Key information

Title: Adjustable fish retaining device, fish handling system and method for handling anesthetized fish
Application number: 20250741
Case type: National
Status: 12.10.2026 Patent meddelt (B1)
Filed: 27.06.2025
Effective date: 27.06.2025
Publicly available: 12.10.2026
Next annual fee due: 30.06.2027
Applicant: MASKON AS (NO)
Owner: MASKON AS (NO)
Inventor: Roger Størseth (NO) et al.
Agent: ACAPO ONSAGERS AS (NO)
Granted: 12.10.2026
Patent number: 350188
Expiry date: 27.06.2045

Abstract and drawing

Disclaimer: This text has been machine-scanned and may contain errors – please refer to "Publications" for legally binding content.

Adjustable fish retaining device (100), fish handling system (300) and method enabling tailored handling of the individual anesthetized fish (10).

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Date

Date	Doc. No.	Process	Case number	In/Out	Journal description	To/from
12.10.2026	08-01	Saksbehandling	20250741(350188)	UT	PT Registreringsbrev nasjonal patent (15) (PT20250741)
21.08.2026	07-01	Saksbehandling	20250741	UT	Intention to grant	ACAPO ONSAGERS AS
23.04.2026	06-06	Saksbehandling	20250741	INN	P31719NO00-text-for-printing_clean	ACAPO ONSAGERS AS
23.04.2026	06-05	Saksbehandling	20250741	INN	P31719NO00-text-for-printing_annotated	ACAPO ONSAGERS AS
23.04.2026	06-04	Saksbehandling	20250741	INN	P31719NO00-reply_OA	ACAPO ONSAGERS AS
23.04.2026	06-03	Saksbehandling	20250741	INN	P31719NO00-norske_krav	ACAPO ONSAGERS AS
23.04.2026	06-02	Saksbehandling	20250741	INN	P31719NO00-figures-for-printing	ACAPO ONSAGERS AS
23.04.2026	06-01	Saksbehandling	20250741	INN	Korrespondanse (Hovedbrev inn)	ACAPO ONSAGERS AS
23.10.2025	05-02	Saksbehandling	20250741	UT	PT report 08:44:23
23.10.2025	05-01	Saksbehandling	20250741	UT	Substantive Examination	ACAPO ONSAGERS AS
22.07.2025	04-02	Saksbehandling	20250741	INN	POA MASKON AS 20250741	ACAPO ONSAGERS AS
22.07.2025	04-01	Saksbehandling	20250741	INN	Korrespondanse (Hovedbrev inn)	ACAPO ONSAGERS AS
01.07.2025	03-01	Saksbehandling	20250741	UT	Formal Examination 1	ACAPO ONSAGERS AS
01.07.2025	02-01	Saksbehandling	20250741	UT	Informasjon til oppfinner	Jon Egil Hammeren
27.06.2025	01-03	Saksbehandling	20250741	INN	P31719NO00 Figures	ACAPO ONSAGERS AS
27.06.2025	01-02	Saksbehandling	20250741	INN	P31719NO00 Description claims abstract	ACAPO ONSAGERS AS
27.06.2025	01-01	Saksbehandling	20250741	INN	Søknadsskjema Patent	ACAPO ONSAGERS 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

350188

Adjustable fish retaining device, fish handling system and method for handling anesthetized fish

The disclosed embodiments relate to an adjustable fish retaining device, a fish handling system and method for handling anesthetized fish.

5 The disclosed embodiments related to an adjustable fish retaining device, fish handling system and method for handling anesthetized fish in a gentle and safe manner.

BACKGROUND

10 Solutions for handling fish in different applications are continuously developed following new requirements for fish welfare. Semi-automated/automated treatment, vaccination, processing and/or sorting systems exist including retaining devices for retaining the fish during treatment, vaccination, sorting or orientation.

A known gentle principle for retaining a fish is by using a suction device, and the 15 principle has been known for many years, and has been described in, among others, GB1048149 A, US2011207388 AA, RU2645979 C2, NO343355 B1 and NO347823 B1. The use of suction or vacuum for retaining physical objects is also well known, however, they are not suitable for handling alive animals, and certainly not fish which has a unique surface structure and shape, as well as the fact that the fish will 20 be injured if not handled gently. Moreover, it should be mentioned that an alive fish must be handled and retained in a far gentler manner than a dead fish that is to be processed. Accordingly, a retaining device designed/configured for processing of dead/killed fish is accordingly not configured to handle alive/anaesthetized fish as this will have to be addressed in a different manner. Furthermore, there are

25 substantial differences between the respective species, and the size/length/weight/age of fish as regards how much suction force a fish will be able to handle without being injured.

The mentioned GB1048149 A, US2011207388 AA and RU2645979 C2 are all related to the use of a retaining device using suction to retain the fish.

30 GB1048149 A makes use of a retaining device designed to retain a fish by one suction device. The apparatus is further limited to only being rotatable in a vertical plane and has no adjustment possibilities in any direction. The solution will not be suitable for retaining or handling anesthetized (alive) fish or meeting the demands for fish welfare.

35 US2011207388 AA in one application makes use of two suction devices only configured to lift the fish in the vertical plane to enable cutting of head and tail. The 350188

solution will not be suitable for retaining or handling anesthetized (alive) fish or meeting the demands for fish welfare.

RU2645979 C2 makes use of a retaining device comprising one suction device to retain the fish and wherein the suction device provides a vacuum to retain the fish.

5 The fish retaining device is further arranged to a manipulator assembly enabling movement thereof in multiple degrees of freedom to engage fish at different locations on a transport unit. The use of vacuum in the retaining force will result in injuries of the fish. The solution is accordingly not suitable for retaining or handling anesthetized (alive) fish or meeting the demands for fish welfare.

10 In NO343355 B1 (in the name of the applicant) is disclosed a method and system for automated vaccinating and sorting anesthetized fish, comprising a vaccination and sorting unit configured to engage and retain a fish, and with the fish retained to the vaccination and sorting unit the fish is vaccinated and sorted in one operation. The fish is retained by using a suction unit providing an underpressure.

15 In NO347823 B1 (in the name of the applicant) is described a system for automated vaccination of anesthetized fish comprising an initial orientation unit comprising a retaining device arranged to arms via a rotational interface/adapter. The retaining device is a suction device arranged for providing an underpressure to retain a fish thereto for movement from a first transport unit to a second transport unit. During 20 the movement the respective fish is oriented with its longitudinal direction in transversal direction of the second transport unit and with the nose/head in a desired direction.

NO343355 B1 and NO347823 B1 are both based on the use of a retaining device using only one suction device operating on underpressure and will not be adaptable 25 to handle fish if not within a certain range.

The common disadvantage of the prior art solutions is that they are not designed or configured to retain fishes of different lengths, sizes, weights or shapes. As they are based on using only one suction device, the suction force required to retain a fish will, unless the fish is very small, result in that the fish will have to be retained by a 30 too large negative pressure resulting in fish becoming injured.

A further disadvantage with the mentioned prior art solutions is that they are not adjustable in terms of the length, size, weight or shape of the fish and they are thus not adjustable for handling fishes on an individual level. Accordingly, this will require that the supplied fish will have to be within limited range as regards, length, 35 size, weight, and/or shape. If a supplied fish is above this range, the risk is that the fish is not properly retained and if the fish is below this range a too high retaining force is applied resulting in injuring the fish.

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A disadvantage of the prior art solutions is that they do not provide the possibility to adapt the suction force according to the anatomy of the fish. As a fish has considerably more weight towards the head than the tail, this must be considered when engaging the fish to ensure proper handling.

5 Prior art further suffers from the fact that they are not adapted/configured to take into consideration the body shape of the fish. It is well known that fish, both at the head section and tail section thereof, is curved. If the suction device is attempting to retain the fish at these curved sections, this may result in that the fish is improperly retained, as the suction device is not designed to adjust to/take into consideration 10 such curvature.

There is accordingly a need for an adjustable fish retaining device, fish handling system and method addressing the mentioned disadvantages/lacks of prior art.

SUMMARY

15 The disclosed embodiments provide an adjustable fish retaining device, fish handling system and method partly or entirely solving the drawbacks of the prior art.

Provided herein is an adjustable fish retaining device, a fish handling system and method suitable for handling anesthetized fish in a gentle and safe manner, as well 20 as according to demands for fish welfare.

Also provided herein is an adjustable fish retaining device, a fish handling system and method using a controllable retaining force in the form of controllable suction force and number of controllable suction units activated, enabling tailored engagement and handling of the individual anesthetized fish.

25 Provided herein is an adjustable fish retaining device, a fish handling system and method being applicable for anesthetized fishes of different species, sizes, lengths, shapes and/or weight.

Also provided herein is an adjustable fish retaining device, a fish handling system and method being scalable.

30 Provided herein is an adjustable fish retaining device and fish handling system requiring less space compared to prior art solutions.

Also provided herein is an adjustable fish retaining device, fish handling system and method enabling easier configuration to the desires and requirements of the user as regards sorting and orientation of anesthetized fish.

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Provided herein is an adjustable fish retaining device, fish handling system and method enabling automated handling of anesthetized fish and providing accurate and effective fully automatic, i.e. without manual intervention, handling of, such as sorting or orientation, anesthetized (alive) fish, providing gentle and ethical 5 handling of the individual fish in accordance with existing regulations for fish welfare.

Provided herein is an adjustable fish retaining device, fish handling system and method avoiding injuries on a retained anesthetized fish by enabling distribution of the required retaining force along the length/surface of the fish by using multiple 10 controllable suction units avoiding the requirement of using too high suction force at one location of the fish to retain it.

Also provided herein is an adjustable fish retaining device, fish handling system and method enabling configuration by taking into consideration species (art), size, length, shape and/or weight of the individual anesthetized fish when defining the 15 retaining force and distribution thereof.

Provided herein is an adjustable fish retaining device, fish handling system and method enabling configuration by taking into consideration species (art), size, length, shape and/or weight of the individual anesthetized fish when positioning the respective controllable section unit in axial and/or vertical direction.

20 Also provided herein is an adjustable fish retaining device, fish handling system and method enabling configuration of the retaining force/suction force depending on whether the fish is more or less delicate/fragile/robust.

Provided herein is an adjustable fish retaining device, fish handling system and method enabling configuration of the properties of the suction unit according to the 25 fish species in question.

Also provided herein is an adjustable fish retaining device, fish handling system and method enabling short reaction time on the suction force.

Provided herein is an adjustable fish retaining device, fish handling system and method enabling safety actions to the used retaining/suction force to prevent 30 injuring the fish.

Further features of the present invention will appear by consideration of the following description, claims and attached drawings.

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THE INVENTION

An adjustable fish retaining device according to the present invention is defined by the technical features of claim 1. Preferable features of the adjustable fish retaining device are described in the dependent device claims.

5 A fish handling system according to the present invention is defined by the technical features of claim 12. Preferable features of the fish handling system are described in the dependent system claims.

A fish handling method according to the present invention is defined by the technical features of claim 20. Preferable features of the fish handling method are 10 described in the dependent method claims.

The present invention is related to an adjustable fish retaining device (AFRD), fish handling system (FHS) and method enabling tailored handling of the individual anesthetized fish.

