Abstract:
An automated harvesting system for crustaceans comprising: (a) baskets ( 10 ) to individually house each crustacean and operationally complementary trays ( 17 ) to support one or more of these baskets ( 10 ) (b) harvesting means for harvesting each crustacean (c) monitoring means ( 33 ) for monitoring the moulting stage of each crustacean, the means including (i) an automated robotic camera adapted to periodically take images of a crustacean in its basket ( 10 ) (ii) a processor with software which can receive and analyze the images to determine whether a crustacean has moulted, where a moulted crustacean is indicated by the presence of two bodies in a basket ( 10 ), the processor also providing instructions to the harvesting means to remove a moulted crustacean from its basket ( 10 ).

Description:
OBJECT OF THE INVENTION  
       [0001]     It is an object of the present invention to provide a system for harvesting crustaceans that overcomes at least in part one or more of the aforementioned problems.  
       SUMMARY OF THE INVENTION  
       [0002]     In one aspect the present invention broadly resides in a system for harvesting crustaceans including  
         [0003]     holding means for the housing of each crustacean in a separate compartment;  
         [0004]     monitoring means for the automated monitoring of said crustaceans to determine whether they have molted; and  
         [0005]     harvesting means for the removal of molted crustaceans from the holding means, wherein the monitoring means includes an automated camera means adapted to periodically take images of the crustaceans in the compartments, a processor with software which can receive and analyze the images to determine whether the crustacean has molted where a molted crustacean is indicated by the presence of two bodies in a compartment, and instruct the harvesting means to remove the molted crustacean from their compartment.  
         [0006]     The term crustaceans refers to crabs, lobsters, Moreton Bay bugs, marron, prawns and any other suitable crustaceans that are capable of molting.  
         [0007]     The automated camera means preferably takes images of each compartment at regular intervals. Preferably the regular intervals are spaced by at least the period it takes for the crustacean to molt. The regular intervals are preferably the length of time it takes for the crustacean to molt and the digestion of the discarded exoskeleton or formation of a new shell whichever is the earliest.  
         [0008]     The automated camera means is preferably robotic being able to move the camera into a suitable position for taking the image of the crustacean in each compartment.  
         [0009]     In another aspect the present invention broadly resides in a system for harvesting crustaceans including  
         [0010]     holding means for the housing of each crustacean in a separate compartment;  
         [0011]     monitoring means for the automated monitoring of said crustaceans to determine whether they have molted; and  
         [0012]     harvesting means for the removal of molted crustaceans from the holding means, wherein the monitoring means includes an automated camera means adapted to periodically take images of the crustaceans in the compartments, a processor with software which can receive and analyze the images to determine whether the crustacean has molted where a molted crustacean is indicated by the presence of two bodies in a compartment, and instruct the harvesting means to remove the molted crustacean from their compartment, said automated camera means is robotically mounted being able to move the camera into a suitable position for taking the image of the crustacean in each compartment.  
         [0013]     In a preferred embodiment the monitoring means is operatively associated with a feeding means which adds nutrients and feed (herein after referred to as food) to the crustacean in each compartment. The feeding means preferably includes a food storage bin and dispensing means. The feeding means is preferably robotic. The feeding means is preferably robotic with the camera means and dispensing means mounted on the same robot. In a more preferred embodiment the monitoring means is able to process an image of the crustacean in a compartment and determine the size of the crustacean thereby provide food as a percentage of the body weight of the crustacean. The amount of food to be provided to the crustacean may range between 1% and 15% of its body weight and more preferably 3% of its body weight. Preferably the monitoring means is able to determine whether there is food remaining in the holding means and increases or reduces the amount of food subsequently provided to the crustacean based on remaining food.  
