WO2024176008A1

WO2024176008A1 - Aviary monitoring devices and related systems

Info

Publication number: WO2024176008A1
Application number: PCT/IB2024/050433
Authority: WO
Inventors: Ferran LARRIBA; Roser BLASCO; Xavier CORTES; Jordi PALOMA; Heiner LEHR
Original assignee: Farm Robotics And Automation Sl
Priority date: 2023-02-23
Filing date: 2024-01-17
Publication date: 2024-08-29

Abstract

A system includes a monitoring device operably coupled to rails of an egg-laying aviary. The monitoring device includes a first image camera coupled to the monitoring device such that a field of view of the first image camera is in a horizontal direction, and a second image camera coupled to the monitoring device such that a field of view of the second image camera is in a vertical direction substantially perpendicular to the horizontal direction. The system further includes an aviary monitoring system including at least one processor, and at least one non- transitory computer-readable storage medium storing instructions thereon that, when executed by the at least one processor, cause the aviary monitoring system to determine one or more properties of hens in the egg-laying aviary based on image data captured via the first image camera and image data captured via the second image camera. Related aviary monitoring devices and system are disclosed.

Description

TITLE

AVIARY MONITORING DEVICES AND RELATED SYSTEMS

CROSS-REFERENCE TO RELATED APPLICATION

[0001] N/A

FIELD

[0002] Embodiments of the present disclosure relate generally to methods of monitoring egg-laying aviaries, and particularly to aviary monitoring devices having sensors and cameras to detect one or more conditions and one or more properties of hens in the egg-laying aviary, and to related systems.

BACKGROUND

[0003] Precision livestock farming (PLF) is an emerging sector in the field of research and development of tools for livestock management and continuous real-time monitoring of livestock. One of the primary goals of PLF is to facilitate animal welfare, avoid diseases, and increase productivity.

[0004] For example, broiler chickens (also referred to as "broilers") and egg-laying chickens are susceptible to many diseases including, for example, skeletal malformation and dysfunction, skin and eye lesions, congestive heart conditions, aspergillosis, infection by ascites diseases, avian influenza (bird flu), Newcastle disease, chronic respiratory disease, fowl chloera, Salmonella, Campylobacter, and internal parasites. In addition, conditions within the environment of the animal, such as ammonia or other gas concentrations, may affect the health of the animal.

[0005] An aviary system (also referred to as an "aviary house" or a "henhouse") is a housing configured to facilitate non-cage housing of egg laying hens. Eggs from hens living in non-cage system are so-called "cage free" eggs. The aviary system helps hens perform and maintain natural behavior, such as scratching, ground pecking, dust bathing, a natural amount of pecking (e.g., to establish a pecking order), and foraging for food. Some systems comprise so- called "single-tiered" non-cage systems including only one level of living area and nests for the hens. Other aviary systems comprise so-called "multi-tiered" non-cage systems including several levels of perforated floors, nests, and manure belts to increase a density and living space of the hens in the aviary system, increasing the efficiency of the aviary system. Multi-tiered non-cage systems may enable higher stocking densities of the hens, such as about 18 hens per square meter of floor housing.

[0006] The hens may move freely through the aviary system to different feeders, drinking lines, perches, and nest boxes, allowing the hens to perform nest seeking and egg-laying behaviors in communal nests and other natural behaviors. The levels may be interconnected with each other by means of ramps or approach perches to provide a continuous pathway for the hens to travel between nests, water lines, and feeders among the different vertical levels.

[0007] However, the operation of aviary systems is a complicated process and involves balancing many conditions system (e.g., temperature, humidity, carbon dioxide concentration, ammonia concentration, ventilation, noise, lighting) and maintaining healthy behaviors of the hens while reducing unhealthy behaviors such as feather pecking, egg laying outside of the nests, piling of the hens in one or more areas, and proper feeding habits, among other things.

BRIEF SUMMARY

[0008] In some embodiments, an aviary monitoring system for an egg-laying aviary comprises at least one processor and at least one non-transitory computer-readable storage medium storing instructions thereon that, when executed by the at least one processor, cause the aviary monitoring system to cause a monitoring device coupled to rails within the egg-laying aviary to traverse through the egg-laying aviary along the rails and to capture image data and thermal image data of one or more portions of the egg-laying aviary via one or more cameras of the monitoring device, receive the image data and the thermal image data from the monitoring device, and based at least partially on the received image data and thermal image data, determine one or more of a distribution index of hens, an activity level of the hens, a characterization of a behavior of the hens, an amount of free usable space in the egg-laying aviary, a plumage of the hens, a quantity of feathers on a ground, a quantity and location of stray eggs in the egg-laying aviary, and a quality of manure.

[0009] The aviary monitoring system may also include instructions that, when executed by the at least one processor, cause the aviary monitoring system to identify times of a day when the distribution index is greater than a predetermined value.

[0010] The aviary monitoring system may include instructions that, when executed by the at least one processor, cause the aviary monitoring system to identify locations within the egg-laying aviary where the hens are piling responsive to determining that the distribution index of the hens is greater than a predetermined value.

[0011] The aviary monitoring system may include instructions that, when executed by the at least one processor, cause the aviary monitoring system to identify locations on the ground where hens are laying responsive to determining that the distribution index is greater than a predetermined value.

[0012] The aviary monitoring system may be configured to analyze frames of the image data, segment each of the analyzed frames of the image data into a grid comprising a number of areas, determine an average number of hens in each area, and determine a variance from the average in each of area.

[0013] The aviary monitoring system may be configured to an activity level of the hens comprises determining an average velocity of the hens in frames of the image data.

[0014] Determining an activity level of the hens may include performing one or more object detection techniques on frames of the image data to detect the hens in the image data, performing one or more object tracking techniques on consecutive frames of analyzed image data to generate tracking data, and analyzing the tracking data in the consecutive frames of the analyzed image data to determine a distance each hen has moved between the consecutive frames of analyzed image data.

[0015] Determining a characterization of a behavior of the hens may include analyzing the image data to determine a relative percentage of hens that are eating, a percentage of hens that are drinking, a percentage of hens that are moving, and a percentage of hens that are not moving. [0016] Determining a characterization of a behavior of the hens may include, for each hen, determining a percentage of time the hen is engaged in each of eating, drinking, moving, and not moving.

[0017] The aviary monitoring system may further include instructions that, when executed by the at least one processor, cause the aviary monitoring system to analyze frames of the image data, analyzing the frames of the image data comprising performing one or more object detection techniques on frames of the image data to detect the hens in the image data, performing one or more segmentation techniques on the frames of analyzed image data to generate segmentation data, performing one or more object tracking techniques on consecutive frame of analyzed image data to generate tracking data, and analyzing the tracking data in the consecutive frames of the analyzed image data to determine a distance each hen has moved between the consecutive frames of analyzed image data.

[0018] In some embodiments, determining a relative percentage of hens that are eating may include analyzing the tracking data in consecutive frames of the analyzed image data to determine a distance each hen has moved between the consecutive frames of analyzed image data, for each hen that is not determined to be moving, determining a distance between the hen and a feed trough using the segmentation data, and if the hen is less than a predetermined distance from the feed trough, determining that the hen is eating.

[0019] Determining the amount of free usable space in the egg-laying aviary may include determining a number of total pixels in a frame of analyzed image data, determining a number of pixels in a segmentation mask for the ground, determining a sum of the number of pixels of a segmentation mask for each of feeders, drinkers, and pipes in the aviary system, and dividing the number of pixels in the segmentation mask for the ground by the total number of pixels in the frame minus the sum.

[0020] The aviary monitoring system may further be configured to determine a plumage of the hens comprises identifying bald spots on areas of the hens exhibiting a relatively greater temperature than other portions of the hens. [0021] Determining a plumage score for the hens in the egg-laying aviary may include receiving the image data from a video camera, and identifying bald spots on imaged hens based on a change in color of the hen.

[0022] Determining the plumage score may further include determining, for each hen, a percentage of a surface area of the hen body lacking feathers.

[0023] The aviary monitoring system may further include instructions that, when executed by the at least one processor, cause the aviary monitoring system to identify regions within the egg-laying aviary where hens sleep.

[0024] The aviary monitoring system may further include instructions that, when executed by the at least one processor, cause the aviary monitoring system to generate a map of the locations of the stray eggs in the egg-laying aviary.

[0025] The aviary monitoring system may further include instructions that, when executed by the at least one processor, cause the aviary monitoring system to monitor the quantity and location of stray eggs in the egg-laying aviary over time.

[0026] The aviary monitoring system may further include instructions that, when executed by the at least one processor, cause the aviary monitoring system to compare a quantity of stray eggs from a previous day to a quantity of stray eggs in a current day.

[0027] The aviary monitoring system may further include instructions that, when executed by the at least one processor, cause the monitoring system to traverse through the egglaying aviary prior to sunrise.

[0028] In some embodiments, the aviary monitoring system includes instructions that, when executed by the at least one processor, cause the aviary monitoring system to provide a signal to the egg-laying aviary to provide power to a light prior to sunrise.

[0029] The monitoring device may further include one or more of a temperature sensor, an airflow sensor, a light intensity sensor, or a noise sensor and instructions that, when executed by the at least one processor and responsive to identifying locations of stray eggs in the egglaying aviary, cause the aviary monitoring system to identify nests exposed to an ambient temperature outside of a predetermined range, identify nests exposed to airflow outside of a predetermined range, identify nests exposed to a light intensity outside of a predetermined range, identify nests exposed to flickering lights, identify nests in regions of the egg-laying aviary having a higher distribution of hens than other regions of the egg-laying aviary, and identify nests exposed to sound greater than a predetermined value.

[0030] The aviary monitoring system may further include instructions that, when executed by the at least one processor, cause the aviary monitoring system to compare condition data from the one or more of a temperature sensor, an airflow sensor, a light intensity sensor, and a noise sensor to historical condition data in the egg-laying aviary.

[0031] The aviary monitoring system may further include instructions that, when executed by the at least one processor, cause the monitoring device to traverse the rails of the egg-laying aviary more than one time daily.

[0032] Embodiments include a method of monitoring an egg-laying aviary, the method comprising causing a monitoring device comprising image cameras and at least one thermal camera to traverse through an egg-laying aviary along rails within the egg-laying aviary, receiving image data and thermal image data from the monitoring device, analyze the received image data to generate analyzed image data, tracking data, and segmentation data, and based on the analyzed image data and the thermal image data, determine one or more of a distribution index of hens, an activity level of the hens, a characterization of a behavior of the hens, an amount of free usable space in the egg-laying aviary, a plumage of the hens, a quantity of feathers on a ground, a quantity and location of stray eggs in the egg-laying aviary, and a quality of manure.

[0033] The method may further include causing a monitoring device comprising image cameras and at least one thermal camera to traverse through an egg-laying aviary comprises causing the monitoring device to traverse through the egg-laying aviary multiple times daily.

[0034] The method may include, based at least partially on the distribution index, determining locations where hens in the egg-laying aviary pile.

[0035] The method may further include based at least partially on the characterization of the behavior of the hens, estimating a health of hens in the egg-laying aviary.

[0036] The method may include determining condition data from one or more of a temperature sensor, a humidity sensor, a carbon dioxide sensor, an ammonia sensor, a light sensor, a noise sense, and an airflow sensor. [0037] The method may include comparing historical values of one or more of the activity level of the hens, the characterization of the behavior of the hens, and plumage of the hens, the quantity of feathers on the ground, and the quantity of stray eggs in the egg-laying aviary.

[0038] The method may include providing a recommendation to a user responsive to determining that the determined condition data falls outside of a predetermined range.

[0039] The method may further include generating a map of a density of the hens throughout the egg-laying aviary, comprising generating a map of a density of the stray eggs throughout the egg-laying aviary, or both.

[0040] Embodiments include a system including an egg-laying aviary, rails coupled to one or more of a ceiling, walls, or other structures of the egg-laying aviary, a monitoring device coupled to the rails, the monitoring device comprising image cameras, and an aviary monitoring system in communication with the monitoring device. The aviary monitoring system includes at least one processor, at least one non-transitory computer-readable storage medium storing instructions thereon that, when executed by the at least one processor, cause the aviary monitoring system to receive image data captured via the image cameras, receive thermal image data captured via the thermal image camera, analyze the image data to identify hens in the egglaying aviary and generate analyzed image data, and based on the analyzed image data, determine one or more properties of hens in the egg-laying aviary.

[0041] Additional embodiments include a system including a monitoring device operably coupled to rails of an egg-laying aviary. The monitoring device includes a first image camera coupled to the monitoring device such that a field of view of the first image camera is in a horizontal direction, and a second image camera coupled to the monitoring device such that a field of view of the second image camera is in a vertical direction substantially perpendicular to the horizontal direction. The aviary monitoring system further includes an aviary monitoring system including at least one processor, and at least one non-transitory computer-readable storage medium storing instructions thereon that, when executed by the at least one processor, cause the aviary monitoring system to determine one or more properties of hens in the egg- laying aviary based on image data captured via the first image camera and image data captured via the second image camera.

[0042] The second image camera may be vertically spaced from the first image camera.

[0043] In some embodiments, the monitoring device includes a third image camera. A field of view of the third image camera may be substantially parallel to the horizontal direction and may be vertically spaced from the first image camera. In addition, the third image camera may be vertically coplanar with the second image camera.

[0044] In some embodiments, the monitoring device may further include a thermal camera. The thermal camera may be vertically spaced from one of the first image camera and the second image camera and vertically coplanar with the other of the first image camera and the second image camera.

[0045] The monitoring device may include a first equipment module including the first image camera and at least a second equipment module including the second image camera, the second equipment module vertically spaced from the first equipment module. The monitoring device may further include a third equipment module may be vertically between the first equipment module and the second equipment module.

[0046] The monitoring device may further include at least one sensor configured to measure at least one condition within the egg-laying aviary. The at least one sensor may be vertically spaced from the first image camera.

[0047] The at least one sensor may include each of a temperature sensor, a humidity sensor, a carbon dioxide sensor, an ammonia sensor, an airflow sensor, a light sensor, and a noise sensor.

[0048] The one or more properties of hens may include one or more of a distribution index of hens, an activity level of the hens, a characterization of a behavior of the hens, an amount of free usable space in the egg-laying aviary, a plumage of the hens, a quantity of feathers on a ground, a quantity and location of stray eggs in the egg-laying aviary, or a quality of manure.

[0049] Embodiments include an aviary monitoring device including wheels configured to couple the monitoring device to rails extending through an egg-laying aviary, a first image camera, a second image camera vertically separated from the first image camera, and a thermal camera..

[0050] In some embodiments, the first image camera has a first field of view, and wherein the second image camera has a second field of view at least substantially perpendicular to the first field of view.

[0051] The first image camera may to a first module of the monitoring device and the second image camera may be coupled to a second module of the monitoring device.

[0052] In some embodiments, each of the first camera, the second camera, and the thermal camera are configured to capture image data while the monitoring device traverses through a portion of an aviary.

[0053] Embodiments include a system including an egg-laying aviary, rails attached to one or more of a ceiling, walls, and other structures of the egg-laying aviary, at least a portion of the rails spaced a different distance from a floor than at least an additional portion of the rails, and a monitoring device coupled to the rails and configured to traverse through the egg-laying aviary on the rails. The monitoring device includes image cameras configured to capture image data at multiple vertical levels of the egg-laying aviary, and a thermal camera configured to capture thermal image data within the egg-laying aviary. The system further includes a monitoring system including at least one processor, and at least one non-transitory computer- readable storage medium storing instructions thereon that, when executed by the at least one processor, cause the monitoring system to determine one or more properties of hens in the egglaying aviary based on one or both of the image data and the thermal image data.