The AFRD according to the present invention is suitable for arrangement to a 15 controllable manipulator assembly via a manipulator connection interface for individual handling of anesthetized fish. The AFRD according to the present invention comprises a suction unit carrier assembly (SUCA) with an axial center axis and at least two controllable suction units (CSU) with an axial center axis. The at least two CSUs extend with their axial center axis in a plane mainly

20 perpendicularly to the axial center axis of the SUCA and are distributed in axial direction thereof. The mentioned at least two CSUs are configured to be individually controlled, controlled in groups or all together.

In accordance with the AFRD according to the present invention, at least one of the at least two CSUs is configured to be movable along the axial center axis and/or the 25 SUCA is configured to enable pivotable movement of at least one of the at least two CSUs about the axial center axis thereof. In this manner, enabled is adjustment of the position of at least one of the at least two CSUs below the axial center axis of the SUCA, i.e. in the vertical direction of the AFRD. By this is achieved an AFRD wherein the number of CSUs may be adjusted according to the length of the

30 anesthetized fish in questions, as well as the vertical adjustment feature enabling the AFRD to be adjusted according to the shape of the anesthetized fish in question. In this manner the retention force as well as the shape of the AFRD can be dynamically adjusted/tailored to the respective fish in question.

In accordance with a further embodiment of the AFRD, the AFRD comprising at 35 least three CSUs. By comprising three or more CSUs distributed in the axial direction of the AFRD, the AFRD is suitable for handling a wide range and shapes of anesthetized fishes.

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According to a further embodiment of the AFRD according to the present invention, the CSUs comprise at least one controllable suction device. By this feature, the AFRD will have the possibility to provide higher retention force at some sections of an anesthetized fish than at other sections.

5 In accordance with a further embodiment of the AFRD according to the present invention, the CSU comprises at least two suction devices spaced apart in axial direction of the SUCA. By this is enabled higher retention force associated with the CSU, as well as the possibility to choose the number of suction devices per CSU depending on the required suction force required and/or length/shape of the fish in 10 question.

According to one embodiment of the AFRD according to the present invention, the CSUs are arranged to the SUCA via a connection interface for fixed arrangement or configured to enable manually or automated adjustment of the respective controllable suction unit in axial and/or vertical direction of the SUCA. By this 15 achieved is the possibility to adjust and adapt the position of the respective CSUs depending on the properties of the anesthetized fish, hereunder at least length and shape.

In accordance with one embodiment of the AFRD according to the present invention, the CSUs are arranged to the respective connection interface by means of 20 a connection device. In this manner, achieved is easy mounting and dismounting of the respective CSU/controllable suction device.

According to one embodiment of the AFRD, the connection device comprises a controllable device actuator configured to be controlled to control the position of the CSUs along the axial center axis thereof. In this manner, a dynamic and

25 automated controlling of the AFRD is achieved.

In accordance with a further embodiment of the AFRD according to the present invention, the SUCA comprising a main body having an axial extension mainly perpendicular to the axial direction thereof and arranged to the connection interface at a first axial distal part thereof, and wherein the respective connection interfaces 30 are arranged to a second axial distal part thereof, the respective connection interface being arranged to the second axial distal part by a hinged connection or in a fixed manner. By this achieved is that the connection interfaces and thus CSUs can be arranged in different manners after the desires or needs of the user.

According to one embodiment of the AFRD according to the present invention, the 35 SUCA comprises pivoting movement limiting devices in engagement with the respective connection interface configured to limit the possible pivoting movement in relation to the axial center axis of the SUCA. In this manner the pivoting angle

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may be controlled according to the desires or needs of the user, hereunder the shape or size of the fish.

In accordance with one embodiment of the AFRD according to the present invention, the connection interface is configured to enable movement of the CSUs 5 in an axial direction thereof. In this manner the axial position of the respective CSU may be adjusted according to the desires or needs of the user, hereunder adapted to the anesthetized fishes to be handled, hereunder length.

According to a further embodiment of the AFRD according to the present invention, the CSU is arranged to a controllable unit actuator configured to be controlled to 10 control the axial position of the CSUs. In this manner the axial position of the respective CSU along the SUCA may be adjusted in an automated or dynamic manner.

A fish handling system (FHS) according to the present invention comprises at least one transport unit for transport of anesthetized fish past at least one detection unit 15 acquiring information, at least length, shape and/or weight, about each transported anesthetized fish. In this manner information is acquired about the respective anesthetized fish that in the present invention may be used for handling the respective anesthetized fish.

In accordance with a further embodiment of the FHS it comprises a 3-dimensjonal 20 camera or multiple 2D or 3D cameras enabling the possibility to form a threedimensional picture of each fish to collect even more detailed information about each fish.

According to one embodiment of the FHS, the system comprises multiple detection units enabling the possibility to observe the fish from both (longitudinal) sides to 25 ensure that as much information as possible about each fish is collected.

In accordance with yet a further embodiment of the FHS according to the present invention, the FHS comprises one or more fish interior organ inspection units enabling the inspection of the interior organs of the fish. Such a fish interior organ inspection unit may, e.g., be based on one or more ultrasound probes that are 30 arranged to or associated with a manipulator enabling movement of the one or more ultrasound probes in relation to a fish or that the fish is moved in relation to one or more fixed ultrasound probes. This will enable inspection of organs like kidneys and heart, as well as gender.

The FHS according to the present invention further comprises a controllable

35 manipulator assembly and an AFRD connected to the controllable manipulator assembly via a manipulator connection interface, and a control unit. The controllable manipulator assembly is according to the present invention movable

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above and movable in at least transversal and longitudinal direction of the transport unit. In this manner the AFRD is provided with multiple degrees of freedom and enabling it to be oriented according to any direction/orientation a fish to be engaged may have on the transport unit.

5 In accordance with the FHS according to the present invention, the AFRD comprises at least two CSUs distributed in an axial direction thereof configured to be individually controlled, controlled in groups or all together. In this manner the FHS is able to adjust the AFRD according to the required retention/suction force needed to be able to handle the respective anesthetized fish.

10 In accordance with the FHS according to the present invention, the control unit is configured to, based on analysis of the acquired information, hereunder at least length, shape and/or weight, of each transported anesthetized fish, by comprising means and/or software, control the controllable manipulator assembly and/or manipulator connection interface to position the AFRD in vicinity of a desired 15 anesthetized fish transported by the transport unit.

The control unit is further configured to, based on analysis of the acquired information, hereunder at least length, shape and/or weight, of each transported anesthetized fish, by comprising means and/or software, engage and retain the fish by controlling retaining force of the AFRD by controlling the respective CSU 20 individually, in groups or all together, by activation thereof and/or suction force.

Accordingly, based on the acquired information, the FHS is able to control the required suction force by controlling the respective CSU and the settings thereof.

The control unit is further configured to, based on analysis of the acquired information, hereunder at least length, shape and/or weight, of each transported 25 anesthetized fish, by comprising means and/or software, control the controllable manipulator assembly and/or manipulator connection interface to move the retained anesthetized fish to a position of destination and release the retained anesthetized fish by releasing the retaining force of the AFRD with a desired orientation. If also information about the interior organs or gender is available that may also be used as 30 a criterion. By this is achieved that the anesthetized fish is handled by moving the respective fish to a position of destination that typically is for sorting or treatment, and wherein the respective fish may be aligned in a desired orientation according to the requirements of the sorting or treatment action to follow.

According to a further embodiment of the FHS according to the present invention, 35 the controllable manipulator assembly is further movable in vertical direction in relation to the transport unit. In this manner the FHS may be used for fishes of larger size, as well as enabling the possibility to move the respective fish to an elevated or lower position of destination. Accordingly, reducing the need for a position of destination at the same horizontal plane.

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In accordance with a further embodiment of the FHS according to the present invention, the manipulator connection interface is a rotational interface/adapter. In this manner the AFRD is able to be rotated up to 360 degrees about a rotation axis, something that will ensure that the AFRD may be controlled to any orientation, as 5 well as making the controlling of the AFRD more rapid as it may be rotated in both rotational directions depending on what is most rapid.

According to one embodiment of the FHS according to the present invention, the control unit is further configured to, by comprising means and/or software, determine/calculate, for each fish, based on information from the at least one 10 detection unit, one or more of: length of the fish/fork length, height of the fish, fish thickness, gender, biomass/theoretical weight, injures or deviations, as well as information about interior organs.

In this manner all relevant information about anesthetized fish to be handled or not handled may be documented, as well as used for controlling the handling of the 15 respective fish.

In accordance with a further embodiment of the FHS according to the present invention, the control unit is further configured to, by comprising means and/or software, control the vertical position and/or axial position of the respective CSU by controlling an actuator associated with the respective CSU based on at least length 20 and/or height of the anesthetized fish. In this manner achieved is automated or dynamic controlling of the adjustment of the AFRD in relation to the respective fish enabling individual adjustments.

According to a further embodiment of the FHS according to the present invention, the FHS is being configured to perform sorting or orienting the retained fish at the 25 same time as it is moved to the position of destination based on one or more of head/tail-direction length, height, thickness, biomass/theoretical weight, injuries or deviations, and/or gender or information about interior organs. In this manner, a more rapid handling is achieved and reducing the time the respective fish is required to be handled by the FHS and thus affecting the individual fish as short in 30 time as possible.

In accordance with a further embodiment of the FHS according to the present invention, the FHS further comprises a sorting device arranged at one end of the transport unit for sorting out unwanted or undetectable fish. In this manner, the AFRD will not have to address fish that have been determined as unwanted or 35 undetectable so that the AFRD can be used for only addressing fish that are successfully detected. In this manner the FHS will not use time on fish that are not to be handled.

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According to one embodiment of the FHS according to the present invention, the FHS is arranged upstream a fish treatment system, fish vaccination system or fish sorting system, or integrated as a part thereof. In this manner, the FHS may be integrated component/arranged inline in a fish treatment line, fish vaccination line 5 of fish sorting line, or a combination thereof. Accordingly, the FHS is suitable for integration with existing and new treatment, vaccination and/or sorting lines.

In accordance with a further embodiment of the FHS according to the present invention the FHS is associated with means and/or software for performing machine learning or artificial intelligence of data/information received from the at least one 10 detection unit to improve the detection of the individual fish, as well as controlling of the FHS to more rapid and optimized manner will engage with the individual fish, especially as regards the determination of required retention force.

A fish handling method suitable for handling of anesthetized fish according to the present invention comprises transporting anesthetized fish by means of a transport 15 unit past at least one detection unit acquiring information, at least length, shape and/or weight, about each transported anesthetized fish. In this manner providing information about each anesthetized fish that may be used for handling the individual fish.

The method further comprises, based on analysis of the acquired information, 20 hereunder at least length, shape and/or weight, from the at least one detection unit of each transported anesthetized fish, positioning an AFRD comprising at least two CSUs distributed in axial direction thereof, arranged movable above and movable in at least transversal and longitudinal direction of the transport unit by means of a controllable manipulation assembly and/or manipulation connection interface, in 25 vicinity of a desired anesthetized fish transported by the transport unit. In this manner the individual fish may be approached in a correct manner independent of orientation/direction thereof.

The method further comprises, based on analysis of the acquired information, hereunder at least length, shape and/or weight, from the at least one detection unit 30 of each transported anesthetized fish, engaging and retaining the fish by controlling retaining force of the AFRD by controlling the respective CSU individually, in groups or all together, by activation thereof and/or suction force. By this it is achieved that the individual fish is addressed based on the properties thereof, so that only the required retaining force is used.

