Robotic milking arrangement

Abstract

A method for milking a dairy animal by means of a robotic milking apparatus (1) having a teat position determination system (5) and a controller (6), comprising: - if the dairy animal meets a milking criterion, allowing the robotic milking apparatus to make one or more attachment attempts to attach at least one milking claw (4) to a teat of the dairy animal with the aid of the teat position determination system at milking, - milking with all attached milking claws, wherein the controller registers a number of attachment attempt failures, - if the number of attachment attempt failures #MA meets a predefined criterion in a predefined number of milking times (the number of milking times at least equals a predefined number #MB), automatically adapting the milking criterion by means of the controller.

Description

TECHNICAL FIELD

[0001] The invention relates to a method for milking a dairy animal by means of a robotic milking apparatus having a teat position determination system and a controller, the method comprising: if the dairy animal meets a milking criterion, allowing the robotic milking apparatus to make one or more connection attempts to attach at least one milking claw to a teat of the dairy animal at milking time with the aid of the teat position determination system; and milking with all attached milking claws, wherein the controller registers the number of connection attempts that fail. BACKGROUND

[0002] Such a milking method is known in the art. The milking robot has a teat detection system and a robot arm that can attach a milking claw to a detected teat of a dairy animal with the aid of a controller. Sometimes, the attempt to connect a milking claw to a teat is not successful the first time. Sometimes, the connection of one or more milking claws fails even after repeated attempts. It is then possible to milk only the connected milking claws, or to reject the dairy animal for milking (i.e. not to milk with the milking claws at all), or to milk the dairy animal under supervision, wherein personnel attach the unconnected milking claws to the teats.

[0003] The disadvantage of a failed connection attempt is obviously that the robotic milking apparatus is then occupied for longer than necessary, so that the milk yield of the method is less than the maximum that can be achieved. SUMMARY

[0004] It is an object of the present application to improve the known method so that the maximum milk yield that can be achieved with a robotic milking apparatus can be increased.

[0005] The invention achieves this object by the method as claimed in the invention, in particular by a method for milking a dairy animal by means of a robotic milking apparatus having a teat position determination system and a controller, the method comprising: if the dairy animal meets a milking criterion, allowing the robotic milking apparatus to make one or more connection attempts to attach at least one milking claw to a teat of the dairy animal at milking time with the aid of the teat position determination system; milking with all attached milking claws, wherein the controller registers the number of connection attempts that fail; and automatically adapting the milking criterion by means of the controller if the number of connection attempts that fail #MA meets a predefined criterion in a predefined number of milkings #MB, which number of milkings is at least equal to a predefined number #MB.

[0006] The idea behind the invention is as follows. Each robotic milking device needs a teat position determination system in order to be able to determine the position of the teats. In addition, for each milking animal, a milking criterion applies, based on which the controller determines whether the milking animal should be milked. The position of the teats is influenced by the level of filling of the udder. The level of filling of the udder is in turn influenced by the milking interval. Therefore, if the connection attempts fail too many times, the idea is to try to make the teat position more favorable by adapting the milking criterion. In any case, the controller can try to change the teat position by adapting the milking criterion, so that the resulting teat position can be suitable for detection by the teat position determination system. The controller can do this by changing the level of filling of the udder by changing the milking criterion, i.e. the admission criterion for allowing milking. In a subsequent milking, the teat position determination system can again try to determine the teat position. If and when this is successful, the new milking criterion can for example be set fixedly (at least temporarily).

[0007] It is noted here that the automatic adaptation of the milking criterion by the controller is known per se for increasing or decreasing milk production. To the best of the inventors' knowledge, this adaptation has not previously been made based on the number of connection attempt failures as in the present invention.

[0008] It is furthermore noted that "connection attempt failure" initially means that the attempt to connect a milking cup to a teat has failed. More particularly, a more stringent description can apply, such as "the connection of this milking cup has failed after repeated attempts during milking", or even more stringently "the entire milking has failed even after repeated attempts". For the present invention, all three descriptions are applicable. In any case, it is of relevance that at least one teat is not milked during milking, as this is undesirable for cow health and milk production. But the failure of the connection attempt itself can provide relevant information, as the failure occurs frequently up to a threshold value, which can result in a delay of milking and thus a reduction of the milking capacity of the robot.

