JP2020075091A - Method and device for egg injection sequencer - Google Patents

Abstract

To provide an egg injector that has a novel multiplexing system, a digital egg mapping system on a computer vision base, and an egg injection sequencer on an embedded controller base, and also to provide a method that is for selectively supplying eggs detected inside an incubator flat with vaccine and other substances concerning incubation of fowls.SOLUTION: The egg injector is capable of conditionally distributing vaccine and other substances, in accordance with the result of digital matting, concerning a corresponding egg flat. The multiplexing system, by using a rotary valve having a plurality of outputs, is capable of connecting one only pump device with a plurality of needles. The system is capable of sending to one pump, through one port all at once, vaccine and other substances at high speed and with high accuracy in all output or an output sub-group. In actuality, one pump is capable of distributing vaccine or other substances to a plurality of ports nearly simultaneously in a short time.SELECTED DRAWING: Figure 30

Description

  Cross-reference of related applications

  Not applicable

  Description of federally funded research and development

  Not applicable

  Areas of disclosure

  FIELD OF THE DISCLOSURE The present disclosure relates generally to in ovo injection devices and, in particular, designed to conditionally dispense vaccines and other substances through a syringe only if the egg is in an egg tray where a given syringe corresponds. In-vivo injection device. The invention further comprises 1) computer vision egg presence detection and selective dispensing sequencer, 2) computer vision based indirect flock age determination, 3) overall needle puncture depth adjustment, 4) high precision and fast dispensing. Eggs having one or more of the following features: device multiplexing, 5) individual electronic smart control of an electrically driven egg shell floating punch, and 6) digitally controlled injection volume in multiples of injection pump volume per revolution. Internal injection device.

  Disclosure background

  This section provides background information that is not necessarily prior art to inventive concepts related to this disclosure.

  Hatching of birds has increased the need to inject eggs with one or more substances. This is a process commonly referred to as "in ovo injection" and means egg injection. Injection of various substances into avian eggs reduces post-hatching and / or in-situ mortality, increases the possible growth rate or the final size of the resulting chicken, and also the embryos. It has been used to influence gender. Examples of substances proposed as a viable treatment for delivery via in ovo injection of bird embryos include live culture vaccines, antibiotics, vitamins, and even competitive exclusion vehicles. Specific examples of treatment agents for in ovo injection are described in Sharma et al., US Pat. No. 4,458,630 and Fredericksen et al., US Pat. No. 5,028,421.

  The production of birds from eggs requires several important steps. First, eggs are placed in the pockets of the incubation trays and incubated at specific temperature and humidity levels for specific times. The eggs are then transferred into hatching trays a few days before hatching, usually during the last quarter of the incubation period. During the transfer from the incubation tray to the hatching tray, multiple operations are commonly performed including, but not limited to, egg detection, egg removal, vaccination, and transfer. Egg inspection is usually controlled by an "ovum" machine. This process allows the detection of embryos in eggs. Ideally, only embryonated eggs containing embryos should be inoculated with expensive vaccines and other substances. After the ovulation operation, a "poor" egg without embryos is removed from the incubation tray by an ejection operation that is part of the ovulator. Finally, the transfer device removes the embryonated eggs from the incubation tray and transfers them into the hatching tray.

  Immediately after the ejector step, it is common to inject eggs with one or more substances using an in ovo injection device or a vaccine syringe. In general, in ovo injection devices / vaccine injectors have dozens of syringes attached and such machines are disclosed in US Patent No. 7,360,500 to Correa et al. However, in ovo injection is associated with multiple technical challenges, some of which are addressed by currently available technologies. As an example, the process of in ovo injection is optimized when the egg size, shape, weight, location in the tray and orientation in the pocket are matched. Egg size tends to be directly related to hen age. That is, the younger the hen, the smaller the egg height and diameter. Therefore, there are variations in egg size within the flock. Variations in egg size combined with variable orientation / placement in the hatch tray pockets pose challenges for vaccination within a given egg target area to maximize vaccine efficiency and egg / chicken hatchability. Presenting. The most effective injection site is preferably the amniotic membrane or a part of the embryo that does not damage the embryo. This is best done by injection into the large end of the egg to a certain percentage of the puncture depth along the longitudinal axis. A typical incubation tray has pockets designed to hold eggs just south of their equator, each pocket being a fixed diameter holder. Since the holder has a fixed diameter, the smaller the diameter of the egg, the deeper it is located in the incubation tray. Conversely, the larger the egg diameter, the higher the egg is located in the incubation tray. Moreover, typical trays do not always ensure that the eggs are held and aligned perfectly upright. Thus, this particular challenge for effective in ovo injection is not solely based on the size difference between the eggs, but also on the manner in which the eggs are retained / orientated in pockets in the tray for hatching purposes.

U.S. Pat. No. 4,458,630 US Pat. No. 5,028,421 US Pat. No. 7,360,500

  In-ovo injection technology available today may use a floating syringe that partially adjusts to the height variation of the top of the egg so that the egg is located in the incubation tray, which causes each egg to Regardless of size, is vaccinated to a certain height from the top of the egg, eg 0.5 inches (see, eg, Correa US Pat. No. 7,360,500). However, the needle puncture rate depth through the egg in relation to the orientation, length and height of the egg in the tray is affected by the diameter of the egg and the tray design is not controlled. For example, for a 2-inch high egg, consider a needle stick depth equal to 1 inch. In this example, the needle puncture rate depth as defined herein would be 50.00% puncture depth. Similarly, a 1 inch needle puncture depth for a 1.5 inch high egg is equal to 75% puncture depth on the egg. The difference between 50% and 75% puncture depth can have a dramatic effect on chicken yield, with 75% puncture depth having a higher probability of damaging the developing embryo. is there. These prior art floating syringes are typically brought into contact with the top of the eggshell by a compression spring. As mentioned earlier, the older the flock, the larger eggs it produces. The larger the egg, the greater the spring compression produced by the egg and the greater the compressive load on the eggshell. The greater compression causes the problem that older flock eggs have a weaker eggshell. As such, prior art regulatory mechanisms for compensating for egg size are typically the most damaging to weaker eggs, especially in areas where the egg would be punctured by a syringe or where the egg is In the area supported on the egg tray, undesired cracking of the egg and / or depression of the eggshell occurs. Also, all forces translate into reaction forces, compressive forces caused by syringe adjustment, which are increased by the number of eggs, and the perforation of eggs to the need for a more robust and stiffened mechanical frame. The compressive force generated is generated. Mechanical frames and actuators for sizing eggs and simultaneously piercing eggs need to be sized to hundreds of pounds of reaction force. Similarly, eggs require structural support, either directly from beneath or through an egg flat, accordingly. All of these factors add to the cost of the machine and its construction.

