Key information

Title
Method and system for automated vaccination and sorting alive fish
Application number
20170365
Case type
National
Status
11.02.2019 Patent meddelt (B1)
Filed
13.03.2017
Effective date
13.03.2017
Publicly available
14.09.2018
Next annual fee due
31.03.2027
Applicant
SKALA MASKON AS (NO)
Owner
MASKON AS (NO)
Inventor
Jon Anders Leikvoll (NO) et al.
Agent
ACAPO ONSAGERS AS (NO)
Granted
11.02.2019
Patent number
343355
Expiry date
13.03.2037

Abstract and drawing

Disclaimer: This text has been machine-scanned and may contain errors – please refer to "Publications" for legally binding content.
Method and system for automated vaccinating and sorting alive fish, comprising transporting fish by means of a transport unit (10) past at least one detection unit (20) acquiring information about each transported fish, wherein, based on analysis of the acquired information from the at least one detection unit (20) of each transported fish, a vaccination and sorting unit (30) is positioned in vicinity of a desired fish, engages and retains the desired fish, and with the fish retained to the vaccination and sorting unit (30) the fish is vaccinated and sorted in one operation.

Publications

B1A1
Checking availability of the latest published version...

Documents

 Expand Download files (36)
Date
 Date Doc. No. Process Case number In/Out Journal description To/from
 18.09.2023 02-01 Overdragelse av søknad/rettighet 2023/12965 UT GH Forespørsel CURO AS
 05.09.2023 01-03 Overdragelse av søknad/rettighet 2023/12965 INN Fullmakt_Maskon CURO AS
 05.09.2023 01-02 Overdragelse av søknad/rettighet 2023/12965 INN Assignment_Skala Maskon CURO AS
 05.09.2023 01-01 Overdragelse av søknad/rettighet 2023/12965 INN Generell henvendelse CURO AS
 13.02.2019 15-01 Saksbehandling 20170365 UT PT Registreringsbrev Nasjonal Patent (15) (PT20170365)
05.02.2019 14-01 Saksbehandling 20170365 UT PT Varsel om betaling av første årsavgift (3317) (PT20170365)
05.12.2018 13-01 Saksbehandling 20170365 UT PT Meddelelse om patent CURO AS
 16.11.2018 12-05 Saksbehandling 20170365 INN Beskrivelse merket CURO AS
 16.11.2018 12-04 Saksbehandling 20170365 INN Krav CURO AS
 16.11.2018 12-03 Saksbehandling 20170365 INN Hovedbrev CURO AS
 16.11.2018 12-02 Saksbehandling 20170365 INN Beskrivelse ren CURO AS
 16.11.2018 12-01 Saksbehandling 20170365 INN Korrespondanse (Hovedbrev inn) CURO AS
 20.10.2018 11-01 Saksbehandling 20170365 UT Realitet patent CURO AS
 21.09.2018 10-04 Saksbehandling 20170365 INN Krav ren CURO AS
 21.09.2018 10-03 Saksbehandling 20170365 INN Hovedbrev CURO AS
 21.09.2018 10-02 Saksbehandling 20170365 INN Krav merket CURO AS
 21.09.2018 10-01 Saksbehandling 20170365 INN Korrespondanse (Hovedbrev inn) CURO AS
 22.06.2018 09-01 Saksbehandling 20170365 UT Realitet patent CURO AS
 23.03.2018 08-02 Saksbehandling 20170365 INN Hovedbrev CURO AS
 23.03.2018 08-01 Saksbehandling 20170365 INN Korrespondanse (Hovedbrev inn) CURO AS
 13.12.2017 07-02 Saksbehandling 20170365 UT PT report 12:27:12
13.12.2017 07-01 Saksbehandling 20170365 UT Realitet patent Curo AS
 19.09.2017 06-04 Saksbehandling 20170365 INN Krav merket Curo AS
 19.09.2017 06-03 Saksbehandling 20170365 INN Krav ren Curo AS
 19.09.2017 06-02 Saksbehandling 20170365 INN Hovedbrev Curo AS
 19.09.2017 06-01 Saksbehandling 20170365 INN Korrespondanse (Hovedbrev inn) Curo AS
 10.08.2017 05-02 Saksbehandling 20170365 UT PT report 10:50:42
10.08.2017 05-01 Saksbehandling 20170365 UT Realitet patent Curo AS
 19.05.2017 04-03 Saksbehandling 20170365 INN Overdragelsesdokument Curo AS
 19.05.2017 04-02 Saksbehandling 20170365 INN Fullmakt Curo AS
 19.05.2017 04-01 Saksbehandling 20170365 INN Korrespondanse (Hovedbrev inn) Curo AS
 15.03.2017 03-01 Saksbehandling 20170365 UT Formalia 1 Curo AS
 15.03.2017 02-01 Saksbehandling 20170365 UT Infobrev til oppfinner Curo AS
 13.03.2017 01-03 Saksbehandling 20170365 INN Beskrivelse Curo AS
 13.03.2017 01-02 Saksbehandling 20170365 INN Tegninger Curo AS
 13.03.2017 01-01 Saksbehandling 20170365 INN Søknadsskjema Patent Curo AS

