Milking system with positioning aid

Abstract

A robotic milking system (1) for milking a milking animal (10), which robotic milking system is provided with at least one milking stall (2), a milking arrangement (5) and a robot arm (4) for connecting the milking arrangement, and an animal recognition device (9) for automatically determining the identity of the milking animal, and which robotic milking system has a control system (20) for controlling the robotic milking system. The robotic milking system further comprises a positioning aid (15) for determining the position of the milking animal in the milking stall, which positioning aid is movable by the control system between a non-activated state, in which the positioning aid is remote from the milking animal, and an activated state, in which the positioning aid rests against the milking animal at least during said connecting. Furthermore, the control system is arranged to bring the positioning aid into the activated state in dependence on the determined identity. This provides for a calming of the milking animal and / or a more accurate positioning of the milking animal, so that the teat cups can be connected more quickly and more reliably. When this is not necessary, the positioning aid remains remote from the milking animal, and the milking animal has optimal freedom of movement in the milking stall.

Description

[0001] This invention relates to a robotic milking system for milking dairy animals. The robotic milking system includes at least one milking barn, a milking device, a robotic arm for connecting the milking device, and an animal identification device for automatically identifying the dairy animals. The robotic milking system also has a control system for controlling the robotic milking system. The robotic milking system further includes a positioning aid for determining the position of the dairy animals in the milking barn. The positioning aid can be moved between an inactive state and an active state by the control system. In the inactive state, the positioning aid is away from the dairy animals. In the active state, the positioning aid is against the dairy animals at least during the connection.

[0002] A robotic milking system is known from EP 1020111. This robotic milking system has a sensor system that rests against the rear end of the milking animal and is connected to an attachment arm for a teat cup. Therefore, it is necessary to determine the position of the animal relative to the attachment arm.

[0003] Furthermore, it is known to use supports installed in milking pens to confine animals that are smaller than the standard size or smaller than the size (maximum or average) intended for use in the milking pen, or new or restless animals. Examples include Jersey cows in a standard robotic pen, or cows recently placed in a milking robot (so-called first-time milking cows).

[0004] Fitting these supports (and then removing them) takes unnecessary time and effort, and also restricts the animal's freedom of movement, which is undesirable.

[0005] One object of the present invention is to provide a robotic milking system that effectively helps to soothe agitated cows or first-time milking cows without unnecessary contact with other milking animals or confining them in cages or milking sheds.

[0006] The present invention achieves the above-mentioned objective at least in part by means of a robotic milking system according to claim 1, particularly a robotic milking system for milking milking animals, the robotic milking system comprising at least one milking barn, a milking apparatus and a robotic arm for connecting the milking apparatus, an animal identification device for automatically determining the identity of the milking animal and a control system for controlling the robotic milking system, the robotic milking system further comprising a positioning aid for determining the position of the milking animal in the milking barn, the positioning aid being movable between a deactivated state and an activated state by the control system, in the deactivated state being away from the milking animal, and in the activated state being abutting against the milking animal at least during the connection, wherein the control system is arranged to activate the positioning aid based on the determined identity.

[0007] This invention automatically adjusts positioning aids, for example, for new or agitated animals. Other milking animals are generally not constrained by the positioning aids. This means that for these last-mentioned animals (who will form the largest group at present), generally no measures are imposed in the milking barn that hinder their freedom, which is optimal for their soothing. For new or agitated animals, the positioning aids generally have a calming effect, comparable to the effect of a farmer's hand on the animal. Additionally, the positioning aids can help (actively) restrict freedom of movement and, as in the prior art, can infer the approximate location of the teats from the state of the positioning aids. Thus, the location of the milking animal is determined in two ways: actively by treating "determination" as "restriction (to some extent)," and passively by treating "determination" as "establishment, measurement." This invention is also based on the idea that the control system will "know" whether the milking animal is new. Currently, there is no available (milking) data for this animal, such as milk yield or teat coordinates. Of course, there are other possible methods for identifying an animal as new. However, it is important that the robotic milking equipment itself can take this into account, in this case by activating positioning assistance and placing it against the milking animal, but not in other cases. This is done automatically by the control system based on the animal's identity determined by means of animal identification devices, and data naturally stored in the control system (or even if that data is missing).

