Animal brushing device and associated method thereof

Abstract

The present disclosure relates to an animal brushing device (2) and a method for controlling an animal brushing device (2), the animal brushing device (2) comprising a support part (6) configured to be attached to a support structure (4), a brush (8), an electric motor (10) arranged to rotate the brush (8) about an axis of rotation (12), and a control device (30) for controlling the electric motor (10). The control device (30) is configured to determine a value related to an instantaneous power consumption of the electric motor (10) when the electric motor (10) is operating, compare the value related to the instantaneous power consumption with a threshold value, and execute a stop of the electric motor (10) in case the value related to the instantaneous power consumption is equal to or below the threshold value.

Description

Technical Field

[0001] This invention relates to an animal brushing device and a method for controlling the animal brushing device. Background Technology

[0002] Various animal scrubbing devices designed for scrubbing farm animals (such as cows, horses, and pigs) are currently known to exist.

[0003] Typically, such animal scrubbing devices include a rotatable brush that can rotate about a rotation axis and can be mounted to a fixed support structure, such as a wall or column.

[0004] Depending on the type of animal brushing device, its rotating brushes can be arranged with different degrees of freedom. In a simple arrangement, the position of the axis of rotation relative to the supporting structure is fixed. The more complex the arrangement, the more degrees of freedom the rotating brush can have. One degree of freedom can be provided by a vertically displaceable rotating brush. Two or three degrees of freedom can be provided by suspending the rotating brush on the device so that the rotating brush can perform pendulum movements about up to three pivot axes.

[0005] Animals voluntarily go to the animal brushing facility for brushing. Brushing is a way to keep animals clean, provide them with a massage, and calm them down. Furthermore, brushing can improve animal health and provide enhanced well-being and comfort.

[0006] For example, WO 03 / 084316 discloses an animal brushing device of this type, which provides a treatment apparatus for livestock in which an oblong brush is supported by a carrier. The brush can be initiated to rotate via a drive unit. This rotation is initiated by the animal coming into contact with the brush.

[0007] EP 3981247 discusses the problem of starting the rotation of a motor for an animal brush, disclosing a device for brushing animals having at least one brush rotatably mounted about an axis and driven by a motor. When the motor is stationary, its rotation is continuously monitored. Therefore, rotation not caused by the motor is used as a criterion for starting the motor. For example, the voltage induced in the motor is monitored to determine when the animal pushes against and rotates the brush.

[0008] Similarly, DE 202016102264 U1 discloses a device for cleaning and massaging horses, cattle, or other animals, the device having at least one roller rotatably mounted about its longitudinal axis and provided with bristles. An electric motor rotates the roller for a limited time period. The electric motor is automatically activated when an induced voltage or current is sensed as the animal contacts the roller.

[0009] For reliability and / or safety reasons, the rotation of an animal brush can be stopped in an emergency. US 11547087 discloses a brush device for brushing the back, head, and / or tail of animals such as cattle. Such brushes pose a risk that the cow's tail, or a collar or identification tag worn by the cow, may become entangled in the rotating brush, causing the brush to jam and / or the cow to be injured. To avoid this, a frequency controller is configured to stop the rotation of the brush motor if the current supplied to the motor exceeds a predetermined threshold.

[0010] Once the animal voluntarily completes the brushing, the brush no longer needs to be rotated.

[0011] EP 3981247 proposes stopping the motor after a certain period of time.

[0012] However, this could lead to unnecessary energy expenditure if the time period exceeds the animal's normal / average brushing time, or it could cause each animal to have to restart the brush once or multiple times if the time period is too short.

[0013] DE 202016102264 U1 proposes that the electric motor of the roller is deactivated by a change in movement between the stator and rotor of the electric motor, caused by the animal being brushed leaving the roller. This change in movement induces a detectable voltage or current. Summary of the Invention

[0014] It would be advantageous to implement an animal brushing device that avoids unnecessary energy consumption. Specifically, it is desirable to be able to quickly and reliably stop the rotating brush of the animal brushing device when the animal stops being brushed. To better address one or more of these problems, an animal brushing device and / or method having the features defined in one or more of the independent claims is provided.