         [0014]     In another aspect the present invention broadly resides in a system for harvesting crustaceans including  
         [0015]     holding means for the housing of each crustacean in a separate compartment;  
         [0016]     monitoring means for the automated monitoring of said crustaceans to determine whether they have molted; and  
         [0017]     harvesting means for the removal of molted crustaceans from the holding means, wherein the monitoring means includes an automated camera means adapted to periodically take images of the crustaceans in the compartments, a processor with software which can receive and analyze the images to determine whether the crustacean has molted where a molted crustacean is indicated by the presence of two bodies in a compartment, and instruct the harvesting means to remove the molted crustacean from their compartment, said automated camera means is robotically mounted being able to move the camera into a suitable position for taking the image of the crustacean in each compartment, wherein there is feeding means operatively associated with the monitoring means, said feeding means includes a dispensing means which is mounted on the same robot as the camera means.  
         [0018]     When the food consumption is monitored over a period of time it provides an indication as to when the crustacean will molt as food consumption increases then decreases prior to molting. If food consumption is monitored over a period of time then this information may be used by the monitoring means as a guide to the molting cycle and the interval between taking images of each crustacean may vary as a consequence of taking into account this information. The interval between the taking of images of the crustacean in a compartment may lengthen and shorten depending on the crustacean&#39;s stage in the molting cycle.  
         [0019]     Monitoring means may also include determination as to whether the molted crustacean is of marketable size. If the crustacean is of marketable size the crustacean is harvested. If the crustacean is not of marketable size the crustacean is returned to a basket after the exoskeleton has been removed or left in the basket with the exoskeleton being removed or digested.  
         [0020]     The holding means preferably includes a basket for containing a single crustacean and a tray for locating the baskets. The basket preferably has a waste outlet and a clean water inlet. The clean water inlet is located above the waste outlet. A plurality of baskets are preferably arranged on each tray. Each tray preferably has a floor downwardly sloping towards the centre with a recess in the floor to allow collection of waste from the baskets. The baskets and tray are preferably operatively complementary with the clean water inlet locatable adjacent the tray water inlet, the waste outlet of the basket locatable adjacent the recess and the basket has inclined legs so that the floor of the basket is substantially horizontal when positioned on the tray.  
         [0021]     There are preferably a plurality of trays supported on a racking system. The racking system may be a single level but preferably a multi-level system. The baskets, trays and racking system are preferably arranged to provide a reproducible modular system for housing the crustaceans.  
         [0022]     Harvesting preferably includes moving the crustacean from the holding means and placing it in a collection container maintained at a temperature to slow activity. Preferably the temperature of the collection container is between 4 and 20° C. During harvesting it may be determined whether the molted crustacean in the collection container is of an acceptable marketable size. If the molted crustacean is determined to be of a marketable size then they are frozen and packed but if not they are returned to a holding means for further growth.  
         [0023]     The harvesting means preferably includes an arm capable of grabbing and lifting the holding means in order to remove the molted crustacean. The monitoring means, feeding means, and the harvesting means is preferably mounted as a mobile unit able to check each holding means on the racking system.  
         [0024]     In another aspect the invention broadly resides in holding means for housing crustacean in separate compartments wherein the holding means includes a basket for containing a single crustacean and a tray for locating one or more baskets, said basket is operatively complementary with the tray with a basket clean water inlet locatable adjacent the tray water inlet, a basket waste outlet locatable adjacent a tray floor recess, and inclined legs on the basket to maintain the floor of the basket substantially horizontal when the basket is positioned on the tray.  
         [0025]     In another aspect the invention broadly resides in holding means for housing crustacean in separate compartments wherein the holding means includes a basket for containing a single crustacean and a tray for locating one or more baskets, said basket is operatively complementary with the tray with a basket clean water inlet locatable adjacent the tray water inlet, a basket waste outlet locatable adjacent a tray floor recess, and inclined legs on the basket to maintain the floor of the basket substantially horizontal when the basket is positioned on the tray, wherein a plurality of trays is supported on a racking system which forms a modular system.  