Description, claims and drawings

Disclaimer: This text has been machine-scanned and may contain errors – please refer to "Publications" for legally binding content. Description
Method and system for automated vaccination and sorting alive fishThe present invention is related to a method for automated vaccination and sorting alive fish, according to the preamble of claim 1.The present invention is also related to a system for automated vaccination and sorting alive fish, according to the preamble of claim 8.BackgroundEven though there exists semi-automatic/automatic vaccination machines, at lot of vaccination is still performed manually. Some of the semi-automatic machines have sensors which measure length and color nuance. By length registration injection point in longitudinal direction is determined, and a fixed injection depth (mechanical) which is dependent of the length of the fish. In addition it is registered if the fish is positioned correct (abdomen upside/down) prior to vaccination, by means of color sensors. Sorting is based on the length of the fish.From NO 320008 it is known a method for automatic injection of a composition in alive fish. The fish is fed forward by a conveyor located in compartments wherein each fish is oriented transversely to the feeding direction. Each fish is measured with regard to size, and an injection unit is adjusted for each measured fish for positioning against an injection position toward the fish, dependent on the measured size of the fish. The injection is performed through an injection movement to a selected injection depth by means of a needle at the selected injection point on each conveyed fish and supply of a composition via a needle.NO 172831 describes an apparatus for separate handing of alive fish comprising a number of supporting means arranged radially onto a rotary table which is arranged on a table of stainless steel, on which a pool for fish is arranged, having a gutter, a vaccination apparatus and a control cabinet. By turning the rotary table, fish in the respective support is moved to different positions. The bottom of each support can be opened so that the fish is released and through an outlet pipe is guided to a pool of water.The disadvantage of determining injection point, injection depth and sorting only by means of one parameter (the length of the fish) is reduced accuracy. It is also difficult to evaluate if a fish is injured by means of only length sensors/color sensors.A solution which solves many of the above mentioned disadvantages is described in WO2012008843 in the name of the applicant. In WO2012008843 it is described a method and system for recognizing, vaccinating, sorting and documenting alive fish. The system includes a control unit, means for acquiring information about fish, transportation means to transport fish past means for acquiring information about fish, and means for vaccinating the individual fish. The system is arranged for detecting/recognizing one or more of the following parameters of the individual fish: I. length of the fish (fork length), II. height of the fish, III. thickness of the fish, and based on this information instruct means for sorting fish to sort out unwanted fish prior to vaccination, or instruct means for vaccinating fish, and instructing means for sorting fish after vaccination or sorting out untreated fish.Drawbacks of this solution is that it requires that the supplied fish is singularized and that the fish is supplied in correct position as regards head first, requiring a separate unit for this in front of transportation means. It further requires a separate means for vaccination at the end of the transportation means. Accordingly, this solution is space demanding. It further requires that the fish will have to stay unnecessary long in treatment state.It is accordingly a need for a system and method for automated vaccination and sorting alive fish which does not require strict control of the supply of fish as regards singularization or arranging the fish in a special head/tail fin orientation.It is further a need for a system and method for automated vaccination and sorting alive fish that is less space demanding than prior art solutions.There is also a need for a system and method for automated vaccination and sorting alive fish that more easily can be adapted as regards vaccination and sorting desires of a user.ObjectThe main object of the present invention is to provide a method and system for automated vaccination and sorting alive fish partly or entirely solving the disadvantages of prior art.It is further an object of the present invention to provide a method and system for automated vaccination and sorting alive fish providing accurate and effective fully automatic, i.e. without manual intervention, vaccination and sorting alive, but anesthetized fish, providing gentle and ethic vaccination and sorting of fish.It is further an object of the present invention to provide system for automated vaccination and sorting alive fish which is scalable in relation to the amount of fish to be vaccinated and sorted. An object of the present invention is to provide a system for automated vaccination and sorting alive fish which is compact and space saving compared to prior art solutions.It is an object of the present invention to provide a method and system for automated vaccination and sorting alive fish which in addition are able to document the fish, e.g. from fork length, height, injuries, cuts, gender, biomass etc.An object of the present invention is to provide a system and method for automated vaccination and sorting alive fish which can be extended in relation to the amount of fish being supplied for vaccination and sorting. It is an object of the present invention to provide a system and method for automated vaccination and sorting alive fish wherein vaccination and sorting are performed in one operation. It is further an object of the present invention to provide a system and method for automated vaccination and sorting alive fish which in addition can be arranged for marking of fish, sampling of fish or recognition of fish.Further objects of the present invention will appear from the following description, claims and attached drawings.The inventionA method according to the invention is disclosed in claim 1. Preferable features of the method are disclosed in claims 2-7.A system according to the invention is disclosed in claim 8. Preferable features of the system are disclosed in claims 9-16.A system for automated vaccination and sorting alive fish according to the present invention comprises at least one transport unit, at least one detection unit and at least one vaccination and sorting unit, wherein the vaccination and sorting unit is arranged for combined vaccination and sorting in one operation.In addition the system is connected to at least one supply unit/system for