[0008] For example, the control system essentially keeps the positioning aid against the milking animal in an active state throughout the milking operation. A soothing motion can then be applied throughout the milking process. Alternatively, the control system can also be arranged to keep the positioning aid against the milking animal active during the engagement of the milking apparatus. Therefore, applying a soothing motion, particularly during the phases of the milking operation, is crucial for the robot and provides maximum freedom of movement within the milking barn during actual milking.

[0009] Specific embodiments, features, and advantages are described in the dependent claims and in the following description.

[0010] In some embodiments, the control system is arranged to activate the positioning aid during a predetermined number of visits by the milking animal to the milking barn, particularly the first visit, or within a predetermined number of days of visits by the milking animal to the milking barn, particularly the first few days of the initial milking phase. For example, milking may be performed in this manner for the first seven days, where this number can be changed automatically or manually. It can be ensured that the milking animal is affected by the positioning aid during the first number of visits or days, and is no longer affected thereafter. Therefore, the initial milking of the milking animal can be automated. The milking animal can thus be accustomed to automated milking in a calm manner, and the robotic milking equipment can efficiently locate the milking animal's teats for connecting the milking device and optionally performing other actions (such as cleaning or applying a reagent to the teats). As is known in the prior art, initially unknown coordinates are typically located within a relatively limited range relative to the positioning aid. Therefore, the robotic arm only needs to search for teats within a correspondingly small spatial area.

[0011] In some embodiments, the robotic milking system further includes an animal management system operatively connected to the control system and containing a data file with the identity of each milking animal and instructions related to activating the positioning assistance device. Generally, if animal-related data is lost, the control system can be configured to activate the positioning assistance device. For example, if the identity cannot be determined, for instance, due to a defective or missing identification chip, the control system can be configured to milk the animal even if the time of the last milking is unknown. After separation, in each case, the time of the last milking will now be known. It could also be a new animal whose identity can be confirmed but has not yet been registered. The control system must then assume that the animal is intended for initial milking and will activate the positioning assistance device upon access, and then milk the animal. In each case, if only data for a single animal is lost, the data can be manually associated with the animal's true identity, for example, based on an ear tag, etc. However, generally, both the animal's identity can be established and details can be requested from the data file based on the identity, and the control system can determine whether the positioning assistance device should be activated.

[0012] Specifically, the animal management system is configured to automatically generate an indication in a data file upon the inclusion of a new milking animal, indicating that the positioning aids used on the milking animal are now enabled. The manager / farmer can input the indication for each new animal to be registered. However, it would be easier and more reliable if the control system, or at least the animal management system, automatically generated the indication. The indication may include a standard length, such as a predetermined number of milking stages (e.g., selected from three to ten milking stages), and after such a number of milking stages, the indication is automatically withdrawn by the control system, or, for example, based on criteria. For example, the control system is configured to measure stress-related parameters of the animal (e.g., mobility during connection and / or milking) and withdraw the indication when the value is above or below a predetermined limit.

[0013] Alternatively or additionally, the animal management system includes an input device arranged to receive instructions from an operator relating to the instructions given to the milking animal. The input device may include a keyboard, touchscreen, internet connection, etc. For example, if the instruction pertains to a milking animal that has been taken over by another company and is accustomed to (robotic) milking, the instruction may be omitted. On the other hand, the instruction may be extended, either manually or, for example, by re-entering, if there are other reasons (e.g., temporary nipple sensitivity caused or subsequently resulting from mastitis, post-calving re-accumulation, etc.). This re-entered instruction can naturally be withdrawn again, for example, after a certain period, a certain number of milking stages, or based on predetermined criteria (e.g., limits above or below stress-related parameter values). With this in mind, the control system may be arranged to determine the stress-related parameter values ​​based on, for example, the movements that the robotic arm must make during connection and / or milking to follow the animal, or the control system may be equipped with sensors (e.g., a heart rate monitor) for measuring such stress values.