         [0026]     In another aspect the invention broadly resides in an automated system of farming and harvesting crustaceans including  
         [0027]     modular housing means including a plurality of holding means supported on a racking system, said holding means houses each crustacean in a separate compartment;  
         [0028]     monitoring means for the automated monitoring of said crustaceans to determine whether they have molted;  
         [0029]     feeding means for the adding of food to each compartment; and  
         [0030]     harvesting means for the removal of molted crustaceans from the holding means, wherein the monitoring means includes an automated camera means adapted to periodically take images of the crustaceans in the compartments, a processor with software which can receive and analyze the images to determine whether the crustacean has molted where a molted crustacean is indicated by the presence of two bodies in a compartment, and instruct the harvesting means to remove the molted crustacean from their compartment.  
         [0031]     Said automated camera means is preferably as described above.  
         [0032]     Said automated camera means is preferably robotically mounted being able to move the camera into a suitable position for taking the image of the crustacean in each compartment.  
         [0033]     Said automated camera means is preferably operatively associated with the feeding means as described above.  
         [0034]     The modular housing means preferably includes an arrangement of holding means, trays and a racking system as described above.  
         [0035]     The harvesting means is preferably as described above.  
         [0036]     In another aspect the present invention broadly resides in apparatus for the harvesting or the farming and harvesting of crustaceans in the systems as described above. The apparatus includes holding means, monitoring means, harvesting means and feeding means. The various embodiments of each of these apparatus are described above and incorporated herein.  
         [0037]     In another aspect the present invention broadly resides in a method of farming and harvesting crustaceans using the system for harvesting crustaceans or the system for farming and harvesting crustaceans as described above, including  
         [0038]     obtaining a plurality of crustaceans;  
         [0039]     positioning each of said crustaceans in individual holding means;  
         [0040]     monitoring with the monitoring means each of said crustaceans to determine whether they have molted; and  
         [0041]     harvesting with the harvesting means each of the molted crustaceans, wherein the monitoring involves using an automated camera means adapted to periodically take images of the crustaceans in the compartments, processing using a processor with software which can receive and analyze the images to determine whether the crustacean has molted where a molted crustacean is indicated by the presence of two bodies in a compartment, and instructing the harvesting means to remove the molted crustacean from their compartment.  
         [0042]     Different embodiments of the methods are formed and incorporated herein by using different embodiments of the holding means, monitoring means, feeding means and harvesting means as described herein. 
     
    
     BRIEF DESCRIPTION OF THE DRAWINGS  
       [0043]     In order that the present invention be more readily understood and put into practical effect, reference will now be made to the accompanying drawings wherein:  
         [0044]      FIG. 1  is a diagrammatic view of a basket holding a single crab;  
         [0045]      FIG. 2  is a diagrammatic view of a tray for supporting a plurality of baskets;  
         [0046]      FIG. 3  is a further diagrammatic view of a tray supporting a plurality of baskets;  
         [0047]      FIG. 4  is a diagrammatic view of the racking system of the preferred embodiment;  
         [0048]      FIG. 5  is a diagrammatic view of the camera and feeding mechanisms of the preferred embodiment;  
         [0049]      FIG. 6  is a diagrammatic view of the monitoring robot;  
         [0050]      FIG. 7  is a diagrammatic side view of the monitoring robot and racking system;  
         [0051]      FIG. 8  is a diagrammatic view of the harvesting mechanism on the monitoring robot;  
         [0052]      FIG. 9  is a planned diagrammatic view of the monitoring robot and docking unit;  
         [0053]      FIG. 10  is a planned diagrammatic view of the racking system for farming and harvesting crustaceans; and  
         [0054]      FIG. 11  is a side diagrammatic view of the racking system for farming and harvesting crustaceans. 
     
    
     DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT  
       [0055]     With reference to  FIGS. 1, 2  and  3  there is shown a basket  10  for containing a single crustacean, which in  FIG. 1  is a crab  11 . The basket  10  has an aperture  12  midway in a side wall to allow introduction of clean water. The floor  13  of the container  10  has two adjacent slots  14  to allow for the discharge of waste. The floor  13  is supported by two triangular-shaped feet  15 . The tray  17  includes an elongated pipe  18  through which clean water is passaged. Each of the baskets  10  is positioned against the pipe  18  in a manner where the floor  13  of the basket  10  is substantially horizontal. Floor  19  of tray  17  is substantially V-shaped and has an internal recess  20  that leads to a discharge outlet  21  where waste and water are discharged. Waste from the baskets  10  collects in the recess  20 . The pipe  18  has a series of apertures  22  that align with apertures  12  in baskets  10  to allow introduction of clean water into baskets  10 . The trays  17  may contain any suitable number of baskets  10  and a group of baskets  10  can be separated from each other by a bracket  23 . In the preferred embodiment, there are eighteen baskets per tray.  