  Existing in ovo injection devices / vaccine injectors automatically adjust needle puncture rate depth to accommodate multiple eggs of different sizes / orientations that may be found in a tray I can't. This inability to control the relative needle puncture rate depth reduces the accuracy of the injection site within the egg. This can cause problems with needle contact with important visceral organs, resulting in death during the in ovo vaccination process and reduced biological efficiency. Generally, currently available syringes are presented with an assortment of non-uniformly sized eggs, wasting vaccines or other expensive materials and reducing egg hatchability. Moreover, chicken yield is reduced by ineffective vaccination and / or supply of other expensive substances, exacerbating hatching loss. Finally, it is now known and accepted in the art that vaccination of eggs of young flock, for example 26-32 weeks of age, results in higher mortality. This fact is partly due to the relatively small size of eggs produced by younger herds compared to the eggs produced by older herds, as described above, and the associated egg size for injection. This is probably because it is complicated.

  Some prior art systems use syringes with integrated valves, but the integration of these systems makes them significantly more expensive to manufacture, own, and maintain. .. For example, mechanical problems require the syringe to be completely replaced in these systems, resulting in increased cost. All current in ovo delivery systems have one pump device for each corresponding subject syringe / needle assembly of the injection head. This fact always leads to a cost-increasing factor, which is prohibitively expensive to use highly accurate dosing devices. In contrast, the time utilization factor of these pumps / medication devices is currently very low for all in ovo commercial hatching applications. Because the actual feeding step that dispenses the fluid to the eggs is typically only about 0.125 to 0.250 seconds, the total processing cycle for egg trays is typically 8 to 10 per tray. This is because it is in the range of seconds. Another disadvantage of current systems is that they may be equipped with a pumping device for each of the syringes, but all pumps deliver a constant volume for each injection. Also in these systems, each needle is associated with one pump device, which may be physically isolated or may be a manifold configuration. As a result, current systems rely on specific, application-specific methods to target the final injection volume and how much to deliver to each egg before the machine is manufactured. Need pumping equipment. Some hatcheries are vaccinated with an amount of 50 μl per egg, and some are vaccinated with 100 μl. In current systems, each of these hatcheries requires a differently configured injection device.

  Therefore, a cost-effective and highly accurate in ovo injection / vaccine in which the puncture rate depth of the in ovo needle can be adjusted according to the age of the corresponding herd and thus the corresponding overall average egg size. An inoculator was apparently felt for a long time. The preferred in ovo injection device is capable of multiplexing one precision dispensing device to deliver multiple syringe / needle assemblies in a fast sequence to vaccinate a population of eggs at virtually the same time. A preferred in ovo injection device is capable of injecting vaccines and other expensive substances into eggs at a needle penetration rate depth for a particular application, regardless of the size of the individual egg. The preferred in ovo injection delivery system only dispenses liquid into the egg tray pocket with the eggs in the pocket, avoiding dispensing into empty pockets. In addition, trays based on other criteria such as not injecting into non-viable eggs, not into too small or too large eggs, not into cracked eggs, broken eggs, or other defective eggs It is helpful to provide a system that allows the selection of which eggs within which to inject, but these criteria are exemplary only. Also, an egg piercing method and device that does not require compression of the eggshell to allow for syringe depth adjustment and the need to design structural stiffeners to accommodate this adjustment is clearly long. I felt it was necessary for a while. A preferred in ovo injection device uses a perforator to pierce the eggshell at a controlled speed and a desired depth, completely independent of needle speed and puncture depth. It has also been apparently felt for a long time that a flexible vaccine delivery system for the end user to select and adjust the vaccine delivery volume, for example 50 μl or 100 μl, by selecting options on the machine control panel. It was

  Summary of disclosure

  This section provides a general overview of the disclosure and is not intended to be construed as a comprehensive disclosure of its overall scope or feature, aspect and purpose.

  A first aspect of the invention provides an improved in ovo injection machine. This in ovo syringe features a novel computer vision-assisted sequencer designed to conditionally dispense vaccines and other substances through the syringe only when the egg is in the pocket of the egg tray to which the syringe is intended. Prepare The machine is equipped with a digital camera and a computer controller that processes the digital images captured by the camera to determine the location and presence of all eggs on the egg tray in one step. The Egg Mapping System (EMS) of the present invention is an egg detection and egg tray binary mapping system that is obtained using only a computer vision system and without the need for a separate sensor for each egg pocket on the egg tray. The binary representation of the eggs present in the egg tray is only due to the electro-hydraulic system in those syringes and needle assemblies where the vaccine or other expensive liquid has already been mapped to the specifically detected egg on the tray. It is converted into a specific series of operations for selectively distributing. The mapping system also allows for other application-specific identification criteria beyond the presence or absence of eggs used. These criteria have been extended to have very low hatchability or are known to cause biosecurity issues, very small or very large eggs, very slanted eggs, broken eggs, dirty eggs Being able to detect eggs and the like opens the door to new opportunities for vaccine savings supported by artificial intelligence (AI) driven selection. Combining these features with an individually digitally controlled egg perforator allows the system to selectively perforate eggs, as well as selectively deliver vaccine.

  The system circuit according to the invention is easily and cost-effectively adaptable for use with any in ovo injection system. For example, the disclosed devices and methods of the invention can be used with in ovo / vaccine syringes such as those disclosed in Correa, US Pat. No. 7,360,500, or with other injection systems. Can be easily adapted for use.

  A second aspect of the invention relates to the electrohydraulic distribution system itself. By combining a factory grade and high precision valveless pump device with a rotary valve, a novel high speed and precision hydraulic multiplexing system (HMS) is realized in the present invention. Both devices are driven by stepper motors and, as part of the egg mapping system, correspond to the mapping of information gathered and compiled by a computer vision assisted sequencer for vaccine and vaccine through a series of pre-determined valve openings. It can be arranged in a fixed order to dispense other substances. The operator can selectively control the amount dispensed as a multiple of the base volume to deliver some vaccine or other liquid.