[0054] In an aspect, the image cameras are further configured to capture image data of the floor.

[0055] Within the scope of this application it should be understood that the various aspects, embodiments, examples, and alternatives set out herein, and individual features thereof may be taken independently or in any possible and compatible combination. Where features are described with reference to a single aspect or embodiment, it should be understood that such features are applicable to all aspects and embodiments unless otherwise stated or where such features are incompatible. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] While the specification concludes with claims particularly pointing out and distinctly claiming what are regarded as embodiments of the present disclosure, various features and advantages may be more readily ascertained from the following description of example embodiments when read in conjunction with the accompanying drawings, in which:

[0057] FIG. 1 is a schematic diagram of an environment in which an aviary monitoring system may operate, in accordance with embodiments of the disclosure;

[0058] FIG. 2A is a simplified, partial side view of a monitoring device, in accordance with embodiments of the disclosure;

[0059] FIG. 2B is a simplified, partial perspective view of the monitoring device;

[0060] FIG. 3 is a flowchart of a method for monitoring an aviary system, in accordance with embodiments of the disclosure;

[0061] FIG. 4 is an image illustrating hens identified in bounding boxes that may be displayed on a graphical user interface, in accordance with embodiments of the disclosure;

[0062] FIG. 5 is a graph representing the distribution of hens in the aviary system, in accordance with embodiments of the disclosure;

[0063] FIG. 6 is a simplified flow diagram illustrated a method of characterizing the behavior of the hens, in accordance with embodiments of the disclosure;

[0064] FIG. 7 is an image illustrating behaviors of hens in the aviary system, that may be displayed on a graphical user interface;

[0065] FIG. 8 is an image of a frame of thermal image data, in accordance with embodiments of the disclosure;

[0066] FIG. 9A through FIG. 9C are a respective simplified, partial perspective view (FIG. 9A), a simplified, partial front view (FIG. 9B), and a simplified, partial side view (FIG. 9C), of an monitoring device, in accordance with embodiments of the disclosure; and

[0067] FIG. 10 is a schematic view of a computer device, in accordance with embodiments of the disclosure. DETAILED DESCRIPTION

[0068] The illustrations presented herein are not meant to be actual views of any aviary monitoring system, but are merely idealized representations that are employed to describe example embodiments of the disclosure. Additionally, elements common between figures may retain the same numerical designation for convenience and clarity.

[0069] The following description provides specific details of embodiments. However, a person of ordinary skill in the art will understand that the embodiments of the disclosure may be practiced without employing many such specific details. Indeed, the embodiments of the disclosure may be practiced in conjunction with conventional techniques employed in the industry. In addition, the description provided below does not include all elements to form a complete structure or assembly. Only those process acts and structures necessary to understand the embodiments of the disclosure are described in detail below. Additional conventional acts and structures may be used. The drawings accompanying the application are for illustrative purposes only, and are thus not drawn to scale.

[0070] As used herein, the terms "comprising," "including," "containing," "characterized by," and grammatical equivalents thereof are inclusive or open-ended terms that do not exclude additional, unrecited elements or method steps, but also include the more restrictive terms "consisting of" and "consisting essentially of" and grammatical equivalents thereof.

[0071] As used herein, the singular forms following "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.

[0072] As used herein, the term "may" with respect to a material, structure, feature, or method act indicates that such is contemplated for use in implementation of an embodiment of the disclosure, and such term is used in preference to the more restrictive term "is" so as to avoid any implication that other, compatible materials, structures, features, and methods usable in combination therewith should or must be excluded.

[0073] As used herein, the term "configured" refers to a size, shape, material composition, and arrangement of one or more of at least one structure and at least one apparatus facilitating operation of one or more of the structure and the apparatus in a predetermined way.

[0074] As used herein, the singular forms following "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.

[0075] As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

[0076] As used herein, spatially relative terms, such as "beneath," "below," "lower," "bottom," "above," "upper," "top," "front," "rear," "left," "right," and the like, may be used for ease of description to describe one element's or feature's relationship to another element(s) or feature(s) as illustrated in the figures. Unless otherwise specified, the spatially relative terms are intended to encompass different orientations of the materials in addition to the orientation depicted in the figures.

[0077] As used herein, the term "substantially" in reference to a given parameter, property, or condition means and includes to a degree that one of ordinary skill in the art would understand that the given parameter, property, or condition is met with a degree of variance, such as within acceptable manufacturing tolerances. By way of example, depending on the particular parameter, property, or condition that is substantially met, the parameter, property, or condition may be at least 90.0% met, at least 95.0% met, at least 99.0% met, or even at least 99.9% met.

[0078] As used herein, the term "about" used in reference to a given parameter is inclusive of the stated value and has the meaning dictated by the context (e.g., it includes the degree of error associated with measurement of the given parameter).

[0079] As used throughout, ranges are used as shorthand for describing each and every value that is within the range. Any value within the range can be selected as the terminus of the range.

[0080] As used herein, "condition data" means and includes one or more of carbon dioxide concentration data (e.g., received from a carbon dioxide sensor), ammonia concentration data (e.g., received from an ammonia sensor), temperature data (e.g., received from a temperature sensor), humidity (e.g., relative humidity) data (e.g., received from a humidity sensor), sound data (e.g., received from a sound sensor, such as a microphone), light data (e.g., received from a light sensor), flickering data (e.g., received from a light sensor), and airflow velocity data (e.g., received from an airflow sensor).

[0081] Embodiments include a robot and an aviary monitoring system that utilizes condition data (e.g., one or more of carbon dioxide concentration data, ammonia concentration data, temperature data, humidity (e.g., relative humidity) data, sound data, light data, flickering data, and airflow velocity data) received from sensors, image data captured by cameras (e.g., video cameras), and thermal image data captured by one or more thermal image cameras operably coupled (e.g., attached) to an aviary monitoring device (e.g., a robot) to predict and/or determine one or more conditions of an aviary system and one or more properties of the hens in the aviary system. For example, the condition data may be analyzed to determine whether levels of one or more of carbon dioxide, ammonia, temperature, humidity, noise, airflow, and light are within suitable ranges. The image data may be analyzed to detect the hens in the aviary system and determine one or more properties of the hens, such as an indication of the distribution of the hens throughout the aviary system, an activity level of the hens (e.g., an indication of how much the hens are moving), a characterization of the behavior of the hens (e.g., the percentage of hens engaged in particular activities such as feeding, drinking, moving, or not moving), a quantification of stray eggs and a density map of the stray eggs, an indication of the amount of free usable space in the aviary system, a location of where hens are nesting, a location of where hens are sleeping, an indication of the plumage health of the hens, an indication of the quantity of feathers on the floor, an identification of dead hens in the aviary, and/or an indication of the quality of the manure.

[0082] By analyzing the received condition data, the image data, and the thermal image data, the aviary monitoring system may determine whether one or more conditions in the aviary system and the one or more properties of the hens are within normal operating ranges or outside normal operating ranges (e.g., require attention). In some embodiments, the aviary monitoring system compares current values of one or more of the condition data and the one or more properties of the hens to reference data to provide an indication of trends of the respective one or more conditions and the one or more properties. For example, shifts in the behavior patterns of the hens may be in indication that the health of one or more hens within the aviary is degrading.

The aviary monitoring system may provide the condition data and the hen property data to a user.

[0083] In some embodiments, the aviary monitoring system provides one or recommendations to the user based on the condition data and the one or more properties of the hens. By determining, for example, that one or more conditions within the aviary is out of a healthy operating range, the aviary monitoring system may send one or more signals to, for example, a controller within the aviary to adjust the one or more conditions. In some embodiments, by determining that the one or more properties of the hens is abnormal, the aviary monitoring system may provide a recommendation to the user based on the particular abnormal property.

[0084] The aviary monitoring system allows the user to operate the aviary system and monitor the behavior of the hens without being present in the aviary system. Advantageously, contact between the user and the hens is reduced, enhancing the biosecurity of the aviary system. In addition, the user may not disturb the hens by, for example, walking through the aviary system to observe the conditions thereof.

[0085] FIG. 1 is a schematic diagram of an environment 100 in which an aviary monitoring system 190 may operate, in accordance with one or more embodiments of the disclosure. As shown in FIG. 1, the environment 100 may include an aviary system 102 configured for housing poultry, such as laying hens, broilers (e.g., broiler chickens), turkeys, ducks, geese, partridges, quails, pheasants, and pigeons. In some embodiments, the aviary system 102 is configured to house laying hens. For convenience, the aviary system 102 and the aviary monitoring system 190 are described herein in terms of hens, such as egg-laying hens; however, it will be understood that the aviary monitoring system 190 may be used with other types of poultry. The aviary system 102 may also be referred to herein as an "aviary" or an "egg-laying aviary."

[0086] As described in further detail herein, a monitoring device 130 (also referred to as a "robot" or a "monitoring robot") may be operably coupled to the aviary monitoring system 190 and configured to receive (e.g., detect, measure, determine) one or more conditions (e.g., condition data) within the aviary system 102, and receive (e.g., capture) one or both of image data (e.g., image data, video data) and thermal image data (e.g., infrared (IR) thermal data) of chickens (e.g., egg-laying hens) within the aviary system 102. The aviary monitoring system 190 may analyze the image data and the thermal image data to determine one or more properties of the hens. As described herein, the condition data and the one or more properties of the hens may be presented to a user of the aviary monitoring system.

[0087] Referring to FIG. 1, the monitoring device 130 may be operably coupled to a monitoring device controller 184 via, for example, one or more cables or a wireless network. The environment 100 may include the monitoring device 130 coupled to the monitoring device controller 184, at least one client device 186, at least one server 188 including the aviary monitoring system 190, and a network 192. The aviary monitoring system 190, the client device 186, and the monitoring device controller 184 may communicate via the network 192. Although FIG. 1 illustrates a particular arrangement of the client device 186, the server 188, and the monitoring device controller 184, various additional arrangements are possible. For example, the server 188 and, accordingly, the aviary monitoring system 190, can communicate directly with the client device 186 and/or the monitoring device controller 184, thereby passing the network 192.

[0088] In some embodiments, a user may interface with the client device 186, for example, to communicate with the server 188 and to utilize the aviary monitoring system 190 to monitor conditions within the aviary system 102. The user may include one or more operators of the aviary system 102. Although FIG. 1 only shows a single client device 186, the environment 100 may include any number of client devices 186 in communication with the network 192, the server 188, and/or the monitoring device controller 184.

[0089] In some embodiments, the client device 186 may include a client application installed thereon. In one or more embodiments, the client application can be associated with the aviary monitoring system 190. For example, the client application may allow the client device 186 to directly or indirectly interface with the aviary monitoring system 190 of the server 188. The client application also enables a user (e.g., an operator) to initiate measurements via the aviary monitoring system 190 and observe any results of the measurements, such as one or more condition data based on the received condition data (e.g., one or more of the carbon dioxide concentration data, the ammonia concentration data, the temperature data, the humidity (e.g., relative humidity) data, the sound data, the light data, the flickering data, and the airflow velocity data) and properties of the hens based on one or both of the captured image data and the captured thermal image data (e.g., such as one or more of a distribution of the hens, an activity level of the hens, a behavior of the hens, a plumage score of the hens, a location of dead hens, a location of one or more stray eggs, an indication of the quantity of feathers on the ground, and a quality of the manure).

[0090] Both the client device 186 and the server 188 (and the aviary monitoring system 190) can represent various types of computing devices with which operators can interact. For example, the client device 186 and/or the server 188 may include a mobile device (e.g., a cell phone, a smartphone, a PDA, a tablet, a laptop, a watch, a wearable device, etc.). In some embodiments, however, the client device 186 and/or server 188 can be a non-mobile device (e.g., a desktop or server). In some embodiments, the server 188 may include a cloud computing platform and may be configured to perform processing required to implement the aviary monitoring system 190. In one or more embodiments, the server 188 may include a web server that provides a web site that can be used by operators of the aviary system 102 via a remote client device 186. Additional details with respect to the client device 186 and the server 188 are discussed below with respect to FIG. 9.

[0091] Referring still to FIG. 1, while the aviary monitoring system 190 is depicted as being a portion of (e.g., implemented by) the server 188, the disclosure is not so limited. Rather, in some embodiments, the aviary monitoring system 190 may be implemented at one or more of the client device 186, the monitoring device controller 184, or the server 188. In some embodiments, the aviary monitoring system 190 may be implemented at a computing device that is local to the aviary system 102 (e.g., edge computing). In some embodiments, the aviary monitoring system 190 may be implemented at different devices of the environment 100 operating according to a primary-secondary configuration or peer-to-peer configuration. For purposes of illustration and convenience, implementation of the aviary monitoring system 190 is described herein as being implemented by the server 188, with the understanding that functionality may be implemented in other and/or additional devices.

[0092] The network 192 may include one or more networks, such as the Internet, and can use one or more communications platforms or technologies suitable for transmitting data and/or communication signals. As a non-limiting example, the network 192 may utilize one or more of near field communication (NFC), BLUETOOTH ©, wireless/cellular networks, wide area networks (WAN), wired communications, or any other conventional network for transmitting data and/or communication signals between the monitoring device controller 184, the client device 186, the server 188, and the aviary monitoring system 190.

[0093] In some embodiments, the monitoring device controller 184 is configured receive the condition data, the image data, and the thermal image data from the monitoring device 130 and transmit the condition data, the image data, and the thermal image data to the aviary monitoring system 190 for processing, as described in further detail herein. The condition data, image data, and thermal image data may be transmitted to the aviary monitoring system 190 directly, by means of the network 192, and/or by means of the client device 186.

[0094] The aviary system 102 may include a so-called "cage-free" aviary system, which may also be referred to herein as a "floor" aviary system, a "free range" aviary system, or a "European style" aviary system. In some embodiments, the aviary system 102 includes an egglaying aviary system 102 and is configured to house hens, such as egg-laying hens. In some such embodiments, the hens do not include broiler chickens that are bred and raised specifically for meat production. The aviary system 102 may also be referred to herein as an "egg-laying aviary" or more simply as an "aviary. The aviary system 102 may be configured to replicate a natural environment for the poultry to facilitate a tendency of the poultry to exhibit natural behavior, allowing the poultry to freely walk, peck, and scratch at litter, facilitating a healthy flock.

[0095] The aviary system 102 may include a floor 104 enclosed by exterior walls 106. Supports (e.g., legs) 108 support the aviary system 102 and facilitate free-standing of the aviary systems 102 on the floor 104. A mesh floor 110 may overlie the floor 104 and may form the floor level of the different levels of the aviary system 102. The mesh floor 110 may be covered with litter comprising naturally occurring materials, such as straw, wood chips, and sawdust. At least portions of the mesh floor 110 may include openings through which manure and other animal waste falls to manure conveyor belts 112 located underneath portions of the mesh floor 110. In some embodiments, the mesh floor 110 includes a wire mesh. In other embodiments, the mesh floor 110 includes a polypropylene plastic, such as honeycomb flooring, including openings therein to facilitate removal of waste from the floor to the manure conveyor belts 112.