35 In accordance with the method according to the present invention, the method further comprises, based on analysis of the acquired information, hereunder at least length, shape and/or weight, from the at least one detection unit of each transported anesthetized fish, moving the retained fish to a position of destination by controlling the controllable manipulator assembly and/or manipulator connection

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interface to move the retained fish to the position of destination with a desired orientation and releasing the retained fish by releasing the retaining force of the AFRD. In this manner the individual fish is handled to a position of destination depending on the properties thereof and with a desired orientation. If also

5 information about the interior organs or gender is available that may also be used as a criterion.

According to a further embodiment of the method according to the present invention, the method comprises calculating required retention force based on length, shape and/or weight of the respective fish and controlling the activation 10 and/or suction force of the CSUs to achieve the required retention force. By this achieved is that only the required retention force is used to prevent injuring the fish.

In accordance with one embodiment of the method according to the present invention, the method comprises analyzing the acquired information from the at least one detection unit to detect, recognize and/or calculate one or more of the 15 following parameters for each fish: length of the fish/fork length, height of the fish, thickness of the fish, injuries or deviations, gender, biomass/theoretical weight, as well as information about interior organs. In this manner information about each handled fish is documented.

According to a further embodiment of the method according to the present

20 invention, the method further comprises controlling the vertical position and/or axial position of the respective controllable suction units based on at least length and/or height of the anesthetized fish. In this manner individual fishes of different shapes and sizes may be handled as well as the position of destination may be at different horizontal planes.

25 In accordance with a further embodiment of the method, the method comprises, based on the analyzed information of each fish, sorting out unwanted or undetectable fish. This enables the use of the AFRD for performing the sorting or by using a separate sorting device downstream the transport unit. In the latter solution the AFRD is free to handle only fish that is to be handled.

30 According to one embodiment of the method according to the present invention, the method comprises sorting or orienting the retained fish in the same operation as it is moved to the position of destination based on one or more of head/tail-direction, length, height, thickness, biomass/theoretical weight, injuries or deviations, and/or gender, or information about interior organs. In this manner, the time to handle the 35 individual fish is reduced to a minimum.

In accordance with a further embodiment of the method according to the present invention, the method comprises documenting all detected or calculated information regarding each fish. This information may be used to document the origin of the

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individual fish, but also as basis for big data processing and/or artificial intelligence/machine learning for optimizing the AFRD, FHS and method.

In accordance with a further embodiment of the method according to the present invention, the method comprises using machine learning or artificial intelligence on 5 data/information received from the at least one detection unit especially to find the length and height of the individual fish, and/or biomass/theoretical weight. In accordance with a further embodiment of the method, the method comprises using machine learning or artificial intelligence on the mentioned data/information to find one or more of the following for the individual fish: shape, thickness, injuries, 10 deviations, and/or gender, or information about interior organs, especially for sorting purposes. In an alternative embodiment of the method, the method comprises using machine learning/artificial intelligence to make predictions or calculations of the above mentioned based on large amounts of data, that also may include data from other corresponding FHSs.

15 In accordance with one embodiment of the method, the method comprises performing machine learning/artificial intelligence by using supervised learning, unsupervised learning, semi-supervised learning, or reinforcement learning to process the provided data/information depending on the result to be achieved.

In this manner the controlling of the CSUs can be improved, such as by collecting 20 and producing training data usable for machine learning/artificial intelligence. E.g.

the machine learning/artificial intelligence and big data may be used to improve the engagement and handling process, such as by improved settings of the required negative pressure (suction force), axial and/or vertical positions of the CSUs, numbers of CSUs activated, the distance between adjacent CSUs, the total required 25 suction force, etc.

In accordance with one embodiment of the method, the method comprises using the machine learning/artificial intelligence and big data to set ranges or properties, such as based on patterns, for the engagement and handling the individual fish.

According to a further embodiment of the method according to the present

30 invention, the method comprises using machine learning/artificial intelligence and big data to tailor the required retention force for the individual fish to avoid injuries thereof.

In accordance with a further embodiment of the method, the method comprises using machine learning/artificial intelligence and big data for more rapidly engaging 35 and handling of an anesthetized fish by more rapidly identifying the required settings of the AFRD to reduce the time the individual fish is required to handled.

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According to a further embodiment of the method, the method comprises determining and setting the suction force individually for each fish based on collected information about the respective fish.

In accordance with one embodiment of the method according to the present

5 invention, the method comprises determining at which locations on the fish to engage with the suction units based on the collected information of the respective fish, as well as determining and configurating which suction units are to be used and engaging the respective fish with these settings. Accordingly, determining the best locations for engaging the fish with the minimum required suction force to be 10 able to retain the fish. This also relates to the fact that the shape of the fishes will vary and that individual settings to achieve optimal handling may be required.

According to one embodiment of the method according to the present invention, the method comprises controlling the acceleration and retardation of the movement of the retained respective fish. In addition to the above mentioned, also acceleration 15 and retardation of the movement of the fish will be something that should be considered. E.g. higher acceleration and retardation will require higher suction force to ensure that the fish is retained. On the other side, higher acceleration and retardation ensures that the time a fish is retained and handled will be reduced. There may accordingly be different requirements for setting/configuration

20 depending on the respective fish.

In accordance with a further embodiment of the method, the method comprises controlling the time the fish is retained. Different species will require different handling time, as well as being able to adapt to the supplied amount of fish, and the capacity of downstream treatment units.

25 By the present invention is achieved an AFRD, FHS and method enabling the possibility to adjust/tailor the retention force according to the individual fish.

The AFRD, FHS and method according to the present invention provide gentle handling of fish meeting the regulations for fish welfare as defined, e.g., by Nofima.

By the AFRD, FHS and method according to the present invention, the same AFRD, 30 FHS and method may be used for a wide range of anesthetized fishes, hereunder different species (arts), sizes, lengths, shapes and/or weight, without the requirement of changing/modifying the system, as the AFRD and FHS are provided with adjustment properties. In other words, a more general solution than prior art may provide.

35 The AFRD, FHS and method according to the present invention enable handling anesthetized fish in a gentle and safe manner.

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By the AFRD, FHS and method according to the present invention the use of controllable retaining force is enabled in the form of controllable suction force and CSUs activated, enabling tailored engagement and handling the individual anesthetized fish.

5 The AFRD, FHS and method according to the present invention provide a solution that is scalable.

The AFRD, FHS and method according to the present invention enable easier adjustment and configuration according to the desires and requirements of the user as regards sorting and orientation of anesthetized fish.

10 By the AFRD, FHS and method according to the present invention a solution for automated handling of anesthetized fish providing accurate and effective fully automatic, i.e. without manual intervention, handling of anesthetized fish, such as sorting or orientation, providing gentle and ethical handling the individual fish in accordance with existing regulations for fish welfare.

15 A further advantage with the present invention is that it reduces the time needed for a fish to be anesthetized, compared to prior art solutions.

An advantage of the present invention over the prior art solutions is that injuries of a retained anesthetized fish are avoided by distributing the required retaining force along the length/surface of the fish by using multiple controllable suction units 20 avoiding the requirement of using too high suction force at one location of the fish to retain it.

A further advantage with the present invention is that the retaining force/suction force may be adapted/configured depending on whether the fish is more or less delicate/fragile/robust.

25 An advantage of the present invention is that it enables configuration of the one or more suction units in relation to the fish species/arts.

A further advantage of the present invention is that, due to the short distance between suction force controlling device and the controllable suction device per se, short reaction time is achieved for the activation and deactivation of the retention 30 force.

An advantage of the present invention is that it enables safety actions to the retention/suction force to prevent injuring the fish. By ensuring that the controllable section units are controlled to reduce the retention/suction force to a preset suction force if the supplied negative pressure is too low for a fish in question. This also 35 provides safety if for any reason the suction force becomes too high, and ensuring that the fish will never be exposed to a too high retention/suction force.

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By the present invention is provided an AFRD, FHS and method enabling that each fish can be handled by individual retention/suction force, acceleration and retardation during movement of the fish and how long a fish is retained.

Accordingly, not only how the fish is engaged and retained, but also the entire 5 movement until the fish again is released from the AFRD.

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

EXAMPLE

10 The present invention will below be described in further detail with references to the attached drawings showing non-limiting embodiment examples, where:

Fig. 1a-b are principle drawings of embodiments of an adjustable fish retaining device according to the present invention comprising two controllable suction units,

Fig. 2a-b are principles drawings of alternative embodiments of an adjustable 15 fish retaining device according to the present invention comprising two controllable suction units,

Fig. 3a-d are principle drawings of alternative embodiments of an adjustable fish retaining device according to the present invention, comprising three controllable suction units,

20 Fig. 4a-d are principle drawings of a further alternative embodiment of the fish retaining device arranged to a rotational interface/adapter,

Fig. 5 is a principle drawing of a further embodiment of the adjustable fish retaining device according to the present invention with axially movable controllable suction units,

25 Fig. 6 is a principle drawing showing data/signal flow in a fish handling system according to one embodiment of the present invention, and

Fig. 7a-c are principle drawings of a fish handling system according to the present invention and engagement with fishes of different sizes/lengths.

30 References are made to Fig.1a-b, 2a-b and 3a-d showing different embodiments of an adjustable fish retaining device (AFRD) 100 suitable for arrangement to a controllable manipulator assembly 200 (shown in Fig. 7a-c) via a manipulator connection interface 110 for individual handling of anesthetized fish 10 (shown in

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Fig. 7a-c). The AFRD 100 according to the present invention comprises a suction unit carrier assembly (SUCA) 120 with an axial center axis A-A and at least two controllable suction units (CSU) 130a-c with an axial center axis B-B.

The axial center axis A-A of the SUCA 120 is extending mainly in the horizontal 5 plane and wherein the mentioned at least two CSUs 130a-c extend with their axial center axis B-B in a plane mainly perpendicularly to the axial center axis A-A of the SUCA 120, thus extending with their axial direction mainly in the vertical plane. In accordance with the AFRD 100 according to the present invention, the at least two CSUs 130a-c are distributed in an axial direction of the SUCA 120 and they are 10 configured to be individually controlled, controlled in groups or all together, further described below.

In accordance with the AFRD 100 according to the present invention, at least one of the at least two CSUs 130a-c is configured to be movable along the axial center axis B-B and/or the SUCA 120 is configured to enable pivotable movement of at least 15 one of the at least two CSUs 130a-c about an axial center axis A-A thereof, enabling adjustment of the position of at least one of the at least two CSUs 130a-c below the axial center axis A-A of the suction carrier assembly 120.

In the embodiments of the AFRD 100 shown in Fig. 1a-b and 2a-b, the AFRD 100 comprises two CSUs 130a-c distributed in axial direction thereof. In the

20 embodiments of the AFRD 100 in Fig. 3a-d, 4a-d, 5 and 7a-c, the AFRD 100 comprises three CSUs 130a-c. Accordingly, all the CSUs 130a-d of the AFRD 100 are arranged along the same axial center axis A-A.

