WO2018037417A1

WO2018037417A1 - Automatic vaccination apparatus

Info

Publication number: WO2018037417A1
Application number: PCT/IL2017/050947
Authority: WO
Inventors: Moti BUSKILA; Zehava BUSKILA; Shimon BITON
Original assignee: DAS Projects Ltd
Current assignee: DAS Projects Ltd
Priority date: 2016-08-25
Filing date: 2017-08-24
Publication date: 2018-03-01
Anticipated expiration: 2019-02-25

Abstract

An automatic vaccination apparatus (AVA) and method are provided wherein the AVA that comprises birds collector that is configured to collect birds while the AVA is autonomously moving along a bounded path, and a vaccination system adapted to admit one bird at a time from the collector. The vaccination system comprises a camera coupled with an image processing system configured to determine the bird's position and orientation; a positioning sub-system capable of altering the bird's position and orientation; and an injector capable of being aimed to the bird's chest and inject a vaccine into the bird's chest.

Description

AUTOMATIC VACCINATION APPARATUS

TECHNICAL FIELD

[0001] The present invention relates to vaccinating birds. More particularly, the present invention relates to an apparatus for automatically vaccinating birds according to production line principles.

BACKGROUND

[0002] For various reasons, such as continuous reduction in the length of the broiler fattening period, increasing size of poultry operations and the difficulties in finding properly trained and motivated workers on the farm, vaccination in hatchery is becoming more and more popular and will strongly develop in the years ahead. It includes administration of the vaccines by injection. For many years it has been the only way to ensure an early and/or improved resistance to mucosal diseases like infectious bronchitis or Newcastle disease. More recently, new types of vaccines based on immune complex or recombinant technologies have been launched. Both have proven capable of inducing active immunity in the presence of maternally derived antibodies, which were previously neutralizing classical live attenuated vaccines if given at too early an age. This capacity, associated with the precision and the reliability of individual injection, is responsible for much better vaccine coverage of the flocks. Vaccination in the hatchery is actually opening the door to a real control of broiler diseases. One of the key challenges for the poultry meat industry, both now and in the future, is the control of broiler health. This is not only to avoid disease outbreaks but, more importantly, to protect the full expression of the genetic potential. Protection weighs heavily on the economy of production and limits contamination by zoonotic pathogens, which could significantly decrease the commercial value of the final product. The backbone of any sound policy aiming at controlling broiler health and reducing the risk of disease is bio-security and no real and long lasting success can be expected in this area without real and solid implementation of it at both breeder and broiler levels including the hatchery. Vaccination is a complementary approach to bio-security and there is no place today where we can actually think of dropping it. Vaccination in the hatchery has recently gained such popularity and is developing quite fast among the poultry industry. SUMMARY OF THE INVENTION

[0003] According to a one aspect of the present disclosure, an automatic vaccination apparatus (AVA), having a processor, comprising: at least one birds collector connected to the AVA, wherein the collector is configured to collect birds while the AVA is autonomously moving along a bounded path; and at least one vaccination system adapted to admit one bird at a time from the collector, the vaccination system comprising: a camera coupled with an image processing system configured to determine the bird's position and orientation; a positioning subsystem capable of altering the bird's position and orientation; and an injector capable of being aimed to the bird's chest and inject a vaccine into the bird's chest.

[0004] In some exemplary embodiments, the AVA further comprises a conveyer for moving the birds from the collector to the vaccination system, and wherein the conveyer further serves as a buffer zone for accumulating birds prior to admittance to the vaccination system.

[0005] In some exemplary embodiments, the collector is connected at a frontend of the AVA.

[0006] In some exemplary embodiments, the collector comprising two parallel vertical brushes rotating contrary to each other in a direction opposite to the moving along a bounded path.

[0007] In some exemplary embodiments, the collector is equipped with retractable flaps, wherein the flaps are deployed perpendicular to the bounded path to prevent birds from avoiding the collector.

[0008] In some exemplary embodiments, the AVA is provided with a motor for moving the AVA along the bounded path, wherein the motor is powered from sources selected from a group comprising: batteries; AC line; combustion engine; and a combination thereof.