  A third aspect of the invention provides a novel needle depth adjustment for use with an in ovo injection device. This adjustment automatically adjusts the injection head / needle puncture rate depth depending on the average size of the eggs present in the egg tray. Automatic injection rate puncture depth adjustment reduces the number of invalid injections and minimizes the chance of damaging the growing embryo. Both of these reduce the overall costs associated with in ovo injection. As such, in embodiments, the improved in ovo injection device is capable of cost-effectively and accurately distributing vaccines and other expensive substances to desired target areas regardless of the age of the herd, and egg trays. The substance can be conditionally supplied only if the egg is present in the pocket. This feature can be turned on or off digitally. This can be accomplished as an automatic machine determination that correlates egg size with needle stick depth, as determined digitally by the camera. Alternatively, the user can key in the desired target puncture depth directly as a process parameter or indirectly by keying in the age of the flock of eggs. Also, the user can repeatedly key in / edit the known unique correspondence between herd age and egg size specific to their breed, and perhaps most importantly. It is possible to vaccinate eggs effectively by controlling certain parameters. In the current system design, the machine designer / manufacturer does not have specific egg parameter know-how and does not have the feedback to make these judgments.

  Finally, the improved in ovo injection machine has 1) a night vision camera for operation of the EMS in a dark room, 2) computer vision based individual egg tilt determination in each pocket of the egg tray, and 3) selection. One, more, or all of the features of a typical egg array.

  These and other features and advantages of this disclosure will be more apparent to those of ordinary skill in the art from the detailed description herein. The drawings that accompany the detailed description are described below.

  The drawings described herein are for the purpose of illustrating only selected aspects and not for purposes of illustrating all implementations, but are merely illustrative of the present disclosure. It is not intended to be limited to just. In view of this, various features and advantages of the example aspects of the present disclosure will be apparent to those skilled in the art from the following description and appended claims, when considered in conjunction with the accompanying drawings. Will.

It is a schematic diagram of the in-vivo injection machine concerning this indication. 2 is a schematic diagram similar to FIG. 1, showing four parts of a machine according to the present disclosure. FIG. FIG. 5 is an enlarged view showing a plurality of portions of a flat mounting portion of the machine according to the present disclosure.

FIG. 5 is an enlarged view showing a plurality of portions of a flat mounting portion of the machine according to the present disclosure.

FIG. 5 is an enlarged view showing a plurality of portions of a flat mounting portion of the machine according to the present disclosure.

It is a schematic diagram which shows the digital visual inspection part of the machine which concerns on this indication. It is a figure which shows the digital camera used in the machine which concerns on this indication.

FIG. 6 illustrates a single board computer used in accordance with the present disclosure.

FIG. 6 illustrates a single board computer used in accordance with the present disclosure.

6 is an image of an egg detected using a circle-based algorithm according to the present disclosure.

6 is an image of an egg detected using an ellipse-based algorithm according to the present disclosure.

It is a figure which shows the example of the screen display of the image output from the single board computer by the real time egg detection in an incubation tray (IT), and the example of a digital output vector. FIG. 6 shows an example of an enlarged view of a captured image of IT with less eggs than space for eggs and a binary map output. FIG. 6 is a diagram showing levels of AI learning that can be achieved according to the disclosed system. It is a schematic diagram of the egg lifting, perforation, and the injection part which concerns on this indication.

It is a schematic diagram of the leveling plate with the hole which concerns on this indication.

It is a schematic diagram which shows a part of egg lifting, perforation, and the injection part which concerns on this indication. It is a figure which shows the upper main body of the punching machine which concerns on this indication. It is a figure which shows the lower main body of the punching machine which concerns on this indication. It is a figure which shows the shock absorber of the punching machine which concerns on this indication. It is a figure which shows the coil and coil holder which concern on this indication.

It is a figure which shows the coil and coil holder which concern on this indication.

It is a figure which shows the optical sensor holder which concerns on this indication. FIG. 6 illustrates a puncher assembly according to the present disclosure. FIG. 6 illustrates a perforator assembly having an needle having a needle connector on an upper portion and an electromagnetic slide hammer mounted on a lower portion according to the present disclosure. FIG. 7 illustrates a needle and slide hammer mounted within a punch assembly in accordance with the present disclosure. It is a perspective view of an electromagnetic slide hammer. It is a figure showing an egg punching machine concerning this indication. It is a figure showing a part of egg piercing machine concerning this indication. It is a figure which shows the internal component of the egg punching machine which concerns on this indication. FIG. 6 shows an apparatus used to improve an egg punching machine according to the present disclosure. FIG. 6 is a diagram illustrating a hammer speed calculation and a graph according to the present disclosure. FIG. 6 illustrates a series of steps for piercing an egg according to the present disclosure. FIG. 5 is a schematic view of a needle assembly according to the present disclosure. It is a figure which shows the example of the electronic control module of the egg punching machine which concerns on this indication.

It is a figure which shows the example of the electronic control module of the egg punching machine which concerns on this indication.

FIG. 7 shows a portion of an egg lift, perforation, and injection station. FIG. 3 is a diagram showing a valveless main pump according to the present disclosure.

It is a figure which shows the rotary valve which concerns on this indication.

It is a schematic diagram of the vaccine supply system module which concerns on this indication. It is a schematic diagram of a part of vaccine supply system module which concerns on this indication. 3 is a graphic image showing a complete cycle of one rotary valve according to the present disclosure. It is a figure which shows another part of the vaccine supply system module which concerns on this indication. FIG. 3 is a schematic diagram of the overall control architecture of an in ovo injection machine according to the present disclosure. It is a figure showing the combination of the novel grasping device concerning this indication, and an egg punching machine. It is an enlarged view of the novel grasping device concerning this indication. It is a figure which shows the novel egg holding apparatus combined with the egg discharge apparatus which concerns on this indication. It is a figure which shows the capacitor charging specification which concerns on this indication.

It is a figure which shows the example of the time chart regarding the capacitor which concerns on this indication.

FIG. 5 is a diagram showing discharge observation for a supply of 24 V according to the present disclosure.

FIG. 5 is a diagram showing discharge observation for 20 V supply according to the present disclosure.

FIG. 8 is a diagram showing discharge observation for 18 V supply according to the present disclosure.

FIG. 6 is a diagram showing discharge observation for 16 V supply according to the present disclosure.

FIG. 3 is a schematic view of a punching machine module according to the present disclosure. It is a schematic diagram of a circuit configuration of an egg punching machine according to the present disclosure.

