a gate configured to open a path from the input section 12 to only one of the first output path 16 or the second output path 18 at a time. In this manner, the directional guide 20 may block access to all but one possible output path. Each of the input section 12 and the output section 14 may be configured to float on the surface of water, rest on a solid surface, or to be partially or fully submerged under water.

[0040]

[0035] The input section 12 may be a generally tubular member defining a tubular cavity, and may include an entrance 22, a sensing area 24 which includes one or more sensors 25, and a connection area 26 which connects the input section 12 to the output section 14. In some embodiments, sensors 25 or arrays sensors 25 can be built into existing structures such as inlets for canals, diversion pipes, and intakes, which may then serve as the sensing area 24. As seen in FIG. 2, the entrance 22 may form a cone-shaped opening and may include an entrance baffle 30 which prevents fish or other animals from exiting the animal sensing system 10 via the entrance 22. The entrance baffle 30 may be sized so as to allow only one animal at a time into the animal sensing system 10. Optionally, the input section 12 may be connected to a catch funnel 28, as depicted in FIGS. 3-4. The catch funnel 28 widens the intake to enhance intake effectiveness, particularly when the animal sensing system 10 is being used under water. The catch funnel 28 may be configured to float on the surface of water, to rest on a solid surface, or to be submerged or at least partially submerged under water. The catch funnel 28 may be free-floating, and may facilitate deployment of the animal sensing system 10 in a river, lake, or other body of water. The catch funnel 28 may also include its own additional baffle 29.

[0041]

[0036] The input section 12 may further include a size excluder, which is a physical barrier for a particular size class. The size excluder may be useful to prevent leaves, branches, or other debris from floating into, or otherwise entering, the animal sensing system 10. The input section 12 may also include a bait station, which is a mechanism to attract a particular subset of species. The bait station may include bait in the form of dead or alive prey animals, but may also or alternatively include sparkles or other shiny objects to attract animals such as fish.

[0042]

[0037] As noted above, the input section 12 includes a sensing area 24 which includes one or more sensors 25. In some embodiments, such as those depicted in FIGS. 3-4, the input section 12 includes two sensing areas 24a, 24b for enhanced sensing. Embodiments of the animal sensing system 10 having more than two sensing areas 24 are entirely possible and encompassed within the scope of the present disclosure. The sensors 25 may include one or more video cameras (visible or IR), electric field proximity sensing (EFPS), side-scan sonar (SSS), adaptive resolution imaging sonar (ARIS), laser array photogates, side scan sonar, dual-frequency identification sonar (DIDSON), light detection and ranging (LiDAR), or the like. Any combination of multiple types of sensors 25 is possible. The sensors 25 are configured to sense or measure one or more characteristics of an animal within the input section 12. Furthermore, the sensing areas 24 may include one or more light sources 27, which may be visible or IR light sources. The visible or IR light sources 27 may improve the ability to sense characteristics of animals in a dark, murky, or turbid environment, such as underwater.

[0038] In some embodiments, the output section 14 includes an additional sensing area 24 with one or more sensors 25, which may be useful for determining the success of the directional guide 20.

[0043]

[0039] Referring still to FIGS. 1-4, the output section 14 may include a first exit 32 from the first output path 16 and a second exit 34 from the second output path 18. The first exit 32 may include a first output baffle 36, and the second exit 34 may include a second output baffle 38, so as to prevent animals from reentering the animal sensing system 10 via the exits 32, 34. In some embodiments, when the animal sensing system 10 is disposed under water so as to sense fish, the natural current may flow within the animal sensing system 10 in the direction of from the output section 14 to the input section 12, to help prevent the entrance into the animal sensing system 10 of free-floating objects or debris instead of swimming fish. Alternatively, the animal sensing system 10 may be disposed under water such that the natural current flows in the direction of from the input section 12 to the output section 14, so as to further ensure that animals within the input section 12 do not exit the animal sensing system 10 through the entrance 22, and animals outside the animal sensing system 10 do not enter the animal sensing system 10 through the exits 32, 34. Or, instead of natural current, a current may be generated in either direction, for example, by jets housed within the animal sensing system 10.

[0044]

[0040] The output paths 16, 18 may lead to wherever desired. The output paths 16, 18 typically lead to different destinations, although this is not strictly necessary if, for example, the animal sensing system 10 is being used for its sensing abilities or being used to count animals or count types of animals and not strictly to separate, sort, or catch animals. In general, though, the output paths 16, 18 lead to distinct locations. As an example, one of the output paths 16, 18 may lead to a holding pen, which is an enclosure to temporarily hold selected individual animals until the animals are manually removed. As another example, one of the output paths 16, 18 may lead to an automated harvesting device to handle and process selected individual animals. As another example, one of the output paths 16, 18 may lead to a pen for quarantined holding, configured to ensure environmental separation. As another example, one of the output paths 16, 18 may lead to a release device, configured to ensure successful return of individual animals to the environment. However, animals may be released back to the environment without a release device. Thus, one of the output paths 16, 18 may exit directly back into the environment. Combinations of different destinations may therefore include, as a non-limiting example, an animal sensing system 10 where one of the output paths 16, 18 leads directly back to the environment and the other of the output paths 16, 18 leads to a holding pen.