[0015] According to one aspect of the invention, an animal brushing device is provided, comprising: a support member configured to be attached to a support structure; a brush; an electric motor arranged to rotate the brush about a rotation axis; and a control device for controlling the electric motor, wherein the control device is configured to:

[0016] - Determine the values ​​related to the instantaneous power consumption of the electric motor during operation.

[0017] - Compare values ​​related to instantaneous power consumption with thresholds, and

[0018] - If the value associated with instantaneous power consumption is equal to or below the threshold, the electric motor is stopped.

[0019] Due to the configuration of the control device, the electric motor and brush rotation will stop if the load on the brush is below a threshold load. Therefore, this animal brushing device prevents the electric motor from continuing to run after the animal being brushed has left the brush. Consequently, unnecessary energy consumption is avoided.

[0020] More specifically, the electric motor requires more power to rotate the brush when the animal is in contact with it for brushing than it does when no animal is in contact with it. The inventors have recognized that this difference in power demand can be used to stop the electric motor when the animal leaves the brush after brushing. Furthermore, the inventors have recognized that by tracking the instantaneous power consumption of the electric motor and comparing it to a suitably selected threshold, the control device of the animal brushing apparatus can be arranged to stop the electric motor when the animal has finished brushing. Accordingly, this threshold can be selected to be slightly higher than or equal to the power consumption of the electric motor when the brush is not subjected to any external load other than gravity.

[0021] According to another aspect, a method for controlling an animal brushing device is provided, the animal brushing device including a brush and an electric motor arranged to rotate the brush about a rotation axis, wherein the method includes the following steps:

[0022] - Determine the values ​​related to the instantaneous power consumption of the electric motor during operation.

[0023] - Compare values ​​related to instantaneous power consumption with thresholds, and any of the following

[0024] - If the value associated with instantaneous power consumption is equal to or below the threshold, stop the electric motor, or

[0025] - Continue operating the electric motor if the value associated with instantaneous power consumption exceeds the threshold.

[0026] Similar to the discussion above regarding animal brushing devices, this method provides a way to prevent the electric motor from continuing to run after the animal being brushed has left the brush. Consequently, unnecessary energy consumption is avoided.

[0027] The animal brushing device (also referred to simply as the brushing device) discussed in this article is arranged to brush animals (such as farm animals, such as cattle, horses, pigs, etc.) using rotating brushes. For use by animals, the animal brushing device is attached to a support structure.

[0028] In some types of animal brushing devices, the position and orientation of the brush's axis of rotation may be fixed relative to a support member. In other types of animal brushing devices, the brush may be movable relative to the support member, and its axis of rotation may have a fixed orientation or be capable of pointing in different directions. In the latter case, the brush may be pivotally suspended from the support member, wherein when the brush is suspended in its resting position, the axis of rotation extends along the resting direction. For example, the resting direction may have a substantially vertical extension. An animal leaning against the brush may pivot it, causing the axis of rotation to have an orientation different from its resting position.

[0029] Animal scrubbing devices may include more than one brush.

[0030] Animal brushing devices can be installed in indoor barns or sheds, where animals can move around and approach the devices to be brushed as the brushes are rotated by an electric motor. Alternatively, the brushing devices can be installed outdoors, for example, connected to a pasture where the animals are kept.

[0031] The supporting structure can be any fixed structure strong enough to support the animal brushing device. The supporting structure can be a wall or a column. The supporting structure can form part of a structure having a different primary purpose than supporting the brushing device. Alternatively, the supporting structure is a structure whose primary purpose is to support the brushing device.

[0032] Animal brushing devices may include a suspension structure extending between a brush and a support member. The suspension structure may include one or more members that are pivotable about a respective pivot axis relative to the support member and / or relative to each other. Therefore, the brush can be positioned at different angles and in different spatial locations. Accordingly, an animal can manipulate the brush by pushing it with different forces and in different directions to allow the brush to reach different parts of the animal's body.

[0033] When using the animal brushing device, the brush is rotated by an electric motor. Therefore, in this document, the brush may alternatively be referred to as a rotating brush. Accordingly, the electric motor is configured to be connected to a power source, for example, in the form of mains power or batteries.