  Detailed description of disclosure

  In the following, details are set forth in order to provide an understanding of the present disclosure.

  For ease of understanding, exemplary aspects are set forth herein to convey the scope of the disclosure to those skilled in the art. Many details are set forth, including examples of specific components, devices, and methods, in order to provide a thorough understanding of various aspects of the disclosure. Since specific details such as known processes, known device structures, and known techniques are well understood by those skilled in the art, it is not necessary to describe these specific details in this specification. It will be apparent to one of ordinary skill in the art that the example forms may be embodied in many different forms and neither should be construed as limiting the scope of the disclosure.

  The terms used in this specification are used only to describe examples of particular aspects and are not intended to be limiting. As used herein, the singular forms "a, an" and "the" also include the plural unless the context clearly dictates otherwise. The term “comprises, comprising, including, having” is inclusive and specifies the presence of the described features, integers, steps, acts, elements and / or components, It does not exclude the presence or addition of one or more other features, integers, steps, acts, elements, components, and / or sets thereof. The method steps, processes, and acts described herein are not to be construed as necessarily requiring execution in the particular order illustrated or illustrated, unless specifically stated in the order of execution. Absent. It should also be understood that additional or alternative steps may be used.

  For an element or feature "above" another element or feature, "coupled" with another element or feature, "connected", "coupled", "operably connected" When it is referred to as "active" or "operably in communication", it is directly on, coupled to, connected to, or otherwise coupled to, other elements or layers. May be present or intervening elements or features may be present. In contrast, an element is referred to as being "directly on" another element or feature, "directly coupled", "directly connected" or "directly coupled" to another element or layer. If present, there may be no intervening elements or layers. Other terms used to describe relationships between elements should be construed in the same fashion (eg, "between" and "directly between", "adjacent" and "directly adjacent", etc.). .. As used herein, the term “and / or” includes any or all combinations of one or more of the associated listed elements.

  Although terms such as first, second, and third may be used herein to describe various elements, components, regions, layers and / or portions, these elements, configurations Elements, regions, layers, and / or portions should not be limited by these terms. These terms may only be used to distinguish one element, component, region, layer or section from another region, layer or section. As used herein, terms such as “first,” “second,” and other numerical terms refer to an order or order unless clearly and specifically indicated by the context. It does not suggest. Accordingly, a first element, component, region, layer or section described below may be referred to as a second element, component, region, layer or section within the teaching of the example embodiments. it can.

  For purposes of this description, terms such as "top," "bottom," "right," "left," "back," "front," "vertical," "horizontal," and their derivatives, refer to It shall be related to the invention as directed in the drawing. However, the present disclosure may assume various alternative directions and step sequences, unless explicitly stated to the contrary. Also, the specific devices and processes illustrated in the accompanying drawings and described in the following specification are exemplary aspects of the inventive concept as defined in the appended claims. Should be understood. Therefore, the particular dimensions and other physical characteristics relating to the aspects disclosed herein are to be construed as limiting, unless the claims are otherwise explicitly set forth. Should not be.

  The term Incubation Tray (IT) refers to the industry standard tray or egg flat used to carry eggs in today's in ovo syringes. They are standardized to contain 73 or 150 eggs per tray in known matrix arrays, as is known in the art. The term hatching tray (HT) refers to the tray from which the injected eggs are delivered from the IT before being placed in the incubator. Throughout the specification and claims of this invention, egg trays, incubation trays, and hatching trays are referred to, but as will be appreciated by those skilled in the art, the machine of the present invention is made in a conveyor. It can be designed to incorporate a conveyor with an egg pocket and can function in the same manner as loading an egg tray on the conveyor for moving eggs through the system. For convenience, the terms egg tray, incubation tray, and hatching tray can be used with the understanding that a conveyor belt with egg pockets can be used in place. The abbreviations “g” for grams, “ml” for milliliters, “mm” for millimeters, μl for microliters, μF for microfarads, and V for volts are used.

  The present disclosure comprises a novel computer vision-assisted sequencer designed to conditionally dispense vaccines and other substances through a syringe only when the egg is in the pocket of the egg tray to which the syringe is intended. The in-vivo injection machine is provided. Moreover, as described herein, the computer vision system allows other criteria to be used in selecting which eggs in the tray will receive an injection. Referring to FIGS. 1 and 2, an in-ovo injection machine 10 includes an index chain conveyor 12 for moving an incubation tray (IT) 8 for carrying chicken eggs having embryos, and further, the eggs in the IT 8 are transferred. Four indexing parts are provided for processing. The chain conveyor 12 can be indexed by known servomotor control. The final accurate positioning of the IT8 in each of these parts is assisted by the use of optical sensors and is accomplished using a clamp air actuator as is known in the art.

  Along the index chain conveyor 12, there are four processing areas or portions: The first is the flat mount 14 of the conveyor 12. This portion 14 allows the first operator to load the IT 8 simultaneously with the conveyor indexing system, one at a time. The next part is the digital visual inspection unit 16. In this part, each IT 8 is examined using a digital camera (not shown) provided on top of the canopy 20 and facing down towards the conveyor 12 and provided by the digital camera below the canopy 20. It is possible to take a bird's-eye view of all eggs over the entire IT8. There may be a display 18 located on the outer wall of the canopy 20 to provide information to the operator. The display 18 may be a touchpad that allows the operator to control any of the functions of the machine 10, including selecting an egg to be injected. The third part is the egg lift, perforation and injection part 22. At this point, each egg within the IT8 is selectively injected with a vaccine or other substance. The eggs are lifted slightly from the IT8, reflattened by the action of a perforated tray, punched and punctured by a separate electronic punch. Once the eggs are punctured, a dose of vaccine or other substance is delivered to each egg using a multiplex pump system and needle. All of these are described herein below. The last part is the transfer and unloading section 24. When the eggs in the IT are injected with a vaccine or other substance, the IT is indexed from the flat mount 14 to the transfer and unload section 24 opposite the conveyor 12. Here, the eggs are lifted from the IT 8 and placed in a hatching tray (HT) not shown, ready for the second operator to remove from the machine 10. Each of these portions 14, 16, 22, and 24 are described further herein.

  As shown in FIG. 3A, the flat mount 14 has a front mount table 26 on which an operator can slide the IT 8 onto the index chain conveyor 12. The chain conveyor 12 is driven by a servomotor gearbox unit 28 and has a mount 27 that draws the IT8 into the continuous process section, shown in FIGS. 3A and 3B. Digital control of the servomotor gearbox unit 28 for start / stop and speed selection is provided by a main programmable logic controller (PLC), not shown, known in the art. FIG. 3C is an alternative view of the flat mount 14 and its components.