[0009] In the following part of the description, specific embodiments of the invention are described.

[0010] In particular, the adaptation of the milking criterion comprises lengthening the desired time between two milkings of the milking animal. Normally, the teat position determination system has difficulty in correctly identifying two teats that are pressed together and determining the position of the milking animal. By lengthening the desired time between two milkings, i.e. the milking interval / time between milkings, the udder will be more filled and there is a good chance that the teats will be further apart after stimulation, so that the chance of connection attempt failure will become lower.

[0011] It is clear that increasing the milking frequency, i.e. the number of expected milkings per day, is considered equivalent to prolonging the expected milking interval and increasing the milk production threshold, which equivalence is known per se in the prior art. It can also happen that the controller automatically adapts the expected or desired milking interval based on the modified milk production. Generally, however, the adaptation aims at stimulating milk production, for example by preventing the udder from becoming truly full. The situation the present invention aims at is precisely that the dairy animal cannot be milked at the desired interval at all due to the connection failure. If the dairy animal is not culled, milking is postponed until the manager comes to milk the dairy animal. It is then still better to wait and milk the dairy animal carefully, so that in any case the chance of success is great, thus reducing the work of the manager.

[0012] In particular, the prolonging comprises prolonging the expected average milking interval for milkings with a milking interval at least as long as the desired milking interval, if the number of connection attempts that failed is at least equal to a predefined threshold #Ml gem. Alternatively or additionally, the prolonging comprises prolonging the minimum milking interval for milkings with a milking interval shorter than the desired milking interval for the dairy animal, if #MA is at least equal to a predefined threshold #Ml min.

[0013] Generally, the dairy animals do not visit the robotic milking device with perfect regularity. If the dairy animal is earlier than a predefined duration or percentage before the desired milking interval, the dairy animal is still admitted for milking (which meets the milking criteria). This duration is for example two hours or for example 20% of the milking interval. These values can be chosen depending on the dairy animal, for example in combination with the regularity with which the dairy animal visits the robot. It can be useful to prolong the minimum milking interval without necessarily prolonging the desired milking interval if the number of connection attempts that failed in the time before the desired milking interval exceeds a threshold. Thus, the dairy animal is not admitted for milking too soon, while the aim is not to increase the number of milkings per day. Thus, the udder will be better filled and the chance of a correct connection is greater. By not prolonging the average milking interval, it is ensured that the udder does not become unnecessarily heavy, which can cause the dairy animal to be uncomfortable. On the other hand, in some embodiments, it is desirable to prolong the average or desired milking interval if the number of connection attempts that failed seems to exceed a threshold (evenly) in the case of a milking interval at least as long as the desired milking interval. An analysis of the failures can indicate which prolonged milking interval is suitable. If the number of connection attempts that failed is greatly reduced in the case of a milking interval longer than the current desired milking interval, for example 10%, it is sensible to prolong the desired milking interval or even the minimum milking interval by 10%.

[0014] In some cases, it can happen that just at the moment the udder is full, the teats are more close together and the attachment fails or at least is less successful. With such an udder, for example, the position of the respective teats is such that at a quarter of the swelling, the teats move closer to the middle of the udder and thus more close together. For such a case, there is a particular embodiment of adapting the milking criteria including shortening the desired time between two milkings. In particular, the shortening includes shortening the desired time between two milkings if the number of failed attachment attempts is above a predefined threshold for milkings with a milking interval at most as long as the desired milking interval. In this case, it seems pointless to try to milk the animal and only an automatic milking with a shorter desired milking interval can reliably succeed. Also, since the animal is not a robot and will visit the robot at irregular times, it can still happen that the animal visits the robot later than the (maximum or desired) milking interval. Then, the robotic milking device knows in advance that the attachment and milking will be very unreliable and the controller can decide upon detection to perform an alternative action, such as ejecting and separating the animal from the robot, or notifying an operator to perform the milking under supervision.

[0015] It can also happen that the degree of teat slanting changes with the udder fill level. The more slanted the teats stand, the greater the chance that the teats will suck in leaking air during milking. If there is too much leaking air, the milking is also interrupted and the attachment attempt is considered to have failed. This can theoretically lead to a situation where the teats of the animal are pointing straight down but close together but stand more outwardly and thus further apart at further filling of the udder. The attachment itself will proceed better, but the actual milking is less reliable. Nonetheless, the controller can in this case automatically and independently seek the optimal conditions by changing the milking criteria.