[0034] In a known manner, the control device may include sensors for sensing animal contact with the brush and for activating an electric motor to rotate the brush.

[0035] The electric motor can be partially or completely housed within the brush, such as in the central cavity of the brush. A transmission device can be positioned between the electric motor and the brush.

[0036] According to some embodiments, the stator of the electric motor may be integrated into or connected to a component of the suspension structure, and the brush may be connected to or form part of the rotor of the electric motor. In such embodiments, the rotor may be arranged at least partially around the stator.

[0037] The instantaneous power consumption of an electric motor is what the motor draws from the power source it is connected to, and is not generated by the motor itself. Therefore, the value related to the instantaneous power consumption of the electric motor, determined during motor operation and compared with a threshold, is a value related to the power consumed by the motor and supplied by the power source.

[0038] For example, values ​​related to the instantaneous power consumption of an electric motor can be represented by the instantaneous value of the current (amperes) drawn by the electric motor or the instantaneous value of the electrical power (watts) consumed by the electric motor. Accordingly, the control device may include one or more of a current sensor, a voltage sensor, and a power sensor.

[0039] The value associated with the instantaneous power consumption of an electric motor can be represented by the average power consumption over a recent period of time (such as the time period up to the point in time when the value is determined). The average power consumption can be represented, for example, by the average current drawn by the electric motor or by the average power consumed by the electric motor.

[0040] To give a purely illustrative example, this time period can range from 0.1 seconds to 8 seconds.

[0041] For example, the control unit can drive an electric motor to operate at a substantially constant speed. When an animal leans against the brush, its load will require a higher power supply (compared to an unloaded brush) to maintain the brush's speed.

[0042] Accordingly, the threshold was selected to correspond to a power level slightly higher than or equal to that required to drive the electric motor (and thus the brush) under no-load conditions.

[0043] When the rotating brush is suspended in a stationary position and an animal comes into contact with it, the animal provides a load to the rotating brush (and consequently to the electric motor). In this case, the value associated with the instantaneous power consumption of the electric motor is still higher than the value represented by the threshold. Accordingly, this animal brushing device and method ensure that the brush continues to rotate when the animal comes into contact with it, even when the brush is suspended in its stationary position.

[0044] Therefore, compared to stopping the brush rotation based on a timer after the brush has reached a stationary position for a period of time, this solution provides a more precise brush stop based on the animal's actual use of the brush.

[0045] According to the implementation scheme, the control device may include a timer and may be further configured to:

[0046] - A timer is started in response to a value related to instantaneous power consumption being equal to or below a threshold, and

[0047] - If a predetermined time period has elapsed since the timer started, and the value associated with instantaneous power consumption remains equal to or below a threshold throughout the predetermined time period, then the electric motor is stopped.

[0048] Therefore, stopping the electric motor if the value associated with instantaneous power consumption is equal to or below a threshold may include: starting a timer in response to the value associated with instantaneous power consumption being equal to or below the threshold, and stopping the electric motor if a predetermined time period has elapsed since the timer started, and the value associated with instantaneous power consumption remains equal to or below the threshold throughout the predetermined time period. In this way, the rotation of the brush may not stop immediately when the animal unloads the brush load. Accordingly, in such embodiments, the motor will only stop if the value associated with instantaneous power consumption does not rise above the threshold during the entire predetermined time period.

[0049] For example, an animal being brushed may reposition itself relative to the brush, during which the brush may temporarily unload its load. Delaying the brush's stop for a predetermined period of time prevents the brush from stopping rotating during such animal repositioning.

[0050] According to the implementation scheme, the control device may include a duration timer, and the control device may be further configured to:

[0051] -The duration timer is activated when the electric motor starts, and

[0052] - When the electric motor stops, the duration timer is stopped. In this way, incremental measurements of the electric motor's operating time can be established via the duration timer. Accordingly, the precise total usage of the electric motor can be monitored. This can be beneficial from the perspective of brushing device maintenance or for statistical purposes of tracking the brushing time of animals.