[0014] For example, when activated, the positioning aid presses against the milking animal with pressure, where the pressure is between 10 N and 300 N, specifically approximately 10 N rounded up. 2 The force is N, therefore between 50 N and 150 N. This force is roughly consistent with the force a farmer would apply to the milking animal when calming it or keeping it calm during connection and / or milking. For this purpose, the positioning aid can be, for example, equipped with a spring device, a piston, or some other actuator. Advantageously, the actuator of the positioning aid includes a pressurized gas actuator, particularly a compressed air cylinder. This has the advantage of easy adjustment and, compared to, for example, a hydraulic actuator, is compressible in the event of panic in the milking animal, etc. This enhances safety in emergency situations.

[0015] Specifically, this pressure is adjustable in the control system, such as based on animal identity. Instructions in the control system may include this force setting. Importantly, it should be noted that in advantageous embodiments, the positioning aid yields and thus still provides freedom of movement for the animals in the milking barn. The milking animals are unrestricted. Therefore, during milking, the milking animals will not experience stress, or at least minimal stress, and will not resist returning to the milking barn. Alternatively, the positioning aid can be arranged not to press against the milking animal with a (constant, optionally adjustable for each animal) force, but to occupy a constant position as much as possible. This provides further advantages in determining approximate teat positions, since the animal's freedom of movement is now restricted. For example, the constant positions can be pre-entered into a data file, such as for each milking animal (e.g., small / medium / large, depending on breed and / or age, etc.). The constant position for each milking animal can also be determined based on the first milking stage. Locations found suitable for connecting the milking device can be automatically stored in the data file, so that they can then be set as constant positions in subsequent milking stages.

[0016] In some embodiments, the positioning aid includes a rotatable and optionally slidable component fastened to the milking barn. The component itself is not particularly limited, but in the non-activated state, it should not restrict the freedom of movement of the milking animal. Therefore, in the non-activated state, the component is located outside the milking animal's reach (particularly outside the milking barn), and the component is rotatable and optionally slidable. "Rotatable" also includes swinging, folding, etc.

[0017] In particular, the positioning aid includes a support frame. Although alternative forms of positioning aids (e.g., plates or rods) are possible, the advantage of a support frame is that, with a limited amount of material, it can still somewhat enclose milking animals of various sizes, and thus provide more comfort, or alternatively, better containment. This support frame is advantageously secured to the milking barn at both ends, ensuring that, on the one hand, the support is securely fastened, and on the other hand, it can reliably apply sufficiently large forces to the milking animal if needed.

[0018] Specifically, the support is rotatable about a generally horizontal axis, wherein in the inactive state, the support is positioned above the milking animal, and in the active state, the support rests against the tail side of the milking animal, particularly the upper part of at least one of the hind legs. This rotatability easily provides optimal freedom of movement for the animal in the milking barn, or provides optimal positioning and / or calmness for the milking animal.

[0019] Milking barns typically have exit doors that can be controlled by a control system. Advantageously, the control system is arranged to keep the positioning aids active after milking the milking animal and after the exit door has been opened. This means that the milking animal continues to experience some pressure even after milking and during and after the exit door has been opened. This facilitates the removal of the milking animal from the milking barn after milking, allowing the milking barn to be quickly reused by the next milking animal. In particular, the control system is arranged to increase the pressure of the positioning aids, for example, by doubling it, after the exit door has been opened.

[0020] In some embodiments, the positioning aid further includes a sensor for determining the position of the milking animal in the milking barn. A separate sensor (such as a camera) may be provided, but advantageously, the positioning aid itself includes such a sensor. In particular, this sensor is a rotation sensor for determining the rotation angle of the positioning aid. Based on the rotation angle measured by the sensor, a control system connected thereto is able to determine the position of the support, and thus the position of at least the rear end of the milking animal relative to the milking barn. Furthermore, the position of the teats in the milking barn is typically determined so that the control system can determine the difference from the previous position, and thus the relative position of the teats relative to the rear end of the milking animal. This per se known measure facilitates more efficient teat positioning during subsequent milking stages.