[0009] In some exemplary embodiments, the AVA further comprises sensors coupled with the processor for autonomously navigating the AVA and control the motor along the bounded path.

[0010] In some exemplary embodiments, the at least one vaccination system further comprises a hatch for extracting the bird out of the vaccination system prior to admitting another bird.

[0011] In some exemplary embodiments, the positioning sub-system further comprises spoons; spoon's pistons; and a positioning motor, wherein the spoons are adapted for grabbing the bird, and wherein the spoon's pistons and the positioning motor are configured for maneuvering selected from a group comprising of: rotating; lifting; sliding; and a combination thereof, of the spoons in order to align the bird's position and orientation for injection.

[0012] In some exemplary embodiments, the injection is connected to an injection carriage driven by a carriage motor, wherein the processor pilot the injection carriage by the carriage motor for aiming a needle of the injector to the bird's chest and inject a vaccine into the bird's chest.

[0013] According to another aspect of the present disclosure, a birds vaccination system, having a processor, comprising: a camera coupled with an image processing system configured to determine the bird's position and orientation; a positioning sub-system capable of altering the bird's position and orientation; and an injector capable of being aimed to the bird's chest and inject a vaccine into the bird's chest.

[0014] In some exemplary embodiments, the positioning sub-system further comprises spoons; spoon's pistons; and a positioning motor, wherein the spoons are adapted for grabbing the bird, and wherein the spoon's pistons and the positioning motor are configured for maneuvering selected from a group comprising of: rotating; lifting; sliding; and a combination thereof, of the spoons in order to align the bird's position and orientation for injection.

[0015] In some exemplary embodiments, the injection is connected to an injection carriage driven by a carriage motor, wherein the processor pilot the injection carriage by the carriage motor for aiming a needle of the injector to the bird's chest and inject a vaccine into the bird's chest.

[0016] In some exemplary embodiments, the at least one vaccination system further comprises a hatch for extracting the bird out of the vaccination system prior to admitting another bird.

[0017] According to yet another aspect of the present disclosure, A method of vaccinating birds with an automatic vaccination apparatus (AVA), the method comprising: collect birds with a collector while moving along a bounded path; admitting one bird at a time to at least one vaccination system; determining the bird's position and orientation with a camera coupled with an image processing system altering the bird's position and orientation by a positioning subsystem; aiming an injector to the bird's chest and inject a vaccine into the bird's chest.

[0018] In some exemplary embodiments, the admitting one bird at a time further comprises moving the birds from the collector to the vaccination system, as well as accumulating the birds prior to the admitting one bird at a time to the vaccination system.

[0019] In some exemplary embodiments, the collecting is done from a frontend of the AVA.

[0020] In some exemplary embodiments, the collecting is done by two parallel vertical brushes rotating contrary to each other in a direction opposite to the moving along a bounded path.

[0021] In some exemplary embodiments, the moving along the bounded path further comprises preventing birds from avoiding the collector by retractable flaps configured to be deployed perpendicular to the bounded path while the collecting birds with a collector.

[0022] In some exemplary embodiments, the moving along the bounded path is done by a motor powered from sources selected from a group comprising: batteries; AC line; combustion engine; and a combination thereof.

[0023] In some exemplary embodiments, the moving along the bounded path further comprises autonomous navigating and motor controlling by sensors coupled with a processor.

[0024] In some exemplary embodiments, the vaccinating further comprises extracting the bird through a hatch after injecting a vaccine into the bird's chest and prior to admitting another bird.

[0025] In some exemplary embodiments, the altering the bird's position further comprises grabbing the bird with spoons, and maneuvering the bird's position and orientation for injection with spoon's pistons and a positioning motor, wherein the maneuvering further comprises rotating; lifting and sliding the spoons while the spoons are grabbing the bird.