[0053] Since the electric motor stops based on instantaneous power consumption, the running time established by the duration timer is, firstly, the running time during which the brush and electric motor bear the load, i.e., the running time that causes wear and tear on the brushing device, which is the running time most relevant to maintenance purposes. Secondly, this running time is related to the actual brushing time of the animal.

[0054] Further features and advantages of the invention will become apparent when the appended claims and the following detailed description are read. Attached Figure Description

[0055] Various aspects and / or embodiments of the present invention, including their specific features and advantages, will be readily understood from the exemplary embodiments discussed in the following detailed description and accompanying drawings, in which:

[0056] Figure 1 The animal scrubbing device according to the embodiment is schematically illustrated in a side view.

[0057] Figure 2 The control device according to the implementation scheme is illustrated schematically.

[0058] Figure 3 The method according to the implementation plan is illustrated, and

[0059] Figure 4 An implementation scheme for a computer-readable storage medium is illustrated. Detailed Implementation

[0060] The aspects and / or embodiments of the invention will now be described more fully. Similar reference numerals denote similar elements throughout the text. For the sake of brevity and / or clarity, well-known functions or constructions are not necessarily described in detail.

[0061] Figure 1 The animal brushing device 2 according to the embodiment is illustrated schematically in a side view.

[0062] Animal brushing device 2 is arranged for attachment to support structure 4. Animal brushing device 2 includes support member 6 configured for attachment to support structure 4. For example, support member 6 may be provided with through hole through which bolts or pins extend to secure support member 6 to support structure 4. Alternatively, support member 6 may be clamped, bundled, hooked, welded, riveted, glued, or chemically attached to support structure 4, for example.

[0063] The support structure 4 can be any fixed structure that is strong enough to hold the animal brushing device 2 in place when the animal pushes against its brush 8 to be brushed. The support structure 4 can be part of a wall or column of a larger structure, such as a building, roof structure, or shell. Alternatively, the support structure 4 can be a dedicated support structure designed to support the brushing device 2 at a suitable height in the area where the animal is kept.

[0064] The scrubbing device 2 also includes a brush 8 and an electric motor 10 arranged to rotate the brush 8 about a rotation axis 12. Electric motors arranged to rotate the rotatable brush 8 of the animal scrubbing device are known in the art. Therefore, in Figure 1 The electric motor 10 is shown only schematically.

[0065] like Figure 1As indicated, the electric motor 10 may be arranged within the brush 8. The rotor of the electric motor 10 may be connected to the brush 10, or the rotor may be part of the brush 8. The rotor may be connected to the brush 8 via a transmission device.

[0066] According to embodiments, such as the illustrated embodiment, the animal brushing device includes a suspension structure 14 extending between a support member 6 and a brush 8. The suspension structure 14 allows the brush 8 to pivot from its rest position in at least one direction. In this way, the brush 8 can be suspended from the support member 6, allowing the animal to push against the brush 8, and thus pivoting the brush 8 to different spatial positions and / or different angular directions of its axis of rotation 12.

[0067] In the illustrated embodiment, the suspension structure 14 includes a first member 16, a second member 18, and a third member 20.

[0068] Each of components 16, 18, and 20 is pivotally connected to its adjacent component. Furthermore, the first component 16 closest to the support member 6 is pivotally connected to the support member 6. Accordingly, pivot axes 22, 24, and 26 are provided such that components 16, 18, and 20 are pivotable about pivot axes 22, 24, and 26 relative to each other and relative to the support member 6, respectively.

[0069] Since the suspension structure 14 includes components 16, 18, 20 that are pivotally connected to each other, the suspension structure allows animals to push against the brush 8 with different forces and in different directions, so that the brush 8 can be moved at different angles and in different spatial positions to reach different parts of the animal's body.

[0070] According to an alternative embodiment, the suspension structure may include fewer than three components and fewer than three pivot axes, such as two or one component and one pivot axis.

[0071] Furthermore, the present invention is not limited to brushing devices having components and pivot axes of the exemplary type, but also covers other types of components, arrangements of one or more pivot axes, and even brushing devices lacking pivot axes for changing the spatial or directional position of the brush, provided that they include control devices according to any of the aspects and / or embodiments discussed herein.