As mentioned above, the CSUs 130a-c are configured to be individually controlled, controlled in groups or all together and comprises at least one controllable suction 25 device 131, 131a-b that is arranged to an individual or common suction control unit 132 comprising controllable valve(s) or manifold. The suction control unit 132 is configured to be controlled to control the suction force as well as activation and deactivation of the associated controllable suction device(s) 131, 131a-b.

Accordingly, each controllable suction device 131, 131a-b may be associated with 30 an individual suction control unit 132 or several controllable suction control units 131, 131a-b are connected to a common suction control unit 132. In this manner activation and/or suction force of the respective controllable suction unit 130a-c can be controlled individually, in groups or all together.

To enhance the engaging contact with the anesthetized fish 10, the controllable 35 suction devices 131, 131a-b are preferably provided with a flexible or resilient sleeve 133. In accordance with a further embodiment of the controllable suction device 131, 131a-b, the flexible or resilient sleeve 133 is at the free end thereof ending in a flange 134 extending in a mainly perpendicular plane thereof to increase contact and suction area towards the anesthetized fish 10. The size and shape of the 350188

respective controllable suction device 131, 131a-b, hereunder the flexile or resilient sleeve 133 and flange 134, is according to the present invention adapted/configured according to the fish 10 to be handled. E.g. there will be required smaller controllable suction devices 131, 131a-b for small fishes than larger fishes 10.

5 In the embodiment of the AFRD 100 in Fig.1a-b and 5, the CSUs 130a-c comprises one controllable suction device 131. In the embodiments of the AFRD 100 in Fig. 2a-b one CSU 130a-b, respectively, comprises two controllable suction devices 131a-b and one CSU 130a-b, respectively, comprises one controllable suction device 131. In the embodiment of the AFRD 100 in Fig. 3a-d, 4a-d and 7, two of the 10 CSUs 130a-b comprise one controllable suction device 131 and one CSU 130c comprises two controllable suction devices 131a-b. In embodiments comprising CSUs 130a-c with at least two controllable suction devices 131a-b, these are spaced apart in axial direction of the SUCA 120 so that they are arranged along the mentioned axial center axis A-A.

15 The CSUs 130a-c are arranged to the SUCA 120 via a connection interface 140a-c for fixed arrangement or configured to enable manual or automated adjustment of the respective controllable suction unit 130a-c in axial and/or vertical direction of the SUCA 120, further described below

In accordance with one embodiment of the AFRD 100, the SUCA 120 comprises a 20 main body 121 having an axial extension mainly perpendicular to the axial center axis A-A thereof and arranged to the manipulator connection interface 110 at a first (upper) axial distal part thereof, and wherein the connection interface(s) 140a-c is/are arranged to a second (lower) axial distal part thereof.

In accordance with one embodiment of the AFRD 100 according to the present 25 invention, the respective connection interface 140a-c is arranged to the second axial distal part by a hinged connection 150 or in a fixed manner. According to one embodiment of the AFRD 100 according to the present invention, the connection interface 140d (Fig. 1b, 2b, 3d) is integrated as a part of the lower axial distal part of the main body 121.

30 In accordance with one embodiment of the AFRD 100 according to the present invention, the CSUs 130a-c are provided with a connection device 135 and the connection interfaces 140a-c are provided with corresponding connection means 142 for mutual engagement, in a fixed manner or manually or automated movable manner, further described below.

35 In the embodiment of the AFRD 100 in Fig.1a, the AFRD 100 comprises two CSUs 130a-b, each comprising one controllable suction device 131. In the shown embodiment, AFRD 100 comprises two connection interfaces 140a-b formed by an elongated interface body 141 that is configured to be pivotably arranged to a

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common hinged connection 150 in the second (lower) axial distal part of the main body 121, at an upper side of one of the axial distal ends of the respective connection interface 140a-b. The connection interfaces 140a-b extend with their axial direction to opposite axial sides from the common hinged connection 150 5 positioning the CSUs 130a-b at each side of vertical plane through the pivoting axis of the hinged connection 150.

For arrangement of the CSUs 130a-b to the connection interfaces 140a-b, the connection interfaces 140a-b are provided with through holes or slots 142. In the shown embodiment, the respective CSU 130a-b is arranged to the mentioned holes 10 or slots 142 of the respective connection interface 140a-b by that the connection device 135 is provided with threaded attachment holes 136 enabling the connection device 135 to be attached to the connection interface 140a-b by means of bolts or screws 137 (see Fig.1b, 2b, 3c) extending through the mentioned holes and slots 142 and into the threaded holes 136 of the connection device 135. In the shown 15 embodiment the mentioned holes or slots 142 are further elongated in axial direction of the connection interface 140a-b, enabling manual adjustment of the position of the respective CSU 130a-b in axial direction of the AFRD 100. In this manner one may manually adjust the distribution of the two CSUs 130a-b in axial direction of the SUCA 120 according to the length of the fish 10 to be handled. Due 20 to the CSUs 130a-b are arranged pivotable about the center axis A-A via the connection interfaces 140a-b, the AFRD 100 will be able to adapt to the curved surface of the fish 10 by allowing the position of the respective CSU 130a-b to be adjusted below the axial center axis A-A, thus adapting to the shape and height of the anesthetized fish 10 in question and ensuring proper engagement therewith. This 25 embodiment will be especially suitable for fishes 10 of short lengths/low weight.

In Fig. 1b is shown an alternative embodiment of the AFRD 100 comprising two CSUs 130a-b, wherein one of the CSUs 130a is arranged to a fixed connection interface 140c by means of a connection device 135 and one of the CSUs 130b is arranged to a connection interface 140d integrated in lower part of the main body 30 121 and is fixed to the main body 121. The connection interface 140c in this embodiment comprises an interface body 141 that is mainly L-shaped and wherein the CSU 130a is arranged to the distal part of the shortest leg thereof by a connection device 135 comprising a controllable device actuator 138 configured to be controlled to control the position of the controllable suction unit 130a along the 35 axial center axis B-B thereof. The axial center axis B-B may be perpendicular to the axial center axis A-A or deviate with an angle from this, to adapt to the curved shape of an anesthetized fish 10. Due to the CSU 130a being arranged adjustable a distance D along the axial center axis B-B, the AFRD 100 will be able to adapt to the curved surface of the fish 10 by allowing the position of the CSU 130a to be 40 adjusted below the axial center axis A-A, thus adapting to the shape and height of

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the anesthetized fish 10 in question and ensuring proper engagement therewith. This embodiment will be especially suitable for fishes 10 of short lengths/low weight.

The embodiments of Fig. 1a-b using two controllable suction devices 131, 131a-b will typically, but not limited to, be suitable for retaining and handling fish 10 from 5 approx. 20 grams to approx. 100 grams and lengths from approx. 1 mm to 80 mm.

In such embodiments smaller controllable suction devices 131, 131a-b may be preferred in terms of used suction force and size of the sleeve 133.

Reference is now made to Fig. 2a shown an alternative embodiment of the AFRD 100 in Fig. 1a, wherein the connection interface 140a has a longer axial extension 10 than the connection interface 140a in the embodiment of the AFRD 100 in Fig. 1a, enabling the arrangement of a CSU 130a comprising two controllable suction devices 131a-b distributed in axial direction of the connection interface 140a, and wherein multiple holes or slots 142 are arranged in the axial direction thereof. As in Fig. 1a, the mentioned holes or slots 142 are elongated in axial direction of the 15 connection interface 140a-b, enabling manual adjustment of the position of the respective CSU 130a-b in axial direction of the AFRD 100. In this embodiment of the AFRD 100, the AFRD 100 thus comprises two controllable suction devices 131a-b arranged to one connection interface 140a and one controllable suction unit 131 arranged to the other connection interface 140b. Besides providing a higher 20 retaining/suction force in total, this embodiment further provides the possibility to handle fishes of different sizes (lengths) by activating and/or controlling the retaining/suction force of the respective CSUs 130a-b/controllable suction devices 131, 131a-b depending on the length, shape and/or weight of the respective anesthetized fish 10. Due to the CSUs 130a-b are arranged pivotable about the 25 center axis A-A via the connection interfaces 140a-b, the AFRD 100 will be able to adapt to the curved surface of the anesthetized fish 10. Further, due to the CSUs 130a-b/controllable suction devices 131, 131a-b being adjustable in the axial direction of the AFRD 100, two of the controllable suction devices 131, 131a-b may be positioned closer to each other to provide a higher retaining/suction force where 30 the most weight of the fish 10 is, i.e. closer to the head than the tail. This embodiment will be especially suitable for fish 10 having short and medium lengths and weights.

Reference is now made to Fig. 2b showing an alternative embodiment of the AFRD 100 of Fig. 1b wherein the CSU 130b comprises two controllable suction devices 35 131a-b arranged to the connection interface 140d integrated in lower part of the main body 121 and is fixed to the main body 121. The controllable suction devices 131a-b are spaced apart in the axial direction of the SUCA 120. Besides providing a higher retaining/suction force in total, this embodiment further provides the possibility to handle fishes of different sizes (lengths) by activating and/or

40 controlling the retaining/suction force of the respective CSUs 130a-b/controllable

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suction devices 131, 131a-b depending on the length, shape and/or weight of the respective anesthetized fish 10. Due to the CSU 130a being adjustable a distance D along the axial center axis B-B, the AFRD 100 will be able to adapt to the curved surface of the anesthetized fish 10. Further, due to the controllable suction devices 5 131a-b of the CSU 130b are arranged close to each other in the axial direction they provide a higher retaining/suction force where the most weight of the anesthetized fish 10 is, i.e. closer to the head than the tail. This embodiment will be especially suitable for anesthetized fishes 10 having short and medium lengths and weights.

The embodiments of Fig. 2a-b using three controllable suction devices 131, 131a-b 10 will typically, but not limited to, be suitable for retaining and handling fish 10 from approx. 70 grams to approx. 250 grams and lengths from 80 mm to approx. 150 mm. The AFRD 100 may also in this embodiment be used for smaller fish, e.g. by only activating two of the controllable suction devices 131, 131a-b.

Reference is now made to Fig. 3a-b and 4a-b. In the shown embodiment, the AFRD 15 100 comprises three CSUs 130a-c, wherein one CSU 130a comprising one controllable suction device 131 is arranged to the connection interface 140a and one CSU 130b comprising one controllable suction device 131 is arranged to the connection interface 140b as in the embodiments of Fig. 1a and 2a, wherein the connection interfaces 140a-b are arranged pivotable via the mentioned hinged 20 connection 150. In this embodiment the interface body 141 of the connection interfaces 140a-b are mainly L-shaped and wherein the connection interfaces 140a-b are configured to be arranged to the hinged connection 150 at upper axial part of the main leg thereof, such that the connection interfaces 140a-b are arranged with their main leg in the axial direction and the short leg in the vertical direction of the 25 SUCA 120. In this embodiment the mentioned holes or slots 142 are elongated/have an extension in the axial direction of the shortest leg of the L-shaped connection interfaces 140a-b, as well as multiple such elongated holes or slots 142 are distributed in the width direction of the short leg. In this manner the multiple elongated holes or slots 142 enable both adjustment of the CSU 130a-b in the axial 30 direction and vertical direction of the SUCA 120. In this embodiment, a further connection interface 140c is arranged to the second (lower) distal end of the main body 121 of the SUCA 120 configured to arrange at least one CSU 130c in a fixed manner thereto. In the shown embodiment the CSU 130c comprises two controllable suction device 131a-b distributed in axial direction of the SUCA 120.

