Automatic selection of animals to be treated during treatment

Abstract

The present disclosure relates generally to farming and in particular to a sorting system for automatically selecting animals to be treated during treatment. According to a first aspect, the present disclosure relates to a sorting system for automatically selecting animals to be treated during treatment. The sorting system comprises an automatic sorting gate and a control device configured to receive, via a user interface, a user input indicative of one or more sorting criteria applicable to one or more animal characteristics and to receive a maximum number of animals allowed to be present in the sorting area at the same time. The control device is further configured to monitor a number of animals entering and leaving the sorting area. The control device is finally configured to adjust one or more parameter values of the one or more sorting criteria based on the monitored number of animals entering and leaving the sorting area. The present disclosure also relates to a corresponding method and a computer program for performing the method.

Description

Technical Field

[0001] This disclosure relates generally to the dairy industry, and more specifically to a sorting system for automatically selecting animals to be treated during treatment. This disclosure also relates to a corresponding method and a computer program for performing that method. Background Technology

[0002] Automated sorting systems are common tools in large dairy plants. In advanced settings, multiple sorting zones can exist for different treatment processes (hoof trimming, artificial insemination, vaccination, health checks, etc.). Sorting systems typically operate in one of two ways: they are either programmed to sort specific animals to specific locations within a defined timeframe, or configured to sort animals based on specific conditions / animal characteristics using sorting criteria (potentially combined with time or date).

[0003] The drawback of existing solutions is that the number of animals sorted into a particular sorting area can vary significantly over time, especially with the latter option, as there may be too many / too few animals meeting the sorting criteria, or in many cases, they will not arrive at the sorting system in a stable flow. As a result, during extended periods of the planned treatment, either there are too many selected animals (unsuitable) in the sorting area, or there are too few / too few selected animals in the sorting area. Overcrowded sorting areas are particularly problematic because there is insufficient time to treat all animals, and there is a risk of missing animals that should be given the highest priority. Overcrowded sorting areas also create a considerably stressful environment for both animals and staff, and coupled with inconsistent animal flow, this makes planning or optimizing the work performed by staff in the sorting area particularly problematic. For example, existing solutions are insufficient when planning hoof and foot trimming periods or when attempting to achieve the optimal number or flow of animals for other treatments within a limited sorting area.

[0004] In summary, these problems or limitations not only prevent existing sorting systems from working optimally, but also hinder farmers from widely using their automated sorting systems. Furthermore, they prevent farmers from seeing the benefits of using automated sorting systems. Summary of the Invention

[0005] The objective of this disclosure is to mitigate at least some of the drawbacks of existing sorting systems. Therefore, one object of the invention is to provide a sorting system that implements a smarter automated sorting method, reducing the risk of overcrowding in the sorting area. Another object of the invention is to provide automated sorting that enables more efficient treatment or optimization of the work performed in the sorting area.

[0006] According to a first aspect, this disclosure relates to a sorting system for automatically selecting animals to be treated during treatment. The sorting system includes an automatic sorting gate and a control device. The automatic sorting gate is arranged to selectively sort animals arriving from a milking area into a sorting area for treatment. The control device is configured to receive user input via a user interface indicating one or more sorting criteria applicable to one or more animal characteristics to determine whether an animal should be allowed to enter the sorting area to receive treatment. The control device is also configured to receive user input regarding the maximum number of animals allowed to be simultaneously present in the sorting area during treatment. The control device is further configured to continuously monitor the number of animals entering and leaving the sorting area during treatment. The control device is ultimately configured to adjust one or more parameter values ​​of the one or more sorting criteria based on the monitored number of animals entering and leaving the sorting area and the maximum number of animals received, and to control the automatic sorting gate using sorting criteria including the adjusted one or more parameter values.

[0007] In this way, the proposed sorting system enables the dynamic adjustment of the parameter value of the sorting criteria based on the monitored number of animals and / or animal flow within the sorting area. Farmers or users provide relevant inputs (at system startup) regarding the desired sorting criteria, the maximum number of animals allowed to be simultaneously present in the sorting area, and the desired treatment period (morning / evening milking times). This allows the parameter value of the sorting criteria to be automatically adjusted as the monitored number and / or flow of selected animals entering and / or passing through the sorting area increases or decreases. This mitigates the risk of overcrowding in the sorting area and enables more efficient treatment processes or optimal workloads for staff within the sorting area. Furthermore, it avoids missing treatment for higher-priority animals and avoids the risk of unnecessary stress and “ineffective” time for lower-priority animals in the sorting area.

[0008] The one or more animal characteristics may include registered animal characteristics and / or monitored animal characteristics. Therefore, sorting criteria can be customized on a case-by-case basis, and registered animal characteristics (conditions) obtained from herd management databases (e.g., historical information, age, date of last hoof trimming, vaccination, insemination, date of last calving, or registered sorting markers / assigned priorities) and measured monitored animal characteristics (conditions) (e.g., temperature, milking data, or behavioral data from various sensors configured to detect various conditions such as infection, disease, lameness, or fever) can be used for the sorting criteria.

[0009] In some implementations, the adjusted one or more parameter values ​​include at least one threshold, and the control device is configured to compare the one or more animal characteristics (conditions) with the at least one threshold to determine whether a specific animal should be selected to enter the sorting area for treatment. In this way, the sorting criteria can be made more or less stringent by adjusting the threshold based on the situation in the sorting area. Therefore, the threshold can be adjusted upwards or downwards when the number of animals monitored in the sorting area increases / decreases and / or the flow of the animal through the sorting area decreases / increases.

[0010] Therefore, in one embodiment, the control device is configured to continuously determine the number of animals present in the sorting area based on the continuously monitored number of animals entering and leaving the sorting area, and to adjust the parameter (threshold) value based on the determined number of animals present in the sorting area. In this way, the number of lower to higher priority animals present in the sorting area relative to a maximum allowed number is controlled by adjusting the parameter (threshold) value.