[0045]

[0041] The directional guide 20 can be any suitable apparatus, including mechanical devices such as a gate which is movable between a first position and a second position and capable of allowing access to only one of the first output path 16 or the second output path 18 from the input section 12 at a time. The directional guide 20 may be, for example, a swing gate, or may be a metal, standard expanded or bar grate adjustable in spacing for the size of objects. A gate can be moveable between a first position and a second position. In the first position, the gate allows access from the input section 12 to the first output path 16 but not the second output path 18. In the second position, the gate allows access from the input section 12 to the second output path 18 but not the first output path 16. The gate can be controlled by any suitable means. In some embodiments, the animal sensing system 10 includes a robotic controller, which is a hardware / software combination for computer control of the position of the gate. In some embodiments, the animal sensing system 10 includes a motor / servo, which is a rotary actuator for precise control of the angular position of the gate and can be controlled by the central processing unit 40. The directional guide 20 may be automatically triggered based on information obtained by the sensor 25.

[0046]

[0042] The directional guide 20, in conjunction with the entrance baffle 30, may effectively block an animal's path to exit the animal sensing system 10, forcing an animal inside the animal sensing system 10 into only one of the output paths 16, 18 in order to exit the animal sensing system 10 through either the first exit 32 or the second exit 34. Thus, in some embodiments, once inside the animal sensing system 10, an animal may only exit through one of the first exit 32 or the second exit 34, and the availability of possible exits 32, 34 is made by a central processing unit 40 which controls the directional guide 20 according to data received from the sensors 25.

[0047]

[0043] In other embodiments, the directional guide 20 may be the transient activation of a light, a jet of current, or electric shocks, magnetic fields, bubble curtains, chemical repellants, hydroacoustic presentations, or other source of adverse stimulus, which may motivate a direction of travel of an animal within the animal sensing system 10, but not necessarily completely block access to any possible exit from the animal sensing system 10. Aversive stimuli for repelling or motivating a direction of travel of an animal may be inherently stressful, but damaging stimulus intensities are avoidable. Directional guides 20 such as lights are advantageous because they may be less mechanically complex or require less electricity to power than physical gates. As another option, laser diodes may be used to project a grid into the animal sensing system 10, visually 'blocking' the path. Alternatively, transient electric fields, bubble curtains, chemical repellants, or hydroacoustic presentations may be utilized. An animated or looming LED pattern or mimicked moving shadows may also be employed.

[0048]

[0044] When the directional guide 20 is a mechanical device such as a gate, the central processing unit 40 may govern a servo actuator that controls the gate. Alternatively, open-loop control can govern, for example, electronic circuits that switch device relays, serial protocols for microcontrollers, or operate LED arrays. Or, when the directional guide 20 is not a mechanical device, animal movements may be biased by a stimulus, such as a visual irritant, for example, the onset of bright illumination or of variable strobe patterns.

[0049]

[0045] In some embodiments, the directional guide 20 is a plurality of mechanical devices such as gates and / or adverse stimuli. Advantageously, when the directional guide 20 includes two or more gates or stimuli, the animal sensing system 10 may use artificial intelligence to learn which form of directional guide 20 to apply to which detected species. For example, the animal sensing system 10 may be deployed in an area where two species of fish are commonly found, and the animal sensing system 10 may learn over time, through a trial and error learning process, that a gate works most effectively for the first species of fish but a strobe light works most effectively for the second species of fish. Accordingly, the animal sensing system 10 can be trained to utilize the more effective directional guide 20 for the species of animal that has been detected from the characteristics sensed while the animal is present in the sensing area 24. Artificial network learning may be utilized to derive and automatically administer the most effective directional guide 20 or combination of directional guide 20 for each situation.

[0050]

[0046] It is understood that, although two output paths 16, 18 and two exits 32, 34 are described and shown herein for illustrative purposes, the animal sensing system 10 may include more than two output paths and exits. For example, the animal sensing system 10 may include three output paths and three exits, or four output paths and four exits. The animal sensing system 10 is not limited to binary, two-way classification, but, rather, can be used for more involved classification, sorting animals into three or more groups instead of simply two groups.

[0051] Furthermore, embodiments of the animal sensing system 10 without any physical output paths 16, 18 and exits 32, 34 are possible and encompassed within the scope of the present disclosure. For example, the embodiment of the animal sensing system 10 depicted in FIG. 7, discussed in more detail below, does not include physical structures for output paths or exits.