[0096] The manure conveyor belts 112 may be located under portions of the mesh floor 110 and configured to convey manure and other waste that falls through the mesh floor 110 to a collection system to remove the manure and waste from the aviary system 102. Since the mesh floor 110 includes an open network of openings, the manure and waste dropped by the hens does not remain on the mesh floor 110, but is trampled by the hens through the mesh floor 110 and onto the manure conveyor belts 112.

[0097] In some embodiments, scratching floors (also referred to as "scratch pads" or "scratchers") are distributed on the mesh floor 110 throughout the aviary system 102. The scratching floors provide scratching areas where the hens can perform natural functions, such as moving freely, pecking the scratching floor with their beaks and/or feet, and dust batching. The scratching floors may encourage the hens to scratch the floor rather than engaging in undesired behaviors such as feather pecking.

[0098] The mesh floors 110 and the manure conveyor belts 112 may extend a longitudinal length of the aviary system 102, such as in the direction in and out of the page in the view of FIG. 1.

[0099] The aviary system 102 may further include feed troughs 114 and drinking lines 116 (including, for example, distributed nipple drinkers) distributed throughout different levels and locations of the aviary system 102. The feed troughs 114 and the drinking lines 116 are respectively configured to facilitate feeding and watering of the hens. In some embodiments, the feed troughs 114 and the drinking lines 116 are hoisted from the ceiling by means of ropes (e.g., wire ropes).

[0100] Perches 118 may be distributed throughout the aviary system 102 to provide a natural resting and sleeping area for the hens. The perches 118 may mimic the natural environment where hens tend to sleep and perch at elevations relatively higher than the ground, such as on tree branches towards the top of trees. For clarity and ease of understanding the description, only some of the perches 118 are illustrated in FIG. 1.

[0101] Lights 120 may be distributed throughout the aviary system 102. In some embodiments, the lights 120 are distributed to encourage the hens to lay eggs within nests 122. For example, since hens prefer to lay eggs in dark and sheltered locations, the lights 120 may be distributed at locations throughout the aviary system 102 where the laying of eggs is discouraged (e.g., away from the nests 122). For example, lights 120 on the floor 104 level may discourage hens from laying eggs on the floor 104. The lights 120 may include, for example, light emitting diodes (LEDs).

[0102] The lights 120 may be operated on a schedule configured to provide durations of uninterrupted darkness (e.g., of not less than eight hours) to facilitate sufficient rest for the hens, and reduce a likelihood of decreased immunity and diseases such as ocular anomalies where hens may peck each other to death. During twilight periods (e.g., sunrise and sunset), the lights 120 may be dimmed, providing time for the hens to perch or come down from the perches 118 without agitation or injuries. Accordingly, the lights 120 may be operated with a lighting schedule corresponding to the physiological needs of the hens. For example, the lights 120 may be operated by the aviary monitoring system 190 which may provide on and off signals to the lights 120 based on a desired schedule.

[0103] The nests 122 are located at multiple levels (e.g., multiple distances from the floor 104) of the aviary system 102. The nests 122 individually provide a sheltered and unlit location for the hens to promote the laying of eggs within the nests 122. Egg collection conveyors 124 are located underneath the nests 122 and facilitate the capture and collection of laid eggs. For example, the nests 122 may include inclined surfaces directed from the nests 122 downwards towards the egg collection conveyors 124 to facilitate removal of laid eggs from the nests 122 to the egg collection conveyors 124 by means of gravity.

[0104] The egg collection conveyors 124 are configured to carry the laid eggs from the nests 122 to an egg collection area, where the eggs may be further processed and prepared for transport. As described above with reference to the manure conveyor belts 112, the egg collection conveyers 124 may extend a longitudinal length of the aviary system 102, such as in the direction in and out of the page in the view of FIG. 1.

[0105] Protection covers 126 are located throughout the aviary system 102 for covering eggs that may have been laid outside of the nests 122. Additional egg collection conveyers 124 may be located underneath the protection covers 126 and configured to transport the eggs to a collection area.

[0106] The aviary system 102 may be arranged and configured to include aisles 128 through which workers may access different levels, regions, and components of the aviary system 102. Some of the aisles 128 are located between the exterior walls 106 and the levels of the aviary system 102. Other aisles 128 are located distal from the exterior walls 106 and between rows of aviary system 102, such as between perching areas and nesting areas or between horizontally neighboring nesting areas. In addition, the aviary system 102 includes ladders and/or stairs distributed throughout to provide access for workers to the different levels of the aviary system 102.

[0107] The aisles 128 may provide space for a monitoring device 130 to traverse through the aviary system 102 and detect one or more conditions (e.g., ambient conditions) within the aviary system 102 and simultaneously capture image data and the thermal image data within the aviary system 102. The monitoring device 130 may be suspended from the ceiling of the aviary system 102 and configured to traverse the aviary system 102 by means of rails 132 connecting the monitoring device 130 to the ceiling by means of support brackets 134. In other words, the support brackets 134 are coupled to (e.g., mounted to, secured to) the ceiling of the aviary system 102 and the rails 132 are connected to the support brackets 134 (e.g., hung from the support brackets 134). The monitoring device 130 may be suspended from the rails 132 by means of wheels 136 or rollers configured to facilitate sliding movement of the monitoring device 130 along the rails 132.

[0108] In some embodiments, at least some of the support brackets 134 are attached to portions of the aviary system 102 other than, or in addition to, the ceiling. For example, depending on the configuration of the aviary system 102, portions of the support brackets 134 may be attached to structures of the aviary system 102 that are not connected to the ceiling. By way of non-limiting example, in some embodiments, support brackets 134 within an aisle 128 between opposing nests 122 may horizontally extend and connect to structures of the aviary system 102 rather than to the ceiling. The aisles 128 may be between rows of the aviary system 102 including nests 122, perches 118, feed troughs 114, drinking lines 116, manure conveyor belts 112, and egg conveyor bels 124. In some embodiments, the rails 132 are installed in the aviary system 102 throughout substantially an entirety of the aviary system 102, such as in the aisles 128 between the rows of the aviary system 102 and between the rows of the aviary system 102 and the exterior wall 106.

[0109] In other embodiments, the monitoring device 130 is attached to the ceiling by means other than the support brackets 134. For example, in some embodiments, the rails 132 are attached to support cables or wires that are, in turn, coupled to the ceiling.

[0110] While FIG. 1 illustrates five monitoring systems 130, the disclosure is not so limited. Rather, in some embodiments, the aviary system 102 includes a single monitoring device 130 configured to traverse through and between the aisles 128 and measure one or more conditions within the aviary system 102. The illustrated monitoring systems 130 in FIG. 1 illustrates example locations of where the monitoring device 130 may be located within the aviary system 102. In other embodiments, the aviary system 102 includes more than one of the monitoring devices 130 (e.g., two, three, four, six, of the monitoring devices 130).

[0111] In some embodiments, the rails 132 may be arranged within the aviary system 102 such that the monitoring device 130 captures each of the image data and the thermal image data and receives condition data with respect to one or more conditions within the aviary system 102 depending on the height of one or more of the levels (e.g., the height of the mesh floor 110, the nests 122, the perches 118, the feed troughs 114, the drinking lines 116, the manure conveyor belts 112, and the egg collection conveyors 124) of the aviary system 102 proximate the rails 132. In other words, the vertical height of the rails 132 (e.g., the distance of the rails 132 from the floor 104) may depend on the height of the components of the aviary system 102 proximate the rails 132. In some such embodiments, the height of the rails 132 changes throughout the aviary system 102 such that the monitoring device 130 is located at substantially the same height as each of the different levels of the aviary system and the components thereof (e.g., the mesh floor 110, the nests 122, the perches 118, the feed troughs 114, the drinking lines 116, the manure conveyor belts 112, and the egg collection conveyors 124).

[0112] In some embodiments, the aviary system 102 includes a power charging station 131 configured to provide power to the monitoring device 130. By way of non-limiting example, the monitoring device 130 may include one or more power sources (e.g., power source 194 (FIG. 2B)) configured to provide power to the monitoring device 130. The charging system 131 may be electrically coupled to a power source (e.g., an electrical outlet) and configured to provide power to the monitoring device 130 to charge (e.g., recharge) the batteries of the monitoring device 130.

[0113] FIG. 2A is a simplified, partial side view of the monitoring device 130, in accordance with embodiments of the disclosure. FIG. 2B is a simplified, partial perspective view of the monitoring device 130. For clarity and ease of understanding the description, the support brackets 134 are not illustrated in FIG. 2A and FIG. 2B.

[0114] With reference to FIG. 2A and FIG. 2B, the monitoring device 130 may be connected to the rails 132 by wheels 136. In some embodiments, the monitoring device 130 includes two wheels 136. The wheels 136 are configured to slidably engage with the rails 132 to provide sliding movement of the monitoring device 130 along the rails 132, facilitating movement of the monitoring device 130 through the aviary system 102.

[0115] Each of the wheels 136 is operably coupled to a motor 138 (FIG. 2B) configured to providing a driving force to facilitate sliding movement of the monitoring device 130 along the rails 132. A bracket 150 may couple at least one of the wheels 138 and the motor 138 to a main body of the monitoring device 130.

[0116] In some embodiments, the monitoring device 130 includes distinct equipment modules vertically separated from one another, each including at least one camera (e.g., an image camera, a video camera, a thermal image camera) configured for capturing image data and/or thermal image data within the aviary system 102. At least one of the equipment modules further includes one or more sensors configured for measuring one or more conditions within the aviary system 102. For example, the monitoring device 130 includes three equipment modules, such as an upper equipment module 142, a lower equipment module 146, and a center equipment module 144 vertically between the upper equipment module 142 and the lower equipment module 146. The upper equipment module 142, the center equipment module 144, and the lower equipment module 146 may collectively be referred to herein as equipment modules 142, 144, 146.

[0117] The center equipment module 144 may be vertically separated from the upper equipment module 142 and from the lower equipment module 146 by portions of connecting members 152 connecting each of the upper equipment module 142, the center equipment module 144, and the lower equipment module 146 from one another. In other embodiments, the monitoring system includes two equipment modules (e.g., does not include the center equipment module 144).

[0118] The upper equipment module 142 may be directly attached to the rail 132, for example, by the bracket 150 connected to the upper equipment module 142 and at least one of the motor 138 and the wheels 132. The connecting members 152 may couple to the upper equipment module 142 and vertically extend and couple to the lower equipment module 146. The connecting members 152 may include one or more telescoping means to facilitate increasing or decreasing a length of the connecting members 152 for use of the monitoring device 130 in different aviary systems 102. The connecting members 152 may be configured to telescope or contract to adjust the vertical distance between the equipment modules 142, 144, 146 from one another and adjust the vertical distance of the equipment modules 142, 144, 146 from the floor 104 and the rails 132, depending on the configuration of the aviary system 102 (e.g., the height of the components of the aviary system 102, the height of the levels of the aviary system 102).

[0119] The center equipment module 144 may be connected to the connecting members 152 by means of, for example, clamps 154. The clamps 154 may include ring clamps, shaft collars, hose clamps, or other means for securing the center equipment module 144 to the connecting members 152.

[0120] In some embodiments, each of the upper equipment module 142, the center equipment module 144, and the lower equipment module 146 individually includes a camera for viewing the aviary system 102 and capturing one or both of image data and thermal image data within the aviary system 102. By way of non-limiting example, the upper equipment module 142 includes a first camera 156; the center equipment module 144 includes a second camera 158; and the lower equipment module 146 includes a third camera 160 and a fourth camera 162.

[0121] Each of the first camera 156, the second camera 158, the third camera 160, and the fourth camera 162 (collectively referred to herein as "cameras") may individually include, for example, an image camera, a thermal image camera (also referred to herein as a "thermal camera," a "thermal imaging camera," or a "thermographic camera), or both. As used herein, an "image camera" includes a camera (e.g., a still image camera, a video camera) configured to capture image data and/or video data and may include one or more of a red, green, blue (RGB) camera, a RGB-IR camera (configured to provide visible images and thermal (e.g., IR) images), a 3D laser scanner (LiDAR), a 2D laser scanner (LiDAR), a charge-coupled device (CCD) camera, a complementary metal oxide semiconductor (CMOS) image sensor, a stereoscopic camera, a monoscopic camera, a short-wave infrared (SWIR) camera, or a digital single-reflex camera. As used herein, a "thermal image camera" includes one or more of an infrared (IR) camera, a RGB-IR camera, or another camera configured to capture thermal image data (e.g., data related to a thermal image, such as data representing thermal radiation (e.g., IR radiation)).

[0122] Each of the cameras 156, 158, 160, 162 may be configured to capture image data including one or more of relatively high resolution color images/video, relatively high resolution infrared images/video, or light detection and ranging data. In some embodiments, each of the cameras 156, 158, 160, 162 may be configured to capture image data and/or thermal image data at multiple focal lengths. In some embodiments, each of the cameras 156, 158, 160, 162 may be configured to combine multiple exposures into a single high-resolution image/video. In some embodiments, each of the cameras 156, 158, 160, 162 may include multiple image sensors (e.g., cameras) with viewing angles facing different directions. For instance, a first image sensor may generally face forward (e.g., in the direction perpendicular to the direction of travel of the monitoring device 130), and a second image sensor may generally face downward toward the floor 104.

[0123] The cameras 156, 158, 160, 162 may be configured to capture images (e.g., image data, thermal image data) at a frequency of about 15 frames per second. However, the disclosure is not so limited, and the frequency at which the cameras 156, 158, 160, 162 capture the images may be less than 15 frames per second (e.g., less than 12 frames per second, less than 10 frames per second), or may be greater than 15 frames per second (e.g., greater than 20 frames per second, greater than 30 frames per second, greater than 60 frames per second).

[0124] In some embodiments, each of the cameras 156, 158, 160, 162 may be configured to capture image data and thermal image data. By way of non-limiting example, each of the cameras 156, 158, 160, 162 includes a RGB-IR camera. In some such embodiments, the image data and the thermal image data are pixel correlated, such as by homography, to correlate pixels in the image data with corresponding pixels in the thermal image data.

[0125] Each of the first camera 156, the second camera 158, and the third camera 160 may be vertically spaced from one another to facilitate capturing image data (e.g., video data) and/or thermal image data of different levels and vertical heights of the aviary system 102 as the monitoring device 130 traverses along the rails 132 proximate the different regions of the aviary system 102 (e.g., the nests 122, the perches 118, the feed troughs 114, the drinking lines 116, the manure conveyor belts 112, and the egg collection conveyors 124, the different levels of the aviary system 102). In some embodiments, the first camera 156, the second camera 158, and the third camera 160 are each located a different vertical distance from the floor 104.

[0126] In some embodiments, the fourth camera 162 is located at the same vertical elevation as the third camera 160, but a field of view of the fourth camera 162 is downwardly oriented while the field of view of the third camera 160 is laterally (horizontally) oriented. In some embodiments, the fourth camera is vertically spaced from at least one of (e.g., each of) the first camera 156 and the second camera 158. For example, the fourth camera 162 may be oriented to capture images vertically below the monitoring device 130, such as the images of the floor 104 and hens on the floor 104 as the monitoring device 130 traverses along the rails 132. In some embodiments, image data and/or thermal image data captured by the fourth camera 162 may be located vertically below the monitoring device 130, such as on the floor 104 of the aisle 128. For example, the field of view of the fourth camera 162 may be oriented in a generally downward direction (e.g., towards the floor 104 vertically below the monitoring device 130) and the field of view of each of the first camera 156, the second camera 158, and the third camera 160 may be oriented in a horizontal direction (e.g., to the side of the monitoring device 130 and in a direction substantially perpendicular to the vertical direction).