[0011] In another embodiment, the control device is configured to calculate a flow parameter based on the continuously monitored number of animals entering and leaving the sorting area, reflecting the number of animals passing through the sorting area per unit of time, and to adjust the parameter (threshold) value based on the calculated flow parameter. In this way, consistent animal flow can be achieved because the inflow to the sorting area can be adjusted to match the outflow from the sorting area. This embodiment can also be combined with previous embodiments to provide a control device configured to adjust the parameter (threshold) value based on both the determined number of animals present in the sorting area and the calculated flow parameter (throughput) in the sorting area.

[0012] In the above embodiment, the control device is preferably configured to adjust the parameter value by setting a higher threshold when calculating the first flow parameter value than when calculating the second flow parameter value, wherein the first flow parameter value is lower than the second flow parameter value. Thus, if the flow (throughput) through the sorting area decreases, the inflow to the sorting area decreases, and vice versa.

[0013] In some embodiments, the control device is configured to adjust the parameter value by setting a higher threshold when determining a first number of animals in the sorting area than when determining a second number of animals in the sorting area, wherein the first number of animals in the sorting area is higher than the second number of animals in the sorting area. Thus, if the number of animals in the sorting area increases, the inflow of animals to the sorting area decreases, and vice versa.

[0014] In another embodiment, the control device is configured to assign individual priorities to animals, wherein one or more sorting criteria apply to the assigned individual priorities. Thus, users (such as farmers or workers) can select or manually tag individuals by assigning high priority to those who should receive treatment for any reason unrelated to the animal's characteristics (condition).

[0015] In some implementations, the one or more parameter values ​​define a maximum number of animals with a priority below a certain threshold that are allowed to enter or reside in the sorting area simultaneously or during a specific time period. This ensures that the sorting area always has space for a certain number of high-priority animals, and that the sorting area is never filled with a relatively large number of low-priority animals, which would otherwise interfere with / suboptimize the work performed in the sorting area during the treatment.

[0016] In some implementations, the control device is configured to retrieve location data defining the individual location of the animal from a real-time location system (RTLS) and adjust one or more parameter values ​​based on the location data. This efficiently obtains location data for the sorting criteria. In this way, the adjustment of the parameter values ​​based on the RTLS location data enables the automated sorting system to plan the entry of higher-priority animals, provided these animals are present in, for example, a milking area or a waiting area, to ensure they are prioritized for sorting and treatment. This location data from the RTLS also makes it possible to estimate / predict arrival times and / or the number of high-priority animals passing through the sorting gate within a given time period. The location data from the RTLS is also advantageously used to monitor animals in the sorting area to determine when animals leave / enter the sorting area, such that the parameter values ​​are also adjusted in response to the inflow and outflow of animals in the sorting area.

[0017] Therefore, in the above embodiment, the control device is preferably configured to monitor the number of animals entering and leaving the sorting area based on the location data. Thus, by using only the RTLS, which may already be installed for monitoring the location of animals in the dairy plant, the number of animals entering and leaving the sorting area can be continuously monitored without dedicated hardware (e.g., RFID readers at the entrance and exit of the sorting area).

[0018] In some implementations, the control device is configured to adjust one or more parameter values ​​based on the location of priority animals that have been assigned a priority higher than a certain threshold. This allows the parameter values ​​of the sorting criteria to be adjusted to ensure that priority animals are always treated while ensuring that the sorting area is never left empty.

[0019] In some implementations, the control device is configured to estimate the time when the preferred animal will arrive at the sorting gate based on the location data, and to adjust one or more parameter values ​​based on the estimated arrival time of the preferred animal at the sorting gate. This ensures that the sorting area is not full when the preferred animal arrives.

[0020] In some implementations, the control device is configured to provide instructions to a user, for example, via a speaker or user interface, to perform an action when a potential sorting conflict is detected. Thus, the user (worker or farmer) is alerted when the sorting system cannot perform sorting operations. This anomaly might occur, for example, when the sorting area is full, or when a milked animal is marked as high priority due to serious health reasons. Therefore, this implementation allows the user (worker) to be alerted about the conflict (via, for example, a speaker in the sorting area) and further provides options for performing appropriate actions, such as allowing the incoming animal to be sorted even if the sorting area is full, releasing another animal already present in the sorting area to allow the incoming animal to enter, ignoring the animal, or keeping the animal for later sorting operations.

[0021] In some implementations, a sorting conflict can simply indicate that the number of the animal in the sorting area is expected to reach the maximum number of the animal in that sorting area. If the situation is warned of in advance by the staff / farmers, measures can be taken, such as releasing some animals from the sorting area without treatment.

[0022] However, this sorting conflict preferably includes situations where animals with a priority above a threshold are expected to arrive at the sorting gate within a specific time period. Therefore, if it is impossible to sort / treat all priority animals, the worker / farmer can be alerted.

[0023] In some implementations, the sorting conflict includes calculated flow parameters indicating that the average flow of animals through the sorting area has decreased by more than a certain amount. This may indicate that the sorting is not functioning properly and requires some manual intervention or reconfiguration of the sorting system.

[0024] In some implementations, the sorting conflict includes the number of animals in the identified sorting area exceeding the maximum number of animals.

[0025] According to a second aspect, this disclosure relates to a computer-implemented method for operating an automatic sorting gate arranged to selectively sort animals arriving from a milking area into a sorting area for administering treatment to the animals. The computer-implemented method includes receiving user input via a user interface indicating one or more sorting criteria applicable to one or more animal characteristics, to determine whether an animal should be allowed to enter the sorting area for treatment, and receiving a maximum number of the animals allowed to be simultaneously present in the sorting area during treatment. The computer-implemented method further includes: automatically monitoring the number of animals entering and leaving the sorting area during treatment; adjusting one or more parameter values ​​of the one or more sorting criteria based on the monitoring and the maximum number of animals received; and controlling the sorting gate using the sorting criteria including the adjusted one or more parameter values.