supply of alive, but anesthetized fish.The transport unit is preferably an endless conveyer belt driven by one or more electric motors. The detection unit is a vision system comprising at least one camera, and optionally one or more illumination sources. The illumination source can e.g. be a line generator arranged perpendicularly to the transport unit. The detection unit is preferably arranged at a distance above the transport unit and a distance in front of the vaccination and sorting unit, seen in longitudinal direction of the transport unit. The camera and illumination source are preferably arranged at approximately the same height above the transport unit, wherein the illumination source is arranged in front of the camera(s), such that they form an angle in relation to each other.By this is achieved a 3D measurement of the fish passing the detection unit, such that it is possible to achieve a orthographical map of the fish, as well as one can find border lines of the fish making it possible to detect/estimate size of the fish, i.e. fish length (fork length), fish height, fish thickness, as well as detect injuries, deviations, gender and calculating biomass (theoretical weight) by image analysis.The vaccination and sorting unit is movably arranged above the transport unit and arranged for movement in longitudinal direction of the transport unit, in transversal direction of the transport unit, and provided with a rotational interface for arrangement of a retaining device and a vaccination device. The vaccination and sorting unit can further be movable in vertical direction in relation to the transport unit.The retaining device according to the present invention is preferably in the form of a suction device, capable of production of an underpressure, and thus safely and gently retaining a fish to the vaccination device by engagement with a fish.The vaccination device according to the present invention comprises an injection unit and dosage unit for vaccination of a fish retained by the retaining device. The injection unit and dosage unit according to the present invention can be arranged for single vaccination or poly-vaccination, e.g. in abdomen in a defined injection point, or muscular vaccination.Further, the vaccination and sorting unit is arranged for sorting fish at the same time as the fish is being vaccinated, sorting unvaccinated fish or sorting out unwanted fish not to be vaccinated. In this way, a system has been provided for recognition/detection, vaccination, sorting and documentation of fish.By means of the at least one detection unit information about each transported fish can be documented, e.g. by fork length, height, injuries, deviation, gender, biomass (theoretical weight). The system further includes a control unit, which based on the same information is provided with software and/or means for calculating, determining and/or performing one or more of the following actions:- injection coordinates for vaccination,- depth of vaccination, e.g. injection depth,- sorting fish at the same time as performing vaccination,- sorting out fish not to be vaccinated, e.g. because of injuries or deviation, gender, or based on length, height,- calculating biomass (theoretical weight).In addition to the points and actions mentioned above the system is arranged to be coordinated against the origin of the fish. With this is meant from which fish container, batch, etc. the fish was supplied to the system according to the invention, and thus complete documentation of the individual fish be can achieved.The control unit is further provided with software and/or means for controlling the vaccination and sorting unit based on the analyzed information from the detection unit(s) and preset settings. Accordingly, the vaccination and sorting unit is arranged to, based on information from the detection unit(s), engage a desired fish on the transport unit, retain the fish safely and gently and perform vaccination and sorting in one operation, alternatively sorting without vaccination.The system works in the way that fish, preferably anesthetized fish, is fed to the transport unit. Then the fish is transported by the transport unit past the detection units(s) that detects/recognizes parameters of the individual fish.While fish is being transported by the transport unit, said transport unit preferably being in a continuous motion at a constant speed, past the detection unit (s), information (each image) about each fish is analyzed and sent to the control unit, which is arranged to control the vaccination and sorting unit, retaining device and vaccination device. By means of the information from the detection unit(s), each fish is analyzed on basis of e.g. fork length and height of the fish, alternatively also thickness of the fish. Moreover, the system can be arranged to detect or evaluate any injuries, such as gill cover, humpback, pinching injuries etc. Moreover, the system can be arranged to detect the gender of the fish.Based on the evaluation/analysis the control unit controls/instructs the vaccination and sorting unit, retaining device and vaccination device with desired settings. Based on the settings the vaccination and sorting unit is controlled to position the vaccination device in the vicinity of a desired fish. Hereunder also settings for optimal injection point and optimal injection depth for vaccination of the actual fish, including suitable dosage quantity, is sent to the vaccination device, as well as activation of the retaining device.The vaccination and sorting unit is also provided with sorting instructions, so that a movement for sorting is performed at the same time as the fish is vaccinated, such that when the vaccination has been performed, the retaining device is deactivated and the fish is dropped in a correct sorting line. If the analysis result in that no vaccination is to be performed, e.g. due to injuries or similar on the fish or non-detectable fish, the fish is either moved directly to correct sorting line or not picked up at all by the vaccination and sorting unit, but instead sorted out to correct sorting line at the end of the transport unit by a sorting device arranged at the end.Information/data which is generated preferably also provides information about biomass (theoretical weight) of the fish batch being treated, preferably also including injures etc. in percentages.The theoretical weight, i.e. the biomass, is a calculation based on fork length and height of the fish, but thickness of the fish can also be a relevant parameter.Accordingly, by that the vaccination and sorting unit is movable in several directions in relation to the transport unit and that the retaining device and vaccination device are arranged to the vaccination and sorting unit by means of a rotational interface, this results in that the system according to the present invention does not require