[0127] The fourth camera 162 is oriented on the monitoring device 130 such that the field of view of the fourth camera 162 is substantially perpendicular to the field of view of each of the first camera 156, the second camera 158, and the third camera 160.

[0128] In some embodiments, the field of view of each of the first camera 156, the second camera 158, and the third camera 160 may be oriented substantially parallel to the field of view of at least one (e.g., two) of the other of the first camera 156, the second camera 158, and the third camera 160 and at an angle (e.g., substantially perpendicular) with respect to the field of view of the fourth camera 162. For example, the field of view of each of the first camera 156, the second camera 158, and the third camera 160 may be oriented in a horizontal direction (e.g., to the side of the monitoring device 130 and in a direction substantially perpendicular to the vertical direction) and the field of view of the fourth camera 162 may be oriented in a generally downward direction (e.g., towards the floor 104 vertically below the monitoring device 130).

[0129] Each of the first camera 156, the second camera 158, and the third camera 160 may be configured to capture images and generate image data and/or thermal image data of the aviary system 102 on the same side of the monitoring device 130 as one another. In other words, each of the first camera 156, the second camera 158, and the third camera 160 may be oriented such that the field of view of each of the first camera 156, the second camera 158, and the third camera 160 is oriented in the same horizontal direction as one another. The orientation of the field of view of each of the first camera 156, the second camera 158, and the third camera 160 may be oriented at an angle (e.g., not parallel, not substantially parallel) to the direction in which the rails 132 extend. In some embodiments, the field of view of each of the first camera 156, the second camera 158, and the third camera 160 is substantially perpendicular to the direction in which the rails 132 extend and substantially perpendicular to the direction in which the monitoring device 130 travels along the rails 132 during use and operation. Accordingly, the image data and/or thermal image data captured by the first camera 156, the second camera 158, and the third camera 160 may be located on the sides of the aisles 128 and vertically above the floor 104, while the image data and/or thermal image data captured by the fourth camera 162 is on the floor 104.

[0130] Still referring to FIG. 2A and FIG. 2B, in addition to the first camera 156, the upper equipment module 142 may include a first light source 164, a green light emitting diode 166, a first ultrasonic sensor 168, and an airflow sensor 169. The first light source 164 may be configured to illuminate an area of the aviary system 102 proximate the monitoring device 130 during use and operation of the monitoring device 130. For example, the first light source 164 may be configured to direct light (e.g., visible light) in the same direction and location as the field of view of the first camera 156 to facilitate capturing of images with the first camera 156. The green light emitting diode 166 may be configured to provide an indication that the upper equipment module 142 is connected to the Internet, a local area network (LAN), or both.

[0131] The first ultrasonic sensor 168 may be configured to provide an indication of a distance of the upper equipment module 142 from objects within the aviary system 102. In some embodiments, the first ultrasonic sensor 168 includes a time-of-flight ultrasonic sensor configured to measure distance of the monitoring device 130 from one or more objects in the aviary system 102. In some embodiments, the output of the first ultrasonic sensor 168 is the distance of the monitoring device 130 from one or more objects.

[0132] The airflow sensor 169 may be configured to receive (e.g., measure, detect, determine) airflow velocity data. In some embodiments, the output of the airflow sensor 169 is the velocity of air proximate the airflow sensor 169, such as in meters per second (m/s). In some embodiments, the airflow sensor 169 comprises a hot wire anemometer sensor.

[0133] In addition to the second camera 158, the center equipment module 144 includes an accelerometer 171 (e.g., an inertial sensor) configured to receive (e.g., measure, detect, determine) the acceleration of the monitoring device 130 as it traverses through the aviary system 102.

[0134] The lower equipment module 146 and/orthe upper equipment module 142 may include a light sensor 170 configured to receive (e.g., measure, detect, determine) light data, which may include an intensity of light (e.g., in lumens per square meter, or lux). The light sensor 170 may receive the light data as the monitoring device 130 traverses through the aviary system 102. The light sensor 170 may include, for example, a lux meter comprising one or more of a photodiode, a photoresistor, a phototransistor, and a photovoltaic light sensor. In addition to measuring the intensity of light, the light sensor 170 may be configured to receive (e.g., measure, detect, determine) flickering of lights (flickering data), such as by determining a percentage of flickering of the lights 120 within the aviary system 102. By way of non-limiting example, the flickering data may include an indication of a frequency of flickering of the lights 122 (e.g., a number of flickers for a given duration (e.g., a number of flickers per second, a number of flickers per minute)). In some embodiments, the output of the light sensor 170 is the light intensity measured by the light sensor 170, such as in lux. In some embodiments, the output of the light sensor 170 further includes an indication of flickering, such as a percentage of time lights detected by the light sensor 170 are flickering, or a number of flickers per unit time. While the light sensor 170 is illustrated in FIG. 2B as being horizontally oriented, the disclosure is not so limited. In other embodiments, the light sensor 170 is mounted to the monitoring device 130 such that the light sensor 170 is upwardly oriented (e.g., directed towards the ceiling of the aviary system 102).

[0135] The lower equipment module 146 may further include a sound sensor 172 configured to receive (measure, detect, determine) sound data (also referred to as noise data) indicative of a noise level within the aviary system 102 proximate the monitoring device 130. The sound sensor 172 may be configured to receive, for example, a noise level (e.g., in decibels) at different regions of the aviary system 102 and sounds indicative of a conditions of hens (e.g., sounds indicative of fear, stress, respiratory diseases, and feather pecking). In some embodiments, the sound sensor 172 is configured to filter the sound data for frequencies that correspond to the one or more conditions of the hens. In other embodiments, the monitoring device 130 and/or the aviary monitoring system 190 is configured to analyze the sound data from the sound sensor 172 and filter the sound data within a range of frequencies, a range of amplitudes, or both. For example, the monitoring device 130 and/or the aviary monitoring system 190 may filter sound data having a particular frequency, which may correspond to a condition of the hens (e.g., sounds indicative of fear, stress, respiratory diseases, and feather pecking). The sound sensor 172 may include, for example, one or more of a microphone, a sound level meter, and a decibel meter. In some embodiments, the output of the sound sensor 172 includes one or both of a noise level (e.g., in decibels) of sound measured by the sound sensor 172, and a frequency of sound measured by the sound sensor 172.

[0136] The lower equipment module 146 may further include a second light source 174 and a second ultrasonic sensor 176. The second light source 174 and the second ultrasonic sensor 176 may be substantially similar to the first light source 164 and the first ultrasonic sensor 168, respectively. The second light source 174 may be configured to illuminate an area of the aviary system 102 proximate the monitoring device 130 during use and operation of the monitoring device 130. For example, the second light source 174 may be configured to direct light (e.g., visible light) in the same direction and location as the field of view of the first camera 156 to facilitate capturing of images with the second camera 158.

[0137] The lower equipment module 146 may further include additional sensors, such as a carbon dioxide (CO2) sensor 178, an ammonia (NH3) sensor 180, and a temperature and humidity sensor 182. The carbon dioxide sensor 178 may be configured to receive (e.g., measure, detect, determine) carbon dioxide concentration data, which may include a concentration of carbon dioxide in the atmosphere proximate the monitoring device 130. In some embodiments, the output of the CO2 sensor 178 is the concentration of CO2 in the ambient air proximate the CO2 sensor 178 in, for example, parts per million (ppm). The ammonia sensor 180 may be configured to receive (e.g., measure, detect, determine) ammonia concentration data, which may include a concentration of ammonia in the atmosphere proximate the monitoring device 130. In some embodiments, the output of the NH3 sensor 180 is the concentration of NH3 in the ambient air proximate the NH3 sensor 180 in, for example, ppm. The temperature and humidity sensor 182 may be configured to receive (e.g., measure, detect, determine) temperature data and humidity (e.g., relative humidity) data, which may include a temperature and a humidity (e.g., relative humidity), respectively, in the atmosphere proximate the monitoring device 130. In some embodiments, the output of the temperature and humidity sensor 182 is the temperature (in degrees Celsius) and the humidity (e.g., the relative humidity in percentage)) or the absolute humidity (e.g., in g/m³) of the ambient air proximate the temperature and humidity sensor 182. [0138] With continued reference to FIG. 2A and FIG. 2B, the monitoring device 130 may include a power source 194. The power source 194 may be configured to provide power to the monitoring device 130, such as to the motors 138, each of the cameras (e.g., each of the first camera 156, the second camera 158, the third camera 160, and the fourth camera 162), the first light source 164, the green light emitting diode 166, the second light source 174, and each of the sensors (e.g., each of the first ultrasonic sensor 168, the airflow sensor 169, the first light sensor 170, the sound sensor 172, the second ultrasonic sensor 176, the CO2 sensor 178, the NH3 sensor 180, and the temperature and humidity sensor 182). In some embodiments, the power source 194 is coupled to cables or wires configured to provide power to each of the upper equipment module 142, the center equipment module 144, and the lower equipment module 146. In other embodiments, each of the upper equipment module 142, the center equipment module 144, and the lower equipment module 146 individually includes its own individually power source.

[0139] In some embodiments, the power source 194 includes a battery, such as a rechargeable battery that may be recharged by operably coupling the power source 194 to the charging station 131.

[0140] Accordingly, the monitoring device 130 may be configured to receive (e.g., measure, detect, determine) condition data, such as one or more of the carbon dioxide concentration data, the ammonia concentration data, the temperature data, the humidity (e.g., relative humidity) data, the sound data, the light data, the flickering data, and the airflow velocity data. The monitoring device 130 may be configured to simultaneously receive the image data and the thermal image data from the cameras 156, 158, 160, 162.

[0141] With combined reference to FIG. 1 through FIG. 2B, in use and operation, the monitoring device 130 traverses through the aviary system 102 and captures condition data to identify one or more conditions in the aviary system 102; and the monitoring device 130 captures image data (e.g., image data from one or more of the first camera 156, the second camera 158, the third camera 160, and the fourth camera 162) and thermal image data (e.g., thermal image data from one or more of the first camera 156, the second camera 158, the third camera 160, and the fourth camera 162) and transmits the condition data, the image data, and the thermal image data to one or more of the monitoring device controller 184, the client device 186, the network 192, the server 188, and the aviary monitoring system 190 to determine one or more properties of the hens. The one or more properties of the hens may include one or more of a distribution of the hens (quantified as a distribution index, as described in further detail below), an activity level of the hens, a characterization of the behavior of the hens, a plumage score of the hens, a location of dead hens, a location of one or more stray eggs, an indication of the quantity of feathers on the ground, and a quality of the manure of the hens.

[0142] Moreover, based on the identified one or more conditions in the aviary system 102 and/or the one or more identified properties of the hens, the aviary monitoring system 190 may provide a visual indication (e.g., such as on the client device 186) of the one or more identified conditions and identified properties to assist a user in operating the aviary system 102. For example, the aviary monitoring system 190 may provide a warning to the user if the one or more properties falls outside of a predetermined range and if the one or more properties of the hens falls outside of a predetermined range.

[0143] FIG. 3 is a flowchart of a method 300 for monitoring an aviary system 102, in accordance with embodiments of the disclosure. The method 300 may be performed while operating the aviary system 102. The method 300 may include initiating movement of the monitoring device 130 to cause the monitoring device 130 to traverse through the aviary system 102, as shown in act 302. In some embodiments, initiating movement of the monitoring device 130 may cause the monitoring device 130 to move from the charging station 131. Initiating movement of the monitoring device 130 may cause the monitoring device 130 to traverse along the rails 132 through the aviary system 102. For example, the monitoring device 130 may receive a signal from the aviary monitoring system 190 to provide power to the motors 138 and cause the monitoring device 130 to traverse along the rails 132.

[0144] In some embodiments, initiating movement of the monitoring device 130 includes initiating movement of the monitoring device 130 responsive to receiving a user input (e.g., an operator input) at one or more of the monitoring device controller 184, the client device 186, the server 188, or the aviary monitoring system 190. In other embodiments, initiation of the movement of the monitoring device 130 occurs automatically. For example, the monitoring device 130 may be caused to move along the rails 132 according to a preselected schedule. [0145] The monitoring device 130 may traverse along the rails 132 at a velocity sufficient to facilitate traversal of the monitoring device 130 through the entire aviary system 102 (e.g., along all of the rails 132 of the aviary system 102) more than one time over a duration of one day (e.g., 24 hours). As used herein, a "pass" of the monitoring device 130 through the aviary system 102 means and includes traversal of the monitoring device 130 along all of the rails 132 within the aviary system 102 in one round (e.g., one lap). The monitoring device 130 may be configured to complete at least three passes through the aviary system 102 daily, such as four passes, or five passes daily. However, the disclosure is not so limited, and the monitoring device 130 may make fewer or more passes through the aviary system 102 daily, depending on, for example, the length of the rail 132. The velocity of the monitoring device 130 may be within a range of from about 0.15 m/s to about 0.35 m/s, such as from about 0.20 m/s to about 0.30 m/s. In some embodiments, the velocity of the monitoring device 130 may be determined based on a location of the monitoring device 130 within the aviary system 102 at different times. For example, the aviary system 102 may include a system for indoor localization by including a plurality of discrete markers throughout the aviary system 102, as described in U.S. Patent No. 11,019,805, "Robot Assisted Surveillance of Livestock," issued June 1, 2021, the entire disclosure of which is hereby incorporated herein by this reference.

[0146] Responsive to initiating movement of the monitoring device 130, the method 300 may include causing the aviary monitoring system 190 to receive condition data from the monitoring device 130 as the monitoring device 130 traverses through the aviary system 130, as shown in act 304 of FIG. 3. The condition data from the monitoring device 130 may be condition data received from one or more sensors (e.g., one or more of the first ultrasonic sensor 168, the airflow sensor 169, the first light sensor 170, the sound sensor 172, the second ultrasonic sensor 176, the CO2 sensor 178, the NH3 sensor 180, and the temperature and humidity sensor 182) of the monitoring device 130. In some embodiments, the monitoring device 130 provides the condition data to the aviary monitoring system 190 as the monitoring device 130 traverses through the aviary system 102. In other embodiments, the condition data is stored in a local memory of the monitoring device 130 while the monitoring device 130 traverses through the aviary system 102 (e.g., during a pass) and the condition data is provided to the aviary monitoring system 190 after completing each pass through the aviary system 102 (e.g., while the monitoring device 130 is operably coupled to the charging station 131).

[0147] As the monitoring device 130 travels through the aviary system 102, each of the first ultrasonic sensor 168, the airflow sensor 169, the first light sensor 170, the sound sensor 172, the second ultrasonic sensor 176, the CO2 sensor 178, the NH3 sensor 180, and the temperature and humidity sensor 182 may measure the respective conditions and generate an output representing the condition data. The output from each of the one or more sensors (e.g., condition data) may be provided from the monitoring device 130 to one or more of the monitoring device controller 184, the client device 186, the server 188, the aviary monitoring system 190, and the network 192. Accordingly, the condition data may be received by one or more of the monitoring device controller 184, the client device 186, the server 188, the aviary monitoring system 190, and the network 192.

