Patent Publication Number: US-2022232807-A1

Title: System and method for identifying and recovering expired poultry

Description:
CROSS-REFERENCE TO RELATED APPLICATION 
     The present application claims the benefit of U.S. Provisional Application Ser. No. 63/141,671, filed on Jan. 26, 2021, titled SYSTEM AND METHOD FOR IDENTIFYING AND RECOVERING EXPIRED POULTRY, naming Scott Niewohner and Lucas Niewohner as inventors, which is incorporated herein by reference in the entirety. 
    
    
     TECHNICAL FIELD 
     The present disclosure generally relates to animal husbandry, and more particularly to expired poultry recovery. 
     BACKGROUND 
     Poultry are commonly raised in poultry barns, such as broiler barns (or houses), turkey barns, and the like. Prior to harvesting the poultry, a number of animals may prematurely die. The removal of such expired poultry is critical to maintain proper sanitation and to ensure the viability of the living stock of poultry. Removal of expired poultry in barns is frequently a time-consuming process that requires significant amounts of human labor. To remove the expired poultry a human operator must manually walk around the poultry barn and pick up the expired poultry. However, prolonged exposure of the human operator to poultry dust and gases within poultry environments (e.g., barns) may have a deleterious effect. Therefore, it would be advantageous to provide one or more of a device, system, or method that provides for the removal of the expired poultry. 
     SUMMARY 
     A mortality recovery device is disclosed, in accordance with one or more embodiments of the present disclosure. In one illustrative embodiment, the mortality recovery device includes a chassis. In another illustrative embodiment, the mortality recovery device includes a container coupled to the chassis. In another illustrative embodiment, the mortality recovery device includes one or more drive wheels for propelling the chassis in a forward path. In another illustrative embodiment, the mortality recovery device includes a linkage assembly including a lift member and a grapple member. The lift member is coupled to the chassis and includes a platform. The lift member is configured to rotate relative to the chassis thereby lifting the platform above the container. The grapple member is coupled to lift member and is configured to rotate relative to the lift member. In another illustrative embodiment, the mortality recovery device includes a first camera posed such that the first camera is configured to capture a first image stream including at least a first area disposed in the forward path. In another illustrative embodiment, the mortality recovery device includes one or more processors and a memory. The one or more processors are configured to execute a set of program instructions stored in the memory. The set of program instructions cause the one or more processors to perform image recognition on the first image stream to detect an expired poultry in the forward path. The set of program instructions cause the one or more processors to rotate the grapple member relative to the lift member for conveying the expired poultry onto the platform. The set of program instructions cause the one or more processors to and rotate the lift member relative to the chassis for conveying the expired poultry from the platform to the container. 
     A mortality recovery system is disclosed, in accordance with one or more embodiments of the present disclosure. In one illustrative embodiment, the mortality recovery system includes a poultry barn including a ceiling, a ground, feed lines, and water lines. The feed lines and the water lines are disposed between four and forty-eight inches from the ground. In another embodiment, the mortality recovery system includes one or more mortality recovery devices. In one illustrative embodiment, the mortality recovery device includes a chassis. In another illustrative embodiment, the mortality recovery device includes a container coupled to the chassis. In another illustrative embodiment, the mortality recovery device includes one or more drive wheels for propelling the chassis in a forward path. In another illustrative embodiment, the mortality recovery device includes a linkage assembly including a lift member and a grapple member. The lift member is coupled to the chassis and includes a platform. The lift member is configured to rotate relative to the chassis thereby lifting the platform above the container. The grapple member is coupled to lift member and is configured to rotate relative to the lift member. In another illustrative embodiment, the mortality recovery device includes a first camera posed such that the first camera is configured to capture a first image stream including at least a first area disposed in the forward path. In another illustrative embodiment, the mortality recovery device includes one or more processors and a memory. The one or more processors are configured to execute a set of program instructions stored in the memory. The set of program instructions cause the one or more processors to perform image recognition on the first image stream to detect an expired poultry in the forward path. The set of program instructions cause the one or more processors to rotate the grapple member relative to the lift member for conveying the expired poultry onto the platform. The set of program instructions cause the one or more processors to and rotate the lift member relative to the chassis for conveying the expired poultry from the platform to the container. 
     A method of mortality recovery is disclosed, in accordance with one or more embodiments of the present disclosure. In one illustrative embodiment, the method includes detecting, by one or more processors, an expired poultry in an image received from a camera by applying an image recognition model to the image. In another illustrative embodiment, the method includes engaging one or more drive wheels to position the expired poultry between a grapple member and a platform of a lift member by providing a control signal from the one or more processors to one or more drive wheel motors. In another illustrative embodiment, the method includes engaging the grapple member to convey the expired poultry onto the platform by rotating the grapple member relative to the lift member. In another illustrative embodiment, the method includes engaging the lift member to convey the expired poultry from the platform to a container by rotating the lift member relative to a chassis 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       The numerous advantages of the disclosure may be better understood by those skilled in the art by reference to the accompanying figures in which: 
         FIG. 1A  illustrates a side view of a mortality recovery device, in accordance with one or more embodiments of the present disclosure; 
         FIG. 1B  illustrates a front view of a mortality recovery device, in accordance with one or more embodiments of the present disclosure; 
         FIG. 1C  illustrates a top view of a mortality recovery device, in accordance with one or more embodiments of the present disclosure; 
         FIG. 1D  illustrates a top view of a mortality recovery device with a deterrent spinner deployed, in accordance with one or more embodiments of the present disclosure; 
         FIG. 2  illustrates a simplified schematic diagram of a control system of a mortality recovery device, in accordance with one or more embodiments of the present disclosure; 
         FIG. 3  illustrates a flow diagram of a method of mortality recovery, in accordance with one or more embodiments of the present disclosure; 
         FIGS. 4A-4H  illustrates a side view of a mortality recovery device implementing a method of mortality recovery, in accordance with one or more embodiments of the present disclosure; 
         FIG. 5A-5C  illustrates a top view of a mortality recovery system, in accordance with one or more embodiments of the present disclosure; 
         FIG. 6A  illustrates a perspective view of a mortality recovery device, in accordance with one or more embodiments of the present disclosure; 
         FIG. 6B  illustrates a side view of a mortality recovery device, in accordance with one or more embodiments of the present disclosure; 
         FIG. 6C  illustrates a rear perspective view of a mortality recovery device, in accordance with one or more embodiments of the present disclosure; and 
         FIG. 6D  illustrates a rear view of a mortality recovery device, in accordance with one or more embodiments of the present disclosure. 