         [0056]     With reference to  FIG. 4  there is shown a racking unit  30  which forms part of the racking system  29 . The racking unit  29  includes an upright support  31  with six racks  32  extending laterally from both sides of the upright support  31 . Three trays  17  each containing eighteen baskets  10  are positioned on each rack  32 . That is, each rack  32  supports one hundred and eight baskets  10 . Each racking unit  30  supports six hundred and forty eight baskets  10 .  
         [0057]     There is also shown the monitoring robot  33  which has six arms  34  extending from each side of the robot frame  35 . The six arms  34  are capable of extending across each of the racks  32 . (Not all of the arms  34  are shown in  FIG. 4  in order to assist in the understanding of the monitoring robot  33 .) The robot frame  35  moves along rails  36  via engagement with the guiding wheel  37 . In some embodiments, there is also an overhead rail engagable by a top guide wheel which assists in guiding the robot frame  35 . The robot frame  35  moves in a forwards and rearwards direction. The robot frame  35  also has two or more containers  38  for the collection of the molted crustacean. These containers  38  contain an ice slurry for reducing the physical and metabolic activity of the crustaceans. Each of the arms  34  has three feed apparatus  39  and three cameras  40 .  
         [0058]     The arrangement of the feed apparatus  39  and cameras  40  is shown more clearly in  FIG. 5 . The feed apparatus  39  and cameras  40  are mounted on a slidable platform  41 . The platform  41  is supported on L-shaped rails  45  and moves sideways with the assistance of a hydraulic ram  46 . The movement of the platform  41  is substantially perpendicular to the forward and rearward movement of the robot frame  35 . The feed apparatus  39  comprises a bin  47  and a metering gauge  48  consisting of a slidable plate  49  movable over an aperture (not shown) and actuated by hydraulic ram  50 .  
         [0059]     Each of the cameras  40  are arranged adjacent respective feed apparatus  39 . In this manner images may be obtained during the feeding and harvesting process. To simplify the figures for ease of understanding the invention only a single camera  40  is drawn in phantom on the platform  41  whereas in operation there will be three cameras along platform  41 .  
         [0060]     There is also shown the harvesting apparatus  55  attached to platform  41 . The harvesting apparatus  55  comprises a gripping device  56  movable along a support rail  57 . The support rail  57  is pivotally attached to a harvest arm  58  and can be moved about the pivot point with actuation by hydraulic ram  59 . In operation the gripping device  56  moves to a basket  10  containing the molted crab, grips the basket  10  by opposing tangs  60  actuated by ram  61 , and the basket  10  is raised and inverted so that the molted crab falls into a collection container  38 . The molted crab passes into shoot  73  (shown in  FIG. 9 ) and directed to the collection container  38 . The basket  10  is then returned to its position in tray  17 . The operation of the harvesting apparatus  55  is shown diagrammatically in  FIGS. 8   a  to  8   c.    
         [0061]     The platform  41  is further shown in  FIG. 6  in perspective with the monitoring robot  33 . Again for purposes of understanding the monitoring robot  33  only a single platform  41  is shown and in operation there are six platforms  41  on either side (12 in total) of the monitoring robot frame  35 .  