[0026] In some exemplary embodiments, the aiming an injector to the bird's chest further comprises piloting, by a processor, the injector, connected to an injection carriage and driven by a carriage motor, and wherein the inject a vaccine into the bird's chest is done by a needle of the injector. [0027] According to yet another aspect of the present disclosure, A method of vaccinating birds with an automatic vaccination apparatus (AVA), the method comprising: admitting one bird at a time to at least one vaccination system; determining the bird's position and orientation with a camera coupled with an image processing system; altering the bird's position and orientation by a positioning sub-system; aiming an injector to the bird's chest and inject a vaccine into the bird's chest.

[0028] In some exemplary embodiments, the altering the bird's position further comprises grabbing the bird with spoons, and maneuvering the bird's position and orientation for injection with spoon's pistons and a positioning motor, wherein the maneuvering further comprises rotating; lifting and sliding the spoons while the spoons are grabbing the bird.

[0029] In some exemplary embodiments, the aiming an injector to the bird's chest further comprises piloting, by a processor, the injector, connected to an injection carriage and driven by a carriage motor, and wherein the inject a vaccine into the bird's chest is done by a needle of the injector.

[0030] In some exemplary embodiments, the vaccinating further comprises extracting the bird through a hatch after injecting a vaccine into the bird's chest and prior to admitting another bird.

[0031] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Although methods and materials similar or equivalent to those described herein can be used in the practice or testing of the present invention, suitable methods and materials are described below. In case of conflict, the specification, including definitions, will control. In addition, the materials, methods, and examples are illustrative only and not intended to be limiting. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The invention is herein described, by way of example only, with reference to the accompanying drawings. With specific reference now to the drawings in detail, it is stressed that the particulars shown are by way of example and for purposes of illustrative discussion of the preferred embodiments of the present invention only, and are presented in the cause of providing what is believed to be the most useful and readily understood description of the principles and conceptual aspects of the invention. In this regard, no attempt is made to show structural details of the invention in more detail than is necessary for a fundamental understanding of the invention, the description taken with the drawings making apparent to those skilled in the art how the several forms of the invention may be embodied in practice.

In the drawings:

[0033] Fig. 1 illustrates a side view of an automatic vaccination apparatus (AVA), in accordance with some exemplary embodiments of the disclosed subject matter;

[0034] Fig. 2 illustrates an isometric representation of vaccination chamber, in accordance with some exemplary embodiments of the disclosed subject matter;

[0035] Fig. 3 shows a block diagram of a control system of the AVA, in accordance with some exemplary embodiments of the disclosed subject matter; and

[0036] Fig. 4 shows a flowchart diagram of a method of the AVA operation, in accordance with some exemplary embodiments of the disclosed subject matter;

DETAILED DESCRIPTION

[0037] Before explaining at least one embodiment of the invention in detail, it is to be understood that the invention is not limited in its application to the details of construction and the arrangement of the components set forth in the following description or illustrated in the drawings. The invention is capable of other embodiments or of being practiced or carried out in various ways. Also, it is to be understood that the phraseology and terminology employed herein is for the purpose of description and should not be regarded as limiting. The drawings are generally not to scale. For clarity, non-essential elements were omitted from some of the drawings. It should be noted that the following terms, appearing throughout this disclosed subject matter, are used as terms of convenience. These terms, as defined below, are used for teaching purposes only, and are not intended to limit the scope of the invention.

[0038] Referring now to Fig. 1, showing a side view of an automatic vaccination apparatus (AVA) 100, in accordance with some exemplary embodiments of the disclosed subject matter. In some exemplary embodiments, the AVA 100 may be a vehicle designed for collecting birds while moving, and leading the birds, with a conveyor, to a vaccination chamber, where each bird in turn is injected with vaccine.

It should be noted that the word birds in this present disclosure refers to chicks, chicken, or the like. It should also be noted that although the drawings as well as the description depict one collector, one conveyor and one vaccination chamber, is for simplicity reasons and by no means limits the scope of the present invention. Optionally, a plurality of collectors, conveyors and vaccination chambers can be provided with the apparatus of the present disclosure.