35 In accordance with a further embodiment of the AFRD 100, the SUCA 120 comprises pivoting movement limiting devices 143, 143a-b (se Fig. 4a) configured to limit the possible pivoting movement in relation to the axial center axis A-A of the SUCA 120. In the shown embodiment of Fig. 3a-b, 4a-b, the pivoting limiting devices are formed by at least one curved hole or slot 143, 143a-b arranged in 40 transversal direction of the main leg of the respective connection interface 140a-b,

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which is in engagement with a pin 144 or similar member protruding from the main body 121 or connection interface 140c. In the shown embodiment in Fig 3a-b, 4a-b, the connection interface 140a is provided with one curved hole or slot 143 defining the allowable pivoting angle of the CSU 130a arranged thereto, while the

5 connection interface 140b is provided with first 143a and second 143b curved holes or slots defining the allowable pivoting angle of the CSU 130b arranged thereto. In this manner, the CSU 130a is allowed a larger pivoting movement than the CSU 130b.

According to a further embodiment of the AFRD 100 according to the present 10 invention, the CSUs 130a-b are arranged to the respective connection interface 140a-b by means of a connection device 135 comprising a controllable device actuator 138 enabling movement along the axial center axis B-B a distance D.

In this way, the AFRD 100 can be adapted to the shape of the fish 10, wherein the CSU 130b is configured to engage the tail part of the anesthetized fish 10 requiring 15 a larger pivoting angle and/or adjustment of the position below the axial center axis A-A than the CSU 130a being configured to engage closer to the head of the anesthetized fish 10. Due to the CSUs 130a-b being arranged pivotable about the center axis A-A via the connection interfaces 140a-b and/or adjustable a distance D along the axial center axis B-B via the controllable actuator device 138, the AFRD 20 100 will be able to adapt to the curved surface of a wide range of anesthetized fish 10. Further, due to the CSUs 130a-c/controllable suction devices 131, 131a-b being adjustable in axial direction, two or more of the controllable suction devices 131, 131a-b may be positioned closer to each other to provide a higher retaining/suction force where the most weight of the anesthetized fish 10 is, i.e. closer to the head 25 than the tail. This embodiment will be suitable for anesthetized fish 10 having short, medium and large lengths or weight. The CSU 130c in the middle of the AFRD 100 can be used for short (small) anesthetized fishes 10, as shown in Fig. 7b, while the CSUs 130b-c can be used for medium length anesthetized fishes 10 and the CSUs 130a-c are all used for large/long length anesthetized fishes 10.

30 The embodiments of Fig. 3a-b, 4a-b using four controllable suction devices 131, 131a-b will typically, but not limited to, be suitable for retaining and handling fish 10 from approx. 180 grams to approx. 1000 grams and lengths from 120 mm to approx. 300 mm. It should however be mentioned that these embodiments may also be used for smaller fish 10 by only making use of two or three of the CSUs 130a-35 c/controllable suction devices 131, 131a-b.

Reference is now made to Fig. 3c-d and 4c-d showing a further embodiment of the AFRD 100, comprising three CSUs 130a-c. The CSUs 130a-b comprise one controllable suction device 131 and are arranged to axial distal parts of a connection interface 140c that comprises an elongated interface body 141 that is mainly U

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shaped. The mentioned CSUs 130a-b are further arranged to the connection interface 140c by connection devices 135 comprising controllable device actuators 138, enabling movement in the axial center axis B-B, as described above, enabling adjustment of the position of the CSU 130a-b below the axial center axis A-A. The 5 AFRD 100 further comprises a CSU 130c comprising two controllable suction devices 131a-b arranged to a connection interface 140d integrated in the lower part of the main body 121, similar as in the embodiment of the AFRD 100 in Fig. 2b. The CSU 130a is further arranged closer to the CSU 130c than the CSU 130b.

Further, the axial center axis B-B of the respective CSU 130a-b may be

10 perpendicular to the axial center axis A-A of the SUCA 120 or deviate with an angle from this, to adapt to the curved shape of an anesthetized fish 10. As can be seen in Fig.3c-d and 4c-d, the angle the axial center axis B-B of the CSU 130b is deviating from the perpendicular to the axial center axis A-A is larger than the angle the axial center axis B-B of the CSU 130a is deviating from the axial center 15 axis A-A to adapt to the shape of an anesthetized fish 10. Accordingly, the CSUs 130a, 130c are adapted to engage the upper part (head and body) of the anesthetized fish 10, where the change of shape is small, and wherein the CSU 130b is adapted to engage the tail part of the anesthetized fish 10 where the change in shape requires a larger angle from the axial center axis A-A.

20 In this way, the AFRD 100 can be adapted to the shape of the fish 10, wherein the CSU 130b is configured to engage the tail part of the fish 10 requiring a larger angle from the axial center axis and/or adjustment of the position below the axial center axis A-A than the CSU 130a being configured to engage closer to the head of the anesthetized fish 10. In this manner, provided is a higher retaining/suction force 25 where the most weight of the anesthetized fish 10 is, i.e. closer to the head than the tail. Due to the CSUs 130a-b are arranged adjustable along the axial center axis B-B a distance D via the controllable actuator device 138, as well as the respective axial center axis B-B is deviating from the axial center axis A-A of the SUCA 120 with a respective angle, the AFRD 100 will be able to adapt to the curved surface of a wide 30 range of anesthetized fish 10. This embodiment will be suitable for anesthetized fish 10 having short, medium and large lengths. The CSU 130c in the middle of the AFRD 100 can be used for short (small) anesthetized fish 10, as shown in Fig.7b, while the CSUs 130b-c can be used for medium length anesthetized fish 10 and the CSUs 130a-c are all used for large/long length anesthetized fish 10.

35 The embodiments of Fig. 3c-d, 4c-d using four controllable suction devices 131, 131a-b will typically, but not limited to, be suitable for retaining and handling fish 10 from approx. 180 grams to approx. 1000 grams and lengths from 250 mm to approx. 450 mm. It should however be mentioned that these embodiments may also be used for smaller fish 10 by only making use of two or three of the controllable

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suction devices 131, 131a-b. The embodiments may further be adapted to handle longer fish 10 than 450 mm should that be required.

Reference is now made to Fig. 5 showing a further embodiment of the AFRD 100 according to the present invention. In this embodiment the AFRD 100 is provided 5 with CSUs 130a-b being movable along the axial center axis A-A and one fixed CSU 130c in the middle. In accordance with one embodiment of the AFRD 100, the connection interfaces 140a-b are configured to enable movement of the CSUs 130ab in an axial direction thereof, i.e. along the axial center axis A-A. In accordance with the shown embodiment, the connection interface 140a-b are formed by

10 elongated interface bodies 141 that are arranged to the hinged connection 150 at one axial end part thereof. The connection device 135 is further arranged movable in axial direction of the connection interface 140a-b on axially extending support members 145 connected to the main body 121 at one axial distal end and connected to the respective connection interface 140a-b at the other end. In this manner a 15 stepless axial adjustment of the respective CSU 130a-b is achieved.

For controlling the axial adjustment, the connection device 135 is arranged to a manually or automated controllable actuator 160 via one or more actuator arms 161 transferring the (rotational) movement of the actuator 160 to a linear movement of the CSU 130a-b in axial direction of the connection interface 140a-b and thus along 20 the axial center axis A-A of the SUCA 120.

In addition to the axial adjustment of the CSUs 130a-b, the connection device 135 further comprises a controllable device actuator 138, as described above, enabling adjustment of the respective CSU 130a-b along the axial center axis B-B and thus adjustment of the position a distance D below the axial center axis A-A, as

25 described above.

In the shown embodiment, the AFRD 100 accordingly comprises CSUs 130a-c comprising one controllable suction device 131 arranged to the respective connection interface 140a-c, and wherein the CSUs 130a-b are movable in both the axial direction and vertical direction of the SUCA 120, while the third CSU 130c, 30 arranged in the middle, is fixed to the lower part of the main body 121.

Accordingly, in addition to being pivotable, the two outermost (seen in axial direction) CSUs 130a-b are adjustable in both axial direction and vertical direction of the AFRD 100. It should however be mentioned that the CSUs 130a-b may be configured with only one of the axial or vertical adjustment features. In such an 35 embodiment, the axial adjustment will also control the pivoting angle of the respective CSU 130a-b in relation to the axial center axis A-A. This embodiment will be suitable for fish 10 having short, medium and large lengths, as the AFRD 100 can be configured accordingly. By combining the use of the CSU 130c in the middle and one or both of the CSUs 130a-b, as well as adjusting the axial distance

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between them, and/or the adjustment of the position of the respective CSU 130a-b below the axial center axis A-A, the AFRD 100 can be tailored to the respective anesthetized fish 10 by enabling a wide range of adjustment possibilities. In this manner the AFRD 100 can be used for short (small), medium and large anesthetized 5 fish 10. Even though the CSUs 130a-c are only shown with one controllable suction device 131 in this embodiment, the CSUs 130a-c may comprise two or more controllable suction devices 131a-b, as described in the embodiments above. This embodiment may be configured to be suitable in the range of the above described embodiments, depending on whether it is small, medium or large fish 10 (in length, 10 size and/or weight) that is to be retained and handled by adapting the properties/size of the controllable suction devices 131, 131a-b and the used suction force.

Accordingly, above is described different embodiments of the AFRD 100 enabling the adjustment of the properties thereof according to the anesthetized fish(es) 10 in question. While the embodiments in Fig. 1a, 2a, 3a-b, and 4a-b require manual 15 adjustment in the axial direction, the latter embodiment in Fig. 5 allows for a completely automated and dynamically adjustable solution in both axial and vertical direction.

It should further be mentioned that the AFRD 100 in the embodiments in Fig. 1b, 2b, 3c-d and 4c-d, that are based on axially fixed CSUs 130a-c, may be provided 20 with elongated holes 142 extending in axial or vertical direction of the connection interfaces 140c enabling adjustment of the axial position of the CSUs 130a-b, as well as adjustment of the angle between the axial center axis B-B and axial center axis A-A.

It should however be mentioned that also the embodiments of Fig. 1a-b, 2a-b, 3a-d, 25 and 4a-d may be modified to include actuators for, e.g., movement of the CSUs 130a-c in axial and/or vertical direction of the AFRD 100, such as by modifications of the mentioned holes or slots 142 and attaching an actuator.

The mentioned at least two CSUs 130a-c are configured to provide a suction force at a negative pressure between 200 and 500 mbar, more preferably between 230 and 30 450 mbar, and even more preferable between 300 and 400 mbar. If the pressure is too low (lower than -200 mbar) the engagement with the fish 10 will be lost during handling/movement thereof and if the pressure is too high (higher than -500mbar), the fish 10 will suffer from injuries in the exterior surface thereof, such as suction marks or loss of scales.

35 Reference is now made to Fig. 6 and 7a-c showing principle drawings of a fish handling system (FHS) 300 according to the present invention. The fish handling system 300 according to the present invention is suitable for handling anesthetized fish by making use of the AFRD 100 according to the present invention, as described above, wherein comprising at least two CSUs 130a-c distributed in axial

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direction thereof configured to be individually controlled, controlled in groups or all together.