a strict control of the supply of fish to the transport unit, i.e. it does not require that the fish is singularized and/or with head/tail fin oriented in the longitudinal direction/direction of movement, which is the case with prior art solutions, while still it is ensured that fish is being vaccinated and sorted separately. The sorting lines preferably includes one or more sorting channels, where for example one sorting channel is for fish of one given size, another sorting channel is for fish of another given size etc., and for example one sorting channel for non-vaccinated fish, i.e. for example fish that has been sorted out because of injuries or similar.Accordingly, a method for automated vaccination and sorting alive fish according to the present invention comprises transporting fish by means of a transport unit past at least one detection unit acquiring information about each transported fish and based on analysis of the acquired information:- position a vaccination and sorting unit in vicinity of a desired fish,- engage and retain the desired fish to the vaccination and sorting unit, and- with the fish retained to the vaccination and sorting unit vaccinate and sort the fish in one operation.The method according to the present invention comprises retaining the fish by means of a suction device.The method further comprises analysis of information from the at least one detection unit for detection/recognition of one or more of the following parameters of the individual fish:I. fish length (fork length),II. fish height,III. fish thickness,IV. injuries, deviations,V. gender,VI. calculating biomass (theoretical weight).The method according to the present invention further comprises performing a single or poly vaccination in abdomen of a fish, or muscular vaccination.The method according to the present invention can further comprise, based on analyzed information of each fish, sort out unwanted fish without vaccination or sorting out un-vaccinated fish. Unwanted fish will typically be fish that has injuries, cuts or deviations, but also length, height, biomass, or gender can be criteria for unwanted fish.According to the present invention the method comprises sorting fish in the same operation as vaccination based on length, height, biomass, and/or gender.Further, the method according to the present invention can further include providing a vaccination device of the vaccination and sorting unit with injection coordinates, injection depth, dosage quantity, etc.The method according to the present invention can further comprise documenting information about each fish, e.g. by fork length, height, injuries, deviation, gender, biomass (theoretical weight), as well as coordinating the information against the origin of the fish. With coordination of information is meant from which fish container, batch, etc. the fish was supplied to the system according to the invention, and thus can complete documentation of the individual fish be achieved.According to the present invention, the method can further comprise, based on analyzed information from the detection unit(s) determining that a fish is not to be vaccinated, e.g. due to injuries, deviation, or similar, leave the fish on the transport unit and sort the fish out at the end of the transport unit by a sorting device arranged at the end of the transport unit.Accordingly, with the present invention there is no requirement that fish will have to be moved to a separate unit for vaccination and/or sorting, but the fish can be engaged directly on the transport unit by the vaccination and sorting unit. This results in that the system can be designed as a compact unit, accordingly less space demanding than the prior known solutions.Further, the time the fish will have to be in the system is limited, as the fish is addressed already on the transport unit, while in prior art systems the fish will have to be moved to a separate unit before being vaccinated and thereafter sorted by a separate unit.Due to the degrees of freedom of the vaccination and sorting unit and accordingly the retaining device and vaccination device there will be no requirement for units turning the fish in desired back/abdomen direction, as the system will be able to handle fish in any direction.It will of course be preferable for the efficiency of the system that the fish is supplied approximately singularized to the transport unit and/or with fish aligned in longitudinal direction of the transport unit or knowing whether abdomen or back is directed upwards, nose ahead etc., as this will result in saved time in positioning of the vaccination and sorting unit and vaccination device.Further details and advantageous features of the invention will appear from the following example description.ExampleIn the following, the invention will be described in more detail with reference to the attached drawings, whereFigure 1 is a principle drawing of a system according to the invention,Figure 2 is a principle drawing of a vaccination and sorting unit according to the present invention, andFigure 3 is a block diagram of a system according to the present invention. Reference is now made to Figure 1 which illustrates a principle drawing of a system for automated vaccination and sorting alive fish according to the present invention, Figure 2 which is a principle drawing of a vaccination and sorting unit according to the present invention, and Figure 3 which is a block diagram of a system according to the present invention.A system according to the invention comprises a transport unit 10, at least one detection unit 20 and at least one vaccination and sorting unit 30.The transport unit 10 is preferably formed by one or more endless conveyer belts 11 driven by a driving unit 12, such as an electric motor.The detection unit 20 is e.g. formed by at least one camera 21 and at least one illumination source 22. The illumination source 22 can e.g. be a laser line generator and the camera 21 can be a 2D or 3D camera or consist of several cameras 21.The illumination source 22 is preferably arranged mainly perpendicularly to the conveyer belt 11, at a given distance above the conveyer belt 11, and is arranged in front of the vaccination and sorting unit 30.After the illumination source 22, seen in longitudinal direction of the conveyer belt 11, the at least one camera 21 is arranged, preferably at the same height above the conveyer belt 11 as the illumination source 22, such that the camera 21 forms an angle against a laser line generated by the illumination source 22, which laser line is used to provide the camera 21 with a constant reference. This imaging method provides a 3D-measurement of a passing fish, i.e. a form of orthographical map. The formed orthographical map can be used to find the most optimal injection point for vaccination based on the geometry of the fish in three dimensions, length, height