[0039] In some exemplary embodiments, AVA 100 may comprise a vehicle drive 120 configured to move the AVA 100 along a bounded path, wherein the unvaccinated birds are spread in front of the AVA100 (i.e. ahead of the movement direction of the AVA100). It should be noted that a bounded path may be a hard ground blockaded on its sides by chicken fences or barricades in order to prevent birds from leaving the path. The vehicle drive 120 may comprise a motor; such as electrical motor, combustion engine, or the like; for driving the AVA. In some exemplary embodiments, the electrical motor may be powered by batteries; AC power via industrial extended cord, a combination thereof, or the like. Driving operations; such as start, stop, go, speed, or the like; may be remotely controlled by a user.

[0040] Additionally or alternatively, vehicle drive 120 may be equipped with the capability of autonomously driving the AVA vehicle by utilizing sensors, coupled with algorithms, executed by a processor of system 300 (to be described below). The sensors may be directed to address autonomously driving aspects such as: navigation, guidance, safety, performance, a combination thereof, or the like. In some exemplary embodiments, sensors may comprise complete GPS module, gyroscopes, accelerometers radar, a combination thereof, or the like. [0041] It should be noted that the AVA100 and its sub systems, assemblies and components may be waterproof in order to allow washing and cleaning the AVA100 by water jet similar to a car wash. Additionally, the exterior material of the AVA100 may be resistant to humidity conditions, moisture, acidity, bird's droppings, a combination thereof, or the like.

[0042] In some exemplary embodiments, AVA100 may comprise a collector 101 at the front end of the AVA100. Collector 101 may be a mechanism dedicated for lifting the birds from the path onto a conveyer of the AVA100. The collector 101 may be based on two parallel vertical brushes rotating contrary to each other and opposite to the movement direction. Additionally, the frontend of the AVA100 may be equipped with retractable flaps. When the flaps are deployed, they block the path together with collector 101, so that birds can't bypass the AVA100 front end. Thus, the birds may be collected, by collector 101, as long as the AVA100 moves.

[0043] In some exemplary embodiments, AVA100 may comprise a conveyor 102. Conveyor 102 may be mechanical handling equipment comprising a moving belt for moving birds from collector 101 to the vaccination chamber. In some exemplary embodiments, the conveyor may be installed on the AVA100 in a slope to allow for elevating the birds from ground level to the vaccination chamber's entrance. The speed of the conveyer belt may be remotely controlled by the user. It will be noted that studies of the AVA100, during testing processes, shows that the birds end-up standing on their feet by the time they reach the at least one vaccination chamber entrance.

[0044] In some exemplary embodiments, AVA100 may comprise a pneumatic system 104. The pneumatic system 104 may be utilized for supporting mechanical operations required by vaccination system 200. In some exemplary embodiments, the pneumatic system 104 may comprise an air pressure tank for supplying air pressure to the pneumatic system 104. Additionally, the pneumatic system 104 may comprise a plurality of pipes and actuators that are controlled by control system 300 (to be discussed later). In some exemplary embodiments, the pneumatic system 104 or sub assemblies of the pneumatic system 104 may be an integral part of vaccination system 200. [0045] It should be noted that chassis 103 is used as a structural skeleton of the AVA100, and the following sub-assemblies may be mechanically mounted on chassis 103: vehicle drive 120, collector 101, conveyor 102, pneumatic system 104, vaccination system 200, control system 300 and other miscellanies components of the AVA100.

[0046] Referring now to Fig. 2 showing an isometric representation of vaccination system 200, in accordance with some exemplary embodiments of the disclosed subject matter. The vaccination system 200 may be comprised of a vaccinating chamber 201, a positioning subsystem and an injection sub-system.

[0047] The vaccinating chamber 201 may be constructed of a chamber frame 220, a chamber floor 221 and floor hatch 222. In some exemplary embodiments, chamber frame 220 may be mounted on chassis 103 (of Fig.l), which also used for housing the positioning sub-system and the injection sub-system. The bottom face of the chamber frame 220 may be used as the chamber floor, such as chamber floor 221, wherein bird's 111 first steps after leaving the conveyor 102 (of Fig.l) and entering the vaccination chamber 201. In some exemplary embodiments, the chamber floor 221 may comprise a floor hatch, such as floor hatch 222, which can be swing open (downward) for dropping the bird, upon vaccination completion. The hatch 222 may be opened by a pneumatic piston, a servo motor, a stepping motor a combination thereof, or the like. Furthermore, the hatch 222 open/close operation may be controlled by control system 300, pneumatic system 104 (of Fig. 1), a combination thereof, or the like.