[0052]

[0047] The central processing unit 40 is communicatively coupled to the sensors 25 and the directional guide 20. As used herein, the term "communicatively coupled" means that the components are capable of exchanging data signals with one another such as, for example, electrical signals via conductive medium, electromagnetic signals via air, optical signals via optical waveguides, and the like. In some embodiments, the central processing unit 40 is in communication with the one or more sensors 25 and the directional guide 20 through link 42, which may be a physical connection (i.e., wired) or a wireless connection such as a Bluetooth or cellular connection. In some embodiments, the central processing unit 40 is in communication with the directional guide 20 through link 43, which may be a physical connection (i.e., wired) or a wireless connection such as a Bluetooth or cellular connection. The central processing unit 40 is configured to receive data from the sensors 25, process the received data, and control the directional guide 20, such as by controlling the position of a gate, according to the processed data so as to direct an animal within the animal sensing system 10 to a desired location through either the first exit 32 or the second exit 34.

[0053]

[0048] As depicted in FIG. 1, the central processing unit 40 may process the signals received from the sensors 25 through link 42, depicted at step 45, may determine one or more classifications based on the processed signals, depicted at step 47, and may send a command to the directional guide 20 through link 43 based on the determined classification, depicted at step 49. Furthermore, the central processing unit 40 can be communicatively coupled to one or more memory components that can store logic and / or input received from the central processing unit 40. The memory components may be RAM, ROM, a flash memory, a hard drive, or any device capable of storing machine readable instructions.

[0054]

[0049] The central processing unit 40 may be a controller, an integrated circuit, a microchip, a computer, a co-processor, cloud-deployed computing instance, or any other computing device or combination of computing devices. In one nonlimiting example, the central processing unit 40 may be or may include, for example, a Coral Dev Board with Edge Tensorflow Lite processing unit from Google, featuring a NXP i.MX 8M System on a Chip (SOC) with quad-core Cortex- A53 and 1GB of LPDDR4 RAM. Low current requirements make this processor eminently suited for field deployment. This SOC offers powerful computing, but demands respectful handling of its limited resources. Using remote command- line login and command execution via a secure shell protocol, communicating with this unit in the field may be conducted in headless mode. Open-loop control logic for this may be based on a lightweight, open source programming framework, such as an extendable, multi-threaded, java model for video tracking applications. Performance-critical functions may be dynamically included as native C libraries (OpenCV, Tensorflow Lite), producing significant performance from a system with such a small power footprint. A cellular modem may be used to centrally transmit operational summaries describing system status and activities, operational data such as local animal classification details, and a representative image for each event. Following retraining, the model may then be deployed back to the central processing unit 40 in the field in order to update the neural network model used in classification and in control of directional guide 20 control strategies.

[0055]

[0050]

[0056]

[0051] The underlying open-source computing framework (JavaGrinders) is designed to interface over a variety of networking protocols (I2C, SPI, USB2, USB3). The multivariate distribution for individual characteristics captured by the sensors may be graphically represented via t-distributed Stochastic Neighbor Embedding (t-SNE). Segmentation of the multi-dimensional data space into single species clusters can be performed with k-means and random forest algorithms. The images can be subjected to classification via a convolution neural network model using TensorFlow and OpenCV libraries. The model assigns probability scores for species identification to all individuals detected within the active sensor area. Classification details, along with a representative image, can be logged to local storage for every instance in which an animal enters the sensing area 24. The TensorFlow Lite models are able to run high performance inference locally using the hardware acceleration by the board's Edge TPU. The object detection model can be re-trained at regular intervals via a full model retraining approach (i.e., where each layer of the neural network is re-trained using the accumulated dataset of video frames). After configuring the training pipeline on a Linux workstation, the training strategy can be executed until the training converges on a stable solution. The trained model can then be converted, optimized, and compiled to run on the Edge TPU and transmitted back to the Carol Dev Board.

[0057]

[0052] The sensor 25 and central processing unit 40 may provide real-time classification with respect to the presence, number, size, and species identity of individual animals entering the sensing area 24. The sensor 25 signals the presence of an individual matching specific criteria to the central processing unit 40, which can guide the individual animal towards a desired path by controlling the directional guide 20. Efficient classification is based on a combination of morphological and behavioral traits (e.g., body shape, fin position, bending geometry), captured with sensors 25 such as visible or infrared cameras in smaller implementations, or LiDAR or SONAR imaging for applications that demand larger scales. The animal sensing system 10 can accommodate a wide range of animal sizes. For example, miniaturized versions of the animal sensing system 10 may be made for larval and small fish. The selection of traits permits the targeting of specific subsets while those outside such a range are not impacted. Assessment of diversion success may be obtained with an additional sensor circuit.

[0058]

[0053] Any of the electronics in the animal sensing system 10 may be encased within waterproof housings so as to accommodate underwater deployment of the animal sensing system 10. Also, wireless communications permit remote access to the animal sensing system 10 for maintenance, testing, data retrieval, and upload of model improvements from a central location.