[0016] In some embodiments, the adaptation of the milking criteria includes in particular measuring by the teat position determination system the distance between the two teats, in particular between the front teats or between the rear teats, and extending the desired time between two milkings of the animal if said distance is smaller than a respective minimum distance. In general, it is known in practice that a minimum distance between the teats reduces the attachment reliability. An operator can measure this distance, for example, by estimation, in particular before the attachment attempt, for example at the desired milking interval. Also, the teat position determination system can measure this distance as long as the system can distinguish the two teats in question. For example, the system sees two different transitions from the udder to the teats, but the teat tips are close together and cannot be sufficiently separated. When the system still sees that there are two teats, the distance is then effectively zero. The minimum distance can be different for the front teats and the rear teats, for example because the distance between the teat and the teat position determination system can be different.

[0017] In some embodiments, the extension includes extending a predefined time period in hours or a certain percentage of the temporarily desired milking interval for the dairy cow. This extension can then be, for example, 15 minutes or 5% of the temporarily desired milking interval. If the number of failed connection attempts is not sufficiently reduced, this step can be repeated, particularly a maximum of three times, to prevent the milking interval from becoming too long. Similarly, this applies to shortening the milking interval.

[0018] In some embodiments, adjusting milking standards includes: performing a drying action by means of a controller if the dairy cow is within Z days of its expected dry date and the cow's total or average milk production during the predefined preceding days is below a predefined threshold, or if the cow is within Y days of the expected dry date. Specifically, the method also includes sending a warning to the manager of the robotic milking unit, particularly in the form of a notice list message, SMS or push message, or an audible or visible alarm signal. Such an action can simply consist of recording the status "dry" on a notice list and / or sending a message of this status to the manager via SMS or push message. Alternatively or additionally, the action may also include reducing the feed supply in the robotic milking unit to, for example, zero, which can help reduce milk production before the actual drying action is performed by the manager or veterinarian. In cases of very low milk production, the action may even include ceasing milking of the cow in question.

[0019] In a second aspect, the present invention relates to a robotic milking apparatus for milking dairy animals, the robotic milking apparatus being configured to perform the method according to a first aspect of the invention. The robotic milking apparatus includes: a milking device having one or more milking cups; a teat position determination system; a robotic arm for attaching the milking cup to the teat of the dairy animal in one or more connection attempts with the aid of the teat position determination system; and a controller configured to control the robotic milking apparatus and record the number of failed connection attempts, and for each dairy animal including milking criteria for determining whether to milk the animal. Such a robotic milking apparatus provides the same advantages as described for the method. In short, the robotic milking apparatus can independently and automatically extend the desired milking interval (the time between milkings, the time between two milking events) depending on the number of failed connection attempts in order to attempt and reduce this number.

[0020] In a particular embodiment, the teat location determination system is configured to measure the distance between the two teats of a dairy animal, particularly between the front teats and the rear teats. If the measured distance is less than a typical or corresponding threshold distance, the chance of connection failure is (very) high. In this case, the controller can, for example, adjust the milking criteria to make the distance greater than the threshold by extending the milking interval.

[0021] In some embodiments, the controller is configured to send warnings to managers of the robotic milking unit, particularly for recording in a list of precautions, or includes means for generating short messages or push notifications or audible or visible alarm signals. In this way, the controller can notify dairy herd managers about the status of a particular dairy animal. Attached Figure Description

[0022] The invention will now be explained in more detail with reference to the accompanying drawings, in which:

[0023] - Figure 1 A schematic diagram of a robotic milking apparatus according to the present invention is shown, and

[0024] - Figure 2A and Figure 2B Schematic diagrams of the udder after the first and second milking intervals are shown respectively. Detailed Implementation

[0025] Figure 1 A schematic diagram of a robotic milking apparatus 1 according to the present invention is shown, which includes a robotic unit 2, a robotic arm 3, a milking cup 4, a teat camera 5, a controller 6, and a transmitting antenna 7. Reference numeral 10 indicates a mobile phone, and 20 indicates a dairy animal having a udder 21, a first teat 22, and a second teat 23.