  FIG. 4 is a diagram showing the digital visual inspection unit 16. In this part, the canopy 20 is located above the conveyor 12 and covers IT8 when it is located in this part. The canopy 20 has walls which are spaced apart from and above the conveyor 12 for passing underneath the canopy 20 on the conveyor 12. For ease of understanding, the canopy 20 is clearly shown to help explain its features. However, in practice it is preferred to have opaque or solid wall panels and top panels. Having an opaque or solid wall panel and top panel allows for more precise control of the light source within the canopy 20 to allow better detection of eggs by a digital camera mounted on top of the canopy 20. .. Inside the top of the canopy 20, a digital camera, not shown in FIG. 4, is centered facing down, so that a flat still image of the IT8 and / or presented for inspection within the canopy 20 and / or It is possible to shoot a video stream. The outer wall of the canopy 20 includes a display 18, which may be a touch panel to present information to the operator and enable operator input, as described. Turning to FIGS. 5A, 5B and 5C, the system components associated with this portion 16 include a downward facing digital camera 30 mounted on the top panel of the canopy 20. This part 16 is also associated with a single board computer 32 for the acquisition and analysis of digital images and for the control of the light source. Such single board computers 32 are known in the art and include, but are not limited to, a Raspberry Pi 3, a Beagle bone, an NVIDIA TX1, or an NVIDIA TX2. Examples of these single board computers 32 are shown in FIGS. 5B and 5C. The canopy 20 further includes a light source, not shown, such as a light emitting diode (LED) or infrared light for illuminating the interior of the canopy 20 during the digital imaging process. The single board computer 32 can be loaded with a library of programming functions for real-time computer digital imaging, such as the Linux operating system and the open source computer vision package known as OpenCV. The digital camera 30 may be, for example, a Sony IMX219 Color CMOS 8-megapixel having a resolution of 1920 × 1080 pixels capable of capturing a still image and streaming a video image of 30 frames per second.

  A single board computer 32 with a vision detection system is activated by a digital signal that acts as a trigger for a visual analysis sequence or algorithm. The digital signal comes from the main PLC machine controller which also indexes the IT8 across the chain conveyor 12. The algorithm performs multiple functions. These functions are to take a digital image in the IT8 color located below the camera 30, convert the digital image to grayscale, apply any necessary filtering such as a threshold filter, and blur. Includes applying the effects to help the contour library locate and quantify circles and ellipses present in the digital image. This allows the digital visual inspector 16 to generate a binary map of all egg locations within the IT8, measure egg size, and determine the relative orientation of the eggs, as further described herein. It can be performed.

  Referring to FIG. 6A, a digital image taken of a small portion of the IT 8 is displayed for purposes of illustration and description. The image in FIG. 6A shows a view from above of two eggs 34 and 36, and part of the location analysis uses the simple circle detection algorithm. The system detects the X and Y coordinates of a small square 38 that is superposed at the center of the contour 40 of the circle that best fits the detected eggs 34 and 36. The printout 39 shown on the display 18 for the two eggs in FIG. 6A provides the X and Y coordinates and diameter of the circle that best fits each of the detected images. In FIG. 6B, the algorithm used for the same eggs 34 and 36 is based on the analysis and fitting of the ellipses of the image, providing further information for each detected egg. Thereby, not only the X and Y coordinates, but also the second axis, which is an analysis of the orientation of the egg with respect to a vertical line, which provides information about any tilt the egg may have. The printout 41 shown on the display 18 for the two eggs of FIG. 6B provides the X and Y coordinates, the shape of the ellipse 42 that best fits the detected image, and the orientation of the egg with respect to the vertical. The ellipse analysis provides further information and it can be seen that the matching ellipse 42 further matches the actual shape of the eggs 34 and 36 in the image. From this information, the eggs present on IT8, their location, their diameter size and their relative perpendicularity are determined. Fully vertically oriented eggs look like circles from above, while partially tilted eggs look like ellipses from above. The images captured by the digital camera 30 are available to the operator in real-time on the display 18, which may be a touch screen, and the operator tells the egg the proximity of the image of the egg so that the egg is next to the machine 10. It can indicate whether or not it is desired to be treated with the vaccine or any other injectable material in the part. A mapping algorithm translated into a programming language, such as Python, provides a digital map of the eggs to be vaccinated, taking into account automatic algorithms for egg presence detection and image processing by digital camera 30, as well as operator input. To generate. The same single board computer 32 runs a neural network that is deployed to detect suitable eggs for vaccination. Training of the neural network is performed in advance in a computer outside the machine. Better training that will be achieved in the future as technology advances can be deployed for machine updates. A collection of "good" and "bad" egg images are available to the algorithm and compared to the detected images to identify eggs in the process of deep learning and artificial intelligence.

  FIG. 7 is a diagram showing an example of the screen display 43 of the video output from the single board computer 32 together with an example of real-time egg detection and digital output vector in IT8. FIG. 8 is an example of an enlarged view showing a captured image 45 of IT8 with less eggs than there is space for eggs, and a binary mapped output 44. In the binary map 44, 1 means that there are detected eggs, and 0 means that there are no detected eggs. Thus, in the disclosed system, one digital image 45 can be used for mapping over IT8, and no separate sensor is needed for each cup in IT8.

  In the preferred implementation of the digital visual inspection unit 16, the system individually determines the diameter of each egg as an average for IT8 and calculates the cumulative average for the herd. Cumulative averages are determined using a large number of IT8s with eggs corresponding to known herds of known herd age. The disclosed ellipse-based detection algorithm allows the system to determine how tilted an individual egg is resting on the IT8, triggering any egg array feature to give a given Rearrange eggs in IT8. The information gathered by the digital visual inspection unit 16 is also used to determine how deep the needle should penetrate the egg in IT8 based on the calculated average egg size in IT8.