     
    
    
     DETAILED DESCRIPTION 
     The present disclosure has been particularly shown and described with respect to certain embodiments and specific features thereof. The embodiments set forth herein are taken to be illustrative rather than limiting. It should be readily apparent to those of ordinary skill in the art that various changes and modifications in form and detail may be made without departing from the spirit and scope of the disclosure. Reference will now be made in detail to the subject matter disclosed, which is illustrated in the accompanying drawings. 
     Embodiments of the present disclosure are directed to a mortality recovery device for recovering expired poultry from poultry barns, and the like. The mortality recovery device may also be configured to autonomously path within a confined space, such as a broiler barn or other the like, by one or more of obstacle detection or environmental mapping. The mortality recovery device may also detect an expired poultry within the environment by an image recognition method. The mortality recovery device may be configured to perform mortality recovery of an expired poultry. For example, the mortality recovery device may include a linkage assembly may sweep and rotate an expired poultry into a container (also referred to as a dead box) for recovering the expired poultry from the environment. 
     Referring now to  FIGS. 1A-1D , a mortality recovery device  100  is described in accordance with one or more embodiments of the present disclosure. The mortality recovery device  100  may include one or more of a chassis  102 , drive wheels  104 , caster wheel  106 , container  108 , linkage assembly  110 , spinner assembly  120 , and one or more sensors. Various components of the mortality recovery device  100  may be coupled to the chassis  102 , such as, but not limited to, the drive wheels  104 , caster wheel  106 , the container  108 , the linkage assembly  110 , the spinner assembly  120 , or the sensors. By the arrangement of the various components, the mortality recovery device  100  may be provided to autonomously travel within a poultry barn and recover expired poultry from a ground surface of the poultry barn. 
     The drive wheels  104  may propel the chassis in a forward path. In this regard, the drive wheels may be selectively rotated by one or more drive wheel motors  208 , or the like. In embodiments, the drive wheels  104  include a spiked tread (e.g., a tread with rods integrated into one or more portions of the wheels, where the rods may be configured to provide traction, till, and/or break up debris or other material disposed within a poultry environment). The spiked tread may provide for tiling a bedding of as the drive wheels  104  are rotated. In this regard, the plurality of wheels may be configured to reduce a buildup of noxious and/or harmful substances within the poultry environment (e.g., ammonia). It is further contemplated that the drive wheels  104  may include any wheel known in the art, such as, but not limited to, a rubber tread or a continuous wheel (also known as continuous track or caterpillar track), and the like. In embodiments, the drive wheels  104  are independently controllable for propelling and turning the chassis. By the independent control of the drive wheels  104 , the mortality recovery device  100  may be considered to include differential steering (also referred to as skid steer). In embodiments, the mortality recovery device  100  may include a zero-degree turning radius by the independent control of the first drive wheel and the second drive wheel which may be advantageous for navigating within enclosed environments, such as broiler barns and the like. Although the drive wheels  104  are described as being independently controlled, this is not intended as a limitation of the present disclosure. In this regard, the mortality recovery device  100  may include a steering mechanism for torque steering the mortality recovery device  100 . 
     In embodiments, the mortality recovery device  100  includes one or more caster wheels  106 . As depicted, the caster wheels  106  may be disposed behind the drive wheels  104 , relative to the forward path of the mortality recovery device  100 . Such caster wheels  106  may be pivotably mounted, such that the caster wheels  106  may automatically align themselves with the direction of travel. By the caster wheels  106 , the mortality recovery device  100  may include the zero-degree turning radius. Although the mortality recovery device  100  is described as including the caster wheels  106 , this is not intended as a limitation on the present disclosure. In this regard, the mortality recovery device  100  may include one or more additional drive wheels, which may or may not be independently controllable. The mortality recovery device  100  may also include one or more idler wheels or the like. In this regard, the mortality recovery device  100  may include various permutations of drive wheels, idler wheels, caster wheels, front steering, rear steering, or skid steering to accomplish steering and propulsion. 
     The mortality recovery device  100  may also include the container  108  coupled to the chassis  102 . The container  108  may act a dead box storage for expired poultry. In embodiments, the container  108  is pivotably mounted to the chassis  102 . A container motor  216  may also be coupled between the container  108  and the chassis  102  for pivoting the container relative to the chassis for dumping expired poultry (e.g., dumping from a rear). 
     In embodiments, the mortality recover device  100  includes the linkage assembly  110  coupled to the chassis  102 . The linkage assembly  110  may include one or of a lift member  112 , platform  114 , grapple member  116 , or tines  118 . The linkage assembly  110  may function as a skid-loader lift or actuator arm that conveys expired poultry from the ground into the container  108 , as described further herein. 