[0059]

[0054] The data from the sensors 25 may be in the form of images. There are a variety of possible ways that the central processing unit 40 may process the images from the sensors 25. For example, image processing may involve background subtractions, where a reference is subtracted without objects, then the remaining difference matrix is analyzed for objects. The image processing may involve object detection to test whether an object is present, object characterization to obtain object features, or object classification to assign objects to one of several mutually exclusive categories. Single frame object outlines for measures of morphology include length, height, shape factor, orientation, color, markings, pattern, or texture. Changes in object outlines from consecutive frames can be used for measures of behavior include speed, distance, direction, motion characteristics, acceleration, or changes in shape or undulation.

[0060]

[0055] The animal sensing system 10 may use statistical classification to classify animals. Statistical classification finds a combination of features that separates classes of objects based on morphological features. Non-limiting examples include discriminant function analysis (DFA), cluster analysis, or dimension reducing methods such as t-SNE. FIG. 5 illustrates statistical classification via DFA. Training may be conducted by characterizing known species for morphological and behavioral characteristics, and then testing may involve using characteristics for unknown individuals to assign to one of these species.

[0061]

[0056] The animal sensing system 10 may use machine and deep network learning to classify animals. Machine and deep network learning may be supervised or unsupervised. FIG. 6 illustrates a classification based on deep network learning. Neural networks learn to transform data from an original raw representation into one that is optimized for identifying and distinguishing items of interest.

[0062]

[0057] The animal sensing system 10 may use genetic algorithms to classify animals. Genetic algorithms are optimized solutions to categorize object classes. Genetic algorithms solve both constrained and unconstrained optimization problems based on natural selection, by repeatedly modifying the characteristics in order to find optimized solutions for classification.

[0063]

[0058] The animal sensing system 10 may use a layer of smart technologies with artificial intelligence solutions to classify animals. The animal sensing system 10 is able to classify individual fish based on distinct, morphological and behavioral characteristics, and then exert different treatments based on the classification. In various embodiments, the animal sensing system 10 may be automated to assure selective passage of animals (i.e., as an animal sorter), prevent entrainment of animals (i.e., as an animal excluder), reject specific individuals (i.e. as a by-catch excluder in trawling nets), or specifically extract individual animals (i.e., as an animal harvester). These capabilities may be combined to provide a synthetic immune system for ecological health. The animal sensing system 10 may be adapted for different locations, functions, and needs.

[0064]

[0059] It is understood that while only certain examples of processing devices and methods are described herein, various other processing devices and methods are entirely encompassed within the scope of the present disclosure.

[0065]

[0060] The embodiment of the animal sensing system 10 depicted in FIG. 2 may be particularly useful as a fish sorter. Fish classified as desirable can be allowed to continue without disruption, while individual fish of undesirable species can be physically diverted into a holding pen. Program operations may be trained to identify a set of invasive species, and such individuals may be identified, diverted, and collected in a holding pen while all others are permitted to pass with minimal disturbance. In one non-limiting example, effective sensing operations at flow rates of up to 5 cfs are possible with a one-foot diameter input section 12. Higher flows can be accommodated with additional deployments in parallel. This embodiment of the animal sorting system 10 may be used to separate invasive species from native species at a choke point, such as a fish ladder. The central processing unit 40 may exert statistical or artificial intelligence classification as to species identity, which by itself may provide an adaptive tool for population monitoring.

[0066]

[0061] The embodiment of the animal sensing system 10 depicted in FIGS. 3-4 may be particularly useful as a fish harvester. This embodiment may perform automated capture of fish that fall within a defined morphological character space. The catch funnel 28 may be an anchored, floating platform. The entrance baffle 30 may include a mesh structure with a baffle that funnels individuals into the sensing area 24. Once a fish has entered the sensing area 24, the fish can only exit by passing through the animal sensing system 10. Individual fish recognized as invasive species, for example, can be directed toward the one of the first exit 32 or second exit 34 that empties into a holding pen. Other individual fish are ignored and permitted to freely continue back into the surrounding environment, through the other of the first exit 32 or second exit 34. The animal sensing system 10 may be deployed near a made-made object 52, such as a dam, as depicted in FIG. 3, or may be deployed nearby no known structure, as depicted in FIG. 4.

[0067]

[0062] FIG. 7 depicts an alternative embodiments of the animal sensing system 10 adapted for fish exclusion, for instance in the area of a hazard. In this embodiment, a sensor 25 is positioned next to an intake pipe 50 in order to image the area in front of the intake pipe 50. The imaging space is subdivided into a detection zone 44 and an assessment zone 46. The initial detection zone 44 triggers deterrent interventions from the directional guide 20 surrounding the intake pipe 50. The success of the deterrent interventions is judged by whether the fish exits the danger zone instead of continuing towards it and into the assessment zone 46. Notably, in this embodiment, the animal sensing system 10 does not include physical exits. Rather, this embodiment of the animal sensing system 10 is adapted for a situation in which its purpose is to ward off animals away from a hazard, and learn the best approach for doing so for each species it encounters.