and thickness. The orthographical map can also be used to find border lines of the fish or several fishes adjacent to each other. One can thus determine if several fishes are positioned next to each other, touching each other or partly overlapping.For the vaccination and sorting of fish, the system includes a vaccination and sorting unit 30 being arranged movably above the conveyer belt 11 and a distance from the detection unit(s) 20, seen in longitudinal direction of the transport unit 10. The vaccination and sorting unit 30 is arranged moveable in transversal direction and longitudinal direction of the conveyer belt 11 and further preferably also moveable in vertical direction in relation to the conveyer belt 11 by controllable arms 31 and motors 32.The vaccination and sorting unit 30 further comprises a vaccination device 40 and a retaining device 50 arranged to the vaccination and sorting unit 30 via a rotational interface/adapter 33. The vaccination device 40 further comprises an injection unit 60 and dosage unit 61, as shown in Figure 2. The retaining device 50 is according to the present invention preferably a suction device arranged for providing an underpressure which gently and safely will retain a fish to the vaccination and sorting unit 30, and accordingly the vaccination device 40. Moreover, the injection unit 60 includes a dosage needle (not shown) for injection of an amount of vaccine given by a dosage unit 61, and preferably also means for cleaning the dosage needle. The retaining device 50 and injection unit 61 can further be arranged for being positioned in longitudinal direction and for elevation, respectively, in relation to the vaccination and sorting unit 30, and accordingly the vaccination device 40.The needle is preferably controlled continuously so that there is a continuous control whether the fish has been vaccinated or not. Control of the needle is for example based on an inductive transmitter which produces an approval signal if the needle point is there, or negative signal if it fails to find the needle tip. Control of the vaccine in the vaccination device 40 is for example based on a pressure difference at the time of injection. The pressure difference is measured by means of for example a pressure gauge. At low pressure a signal is produced that the vaccine is not present. The needle is affected by an air pressure after each injection incident which during normal operation shall contribute to the needle being free from shell and other impurities. In case of needle breakage or insertion problems of the needle tip, the vaccination device 40 is to be stopped from further vaccination and any fish present in the system is sorted for re-vaccination. The system according to the present invention further includes a control unit 70 provided with means and/or software for analyzing/detecting/calculating as well as documenting, for each fish, based on information from the detection unit 20, one or more of: length (or fork length), height, injuries, biomass (theoretical weight), gender, injuries.The control unit 70 is further provided means and/or software for, based on information from the detection unit(s) 20, calculate or determine one or more of:- injection coordinates for vaccination,- injection depth of vaccination,- dosage quantity.The control unit 70 is further provided with means and/or software for, based on information from the detection unit(s) 20, controlling the vaccination and sorting unit 30 and vaccination device 40, hereunder the retaining device 50, injection unit 60 and dosage unit 61 as regards optimal injection point and optimal injection depth for vaccination of the individual fish.Accordingly, the control unit 70 is arranged for positioning the vaccination and sorting unit 30 in vicinity of a desired fish, engage and retain the desired fish by the retaining device 50, and with the fish retained to the vaccination and sorting unit 30 vaccinate by the injection unit 60 and dosage unit 61 and sort the fish in one operation. Sorting of fish during vaccination can be arranged e.g. on basis of length, height, biomass, gender or similar.For sorting the system preferably further includes a sorting line 80 including a number of sorting channels 81 corresponding to sorting criteria, such that the vaccination and sorting unit 30 can move the fish to correct sorting channel 81 as the fish is being vaccinated and release the fish from the retaining device 50 when the fish is positioned in the correct sorting channel 81.The vaccination and sorting unit 30 can further be arranged for sorting without performing vaccination of unwanted fish, e.g. due to injuries or deviation, such as gill cover, humpback, pinching injuries etc., or based on length, height.In addition to the points and actions mentioned above, the system is arranged to be coordinated against the origin of the fish. With this is meant from which fish container, batch etc. the fish was introduced into the system for vaccination and sorting/sorting out.In this way it is provided a system for detection/recognition, vaccination, sorting and documentation of fish.Preferably, the information/data generated also provides information about biomass (theoretical weight) for fish which is vaccinated, and preferably also percentage portion of injuries etc. of vaccinated/sorted fish.The theoretical weight, i.e. the biomass, is a calculation based on fork length and height of the fish, but also the fish thickness or length can be a relevant parameter. The measurement parameters of the fish, i.e. length (or fork length), height and thickness, provide together a proper picture of the fish biomass (weight).According to a further embodiment of the system according to the present invention there is arranged a sorting device 90 at the end of the transport unit 10 for sorting out unwanted, unvaccinated or undetectable fish. By this the vaccination and sorting unit 30 will not have to address fish that is not to be vaccinated on the transport unit 10 and leave them be sorted out at the end of the transport unit 10.According to a further embodiment of the system according to the present invention the control unit 70 is arranged to control the speed of the transport unit 10 depending on how large amount of fish being supplied, based on information from means 100 for supplying fish to the transport unit 10. The control unit 70 may further be arranged to control the amount of fish which is supplied to the transport unit 10 by controlling the means 100 for supplying fish to the transport unit 10, so that there is not supplied more fish than the vaccination and sorting unit 30 can process. Even though it above is described a solution where it is only one vaccination and sorting unit 30 arranged, the system according to the present invention can comprise multiple vaccination and sorting units 30 arranged in longitudinal