     The lift member  112  may be coupled to the chassis  102  and include the platform  114 . For example, the lift member  112  may be pivotably coupled to the chassis  102 . By the pivotable connection, the lift member  112  may be rotated relative to the chassis  102  for lifting the platform  114  from the ground to a position above the container  108 . The platform  114  may also be rotated to dump the expired poultry into the container  108 . The pivotable action of the lift member  112  may be provided by a lift motor  210  (e.g., an electric motor, a linear actuator, or the like). In embodiments, the platform  114  includes one or more tines. The tines may be spaced to allow bedding to pass through the tines, such that the bedding is not conveyed to the container  108  by the platform  114 . Such tines may include, but are not limited to, tines with a length between four and ten inches. Although the platform  114  is described as including tines, this is not intended as a limitation on the present disclosure. In this regard, the platform  114  may generally include any shape which is suitable for conveying the expired poultry to the container  108 . In embodiments, the platform  114  is spring-mounted to the lift member  112 . By the spring mount, the platform  114  may be rotated relative to the lift member  112  when the platform  114  is raised above container  108 . 
     The grapple member  116  may be coupled to the lift member  112  and include one or more tines  118 . For example, the grapple member  116  may be pivotably coupled to the lift member  112 . By the pivotable connection, the grapple member  116  may be rotated relative to the lift member  112  for moving the tines  118  towards the platform  114 . The movement of the tines  118  towards the platform  114  may cause the tines  118  to rake expired poultry onto the platform  114 . The pivotable action of the grapple member  116  may be provided by a grapple motor  212  (e.g., an electric motor, a linear actuator, or the like). In a similar fashion to the tines of the platform  114 , the tines  118  may be spaced to allow bedding to pass through the tines  118 , such that the bedding is not raked onto the platform  114 . Such tines may include, but are not limited to, tines with a length between four and ten inches. Although the grapple member  116  is described as including the tines  118 , this is not intended as a limitation on the present disclosure. In this regard, the grapple member  116  may generally include any shape which is suitable for raking the expired poultry onto the platform  114 . In embodiments, the grapple member  116  translates the tines  118  upwards as the platform  114  is raised for clamping the expired poultry between the tines  118  and the platform  114 . By the clamping, the expired poultry may be prevented from falling off of the platform  114  prior to the platform  114  being raised above the container  108 . The tines  118  may remain clamped for some portion of the upward motion, such as, but not limited to, when the platform  114  is disposed above the container  108 . As may be understood, the specific duration of the clamping may be selectively adjusted based on kinematic chain (also referred to as rigid body) design methodologies. 
     In embodiments, the mortality recovery device  100  includes the spinner assembly  120 . The spinner assembly  120  may include one or more flexible members  122 . Such flexible members  122  may include, but are not limited to, a plastic material with a length between 12 and 36 inches. The spinner assembly  120  may retain the flexible members  122  in a hub that attaches to a spinner motor  206 . By the spinner motor  206 , the spinner assembly  120  may rotate the flexible members  122  for deterring live poultry from a forward path of the mortality recovery device  100 , thereby evacuating the live poultry from the drive wheels  104 , the grapple member  116 , or the platform  114 . In some instances, the spinner assembly  120  may rotate the flexible members  122  parallel to the ground, although this is not intended to be limiting. It is contemplated that by rotating the flexible members  122  parallel to the ground, live poultry in a forward path of the mortality recovery device  100  may be deterred to a side of the mortality recovery device  100 . 
     In embodiments, the spinner assembly  120  may be positioned between an extended position and a retracted position. In this regard, the spinner assembly  120  may include one or more linkages and an actuator for retracting or extending the spinner assembly  120 . For example, the spinner assembly  120  may be extended for deterring poultry from the forward path. Upon detection of an expired poultry, the spinner assembly  120  may then be retracted. By retracting the spinner assembly  120 , a likelihood of the flexible members  122  becoming entangled with the tines  118  or the platform  114  may be reduced. The spinner assembly  120  may be retracted and/or folded within a stowage compartment. 
     In embodiments, the mortality recovery device  100  includes one or more sensor units, such as, but not limited to, camera, lidar, proximity sensor, proximity switches, global positioning (GPS) sensors, and the like. The sensor units may measure one or more signals indicative of one or more conditions within the poultry environment. For example, the sensors may include, but are not limited to, a camera  124 , a camera  126 , or a camera  128 . The sensors may provide various data for autonomously controlling a pathing of the mortality recovery device  100 , avoiding obstacles, and detecting live or expired poultry. Such cameras may be coupled to one or more components of the mortality recovery device  100 , such as, but not limited to, the chassis  102 . As may be understood, the various cameras described herein may include any suitable camera known in the art, such as, but not limited to, a charge couple device (CCD) detector, a complementary metal-oxide semiconductor (CMOS), or the like. Furthermore, the camera  124 , the camera  126 , or the camera  128  may optionally include a light source for illuminating an image stream captured by the associated camera. 
     In embodiments, the mortality recovery device  100  may include the camera  124 . The camera may be considered a bird detection camera. In this regard, the camera  124  may be posed (positioned and oriented) on the mortality recovery device  100  such that the camera  124  is configured to capture an image stream including an area disposed in the forward path of the mortality recovery device  100 . Such area may include, but is not limited to, an area between the platform  114  and the tines  118 . The area between the platform  114  and the tines  118  may be beneficial for generating sensor data indicative of expired poultry which are ready for grappling by the tines  118 . In this regard, the camera  124  may generally be pointed at the ground in front of the mortality recovery device  100 . The image stream from the camera  124  may then be provided to one or more processors  202  for detecting expired poultry and/or live poultry within the forward path. In response to detecting the live poultry, the spinner motor  206  may be engaged for deterring the live poultry. In response to detecting the expired poultry, the processors  202  may provide control signals to the grapple motor  212  and the lift motor  210  for conveying the expired poultry to the container  108 . 