[0026] As mentioned earlier, animal characteristics can therefore include registered animal characteristics and monitored animal characteristics.

[0027] In some implementations, the adjusted one or more parameter values ​​include at least one threshold, and the control includes comparing the one or more animal characteristics with the at least one threshold to determine whether a particular animal should be allowed into the sorting area.

[0028] In some implementations, the computer-implemented method includes continuously determining the number of animals present in the sorting area based on the automatic monitoring and / or calculating a flow parameter reflecting the number of animals passing through the sorting area per unit of time based on the automatic monitoring, and adjusting the parameter value based on the determined number of animals in the sorting area and / or the calculated flow parameter.

[0029] In some implementations, the adjustment includes setting a higher threshold when calculating the first flow parameter value than when calculating the second flow parameter value, wherein the first flow parameter value is lower than the second flow parameter value.

[0030] In some implementations, the adjustment includes setting a higher threshold when determining a first number of animals in the sorting area than when determining a second number of animals in the sorting area, wherein the first number of animals in the sorting area is higher than the second number of animals in the sorting area.

[0031] In some implementations, the computer-implemented method includes assigning individual priorities to the animal. In these implementations, one or more sorting criteria are applied to the assigned individual priorities.

[0032] In some implementations, the one or more parameter values ​​define a maximum number of animals with a priority below a certain threshold that are allowed to enter or reside in the sorting area simultaneously or during a specific time period.

[0033] In some implementations, the computer-implemented method includes retrieving location data defining the individual location of the animal from a real-time location system (RTLS) and adjusting one or more parameter values ​​based on the location data.

[0034] In some implementations, the monitoring is performed based on the location data.

[0035] In some implementations, the computer-implemented method includes adjusting one or more parameter values ​​based on the location of priority animals that have been assigned a priority higher than a certain threshold.

[0036] In some implementations, the computer-implemented method includes estimating the time when the preferred animal arrives at the sorting gate based on the location data, and adjusting one or more parameter values ​​based on the estimated time when the preferred animal arrives at the sorting gate.

[0037] In some implementations, the computer implements a method that includes providing instructions to the user to perform an action via, for example, a speaker or a user interface, when a potential sorting conflict is detected.

[0038] In some implementations, the sorting conflict includes the expected number of the animal in the sorting area to reach the maximum number of the animal in the sorting area.

[0039] In some implementations, the sorting conflict includes animals with a priority above a threshold expected to arrive at the sorting gate within a specific time period.

[0040] In some implementations, the sorting conflict includes calculated flow parameters indicating that the average flow of animals through the sorting area has decreased by more than a certain amount.

[0041] In some implementations, the sorting conflict includes the number of animals in the identified sorting area exceeding the maximum number of animals.

[0042] According to a third aspect, this disclosure relates to a computer program that includes instructions that, when executed by a computer, cause the computer to perform the method described in accordance with the second aspect.

[0043] According to the fourth aspect, this disclosure relates to a computer-readable medium comprising instructions that, when executed by a computer, cause the computer to perform the method described according to the second aspect. Attached Figure Description

[0044] Figure 1 A top view of an exemplary livestock area including a sorting system according to the first aspect is shown.

[0045] Figure 2a and Figure 2b The operation of the sorting gate is illustrated schematically.

[0046] Figure 3 A real-time location system (RTLS) is shown.

[0047] Figure 4 A sorting system for automatically selecting animals to be treated during treatment, according to the first aspect, is shown.

[0048] Figure 5 This is a flowchart of a method for operating an automatic sorting gate, based on the second aspect. Detailed Implementation

[0049] Following milking, animals such as cows are typically sorted for purposes such as insemination, pregnancy checks, vaccinations, health checks, hoof trimming, and other treatments. Therefore, sorting gates are configured to automatically select cows to be guided to the sorting area for treatment as they leave the milking area. However, cows typically enter and leave the milking area in a more or less random order. In any case, the order in which they enter the milking area is irrelevant to subsequent treatment.

[0050] The inventors have recognized that one problem with current automated sorting systems is that, during treatment periods or at different times of day (e.g., milking periods), too many / too few or an irregular number of cows may be sorted into the sorting area used as treatment space. Therefore, there is a risk that the treatment / sorting area becomes overcrowded and there is insufficient time to treat all selected cows during the treatment period (milking period). Consequently, cows with the highest priority risk being left untreated, while lower priority cows occupy unnecessary space in the treatment / sorting area.

[0051] Furthermore, because current automated sorting systems do not limit the number of cows that can be sorted, it is difficult to predict the flow of animals to the sorting area. This makes it even more difficult to establish consistent procedures within the sorting area due to inconsistent animal movement (especially on large farms).

[0052] For example, if a farmer has selected 20 specific animals for post-milking treatment, such as hoof trimming, there is a risk that these animals will not arrive at the sorting gate on schedule. In the worst-case scenario, all 20 will arrive simultaneously. If only one person performs hoof trimming, this will result in significant waiting time in the sorting area, which can adversely affect the cows' health. In another worst-case scenario, the sorting area becomes too crowded to allow any more cows to enter, which may also result in the omission of selected and unselected animals that would otherwise be given the highest priority for hoof trimming. Meanwhile, the person performing hoof trimming may have to wait for cows to arrive from time to time, which is inefficient, especially if the person performing hoof trimming is an external professional contracted / arranged for a limited time period (during treatment). These problems are particularly pronounced when using dynamic sorting (i.e., condition-based sorting of cows), which can lead to unbalanced behaviors. More specifically, sorting criteria must be designed to balance the risk of too many cows in certain situations and too few cows under normal circumstances.