[0072] Accordingly, the animal scrubbing device 2 also includes a control device 30 for controlling the electric motor 10.

[0073] Figure 2 The control device 30 according to the implementation scheme is illustrated schematically.

[0074] Control device 30 is configured to control animal brushing devices (such as those mentioned above). Figure 1The electric motor 10 of the brushing device 2) under discussion. Accordingly, the electric motor 10 is configured to rotate the brush 8 of the animal brushing device. The control device 30 is also included. Figure 1 The instructions state this.

[0075] The control device 30 is configured for use in conjunction with the different aspects and / or embodiments discussed herein. The control device 30 may be configured to perform the steps of method 100 for controlling an animal brushing device, as referenced below. Figure 3 .

[0076] The control device 30 may include a computer. The computer may be any hardware or hardware / firmware device implemented using processing circuitry, such as, but not limited to, a processor, central processing unit (CPU), controller, arithmetic logic unit (ALU), digital signal processor, microcomputer, field-programmable gate array (FPGA), system-on-a-chip (SoC), programmable logic unit, microprocessor, application-specific integrated circuit, or any other device capable of performing electronic operations in a defined manner.

[0077] The control device 30 includes at least one computing unit 32, which may take the form of substantially any suitable type of processor circuitry or microcomputer, such as circuitry for digital signal processing (digital signal processor, DSP), central processing unit (CPU), processing unit, processing circuitry, processor, application-specific integrated circuit (ASIC), microprocessor, or other processing logic capable of interpreting and executing instructions. As used herein, the term "computing unit" may refer to a processing circuitry comprising multiple processing circuits, such as any, some, or all of the processing circuits mentioned above.

[0078] The control device 30 includes a memory unit 34. A computing unit 32 is connected to the memory unit 34, which provides the computing unit 32 with one or more of, for example, stored program code and / or other stored data required by the computing unit 32 to perform calculations. The computing unit 32 is also adapted to store intermediate or final results of calculations in the memory unit 34.

[0079] Memory cell 34 may include a physical device for storing data or programs (i.e., sequences of instructions) on a temporary and / or permanent basis. According to some embodiments, memory cell 34 may include an integrated circuit comprising silicon-based transistors. Memory cell 34 may include, for example, a memory card, flash memory, USB storage, hard disk, or another similar volatile or non-volatile storage unit for storing data, such as, for example, ROM (Read-Only Memory), PROM (Programmable Read-Only Memory), EPROM (Erasable PROM), EEPROM (Electrically Erasable PROM), etc., as described in various embodiments.

[0080] In the depicted embodiments, only one computing unit 32 and one memory unit 34 are shown, but the control device 30 may alternatively include more than one computing unit and / or memory unit.

[0081] The control device 30 is further provided with corresponding devices 36, 37, and 38 for receiving and / or transmitting input and output signals. These input and output signals may include waveforms, pulses, or other attributes that can be detected as information by the signal receiving device and converted into signals that can be processed by the computing unit 32. Input signals are provided to the computing unit 32 from at least one input receiving device 36, 37. At least one output signal transmitting device 38 is arranged to convert the calculation result from the computing unit 32 into an output signal for transmission to the signal receiving device of the control device 30. Each of these connections to the corresponding devices 36, 37, and 38 for receiving and transmitting input and output signals may take one or more forms, including cables, data buses (e.g., CAN (Controller Area Network) bus, MOST (System Transmission for Media) bus, or other bus configurations), or wireless connections.

[0082] For example, the input signal receiving device 36 can receive signals from at least one sensor 40 (such as a current sensor or a power sensor), which is configured to sense at least one parameter / value related to the power consumption of the electric motor 10 arranged to rotate the brush 8. The output signal transmitting device 38 can send control signals to the electric motor 10 to control the rotation of the electric motor 10 and the brush 8. Accordingly, the control signals can be provided in the form of the power required to drive the electric motor 10, for example, to drive the electric motor 10 at a substantially constant speed.

[0083] Examples of the stored data may be measurement, monitoring and / or calculation data, such as data related to at least one parameter / value associated with the power consumption of the electric motor 10, and time-related data according to some embodiments.