     In embodiments, the camera  124  may also be considered an object detection camera. In this regard, the camera  124  may be posed on the mortality recovery device  100  such that the camera  124  is configured to capture an image stream including an area disposed at a height of between four and forty-eight inches from the ground. By being disposed at such height, the camera may capture an image stream which may be advantageous in identifying objects within a poultry barn, such as a feed line or a water line. It is further contemplated that one or more additional cameras may be provided for the object detection purposes, such as, but not limited to, the camera  126 . The image stream from the camera  124  may be provided to the processor  202  for detecting the obstacles. The processors  202  may also provide control signals to the drive wheel motors  208  based on the obstacles within the image stream of the camera  124 , for avoiding the obstacles. 
     In embodiments, the angle-of-view of the camera  124  is sufficient to capture both the ground and one or more of the feed lines or water lines. In embodiments, the mortality recovery device  100  includes both of the camera  124  and the camera  126 . The camera  126  may be considered an object detection camera. In this regard, the camera  126  may be posed such that the camera  126  is configured to capture an image stream including the area at the height of between four and forty-eight inches from the ground. The area disposed at a height of between four and forty-eight inches from the ground may be advantageous in identifying objects within a poultry barn, such as said feed lines or water lines. In a similar fashion to the image stream from the camera  124 , the image stream from the camera  126  may be provided to the processor  202  for detecting the obstacles and providing control signals to the drive wheel motors  208  based on the obstacles detected within the image stream of the camera  126 . In some instances, multiple of the camera  126  may be provided, such as, for one or more sides of the mortality recovery device  100 . In embodiments, the camera  126  is a stereo camera including two or more lenses for capturing three-dimensional images. Such three-dimensional images may be advantageous assisting the processor  202  in detecting obstacles within the environment. 
     In embodiments, the mortality recovery device  100  may include the camera  128 . The camera  128  may be considered a mapping camera. In this regard, the camera  128  is posed such that the camera  128  is configured to capture an image stream including at least a portion of a ceiling disposed above the mortality recovery device  100 . The camera  128  may include a fisheye lens with an angle-of-view between one-hundred and one-hundred eighty degrees. The angle-of-view between one-hundred and one-hundred eighty degrees may be advantageous in capturing a significant portion of the ceiling within the image stream. By capturing the ceiling, a map of the surrounding environment may be generated. The image stream may be provided to the processors  202  for generating the map, determining a pose of the autonomous navigation device  100  within the map, and providing control signals to the drive wheel motors  208  based on the image stream from the camera  128  for navigating the mortality recovery device within the environment. 
     Although the mortality recovery device  100  is described as including the camera  128 , this is not intended as a limitation of the present disclosure. In embodiments, the mortality recovery device  100  may include a light detection and ranging (LiDAR) sensor  214 , or the like. In a similar fashion to the camera  128 , the LiDAR sensor  214  may be posed on the mortality recovery device for navigation purposes. The LiDAR sensor  214  may capture a point cloud indicative of a distance from the mortality recovery device  100  to one or more portions of the ceiling. The point cloud may be provided to the processors  202  for generating the map, determining a pose of the autonomous navigation device  100  within the map, and providing control signals to the drive wheel motors  208  based on the point cloud from the LiDAR sensor  214  for navigating the mortality recovery device within the environment. 
     Referring now to  FIG. 2 , a simplified block diagram of the mortality recovery device  100  is described, in accordance with one or more embodiments of the present disclosure. In embodiments, the mortality recovery device  100  includes a controller  201  including one or more processors  202  and a memory  204 . The processors  202  may be communicatively coupled to one or more components of the mortality recovery device  100 , such as, but not limited to, the camera  124 , the camera  126 , the camera  128 , the spinner motor  206 , the drive wheel motor  208 , the lift motor  210 , the grapple motor  212 , the LiDAR  214 , or the container motor  216 . The processors  202  may also be configured to execute one or more sets of program instructions stored in the memory  204 , by which the processors  202  may be configured to carry out one or more steps of the present disclosure. The program instructions may include one or more algorithms, such as, but not limited to, a computer vision algorithm, a machine learning algorithm, a deep learning algorithm, visual simulation location and mapping (VSLAM) algorithm, a navigation algorithm, or the like. In embodiments, the one or more processors  202  may be configured to one or more of generate a map of a poultry environment (e.g., based on markings from the ceiling), provide one or more autonomous navigation signals based on the map, detect one or more feed lines or water lines within the poultry environment, provide one or more autonomous navigation signals based on the detect feed lines or water lines, detect one or more poultry within the poultry environment, determine an expiration condition of the one or more poultry, or provide controls to one or more components of the mortality recovery device  100  for retrieving the expired poultry. 