[0048] In some exemplary embodiments, the positioning sub-system may be anchored to the chamber frame. The positioning sub-system may comprise a positioning assembly 230, spoon's pistons 231, a positioning motor 232, spoons 233 and a camera 237.

[0049] Spoons 233 may be adapted for the use of griping and lifting birds, such as bird 111. In some exemplary embodiments, spoons 233 may be arms having a palms shaped ends for gripping the bird's body. The tips of spoons 233 arms (opposite to palms) may be the spoons 233 handles, wherein spoons 233 can be tilted along its arms. Thus, by reducing the angle between the handles, palms of spoons 233 grips bird 111 and conversely, will release bird 111 by increasing the angle. [0050] In some exemplary embodiments, the spoon's pistons 231 may be utilized to mechanically push/pull the handles of spoons 233 in order to either grip or release bird 111. Additionally or alternatively, the exact push/pull mechanical operation may be achieved by utilizing two (or more) mutually coupled spoons piston 231. The spoon's pistons 231 may be a pneumatic piston, a servo motor, a stepping motor a combination thereof, or the like. In some exemplary embodiments, the spoon's pistons 231 may be directly controlled by control system 300, pneumatic system 104 (of Fig. 1), a combination thereof, or the like.

[0051] In some exemplary embodiments, the spoon's pistons 231 and spoons 233 are connected to the positioning assembly 230. The positioning assembly 230 may be anchored to the top side of the vaccination chamber 201 and configured to rotate, by positioning motor 232, the spoon's pistons 231 and spoons 233 about the vaccination chamber vertical axis. In some exemplary embodiments, positioning motor 232 may be a servo motor, a stepping motor a combination thereof, or the like. The positioning motor 232 is controlled by control system 300.

[0052] It will be noted that the positioning sub-system is utilized, in the current disclosed subject matter, for aligning the chest of bird 111 to a predetermine point, e.g. relative to the center of hatch 222. It should also be noted that, the aligning takes place after bird 111 has been gripped. In some exemplary embodiments, vaccination chamber 201 may comprise at least one camera, such as camera 237. The at least one camera 237 may be positioned inside the vaccination chamber 201, in a location that allows for a line of sight with bird 111. Camera 237 coupled with system 300 (to be described below) may be configured to perform image processing of bird 111, in order to determine information indicating the bird's, such as presence, angular orientation, distance from the predetermine point, a combination thereof, or the like. Based on the information, control system 300 may perform computations necessary for controlling the positioning sub-system, so that the chest of bird 111 will be aligned with the predetermine point.

[0053] In some exemplary embodiments, camera 237 may be a camera sensitive to visible light, an infrared (IR) camera, a combination thereof, or the like. In embodiments where camera 237 is an IR camera an IR light source (not shown) may be used. It should be noted that, IR camera utilization enables vaccination process at night wherein the chicks are typically relaxed, and thus allowing for successful vaccination process. Additionally, IR camera temperature resolution with respect to the chicks may be superior to the visible one, also system tests with IR camera yield better results with respect to the visible camera.

[0054] In some exemplary embodiments, the injection sub-system may be comprised of injection carriage 250, a carriage motor 251, and injector 252. In some exemplary embodiments, the injection carriage 250 may be visualized as X-Y table that provide motion to injector 252 on along and across an horizontal plan. In some exemplary embodiments, the injection carriage 250 may be motorized on linear slides having x and y linear motion driven by the carriage motor 251. In some exemplary embodiments, the at least one carriage motor 251 may be a servo motor, a stepping motor a combination thereof, or the like. Carriage motor 251 may be controlled by control system 300 to align a needle of injector 252 with bird 111 chest. Typically, the needle may be reusable, stainless steel needle with a luer lock hub. In some exemplary embodiments, the needle may be used for 2000 injections. The injector 252 may be situated in a way that the needle penetration angle shall be smaller than 30 degrees with a penetration depth of 4 to 5 millimeters. Injector 252 may be activated by pneumatic piston, electrical solenoid, or the like. In some exemplary embodiments, vaccination solution may be sucked by injector 252 from a vaccination solution tank (not shown), typical doze of solution may vary between 0.3 to 0.6 milliliter.