[0068]

[0063] The embodiment of the animal sensing system 10 depicted in FIG. 7 may be fitted around an existing intake pipe 50, for example at a turbine. The deterrent interventions from the directional guide 20 may be trained onto the space where the fish are exposed to imminent danger from the turbine. The sensor 25 may be side-mounted and be configured to image the area in front of the intake pipe 50 while a set of behavioral deterrents from the directional guide 20 are deployed surrounding the pipe rim. As water is diverted, fish generally face against the flow and are drawn into the detection zone 44 facing out. A fish approaching the detection zone 44 triggers adaptive deployment of behavioral repellents from the directional guide 20. This mode of triggering deterrents, as opposed to operating continuously, boosts effectiveness with reduced adaptation to the aversive cue and reduced cost of operation. In addition, species recognition permits the selection of the most effective strategies for the specific target in the danger zone near the turbine.

[0069]

[0064] Effectiveness may be judged by whether the fish continues into the assessment zone 46 despite the behavioral deterrents 48, or whether the deterrent intervention was successful in preventing further encroachment into the intake pipe 50. The effective limit on the diameter of the intake pipe 50 depends on the sensor 25 being deployed. With infrared imaging, for example, pipe diameter options may be below about 1 m. However, substantially larger diameters are possible with sensors 25 that offer greater range, such as LiDAR or SONAR.

[0070]

[0065] The effectiveness of each attempt to turn away an individual fish from the danger through the intake pipe 50 (e.g., from a turbine) can be recorded. Over time, the performance of the animal sensing system 10 improves as accumulating information informs the selection of the most effective deterrence strategies using neural network learning. This flexibility allows the animal sensing system 10 to adjust selected deterrents depending on target species, adjust to environmental conditions and rainfall, and anticipate diurnal or seasonal changes in species composition or size class frequency.

[0071]

[0066] The animal sensing system 10 may continuously and autonomously monitor a site for passing fish, then exact physical or sensory guidance cues. With the ability to adjust operations to current and predicted needs, and to continuously improve efficacy, the animal sensing system 10 is versatile and multipurpose. The animal sensing system 10 may be self-contained and field- deployed so as to selectively limit the harmful consequences that migratory animals experience when encountering man-made barriers and impediments.

[0072]

[0067] In use, operational data may be saved locally each time the animal sensing system 10 is triggered, and then uploaded to a central facility at regular intervals. This may include an image of the individual animals passing through the animal sensing system 10, information about whether and what actions were triggered, and a record of the outcome. As information accumulates, collected data may be reexamined at regular intervals with machine learning algorithms, and the improved models may be uploaded back to the system for enhanced function. Over time, this approach may progressively enhance the effectiveness of convolution layers for classifying individual fish, for example for assigning species identity, and to increase success of individual deterrent interventions. Artificial network learning may be utilized to derive and automatically administer the most effective combination of deterrents for each situation. Artificial network learning may be utilized to derive and automatically administer the most effective combination of deterrents for each situation.

[0073]

[0068] FIG. 8 depicts an alternative embodiment of the animal sensing system 10 in which the animal sensing system 10 includes a significant number of exits 32, 34. In this embodiment, the animal sensing system 10 may be particularly useful for reducing by-catch in trawling nets. Trawling is a method of fishing that involves pulling a fishing net through the water behind one or more boats. Often, trawling nets inadvertently entangle animals such as dolphins or other species that are unintended. The animal sensing system 10 may be employed in or around a trawling net to distinguish between the fish desired to be caught and unwanted catches. In this embodiment, the animal sensing system 10 is composed of a plurality of modules 100 each comprising a first exit 32, and a second exit 34. Each module 100 is connected in parallel on a platform 50. The platform 50 may be buoyant and cause the animal sensing system 10 to float. The high number of exits 32, 34 allows for high throughput, which is important because large numbers of fish are often captured in trawling nets. In some embodiments, the modules 100 share the same entrance 22, while in other embodiments, each module 100 includes its own entrance 22. The entrance(s) 22 may be placed within or nearby the trawling net. Each module 100 may include its own sensing area 24 and sensors 25, and may communicate with the same central processing unit 40 or a plurality of central processing units 40. The central processing unit(s) 40, in turn, control directional guides 20 within each module 100 to allow access to either the first exit 32 or the second exit 34. The directional guide 20 may be in the form of a mechanical door or opening in the platform 50, but may be any other suitable mechanism or stimuli as discussed above. The first exits 32 may be directed to a location within the trawling net, while the second exits 34 may be directed to a location out of the trawling net. Other arrangements for where the first and second exits 32, 34 lead are entirely possible and within the scope of the present disclosure.