     The one or more processors  202  may include any processor or processing element known in the art. For the purposes of the present disclosure, the term “processor” or “processing element” may be broadly defined to encompass any device having one or more processing or logic elements (e.g., one or more micro-processor devices, one or more application specific integrated circuit (ASIC) devices, one or more field programmable gate arrays (FPGAs), or one or more digital signal processors (DSPs)). In this sense, the one or more processors  202  may include any device configured to execute algorithms and/or instructions (e.g., program instructions stored in memory). In embodiments, the one or more processors  202  may be embodied as a desktop computer, image computer, parallel processor, networked computer, or any other computer system configured to execute a program instruction as described throughout the present disclosure. Further, the steps described throughout the present disclosure may be carried out by a single processor or multiple processors. Additionally, the controller  201  may include one or more processors housed in a common housing or within multiple housings. In this way, any controller or combination of controllers may be separately packaged as a module suitable for integration into the mortality recovery device  100 . Further, the processors  202  may analyze data received from the various sensors and feed the data to additional components within the mortality recovery device  100  or external to the mortality recovery device  100 . 
     The memory  204  may include any storage medium known in the art suitable for storing program instructions executable by the associated one or more processors  202 . For example, the memory  204  may include a non-transitory memory medium. By way of another example, the memory  204  may include, but is not limited to, a read-only memory (ROM), a random-access memory (RAM), a magnetic or optical memory device (e.g., disk), a solid-state drive and the like. It is further noted that memory  204  may be housed in a common controller housing with the one or more processors  202 . In one embodiment, the memory  204  may be located remotely with respect to the physical location of the one or more processors  202  and controller  201 . For instance, the one or more processors  202  of controller  201  may access a remote memory (e.g., server), accessible through a network (e.g., internet, intranet and the like). In embodiments, the memory maintains program instructions for causing the one or more processors to carry out the various steps described through the present disclosure. 
     In embodiments, the processors  202  may be configured to receive one or more signals indicative of one or more conditions within the poultry environment from one or more sensor units of the mortality recovery device  100 . The one or more conditions within the poultry environment my include, but are not limited to, one or more obstacles (e.g., feed line, or water line), one or more poultry birds, one or more expiration conditions of one or more poultry birds (e.g., one or more signals indicative of a dead bird and/or one or more signals indicative of a live bird), or one or more maps of the poultry environment. The map may dictate locations of anomalies within a barn and provide markings of the ceiling for assisting with object detection or autonomous navigation. The map may be generated from an image stream or a point cloud of a ceiling using a visual simulation location and mapping (VSLAM) algorithm, or the like. In another regard, the signals indicative of one or more conditions within the poultry environment collected by the one or more sensor units may be configured to allow the processors  202  to generate maps of the poultry environment and/or identify expired poultry within the poultry environment. 
     In embodiments, the processors  202  may be configured to provide one or more control signals to one or more portions of the mortality recovery device  100  based on the one or more signals indicative of one or more conditions within the poultry environment. For example, the processors  202  may be configured to provide one or more control signals to one or more propulsion systems (e.g., the drive wheel motor  208 ) for autonomously pathfinding within the poultry barn, such that the mortality recovery device  100  may approach an expired bird for recovery. In this regard, the signals indicative of one or more conditions within the poultry environment collected by the one or more sensor units may be configured to allow the mortality recovery device  100  to navigate (e.g., either autonomously or in response to one or more control signals, including, without limitation, control signals provided by a user) within the poultry environment. The one or more sensor units may be configured to allow the mortality recovery device  100  to avoid obstacles within the poultry environment (e.g., feeders, waterers, fences, walls, humans, birds, or the like). By way of another example, upon determination of a presence of one or more live poultry, the processors  202  may be configured to provide one or more control signals to the one or more poultry avoidance sub-systems (e.g., the spinner motor  206 ) such that the one or more poultry avoidance sub-systems cause the unexpired poultry birds to evacuate an area near the mortality recovery device  100 . The evacuation of the live poultry may then allow the mortality recovery device  100  to resume pathfinding without injuring the live poultry. By way of another example, upon determination of an existence of one or more expired poultry birds, the processors  202  may be configured to provide one or more control signals to one or more poultry retrieval sub-systems, where the control signals are configured to cause the one or more poultry retrieval sub-systems to recover the expired poultry. 
     Referring now to  FIG. 3 , a flow diagram of a method  300  is described, in accordance with one or more embodiments of the present disclosure. The embodiments and the enabling technology described previously herein in the context of the mortality recovery device  100  should be interpreted to extend to the method  300 . For example, one or more steps of the method  300  may be implemented by the processors  202  executing software-executable codes. It is further recognized, however, that the method  300  is not limited by the mortality recovery device  100 . 
     In a step  310 , an expired poultry is detected in an image from a camera. The expired poultry may be detected by applying an image recognition model to the image. The image recognition model may include any suitable image recognition model, such as, but not limited to, a blob detection model or a pretrained imaged detection model. The blob detection model may compare a color offset between the bedding and the expired poultry. The pretrained image detection model may be trained with annotated images of barn data using one or more machine learning algorithms, such as, but not limited to, a classification algorithm. In some instances, a spinner motor is disengaged and a spinner assembly is retracted upon detecting the expired poultry. 
     In a step  320 , one or more drive wheels are engaged to position the expired poultry between a grapple member and a platform. The drive wheels may be engaged by providing one or more control signals from a processor to a drive wheel motor causing drive wheels to be rotated. 
     In a step  330 , a grapple member is engaged to convey expired poultry onto the platform. The grapple member may be engaged by providing one or more control signals from the processor to a grapple motor causing the grapple to rotate relative to the lift member. 
     In a step  340 , a lift member is engaged to convey the expired poultry from the platform into a container. The lift member may be engaged by providing one or more control signals from the processor to a lift motor causing the lift member to rotate relative to a chassis. Subsequent to conveying the expired poultry to the container, the spinner assembly may be extended. The mortality recovery device may then resume autonomous navigation of the environment. 