[0053] An example of a problem with existing sorting systems is continuous hoof trimming. When, for example, 20 dairy cows should have their hooves trimmed daily, farmers need to decide which 20 cows to select each day and cannot really control whether those 20 cows come in a batch or in multiple batches (which may be preferred). If one or more cows "miss" the sorting area, they need to be manually selected at a later time, which is very time-consuming.

[0054] Another related issue is that cows waiting for treatment in the sorting area are "ineffective" (more costly and less profitable), and predicting the throughput of the sorting area (if possible) is also challenging because there is no practical way to control the order in which cows enter. Furthermore, it is difficult to have consistent procedures when animal movement may be inconsistent (especially for large farms).

[0055] This disclosure proposes a system and method for automated sorting gate management. The proposed technology is designed to achieve optimal sorting and optimal animal health. The proposed sorting system addresses the aforementioned problems by introducing a sorting system configured with initial sorting criteria and input parameters that limit the maximum number of cows allowed to be in a sorting / treatment area simultaneously. During operation, the system tracks the number of animals entering and leaving the sorting area. In this way, the system can determine the number of animals present in the sorting area and / or calculate animal flow parameters through the sorting area and adjust the parameter values ​​of the sorting criteria to provide a uniform replenishment to the sorting area during treatment.

[0056] For example, the aforementioned problems related to continuous hoof trimming can be addressed by the proposed sorting system, which schedules all animals in a herd or group for hoof trimming. This system automatically sorts an appropriate number and / or a relatively high-priority group of animals daily until the entire herd or group has been sorted and thus trimmed. The sorting system selects as many animals as possible (e.g., an average of 20 or in the range of 16 to 23 animals) based on the time workers spend in the hoof trimming area each day. However, if many animals must be sorted (as unconditionally as possible) for other treatments due to characteristics or conditions of other parallel animals with higher priority (e.g., artificial insemination or health checks due to severe health markings, etc.), the sorting system may select fewer animals on certain days.

[0057] The proposed technology will now be briefly described with reference to the accompanying drawings. More specifically, the proposed technology relates to a system for automatically sorting animals that require specific treatments, such as insemination, hoof trimming, or health checks.

[0058] Figure 1 A top view of an exemplary livestock area 300 including animal 10 (a cow in the illustrated example) is shown, in which the proposed technology can be implemented. The proposed technology is described herein with reference to cows, but it must be understood that the technology can also be used with other milk-producing animals. Figure 1 The livestock area shown includes a waiting area 70, a milking area 30, two automatic sorting gates 20, and multiple sorting areas 40. The waiting area 70 and the milking area 30 are separated, for example, by a fence. Additionally, in some embodiments, [the following is missing from the original text: "will..."] Figure 3 The real-time positioning system 50 RTLS, further described in the text, is deployed in the livestock area 300.

[0059] Waiting area 70 (sometimes also called waiting area) is used to accommodate animals 10 waiting to be milked. Milking area 30 can include any type of bulk milking system, such as a traditional milking parlor, multiple milking robots, or a rotary milking platform (as shown). Sorting area 40, also called treatment area, is the area for treating the selected animals 10. Automatic sorting gates 20 are arranged to selectively sort animals 10 arriving from milking area 30 into different sorting areas 40 for the performance of various treatments.

[0060] Figure 2a and Figure 2b The operation of the automatic sorting gate 20 is shown in more detail. The sorting gate 20 is typically positioned in a narrow passageway, preventing the animal from turning around. When animal 1 reaches the sorting gate, it is either guided to the corresponding sorting area or forward to the exit or another sorting gate. Figure 2aIn the middle, the automatic sorting gate opens, allowing animal 10 to enter the corresponding sorting area 40. Figure 2b In the middle, the automatic sorting gate 20 closes, thereby guiding the animal forward to another automatic sorting gate 20 or the exit.

[0061] Figure 3 An example of an RTLS 50 that can be used by the proposed method and sorting system 200 is shown. RTLS 50 is a known type of system used to track the location of objects (such as animals 10) in real time using tags 51 attached to areas located in livestock areas 300 (such as livestock areas 300). Figure 1 Animals in the livestock area (in the livestock area) 10.

[0062] RTLS also includes a reader 54 that receives wireless signals from the tags 51 to determine their location. Wireless communication includes, but is not limited to, cellular radio, WiFi radio, Bluetooth radio, Bluetooth Low Energy radio, ultra-wideband radio, or any other suitable radio frequency communication protocol. The specific number and placement of the readers 54 will depend on the size and shape of the monitored tracking area 53 (e.g., livestock area 300).

[0063] In some embodiments, tag 51 also includes an orientation sensor, such as a triaxial accelerometer assembly or a gyroscope assembly, configured to generate data indicating the orientation of the sensor. Tag 51 may also include other sensors or components, such as object monitoring sensors. Object monitoring sensors may include a thermometer, heart rate monitor, vibration sensor, camera, microphone, or any other suitable device.

[0064] When using RTLS 50, the location of each tag 51 is tracked in real time within the tracking area 53 using multiple positioning techniques known in the art, such as time difference of arrival and received signal strength indication techniques. For this purpose, data from the readers 54 is provided to the control system 52, which determines the instantaneous position of each tag 51 in the tracking area 53 in real time. The control system 52 can be implemented as a computer-based system capable of executing computer programs. An exemplary application of the control system 52 includes a real-time positioning function configured to determine the two-dimensional or three-dimensional position of the tag 51 within the tracking area 53. The control system 52 can determine the location of the tag 51, for example, using triangulation based on data provided by three or more readers 54.

[0065] In some embodiments, the control system 52 is configured to determine the movement of the tag 51, including, for example, the direction and amount or speed of movement. In some embodiments, the control system 52 is configured to determine the orientation of the tag 51. In some embodiments, the control system 52 is configured to distinguish different activities of the animal 10 wearing the tag 51 based on the location, movement, and orientation of the animal tag within the tracking area 53.