In accordance with the FHS 300 according to the present invention, the FHS 300 comprises a controllable manipulator assembly 200 arranged to the fish retaining 5 device with a controllable manipulator connection interface 110.

In accordance with one embodiment of the FHS 300 according to the present invention, the controllable manipulator assembly 200 is movable above and movable in at least transversal and longitudinal direction of at least one transport unit 400 associated with the FHS 300. In accordance with a further embodiment of 10 the FHS 300, the controllable manipulator assembly 200 is further movable in the vertical direction in relation to the mentioned at least one transport unit 400.

According to one embodiment of the FHS 300, the manipulator connection interface 110 is a rotational interface/adapter.

The FHS 300 further comprises at least one detection unit 500 configured to acquire 15 information about anesthetized fish 10 transported past the at least one detection unit 500 by the at least one transport unit 400. The transport unit 400 is typically an endless belt or similar. In accordance with one embodiment of the FHS 300, the at least one detection unit 500 is configured to acquire or calculate at least length, shape and/or weight about each transported anesthetized fish 10.

20 The FHS 300 according to the present invention further comprises a control unit 600 configured to, based on analysis of the acquired information, hereunder at least length, shape and/or weight, of each transported fish 10, by comprising means and/or software, control the controllable manipulator assembly 200 and/or manipulator connection interface 110 to position the AFRD 100 in vicinity of a 25 desired anesthetized fish 10 moved by the transport unit 400. Based on the mentioned analysis, the control unit 600 is further configured to control the AFRD 100 to engage and retain the (analyzed) anesthetized fish 10 by controlling retaining force of the AFRD 100 by controlling the respective CSUs 130a-c by activation thereof and/or suction force.

30 In accordance with a further embodiment, the control unit 600 is further configured to control the actuator(s) 138, 160 to adjust the vertical and/or axial position of the respective CSU(s) 130a-c based on at least length and/or weight of the live fish 10 in question.

The control unit 600 is further configured to control the controllable manipulator 35 assembly 200 and/or manipulator connection interface 110 to move the retained fish 10 to a position of destination and release the retained fish 10 by releasing the retaining force of the AFRD 100. The position of destination may be a sorting or

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treatment station, such as vaccination, tagging, or interior organ inspection or similar. E.g., the treatment station may be configured to perform marking of individuals, either through physical marking or by ID chips, or by taking samples for DNA. The treatment station may further be configured for reading ID chips for 5 storing data. These data can also be used in connection with sorting or stored in databases for further processing.

In accordance with one embodiment of the FHS 300, the mentioned transport unit 400 is formed by one or more endless conveyer belts 401 driven by a driving unit 402, such as an electric motor.

10 According to one embodiment of the FHS 300 according to the present invention, the detection unit 500 is formed by at least one camera 510 and at least one illumination source 520. The illumination source 520 can e.g. be a laser line generator and the camera 510 can be a 2D or 3D camera or consist of several cameras 510. According to one embodiment of the FHS 300, the illumination source 15 520 is preferably arranged mainly perpendicularly to the conveyer belt 401, at a given distance above the conveyer belt 401, and is arranged in front of the AFRD 100 and manipulator assembly 200.

After the illumination source 520, seen in longitudinal direction of the conveyer belt 401, the at least one camera 510 is arranged, preferably at the same height above the 20 conveyer belt 401 as the illumination source 520, such that the camera 510 forms an angle against a laser line generated by the illumination source 520, which laser line is used to provide the camera 510 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 geometry of the fish in three 25 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 fish are positioned next to each other, touching each other, or partly overlapping.

In accordance with a further embodiment of the FHS 300 according to the present 30 invention, the FHS 300 comprises multiple detection units 500 configured to or arranged such that the respective fish 10 is observed from both (longitudinal) sides.

According to one embodiment of the present invention the FHS 300 further comprises one or more fish interior organ inspection units (not shown), e.g. arranged upstream or downstream the transportation unit 400, integrated in

35 connection with sorting channels or treatment devices, enabling inspection of the interior organs of each fish 10. In accordance with one embodiment of the fish interior organ inspection unit according to the present invention, it comprises at least one ultrasound probe arranged movable by a manipulator so that the at least one ultrasound probe may be moved in relation to a fish 10, or that the AFRD 100 is 350188

arranged to move the fish in relation to at least one fixed ultrasound probe.

Reference is made to NO 20240501 A1, in the name of the applicant, for an example of a suitable interior fish inspection unit.

For the controlling of the AFRD 100, the manipulator assembly 200 comprises a 5 controllable rotational connection interface or adapter 210 configured for connection to the manipulator connection interface 110, and controllable arms 220 and motor(s) 230 enabling movement of the AFRD 100 in at least transversal and longitudinal direction of the transport unit 400, and in vertical direction if required or desired.

10 In accordance with a further embodiment of the FHS 300, the control unit 600 is further configured to, by comprising means and/or software, determine/calculate, for each fish, based on information from the at least one detection unit 500, one or more of: length of the fish/fork length, height of the fish, fish thickness, gender, biomass/theoretical weight, injures or deviations, or information about internal 15 organs.

According to a further embodiment of the FHS 300, the FHS 300 is configured to perform sorting or orientation of the retained anesthetized fish 10 at the same time as it is moved to the position of destination based on length, height, thickness, biomass/theoretical weight, injuries or deviations, and/or gender, or information 20 about internal organs. Examples of injuries of deviation may be, but not limited to, gill cover, humpback, pinching injuries etc. For sorting the FHS 300 according to one embodiment comprises a sorting line (not shown) including a number of sorting channels (not shown) corresponding to sorting criteria, such that the AFRD 100 can move the fish 10 to the correct sorting channel and release the fish 10 from the 25 AFRD 100 when the fish is positioned in the correct sorting channel.

In accordance with a further embodiment of the FHS 300, the FHS 300 further comprises a sorting device (not shown) arranged at one end of the transport unit 400 for sorting out unwanted or undetectable fish 10.

In addition to the features and actions mentioned above, the FHS 300 according to a 30 further embodiment is arranged to be coordinated against the origin of the anesthetized fish 10. With this is meant from which fish container, batch, etc. the fish 10 was introduced into the system for vaccination and sorting/sorting out.

In this way it is provided a FHS 300 that also provides detection/recognition, sorting and documentation of anesthetized fish 10. Preferably, the information/data 35 generated also provides information about biomass (theoretical weight) for fish 10 and/or percentage portion of injuries etc. of handled fish.

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The mentioned 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).

5 In embodiments where the FHS 300 comprises a sorting device at the end of the transport unit 400 for sorting out unwanted or undetectable fish, the FHS 300 will not have to address fish that are not to be handled on the transport unit 400 and leave them be sorted out at the end of the transport unit 400.

According to a further embodiment of the FHS 300 according to the present 10 invention, the control unit 600 is configured to, by comprising means and/or software to control the speed of the transport unit 400 (controlling the motor 402) to slow down the transport unit 400 at the same time as the AFRD 100/manipulation assembly 200 is handling a fish 10, to make sure that the FHS 300 is able to complete the handling of the retained fish 10 before a new fish 10 is required to be 15 handled.

In accordance with one embodiment, the control unit 600 is further configured to, by comprising means and/or software, to control the acceleration and retardation of the manipulation assembly 200 to speed up or slow down the movement of the AFRD 100.

20 According to a further embodiment of the FHS 300 according to the present invention, the control unit 600 is configured to, by comprising means and/or software to control the speed of the transport unit 400 (controlling the motor 402) depending on the amount of fish being supplied, based on information from means (not shown) for supplying fish to the transport unit 400. The control unit 600 may 25 further be arranged to control the amount of supplied fish being supplied to the transport unit 400 by controlling means for supplying fish to the transport unit 400, so that there is not supplied more fish than the FHS 300/AFRD 100 can process.

Even though it above is described a solution where only one AFRD 100 is arranged, the FHS 300 according to the present invention can comprise multiple AFRDs 100 30 and manipulator assemblies arranged in longitudinal direction of the transport unit 400.

In the embodiment of the FHS 300 shown in Fig. 7a, the components of the FHS 300 are arranged to the same support structure 700. However, they may also be arranged to separate support structures 700.

35 The transport unit 400 may further be formed by multiple conveyer belts 401 in parallel with associated AFRD 100/manipulator assemblies 200.

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According to a further embodiment of the FHS 300 according to the present invention, the detection unit(s) 500 for acquiring information may include different types of cameras, color or black and white, possibly lasers, x-ray, ultrasound, NIR (Near Infrared Spectroscopy), etc. In a further embodiment of the FHS 300, it may 5 further be configured for detecting/determining fat, protein and water content of the fish 10.

The detection/evaluation may, as mentioned above, be conducted while the fish is transported and in combination with other information collection. The content information can be performed by using NIR or similar.

10 The fish 10 supplied to the transport unit 400 is preferably anaesthetized, but the FHS 300 may also include means for anaesthetizing fish 10 arranged upstream the FHS 300.

The FHS 300 according to the present invention may be upgraded for more accurate information by providing a second camera, for example, a 2D or 3D camera, 15 arranged side by side with the illumination source, for providing information about other parameters of the fish. In this way increasing the accuracy of the acquired information about each fish.

In accordance with a further embodiment of the present invention, the control unit 600 is further provided with means and/or software for performing machine learning 20 or artificial intelligence of data/information received from the at least one detection unit 500, especially the length and height is of interest, but also biomass/theoretical weight. Other data of interest will be shape and fish thickness, as injuries or deviations, and/or gender for sorting purposes. In an alternative embodiment, the machine learning/artificial intelligence is implemented on an external unit (not 25 shown) configured in communication with the control unit 600. By means of machine learning/artificial intelligence, one can make predictions or calculations based on large amounts of data. Machine learning/artificial intelligence can be divided into several methods, which are known as, e.g., supervised learning, unsupervised learning, semi-supervised learning, and reinforcement learning 30 enabling different approaches for processing the provided data depending on the result to be achieved. Accordingly, by providing the control unit 600 with means and/or software for machine learning/artificial intelligence, the control unit 600, alternatively the external machine learning/artificial intelligence unit, is configured to improve the controlling of the at least one CSU 130a-c by collecting and

35 producing training data usable for machine learning/artificial intelligence. E.g. the machine learning/artificial intelligence and big data may be used to improve the engagement and handling process, such as by improved settings of the required negative pressure, axial and/or vertical positions of the CSUs 130a-c, such as by defining one or more control ranges, that would speed up the engagement and

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handling process. Another example is using the machine learning/artificial intelligence and big data to set ranges or properties, such as based on patterns, for the engagement and handling the individual fish 10. Yet a further example is using the machine learning/artificial intelligence and big data to tailor the required 5 retention force for the individual fish 10 to avoid injuries thereof. A further example of the use of the machine learning/artificial intelligence and big data is to use it for more rapidly engaging and handling an anesthetized fish 10 by more rapidly identifying the required settings of the AFRD 100 to reduce the time the respective fish 10 has to handled.

10 Features of any of the examples or embodiments outlined above may be combined to create additional examples or embodiments without losing the intended effect. It should be understood that the description of an embodiment or example provided above is by way of example only, and various modifications could be made by one skilled in the art. Furthermore, one skilled in the art will recognise that numerous 15 further modifications and combinations of various aspects are possible.