     Optionally, in a step  350 , the container is dumped. The container may be dumped by engaging a container motor  216  causing the container to rotate relative to a chassis for dumping the expired poultry within the container from a rear opening of the container. The container may be dumped upon a given number of expired poultry being received within the container. Furthermore, the container may be selectively positioned to a dump location which is suitable for receiving the expired poultry. 
     Referring generally to  FIGS. 4A-4H , an exemplary implementation of the method  300  by the mortality recovery device  100  is described, in accordance with one or more embodiments of the present disclosure. Referring now to  FIG. 4A , the morality recovery device  100  may move autonomously within a barn environment and include a spinner assembly  120  in an extended position for deterring live poultry from the forward path. The mortality recovery device  100  may also capture an image stream of an expired poultry  402  in a forward path (e.g., by the camera  124 ). Referring now to  FIG. 4B , the mortality recovery device  100  may retract the spinner assembly  120  in response to detecting the expired poultry. Referring now to  FIG. 4C , the mortality recovery device  100  may deploy the linkage assembly  110  to a ground level in response to retracting the spinner assembly  120 . The mortality recovery device  100  may also position the expired poultry between the tines  118  of the grapple member and the platform  114  by engaging the drive wheels  104 . Referring now to  FIG. 4D , the mortality recovery device  100  may engage the grapple member  116  for conveying the expired poultry  402  onto the platform  114  by way of the tines  118 . Referring now to  FIGS. 4E-4F , the mortality recovery device  100  may engage the lift member  112  to raise the platform  114  above the container  108  and drop the expired poultry  402  in the container  108 . As the lift member  112  is rotated, the tines  118  may clamp the expired poultry  402  to the platform  114  for a least a portion of the time as the expired poultry  402  is raised. Referring now to  FIGS. 4G-4H , the spinner assembly  120  may be extended and the mortality recovery device  100  may renew the autonomous movement within the barn environment. As depicted, the mortality recovery device  100  has moved to a dump location. The container  108  may then be rotated to dump the expired poultry  402  from the container  108  at the dump location. By such autonomous recovery and dumping of the expired poultry, a human requirement to recover the expired poultry from the barn may be eliminated. 
     Referring generally to  FIGS. 5A-5C , a mortality recovery system  500  is described, in accordance with one or more embodiments of the present disclosure. The mortality recovery system  500  may include one or more mortality recovery devices  100 , expired poultry  402 , delivery lines  502 , and live poultry  504 . A poultry barn may include one or more the delivery lines  502 , such as, feed lines (also known as feeder lines, feed delivery systems, and the like) and water lines (also known as drinker lines, water delivery systems, and the like). The delivery lines  502  may be may be hung from a ceiling of the poultry house. During the life cycle of the poultry, the delivery lines  502  may be raised from a ground surface for accommodating a beak height of the live poultry  504 . Thus, the delivery lines  502  may be adjustable between a range of heights, including, but not limited to, four inches and forty-eight inches. The height of the feed line pipe and the water line pipe may be based on an age of the poultry and a breed of the poultry. For example, the height of the delivery line  502  may be lower for broiler chickens (as compared to turkeys, breeders, layers, or ducks), such as, but not limited to between four and twenty-four inches for such broilers. In embodiments, one or more of the camera  124  or the camera  126  is posed to capture the delivery lines  502  between the various ranges of heights as the height of the delivery line is adjusted to accommodate the poultry. The processors  202  of the mortality recovery device  100  may then detect the delivery lines  502  within the images and engage the drive wheels  104  to avoid the delivery lines  502  by an obstacle avoidance protocol, or the like. In some instances, the delivery lines  502  may function as linear guides which the mortality recovery device  100  may follow when navigating the barn. For example, the processors  202  may use the detected delivery lines  502  in combination with a known pose of the mortality recovery device  100  within the environment for autonomous pathfinding. 
     As previously described, the mortality recovery device  100  may be configured to provide one or more control signals to the one or more poultry avoidance sub-systems, such as a spinner assembly  120 , such that the flexible members  122  cause the live poultry  504  to evacuate a forward path of the mortality recovery device  100 . For example, as shown in  FIG. 5A , the mortality recovery device  100  may be placed within a poultry environment having one or more live poultry  504  and one or more expired poultry  402 . The mortality recovery device  100  may travel within the barn for detecting expired poultry laying on the ground surface. Upon approaching the live poultry  504 , the one or more processors  202  may detect the live poultry  504  (e.g., within an image stream from the camera  124 , the camera  126 , etc.). Upon detecting the live poultry  504 , the processors  202  may also provide one or more control signals to the one or more poultry avoidance sub-systems to engage the spinner assembly  120  for rotating the flexible members  122 . The flexible members  122  may then may cause the live poultry  504  to evacuate the forward path, as shown in  FIG. 5B . The processors  202  may then fail to detect the live poultry in the forward path, indicating the live poultry  504  has evacuated the forward path. When the processors  202  fail to detect the live poultry in the forward path, the spinner assembly  120  may be disengaged. By selectively engaging and disengaging the spinner assembly  120 , a power consumption of the mortality recovery device  100  may be reduced thereby improving a battery life. It is noted that, for purposes of the present disclosure, the terms “debird” and “debriding” may refer generally to one or more steps or sub-steps of a method of causing one or more live poultry to evacuate an area within the poultry environment. 
     Referring now to  FIG. 5C , upon approaching the expired poultry  402 , the one or more processors  202  may detect the expired poultry  402  (e.g., within the image stream from the camera  124 , the camera  126 , etc.). Upon detecting the expired poultry  402 , the processors  202  may initiate one or more protocols, such as the method  300 . In this regard, the mortality recovery device  100  may retract the spinner assembly  120  and deploy the linkage mechanism including the grapple member  116  and the lift member  112 . The mortality recovery device  100  may then convey the expired poultry  402  to the container  108 . 