[0084] As described above, the control device 30 is configured to control the electric motor 10 of the animal brushing device. Accordingly, the control device 30 may form part of the electric motor drive unit, or conversely, the control device 30 may be considered to include the electric motor drive unit.

[0085] The control device 30 is configured as follows:

[0086] - Determine the value related to the instantaneous power consumption of the electric motor 10 during operation. For example, the current (I) supplied to the electric motor can be continuously measured by sensor 40. Since the current is proportional to the power consumption of the electric motor 10, this current value can be used as a parameter related to the power consumption of the electric motor 10. Alternatively, the voltage (V) supplied to the electric motor 10 can also be measured by a voltage sensor. Therefore, the power (P) consumed by the electric motor 10 can be calculated by calculation unit 32, P = U * I. Alternatively, sensor 40 can be a power sensor that provides the value of the power (watts) consumed by the electric motor 10.

[0087] - The value associated with instantaneous power consumption is compared with a threshold. The threshold is a value associated with the power consumption of the electric motor 10, equal to or slightly higher (e.g., 1% to 10% higher) than the power consumption of the electric motor 10 when it is driven under no-load conditions (i.e., without animal contact with the rotating brush 8). Therefore, the threshold can be particularly dependent on the specific electric motor 10 used and the diameter of the brush 8 used. Accordingly, the calculation unit 32 can be configured to compare the value associated with instantaneous power consumption with the threshold.

[0088] - The electric motor 10 is stopped when the value associated with instantaneous power consumption is equal to or below a threshold. Therefore, if the load on the brush 8 is lower than the threshold load corresponding to the threshold, the rotation of the electric motor 10 and the brush 8 will stop.

[0089] Accordingly, if the value associated with instantaneous power consumption is higher than the threshold, the electric motor 10 can continue to operate.

[0090] The process of determining the value related to the instantaneous power consumption of the electric motor 10 and comparing that value with a threshold can be performed cyclically when the value related to the instantaneous power consumption of the electric motor 10 is higher than the threshold. If the value is equal to or lower than the threshold, the electric motor 10 is stopped.

[0091] When the electric motor 10 is restarted, the above cycle can begin again.

[0092] The electric motor 10 can be started by any known means, such as by an animal coming into contact with the brush 8. The control device 30 can be configured to start the electric motor 10.

[0093] As described above, and according to some embodiments, in order to determine the value associated with instantaneous power consumption, the control device 30 may be configured to determine the current consumed by the electric motor 10.

[0094] Therefore, sensor 40 may include a current sensor.

[0095] As described above, and according to some embodiments, in order to determine the value related to instantaneous power consumption, the control device 30 may be configured to determine the voltage of the electric motor 10.

[0096] Therefore, sensor 40 may include a voltage sensor.

[0097] According to some implementations, the control device 30 may include a timer 42 and may be further configured to:

[0098] - Timer 42 is activated in response to a value related to instantaneous power consumption being equal to or below a threshold, and

[0099] - If a predetermined time period has elapsed since the start of timer 42, and the value associated with instantaneous power consumption remains equal to or below a threshold throughout the predetermined time period, then the electric motor 10 is stopped.

[0100] In other words, stopping the electric motor 10 can be performed by starting a timer 42 in response to the value associated with the instantaneous power consumption being equal to or below the threshold, and stopping the electric motor if a predetermined time period has elapsed since the timer started, and the value associated with the instantaneous power consumption remains equal to or below the threshold throughout the predetermined time period. Therefore, in this implementation, the motor will only stop if the value associated with the instantaneous power consumption does not rise above the threshold during the entire predetermined time period.

[0101] Therefore, the stopping of brush 8's rotation can be delayed from the moment when the value associated with instantaneous power consumption, determined in the comparison, is equal to or below a threshold. Accordingly, if the animal currently being brushed is temporarily not in contact with brush 8 for a duration shorter than a predetermined time period, the rotation of brush 8 can continue.

[0102] Therefore, unnecessary stopping and restarting of the electric motor 10 by the same animal can be avoided. Such unnecessary stopping may irritate the animal being brushed and may cause it to bang on the brush 8 in an attempt to restart, which could damage the animal brushing device.