[0026] The robotic milking device 1, referred to below as the "robot," is a milking device that automatically connects milking cups 4 to the teats 22, 23 of dairy animals 20 (typically cows, goats, buffalo, or similar). The number of milking cups 4 preferably corresponds to the number of teats of the dairy animals 20.

[0027] To enable connection, the robot has a nipple location determination device (in this case, a nipple camera 5 or a laser scanner) and a robotic arm 3. The nipple camera records images of the breast 21 with nipples 22, 23, and the controller or a program installed in the camera 5 processes these images to determine the nipple location. Based on the determined location(s), the controller 6 can then operate the robotic arm 3 to attach the milking cup 4 to the nipples 22, 23.

[0028] Nips 22 and 23 may be close together, especially at the nipple tips. Sometimes, as in the example shown, these nipples are so close together that the nipple positioning device 5 cannot adequately distinguish the nipples from each other, or the robotic arm 3 cannot reliably attach the milking cup 4 to the correct nipple. In both cases, the controller 6 records the failed connection attempt. Failed connection attempts are not uncommon. Typically, new attempts are made until success is achieved or until the maximum allowed number of failed connection attempts has been reached, after which the milking of that nipple, or even the entire milking attempt, is recorded as failed.

[0029] It is also possible that the state of the teats places one or more posterior teats in an unfavorable position relative to the teat position determining device 5, and is, for example, largely hidden by the anterior teats. Undesirable markings or other pigmentation may be present for teat position determination. Importantly, however, the number of failed connection attempts may be undesirably high, such as three or more times in the first seven days. This requires a disproportionately large amount of work from herd managers, who must in any case supervise milking of the relevant animal or take other measures. In extreme cases, the animal may be removed from the herd. This invention attempts to address this by intentionally influencing teat position by affecting milking standards and, in particular, milking intervals.

[0030] It is also possible that the dairy animal is nearing the end of its lactation period. Appropriately influencing udder fullness and thus teat position would be meaningless or even impossible. For example, in the case of a dairy cow, the animal may be lactating for more than a predefined number of days, such as 220 days. In this case, the controller can decide to end the lactation period. For example, controller 6 issues an instruction not to provide the dairy animal 20 with any more concentrate and not to milk the animal in robot 1 or elsewhere. More importantly, however, the handler of the dairy animal 20 receives a message from controller 6, such as as a text message on his mobile phone 10 or at least one note in a list of notices. Based on this, the handler can then initiate other actions to achieve the goal of drying the cow. Alternatively, the dairy animal may not be so close to the end of its lactation period, but rather, for example, between 175 and 220 days of lactation. If the dairy cow's milk production then drops below, for example, a threshold of 10 or 11 kg per day, controller 6 can also decide to dry the cow, because the milk production is uneconomical when compared to the robot 1's occupancy time and the additional work required for supervised milking. Obviously, these figures can be adjusted. For example, the robot 1's occupancy level can be very low, allowing for a high number of connection attempt failures and a low threshold milking level as mentioned above. Conversely, for a busy robot 1, a low number of connection attempt failures and a high daily milk production threshold can be set.

[0031] The nipple position determining device 5 can be configured to determine the distance between nipples 22 and 23. In the illustrated case, both nipples can be identified because their corresponding attachments to the breast 21 are physically distinct. The tips of nipples 22 and 23 are almost in contact with each other; therefore, the distance between the two nipples 22 and 23 is very small, for example, less than 50 mm. The controller then knows that the connection would be highly unreliable because the milking cup might, for example, be attached to the incorrect nipples 22 and 23, which is undesirable.

[0032] The failure of distance measurement and connection attempts may result in subsequent actions according to the invention, such as changing milking standards, for example, extending the average milking interval. (Reference) Figure 2A and 2B To explain this.

[0033] Figure 2A and Figure 2B A schematic diagram is shown of a breast 21' having a first nipple 22' and a second nipple 23' after a first milking interval and a second milking interval, respectively, wherein the second milking interval is longer than the first milking interval.

[0034] Tears 22' and 23' refer to, for example, two front teats or two rear teats, but in some cases, one front teat and one rear teat. This applies to healthy cows, but not to goats (which have two teats) or other dairy animals with a different number of teats.