     Referring generally to  FIGS. 6A-6D , a mortality recovery device  100   b  is described, in accordance with one or more embodiments of the present disclosure. Although the mortality recovery device  100  has been described as including the lift member  112 , this is not intended as a limitation on the present disclosure. In embodiments, the mortality recovery device  100   b  includes a poultry retrieval sub-system configured to engage with one or more expired poultry and recover them from a poultry environment. The poultry retrieval sub-system may include, but are not limited to, the platform  114  and one or more chain drives  602  (e.g., chain and gear drive, grapple, or the like) configured to lift the platform  114 . The platform  114  may thus be configured to lift expired poultry and deposit the expired poultry into the container  108 . 
     In embodiments, the mortality recovery device  100   b  includes a housing arm  602  coupled to the chassis  102 . One or more components of the mortality recovery device  100   b  may be disposed within the housing arm, such as, but not limited to, one or more cameras, controllers, or lights. 
     Referring generally again to  FIGS. 1A-6D , although the mortality recovery device  100  is described as including the spinner, this is not intended as a limitation of the present disclosure. It is contemplated that the mortality recovery device  100  may include alternative deterrent components for deterring live poultry from the forward path. For example, the deterrent components may include a contact deterrent, such as a push bar. By way of another example, the deterrent components may include a non-contact deterrent, such as, but not limited to, a light-based deterrent (e.g., a stroboscope, a laser, etc.), or a sound-based deterrent. 
     The mortality recovery device  100  may also include one or more ambient condition sensors, such as, but not limited to, a temperature sensor, a humidity sensor, an air quality sensor (e.g., a carbon dioxide sensor, an oxygen sensor, a nitrogen sensor, etc.), and the like. 
     While the present disclosure may refer to identification of one or more poultry and determination of an expiration condition of the one or more poultry using a segmentation algorithm, it is noted that the embodiments of the present disclosure are not limited to using a segmentation algorithm identification of one or more poultry and determination of an expiration condition of the one or more poultry. For example, a segmentation algorithm may be employed (e.g., by the one or more controllers) to identify any object within a poultry environment, including, without limitation, feeders, obstacles, barriers, fences, or the like. In this regard, one or more images indicative of one or more of conditions, objects, or poultry within a poultry environment may be received from the camera  124 , the camera  126 , or the like. The one or more camera images may also capture one or more related items within the poultry environment (e.g., any item the detection/identification of which is not desired). The processors  202  may perform one or more editing processes on the one or more camera images, including, without limitation, one or more cropping functions. The processors  202  may also detect the one or more objects of interest. For example, the processors  202  may detect one or more objects of interest by detecting features of interest (e.g., one or more features expected to be present in an image of the object of interest) within the one or more camera images. Conversely, the processors  202  may indirectly detect the one or more objects of interest by detecting sections of the one or more camera images that lack one or more features of interest. It is noted that the processors  202  may be trained to detect the one or more features of interest using any method known in the art to be suitable for the purposes of the present disclosure, including, without limitation, one or more machine-learning classification methods. It is further noted that the processors  202  may be trained to detect multiple features of interest expected to be present in an image of multiple different objects of interest. In this way, the processors  202  may be configured to detect objects of interest without explicit direction to detect only features of interest corresponding to a certain object of interest. The one or more objects of interest are classified. For example, the one or more objects of interest may be classified as at least one of a live poultry, an expired poultry, an obstacle, or the like, based on the one or more features of interest. 
     In embodiments, the processors  202  may develop and/or train a machine learning analyzer using data collected by the mortality recovery device  100 . Upon development of a machine learning analyzer, the one or more processors may apply the machine learning analyzer to one or more signals indicative of one or more conditions within a poultry environment. In this regard, the one or more controllers  201  may be configured to determine one or more conditions within a poultry environment (e.g., one or more obstacles, one or more poultry birds, one or more expiration conditions of one or more poultry birds, or one or more maps of the poultry environment) using the machine learning analyzer. It is noted that the embodiments of the present disclosure are not limited to the determination of conditions within a poultry environment via machine learning processes. For example, as previously described, the one or more processors may employ one or more computer vision algorithms configured to determine one or more conditions within a poultry environment. By way of another example, the one or more controllers  201  may be configured to determine whether one or more poultry within the poultry environment are expired (e.g., dead) or alive via one or more computer vision algorithms. By way of another example, the one or more algorithms may include a segmentation algorithm. 
     In embodiments, the mortality recovery device  100  is communicatively coupled to or includes one or more user interfaces. The user interfaces may include, but are not limited to, one or more desktops, tablets, smartphones, smart watches, and the like. In embodiments, a user may use the user interface to view various data stored in memory, such as, but not limited to, a mortality recovery schedule or sensor data. Those skilled in the art should recognize that any display device capable of integration with the user interface is suitable for implementation in embodiments of the present disclosure. In embodiments, a user may input selections and/or instructions responsive to data displayed to the user via the user interface. 
     Those having skill in the art will appreciate that there are various vehicles by which processes and/or systems and/or other technologies described herein can be affected (e.g., hardware, software, and/or firmware), and that the preferred vehicle will vary with the context in which the processes and/or systems and/or other technologies are deployed. For example, if an implementer determines that speed and accuracy are paramount, the implementer may opt for a mainly hardware and/or firmware vehicle; alternatively, if flexibility is paramount, the implementer may opt for a mainly software implementation; or, yet again alternatively, the implementer may opt for some combination of hardware, software, and/or firmware. Hence, there are several possible vehicles by which the processes and/or devices and/or other technologies described herein may be affected, none of which is inherently superior to the other in that any vehicle to be utilized is a choice dependent upon the context in which the vehicle will be deployed and the specific concerns (e.g., speed, flexibility, or predictability) of the implementer, any of which may vary. 