[0148] The output from each of the sensors may be timestamped and associated with a particular location in the aviary system 102 at which the condition data was measured. For example, the condition data may be continuously measured as the monitoring device 130 traverses through the aviary system 102. In some embodiments, each of the sensors individually measures a respective condition at a predetermined interval (e.g., every second, every ten seconds, every minute) and provides the measured condition data to one or more of the monitoring device controller 184, the client device 186, the server 188, or the aviary monitoring system 190. In some embodiments, the received condition data is stored in a memory of one or more of the monitoring system 130, the monitoring device controller 184, the client device 186, the server 188, and the aviary monitoring system 190.

[0149] The method 300 may further include comparing the received condition data (received during act 304) to reference condition data, as shown in act 306 of FIG. 3. For example, the aviary monitoring system 190 may compare each of the measured carbon dioxide concentration data, the ammonia concentration data, the temperature data, the humidity (e.g., relative humidity) data, the sound data, the light data, the flickering data, and the airflow velocity data for a given location in the aviary system 102 to reference condition data. [0150] The reference condition data may be stored in a memory of one or more of the monitoring device 130, the monitoring device controller 184, the client device 186, the server 188, and the aviary monitoring system 190. In some embodiments, the reference condition data is stored in the memory of the aviary monitoring system 190.

[0151] The reference condition data may include suitable ranges for each of the measured conditions. The reference condition data may include values for the condition data that fall within suitable healthy ranges for hens (e.g., egg-laying hens). For example, a suitable range for the CO2 concentration may be less than about 5,000 ppm, such as less than about 4,000 ppm, less than about 3,000 ppm, or less than about 2,000 ppm; a suitable range for the NH3 concentration may be less than about 50 ppm, such as less than about 25 ppm; a suitable range for the temperature may be from about 25°C to about 36°C and may depend on the age of the egg-laying hens in the aviary system 102; a suitable range for the relative humidity may be from about 40% to about 75%, such as from about 45% to about 55%, or from about 55% to about 65%; a suitable range for the airflow velocity may depend on the quantity of hens in the aviary system 102 and a volume of the aviary system 102, but may be from about 1.0 m/s to about 2.5 m/s in some embodiments; a suitable range for the light intensity may depend on the time of day (for example, the light intensity may be a minimum of 20 lux in 80% of the aviary house and the lighting regime in the aviary system 102 may follow a 24 hour schedule and provide an uninterrupted period of darkness lasting about one-third of the day, may provide periods of twilight at dusk and dawn, and may provide adequate light for the hens during other time); and a suitable range for the noise may be less than about 85 decibels, such as less than 80 decibels, or less than about 70 decibels, and may be at a frequency within a range of historically recorded frequencies for the aviary system 102. The reference condition data may be set depending on the intended use and location of the monitoring device 106. For example, the reference condition data may be set depending on local regulations for the respective conditions, such as CO2 concentration and NH3 concentration

[0152] In some embodiments, the reference condition data includes condition data historical data comprising previously measured by the one or more sensors and received by the aviary monitoring system 190, such as during a previous pass of the monitoring system 130 through the aviary system 102. For example, the reference condition data may include historical values of one or more of the carbon dioxide concentration data, the ammonia concentration data, the temperature data, the humidity data, the sound data, the light data, the flickering data, and the airflow velocity data, each of which may be correlated to a location within the aviary and a time. The historical data may be stored in memory, such as in memory of the aviary monitoring system 190, or in the server 188.

[0153] The method 300 may further include, based on the comparison of the received condition data to the reference condition data, providing a notification to a user of the aviary monitoring system 190, as indicated at act 308. For example, if one or more of the received condition data falls outside a range for one or more of the conditions, the aviary monitoring system 190 may send a signal to the user (such as to the client device 186) indicative of the condition, the location the condition was measured, and the time the condition was measured. As described in further detail below, the recommendation provided to the client device 186 may depend on which (if any) of the conditions fall outside of the suitable range, and/or which conditions are trending in a direction opposite a desired direction. The notification may be in the form of one or more of an alarm on a graphical user interface (GUI) of the client device 186, an email provided to the client device 110, and a text message (e.g., a SMS message) provided to the client device 110. The notification may include a map displaying the time and location in the aviary system 102 where the one or more conditions is outside of a suitable range of in a direction opposite a desired direction, and a recommendation to adjust an operation of the aviary system 102.

[0154] By way of non-limiting example, for the measured carbon dioxide concentration, the notification may be provided to the client device 186 if the concentration of carbon dioxide is greater than a suitable value, if the concentration is trending in the wrong direction (e.g., if the carbon dioxide concentration is increasing), or both. In some embodiments, the notification includes a map (e.g., a color map, a grayscale map) of the aviary system 102 illustrating the concentration of carbon dioxide throughout the aviary system 102 during a particular pass of the monitoring device 130 through the aviary system 102. The map may illustrate the concentration of carbon dioxide in different regions of the aviary system 102 and regions of the aviary system 102 exhibiting a concentration of carbon dioxide deviating from the mean concentration of carbon dioxide. In some such embodiments, the notification may identify regions having a relatively higher concentration of carbon dioxide than other regions of the aviary system 102. In some embodiments, regions of the aviary system 102 in which the concentration of carbon dioxide has increased relative to recent historical data (e.g., relative to a recent pass with the monitoring device 130) may be identified during act 308. In some embodiments, the notification includes a recommendation to adjust an operating parameter of the aviary system 102, such as to increase an airflow in one or more of regions having a higher concentration of carbon dioxide than the suitable range, regions having a relatively higher concentration of carbon dioxide than other regions, and regions exhibiting an increasing concentration of carbon dioxide relative to historical data. The airflow may be increased by, for example, increasing the ventilation in the identified regions.

[0155] For the measured ammonia concentration, the notification may be provided to the client device 186 if the concentration of ammonia is greater than a suitable value, if the concentration is trending in the wrong direction (e.g., if the ammonia concentration is increasing), or both. In some embodiments, the notification includes a map (e.g., a color map, a grayscale map) of the aviary system 102 illustrating the concentration of ammonia throughout the aviary system 102 during a particular pass of the monitoring device 130 through the aviary system 102. The map may illustrate the concentration of ammonia in different regions of the aviary system 102 and regions of the aviary system 102 exhibiting a concentration of ammonia deviating from the mean concentration of ammonia. In some such embodiments, the notification may identify regions having a relatively higher concentration of ammonia. In some embodiments, regions of the aviary system 102 in which the concentration of ammonia has increased relative to recent historical data (e.g., relative to a recent pass with the monitoring device 130) may be identified during act 308. In some embodiments, the notification includes a recommendation to adjust an operating parameter of the aviary system 102, such as to increase an airflow in one or more of regions having a higher concentration of ammonia than the suitable range, regions having a relatively higher concentration of ammonia than other regions, and regions exhibiting an increasing concentration of ammonia relative to historical data. The airflow may be increased by, for example, increasing the ventilation in the identified regions.

[0156] For the measured temperature, the notification may be provided to the client device 186 if the temperature falls outside of a suitable range, which may be based on the age of the hens. In some embodiments, the notification includes a map (e.g., a color map, a grayscale map) of the aviary system 102 illustrating the temperature throughout the aviary system 102 during a particular pass of the monitoring device 130 through the aviary system 102. The map may illustrate the temperature in different regions of the aviary system 102 and regions of the aviary system 102 having a temperature deviating from the mean temperature (e.g., such as by more than about ten percent, or more than about twenty percent) of the aviary system 102. In some such embodiments, the notification may identify regions having a temperature outside of the suitable temperature range. In some embodiments, the notification includes a recommendation to adjust an operating parameter of the aviary system 102, such as to increase an airflow in one or more of regions having a higher temperature than the suitable range or to turn on a heater in regions having a relatively lower temperature than other regions.

[0157] For the relative humidity, the notification may be provided to the client device 186 if the relative humidity falls outside of a suitable range. In some embodiments, the notification includes a map (e.g., a color map, a grayscale map) of the aviary system 102 illustrating the relative humidity throughout the aviary system 102 during a particular pass of the monitoring device 130 through the aviary system 102 and illustrating differences in the relative humidity in the aviary system 102. In some embodiments, the map illustrates regions of the aviary system 102 having a relative humidity deviating from the mean humidity (e.g., such as by more than about ten percent, or more than about twenty percent) of the aviary system 102. In some such embodiments, the notification may identify regions having a relative humidity outside of the suitable range. In some embodiments, the notification includes a recommendation to adjust an operating parameter of the aviary system 102, such as to increase an airflow in one or more of regions having a relative humidity falling outside the suitable range, increase a temperature in regions having a higher relative humidity than desired, or to increase or decrease humidity in one or more regions. [0158] For the airflow velocity, the notification may be provided to the client device 186 if the relative humidity falls outside of a suitable range. In some embodiments, the notification includes a map (e.g., a color map, a grayscale map) of the aviary system 102 illustrating the airflow velocity throughout the aviary system 102 during a particular pass of the monitoring device 130 through the aviary system 102 and illustrating differences in the airflow velocity in the aviary system 102. In some embodiments, the map illustrates regions of the aviary system 102 having an airflow velocity deviating from the mean airflow velocity (e.g., such as by more than about ten percent, or more than about twenty percent) of the aviary system 102. In some such embodiments, the notification may identify regions having an airflow velocity outside of the suitable range. In some embodiments, the notification includes a recommendation to adjust an operating parameter of the aviary system 102, such as to increase an airflow in one or more of regions having an airflow velocity lower than the suitable range and to decrease the airflow in one or more regions having an airflow velocity greater than the suitable range.

[0159] With respect to the measured light intensity, the notification may be provided to the client device 186 if the light intensity falls outside of a suitable range, if one or more lights are flickering, or both. In some embodiments, the notification includes a map (e.g., a color map, a grayscale map) of the aviary system 102 illustrating the light intensity and identifying flickering lights in the aviary system 102 during a particular pass of the monitoring device 130 through the aviary system 102. In some embodiments, the map illustrates regions of the aviary system 102 having a light intensity deviating from the mean light intensity (e.g., such as by more than about ten percent, or more than about twenty percent) of the aviary system 102 and illustrating flickering lights. In some such embodiments, the notification may identify regions having a light intensity outside of the suitable range and flickering lights. In some embodiments, the notification includes a recommendation to adjust an operating parameter of the aviary system 102, such as to change one or more lights in one or more of regions having a light intensity less than the suitable range or lights that are flickering.

[0160] For the noise data, the notification may be provided to the client device 186 if the noise level in one or more regions falls outside of a suitable range. In some embodiments, the notification includes a map (e.g., a color map, a grayscale map) of the aviary system 102 illustrating the noise throughout the aviary system 102 during a particular pass of the monitoring device 130 and illustrating regions of the aviary system 102 where the noise is within a particular frequency (e.g., indicative of fear, stress, a respiratory disease, or another health condition of the hens). In some embodiments, the notification may identify regions having a noise level greater than a suitable value and regions with frequencies indicative of fear, stress, a respiratory disease, or another health condition of the hens. In some embodiments, the notification may identify regions having noise frequencies falling outside of historical ranges.

[0161] With continued reference to FIG. 3, the method 300 may further include causing one or more cameras (e.g., one or more of the first camera 156, the second camera 158, the third camera 160, and the fourth camera 162) to receive (e.g., capture) image data (e.g., video data) and thermal image data from the monitoring device 130 as the monitoring device 130 traverses through the aviary system 102, as indicated at act 310. In some embodiments, the monitoring device controller 184 receives a signal from the aviary monitoring system 190 to cause the one or more cameras to capture (e.g., collect) the image data and the thermal image data. In some embodiments, act 310 is performed substantially simultaneously with act 304. In other words, the method 300 may include simultaneously receiving the condition data with the one or more sensors; capturing the image data and the thermal image data with the cameras 156, 158, 160, 162; and providing the condition data, the image data, and the thermal image data to one or more of the monitoring device controller 184, the client device 186, the network 192, the server 188, and the aviary monitoring system 190.

[0162] In some embodiments, the monitoring device 130 provides the image data and the thermal image data to the monitoring device controller 184 which, in turn, provides the image data and the thermal image data to the aviary monitoring system 190 as the monitoring device 130 traverses through the aviary system 102. In other embodiments, the image data and the thermal image data is stored in a local memory of the monitoring device 130 while the monitoring device 130 traverses through the aviary system 102 (e.g., during a pass) and the image data and the thermal image data are provided to the aviary monitoring system 190 after completing each pass through the aviary system 102 (e.g., while the monitoring device 130 is operably coupled to the charging station 131). [0163] As the monitoring device 130 travels through the aviary system 102, each of the first camera 156, the second camera 158, the third camera 160, and the fourth camera 162 may receive one or both of image data and thermal image data and generate an output representing the image data and the thermal image data. The output from each of the first camera 156, the second camera 158, the third camera 160, and the fourth camera 162 may be provided from the monitoring device 130 to one or more of the monitoring device controller 184, the client device 186, the server 188, the aviary monitoring system 190, and the network 192. Accordingly, the image data and the thermal image data may be received by one or more of the monitoring device controller 184, the client device 186, the server 188, the aviary monitoring system 190, and the network 192.

[0164] The image data and the thermal image data may be timestamped and associated with a particular location of the aviary system 102 where the image data and thermal image data were collected. For example, the image data and thermal image data may be continuously collected as the monitoring device 130 traverses through the aviary system 102. In some embodiments, each of the cameras 156, 158, 160, 162 captures image at a predetermined interval (e.g., 15 frames per second, 30 frames per second) and provides the captured image data and thermal image data to one or more of the client device 186, the server 188, the aviary monitoring system 190. In some embodiments, the received image data and thermal image data are stored in a memory of one or more of the monitoring device 130, the server 188, the aviary monitoring system 190, and the client device 186.

[0165] With continued reference to FIG. 3, the method may further include analyzing the image data to detect one or more objects in the image data and generate analyzed image data, tracking data, and segmentation data, as shown in act 312. Analyzing the image data may include performing at least one of (e.g., each of) one or more of object detection techniques (also referred to herein as "object recognition techniques" and "object identification techniques") on the image data, image segmentation techniques on the image data, and object tracking techniques on the image data.

[0166] Performing one or more object detection techniques may include analyzing frames of the captured images of the image data. For example, the image data may be captured at a frequency (e.g., 15 seconds per frame). At least some of the frames of image data within a second may be analyzed. In some embodiments, less than all of the frames of image data collected per second are analyzed, to increase the processing speed of the analysis.

[0167] In some embodiments, at least one of the monitoring device controller 184, the client device 186, the server 188, and the aviary monitoring system 190 includes instructions, that when executed by at least one processor, causes the processor to analyze the image data and generate the analyzed image data (e.g., analyzed frames of image data). In some embodiments, the at least one of the monitoring device controller 184, the client device 186, the server 188, and the aviary monitoring system 190 includes a memory including a trained set of images. In some embodiments, the instructions include an object detection algorithm, such as a YoloV4 Tiny model (an object detection model) developed with a darknet architecture (e.g., an open source neural network framework). In some such embodiments, the hens may be identified by analyzing the image data using an object detection algorithm to generate the analyzed image data. In addition, eggs within the aviary system 102 may be identified by analyzing the image data using the object detection algorithm.