[0103] For example, the predetermined time period can be set in the range of 1 to 5 seconds.

[0104] During the timing period, the instantaneous power consumption of the electric motor 10 can be continuously monitored. If, during this period, the value associated with the instantaneous power consumption of the electric motor 10 rises above a threshold, the timer 42 can be stopped and reset to zero, and the animal brushing continues. In other words, the value rising above the threshold means that the animal has come into contact with the brush 8 again.

[0105] Timer 42 can be implemented as a program loop in computing unit 32.

[0106] As referenced above Figure 1 The suspension structure of the brushing device discussed here allows the brush 8 to pivot from its rest position in at least one direction.

[0107] According to such an implementation, the control device 30 may include a tilt sensor 44 and a time counter 46, the tilt sensor being configured to determine whether the brush 8 is in a stationary position, and the control device 30 may be further configured to:

[0108] - When brush 8 reaches its stationary position, time counter 46 is started, and

[0109] - When the set time limit has elapsed since the start of the time counter 46, the electric motor 10 is stopped. In this way, the control device 30 can provide a backup stop for the rotation of the brush 8 in case the stop based on the value related to the instantaneous power consumption of the electric motor 10 may fail.

[0110] The resting position of brush 8 is defined as the position in which the brush itself faces when it is suspended from the suspension structure and no external force other than gravity acts on the brushing device. In the resting position, when no animal is being brushed by the brushing device, brush 8 may be suspended with its axis of rotation extending substantially vertically. Brush 8 may also have a resting position in which it is suspended and its axis of rotation is inclined relative to the vertical direction.

[0111] The tilt sensor 44 can be configured to sense only the stationary position of the brush 8. Alternatively, the tilt sensor 44 can sense, directly or indirectly, the degree of change in the tilt of the brush 8's axis of rotation, for example, relative to the vertical direction. For example, the direction of the axis of rotation can be calculated using data from a three-dimensional accelerometer. In the latter case, the stationary position of the brush 8 can be one or more predetermined directions of its axis of rotation.

[0112] The time counter 46 can be implemented as a program loop in the computing unit 32.

[0113] According to some embodiments, the control device 30 includes a tilt sensor 44 configured to determine the tilt of the rotation axis 12 relative to a reference direction, and the control device 30 is further configured to:

[0114] - The electric motor 10 is stopped when the value related to instantaneous power consumption is equal to or below the limit and the tilt of the rotation axis 12 is equal to or below the threshold tilt, where the limit is above the threshold. In this way, the stopping of the rotation of the electric motor 10 and the brush 8 can be improved under certain operating conditions of the scrubbing device.

[0115] For example, if the animal causes the brush 8 to pivot frequently during the animal's brushing, then the value related to the instantaneous power consumption of the electric motor 10 and its relationship to the threshold may not be a completely reliable indicator of the use of the animal brushing device.

[0116] In other words, the power consumption may vary as the brush 8 pivots back and forth, and the animal sometimes presses the brush 8 with varying force, and sometimes does not press the brush 8 but remains next to the brushing device to continue brushing.

[0117] Therefore, if values ​​related to, for example, the instantaneous power consumption of an electric motor are represented by the average power consumption over a recent period, that average may be misleading. Accordingly, when using the average power consumption, the combined conditions involving limits and threshold slope discussed above may be more reliable.

[0118] The limit is a value related to the power consumption of the electric motor 10, and may be, for example, 10% to 20% higher than when the electric motor 10 is driven in an unloaded state (i.e., without an animal contacting the rotating brush 8). Therefore, this limit is higher than the threshold.

[0119] According to the implementation scheme, the electric motor 10 may be a stepper motor type, and the rotational speed of the stepper motor type is determined by the frequency of power supplied to the electric motor 10.

[0120] In this way, an electric motor 10 can be provided, the speed of which can be precisely controlled by a control device 30 by supplying current to the electric motor 10 at one or more suitable frequencies (i.e., by input pulses that supply current to the electric motor 10).