[0055] Referring now to Fig. 3 showing control system 300 in accordance with some exemplary embodiments of the disclosed subject matter. Control system 300 may be a computerized device adapted to perform methods such as depicted in Fig. 4.

[0056] In some exemplary embodiments, the system 300 may comprise a central processing unit (CPU) 310. The CPU 310 may be a microprocessor, an electronic circuit, an integrated circuit, implemented as special firmware ported to a specific device such as a digital signal processor, an application specific integrated circuit, a main frame computer, or the like. In some exemplary embodiments, the CPU may be utilized to perform computations required by the system 300 or any of it subcomponents.

[0057] In some exemplary embodiments of the disclosed subject matter, system 300 may comprise an input / output (I/O) module 330. I/O module 330 may be utilized as an interface to transmit and/or receive information and instructions between system 300, system 300 subcomponents, external I/O devices, workstation 331, a combination thereof, or the like.

[0058] In some exemplary embodiments, workstation 331 may be used, by the user, to issue instructions, to CPU 310, in order to command and control the automatic vaccination apparatus (AVA). In some exemplary embodiments, the I/O module 330 may interface with system 300 subcomponents, such as camera 237; conveyer 102; pneumatics system 104; vaccination chamber system 200; apparatus drive 120; a combination thereof, or the like.

[0059] In some exemplary embodiments, the system 300 may comprise a memory 320. The memory 320 may comprise volatile and/or, based on technologies such as semiconductor, magnetic, optical, flash, a combination thereof, or the like. The memory 320 may retain program code operative to cause the CPU 310 to perform acts associated with any of the subcomponents of the system 300.

[0060] In some exemplary embodiments, workstation 331 may be a handheld device, such as a smartphone, a notebook computer, a special purpose device, a combination thereof, or the like. The handheld device may be configured to obtain information and display to the user information, such as vaccination solution tank level, air pressure tank status, injection count, injection failure, injection log, malfunction indication for each sub system, a combination thereof, or the like. In some exemplary embodiments, the handheld device may be configured to perform operations, such as emergency stop, regulate the conveyer speed, start/stop operation for each sub system indigently, regulate the injection rate, a combination thereof, or the like.

[0061] Referring now to Fig. 4 showing a flowchart diagram of a method of the AVA operation, in accordance with some exemplary embodiments of the disclosed subject matter.

[0062] In step 401, birds may be manually assembled. In some exemplary embodiments, the AVA 100 may be driven to a beginning of the bounded path. And then, manually gathering the birds, which need vaccine, on the bounded path ahead of the AVA 100.

[0063] In step 402, birds may be collected. In some exemplary embodiments, the AVA 100 moves ahead while collecting the birds by collector 101 onto conveyer 102 (of Fig. 1). This process may be concluded upon arrival of the AVA 100 to the end of the bounded path. [0064] In step 403, a bird, such as bird 111 may board the vaccination chamber 201. In some exemplary embodiments, one bird at a time may board the vaccination chamber 201. It will be noted that embodiments that utilize a plurality of vaccination chamber, the birds may be automatically directed to an available vaccination chamber, while the operation of the vaccination chamber (to be discussed herewith) is autonomous.

[0065] In step 404, a bird may be positioned. In some exemplary embodiments, after bird 111 (of figure 2) steps on chamber floor 221, spoons 233 (of figure 2) may grip and lift the bird 111 followed by opening floor hatch 222 (of figure 2). This bird positioning step further comprises utilizing camera 237 (of figure 2), configured together with control system 300 (of figure 3), for performing image processing of bird 111, in order to determine bird 111 presence, angular orientation and exact, distance from the predetermine point, a combination thereof, or the like.