[0168] In other embodiments, the image data may be analyzed (e.g., by the aviary monitoring system 190) via deep learning techniques to identify the hens within the aviary system 102 in the image data, to identify eggs (e.g., stray eggs) in the aviary system 102, or both. By way of non-limiting example, the aviary monitoring system 190 may utilize one or more of convolutional neural networks (CNNs), single shot detectors (SSDs), region-convolutional neural networks (R-CNNs), Faster R-CNN, Region-based Fully Convolutional Networks (R-FCNs) and other machine learning models to perform the hen (e.g., object) detection and classification. The foregoing models may be trained according to conventional methods to perform the hen detection and classification and egg detection and classification. In some embodiments, the image data is analyzed using a convolutional neural network trained on a dataset for identifying the hens and eggs. The CNN may utilize multiple convolutional and max pooling layers to extract features from the image data. In some embodiments, the CNN utilizes an algorithm to generate anchor boxes and may employ multi-scale predictions to detect objects at different scales within the image data. [0169] In further embodiments, the aviary monitoring system 190 identifies the hens and/or eggs by performing one or more shape identification (e.g., shape recognition) techniques, such as by utilizing one or more of curvature scale space (CSS), dynamic programming, shape context, Fourier descriptor, and wavelet descriptor. In additional embodiments, the aviary monitoring system 190 identifies the hens by performing one or more color recognition techniques, such as one or more of a KMeans algorithm, a K-Nearest-Neighbors algorithm, or a color image segmentation technique such as multi-level thresholding, edge detection, and boundary detection. In some embodiments, the aviary monitoring system 190 identifies the hens by means of one or more of (e.g., each of, more than one of) an object detection technique, a deep machine learning technique, an object segmentation technique, a shape identification technique, and a color recognition technique.

[0170] In some embodiments, analysis of the image data includes identifying shapes and textures of objects present in each analyzed frame to determine what objects in each frame are hens and what objects are eggs. In some embodiments, after a hen is identified, rectangularshaped bounding boxes (which are referenced by four corner positions of the bounding box in the frame) surround the entire body of an identified hen. The bounding boxes may be defined by four points (e.g., at each corner), which may define a width and a height of the bounding box. Each rectangular-shaped bounding may enclose an entire hen. In other words, an entire hen is enclosed in each of the bounding boxes. For every hen identified for a first time during the image analysis, the hen is assigned a unique identification (e.g., name and color). The unique identification for each hen may be provided from, for example, the network 192. Similarly, in some embodiments, analysis of the image data may include generating a rectangular-shaped bounding box around each identified egg, as described above with reference to generation of the rectangular-shaped bounding boxes around the hens.

[0171] Act 312 may further include performing one or more image segmentation techniques on the frames of the analyzed image data, such as by the aviary monitoring system 190, to generate segmentation data. For example, the frames of analyzed image data obtained using the one or more object detection techniques described above, may be further analyzed by one or more object segmentation techniques, such as one or more semantic segmentation techniques or one or more instance segmentation (object instance segmentation) techniques to associate specific pixels of the analyzed image data with the detected one or more hens and other objects in the frame.

[0172] In some embodiments, the segmentation technique includes a semantic segmentation technique. By way of non-limiting example, the semantic segmentation technique may include classifying objects in the analyzed frames, performing a localization process by finding each object and drawing a bounding box around each object, and segmenting by grouping pixels in a localized image (an identified object) by creating a segmentation mask for each object. In some embodiments, one or more of the monitoring device controller 184, the client device 186, the server 188, and the aviary prediction and monitoring device 130 includes a memory comprising data related to a previously trained dataset of labeled images. The memory includes instructions, that when executed by at least one processor, cause the processor to perform the segmentation technique (e.g., using an algorithm including a U-Net model, developed with a contracting path and an expansive path) by creating an individual segmentation mask for parts of the frame including a blob, which may correspond to the feed troughs 114, the drinking lines 116, the floor 104, pipes in the aviary system 102, eggs, and other objects. In some embodiments, the output of each segmentation mask may be used to label each of the identified objects. In some embodiments, the segmentation mask is not obtained for the hens, which are previously identified in the analyzed image data.

[0173] Still referring to act 312, analyzing the image data may include performing one or more object tracking techniques on the frames of analyzed image data to generate tracking data. Consecutive frames of analyzed image data (e.g., frames of analyzed image data consecutive in time (which may be separated in time by one or more unanalyzed frames of image data)) may be analyzed to determine the movement of the hens. Byway of non-limiting example, the object tracking technique may utilize, a Kalman filter (e.g., such as by using a Motpy library, which may be stored in memory) to determine the movement of hens. For each particular hen, based on the distance of the hen in first frame of analyzed image data and a second frame of analyzed image data, the distance that particular hen has moved between the first frame of analyzed image data and the second first frame of analyzed image data may be determined. Accordingly, the change of position of each hen between the consecutive frames may be determined and the velocity (e.g., speed) of each hen may be determined (e.g., based on the distance traveled by the hen and the duration between the consecutive frames). In some embodiments, by analyzing multiple consecutive frames, the acceleration and deceleration of the hens may be determined, such as by determining the changes in the velocity of the hen between consecutively analyzed frames.

[0174] Although the object tracking technique has been described as comprising a particular technique, the disclosure is not so limited. For example, other object tracking techniques, such as one or more of a deep learning technique, simple online and realtime tracking (SORT), deepSORT, FairMOT, Deep Layer Aggression (DLA) such as TransMOT, and ByteTrack may be used to track the hens.

[0175] FIG. 4 illustrates an image 400 illustrating hens 402 identified in bounding boxes 404 that may be displayed on a graphical user interface, such as on the client device 186. As shown in the image 400, the object detection techniques, performed by, for example, the aviary monitoring system 190, may identify the hens 402 and generate the bounding boxes 404 around each hen. A center 406 of each bounding box 404 may be identified and used to determine, for example, the velocity and acceleration of each hen.

[0176] With continued reference to FIG. 3, the method 300 further includes, based on the analyzed image data, the tracking data, and the segmentation data, determining one or more properties of the hens, as shown in act 314. The one or more properties of the hens may include a distribution of the hens, an activity level of the hens, a characterization of the behavior of the hens, an amount of free usable space in the aviary system 102, and an identification of stray eggs in the aviary system 102 (which may be indicative of hen behavior laying eggs outside of the nests 122).

[0177] Determining a distribution of the hens may include analyzing the image data to determine whether the hens are congregating in one or more regions of the aviary system 102 or whether the hens are substantially uniformly distributed throughout the aviary system 102. By way of non-limiting example, a distribution index may be determined for each frame of analyzed image data, the distribution index corresponding to a deviation of the hens from a uniform dispersion of the hens (wherein the hens are evenly dispersed in the frame of analyzed image data).

[0178] The distribution index may be determined by dividing (e.g., segmenting, partitioning) each frame of analyzed image data into a grid, such as a 6x6 grid including 36 unique areas. Of course, in other embodiments, the size of the grid may change, depending on the particular application and the size of the grid is not limited to that described above. Each hen identified in the frame of analyzed image data may be surrounded by a bounding box (e.g., bounding box 404). A center (e.g., center 406) of each bounding box may be determined (e.g., and identified within the frame of analyzed image data, such as by identifying the spatial coordinates (e.g., in the X-direction, in the Y-direction, in the Z-direction) of the center). A quantity (e.g., number) of hens in each area of the grid may be counted based on the location of the center of the bounding boxes. For example, hens in bounding boxes having a center within a particular area are counted for that particular area. After determining the quantity of hens in each area of the grid, the dispersion index may be determined for the frame of analyzed image data according to Equation (1) below:

£)7 = ^Variance (!) Mean wherein DI is the distribution index, Variance is the Variance is an indication of the spread of the number of hens in each area of the grid as indicated in Equation (2) below, and Mean is the average number of hens in each area of the grid. The Variance is determined according to Equation (2) below:

wherein N is the total number of areas in the grid, and Xj is the number of hens in each particular area of the grid.

[0179] The higher the value of the dispersion index, the more the hens are piling in one or more areas. Thus, the closer the value of the distribution index is to 0, the more uniformly dispersed (e.g., the less crowded relative to other hens) the hens are in the aviary system 102. As described in further detail herein, the distribution index may be used to identify regions within the aviary system 102 where the hens are piling (e.g., have a high density, corresponding to a high distribution index; congregating) and identify regions within the aviary system 102 where the hens are sleeping on the litter (e.g., the floor 104 and/or the mesh floor 110) based on the analyzed image data. Piling may result in non-uniform growth and development of the hens, or even suffocation or death of some of the hens. In some embodiments, analyzing the image data may include identifying periods of time (e.g., during the day) when hens tend to pile together and the corresponding location of such piling. Furthermore, the distribution index may be used to facilitate identification of specific elements and environmental factors that may be affecting the behavior (e.g., piling) of the hens, such as one or more of lighting conditions, light flickering, poor ventilation, excessive temperature, and direct sunlight. In addition, the regions within the aviary system 102 where the hens pile may be identified. The identified regions and times may be stored in memory, such as within the client device 186, and/or the server 188 and provided to, for example, the client device 186 for displaying to the user.

[0180] In some embodiments, the mean of the dispersion index for every analyzed frame of image data within a given duration (e.g., every second) is determined and the results are displayed to the user, such as on the client device 186. In some embodiments, the aviary monitoring system 190 may generate a map (e.g., a color map, a grayscale map) illustrating the dispersion index at different regions of the aviary system 102, which may be measured during, for example, a pass of the monitoring device 130 through the aviary system 102. In some embodiments, the map may include a map of the density of the hens throughout the aviary system 102 at a particular time.

[0181] In some embodiments, generating the distribution index includes generating a graph representing the distribution (e.g., the density) of the hens in the aviary system 102 as a function of the location of the aviary system 102. For example, FIG. 5 is a graph 500 representing the distribution of hens in the aviary system, in accordance with embodiments of the disclosure. The graph 500 may be displayed on, for example, a graphical user interface (GUI) of, for example, the client device 186.

[0182] An X-axis 502 of the graph 500 may represent a location of the aviary system 102. For example, each location in the aviary system 102 may correspond to a value on the X-axis. The monitoring device 130 may be trained to identify a location of the monitoring device 130 within the aviary system 102. For example, the aviary system 102 may include a system for indoor localization by including a plurality of discrete markers throughout the aviary system 102, as described in U.S. Patent No. 11,019,805, "Robot Assisted Surveillance of Livestock," issued June 1, 2021, the entire disclosure of which is hereby incorporated herein by this reference.

[0183] A Y-axis 504 of the graph 500 may represent a quantity of hens identified by the aviary monitoring system 190. For example, a greater value on the Y-axis may correspond to a greater density of hens within the particular area of the aviary system 102 corresponding to the value of the X-axis 502.

[0184] In some embodiments, determining one or more properties of the hens includes determining an activity level of the hens in the aviary system 102. Determining the activity level of the hens may include analyzing the tracking data (determined during act 312) to determine a distance (e.g., in pixels) that each hen in consecutively analyzed frames have moved. For each hen, based on the distance between the center (e.g., center 406) of the bounding box (e.g., bounding box 404) of the hen in a first frame of analyzed image data and a second frame of analyzed image data, the distance the hen has moved between the first frame of analyzed image data and the second frame of analyzed image data may be determined; and the velocity of the hen may be determined based on the duration between the first frame of analyzed image data and the second frame of analyzed image data. The velocity of each hen in the first frame of analyzed image data and the second frame of analyzed image data may be determined and the median velocity of the hens in the first frame of analyzed image data and the second frame of analyzed image data may be determined to obtain a median velocity. Use of the median velocity may reduce or eliminate the effect of outlier hens on the value of the velocity.

[0185] In some embodiments, the median velocity may be determined for every analyzed frame within a given duration (e.g., every second). The mean (average) of the median velocities of each analyzed frame of image data within the duration may be calculated to determine an activity level for that duration. In some embodiments, the aviary monitoring system 190 may generate a map (e.g., a color map, a grayscale map) illustrating the activity level of the hens at different regions of the aviary system 102, which may be measured during, for example, a pass of the monitoring device 130 through the aviary system 102. Accordingly, in some embodiments, the activity level may include an average velocity of the hens within a particular frame of analyzed image data and provides a general indication of the overall health of the hens. In some embodiments, the activity level of the hens is measured and displayed (e.g., on a map) for different regions of the aviary system 102.

[0186] Act 314 may further include characterizing the behavior of the hens. FIG. 6 is a simplified flow diagram illustrated a method 600 of characterizing the behavior of the hens, in accordance with embodiments of the disclosure. The behavior of the hens may be characterized based on the analyzed image data, the tracking data, and the segmentation data.

[0187] The method 600 includes for each hen, determining a distance between a center of bounding boxes in a first frame of analyzed image data and a second frame of analyzed image data, as shown in act 602. Determining the distance between the center of the bounding box of a first frame of analyzed image data and a second frame of analyzed image data may utilize the image data and the tracking data, and may be substantially the same as described above.

[0188] The method 600 may further include, for each hen, determining whether the distance is greater than a threshold distance, as shown in act 604. If the distance is greater than a threshold distance (e.g. depending on the duration between the first frame of analyzed image data and the second frame of analyzed image data), the method 600 includes determining that the hen is moving, as shown in act 605. In some embodiments, the threshold distance corresponds to a velocity of the hen greater than about 4 cm/s, such as greater than about 5 cm/s, greater than about 6 cm/s, greater than about 8 cm/s, greater than about 10 cm/s, or greater than about 12 cm/s. In some embodiments, the threshold distance may be associated with the size of the particular hen.

[0189] With continued reference to FIG. 6, the method 600 includes, for each hen for which the distance is less than the threshold in act 604, determining whether a distance between the center of the bounding box of the hen and a center of a feed trough segmentation mask is less than a threshold in each of the first frame of analyzed image data and the second frame of analyzed image data, as shown in act 606. By way of non-limiting example, for each hen, the distance between the center of the bounding box of the hen and each of the feed trough segmentation masks is determined. For the feed trough segmentation mask nearest the bounding box of the hen, the distance is compared to the threshold distance. If the distance is less than the threshold distance, the hen is determined to be eating in act 606. The threshold may be less than about 15 cm, such as less than about 10 cm, or less than about 5 cm. As shown at act 608, if the distance is less than the threshold, the method 600 includes determining that the hen is eating.

[0190] The method 600 includes, for each hen for which the distance between the center of the bounding box and the center of the feed trough segmentation mask is greater than the threshold, determining whether the center of the bounding box is separated from a center of a drinker (e.g., a drinking line 116, a drinking nipple) segmentation mask is less than a threshold in each of the first frame of analyzed image data and the second frame of analyzed image data, as shown in act 610. The threshold may be less than about 15 cm, such as less than about 10 cm, or less than about 5 cm. As shown at act 612, if the distance is less than the threshold, the method 600 includes determining that the hen is drinking. By way of non-limiting example, for each hen, the distance between the center of the bounding box of the hen and each of the drinker segmentation masks is determined. For the drinker segmentation mask nearest the bounding box of the hen, the distance is compared to the threshold distance. If the distance is less than the threshold distance, the hen is determined to be drinking in act 612.

[0191] The method 600 further includes determining that the hen is not moving responsive to determining that the distance between the center of the bounding box and the center of the drinker segmentation mask was greater than the threshold in act 610. The hen may be identified as not moving since it was not identified as moving in act 604, as not eating in act 608, and not drinking in act 612.

[0192] In some embodiments, characterizing the behavior of the hens includes, for each frame of analyzed image data, totaling the quantity of hens identified as moving (in act 604), identified as eating (in act 608), as drinking (in act 612), and as not moving (in act 614). For each behavior of moving, eating, drinking, and not moving, the total number of hens engaged in each activity may be divided by the total number of hens to determine the percentage of hens engaged in that particular activity. For example, the percentage of hens that are moving may be determined by dividing the number of hens identified as moving in act 604 by the total number of hens (e.g., the total of the number of hens identified as moving in act 604, plus the total of the number of hens identified as eating in act 608, plus the total of the number of hens identified as drinking in act 612, plus the total of the number of hens identified as not moving in act 614). The percentage of hens eating, drinking, and not moving may be determined in a similar manner.