Accordingly, the described aspects are intended to encompass all such alterations, modifications, and variations that fall within the scope of the appended claims.

Claims

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CLAIMS

1. Adjustable fish retaining device (100) suitable for arrangement to a controllable manipulator assembly (200) via a manipulator connection interface (110) for individual handling of anesthetized fish (10), wherein the adjustable fish retaining 5 device (100) comprises a suction unit carrier assembly (120) with an axial center axis (A-A) and at least two controllable suction units (130a-c) with an axial center axis (B-B),

wherein the at least two controllable suction units (130a-c) extend with their axial center axis (B-B) in a plane mainly perpendicularly to the axial center axis (A-A) of 10 the suction unit carrier assembly (120) and are distributed in axial direction thereof, and wherein the at least two controllable suction units (130a-c) are configured to be individually controlled, controlled in groups or all together,

wherein at least one of the at least two controllable suction units (130a-c) is configured to be movable along the axial center axis (B-B) and/or the suction unit 15 carrier assembly (120) is configured to enable pivotable movement of at least one of the at least two controllable suction units (130a-c) about the axial center axis (A-A) thereof, enabling adjustment of the position of at least one of the at least two controllable suction units (130a-c) below the axial center axis (A-A) of the suction carrier assembly (120).

20 2. Adjustable fish retaining device (100) according to claim 1, wherein comprising at least three controllable suction units (130a-c).

3. Adjustable fish retaining device (100) according to any preceding claim, wherein the controllable suction units (130a-c) comprise at least one controllable suction device (131, 131a-b).

25 4. Adjustable fish retaining device (100) according to claim 3, wherein the controllable suction unit (130a-c) comprises at least two suction devices (131a-b) spaced apart in axial direction of the suction unit carrier assembly (120).

5. Adjustable fish retaining device (100) according to claim 1, wherein the controllable suction units (130a-c) are arranged to the suction unit carrier assembly 30 (120) via a connection interface (140a-c) for fixed arrangement or configured to enable manually or automated adjustment of the respective controllable suction unit (130a-c) in axial and/or vertical direction of the suction unit carrier assembly (120).

6. Adjustable fish retaining device (100) according to claim 5, wherein the controllable suction units (130a-c) are arranged to the respective connection

35 interface (140a-c) by means of a connection device (135).

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7. Adjustable fish retaining device (100) according to claim 6, wherein the connection device (135) comprises a controllable device actuator (138) configured to be controlled to control the position of the controllable suction units (130a-c) along the axial center axis (B-B) thereof.

5 8. Adjustable fish retaining device (100) according to claim 6, wherein the suction unit carrier assembly (120) comprising a main body (121) having an axial extension mainly perpendicular to the axial direction thereof and arranged to the connection interface (110) at a first axial distal part thereof, and wherein the respective connection interfaces (140a-c) are arranged to a second axial distal part thereof, the 10 respective connection interface (140a-c) being arranged to the second axial distal part by a hinged connection (150) or in a fixed manner.

9. Adjustable fish retaining device (100) according to any preceding claim, wherein the suction unit carrier assembly (120) comprising pivoting movement limiting devices (143, 143a-b, 144) in engagement with the respective connection interface 15 (140a-c) configured to limit the possible pivoting movement in relation to the axial center axis (A-A) of the suction unit carrier assembly (120).

10. Adjustable fish retaining device (100) according to claim 6, wherein the connection interface (140a-b) is configured to enable movement of the controllable suction units (130a-c) in an axial direction thereof.

20 11. Adjustable fish retaining device (100) according to claim 8, wherein the controllable suction unit (130a-b) is arranged to a controllable unit actuator (160) configured to be controlled to control the axial position of the controllable suction units (130a-b).

12. Fish handling system (300) suitable for handling of anesthetized fish (10), said 25 fish handling system (300) comprising at least one transport unit (400) for transport of anesthetized fish (10) past at least one detection unit (500) acquiring information, at least length, shape and/or weight, about each transported anesthetized fish (10), a controllable manipulator assembly (200), an adjustable fish retaining device (100) according to any one of the claims 1-11 connected to the controllable manipulator 30 assembly (200) via a manipulator connection interface (110) and a control unit (600),

wherein the controllable manipulator assembly (200) is movable above and movable in at least transversal and longitudinal direction of the transport unit (400),

wherein the control unit (600) is configured to, based on analysis of the acquired 35 information, hereunder at least length, shape and/or weight, of each transported anesthetized fish (10), by comprising means and/or software,

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- control the controllable manipulator assembly (200) and/or manipulator connection interface (110) to position the adjustable fish retaining device (100) in vicinity of a desired anesthetized fish (10) transported by the transport unit (400),

5 - engage and retain the fish (10) by controlling retaining force of the adjustable fish retaining device (100) by controlling the respective controllable suction unit (130a-c) individually, in groups or all together, by activation thereof and/or suction force,

- control the controllable manipulator assembly (200) and/or manipulator 10 connection interface (110) to move the retained anesthetized fish (10) to a position of destination and release the retained anesthetized fish (10) by releasing the retaining force of the adjustable fish retaining device (100) with a desired orientation.

13. Fish handling system (300) according to claim 12, wherein the controllable 15 manipulator assembly (200) further is movable in a vertical direction in relation to the transport unit (400).

14. Fish handling system (300) according to claim 12, wherein the manipulator connection interface (110) is a rotational interface/adapter.

15. Fish handling system (300) according to claim 12, wherein the control unit 20 (600) further is configured to, by comprising means and/or software, determine/calculate, for each fish, based on information from the at least one detection unit (500), one or more of: length of the fish/fork length, height of the fish, fish thickness, gender, biomass/theoretical weight, injures or deviations, or information about internal organs.

25 16. Fish handling system (300) according to claim 12, wherein the control unit (600) further is configured to, by comprising means and/or software, control the vertical position and/or axial position of the respective controllable suction unit (130a-c) by controlling an actuator (138, 160) associated with the respective controllable suction unit (130a-c) based on at least length and/or height of the 30 anesthetized fish (10).

17. Fish handling system (300) according to any one of the claims 12-16, wherein the fish handling system (300) being configured to perform sorting or orienting the retained fish (10) at the same time as it is moved to the position of destination based on one or more of head/tail-direction length, height, thickness, biomass/theoretical 35 weight, injuries or deviations, and/or gender, or information about internal organs.

18. Fish handling system (300) according to claim 12, wherein further comprising a sorting device arranged at one end of the transport unit (400) for sorting out unwanted or undetectable fish (10).

19. Fish handling system (300) according to any preceding claim 12-18, wherein the 5 fish handling system (300) is arranged upstream a fish treatment system, fish vaccination system or fish sorting system, or integrated as a part thereof.

20. Fish handling method suitable for handling of anesthetized fish (10), comprising transporting anesthetized fish (10) by means of a transport unit (400) past at least one detection unit (500) acquiring information, at least length, shape and/or weight, 10 about each transported anesthetized fish (10), wherein the method further comprises, based on analysis of the acquired information, hereunder at least length, shape and/or weight, from the at least one detection unit (500) of each transported anesthetized fish (10):

 positioning an adjustable fish retaining device (100) according to any one of 15 the claims 1-11 arranged movable above and movable in at least transversal and longitudinal direction of the transport unit (400) by means of a controllable manipulation assembly (200) and/or manipulation connection interface (110), in vicinity of a desired anesthetized fish (10) transported by the transport unit (400),

20  engaging and retaining the fish (10) by controlling retaining force of the fish retaining device (100) by controlling the respective controllable suction unit (130a-b) individually, in groups or all together, by activation thereof and/or suction force,

 moving the retained fish (10) to a position of destination by controlling the 25 controllable manipulator assembly (200) and/or manipulator connection interface (110) to move the retained fish (10) to the position of destination with a desired orientation and releasing the retained fish (10) by releasing the retaining force of the adjustable fish retaining device (100).

21. Fish handling method according to claim 20, wherein calculating required 30 retention force based on length, shape and/or weight of the respective fish (10) and controlling the activation and/or suction force of the controllable suction units (130a-c) to achieve the required retention force.

22. Fish handling method according to claim 20 or 21, wherein the method comprising analyzing the acquired information from the at least one detection unit 35 (500) to detect, recognize and/or calculate one or more of the following parameters for each fish (10): length of the fish/fork length, height of the fish, thickness of the

fish, injuries or deviations, gender, biomass/theoretical weight, or information about internal organs.

23. Fish handling method according to claim 20 or 21, wherein controlling the vertical position and/or axial position of the respective controllable suction units 5 (130a-c) based on at least length and/or height of the anesthetized fish (10).

24. Fish handling method according to claim 22, wherein the method comprising, based on the analyzed information of each fish (10), sorting out unwanted or undetectable fish (10).

25. Fish handling method according to claim 22, wherein the method comprising 10 sorting or orienting the retained fish (10) in the same operation as it is moved to the position of destination based on one or more of head/tail-direction, length, height, thickness, biomass/theoretical weight, injuries or deviations, and/or gender or information about internal organs.

26. Fish handling method according to any one of the claims 20-25, wherein further 15 comprising documenting all detected or calculated information regarding each fish (10).

PATENTKRAV

1. Justerbar anordning (100) for holding av fisk egnet for arrangement til en styrbar manipulatorsammenstilling (200) via et manipulatortilkoblingsgrensesnitt (110) for individuell håndtering av bedøvet fisk (10), hvor den justerbare anordningen (100) 5 for holding av fisk omfatter en sugeenhetsbærersammenstilling (120) med en aksial senterakse (A-A) og minst to styrbare sugeenheter (130a-c) med en aksial senterakse (B-B),

hvor de minst to styrbare sugeenhetene (130a-c) strekker seg med sin aksiale senterakse (B-B) i et plan hovedsakelig vinkelrett på den aksiale senteraksen (A-A) 10 til sugeenhetsbærersammenstillingen (120) og er fordelt i aksial retning derav, og hvor de minst to styrbare sugeenhetene (130a-c) er konfigurert til å bli individuelt styrt, styrt i grupper eller alle sammen,

hvor minst én av de minst to styrbare sugeenhetene (130a-c) er konfigurert til å være bevegelig langs den aksiale senteraksen (B-B) og/eller

15 sugeenhetsbærersammenstillingen (120) er konfigurert til å muliggjøre dreibar bevegelse av minst én av de minst to styrbare sugeenhetene (130a-c) om den aksiale senteraksen (A-A) derav, som muliggjør justering av posisjonen til minst én av de minst to styrbare sugeenhetene (130a-c) under den aksiale senteraksen (A-A) til sugebærersammenstillingen (120).

20 2. Justerbar anordning (100) for holding av fisk ifølge krav 1, hvor den omfatter minst tre styrbare sugeenheter (130a-c).

3. Justerbar anordning (100) for holding av fisk ifølge ethvert foregående krav, hvor de styrbare sugeenhetene (130a-c) omfatter minst én styrbar sugeanordning (131, 131a-b).

25 4. Justerbar anordning (100) for holding av fisk ifølge krav 3, hvor den styrbare sugeenheten (130a-c) omfatter minst to sugeanordninger (131a-b) plassert fra hverandre i aksial retning av sugeenhetsbærersammenstillingen (120).