direction of the transport unit 10.The transport unit 10 can further be formed by multiple conveyer belts 11 in parallel with associated vaccination and sorting units 30.ModificationsThe detection unit(s) for acquiring information may include different types of cameras, color or black and white, possibly lasers, x-ray, ultrasound, NIR (Near Infrared Spectroscopy), etc.The system and method according to the invention can be adapted to detect/determine fat, protein and water content of the fish.The detection/evaluation may, as mentioned above, be conducted whereas the fish is transported and in combination with other information collection. The content information can be performed by using NIR or similar.The fish supplied to the transport unit is preferably anaesthetized, but the system may also include means for anaesthetizing fish.The system according to the invention may be upgraded for more accurate information by providing a second camera, for example, a 2D camera, arranged side by side with the illumination source, for providing information about other parameters of the fish. In this way it can be determined a more accurate information.The system and method of the invention can be adapted for marking individuals, either through physical marking or by ID chips, or by taking samples for DNA. The system can also be adapted to read ID chips for storing of data. These data can also be used in connection with sorting or stored in databases for further processing.The system can be provided with means for supply of fish to the transport unit adapted for supplying fish mainly singularized and/or oriented head/tail mainly in the longitudinal direction/direction of movement of the transport unit. An example such means can be found in NO 20110457, in the name of the applicant.The vaccination and sorting unit can further be provided with means for accurate positioning in relation to a fish, such as camera, laser or similar, increasing the accuracy of engagement with a desired fish.
Claims
Claims1. Method for automated vaccinating and sorting alive fish, comprising transporting fish by means of a transport unit (10) past at least one detection unit (20) acquiring information about each transported fish, characterized in that the method comprises, based on analysis of the acquired information from the at least one detection unit (20) of each transported fish:- position a vaccination and sorting unit (30), arranged movable above and movable in at least transversal and longitudinal direction of the transport unit (10), in vicinity of a desired fish moved by the transport unit (10),- by means of a suction device (50) of the vaccination and sorting unit (30) engage the desired fish on the transport unit (10) and retain the desired fish to a vaccination device (40) of the vaccination and sorting unit (30) while being moved by the transport unit (10) based on calculated injection coordinates for vaccination, and- with the fish retained to the vaccination device (40) by means of the suction device (50) vaccinate the fish by means of the vaccination device (40) and at the same time as the fish is vaccinated performing a movement for sorting by moving the vaccination and sorting unit (30) to a sorting line (80) and releasing the fish from the suction device (50) in the sorting line (80).2. Method according to claim 1, characterized in that method comprises analysis of the acquired information from the at least one detection unit (20) for detecting/recognizing/calculating one or more of the following parameters for each fish:I. length of the fish/fork length,II. height of the fish,III. thickness of the fish,IV. injuries or deviations,V. gender,VI. calculating biomass/theoretical weight.3. Method according to claims 1-2, characterized in that the method comprises performing a single or poly vaccination in abdomen of a fish, or muscular vaccination.4. Method according to claims 1-2, characterized in that the method comprises, based on analyzed information of each fish, sort out unwanted fish without vaccination or sorting out un-vaccinated fish.5. Method according to claim 1, characterized in that the method comprises sorting fish in the same operation as vaccination based on length, height, thickness, biomass and/or gender.6. Method according to claim 1, characterized in that the method comprises calculating and providing the vaccination device (40) with injection coordinates, injection depth and/or dosage quantity.7. Method according to any one of the claims 1-6, characterized in that it includes documenting all detected or calculated information regarding each fish.8. System for automated vaccination and sorting alive fish, said system comprising at least one transport unit (10) for transport of fish past at least one detection unit (20) acquiring information about each transported fish, and at least one vaccination and sorting unit (30), characterized in that- the at least one vaccination and sorting unit (30) comprises a suction device (50) and a vaccination device (40),- the at least one vaccination and sorting unit (30) is arranged movably above and movable in at least transversal and longitudinal direction of the transport unit (10), and arranged for positioning in vicinity of a desired fish moved by the transport unit (10) based on analysis of the acquired information of each transported fish,- the suction device (50) is arranged for engaging the desired fish on the transport unit (10) and retaining the fish to the vaccination device (40) while being moved by the transport unit (10) based on calculated injection coordinates for vaccination, and- the at least one vaccination and sorting unit (30) is arranged to, with the fish retained to the vaccination device (40), vaccinate the fish by means of the vaccination device (40) and at the same time as the fish is vaccinated perform a movement for sorting by that the vaccination and sorting unit (30) is arranged to move the fish to a sorting line (80) and releasing the fish from the suction device (50) in the sorting line (80).9. System according to claim 8, characterized in that the vaccination and sorting unit (30) further is arranged movable in vertical direction in relation to the transport unit (10).10. System according to claim 8, characterized in that the vaccination device (40) and suction device (50) are arranged to the vaccination and sorting unit (30) by means of a rotational interface/adapter (33).11. System according to claim 8, characterized in that the vaccination device (40) comprises an injection unit (60) and dosage unit (61).12. System according to claim 8, characterized in that the suction device (50) is arranged to provide an underpressure to retain the fish to the vaccination and sorting unit (30), and accordingly the vaccination device (40).13. System according to claims 8-12, characterized in that the system includes a control unit (70) provided