[0066] The control system 52 may also have one or more communication interfaces. Communication interfaces may include, for example, modems and / or network interface cards. The communication interfaces enable the control system 52 to communicate with other computing devices (such as the control unit 100 of the sorting system 200). Figure 4 The communication interface also enables the control system 52 to receive messages and data directly from the reader 54 or from the tag 51, or via another communication network. The communication network can be any network platform and may include multiple network platforms. Exemplary network platforms include, but are not limited to, WiFi networks, cellular networks, etc.

[0067] This information (such as real-time location) provided by RTLS can be used by the proposed sorting system 200 to operate the automatic sorting gate 20.

[0068] Figure 4 This is a conceptual diagram of a sorting system 200 for automatically selecting animals 10 to be treated in a sorting area during treatment. The sorting system 200 shown includes an automatic sorting gate 20 and a control device 100 arranged to selectively sort animals 10 arriving from a milking area 30 into a sorting area 40 for treatment.

[0069] The control device 100 includes hardware and software. The hardware includes, for example, various electronic components located on a printed circuit board (PCB). The most important of these components are typically a processor 101, such as a microprocessor, and a memory 102, such as an EPROM or flash memory chip. The software is typically software code running in the microprocessor. The control device 100 also includes a communication interface 103. The communication interface 103 is configured for communication of signals and / or data between the control device 100 and other systems or devices, such as RTLS 50 or a user interface 60. The user interface 60 can be any device that a user can use to interact with the control device 100. The user interface 60 can be, for example, a personal computer on which the farmer monitors the herd via a herd management program. The user interface 60 can also be a so-called milking point controller provided at each milking location in the milking parlor. In some embodiments, the graphical user interface can be presented on a user device, such as a display on a computer, tablet, or similar device. The user device typically includes input devices such as a touchscreen, keyboard, and / or microphone, and output devices such as a display and / or speaker.

[0070] Control device 100, or more specifically, processor 101 of control device 100, is configured to cause control device 100 to perform Figure 5 All aspects of the method described herein. This is typically accomplished by running computer program code stored in memory 102 in processor 101 of control device 100.

[0071] More specifically, the control device 100 is configured to execute all embodiments of a computer-implemented method for operating an automatic sorting gate 20, which is arranged to selectively sort animals arriving from the milking area 30 into a sorting area 40 for performing the treatments described herein on the animals. This method can be used for various treatments, such as hoof trimming, vaccination, health checks, and insemination. The method can also be applied to other measures, such as further sorting or regrouping in relation to treatment. In some embodiments, treatment is performed at least partially manually. In some embodiments, treatment is entirely manual.

[0072] This method can be implemented as a computer program, which includes instructions that, when executed by a computer, cause the computer to perform the method. According to some embodiments, the computer program is stored in a computer-readable medium that includes instructions that, when executed by a computer (e.g., ...), Figure 4 When the processor 101 executes the instruction, the instruction causes the computer to perform the method. In some embodiments, the control device 100 is located in the same location as the livestock area 300. Alternatively, such a control device 100 can be implemented remotely, for example, in a computer cloud setup.

[0073] Reference Figure 5 Flowcharts and Figure 4 The sorting system 200 describes in more detail the computer-implemented method. Figure 5 The method steps for operating the proposed automatic sorting gate are shown. Some method steps are optional and are shown in dashed lines. The method is typically carried out during a predetermined milking period (e.g., morning or evening) when the farmer wants to select a subset of a herd of animals for treatment after milking.

[0074] Before initiating a specific treatment, the sorting system 200 is typically configured for the specific treatment to be performed. In some embodiments, this configuration involves specifying the duration of the treatment period, the size of the sorting area, and sorting criteria applied to select animals to guide them into the sorting area 40 for treatment. This is done, for example, by a user such as a farmer. This configuration is done, for example, via a user interface 60 generated on a user device such as a computer or on a touchscreen. Farmers may also manually assign priorities to individual animals 10. In other words, in some embodiments, the method includes assigning an individual priority S0 to one or more animals 10.

[0075] The user also inputs sorting criteria and information limiting the maximum number of animals allowed to be simultaneously in the sorting / treatment space during the treatment period. The treatment period is the time available to staff planning to perform the treatment. Sorting criteria define animal conditions, here referring to the animal characteristics that animal 10 should exhibit in order to be selected for treatment. Sorting criteria can consider various animal characteristics. Animal characteristics can be registered historical data, such as calving date, insemination date, hoof trimming date, artificial classification marks, assigned animal characteristics, etc. Animal characteristics can also be monitored dynamic characteristics, such as animal location, animal activity, stride length, number of steps, temperature, feeding data, milking data, and behavioral data. For example, sorting criteria may include: if the last hoof trimming date of a cow is 6 months ago, then the cow is selected for hoof trimming treatment. In other words, the computer-implemented method includes receiving user input via user interface 60, S1, indicating one or more sorting criteria applicable to one or more animal characteristics, to determine whether animal 10 should be allowed to enter sorting area 40 for treatment, and receiving S1 the maximum number of animals allowed to be simultaneously present in sorting area 40 during the treatment period. In some implementations, receiving S1 includes presenting different predefined values ​​or logic to the user on the user interface 60, after which the user can select (e.g., on a touchscreen) the desired value or sorting criteria. For example, some initial boundary conditions are entered when the sorting system is started. In other implementations, the user optionally or additionally enters any value or sorting criteria using, for example, a keyboard.