[0035] exist Figure 2A In the current system, the distance d between nipples 22' and 23' is too small, for example, 40 mm, to achieve a reliable connection. This distance is suitable for, for example, a milking interval T of 10 hours. Now, if the breast is more full, nipples 22' and 23' may be further separated and erected. This could be used, for example, to achieve a higher level of breast fullness in the case of longer milking intervals, such as in... Figure 2B As shown in the diagram. Here, the milking interval is, for example, T' = 11 hours. An average increase of about 10% in breast fullness means that, in this (theoretically) condition, the breast is swollen, and the distance between nipples 22' and 23' is now d', for example, 80 mm. For this robot, this could be fairly sufficient for a reliable connection, for example.

[0036] Of course, the figures given are merely examples and can be freely adapted based on robot specifications and / or results from herds in practice. However, an important factor is the advantage of such a robot capable of performing the method according to the invention, wherein the controller can automatically adjust milking standards, particularly the milking interval, based on the number of failed connection attempts in order to reduce said number.

Claims

1. A method for milking dairy animals using a robotic milking apparatus having a teat position determination system and a controller, comprising: - If the dairy animal meets the milking criteria, the robotic milking device is permitted to make one or more connection attempts during milking, with the assistance of a teat position determination system, to connect at least one milking cup to the dairy animal's teat. - Milking is performed using all connected milking cups, wherein the controller records the number of failed connection attempts. - If the number of connection attempts that fail within a predefined number of milking attempts meets a predefined standard, the milking standard is automatically adjusted by the controller, and the predefined number of milking attempts is at least equal to the predefined number of attempts.

2. The method as described in claim 1, wherein, The adjustment of the milking standards includes extending the desired time between two milkings of the dairy animal.

3. The method as described in claim 2, wherein, The extension includes: for milking intervals at least as long as the desired milking interval, if the number of connection attempts fails at least equal to a predefined threshold #MIgem, then extending the desired time between two milkings of the dairy animal.

4. The method of claim 2, wherein, The extension includes: for milking intervals shorter than the expected milking interval of the dairy animal, if the number of connection attempts fails is at least equal to a predefined threshold #MImin, then the minimum milking interval is extended.

5. The method according to any one of claims 1-4, wherein, The adjustment of the milking standard includes: measuring the distance between two teats using the teat position determination system, and if the distance is less than a corresponding minimum distance, extending the expected time between two milkings of the dairy animal.

6. The method according to any one of claims 2-4, wherein, The extension includes extending a predefined time period in hours or extending the temporary expected milking interval of the dairy cow by a certain percentage.

7. The method according to any one of claims 1-4, wherein, The adjustment of the milking standards includes: - If the dairy animal's total or average milk production is below a predefined threshold production level within Z days of the animal's expected dry date, or If the dairy animal is within Y days of the expected dry date - Then, the controller is used to perform the action of drying milk.

8. The method of any one of claims 1-4, further comprising sending a warning to the manager of the robotic milking apparatus in the form of a list of notices, a short message or push message, or an audible or visible alarm signal.

9. The method of claim 5, wherein, The adjustment of the milking standard includes: measuring the distance between the anterior nipples or the distance between the posterior nipples using the nipple position determination system.

10. A robotic milking apparatus for milking dairy animals, the robotic milking apparatus being configured to perform the method as described in any one of claims 1 to 9 and comprising: - A milking apparatus having one or more milking cups. - Nipple location determination system - A robotic arm for attaching one or more milking cups to the dairy animal's teats in one or more connection attempts, with the aid of the teat location determination system. - A controller configured to control the robotic milking device and record the number of failed connection attempts, and for each dairy animal, a milking criterion for determining whether to milk the animal.

11. The robotic milking apparatus as described in claim 10, wherein, The teat location determination system is configured to measure the distance between the two teats of the dairy animal.

12. The robotic milking apparatus as described in claim 11, wherein, The teat location determination system is configured to measure the distance between the front teats and the distance between the rear teats of the dairy animal.

13. The robotic milking apparatus according to any one of claims 10-12, wherein, The controller is configured to send warnings to the manager of the robotic milking unit, to record information in a list of precautions, or to include means for generating short messages or push notifications or audible or visible alarm signals.

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