[0074]

[0069] As another example, an animal sensing system 10 as described herein can be employed in connection with a fish farm, to act as a sick bay for fish identified by the animal sensing system 10 to be diseased or injured. In such an embodiment, the animal sensing system 10 may separate the diseased or injured fish from the general population in a holding pen for a period of quarantine or immediate removal. Furthermore, an animal sensing system 10 may be utilized in connection with a fish farm for selecting and separating fish for harvesting based on size, sex, or other characteristics.

[0075]

[0070] The physical components of the animal sensing system 10 may be constructed out of any suitable material, including plastics such as PVC, metals, wood, or combinations thereof. The optimal material for the animal sensing system 10 will depend on the desired use for the animal sensing system 10. For example, when the animal sensing system 10 is going to be submerged under water, the animal sensing system 10 should be constructed from a material suitable for prolonged submersion under water, such as PVC.

[0076]

[0071] The animal sensing system 10 may be powered by grid power. A direct grid supply with main cables can be supplied to power the animal sensing system 10, with occasional charging of a battery backup. Alternatively, the animal sensing system 10 can be configured with solar panels, wind power generation devices, or current and wave power generation devices in order to generate sufficient power to run without grid power. The animal sensing system 10 may include a number of photovoltaic cells with deep discharge batteries, fuel cells, power generators, and the like for distributed energy generation and storage.

[0072] The animal sensing system 10 may be operated remotely. The animal sensing system 10 may include sufficient communications equipment in order to be connected to a network. The animal sensing system 10 may further include one or more features which adjust the animal sensing system 10 to changes in weather, water levels, turbidity in water in which the animal sensing system 10 is disposed, temperature, salinity of water in which the animal sensing system 10 is disposed, and the time of day (i.e., whether it is light or dark). For example, the animal sensing system 10 may include a clock in order to determine an appropriate time to illuminate bait in a bait station with a suitable light source.

[0077]

[0073] In some circumstances, early detection of diseased individuals is important for many reasons, such as for countering the spread of disease in aquaculture facilities or in the environment. Advantageously, the animal sensing system 10 can detect and classify animals based on signs or characteristics of diseases. For example, skin changes can be a sign of red pest, mouth fungus, scale and fin rot, Rust, leeches, Costia, Myxosoma, or Saprolegnia. Shape changes can be a sign of tuberculosis, scale protrusion, or nematodes. Scraping behavior on rough objects can be a sign of Ergasilus, Lernacea, flukes, or nematodes. Sluggish behavior can be a sign of Ichthyosporidium, Hexamita, Plistophora, Chilodonella, or Myxosporidisis. Many other indicators of diseases are known and can be used to classify animals as likely diseased or not likely diseased.

[0078]

[0074] Furthermore, diseased animals may be detected by deploying a fluorescent tag which binds to pathogens in the skin of animals, and then detected fluorescence from the fluorescent tag. Accordingly, the animal sensing system 10 may further include a delivery system for delivering a fluorescent tag into the environment in or around the animal sensing system 10.

[0075] Although sensing of morphological or behavioral characteristics are described for exemplary purposes, sorting on the basis of other types of characteristics is entirely possible and within the scope of the present disclosure. For example, sorting animals on the basis of size or sex may be desired for applications such as fish farming. This may allow for improved packaging, gamete harvesting, artificial selection for size, or splitting of a population.

[0079]

[0076] Referring now to FIG. 9, a non-limiting example method of classifying or counting an animal is depicted. Characteristics of known animals may be collected as a first step, to train the central processing unit. However, this supervised learning is optional. One or more characteristics of an animal is sensed as the animal passes by a sensor, such as a sensor within the sensing area of an apparatus defining tubular cavities. The sensed characteristics are then communicated from the sensor to a central processing unit, which counts or classifies the animal based on the sensed characteristics. The central processing unit may either control a directional guide to motivate a direction of travel of the animal based on the classification, or may communicate a count of the animal to a network or to memory.

[0080]

[0077] The animal sensing system may provide an automated alternative to manual collection or poisoning of undesired species, and may alternatively be used to count animals. The animal sensing system is particularly useful as a fish sorter, but may be used to count or sort other animals and is by no means limited to being used under water. For example, the animal sensing system may be used to sort specific species of rats from other animals (e.g., on islands), or rabbits, pythons, or toads from other animals. When used as a fish sorter, the animal sensing system may be deployed in areas where organisms naturally want to move, such as migrations or spawning locations. Advantageously, the animal sensing system may be low-profile and leave little to no environmental impact on the environment in which it is deployed. Detection algorithms can be tailored to target any combination of size classes or life stages.

[0081]

[0078] Referring again to the drawings, there is illustrated in FIGS. 10 and 11 perspective views of a first embodiment of a self-closing baffle 110. The selfclosing baffle 110 is shown in a normally closed position in FIG. 10 and in an open position in FIG. 11.