         [0062]     In  FIG. 7  there is shown six platforms  41  extending from one side of the monitoring robot frame  35 . The monitoring robot  33  is positioned in the docking station  65 . The docking station  65  serves to service the monitoring robot  33  and reposition the monitoring robot  33  for operation along another row of the racking system  29 . This is shown in  FIG. 10 . The monitoring robot  33  can move along rails  36  up and down the rows of the racking system  29 . When one row has been serviced, the monitoring robot  33  docks with the docking station  65  by moving along aligned rail  36   a  which forms part of the docking station  65 . The docking station  65  then moves along separate rails  66  engaged by guide wheels  67  to the next row. The docking station  65  moves forward and rearward and in a relatively perpendicular direction to the direction of movement of the monitoring robot  33 . The docking station  65  has a lower platform  68  and an upper platform  69  accessed by stairs  70 . There is also a lift  71  on which collection containers  38  can be raised and lowered from the robot frame  35 . There are three collection containers  38  positioned on the robot frame  35  so that the molted crab product is not damaged by its fall from the basket  10 .  
         [0063]      FIGS. 10 and 11  provide different views of the racking system  29 . The racking system  29  is housed in building  80  wherein the environmental conditions are carefully monitored. In the described embodiment there are approximately 70 racking units  30  in the racking system  29  thereby supporting approximately 36288 baskets  10  (and thus  36288  crabs) at any one time. The operation of the system is dependent on the provision of clean water. This is achieved through the water recycling and filtration plant  81  adjacent the building  80 .  
         [0064]     Waste is discharged from the trays  17  through discharge outlet  21  through pipes (not shown) connecting the discharge outlet  21  with internal piping (not shown) in the upright support  31 . The internal piping connects with waste pipes  83  in the floor of the building  80  and discharges the waste to the water recycling and filtration plant  81 . Clean water from the water recycling and filtration plant  81  is introduced via water pipes  84  in the floor of the building  80 , passaged through internal water pipes in the upright support  31  and introduced into individual baskets  10  through pipe  18 . Removal of waste and the introduction of clean water is preferably coordinated so that the baskets  10  always contain water. The removal of waste and the introduction of clean water may be coordinated by the monitoring robot  33 .  
         [0065]     In operation each basket  10  in the racking system  29  contains a crab. The monitoring robot  33  moves along the rows of racking units  30  providing food from feeding apparatus  39  to each basket  10  based on the presence of remaining food and approximate crab body weight. Typically the feed is metered so that a crab receives on average 5 grams of feed. The information concerning the presence of remaining food and approximate body weight is determined from images taken from adjacent camera  40 . These images are processed by a processor which then transmits instructions to the feeding apparatus  39  regarding the amount of feed to be provided. The information from these images can be used to track the position of the crab in the 30 day molting cycle to give an approximation as to when the crab will next molt. Prior to molting the crab progressively increases then decreases the amount of feed it consumes. The images can also be used to determine whether the crab has molted by the presence of two bodies, one of which is the molted crab while the other is the exoskeleton or shell. If two bodies are detected, the processor provides instructions to the harvesting apparatus  55  to remove the crab to the collection container  38 . The crab is removed to the collection container  38  at a predetermined time before a new shell has grown and to provide the best and consistent quality of crab meat product. If the size of the crab is unacceptable for the market, the crab is returned to a basket  10  for a further molting cycle. If the size of the crab is acceptable to the market, it is prepared for market by, for example, being frozen and packaged or sold live and delivered (by truck  87  for example in  FIG. 10 ) to a consumer outlet, restaurant or for export.  
       ADVANTAGES  
       [0066]     The advantages of the present embodiment of the invention include individual housing of the crustaceans to avoid loss or damaged product from the aggressive behaviour of the crustaceans; automation of an otherwise labour intensive industry and thereby reducing the cost of the final product; provision of comparatively high quantities of product through intensive farming and automation and providing a consistently high quality product through the monitoring and timing of the molting process.  
       VARIATIONS  
       [0067]     It will of course be realised that while the foregoing has been given by way of illustrative example of this invention, all such and other modifications and variations thereto as would be apparent to persons skilled in the art are deemed to fall within the broad scope and ambit of this invention as is herein set forth.  
         [0068]     Throughout the description and claims this specification the word “comprise” and variations of that word such as “comprises” and “comprising”, are not intended to exclude other additives, components, integers or steps.