[0076] As described above, the initial sorting criteria are then adjusted based on the number and / or flow of animals through sorting area 40. One method for retrieving information indicating such flow is to use, for example... Figure 3 The Real-Time Location System (RTLS) described herein. Therefore, in some embodiments, the method includes retrieving location data from the RTLS that defines the individual location of animal 10. Information retrieved from the RTLS indicates that selected and / or treated cows have left the sorting area. This could, of course, be alternatively done based on manual feedback, but human-interaction-based methods are vulnerable, which is why RTLS support is often very useful. Location data can also indicate other animal characteristics, such as animal movement, animal posture, temperature, etc.

[0077] The method also includes automatically monitoring, in S3, the number of animals 10 entering or leaving sorting area 40 during treatment. Common RFID systems can also be used for this purpose. For example, RFID readers are placed at one or more entrances and exits of sorting area 40 to count the number of animals leaving and entering. More specifically, an RFID reader detects a particular cow passing by the RFID reader. A computer-implemented counter can then be used to track the number of animals that have passed through. The number of animals entering the system can also be monitored by counting the number of animals selected to enter sorting area 40. In other words, the number of times sorting gate 20 is opened is counted. As mentioned above, this monitoring S3 is also optionally performed based on location data retrieved from RTLS. The location data typically also indicates which animals have left milking area 30 and are approaching the sorting gate, which animals are on their way to milking area, which animals 10 are currently in milking area 30, and which animals are in waiting area 70. Assuming the area has at least some basic RTLS coverage, RTLS will detect 100% of the cows, unlike conventional RFID systems, whose accuracy ranges from 98% to 99.5%. In some cases, the difference between 99.5% and 100% cannot be ignored.

[0078] Based on monitoring S3, the situation in the sorting area can be investigated. This can be achieved in several different ways. For example, the number of animals 10 present in the sorting area can be determined to ascertain whether the occupancy rate in the sorting area is normal, too high, or too low. Occupancy rate, for example, refers to the number of present animals divided by the maximum number of animals allowed in sorting area 40. In other words, in some embodiments, the method includes continuously determining the number of animals present in the sorting area based on automated monitoring S4a. Continuously in this document means performing the action repeatedly, frequently, or regularly.

[0079] Alternatively, flow through the sorting area can be monitored. Flow is typically expressed as a flow parameter that defines, for example, the number of animals leaving sorting area 40 per unit of time. Flow often depends on the type of treatment, the personnel performing the treatment, and / or the behavior of the animals in the sorting area. Therefore, flow may vary over time and may not be known to the farmer when a treatment period begins. In other words, in some embodiments, the method includes calculating the S4b flow parameter based on automated monitoring, which reflects the number of animals passing through sorting area 40 per unit of time.

[0080] The method then includes adjusting one or more parameter values ​​of one or more sorting criteria in S5 based on monitoring S3 and the maximum number of animals 10 received. The parameter values ​​of the sorting criteria are typically adjusted to achieve a more uniform workload for the staff performing treatment in the sorting area 40. More specifically, the inflow of animals 10 into the sorting area 40 is controlled by adjusting one or more parameter values ​​of the sorting criteria input in S5. The operation of the sorting gate is then controlled based on these adjusted sorting criteria. In other words, the method includes controlling the sorting gate 20 in S6 using sorting criteria that include the adjusted one or more parameter values.

[0081] In some implementations, the adjusted parameter values ​​are one or more thresholds. For example, an animal's characteristics can be compared to a threshold to determine whether the animal should be treated during treatment. By increasing these thresholds, the inflow to sorting area 40 can be reduced. In other words, increasing these thresholds can make the sorting criteria more stringent. In other words, in these implementations, controlling the operation of sorting gate 20 in S6 involves comparing one or more animal characteristics to at least one adjusted threshold to determine whether a particular animal 10 should be selected to enter sorting area 40. This method is typically repeated from step S2 during treatment, and therefore monitoring and adjustment S5 are performed throughout the treatment period.

[0082] Adjusting S5 can be performed in different ways. For example, the parameter value of the S5a sorting criterion can be adjusted based on the number of animals in the determined sorting area 40. Typically, if the occupancy rate in the sorting area is high, the threshold of the sorting criterion is increased. For example, when the occupancy rate exceeds a specific threshold, such as 50%, 75%, or 90%, one or more thresholds of the sorting criterion are increased. Typically, the S5 threshold is adjusted before the sorting area is full (reaching the maximum number of animals) to avoid missing animals that particularly need treatment. Conversely, if the occupancy rate increases above a certain level, animals that can wait for the next opportunity are skipped. In other words, in some implementations, adjusting S5 includes setting a higher threshold when determining the first number of animals in the S4a sorting area than when determining the second number of animals in the S4a sorting area, where the first number of animals in the sorting area is higher than the second number of animals in the sorting area.

[0083] Another possibility is to adjust the S5a parameter value additionally or alternatively based on the calculated flow parameters. Typically, if there is less flow through the sorting zone, the threshold of the sorting criterion is increased. For example, if the current inflow to sorting zone 40 is higher than the outflow, one or more thresholds of the sorting criterion are increased. In other words, in some embodiments, adjusting S5 involves setting a higher threshold when calculating the first flow parameter value of S4b than when calculating the second flow parameter value of S4b, where the first flow parameter value is lower than the second flow parameter value.

[0084] Another possibility is to base the sorting criteria on priority. Priorities can be manually assigned to S0. Alternatively, priorities can be automatically assigned based on how well an animal meets the sorting criteria. For example, animals that significantly exceed the sorting criterion threshold (i.e., exceed a certain quantity) are considered to have high priority.

[0085] One possibility is to limit the sorting system to a maximum number of low-priority animals allowed in the sorting area. In this way, it is guaranteed that there is always space for some high-priority animals. In other words, in some implementations, one or more parameter values ​​limit the maximum number of animals 10 with a priority below a certain threshold, which are allowed to enter or reside in the sorting area 40 simultaneously or during a specific time period.