[0021] The invention will now be explained in more detail with reference to the accompanying drawings, in which some non-limiting exemplary embodiments are shown: Figure 1 A schematic side view of the robotic milking system according to the present invention is shown, and Figure 2 A schematic top view of the robotic milking system according to the present invention is shown.

[0022] Figure 1 A schematic side view of the robotic milking system according to the present invention is shown, and Figure 2 A schematic top view of a robotic milking system according to the present invention is shown. The robotic milking system is generally indicated by reference numeral 1 and includes a milking barn 2 having a milking robot 3, a feed trough 7, an animal position detector 8, and a tag reader 9. The milking robot is equipped with a robotic arm 4, a teat cup 5, and a teat position detector 6.

[0023] The milking animal 10 has teats 11 and hind legs 12, and carries an ID tag 13.

[0024] The bracket 15 is indicated by 15 and has an end 18. The bracket 15 is rotatable about a rotation axis 16 having a rotation axis centerline 16'' in the direction of the curved double arrow, and optionally can slide in the direction of the straight double arrow. In addition, an angle sensor 17 is optionally provided.

[0025] The control system is indicated by 20 and is operatively connected to the animal management system 21, which has a data file 22 and is connected to a keyboard 23.

[0026] The robotic milking system 1 essentially includes any known milking robot, indicated herein only schematically by reference numeral 3. Examples are the Lely Astronaut® or DeLaval VMS™ systems. Such a system includes a "milking robot" housing 3 with robotic arms 4 that can attach teat cups 5 to the teats 11 of the milking animal 10. For this purpose, a teat detection system is also provided, in the form of a camera 6, such as a 3D camera, a stereo camera, or alternatively, a laser sensor. Some robotic arms are configured to carry all teat cups 5 simultaneously, while other robotic arms apply teat cups one after another.

[0027] When the milking animal 10 "registers" for milking in the milking pen 2, it is identified upon entering the pen by reading the ID tag 13 using the tag reader 9. This identifies the milking animal 10, and the control system 20 can then transmit this information to the animal management system 21, which searches the data file 22 to determine if the positioning assistance device 15 should be applied for milking the animal, for example, for a first-time milking animal or for an animal that has already undergone its first milking. In the latter case, the control system 20 will proceed with the milking as usual, i.e., locating the teats 11 using the teat position detector 6, after which the robotic arm 4, under the control of the control system 20, places the teat cup 5 onto the corresponding teat 11. Here, the position of the milking animal 10, particularly its hindquarters, can be determined using an optional animal position sensor 8. From this, the control system 20 can infer the approximate position of the teats 11, enabling efficient connection. It should be noted that the animal position sensor 8 will be a non-contact sensor to avoid unnecessarily interfering with the milking animal 10. Sensor 8 is, for example, a stereo or 3D camera, an ultrasonic sensor, etc.

[0028] If the identified milking animal 10 has an indication in data file 22 that it is to be milked with a positioning aid (e.g., for a first-time milking animal or a restless animal), the control system 20 according to the invention will adjust accordingly. After entering the milking pen 2 and being identified, the milking animal 10 is positioned and / or soothed by means of a support 15, which serves as a positioning aid. The support 15 rotates downward about a rotation axis 16 from above and outside the milking pen 2 until it presses against the milking animal 10. The milking animal 10 will generally be attracted by the feed in the feed trough 7. Larger milking animals will extend further back in the milking pen 2 than smaller milking animals. This ensures that the milking support 15 presses against the milking animal 10 at a similar relative height in each case. Advantageously, the pressing point is at the height of the fleshy part of the hind leg 12, such as at the height of the udder / nipple 11. However, certain other positions are not excluded, such as higher positions on one or more hind legs 12. With the support 15 pressing against the milking animal 10, the milking animal is not only positioned to some extent but also soothed, allowing the nipple cup connection to be performed more efficiently and reliably.