with means and/or software for determining/calculating, for each fish, based on information from the at least one detection unit (20), one or more of:- length of the fish/fork length,- height of the fish,- fish thickness,- gender,- biomass/theoretical weight,- injures or deviations,- injection coordinates,- injection depth,- dosage quantity.14. System according to any one of the claims 8-13, characterized in that the vaccination and sorting unit (30) is arranged for sorting fish at the same time as it is vaccinated based on length, height, thickness, biomass and/or gender.15. System according to claim 8, characterized in that the system includes a sorting device (90) arranged at one end of the transport unit (10) for sorting out unwanted, un-vaccinated or undetectable fish.16. System according to claim 8, characterized in that the vaccination device (40) is arranged for single vaccination, poly-vaccination or muscular vaccination.Patentkrav1. Fremgangsmåte for automatisert vaksinering og sortering av levende fisk, hvilken omfatter transport av fisk ved hjelp av en transportenhet (10) forbi minst en deteksjonsenhet (20) hvilken erverver informasjon om hver transporterte fisk, karakterisert ved at fremgangsmåten omfatter, basert på analyse av ervervet informasjon fra den minst ene deteksjonsenheten (20) for hver transporterte fisk:- posisjonere en vaksinerings- og sorteringsenhet (30), innrettet bevegelig ovenfor og bevegelig i det minste i tverrgående og langsgående retning av transportenheten (10), i nærheten av en ønsket fisk beveget av transportenheten (10),- ved hjelp av en sugeanordning (50) for vaksinerings- og sorteringsenheten (30) komme i inngripen med den ønskede fisken på transportenheten (10) og holde den ønskede fiske til en vaksineringsanordning (40) for vaksinerings- og sorteringsenheten (30) når den beveges av transportenheten (10) basert på beregnede injeksjonskoordinater for vaksinering, og- med fisken holdt til vaksineringsanordningen (40) ved hjelp av sugeanordningen (50) vaksinere fisken ved hjelp av vaksineringsanordningen (40) og samtidig som fisken vaksineres utføre en bevegelse for sortering ved å bevege vaksinerings- og sorteringsenheten (30) til en sorteringslinje (80) og frigjøre fisken fra sugeanordningen (50) i sorteringslinjen (80).2. Fremgangsmåte i samsvar med krav 1, karakterisert ved at fremgangsmåten omfatter analyse av ervervet informasjon fra den minst ene deteksjonsenheten (20) for detektering/gjenkjenning/beregning av en eller flere av følgende for hver fisk:I. fiskens lengde/gaffellengde,II. fiskens høyde,III. fiskens tykkelse,IV. skader eller avvik,V. kjønn,VI. beregne biomasse/teoretisk vekt.3. Fremgangsmåte i samsvar med krav 1-2, karakterisert ved at fremgangsmåten omfatter utføring av singelvaksinering eller multi-vaksinering i buken av en fisk, eller muskelvaksinering.4. Fremgangsmåte i samsvar med krav 1-2, karakterisert ved at fremgangsmåten omfatter, basert på analysert informasjon for hver fisk, sortere ut uønsket fisk uten vaksinering eller sortere ut ikkevaksinert fisk.5. Fremgangsmåte i samsvar med krav 1, karakterisert ved at fremgangsmåten omfatter sortering av fisk i den samme operasjonen som vaksinering basert på lengde, høyde, tykkelse, biomasse og/eller kjønn.6. Fremgangsmåte i samsvar med krav 1, karakterisert ved at fremgangsmåten omfatter beregning og forsyne vaksineringsanordningen (40) med injeksjonskoordinater, injeksjonsdybde og/eller doseringsmengde.7. Fremgangsmåte i samsvar med ett av kravene 1-6, karakterisert ved at den omfatter dokumentering av alle detektert og beregnet informasjon angående hver fisk.8. System for automatisert vaksinering og sortering av levende fisk, hvilket system omfatter minst en transportenhet (10) for transport av fisk forbi minst en deteksjonsenhet (20) hvilken erverver informasjon om hver transporterte fisk, og minst en vaksinerings- og sorteringsenhet (30), karakterisert ved at- den minst ene vaksinerings- og sorteringsenheten (30) omfatter en sugeanordning (50) og en vaksineringsanordning (40),- den minst ene vaksinerings- og sorteringsenheten (30) er innrettet bevegelig ovenfor og bevegelig minst i tverrgående og langsgående retning av transportenheten (10), og innrettet for posisjonering i nærheten av en ønsket fisk beveget av transportenheten (10) basert på analyse av den ervervede informasjonen av hver transporterte fisk,- sugeanordningen (50) er innrettet for å komme i inngripen med den ønskede fisken på transportenheten (10) og holde fisken til vaksineringsanordningen (40) når den beveges av transportenheten (10) basert på beregnede injeksjonskoordinater for vaksinering, og- den minst ene vaksinerings- og sorteringsenheten (30) er innrettet til, med fisken holdt til vaksineringsanordningen (40), vaksinere fisken ved hjelp av vaksineringsanordningen (40) og samtidig som fisken vaksineres utføre en bevegelse for sortering ved at vaksinerings- og sorteringsenheten (30) er innrettet for bevegelse av fisken til en sorteringslinje (80) og frigjøre fisken fra sugeanordningen (50) i sorteringslinjen (80).9. System i samsvar med krav 8, karakterisert ved at vaksinerings- og sorteringsenheten (30) videre er innrettet bevegelig i vertikalretning i forhold til transportenheten (10).10. System i samsvar med krav 8, karakterisert ved at vaksineringsanordningen (40) og sugeanordningen (50) er innrettet til vaksinerings- og sorteringsenheten (30) ved hjelp av et rotasjonsgrensesnitt/adapter (33).11. System i samsvar med krav 8, karakterisert ved at vaksineringsanordningen (40) omfatter en injeksjonsenhet (60) og doseringsenhet (61).12. System i samsvar med krav 8, karakterisert ved at sugeanordningen (50) er innrettet til å tilveiebringe et undertrykk for å holde fisken til vaksinerings- og sorteringsenheten (30), og følgelig vaksineringsanordningen (40).13. System i samsvar med krav 8-12, karakterisert ved at systemet omfatter en styringsenhet (70) forsynt med midler og/eller programvare for bestemmelse/beregning, for hver fisk, basert på informasjon fra den minst ene deteksjonsenheten (20), en eller flere av:- fiskens lengde/gaffellengde,- fiskens høyde,- fiskens tykkelse,- kjønn,- biomasse/teoretisk vekt,- skader eller avvik,- injeksjonskoordinater,- injeksjonsdybde,- doseringsmengde.14. System i samsvar med ett av kravene 8-13, karakterisert ved at vaksinerings- og sorteringsenheten (30) er innrettet for sortering av fisk samtidig som den vaksineres basert på lengde, høyde, tykkelse, biomasse og/eller kjønn.15. System i samsvar med krav 8, karakterisert ved at systemet omfatter en sorteringsanordning (90) innrettet ved en ende av transportenheten (10) for utsortering av uønsket, ikke-vaksinert eller ikke-detekterbar fisk.16. System i samsvar med krav 8, karakterisert ved at vaksineringsanordningen (40) er innrettet for singelvaksinering, multi-vaksinering eller muskelvaksinering.
Drawings