  FIG. 9 is a diagram showing the levels of artificial intelligence (AI) 46 learning that can be realized by the disclosed system. See also https://blogs.nvidia.com/blog/2016/07/29/whats-difference-artificial-intelligence-machinelearning-deep-learning-ai/. Machine learning 47 represents the ability of machine 10 to refine its algorithm over time with experience. This includes a stored database of "good" vs. "bad" eggs, as can be defined in part by the selection of eggs by an operator who interacts with the display 18 to perform egg selection and classification. .. Machine 10 can improve the algorithm by generating a database of selection criteria and adapting them to new IT eggs, thereby further improving the ability to learn new selection criteria and screen eggs. is there. Neural Network 48: Within the family of AI 46 technologies, neural network 48 is a structure of algorithms and those that can learn different features and characteristics over time as the collection of examples using known classifications increases. A connection between algorithms, the AI 46 can use these learnings to classify or predict images. Deep Learning 49: Contains many layers of neural network 48 and is typically used for object detection in images. The digital visual inspection station 16 running the deep learning algorithm stores the operator's input for eggs that have been shown to be unsuitable for vaccination and uses this information to identify criteria for future vaccination sequences / mappings. As these are included, one gradually learns the system image acquisition of the digital visual inspection station 16 over time. Finally, the set of images to be used by the neural network is too large, too small, too slanted, too slanted eggs, eggs with cracked shells, eggs with traces of external plumbing, mechanical or hand-marked. It may include attached eggs and pre-loaded images of other subjects to avoid vaccination.

  The final digital output is translated into a binary vector, which is transmitted through a serial output port of the single board computer 32 to a digital controller (not shown) on the multiplexed vaccine delivery system. Also, a display of the vision system results may be shown on the touch screen display 18 of the machine 10 for operator / user feedback.

  As explained, the third part is the egg lift, perforation and injection part 22 (see FIGS. 10A, 10B and 11). In this part, each egg within IT8 is selectively injected with vaccine or other substance. The main components of this part 22 are the perforated leveling plate 50, the egg lifting plate 64 and the plunger, the electromagnetic acceleration slide hammers 130, the needle plate 54 and the injection needles 120, the depth for controlling the puncture depth. Includes a control system and a multiplexed vaccine delivery system. In this part, the following operations occur in sequence. First, as is known in the art, a perforated leveling plate 50 hangs over IT8 to secure the egg and IT8. The leveling plate 50 has punched holes 52 with a diameter of about 32 mm in a pattern that matches the egg pattern presented on the IT8. The plate 50 is lowered in a manner that locks the IT8 in place so that the lower surface of the plate 50 is vertically about 1/4 inch above the largest size egg. As described herein, actuation of an egg plunger associated with a plurality of egg lifters causes all eggs to move into engagement with corresponding punched holes 52, thus removing all of the eggs. Place the upper part at exactly the same height. As the eggs rise, they will displace the punch assembly 100 with themselves and be ready to be hammered.

  The egg lifting assembly 60 shown in FIG. 11 lifts an egg from the IT 8 and matches the height of the top of the eggshell in the punching hole 52 of the leveling plate 50. Only a few egg lifters 62 are shown along with multiple egg lifter guides 66 and egg lift plates 64 in assembly 60 for clarity. The egg lift assembly 60 includes a plunger plate 70, a plunger guide 66, and finally a pneumatic actuator 68 for the mutual vertical movement of the egg lifter 62. The egg lifter 62 is a spring loaded with a plunger guide 66, so that the egg can be pressed against the perforated leveling plate 50 and the difference in egg size can be compensated. The compressibility of the spring need only overcome the weight of the egg and egg plunger. This is because the function of the spring is to hold the egg against the perforated plate 50 and not affect the egg piercing action.

  The egg puncher 124 includes a puncher upper body 80, a puncher lower body 82, a puncher shock absorber 84, a coil 86 and a coil holder 88, an optical sensor holder 90 containing an optical sensor, a puncher assembly, an electromagnetic slide hammer, a needle. , And a puncher electronic control module. These components are described below and shown in FIGS. 12-23. FIG. 12 is a schematic view of the punching machine upper body 80. FIG. 13 is a schematic view of the punching machine lower body 82. FIG. 14 is a schematic view of the punch shock absorber 84. FIG. 15A is a top view of the wire coil 86 and the coil holder 88 according to the present disclosure, and FIG. 15B is a side view thereof. Coil 86 is a copper wire coil, for example a 21 AWG wire. The coil holder 88 is made of a material that is neutral to an electromagnetic field, such as plastic. Preferably, the wire coil 86 has a coil inner diameter of 18 mm, a coil outer diameter of 46 mm, and a coil length of 15 mm. Preferably, it comprises 260 turns of 21 AWG wire per copper weight of about 100 grams and has an impedance of 1.3 ohms. FIG. 16 is a schematic diagram of an optical sensor holder 90 that houses an optical sensor (not shown). The holder 90 has a cavity 94 for accommodating both components of the optical sensor, an emitter and a receiver not shown. A circular hole 92 in the holder 90 directs a light beam from the emitter to the receiver, and the sensor output switches on and off as the opaque body passes through this hole 92 between the emitter and receiver.

  FIG. 17 is a diagram illustrating a puncher assembly 100 according to the present disclosure. The punch assembly 100 has a channel within which the needle 120 is free to move. The puncher assembly 100 is a press-fittable or weldable three-piece assembly composed of a short puncher portion 102, a puncher body 104, and a long puncher portion 106. The punch body 104 is impacted by the hammer 130 during injection of the egg. FIG. 18 shows a perforator assembly 100 having an injection needle 120 with a needle connector 122 in the upper portion and an electromagnetic slide hammer 130 in the lower portion. FIG. 19 shows the needle 120 and slide hammer 130 mounted within the punch assembly 100.

  FIG. 20 is a schematic diagram of the electromagnetic slide hammer 130. Hammer 130 is an important mechanical component of the egg-piercing system. Preferably, the hammer 130 is formed from steel, C1018, which is a medium and low carbon steel. The material composition is high in iron, exceeding 98% by weight, and the hammer 130 is easily moved by the electromagnetic acceleration force generated by the coil 86. The hammer 130 has a mass of just 48 grams. The final velocity of the slide hammer 130 and its weight are such that the impact imparted on the punch body 104 allows the punch assembly 100 to form a hole in the eggshell without cracking the egg. The momentum of the hammer obtained by electromagnetic acceleration is converted into the impact force that exists for a moment and is extremely fast. This is given by the equation m (Vf-Vi) = F.S. Where m is the mass of the hammer, Vf is the final velocity, Vi is the initial velocity, F is the force and dt is the time difference. indicated by dt. The shock is the result of a change in momentum. 21-23 show the egg punch 124 and its components at various stages of assembly. 21 shows the egg punch 124 fully assembled, while FIG. 22 shows the outside of the egg punch 124 including the upper body 80, lower body 82, shock absorber 84, and optical sensor holder 90. It is a figure which shows a structural component. Finally, FIG. 23 shows the internal components including the punch 130 and the three parts thereof, along with the hammer 130 and needle 20, as well as the length of the punch as the hammer 130 activates / deactivates the coil 86. FIG. 6 is a view showing a mode in which 106 is arranged on an egg punching machine 124 in a state where it can freely slide up and down.