[0086] In a further implementation, one or more parameter values ​​of S5b are adjusted based on location data retrieved from the RTLS. More specifically, sorting criteria can be adjusted based on the location of high-priority animals. One possibility is to temporarily tighten the sorting criteria when RTLS data indicates that many high-priority animals are expected to arrive at the sorting gate within a specific time period. This could occur if RTLS data indicates that several high-priority animals are located in milking area 30 and are therefore expected to arrive at sorting gate 20 soon (e.g., within a specific time period, such as 5 to 10 minutes). Therefore, in some implementations, one or more parameter values ​​of S5b are adjusted based on the location of priority animals 10 that have already been assigned a priority above a certain threshold.

[0087] Given that the time spent milking is known, it is even possible to predict the time when priority animals will arrive at the sorting gate based on location data, and adjust the sorting criteria to ensure they receive care. Therefore, in some embodiments, the method includes estimating the time when priority animal 10 will arrive at sorting gate 20 based on location data, and adjusting one or more parameter values ​​in S5 based on the estimated time when priority animal 10 will arrive at sorting gate 20.

[0088] In some cases, adjusting the S5 sorting criteria may not be sufficient to handle unexpected situations. For example, staff performing treatment may experience interruptions, or unexpected events and accidents may occur. In such cases, it is necessary to alert the farmers so that appropriate measures can be taken. In other words, in some implementations, the method includes providing an S8 alert or instruction to the user or staff via the user interface 60 to perform an action when a potential S7 sorting conflict is detected. For example, the action could be to release animals with a priority below a threshold from the sorting area.

[0089] Different sorting conflicts can trigger such alarms. In some implementations, a sorting conflict includes the anticipated number of animals 10 in sorting area 40 reaching the maximum number of animals 10 in sorting area 40. In some implementations, a sorting conflict includes the number of animals in a identified sorting area exceeding the maximum number. These situations can alert staff to instruct them to release untreated animals, conduct a rapid assessment of animals only before releasing untreated animals, or make an exception and treat more animals.

[0090] In some implementations, the sorting conflict involves animals with a priority above a threshold expected to arrive at the sorting gate within a specific time period. In other words, this could indicate that the number of priority animals arriving at the sorting gate in a short period exceeds the number that can be treated. In this situation, staff or farmers might want to manually select the animals that should be treated and release some of the selected priority animals from the treatment area without treating them.

[0091] In some implementations, sorting conflict includes calculated flow parameters indicating that the average flow of animals through sorting zone 40 has decreased by more than a certain amount. For example, the number of animals leaving sorting zone 40 per unit of time suddenly drops, exceeding a reference number. This could indicate that operations in sorting zone 40 are being disrupted and manual inspection may be necessary.

[0092] The terminology used in the description of the embodiments illustrated in the accompanying drawings is not intended to limit the described methods, systems, control devices, or computer programs. Various changes, substitutions, and / or modifications may be made without departing from the embodiments of this disclosure as defined in the appended claims.

[0093] As used herein, the term “or” should be interpreted as mathematical OR, i.e., as inclusive disjunction, rather than as mathematical exclusive “or”, unless otherwise expressly stated. Additionally, the singular forms “a,” “an,” and “the” should be interpreted as “at least one,” and therefore may include multiple entities of the same kind, unless otherwise expressly stated. It should be further understood that the terms “includes,” “comprises,” “including,” and / or “comprising” specify the presence of the stated features, actions, integrals, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, actions, integrals, steps, operations, elements, components, and / or groups thereof. For example, a single unit of a processor may perform the functions of several items recited in the claims.

Claims

1. A sorting system (200) for automatically selecting animals (10) to be treated during treatment, the sorting system comprising: - An automatic sorting gate (20) is arranged to selectively sort animals (10) arriving from the milking area (30) into a sorting area (40) for treatment. - Control device (100), the control device being configured to: i. Receiving user input via a user interface (60) to determine whether an animal should be allowed to enter the sorting area to receive the treatment, and receiving the maximum number of animals allowed to be simultaneously present in the sorting area (40) during the treatment, wherein the user input indicates one or more sorting criteria applicable to one or more animal characteristics, ii. During the treatment, the number of animals (10) entering and leaving the sorting area (40) is continuously monitored. iii. Adjust one or more parameter values ​​of the one or more sorting criteria based on the monitored number of animals entering and leaving the sorting area (40) and the maximum number of animals received, and iv. The automatic sorting gate (20) is controlled using the sorting criteria, which include one or more adjusted parameter values.

2. The sorting system (200) according to claim 1, wherein, The one or more animal characteristics include registered animal characteristics and / or monitored animal characteristics.

3. The sorting system (200) according to claim 1 or 2, wherein, The adjusted one or more parameter values ​​include at least one threshold, and the control device (100) is configured to compare the one or more animal characteristics with the at least one threshold to determine whether a particular animal should be selected to enter the sorting area (40).

4. The sorting system (200) according to claim 1, wherein, The control device (100) is configured to be based on the number of animals (10) entering and leaving the sorting area (40) through continuous monitoring: ●Continuously determine the number of animals present in the sorting area (40) and / or ● Calculate flow parameters reflecting the number of animals passing through the sorting area (40) per unit of time, and The parameter values ​​are adjusted based on the determined number of animals present in the sorting area (40) and / or the calculated flow parameters.

5. The sorting system (200) according to claim 4, wherein, The control device (100) is configured to adjust the parameter value by setting a higher threshold when calculating a first flow parameter value than when calculating a second flow parameter value, wherein the first flow parameter value is lower than the second flow parameter value.

6. The sorting system (200) according to claim 4 or 5, wherein, The control device (100) is configured to adjust the parameter value by setting a higher threshold when determining a first number of animals in the sorting area than when determining a second number of animals in the sorting area, wherein the first number of animals in the sorting area is higher than the second number of animals in the sorting area.