[0193] The mean of the percentage of hens moving, eating, drinking, and not moving for every frame of analyzed image data within a given duration (e.g., every second) is analyzed and the results are displayed to the user, such as on the client device 186. In some embodiments, the aviary monitoring system 190 generates a map illustrating the percentage of hens engaged in each activity. Each hen in the map may be enclosed in a bounding box, the color or scale of which may be based on the activity in which the hen is engaged.

[0194] FIG. 7 is an image 700 illustrating the behavior of hens 702 in the aviary system 102, that may be displayed on a graphical user interface, such as on the client device 186, in accordance with embodiments of the disclosure. As shown in the image 700, each hen 702 may be identified by their behavior. For example, moving hens 702 may be displayed in boxes 704, eating hens 702 may be identified in boxes 706, drinking hens 702 may be identified in boxes 708, and hens 702 that are not moving may be identified in boxes 710. Each of the boxes 704, 706, 708, 710 may be different than the other boxes 704, 706, 708, 710, such as by having a different color or a different darkness. As shown in the image 700, hens 702 classified as eating may be near a feeder 714 and hens 702 classified as drinking may be near a drinker, such as a drinking nipple 716. A legend 712 may display a percentage of the hens performing each category, as well as the percentage of free usable space (described in greater detail below) in the aviary system 102.

[0195] In some embodiments, for each hen, the percentage of time the hen is engaged in each activity (e.g., moving, eating, drinking, and not moving) over a duration (e.g., a second) is determined. Accordingly, the behaviors of each hen may be stored in memory and compared to determine whether the hen is, for example, spending more time not moving (which may be a health concern) or less time eating (which may also be a health concern).

[0196] Act 314 further includes determining an amount of free usable space (also referred to herein as "free available space") in the aviary system 102. The amount of free usable space in the aviary system may be determined by using the segmentation data (e.g., the masks obtained during the segmentation process of act 312). In some embodiments, for each frame of analyzed image data, the percentage of free usable space may be determined according to Equation (3) below:

wherein ZFIoor_px is the total number of pixels of the segmentation mask of the floor in the frame of analyzed image data, Frame_Width is the number of pixels defining the width of the frame of analyzed image data, Frameiength is number of pixels defining the width of the frame of analyzed image data, ZFeeders_px is the total number of pixels of the segmentation mask of the feeders (e.g., the feed troughs 114) in the frame of analyzed image data, ZDrinkers_px is the total number of pixels of the segmentation mask of the drinkers (e.g., the drinking nipples coupled to the drinking lines 116) in the frame of analyzed image data, ZPipes_px is the total number of pixels of the segmentation mask of the pipes (e.g., the drinking lines 116) in the frame of analyzed image data, and ZOthers_px is the total number of pixels of the segmentation mask of other objects in the frame of analyzed image data.

[0197] In some embodiments, the mean (average) of the free usable space of every frame of analyzed image data within a given duration (e.g., every second) is a determined and displayed to the user, such as on the client device 186. In some embodiments, the aviary monitoring system 190 may generate an image identifying the free usable space over the duration.

[0198] Act 314 may further include identifying stray eggs in the aviary system 102 or in a litter based on the analyzed image data, the tracking data, and the segmentation data determined during act 312. In some embodiments, one or more of the object detection techniques described above may be performed to identify stray eggs as the monitoring device 130 traverses through the aviary system 102. In other embodiments, the stray eggs are identified by one or more of a shape recognition technique, a color recognition technique, and a color filtering technique. The stray eggs may include eggs that are not laid in the nests 122 and are located in the aviary system 102 at locations other than in the nests 122 or the egg collection conveyor 124. By way of non-limiting example, stray eggs may be located on the floor 104, on the mesh floor 110, on the edge of the aviary system 102, such as proximate the exterior walls

106 (e.g., since the eggs laid outside of the nest roll to the edge). In some embodiments, blobs are formed in the segmentation mask for each stray egg.

[0199] The quantity of stray eggs in each frame of analyzed image data may be determined. In some embodiments, the analyzed image data of every frame within a given duration (e.g., every pass of the monitoring device 130 through the aviary system 102) may be analyzed to identify a number of stray eggs in the aviary system 102 at each pass of the monitoring device 130. In some embodiments, the aviary monitoring system 190 generates a map (e.g., a color map, a grayscale map) illustrating the density of stray eggs at different regions of the aviary system 102, which may be measured during, for example, a pass of the monitoring device 130 through the aviary system 102. In some embodiments, the total number of stray eggs identified at a particular time (e.g., during a particular pass) may be compared to the number of stray eggs identified during previous pass (e.g., historical data) to determine whether the number of stray eggs is within a suitable range, increasing, or decreasing. In some embodiments, the aviary monitoring system 190 generates a graph of a number of stray eggs versus a position in the aviary system 102 to facilitate identification of regions where the number of stray eggs is above a threshold level. The graph may be substantially similar to the graph 500 described above with reference to distribution of hens in the aviary system 102, but the Y-axis of the graph may represent a quantity of eggs identified by the aviary monitoring system 190 rather than a quantity of hens. Early detection of stray eggs may facilitate early intervention of issues impacting production and allows a user to adjust one or more conditions (e.g., lighting, temperature, ventilation, feeding conditions, nesting conditions) to promote egg laying in the nests 122.

[0200] In some embodiments, the analyzed image data may be analyzed to determine whether any of the drinking nipples (connected to drinking lines 116) are defective or leaking. Using image data from a thermal camera, a temperature of a given drinking nipple can be compared to an average temperature of all the drinking nipples. If a temperature differential between the given nipple and the average temperature is a above a given threshold, the method 300 may include providing an indication that the given drinking nipple may be defective. [0201] Referring back to FIG. 3, the method 300 further includes, analyzing the thermal image data to determine one or more additional properties of the hens in the aviary system 102, as indicated in act 316. The one or more additional properties of the hens may include one or more of a plumage score of the hens, a quantity of the feathers on the ground, an identification of dead hens, and a determination of the quality of manure.

[0202] A plumage score (which may also be referred to herein as an "aggression score") of the hens may be determined based on the visual appearance of the hens, such as whether the hens have all of their feathers, a percentage of their body that is missing feathers (e.g., the feather coverage of the hens), whether the hens have aggression marks (e.g., as a result of pecking), and whether the hens have signs of malnutrition (e.g., whether or not the hens appear healthy).

[0203] The plumage score may be determined by analyzing the analyzed image data and, optionally, concurrently analyzing the thermal image data. By way of non-limiting example, determining the plumage score may include analyzing the image data and determining, for each hen identified (e.g., by one or more of the object detection techniques described above), a score indicative of the feather condition and overall appearance of the hen. In some embodiments, the analyzed image data may be further analyzed, such as by performing a convolutional neural network technique and performing regression to assign a score to each identified hen, the score corresponding to the feather condition and overall appearance of the hen. In some embodiments, the CNN model is trained according to conventional methods to identify feather condition and overall appearance.

[0204] In some embodiments, the analyzed image data is further analyzed to extract relevant features, such as color and texture, from the hens. For example, one or more of the color recognition techniques and/or one or more of the color image segmentation techniques may be performed to one or more of differentiate portions of the hen body covered by feathers compared to portions of the hen body without feathers (e.g., with exposed skin that would normally be under the feathers), determine a percentage of the hen body covered by feathers (or a percentage of the body lacking feathers), determine a health of the feathers of the hen, determine a quantity of broken feathers for each hen, and determine hens with thinned feathers, determine whether feathers of each hen have a shiny coat (sheen) thereon.

[0205] In some embodiments, the percentage of the hen body covered in feathers includes analyzing the thermal image data and determining a percentage of the hen's body having a higher temperature than other portions. For example, portions of the hen body that are not covered in feathers may appear to have a higher temperature when viewed by the thermal camera since there are no feathers insulating the body heat from the view of the thermal camera. FIG. 8 is an image 800 of a frame of thermal image data. With reference to FIG. 8, hens 802 may be identified in the image 800. Hens 802 that are lacking some feathers may exhibit bright spots 804, corresponding to the location of the body of the hen 802 lacking feathers. In some embodiments, by analyzing the size of the bright spots 804 relative to the size of the hen 802, the percentage of the body of each hen 802 missing feathers may be determined.

[0206] In some embodiments, determining the plumage score of the hens includes classifying the hens as having one of a healthy plumage (e.g., a high plumage score, as determined by a full, well-groomed set of feathers with a shiny coat and without signs of damage, such as breaks, missing feathers, or thinning); a minimally damaged plumage (e.g., a relatively high plumage score, but lower than the high plumage score, as determined by minor plumage issues such as having a few spots of missing feathers, a relatively low quantity of broken feathers, and a slightly duller appearance of feathers compared to the hens with a healthy plumage); a moderately damaged plumage (e.g., a moderate plumage score less than the relatively-high plumage score, as determined by missing multiple feathers, excessive feather damage, and/or a visibly dull appearance); and a critically damaged plumage (e.g., a low plumage score, as determined by a large portion of missing feathers, a large portion of damaged feathers, a large portion of dull feathers). However, the disclosure is not so limited, and the plumage score of hens may be determined based on factors other than those described above.

[0207] Act 316 may further include quantifying a quantity of the feathers on the ground (e.g., on the floor 104 and the mesh floor 110). Quantifying the amount of feathers on the ground may include analyzing the image data via one or more of the object detection techniques, the color recognition techniques, the color image segmentation techniques, and the shape identification techniques described above. In some embodiments, a total number of identified feathers on the ground may be estimated. In other embodiments, a percentage of the area of the ground covered in the features may be estimated. In further embodiments, quantifying the feathers on the ground includes generating a map of the aviary system 102 and indicating the relative density of the feathers on the ground by means of a color map or a grayscale map, the color or amount of grayscale corresponding to the density of the feathers at a particular region. In some embodiments, identifying the feathers on the ground includes comparing a current quantity of feathers on the ground to historical values (e.g., as previously determined with the aviary monitoring system 190) and determining whether the quantity of feathers on the ground has increased.

[0208] In some embodiments, identifying the quantity of feathers on the ground includes analyzing the thermal image data.

[0209] Act 316 may further include identifying dead hens in the aviary system 102. For example, the image data and the thermal image data may be analyzed to determine hens that are dead. Since a temperature of dead hens may be about the same as the ambient temperature (since dead hens do not have body heat), in some embodiments, the image data may be compared to the thermal image data to determine hens not identified in the thermal image data. The hens identified in the image data and not identified in the thermal image data may be classified as dead hens, as described in WO 2021/151834 Al, to Hartung et al., filed January 25 2021, and titled "Automated Removal of Animal Carcasses," the entire disclosure of which is hereby incorporated herein by this reference.

[0210] In other embodiments, the image data may be analyzed by, for example, at least one of performing one or more of the object tracking techniques described above on the image data and identifying hens that are not moving and have not moved for more than a predetermined amount of time and performing one or more of the object identification techniques described above and identifying hens that are not upright.

[0211] Act 316 may further include determining a quality of manure of the hens. In some embodiments, determining the quality of the manure of the hens includes analyzing the image data and the thermal image data. As a non-limiting example, the aviary monitoring system 190 may employ an object detection algorithm on image data, such as the YOLOv4 algorithm, to identify droppings on the ground. Once the droppings are identified, a binary image classifier may be implemented to determine the state of the manure, i.e., whether the manure is good or bad. The binary image classifier may be based on a convolutional neural network architecture, such as ResNet, MobileNet, or InceptionNet. The classifier may analyze the identified droppings and classifies them as either good or bad based on predetermined criteria.

[0212] With continued reference to FIG. 3, the method 300 may further include comparing at least one of the one or more properties of the hens and the one or more additional properties of the hens to one or more reference hen properties, as shown in act 318. For example, for each of the distribution index, the activity level of the hens, the characterization of the behavior of the hens, the identification of stray eggs in the aviary system 102, the plumage score of the hens, the quantity of feathers on the ground (e.g., using a pretrained image instance segmentation algorithm of U-NET type), the identification of dead hens, and the quality of manure, the aviary monitoring system 190 may compare the determined one or more properties for a given location in the aviary system 102 to reference property data.

[0213] The reference hen property data may be stored in a memory of one or more of the monitoring device 130, the monitoring device controller 184, the client device 186, the server 188, and the aviary monitoring system 190. In some embodiments, the reference property data is stored in the memory of the aviary monitoring system 190.

[0214] The reference hen property data may include one or more of a maximum distribution index forthe hens (below which may indicated unhealthy levels of piling of the hens), a minimum activity level (below which the hens may show signs of disease), a minimum percentage of hens eating or drinking during particular times of the day (e.g., during feeding times), a maximum ratio of hens sleeping on the floor instead of on the aviary, a minimum percentage of hens that are classified as moving, a minimum amount of free usable space in the aviary system 102, a maximum number of stray eggs in the aviary system 102 over a given duration, a maximum and/or minimum number of stray eggs in one or more regions of the aviary system 102 over a given duration, a maximum and/or minimum average plumage score (above which the hens may display health concerns), and a minimum and/or maximum quantity of feathers on the ground (above which the hens may be displaying aggressive behavior).

[0215] In some embodiments, the reference hen property data includes hen property data previously determined by the aviary monitoring system 190. For example, the reference property data may include historical values (including associated timestamps) of one or more of the distribution index (including locations where hens have historically congregated), a percentage of the hens eating, drinking, moving, and not moving and locations thereof, a quantity and location of stray eggs from historical rounds of the monitoring device 130, historical values of the plumage score of the hens, the historical quantity of feathers on the ground and associated locations.

[0216] With continued reference to FIG. 3, the method 300 may further include, based on the comparison of at least one or more properties of the hens and the one or more additional properties of the hens to the one or more reference hen properties, providing a notification to the user, as indicated in act 320. For example, if at least one of the one or more of the properties of the hens and the additional one or more properties of the hens falls outside of a suitable value or range, the aviary monitoring system 190 may send a signal to the user, such as to the client device 186. As described in further detail below, the recommendation provided to the client device 186 may depend on which (if any) of the one or more properties and one or more additional properties falls outside of the suitable range, and/or which of the one or more properties and/or additional properties are trending in a direction opposite a desired direction. The notification may be in the form of one or more of an alarm on a GUI of the client device 186, an email provided to the client device 110, and a text message (e.g., a SMS message) provided to the client device 110. The notification may include a map displaying the time and location in the aviary system 102 where the one or more properties or one or more additional properties falls outside of a suitable range of in a direction opposite a desired direction, and a recommendation to adjust an operation of the aviary system 102.