[0029] Optionally, the support 15 or any other positioning aid according to the invention can be slid in the longitudinal direction of the milking shed 2 (e.g., along the longitudinal beams or tracks). Then, after the milking animal 10 is identified as "to be milked with the positioning aid", the control system 20 can rotate the support 15 to the appropriate position and, if necessary, can push the support forward or backward, for example, according to the size of the animal.

[0030] To enable rotation and, optionally, displacement of the support 15, an actuator (not shown separately) is provided, which advantageously comprises a compressed air cylinder. Thus, the support 15 can move elastically with the milking animal 10, so that the milking animal may not feel agitated or restricted. However, if the animal panics, it is safer than a restraining system (e.g., a hydraulic system) due to the elastic movement of the support 15. However, a hydraulic system can also function well if additional safety measures (e.g., overpressure protection, etc.) are implemented.

[0031] In this embodiment, the control system 20 is connected to the animal management system 21. This is shown here as an external system, operating, for example, on a livestock feeding PC. However, the animal management system 21 can also be integrated into the control system 20. In each case, the animal management system will contain a data file 22 with data about the milking animal 10, such as the status of whether to use a positioning device for milking according to the invention. This status can be automatically assigned by the control system 20 or the animal management system 21 when the animal enters the system. If there is still no (other) data about the milking animal 10 in the animal management system 21 / data file 22, it will be concluded that the milking animal is a first-time milking animal, and the status of "to be milked with a positioning aid" will be automatically assigned to the milking animal. This status can be overridden, for example, by the manager / farmer via keyboard 23 or some other input device. In all cases, the status can also be manually entered via the same keyboard 23, etc. As a standard, the status of "to be milked with a positioning aid" can mean milking the milking animal 10 with the activated support 15 for a predetermined number of days (e.g., 7 days). Of course, any other desired number of days is also possible. At the end of that number of days, the status will be automatically reset to "milking without positioning aids" by the animal management system 21 or control system 20, unless this status is overridden by the manager or based on certain criteria, which will be discussed in more detail below.

[0032] Even if the milking animal has undergone its first milking, in some cases it may be advisable to assign or maintain a "milking with positioning aids" state. For example, if the milking animal 10 is (too) agitated, it may still seem difficult to connect to the teat cup 5 even after the initial milking phase with positioning aids has ended. This can be determined automatically, for example, by the control system 20 by comparing the required connection time with a threshold. If the threshold is exceeded, the state remains "milking with positioning aids" until the connection time remains below the threshold for at least a predetermined number of times. It is also possible that the normally milking animal itself becomes agitated for some reason or other reason (e.g., due to an outsider in the barn, due to sensitive teats, etc.). This agitation may occur, for example, due to the connection time exceeding the threshold. This agitation can also be inferred from the animal's position measured by the animal position sensor 8 and its change over time. If this change (and therefore the rate) is too large, and the milking animal is too agitated to connect reliably and quickly, the control system 20 may switch to enabling the support 15 and milking the milking animal 10 with the aid of that support. If necessary, such as after repeated episodes of excessive agitation, the control system can also change the indication / status to "milking with positioning device". With this occurring, the milking animal in question can then be milked over a predetermined number of days, which differs from the number of days for a first-time milking animal.

[0033] In the active state, the bracket 15 applies pressure. F Press against milking animals 10. F The size can be freely chosen in principle, but a useful value is, for example, about 10. 2 N, whose order of magnitude matches the force the farmer will apply to the milking animal. This value can also be selected based on the identity of the milking animal. The control system can also be arranged to adjust the pressure over time. This applies both to reducing and promoting the habituation and / or initial milking of the milking animal during milking phases, such as from one milking phase to another, and to variations in pressure during the current milking phase. For example, greater pressure can be applied during teat cup connection than during milking with all teat cups, as the milking animal's positioning is more critical at that time. It is also possible that the milking barn 2 has an exit door at the front (directly front, or left-front, or right-front, but not shown separately here), and that the control system 20 increases the pressure when milking ends and the exit door opens. This can stimulate the milking animal to leave the milking barn 2. The pressure can be increased in any desired manner (e.g., gradually or progressively) to any value set (e.g., 50% or 100% more than during connection / milking). The support 15 can be further rotated to continue pressing against the milking animal 10.