  The determination of the optimal parameters for not puncturing a crack-free egg was done in a series of steps using the device shown in Figure 24A. Step 1 is an empirical determination of the height required to drop a given mass onto the egg punch so that the egg can be accurately drilled. As is known, if m is the mass, h is the height, and g is the gravitational field force, then the gravitational potential energy Ep of an object of mass m at height h is given by the formula Ep = mgh. Drop tests were performed using multiple tubes 132 of different lengths. The quality and consistency of eggshell puncture was observed. Consistency results when eggs were punched uncracked were obtained at speeds starting from about 0.7 meters / second. Hammer speed calculations and graphs are shown in Figure 24B.

The experimental data was a measurement of the time during which the hammer passed by the optical sensor coupling in microseconds. The calculated value takes into account the energy conservation in which the gravitational potential energy changes into kinetic energy. The formula is mgh = 1/2 m (Vf) ² .

  FIG. 25 is a diagram schematically showing what is occurring during the hammer sequence of the present disclosure. The coil 86 accelerates the hammer 130 upward from the lowered position, and the hammer 130 tries to be positioned at the center of the energized coil 86. There, the coil 86 accelerates the hammer 130 upwards and then downwards. The puncher assembly 100 floats within an egg puncher 124. Since the hammer 130 only bumps into the punch body 104 when activated, the entire machine may be less robust than prior art systems. Since the hammer 130 is an electromagnetic slide hammer 130, its operation can be modulated by controlling the coil 86. To activate the hammer 130, a pulse is fired through the coil 86, which pulls the hammer 130 upwards, elevates the elongated portion 106 of the drilling machine assembly 100, stops the pulse, and moves the hammer 130 upwards. However, the attractive force then reduces the rate of upward movement, causing the hammer 130 to drop downwards. As the hammer 130 falls, it reaches the optical sensor of the holder 90 and there is another pulse sent through the coil 86, which causes the hammer 130 to accelerate further downward and strike the punch body 104. The pulse is extremely short, on the order of milliseconds, but high at 50-80 amps. Therefore, it is a narrow window pulse of high current. To facilitate this, each egg punch 124 is associated with a capacitor (not shown) to energize coil 86. The multiple egg punches 124 in section 22 are triggered to punch simultaneously with one digital signal from the main PLC. The capacitors also charge as the IT8 moves through the machine 10, allowing very high currents in a short time frame, after which for the rest of the process for a given IT8, each capacitor is for 7-9 seconds. , Recharge by using only 0.08 amps max.

  In a second refinement step, the realization of the final velocity detection setup is such that the velocity measurements are reproducible to the working punch prototype, so that the same hammer material used to make the punch is used. And performed using a tube. The electromagnetic coil 86 and the hammer accelerator are setups to lift and drop the mass m at a speed equal to or faster than the speed deemed appropriate in the previous step, but now at a position where the mass is lower. It is optimized to achieve this with short tubes, starting from. The final speed was set to about 2.0 m / s.

  FIG. 26 shows the needle assembly in more detail. Preferably, the needle assembly is a 19 ga needle 120, including a barb fitting 126 for connecting it to the feed pump, and threaded 128 to connect it to the needle plate 54. 27A and 27B are views showing a part of the electronic control module 140 of the egg punching machine 124. The electronic control module 140 of the punch 124 handles charge and discharge of each preferably 10,000 μF, 35V capacitor associated with each coil 86. Charging of the capacitor occurs in a period of about 7-9 seconds. The discharge of all capacitors is triggered by an external 24 volt signal from the PLC control. The microcontroller regulates the charging and discharging of the capacitor through the coil 86 so that the hammer 130 is first accelerated upwards in a manner that allows it to overcome the optical sensor of the holder 90 on the egg punch 124. .. It is understood that the discharge of the capacitor is to allow the hammer 130 to continue rising and convert kinetic energy into gravitational potential energy without being impaired by the electromagnetic force deceleration of the coil 86. When the hammer 130 is assisted by gravitational acceleration and the optical sensor detects the lower edge of the hammer 130, the controller again energizes the coil 86, this time further accelerating the hammer 130, and in turn. It descends to reach the target speed for effective, crack-free eggshell piercing. By the time the hammer 130 reaches the punch body 104, the final velocity of the hammer 130 will be equal to the velocity that would be reached only by the effects of gravity if the hammer 130 were dropped from a height of 7 inches. The punch assembly 100 constitutes an electronically controlled slide hammer, as described above. The set-up described above can also be described as a self-supporting complementary actuator for collisions with predictable digital control. Predictable control is scalable with respect to different applications, such as those in the field of resistance to impact tests or reproduction of "drop tests" that do not generate external reaction forces, require structural support. is there.

  FIG. 28 shows only one egg punch 124 for clarity of the drawing. When the egg is punched by the egg piercer 124, the needle plate 54 holding the plurality of injection needles 120 descends to perform needle puncture on all the identified eggs in the IT8 at the same time. The actuator that descends the needle plate 54 is servo controlled to descend a target distance that is determined by the average egg size or indirectly by the age of the flock for the presented egg within the IT8.

  As described above, machine 10 comprises a multiplexed vaccine / fluid delivery system consisting of one valveless main pump 150 and multiple rotary valves 152 (see Figures 29A and 29B). FIG. 29A is a diagram showing a valveless main pump 150, and FIG. 29B is a diagram showing an example of a rotary valve 152 having an output of 10. As such, one valveless main pump 150 supplies eight rotary valves 152, each having 10 outputs, and is therefore capable of serving 80 needle requests at approximately the same time. Depending on the system, the total volume of 80 needles undergoes an injection cycle with a period of 2 seconds.