[0082]

[0079] The self-closing baffle 110 includes a body 112 having a generally conical shape when closed. The body 112 has a first end 114 and a second end 116 and includes a circular base 118 having a first end 118A and a second end 118B, and a plurality of generally triangular leaves or segments 120 that extend longitudinally from the second end 118B of the base 118 and define a wall of the body 112. A first end 122 of each segment 120 is movably attached to the second end 118B of the base 118. A resilient connector 124 is attached to the plurality of segments 120, the purpose for which is described below.

[0083]

[0080] The self-closing baffle 110 is configured to move between a normally closed position, wherein the resilient connector 124 urges the segments 120 radially inwardly and the second end 116 of the body 112 is closed, as shown in FIG. 10, and an open position, wherein the second end 116 of the body 112 is open, as shown in FIG. 11. When in the normally closed position, the conical body 112 defines an internal cavity suitable for an animal to enter.

[0084]

[0081] In operation, the self-closing baffle 110 may be a component of an animal trap (not shown) and positioned at the entrance thereof. Alternatively, the self-closing baffle 110 may be a component of any of the embodiments of the animal sensing systems 10 described and illustrated herein.

[0082] In use, the self-closing baffle 110 remains in the normally closed position as shown in FIG. 10 without an external force being applied thereto. When an animal enters the self-closing baffle 110 at the first end 114 thereof in the direction of the arrow A, the animal may exert a force on the segments 120, causing the resilient connector 124 to expand and the segments 120 to move radially outwardly, thus moving the self-closing baffle 110 to the open position as shown in FIG. 11 , and allowing an animal to transit therethrough.

[0085]

[0083] Once the animal transits through the self-closing baffle 110 and into the trap (not shown) or the animal sensing system 10, the force exerted by the animal on the segments 120 is removed, and the resilient connector 124 urges the segments radially inward, thus returning the self-closing baffle 110 to the normally closed position and preventing the animal from retreating or egressing therethrough.

[0086]

[0084] It will be understood that the resilient connector 124 may be continuous band, as shown in FIGS. 10 and 11, or the resilient connector 124 may configured as a plurality of segmented connectors (not shown) extending between each adjacent segment 120. The resilient connector 124 may be formed from any desired resilient material, including but not limited to rubber, silicone, EPDM, and other elastomers.

[0087]

[0085] Referring now to FIGS. 12 and 13 a second embodiment of a selfclosing baffle 126 is shown. The self-closing baffle 126 is shown in an open position in FIG. 12 and in a normally closed position in FIG. 13.

[0088]

[0086] The self-closing baffle 126 includes a body 128 having a generally conical shape when closed. The body 128 has a first end 130 and a second end 132 and includes a circular base 134 having a first end 134 A and a second end 134B, and a plurality of elongated, rigid rods 136 that extend longitudinally from the second end 134B of the base 134 and define a wall of the body 128. A first end 138 of each rod 136 is movably attached to the second end 134B of the base 134, such that the self-closing baffle 126 is normally in the normally closed position, as shown in FIG. 13. When in the normally closed position, each of the rods 136 are directed radially inwardly, such that the rods 136 intersect at an intersection point 140 and define an interlocking mesh.

[0089]

[0087] The self-closing baffle 126 is configured to move between a normally closed position, wherein the second end 132 of the body 128 is closed, as shown in FIG. 13 and an open position, wherein the second end 132 of the body 128 is open, as shown in FIG. 12. When in the normally closed position, the conical body 128 defines an internal cavity suitable for an animal to enter.

[0090]

[0088] In operation, the self-closing baffle 126 may be a component of an animal trap (not shown) and positioned at the entrance thereof. Alternatively, the self-closing baffle 126 may be a component of any of the embodiments of the animal sensing systems 10 described and illustrated herein.

[0091]

[0089] In use, the self-closing baffle 126 remains in the normally closed position as shown in FIG. 13 without an external force being applied thereto. When an animal enters the self-closing baffle 126 at the first end 130 thereof in the direction of the arrow B, the animal may exert a force on the rods 136, causing the rods 136 to move radially outwardly, thus moving the self-closing baffle 126 to the open position as shown in FIG. 12, and allowing an animal to transit therethrough.

[0092]

[0090] Once the animal transits through the self-closing baffle 126 and into the trap (not shown) or the animal sensing system 10, the force exerted by the animal on the rods 136 is removed, the rods 136 move radially inwardly, thus returning the self-closing baffle 126 to the normally closed position and preventing the animal from retreating or egressing therethrough.

[0093]

[0091] Referring now to FIG. 14 a third embodiment of a self-closing baffle 150 is shown. The self-closing baffle 150 is shown in an open position in FIG. 14. The self-closing baffle 150 is similar to the self-closing baffle 126 and includes a body 152 having a generally conical shape when closed. The body 152 has a first end 154 and a second end 156 and includes a circular base 158 having a first end 158 A and a second end 158B, and a plurality of elongated, rigid rods 160 that extend longitudinally from the second end 158B of the base 158 and define a wall of the body 152. A first end 162 of each rod 160 is movably attached to the second end 158B of the base 158, such that the self-closing baffle 150 is normally in a normally closed position (not shown), similar to the closed position shown in FIG.