5. Justerbar anordning (100) for holding av fisk ifølge krav 1, hvor de styrbare sugeenhetene (130a-c) er arrangert til sugeenhetsbærersammenstillingen (120) via et 30 tilkoblingsgrensesnitt (140a-c) for fast arrangement eller konfigurert til å muliggjøre manuell eller automatisert justering av den respektive styrbare sugeenheten (130a-c) i aksial og/eller vertikal retning av sugeenhetsbærersammenstillingen (120).

6. Justerbar anordning (100) for holding av fisk ifølge krav 5, hvor de styrbare 35 sugeenhetene (130a-c) er arrangert til det respektive tilkoblingsgrensesnittet (140ac) ved hjelp av en tilkoblingsanordning (135).

7. Justerbar anordning (100) for holding av fisk ifølge krav 6, hvor tilkoblingsanordningen (135) omfatter en styrbar anordningsaktuator (138) konfigurert til å bli styrt for å styre posisjonen til de styrbare sugeenhetene (130a-c) langs den aksiale senteraksen (B-B) derav.

5 8. Justerbar anordning (100) for holding av fisk ifølge krav 6, hvor sugeenhetsbærersammenstillingen (120) omfatter et hovedlegeme (121) med en aksial utstrekning hovedsakelig vinkelrett på den aksiale retningen derav og arrangert til tilkoblingsgrensesnittet (110) ved en første aksial distal del derav, og hvor de respektive tilkoblingsgrensesnittene (140a-c) er arrangert til en andre aksial 10 distal del derav, det respektive tilkoblingsgrensesnittet (140a-c) er arrangert til den andre aksiale distale delen ved en hengslet tilkobling (150) eller på en fast måte.

9. Justerbar anordning (100) for holding av fisk ifølge ethvert foregående krav, hvor sugeenhetsbærersammenstillingen (120) omfatter dreiebevegelsesbegrensende anordninger (143, 143a-b, 144) i inngrep med det respektive tilkoblingsgrensesnittet 15 (140a-c) konfigurert til å begrense den mulige dreiebevegelsen i forhold til den aksiale senteraksen (A-A) til sugeenhetsbærersammenstillingen (120).

10. Justerbar anordning (100) for holding av fisk ifølge krav 6, hvor tilkoblingsgrensesnittet (140a-b) er konfigurert til å muliggjøre bevegelse av de styrbare sugeenhetene (130a-c) i en aksial retning derav.

20 11. Justerbar anordning (100) for holding av fisk ifølge krav 8, hvor den styrbare sugeenheten (130a-b) er arrangert til en styrbar enhetsaktuator (160) konfigurert til å bli styrt for å styre den aksiale posisjonen til de styrbare sugeenhetene (130a-b).

12. Fiskehåndteringssystem (300) egnet for håndtering av bedøvet fisk (10), nevnte fiskehåndteringssystem (300) omfatter minst én transportenhet (400) for transport 25 av bedøvet fisk (10) forbi minst én deteksjonsenhet (500) som innhenter informasjon, i det minste lengde, form og/eller vekt, om hver transportert bedøvet fisk (10), en styrbar manipulatorsammenstilling (200), en justerbar anordning (100) for holding av fisk ifølge ethvert av kravene 1-11 tilkoblet den styrbare manipulatorsammenstillingen (200) via et manipulatortilkoblingsgrensesnitt (110) 30 og en styreenhet (600),

hvor den styrbare manipulatorsammenstillingen (200) er bevegelig over og bevegelig i minst tverrgående og langsgående retning av transportenheten (400),

hvor styreenheten (600) er konfigurert til, basert på analyse av den innhentede informasjonen, herunder minst lengde, form og/eller vekt, av hver transportert 35 bedøvet fisk (10), ved å omfatte midler og/eller programvare,

 styre den styrbare manipulatorsammenstillingen (200) og/eller manipulatortilkoblingsgrensesnittet (110) for å posisjonere den justerbare anordningen (100) for holding av fisk i nærheten av en ønsket bedøvet fisk (10) transportert av transportenheten (400),

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 gripe og holde fisken (10) ved å styre holdekraften til den justerbare anordningen (100) for holding av fisk ved å styre den respektive styrbare sugeenheten (130a-c) individuelt, i grupper eller alle sammen, ved aktivering derav og/eller sugekraft,

5  styre den styrbare manipulatorsammenstillingen (200) og/eller manipulatortilkoblingsgrensesnittet (110) for å flytte den holdte bedøvede fisken (10) til en destinasjonsposisjon og slippe den holdte bedøvede fisken (10) ved å slippe holdekraften til den justerbare anordningen (100) for holding av fisk med en ønsket orientering.

10 13. Fiskehåndteringssystem (300) ifølge krav 12, hvor den styrbare manipulatorsammenstillingen (200) videre er bevegelig i en vertikal retning i forhold til transportenheten (400).

14. Fiskehåndteringssystem (300) ifølge krav 12, hvor manipulatortilkoblingsgrensesnittet (110) er et rotasjonsgrensesnitt/adapter.

15 15. Fiskehåndteringssystem (300) ifølge krav 12, hvor styreenheten (600) videre er konfigurert til, ved å omfatte midler og/eller programvare, å bestemme/beregne, for hver fisk, basert på informasjon fra den minst ene deteksjonsenheten (500), én eller flere av: lengde på fisken/gaffellengde, høyde på fisken, fisketykkelse, kjønn, biomasse/teoretisk vekt, skader eller avvik, eller informasjon om indre organer.

20 16. Fiskehåndteringssystem (300) ifølge krav 12, hvor styreenheten (600) videre er konfigurert til, ved å omfatte midler og/eller programvare, styre den vertikale posisjonen og/eller aksiale posisjonen til den respektive styrbare sugeenheten (130a-c) ved å styre en aktuator (138, 160) tilknyttet den respektive styrbare sugeenheten (130a-c) basert på minst lengde og/eller høyde på den bedøvede fisken 25 (10).

17. Fiskehåndteringssystem (300) ifølge ethvert av kravene 12-16, hvor fiskehåndteringssystemet (300) er konfigurert til å utføre sortering eller orientering av den holdte fisken (10) samtidig som den flyttes til destinasjonsposisjonen basert på én eller flere av hode/hale-retning, lengde, høyde, tykkelse, biomasse/teoretisk 30 vekt, skader eller avvik, og/eller kjønn, eller informasjon om indre organer.

18. Fiskehåndteringssystem (300) ifølge krav 12, hvor det videre omfatter en sorteringsanordning arrangert ved én ende av transportenheten (400) for å sortere ut uønsket eller udetekterbar fisk (10).

19. Fiskehåndteringssystem (300) ifølge ethvert foregående krav 12-18, hvor 35 fiskehåndteringssystemet (300) er arrangert oppstrøms et fiskebehandlingssystem, fiskevaksinasjonssystem eller fiskesorteringssystem, eller integrert som en del derav.

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20. Fiskehåndteringsmetode egnet for håndtering av bedøvet fisk (10), omfattende transport av bedøvet fisk (10) ved hjelp av en transportenhet (400) forbi minst én deteksjonsenhet (500) som innhenter informasjon, i det minste lengde, form og/eller vekt, om hver transportert bedøvet fisk (10), hvor metoden videre omfatter, basert 5 på analyse av den innhentede informasjonen, herunder minst lengde, form og/eller vekt, fra den minst ene deteksjonsenheten (500) av hver transportert bedøvet fisk (10):

 posisjonering av en justerbar anordning (100) for holding av fisk ifølge ethvert av kravene 1-11 arrangert bevegelig over og bevegelig i minst 10 tverrgående og langsgående retning av transportenheten (400) ved hjelp av en styrbar manipulasjonssammenstilling (200) og/eller manipulasjonstilkoblingsgrensesnitt (110), i nærheten av en ønsket bedøvet fisk (10) transportert av transportenheten (400),

 gripe og holde fisken (10) ved å styre holdekraften til den justerbare 15 anordningen (100) for holding av fisk ved å styre den respektive styrbare sugeenheten (130a-b) individuelt, i grupper eller alle sammen, ved aktivering derav og/eller sugekraft,

 flytte den holdte fisken (10) til en destinasjonsposisjon ved å styre den styrbare manipulatorsammenstillingen (200) og/eller

20 manipulatortilkoblingsgrensesnittet (110) for å flytte den holdte fisken (10) til destinasjonsposisjonen med en ønsket orientering og slippe den holdte fisken (10) ved å slippe holdekraften til den justerbare anordningen (100) for holding av fisk.

21. Fiskehåndteringsmetode ifølge krav 20, hvor beregning av nødvendig holdekraft 25 basert på lengde, form og/eller vekt av den respektive fisken (10) og styring av aktiveringen og/eller sugekraften til de styrbare sugeenhetene (130a-c) for å oppnå den nødvendige holdekraften.

22. Fiskehåndteringsmetode ifølge krav 20 eller 21, hvor metoden omfatter analyse av den innhentede informasjonen fra den minst ene deteksjonsenheten (500) for å 30 detektere, gjenkjenne og/eller beregne én eller flere av følgende parametere for hver fisk (10): lengde på fisken/gaffellengde, høyde på fisken, tykkelse på fisken, skader eller avvik, kjønn, biomasse/teoretisk vekt, eller informasjon om indre organer.

23. Fiskehåndteringsmetode ifølge krav 20 eller 21, hvor styring av den vertikale posisjonen og/eller aksiale posisjonen til de respektive styrbare sugeenhetene (130a-35 c) basert på minst lengde og/eller høyde på den bedøvede fisken (10).

24. Fiskehåndteringsmetode ifølge krav 22, hvor metoden omfatter, basert på den analyserte informasjonen om hver fisk (10), sortering ut av uønsket eller udetekterbar fisk (10).

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25. Fiskehåndteringsmetode ifølge krav 22, hvor metoden omfatter sortering eller orientering av den holdte fisken (10) i samme operasjon som den flyttes til destinasjonsposisjonen basert på én eller flere av hode/hale-retning, lengde, høyde, tykkelse, biomasse/teoretisk vekt, skader eller avvik, og/eller kjønn eller

5 informasjon om indre organer.

26. Fiskehåndteringsmetode ifølge ethvert av kravene 20-25, hvor den videre omfatter dokumentering av all detektert eller beregnet informasjon angående hver fisk (10).

Drawings

Priority

No priority

Patent classes

IPC classes

A22C 25/08

A22C 25/00

A01K 61/90

CPC classes

A22C 25/08

A22C 25/00

A01K 61/90

Citations

GB 1048149 A (A)

NO 20170365 A (A)

US 2011207388 A1 (A1)

US 2006081192 A1 (A1)

US 6572466 B1 (B1)

NO 20221295 A1 (A1)

Applicants, owners and inventors

Owners

MASKON AS

Wessels veg 63

7502 STJØRDAL

NO (STJØRDAL Municipality, Trøndelag county)

Org. number: 930216321

Inventors

Roger Størseth

Dronningberget 35

7517 HELL

NO (STJØRDAL Municipality, Trøndelag county)

Jon Egil Hammeren

Håmmårsvegen 57

7630 ÅSEN

NO (LEVANGER Municipality, Trøndelag county)

Agent

ACAPO ONSAGERS AS

Edvard Griegs vei 1

5059 BERGEN

NO (BERGEN Municipality, Vestland county)

Org. number: 932214636

Reference: P31719NO00

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 found

Only events from 2024.03.04 and onwards are shown.