[0217] By way of non-limiting example, responsive to determining the distribution index in act 316 and comparing the distribution index to the reference distribution index in act 318), a notification may be provided to the client device 186 if the distribution index is greater than a predetermined value. The notification may indicate one or more regions within the aviary system 102 exhibiting a relatively higher distribution index and where the hens may be piling, such as on the floor. In some embodiments, the notification includes a map (e.g., a color map, a grayscale map) of the aviary system 102 illustrating the distribution index throughout the aviary system 102 during a particular pass of the monitoring device 130 through the aviary system 102 and may illustrate regions of the aviary system 102 having a relatively higher distribution index. In some embodiments, the map illustrates regions of the aviary system 102 exhibiting an increase in the distribution index relative to historical data (e.g., relative to a most recent pass of the monitoring device 130 through the aviary system 102). In some embodiments, the notification includes a recommendation to increase a ventilation, adjust (e.g., decrease) a light intensity, change a light, place an obstruction (e.g., a pallet, or other object to prevent hen piling), or take another action in one or more regions exhibiting a relatively high distribution index. In some embodiments, the recommendation includes a recommendation for the user to walk through or view one or more regions of the aviary system 102 at a particular time of day when the distribution index is high.

[0218] In some embodiments, the notification includes an indication that the number of stray eggs in the aviary system 102 has increased. In some embodiments, the notification may indicate one or more regions within the aviary system 102 exhibiting a relatively higher concentration of stray eggs. In some embodiments, the notification includes a map (e.g., a color map, a grayscale map) of the aviary system 102 illustrating regions with a higher concentration of stray eggs during a particular pass (e.g., a most recent pass) of the monitoring device 130. In some embodiments, the aviary monitoring system 190 may initiate movement of the monitoring device 130 prior to dawn to determine whether eggs have been laid prior to sunrise. Responsive to determining the presence of stray eggs prior to sunrise, the aviary monitoring system 190 may provide a recommendation to turn the lights 120 on at an earlier time. In other embodiments, the recommendation may include one or more of increasing the access to the nests 122, removing obstructions to the nests 122, inspecting the nests 122 for rodents or insects, avoiding providing food to the feed troughs 114 during particular times (e.g., egg-laying times), and inspecting the overall health of the hens (e.g., inspecting for walking problems, infections such as staphylococcus, enterococcus, and mycoplasma synoviae).

[0219] In some embodiments, responsive to determining that the characterization of the behavior of the hens is outside of a desired range or determining that the activity level is less than a desired amount, the notification may include a recommendation to adjust one or more of the feeding time for the hens and the lighting schedule for the hens. In some embodiments, responsive to determining that the hens are not moving (and laying on a particular location on the floor 104), the notification may include a recommendation to place an obstruction at the location on the floor 104 to reduce or prevent laying at that location.

[0220] With continued reference to FIG. 3, the method 300 may further include, optionally, adjusting a parameter of the aviary system 102, as shown in act 322. Adjusting the parameter of the aviary system may include one or more of increasing or decreasing a temperature of the aviary system 102 (e.g., providing power to a heater, providing power to an air conditioner), increasing ventilation, changing the lighting schedule, cleaning the nests 122, increasing access to the nests 122, increasing the number of nests 122, providing an obstruction at locations where hens tend to pile, changing a feeding schedule of the hens, changing a diet of the hens, or another parameter deepening on the analyzed condition data, the analyzed image data, and the analyzed thermal image data.

[0221] Although the monitoring device 130 has been described and illustrated as having a particular configuration, the disclosure is not so limited. FIG. 9A is a simplified, partial perspective view of a monitoring device 900, in accordance with embodiments of the disclosure. FIG. 9B is a simplified, partial front view of the monitoring device 900. FIG. 9C is a simplified, partial side view of the monitoring device 900.

[0222] The monitoring device 900 may be sized, shaped, and configured to traverse through an aviary system having no aisle (e.g., aisles 128) or smaller aisles than aviary systems for which the monitoring device 130 may be used. As described above with reference to the monitoring device 130, the monitoring device 900 may be used to measure one or more conditions of an aviary system and/or one or more properties of hens in an aviary system. The monitoring device 900 may replace the monitoring device 130 previously described above with reference to FIG. 1. Components (e.g., sensors, cameras) of the monitoring device 900 substantially similar to corresponding components of the monitoring device 130 are not described in detail herein, as they are previously described with reference to the monitoring device 130. Components of the monitoring device 900 that are substantially similar to corresponding components of the monitoring device 130 may retain the same numerical designation as in FIG. 1, except that the components may be separated by 900; for example, the carbon dioxide sensor in FIG. 9A through FIG. 9C is 978.

[0223] Collectively referring to FIG. 9A through FIG. 9C, the monitoring device 900 may include a unitary body 902 configured to be coupled rails (e.g., rails 132) by means of wheels 936. The wheels 936 may be coupled to bracket 950 that couples the wheels 936 to the body 902 such that movement of the wheels 936 causes movement of the body 902.

[0224] The body 902 includes a plurality of sensors configured to receive (e.g., detect, measure, determine) one or more conditions (e.g., condition data) within the aviary system. For example, the body 902 may include a light source 964, an ultrasonic sensor (an airflow sensor) 968, a light sensor 970, a sound sensor 972, a carbon dioxide sensor 978, an ammonia sensor 980, and a temperature and humidity sensor 982.

[0225] The body 902 may further include a first camera 956, a second camera 958, a third camera 960, and a fourth camera 962. In some embodiments, the field of view of each of the first camera 956, the second camera 958, the third camera 960, and the fourth camera 962 are different. In some embodiments, the field of view of each of the first camera 956, the second camera 958, and the third camera 960 is substantially horizontal and the field of view of the fourth camera 962 is in the vertical direction (e.g., substantially downwards).

[0226] The field of view of the first camera 956 may be opposite the field of view of the second camera 958, both of which may be substantially perpendicular to the direction of travel of the monitoring device 900 along the rails. The field of view of the first camera 956 may further be substantially perpendicular to the field of view of the third camera 960 in a first direction and substantially perpendicular to the field of view of the fourth camera 962 in a second direction. Similarly, the field of view of the second camera 958 may be substantially perpendicular to the field of view of the third camera 960 in the first direction and substantially perpendicular to the field of view of the fourth camera 962 in the second direction. In addition, the field of view of the third camera 960 may be substantially perpendicular to the field of view of the fourth camera 962 in the second direction.

[0227] The monitoring device 900 may be used in an aviary system (e.g., aviary system 102) and an environment (e.g., environment) to monitor one or more conditions of the aviary system and one or more properties of hens of the aviary system.

[0228] FIG. 10 is a schematic view of a computer device 1014, in accordance with embodiments of the disclosure. In some embodiments, one or more of the monitoring device controller 184, the client device 186, the server 188, or the aviary monitoring system 190 may include a computer device such as the computer device 1014 of FIG. 10. The computer device 1014 may include a communication interface 1002, at least one processor 1004, a memory 1006, a storage device 1008, an input/output device 1010, and a bus 1012. The computer device 1014 may be used to implement various functions, operations, acts, processes, and/or methods disclosed herein.

[0229] In some embodiments, the processor 1004 includes hardware for executing instructions, such as those making up a computer program. As an example, and not by way of limitation, to execute instructions, the processor 1004 may retrieve (or fetch) the instructions from an internal register, an internal cache, the memory 1006, or the storage device 1008 and decode and execute them. In some embodiments, the processor 1004 may include one or more internal caches for data, instructions, or addresses. As an example, and not by way of limitation, the processor 1004 may include one or more instruction caches, one or more data caches, and one or more translation look aside buffers (TLBs). Instructions in the instruction caches may be copies of instructions in the memory 1006 or the storage device 1008.

[0230] The memory 1006 may be coupled to the processor 1004. The memory 1006 may be used for storing data, metadata, and programs for execution by the processor(s). The memory 906 may include one or more of volatile and non-volatile memories, such as Random- Access Memory ("RAM"), Read-Only Memory ("ROM"), a solid state disk ("SSD"), Flash, Phase Change Memory ("PCM"), or other types of data storage. The memory 1006 may be internal or distributed memory. [0231] The storage device 1008 may include storage for storing data or instructions. As an example, and not by way of limitation, storage device 1008 can include a non-transitory storage medium described above. The storage device 1008 may include a hard disk drive (HDD), Flash memory, an optical disc, a magneto-optical disc, magnetic tape, or a Universal Serial Bus (USB) drive or a combination of two or more of these. The storage device 1008 may include removable or non-removable (or fixed) media, where appropriate. The storage device 1008 may be internal or external to the computing storage device 1008. In one or more embodiments, the storage device 1008 is non-volatile, solid-state memory. In other embodiments, the storage device 1008 includes read-only memory (ROM). Where appropriate, this ROM may be mask programmed ROM, programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), electrically alterable ROM (EAROM), or Flash memory or a combination of two or more of these.

[0232] The storage device 1008 may include machine-executable code stored thereon. The storage device 1008 may include, for example, a non-transitory computer-readable storage medium. The machine-executable code includes information describing functional elements that may be implemented by (e.g., performed by) the processor 1004. The processor 1004 is adapted to implement (e.g., perform) the functional elements described by the machine-executable code. In some embodiments the processor 1004 may be configured to perform the functional elements described by the machine-executable code sequentially, concurrently (e.g., on one or more different hardware platforms), or in one or more parallel process streams.

[0233] When implemented by the processor 1004, the machine-executable code is configured to adapt the processor 1004 to perform operations of embodiments disclosed herein. For example, the machine-executable code may be configured to adapt the processor 1004 to perform at least a portion or a totality of the method 300 of FIG. 3 and the method 600 of FIG. 6. As another example, the machine-executable code may be configured to adapt the processor 1004 to perform at least a portion or a totality of the operations discussed for the aviary monitoring system 190, the monitoring device controller 184, and the monitoring device 130 of FIG. 1. As a specific, non-limiting example, the machine-executable code may be configured to adapt the processor 1004 to generate analyze image data and thermal image data as described above with reference to the method 300 of FIG. 3.

[0234] The input/output device 1010 may allow an operator of the aviary monitoring system 190 to provide input to, receive output from, and otherwise transfer data to and receive data from computer device 1014. The input/output device 1010 may include a mouse, a keypad or a keyboard, a joystick, a touch screen, a camera, an optical scanner, network interface, modem, other known I/O devices, or a combination of such I/O interfaces. The input/output device 1010 may include one or more devices for presenting output to an operator, including, but not limited to, a graphics engine, a display (e.g., a display screen), one or more output drivers (e.g., display drivers), one or more audio speakers, and one or more audio drivers. In certain embodiments, the input/output device 1010 is configured to provide graphical data to a display for presentation to an operator. The graphical data may be representative of one or more graphical user interfaces and/or any other graphical content as may serve a particular implementation. As is described above, the computer device 1014 and the input/output device 1010 may be utilized to display data (e.g., images and/or video data) regarding the conditions, the one or more properties of the hens, and the one or more additional properties of the hens in the aviary system 102.

[0235] The communication interface 1002 can include hardware, software, or both. The communication interface 1002 may provide one or more interfaces for communication (such as, for example, packet-based communication) between the computer device 1014 and one or more other computing devices or networks (e.g., a server). As an example, and not by way of limitation, the communication interface 1002 may include a network interface controller (NIC) or network adapter for communicating with an Ethernet or other wire-based network or a wireless NIC (WNIC) or wireless adapter for communicating with a wireless network, such as a WI-FI.

[0236] In some embodiments, the bus 1012 (e.g., a Controller Area Network (CAN) bus) may include hardware, software, or both that couples components of computer device 1014 to each other and to external components.

[0237] While the present disclosure has been described herein with respect to certain illustrated embodiments, those of ordinary skill in the art will recognize and appreciate that it is not so limited. Rather, many additions, deletions, and modifications to the illustrated embodiments may be made without departing from the scope of the disclosure as hereinafter claimed, including legal equivalents thereof. In addition, features from one embodiment may be combined with features of another embodiment while still being encompassed within the scope as contemplated by the inventors. Further, embodiments of the disclosure have utility with different and various machine types and configurations.

Claims

CLAIMS What is claimed is:

1. A system, comprising: a monitoring device operably coupled to rails of an egg-laying aviary, the monitoring device comprising: a first image camera coupled to the monitoring device such that a field of view of the first image camera is in a horizontal direction; and a second image camera coupled to the monitoring device such that a field of view of the second image camera is in a vertical direction substantially perpendicular to the horizontal direction; and an aviary monitoring system comprising: at least one processor; and at least one non-transitory computer-readable storage medium storing instructions thereon that, when executed by the at least one processor, cause the aviary monitoring system to determine one or more properties of hens in the egg-laying aviary based on image data captured via the first image camera and image data captured via the second image camera.

2. The system of claim 1, wherein the second image camera is vertically spaced from the first image camera.

3. The system of claim 1, wherein the monitoring device comprises a third image camera.

4. The system of claim 3, wherein a field of view of the third image camera is substantially parallel to the horizontal direction.

5. The system of claim 3, wherein the third image camera is vertically spaced from the first image camera.

6. The system of claim 3, wherein the third image camera is vertically coplanar with the second image camera.

7. The system of claim 1, wherein the monitoring device further comprises a thermal camera.

8. The system of claim 7: wherein the thermal camera is vertically spaced from one of the first image camera and the second image camera; and wherein the thermal camera is vertically coplanar with the other of the first image camera and the second image camera.

9. The system of claim 1, wherein the monitoring device further comprises: a first equipment module including the first image camera; and at least a second equipment module including the second image camera, the second equipment module vertically spaced from the first equipment module.

10. The system of claim 9, wherein the monitoring device further comprises a third equipment module vertically between the first equipment module and the second equipment module.

11. The system of any one of claims 1 through 10, wherein the monitoring device further comprises at least one sensor configured to measure at least one condition within the egg-laying aviary.

12. The system of claim 1, wherein the at least one sensor is vertically spaced from the first image camera.

13. The system of claim 11, wherein the at least one sensor comprises each of: a temperature sensor; a humidity sensor; a carbon dioxide sensor; an ammonia sensor; an airflow sensor; a light sensor; and a noise sensor.

14. The system of claim 1, wherein the one or more properties of hens comprises one or more of a distribution index of hens, an activity level of the hens, a characterization of a behavior of the hens, an amount of free usable space in the egg-laying aviary, a plumage of the hens, a quantity of feathers on a ground, a quantity and location of stray eggs in the egg-laying aviary, or a quality of manure.

15. An aviary monitoring device, comprising: wheels configured to couple the monitoring device to rails extending through an egg-laying aviary; a first image camera; a second image camera vertically separated from the first image camera; and a thermal camera.

16. The aviary monitoring device of claim 15, wherein the first image camera has a field of view, and wherein the second image camera has a second field of view at least substantially perpendicular to the first field of view.

17. The aviary monitoring device of claim 16, wherein the first image camera is coupled to a first module of the monitoring device, and wherein the second image camera is coupled to a second module of the monitoring device.

18. The monitoring system of claim 15, wherein each of the first camera, the second camera, and the thermal camera are configured to capture image data while the monitoring device traverses through a portion of an aviary.

19. A system, comprising: an egg-laying aviary; rails attached to one or more of a ceiling, walls, and other structures of the egg-laying aviary, at least a portion of the rails spaced a different distance from a floor than at least an additional portion of the rails; and a monitoring device coupled to the rails and configured to traverse through the egg-laying aviary on the rails, the monitoring device comprising: image cameras configured to capture image data at multiple vertical levels of the egglaying aviary; and a thermal camera configured to capture thermal image data within the egg-laying aviary; and a monitoring system comprising: at least one processor; and at least one non-transitory computer-readable storage medium storing instructions thereon that, when executed by the at least one processor, cause the monitoring system to determine one or more properties of hens in the egg-laying aviary based on one or both of the image data and the thermal image data.

20. The system of claim 19, wherein the image cameras are further configured to capture image data of the floor.