[0066] It should be noted that any point, characterized by x, y, z coordinates, within the vaccination chamber 201 space may be defined as predetermine point. Primarily the predetermine point serves as a reference origin, wherein the exact distance of bird 111 may be measured with respect to the predetermine point. Additionally the needle of injector 252 may be calibrated with respect to the very same predetermine point.

[0067] In some exemplary embodiments, camera 237 may be utilized by system 300 for executing an image processing process, which will yield a bird position information that indicates bird 111 presence, angular orientation and exact, distance with respect to the predetermine point and a combination thereof.

[0068] Based on the bird's position information, control system 300 may utilize the positioning sub-system for maneuvering the bird 111 to a location suitable for injection, namely lifting, rotating and sliding the bird where its chest is substantially close and in front of the needle. In some exemplary embodiments, the positioning sub-system may utilize its assembly 230, spoon's pistons 231, a positioning motor 232, spoons 233 to carry on the maneuvering of the bird.

[0069] In step 405, a bird may be injected with vaccine. In some exemplary embodiments, control system 300 may cause the injection carriage 250 (that carries the injector 252, of figure 2) to aligns the injector 252 with the bird 111 chest. In some exemplary embodiments, control system 300 may determine the stroke and the angle in which injector 252 charges the bird, based on initial injector 252 coordinates and bird 111 chests coordinates. It should be appreciated that the coordinates were determined with respect to the predetermine point and right after the injection, injector 252 may return to its initial position.

[0070] In step 406, a vaccinated bird may depart the vaccination chamber. In some exemplary embodiments, spoons 233 may release bird 111 as a result, drops down through the floor hatch 222. This step may be terminated by closing the floor hatch 222 after the bird dropped down.

[0071] It is appreciated that certain features of the invention, which are, for clarity, described in the context of separate embodiments, may also be provided in combination in a single embodiment. Conversely, various features of the invention, which are, for brevity, described in the context of a single embodiment, may also be provided separately or in any suitable sub combination.

[0072] Although the invention has been described in conjunction with specific embodiments thereof, it is evident that many alternatives, modifications and variations will be apparent to those skilled in the art. Accordingly, it is intended to embrace all such alternatives, modifications and variations that fall within the spirit and broad scope of the appended claims.

Claims

An automatic vaccination apparatus (AVA) comprising:

at least one birds collector connected to the AVA, wherein the collector is configured to collect birds while the AVA is moving; and

at least one vaccination system adapted to admit one bird at a time from the collector, the vaccination system comprising:

a camera coupled with an image processing system configured to determine the bird's position and orientation;

a positioning sub-system capable of altering the bird's position and orientation; and

an injector capable of being aimed to the bird's chest and inject a vaccine into the bird's chest.

The AVA of Claim 1 , wherein the AVA further comprises a conveyer for moving the birds from the collector to the vaccination system.

The AVA of Claim 1 , wherein the collector is connected at a frontend of the AVA.

The AVA of Claims 1-3 wherein the collector comprising two parallel vertical brushes rotating contrary to each other in a direction opposite to said moving along a bounded path. The AVA of Claims 1-4, wherein the collector is equipped with retractable flaps, wherein the flaps are deployed perpendicular to the bounded path to prevent birds from avoiding the collector.

The AVA of Claim 1, wherein the AVA is provided with a motor for moving the AVA along a bounded path, wherein the motor is powered from sources selected from a group comprising: batteries; AC line; combustion engine; and a combination thereof.

The AVA of Claim 6, further comprises sensors coupled with the processor for autonomously navigating the AVA and control the motor along the bounded path.

The AVA of Claim 1, wherein the at least one vaccination system further comprises a hatch for extracting the bird out of the vaccination system prior to admitting another bird.

The AVA of Claim 1, wherein the positioning sub-system further comprises spoons; spoon's pistons; and a positioning motor, wherein the spoons are adapted for grabbing the bird, and wherein the spoon's pistons and the positioning motor are configured for maneuvering selected from a group comprising of: rotating; lifting; sliding; and a combination thereof, of the spoons in order to align the bird's position and orientation for injection.