[0094] 13. When in the normally closed position, each of the rods 160 are directed radially inwardly, such that the rods 160 intersect at an intersection point (not shown) and define an interlocking mesh.

[0095]

[0092] Like the self-closing baffle 126, the self-closing baffle 150 is configured to move between a normally closed position (not shown), wherein the second end 156 of the body 152 is closed, and an open position, wherein the second end 156 of the body 152 is open, as shown in FIG. 14. When in the normally closed position, the conical body 152 defines an internal cavity suitable for an animal to enter. The self-closing baffle 150 operates in the same manner as the self-closing baffle 126.

[0096]

[0093] The physical components of the self-closing baffles 110, 126, and 150 may be formed from any suitable material, including plastics such as PVC, metals, wood, or combinations thereof. The optimal material for the self-closing baffles 110, 126, and 150 will depend on the desired use for the self-closing baffles 110, 126, and 150. For example, when the self-closing baffles 110, 126, and 150 are used an animal sensing system 10 that is going to be submerged under water, the self-closing baffles 110, 126, and 150 should be constructed from a material suitable for prolonged submersion under water, such as PVC.

[0097]

[0094] It will be understood that the self-closing baffles 110, 126, and 150 may be used in the various embodiments of the animal sensing system 10 described and illustrated herein. Additionally, the self-closing baffles 110, 126, and 150 may also be used in the other devices, such as animal traps (not shown).

[0098]

[0095] The self-closing baffles 110, 126, and 150 disclosed herein are configured to move from a normally closed position to a temporarily open position that assures that an animal is only able to transit in one direction. The self-closing baffles 110, 126, and 150 are designed as an improvement over known static baffles which commonly include an inwardly directed funnel with a central opening. The self-closing baffles 110, 126, and 150 are designed to automatically close the opening therethrough after the animal has passed through. This is achieved because each of the self-closing baffles 110, 126, and 150 may be pushed open easily when an animal passes in one direction, but animal transit is denied in an opposite direction because each of the self-closing baffles 110, 126, and 150 are returned to a closed position once the animal passes through.

[0099]

[0096] The principle and mode of operation of this invention have been explained and illustrated in its preferred embodiment. However, it must be understood that this invention may be practiced otherwise than as specifically explained and illustrated without departing from its spirit or scope.

Claims

CLAIMSWhat is claimed is:

1. A self-closing baffle comprising:a body having a first end and a second end, the body having:a circular base having a first end and a second end; and a plurality of triangular segments extending longitudinally from one end of the base and that define a wall of the body;wherein a first end of each segment is movably attached to the second end of the base.

2. The self-closing baffle according to Claim 1, wherein the body has a conical shape when closed.

3. The self-closing baffle according to Claim 2, further including a resilient connector attached to the plurality of segments.

4. The self-closing baffle according to Claim 3, wherein the selfclosing baffle is configured to move between a normally closed position, wherein the resilient connector urges the segments radially inwardly and the second end of the body is closed, and an open position, wherein the second end of the body is open.

5. The self-closing baffle according to Claim 4, wherein when in the normally closed position, the body defines an internal cavity suitable for an animal to enter.

6. The self-closing baffle according to Claim 1, wherein the selfclosing baffle is movable between a normally closed position, wherein the segments extend radially inwardly and the second end of the body is closed, and an open position, wherein the second end of the body is open.

7. The self-closing baffle according to Claim 6, wherein when in the normally closed position, the body defines an internal cavity suitable for an animal to enter.

8. A self-closing baffle comprising:a body having a first end and a second end, the body having:a circular base having a first end and a second end; and a plurality of elongated rigid rods that define a wall of the body; wherein a first end of each rod is movably attached to the second end of the base.

9. The self-closing baffle according to Claim 8, wherein the body has a conical shape when closed.

10. The self-closing baffle according to Claim 9, wherein the selfclosing baffle is configured to move between a normally closed position, wherein the rods are directed radially inwardly such that the rods intersect and define an interlocking mesh and the second end of the body is closed, and an open position, wherein the second end of the body is open.

11. The self-closing baffle according to Claim 10, wherein when in the normally closed position, the body defines an internal cavity suitable for an animal to enter.

12. The self-closing baffle according to Claim 8, wherein the selfclosing baffle is movable between a normally closed position, wherein the rods are directed radially inwardly such that the rods intersect and define an interlocking mesh and the second end of the body is closed, and an open position, wherein the second end of the body is open.

13. The self-closing baffle according to Claim 12, wherein when in the normally closed position, the body defines an internal cavity suitable for an animal to enter.

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