7. The sorting system (200) according to claim 1, wherein, The control device (100) is configured to assign individual priorities to the animal (10), wherein one or more sorting criteria are applied to the assigned individual priorities.

8. The sorting system (200) according to claim 7, wherein, The one or more parameter values ​​define the maximum number of animals with a priority below a certain threshold, which are allowed to enter or reside in the sorting area (40) simultaneously or during a specific time period.

9. The sorting system (200) according to claim 1, wherein, The control device (100) is configured to: ● Retrieve location data defining the individual location of the animal (10) from the Real-Time Location System (RTLS) and adjust one or more parameter values ​​based on the location data.

10. The sorting system (200) according to claim 9, wherein, The control device (100) is configured to monitor the number of animals entering and leaving the sorting area based on the location data.

11. The sorting system (200) according to claim 10, wherein, The control device (100) is configured to adjust one or more parameter values ​​based on the position of a priority animal (10) that has been assigned a priority higher than a certain threshold.

12. The sorting system (200) according to claim 11, wherein, The control device (100) is configured to estimate the time when the preferred animal (10) arrives at the automatic sorting gate (20) based on the location data, and to adjust one or more parameter values ​​based on the estimated time when the preferred animal (10) arrives at the automatic sorting gate (20).

13. The sorting system (200) according to claim 1, wherein, The control device (100) is configured to: - When a potential sorting conflict is detected, the user is given instructions to perform an action via a speaker or user interface (60).

14. The sorting system (200) according to claim 13, wherein, The sorting conflict includes at least one of the following: - The number of animals (10) in the sorting area (40) is expected to reach the maximum number of animals (10) in the sorting area (40). Animals with a priority above a certain threshold are expected to arrive at the automatic sorting gate within a specific time period. - The calculated flow parameters indicate that the average flow of animals through the sorting area (40) has decreased by more than a certain amount, and - The number of animals in the identified sorting area exceeds the maximum number of animals.

15. A computer-implemented method for operating an automatic sorting gate (20), the automatic sorting gate being arranged to selectively sort animals arriving from a milking area (30) into a sorting area (40) for performing treatment on the animals, the computer-implemented method comprising: -Receive user input via a user interface indicating one or more sorting criteria applicable to one or more animal characteristics to determine whether an animal should be allowed to enter the sorting area to receive the treatment, and receive the maximum number of animals allowed to be present simultaneously in the sorting area (40) during treatment. -Automatically monitor the number of animals (10) entering and leaving the sorting area during the treatment. - Adjust one or more parameter values ​​of the one or more sorting criteria based on the maximum number of animals (10) monitored and received. - The automatic sorting gate (20) is controlled using the sorting criteria, which includes one or more adjusted parameter values.

16. The computer-implemented method according to claim 15, wherein, The animal characteristics include registered animal characteristics and monitored animal characteristics.

17. The computer-implemented method according to claim 15, wherein, The adjusted one or more parameter values ​​include at least one threshold, and the control includes comparing the one or more animal characteristics with the at least one threshold to determine whether a particular animal should be allowed to enter the sorting area (40).

18. The computer-implemented method according to claim 15, wherein the computer-implemented method comprises: -Based on the automatic monitoring, continuously determine the number of animals present in the sorting area and / or calculate flow parameters reflecting the number of animals passing through the sorting area (40) per unit of time based on the automatic monitoring, and The parameter values ​​are adjusted based on the number of animals in the determined sorting area (40) and / or the calculated flow parameters.

19. The computer-implemented method according to claim 18, wherein, The adjustment includes setting a higher threshold when calculating the first flow parameter value than when calculating the second flow parameter value, wherein the first flow parameter value is lower than the second flow parameter value.

20. The computer-implemented method according to claim 17, wherein, The adjustment includes setting a higher threshold when determining a first number of animals in the sorting area than when determining a second number of animals in the sorting area, wherein the first number of animals in the sorting area is higher than the second number of animals in the sorting area.

21. The computer-implemented method according to claim 15, wherein the computer-implemented method comprises: - Assign (S0) individual priority to one or more of the animals (10), and The one or more sorting criteria are applicable to the assigned individual priorities.

22. The computer-implemented method according to claim 21, wherein, The one or more parameter values ​​define the maximum number of animals with a priority below a certain threshold, which are allowed to enter or reside in the sorting area (40) simultaneously or during a specific time period.

23. The computer-implemented method according to claim 15, wherein the computer-implemented method comprises: - Retrieve location data defining the individual location of the animal (10) from the Real-Time Location System (RTLS), and Adjust one or more parameter values ​​based on the location data.

24. The computer-implemented method according to claim 23, wherein, The monitoring is performed based on the location data.

25. The computer-implemented method of claim 23, wherein the computer-implemented method includes adjusting the one or more parameter values ​​based on the position of a priority animal (10) that has been assigned a priority higher than a specific threshold.

26. The computer-implemented method according to claim 25, wherein the computer-implemented method comprises: - Estimate the time it takes for the preferred animal (10) to arrive at the automatic sorting gate (20) based on the location data. And adjust one or more parameter values ​​based on the estimated time when the preferred animal (10) arrives at the automatic sorting gate (20).

27. The computer-implemented method according to claim 15, wherein the computer-implemented method comprises: When a potential sorting conflict is detected - Provide the user with instructions to perform actions via speakers or a user interface.

28. The computer-implemented method according to claim 27, wherein, The sorting conflict includes at least one of the following: - The number of animals (10) in the sorting area (40) is expected to reach the maximum number of animals (10) in the sorting area (40). Animals with a priority above a certain threshold are expected to arrive at the automatic sorting gate within a specific time period. - The calculated flow parameters indicate that the average flow of animals through the sorting area (40) has decreased by more than a certain amount, and - The number of animals in the identified sorting area exceeds the maximum number of animals.

29. A control device (100) configured to perform a computer-implemented method according to any one of claims 15 to 28.

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