10. The AVA of Claim 1, wherein the injection is connected to an injection carriage driven by a carriage motor, wherein the processor pilot the injection carriage by the carriage motor for aiming a needle of the injector to the bird's chest and inject a vaccine into the bird's chest.

11. A birds vaccination system comprising:

12. The vaccination system of Claim 11, wherein the positioning sub-system further comprises spoons; spoon's pistons; and a positioning motor, wherein the spoons are adapted for grabbing the bird, and wherein the spoon's pistons and the positioning motor are configured for maneuvering selected from a group comprising of: rotating; lifting; sliding; and a combination thereof, of the spoons in order to align the bird's position and orientation for injection.

13. The vaccination system of Claim 11, wherein the injection is connected to an injection carriage driven by a carriage motor, wherein a processor pilots the injection carriage by the carriage motor for aiming a needle of the injector to the bird's chest and inject a vaccine into the bird's chest.

14. The vaccination system of Claim 11, wherein the vaccination system further comprises a hatch for extracting the bird out of the vaccination system prior to admitting another bird.

15. A method of vaccinating birds with an automatic vaccination apparatus (AVA), the method comprising:

collecting birds with a collector while the AVA is moving;

admitting one bird at a time to at least one vaccination system; determining the bird's position and orientation with a camera coupled with an image processing system;

altering the bird's position and orientation by a positioning sub-system; and

aiming an injector to the bird's chest and injecting a vaccine into the bird's chest.

16. The method of Claim 15, wherein said admitting one bird at a time further comprises moving the birds from the collector to the vaccination system, as well as accumulating the birds prior to said admitting one bird at a time to the vaccination system.

17. The method of Claim 15, wherein said collecting birds is done from a frontend of the AVA.

18. The method of Claims 15-17, wherein said collecting birds is done by two parallel vertical brushes rotating contrary to each other in a direction opposite a movement of the AVA.

19. The method of Claims 15-18, further comprises preventing birds from avoiding the collector by retractable flaps configured to be deployed perpendicular to a bounded path while said collecting birds with a collector.

20. The method of Claim 15, wherein the AVA is moved by a motor powered from sources selected from a group comprising: batteries; AC line; combustion engine; and a combination thereof.

21. The method of Claim 15, further comprises autonomous navigating and motor controlling the AVA by sensors coupled with a processor.

22. The method of Claim 15, wherein the method of vaccinating further comprises extracting the bird through a hatch after said injecting a vaccine into the bird's chest and prior to admitting another bird.

23. The method of Claim 15, wherein said altering the bird's position further comprises grabbing the bird with spoons, and maneuvering the bird's position and orientation for injection with spoon's, pistons and a positioning motor, wherein the maneuvering further comprises rotating; lifting and sliding the spoons while the spoons are grabbing the bird.

24. The method of Claim 15, wherein said aiming an injector to the bird's chest further comprises piloting, by a processor, the injector, connected to an injection carriage and driven by a carriage motor, and wherein said inject a vaccine into the bird's chest is done by a needle of the injector.

25. A method of vaccinating birds with an automatic vaccination apparatus (AVA), the method comprising:

admitting one bird at a time to at least one vaccination system;

determining the bird's position and orientation with a camera coupled with an image processing system;

altering the bird's position and orientation by a positioning sub-system; and

26. The method of Claim 25, wherein said altering the bird's position further comprises grabbing the bird with spoons, and maneuvering the bird's position and orientation for injection with spoon's pistons and a positioning motor, wherein the maneuvering further comprises rotating; lifting and sliding the spoons while the spoons are grabbing the bird.

27. The method of Claim 25, wherein said aiming an injector to the bird's chest further comprises piloting, by a processor, the injector, connected to an injection carriage and driven by a carriage motor, and wherein said injecting a vaccine into the bird's chest is done by a needle of the injector.

28. The method of Claim 25, wherein the vaccinating further comprises extracting the bird through a hatch after said inject a vaccine into the bird's chest and prior to admitting another bird.