Priority

No priority

Patent classes

IPC classesA01K 61/95A01K 61/13CPC classesA01K 61/95A01K 61/13

Citations

WO 2012/008843 A1 (A1)NO 20100912 A1 (A1)YouTube-film North West Marine Technology Inc., AutoFish System, 2008.04.18 [https://www.youtube.com/watch?v=C5ry0rqo2HY] ()KR 101278630 B1 (B1)CN 105943191 A (A)LEE D-L et al., Conveyor belt Automatic vaccine injection system (AVIS) for flatfish based on computer vision analysis of fish shape, Aquacultural Engineering, 2013, Vol. 57, page 54-62 ()Nordic Supply System NORDIC NFT 10 Vaksinasjonsmaskin, maskin nr 10031, unknown date, [from internet 2017.12.12], (http://www.nordicsupply.no/download.aspx?object_id=4705665822F84AEA927BA7C493CF366B.pdf) ()YouTube-film Nordland Sett Vaks Vaksinering, Nordic Supply System NFT 10, 2013.11.28, [from internet 2017.12.12], (https://www.youtube.com/watch?v=Nt0kYd1Tivk) ()

Applicants, owners and inventors

Owners
MASKON AS
Wessels veg 63 7502 STJØRDAL NO (STJØRDAL Municipality, Trøndelag county)Org. number: 930216321Inventors
Jon Anders Leikvoll
Furbakken 62 7517 HELL NO (STJØRDAL Municipality, Trøndelag county)
Jon Egil Hammeren
Håmmårsvegen 57 7630 ÅSEN NO (LEVANGER Municipality, Trøndelag county)

Agent

ACAPO ONSAGERS AS
ACAPO ONSAGERS AS

Org. number: 932214636

Name and address are automatically synchronized with the Brønnøysund Register Centre.

Open in The Brønnøysund Register Centre
Edvard Griegs vei 1 5059 BERGEN NO (BERGEN Municipality, Vestland county)
Org. number: 932214636
Reference: P20170365NO

Status history

Payment history

Oppositions and appeals

No oppositions or appeals

Administrative limitation

No administrative limitation

Liens and licences

No liens or licenses registered

Gazette entries

No Gazette entries foundOnly events from 2024.03.04 and onwards are shown.