  Analyze multiple pump / valve combinations considering valves with 8, 10, 12 and 14 outputs to meet IT8 machine requirements with 73 eggs / tray and 150 egg / tray requirements. Keeping in mind other machines, it is convenient to select 10 output rotary valves 152 to easily build modular components to accommodate different formats. During the development of the system of the present invention, it was already shown by the inventor of the present invention that it is possible to have 12 output cycles in 2 seconds, therefore designing a system with 10 outputs per cycle. By doing so, the buffer compensates for unexpected small delays in machine 10 cycle time.

  The vaccine delivery system module 154, a schematic of which is shown in FIG. 30, has the ability to communicate with the main PLC-based machine controller and with the digital visual inspection station 16 to detect the presence of an egg in the IT8. Have. The binary information indicates that there is an egg by the number 1 and that there is no egg by the number 0. For the machine 73 in CM73 format, the IT8 holds only 73 eggs, so only 73 needles are needed on the needle plate 54. One cycle of the vaccine delivery system has sufficient capacity for 80 eggs, which is much more than vaccination of the maximum possible egg count in IT8 of 73 eggs. Therefore, the seven outputs of the vaccine delivery system need to be emptied / hidden and the system considers these to be X. See FIG. 30 for a schematic diagram of the vaccine supply system module 154 according to the present disclosure. FIG. 30 shows only the connections of the four rotary valves 152 for the sake of clarity, not all eight components. The binary information is distributed to eight individual PCB controllers for selective vaccination and the information provided is shown as 111101111X for a given rotary valve. When each of the modular “PCB controller n” with n = 1, 2, 3, ... 8 completes the vaccine delivery cycle for the corresponding 9 or 10 needles, the main PCB controller will enter the “cycle complete” state. Pass the PLC-based machine control and place the next set of eggs underneath needle plate 54 to initiate a new injection cycle. Reference is made to FIG. During the injection cycle, the valveless main pump 150 operates continuously, while the rotary valves 152 rotate intermittently to reposition themselves to the next output port bearing the number "1" mark. Reference is made to the graph image in FIG. The rotary valve skips the port marked 0 in the binary map because there are no eggs under the injection needle 120, and skips the port marked X because there is no injection needle 120. FIG. 33 is a diagram showing another part of the controller of the vaccine supply system module 154.

  A schematic diagram of the overall control architecture 156 of the machine 10 is shown in FIG. The overall control architecture 156 comprises multiple modules, as shown.

  At the final station, the eggs are transported from IT8 to a hatching tray not shown. This can be accomplished using any of the known transfer mechanisms such as suction cups and other egg gripping devices. The machine 10 is also capable of selectively lifting eggs using the information obtained at the digital visual inspection station, transferring only vaccinated eggs.

  The machine 10 of the present invention also includes a device that is a combination of a novel egg gripping device 160 and an egg puncher 124, as shown in FIG. The egg gripping device 160 lifts the egg and the egg is vaccinated by the egg perforator 124 as it is transferred from the IT8 to the HT. Although not shown in FIG. 35, this gripping, vaccination, and transfer is accomplished using a robot arm to control the egg gripper 160 and egg punch 124. A portion of the egg gripping device 160 is further shown in FIG. 36 and includes a continuous structure of zigzag ribs 162 separated by slots 164. The zigzag rib 162 is a spring-like feature that allows it to zigzag up and down around in one continuous structure, expanding its diameter when pressed and held on the egg without breaking the shell to lift and hold the egg firmly. have. As shown in FIG. 37, the egg gripping device 160 is combined with an egg ejecting device 166, which allows for the lifting and transfer of eggs to the HT.

  38A-38F are diagrams illustrating various aspects of a capacitor and its charging according to the present disclosure. There is a capacitor used in association with coil 86. These include the capacitor charging specification of FIG. 38A, the example of the time chart of FIG. 38B, discharge observation for the 24V supply of FIG. 38C, discharge observation for the 20V supply of FIG. 38D, discharge observation for the 18V supply of FIG. 38E, and , Discharge observations for the 16V supply of FIG. 38F are included. FIG. 39 is a schematic diagram of the punch module 170. FIG. 40 is a schematic diagram of a circuit configuration of an egg punching machine according to the present disclosure.

  The optical features that may be included in the system according to the present disclosure are: 1) a night-vision digital camera for the operation of the digital visual inspection part 16 in a dark room, 2) an individual egg in each pocket of the egg tray in the digital visual inspection part 16. One or more of the other features of tilt determination and 3) selective egg sequence at IT8 after testing.

  Since the above disclosure has been described in accordance with relevant legal standards, the description is in fact illustrative rather than limiting. Variations and modifications of the disclosed embodiments may be apparent to those skilled in the art and are within the scope of the present disclosure. Therefore, the scope of legal protection provided by this disclosure can only be determined by studying the following claims.

  The above description of the embodiments is made for purposes of illustration and description, and is not intended to be exhaustive or to limit the disclosure. Individual elements or features of a particular embodiment are not generally limited to the particular embodiment, but are compatible and, where applicable, selected even though not shown or described in detail. Can be used in other embodiments. The same can differ in many ways. Such variations should not be considered as deviations from the disclosure, and all such modifications are intended to be included within the scope of the disclosure.

  Examples of embodiments are provided to complete the present disclosure, and those skilled in the art are well informed of their scope. In order to provide a thorough understanding of the embodiments of the present disclosure, numerous specific details are set forth, including examples of specific components, devices, and methods. It will be apparent to those skilled in the art that no specific details need to be used, that the example embodiments can be implemented in multiple different forms, and that neither should be construed as limiting the scope of the present disclosure. Is. Examples of embodiments do not describe in detail known processes, known device structures, and known techniques.

Claims (2)

An automatic in ovo injector for delivering fluid to a plurality of sub-groups of needles for distribution, wherein the plurality of sub-groups of needles are digitally determined in advance as being present in an incubating tray within the automatic in ovo machine. Mapped to correspond to the egg, the automatic in ovo injection machine,
A support frame,
A plurality of liquid substance multiplexing systems each including a liquid substance intake opening for receiving liquid substance from a reservoir, a variable adjustable dosing device, a directional valve, and a plurality of liquid substance output ports.
A computer-based digital visual inspection unit that digitally maps eggs located in the incubation tray,
A controller system capable of sequentially injecting the mapped eggs,
An injection part having a plurality of egg perforators arranged above the incubation tray and including a plurality of needles movable vertically in variable strokes,
An automatic in ovo injection machine, comprising: an electromagnetic slide hammer associated with each of the plurality of injection needles.   A method of injecting a fluid into an egg, comprising the step of injecting the egg with the automatic in ovo injector of claim 1.