     All of the methods described herein may include storing results of one or more steps of the method embodiments in memory. The results may include any of the results described herein and may be stored in any manner known in the art. The memory may include any memory described herein or any other suitable storage medium known in the art. After the results have been stored, the results can be accessed in the memory and used by any of the method or system embodiments described herein, formatted for display to a user, used by another software module, method, or system, and the like Furthermore, the results may be stored “permanently,” “semi-permanently,” temporarily, or for some period of time. For example, the memory may be random access memory (RAM), and the results may not necessarily persist indefinitely in the memory. 
     It is further contemplated that each of the embodiments of the methods described above may include any other step(s) of any other method(s) described herein. In addition, each of the embodiments of the methods described above may be performed by any of the systems described herein. 
     One skilled in the art will recognize that the herein described components (e.g., operations), devices, objects, and the discussion accompanying them are used as examples for the sake of conceptual clarity and that various configuration modifications are contemplated. Consequently, as used herein, the specific exemplars set forth and the accompanying discussion are intended to be representative of their more general classes. In general, use of any specific exemplar is intended to be representative of its class, and the non-inclusion of specific components (e.g., operations), devices, and objects should not be taken limiting. 
     The one or more components of the mortality recovery device  100  may be communicatively coupled to the various other components of the mortality recovery device  100  in any manner known in the art. For example, processors may be communicatively coupled to each other and other components via a wireline (e.g., copper wire, fiber optic cable, and the like) or wireless connection (e.g., RF coupling, IR coupling, data network communication (e.g., WiFi, WiMax, Bluetooth and the like). 
     The herein described subject matter sometimes illustrates different components contained within, or connected with, other components. It is to be understood that such depicted architectures are merely exemplary, and that in fact many other architectures can be implemented which achieve the same functionality. In a conceptual sense, any arrangement of components to achieve the same functionality is effectively “associated” such that the desired functionality is achieved. Hence, any two components herein combined to achieve a particular functionality can be seen as “associated with” each other such that the desired functionality is achieved, irrespective of architectures or intermedial components. Likewise, any two components so associated can also be viewed as being “connected,” or “coupled,” to each other to achieve the desired functionality, and any two components capable of being so associated can also be viewed as being “couplable,” to each other to achieve the desired functionality. Specific examples of couplable include but are not limited to physically mateable and/or physically interacting components and/or wirelessly interactable and/or wirelessly interacting components and/or logically interacting and/or logically interactable components. 
     Furthermore, it is to be understood that the invention is defined by the appended claims. It will be understood by those within the art that, in general, terms used herein, and especially in the appended claims (e.g., bodies of the appended claims) are generally intended as “open” terms (e.g., the term “including” should be interpreted as “including but not limited to,” the term “having” should be interpreted as “having at least,” the term “includes” should be interpreted as “includes but is not limited to,” and the like). It will be further understood by those within the art that if a specific number of an introduced claim recitation is intended, such an intent will be explicitly recited in the claim, and in the absence of such recitation no such intent is present. For example, as an aid to understanding, the following appended claims may contain usage of the introductory phrases “at least one” and “one or more” to introduce claim recitations. However, the use of such phrases should not be construed to imply that the introduction of a claim recitation by the indefinite articles “a” or “an” limits any particular claim containing such introduced claim recitation to inventions containing only one such recitation, even when the same claim includes the introductory phrases “one or more” or “at least one” and indefinite articles such as “a” or “an” (e.g., “a” and/or “an” should typically be interpreted to mean “at least one” or “one or more”); the same holds true for the use of definite articles used to introduce claim recitations. In addition, even if a specific number of an introduced claim recitation is explicitly recited, those skilled in the art will recognize that such recitation should typically be interpreted to mean at least the recited number (e.g., the bare recitation of “two recitations,” without other modifiers, typically means at least two recitations, or two or more recitations). Furthermore, in those instances where a convention analogous to “at least one of A, B, and C, and the like” is used, in general such a construction is intended in the sense one having skill in the art would understand the convention (e.g., “a system having at least one of A, B, and C” would include but not be limited to systems that have A alone, B alone, C alone, A and B together, A and C together, B and C together, and/or A, B, and C together, and the like). In those instances where a convention analogous to “at least one of A, B, or C, and the like” is used, in general such a construction is intended in the sense one having skill in the art would understand the convention (e.g., “a system having at least one of A, B, or C” would include but not be limited to systems that have A alone, B alone, C alone, A and B together, A and C together, B and C together, and/or A, B, and C together, and the like). It will be further understood by those within the art that virtually any disjunctive word and/or phrase presenting two or more alternative terms, whether in the description, claims, or drawings, should be understood to contemplate the possibilities of including one of the terms, either of the terms, or both terms. For example, the phrase “A or B” will be understood to include the possibilities of “A” or “B” or “A and B.” 
     It is believed that embodiments of the present disclosure and many of its attendant advantages will be understood by the foregoing description, and it will be apparent that various changes may be made in the form, construction and arrangement of the components without departing from the disclosed subject matter or without sacrificing all of its material advantages. The form described is merely explanatory, and it is the intention of the following claims to encompass and include such changes. Furthermore, it is to be understood that the invention is defined by the appended claims.