[0034] The optional animal position sensor 8 shown is used to determine the position of the milking animal 10 in the milking barn 2. Alternatively, an optional angle sensor 17 can be used to determine the animal's position. The angle sensor 17 measures the angular displacement of the support 15 until the end 18 of the support rests against the milking animal 10. Based on this angular displacement, the control system 20 is able to determine the position of said end 18, and thus the position of the rear end of the milking animal 20. It should be noted that if the support can also slide along the milking barn, an additional sensor is used to measure this displacement so that the animal's position can be determined based on this displacement and the angular displacement. Furthermore, it should be noted that the animal's position can, of course, also be determined, for example, by means of the animal position sensor 8.

[0035] The embodiments shown are not intended to be limiting. The scope of protection of this invention is determined by the appended claims.

Claims

1. A robotic milking system for milking dairy animals, the robotic milking system comprising at least one milking pen, a milking apparatus, a robotic arm for connecting the milking apparatus, and an animal identification device for automatically identifying the dairy animal, and the robotic milking system having a control system for controlling the robotic milking system. The robotic milking system also includes a positioning assistance device for determining the position of the milking animal in the milking barn. This positioning assistance device can move between an inactive and an active state via the control system. In the inactive state, the positioning assistance device is moved away from the milking animal; in the active state, the positioning assistance device rests against the milking animal, at least during the connection with the milking animal. in, The control system is configured to activate the positioning aid based on the determined identity, and The control system is configured to activate the positioning aid during a predetermined number of visits by the milking animal to the milking barn or within a predetermined number of days of visits by the milking animal to the milking barn.

2. The robotic milking system according to claim 1, wherein, The control system is configured to activate the positioning aid upon the milking animal's first visit to the milking barn or within a certain number of days of the milking animal's first visit to the milking barn.

3. The robotic milking system of claim 1 further includes an animal management system operatively connected to the control system, the animal management system containing a data file with the identity of each milking animal and instructions related to putting the positioning assistance device into the enabled state.

4. The robotic milking system according to claim 3, wherein, The animal management system is configured to automatically generate an indication in the data file when a new milking animal is included, indicating that the positioning aid used on the milking animal is in the enabled state.

5. The robotic milking system according to claim 3, wherein, The animal management system includes an input device configured to receive instructions from an operator relating to the instructions given to the milking animals.

6. The robotic milking system according to claim 1 or 2, wherein, In the activated state, the positioning aid presses against the milking animal with pressure, wherein the pressure is between 10 N and 300 N.

7. The robotic milking system according to claim 1 or 2, wherein, The positioning aid includes a rotatable or slidable component that is fastened to the milking barn.

8. The robotic milking system according to claim 7, wherein, The positioning aid includes a bracket.

9. The robotic milking system according to claim 8, wherein, The support is rotatable about a generally horizontal axis, wherein in the inactive state the support is positioned above the milking animal, and in the active state the support is pressed against the tail side of the milking animal.

10. The robotic milking system according to claim 1 or 2, wherein, The milking barn includes an exit door that can be controlled by the control system, wherein the control system is arranged to keep the positioning aid in the activated state after the milking of the milking animal and after the exit door is opened.

11. The robotic milking system according to claim 1 or 2, wherein, The positioning aid further includes sensors for determining the position of the milking animal in the milking barn.

12. The robotic milking system according to claim 6, wherein, The pressure mentioned is rounded to 10. 2 N.

13. The robotic milking system according to claim 9, wherein, In the activated state, the support presses against the upper part of at least one of the hind legs of the milking animal.

14. The robotic milking system according to claim 11, wherein, The sensor is a rotary sensor used to determine the rotation angle of the positioning aid.

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