[0121] For example, control device 30 can drive electric motor 10 to operate at a substantially constant speed by providing a constant frequency of current to electric motor 10. When an animal leans against brush 8, its load will require a higher current (compared to when brush 8 is unloaded) to maintain the speed of brush 8. Therefore, the determined value related to the instantaneous power consumption of electric motor 10, compared to a threshold, provides a metric for whether brush 8 is currently being used by the animal.

[0122] According to some implementations, the control device 30 may include a duration timer 48, and the control device 30 may be further configured to:

[0123] -When electric motor 10 starts, duration timer 48 is activated, and

[0124] -When the electric motor 10 stops, the stop duration timer 48.

[0125] Therefore, a function can be provided to track the total operating time of the electric motor 10 and, consequently, the total operating time of the animal brushing device.

[0126] The duration timer 48 can be implemented as a program loop in the computing unit 32.

[0127] The duration timer 48 can be implemented as either a timer that starts counting from the stored current timer value and increments the timer value each time the electric motor runs to display the total running time, or a timer that measures the duration of each run of the electric motor 10 by the duration timer 48 and adds the value to the duration stack in the memory unit 34 to display the total running time, which will contain the total running time of the electric motor 10.

[0128] Figure 3 A method 100 for controlling an animal brushing device is illustrated.

[0129] Method 100 can be applied to the above references. Figure 1 and Figure 2 The scrubbing device 2 is discussed. Accordingly, reference is also made below. Figure 1 and Figure 2 And related descriptions. The control device 30 discussed above can be configured to perform the steps of method 100.

[0130] The corresponding features, advantages, and discussion also apply to the configuration of method 100 and control device 30.

[0131] Method 100 is a method for controlling an animal brushing device 2, wherein the animal brushing device includes a brush 8 and an electric motor 10 arranged to rotate the brush 8 about a rotation axis 12.

[0132] Method 100 includes the following steps:

[0133] - Determine the value related to the instantaneous power consumption of the electric motor 10 during operation.

[0134] - Compare the values ​​associated with instantaneous power consumption to a threshold 104, and any of the following.

[0135] - If the value associated with instantaneous power consumption is equal to or below the threshold, stop the 108 electric motor 10, or

[0136] -If the value associated with instantaneous power consumption is higher than the threshold, continue to run the electric motor 10.

[0137] As discussed above, method 100 thus ensures that unnecessary energy consumption is avoided.

[0138] According to the implementation scheme, the step of determining the value related to the instantaneous power consumption of the electric motor 10 during operation may include the following steps:

[0139] - Determine the current consumed by the electric motor 10 in 112.

[0140] According to the implementation scheme, the step of determining the value related to the instantaneous power consumption of the electric motor 10 during operation may include the following steps:

[0141] - Determine the voltage of electric motor 10 (114).

[0142] According to the implementation plan, method 100 may further include the following steps:

[0143] - Timer 42 is activated in response to a value related to instantaneous power consumption being equal to or below a threshold, and

[0144] - If a predetermined time period has elapsed since the start of timer 42 (step 116), and the value associated with instantaneous power consumption remains equal to or below a threshold throughout the predetermined time period, then step 118 (stop 108 electric motor 10) is executed.

[0145] Therefore, if the value associated with instantaneous power consumption is equal to or lower than the threshold, the step of stopping the electric motor 108 may include: starting timer 42 116 in response to the value associated with instantaneous power consumption being equal to or lower than the threshold, and performing step 118 to stop the electric motor 108 if a predetermined time period has elapsed since the step of starting timer 42 116, and the value associated with instantaneous power consumption is equal to or lower than the threshold during the entire predetermined time period.

[0146] As discussed above with reference to control device 30, the stopping 108 of the rotation of brush 8 can be delayed from the moment when the value related to instantaneous power consumption is determined to be equal to or below the threshold in comparison step 104.

[0147] According to the implementation plan, method 100 may further include the following steps:

[0148] - Determine if brush 120 is in a stationary position.

[0149] -With brush 8 having reached its stationary position, start time counter 46 (122).

[0150] - Determine whether the set time limit has elapsed since the start of the 124a self-starting time counter 122, and

[0151] - Stop electric motor 10 (124b) if the set time limit has expired.

[0152] As discussed above with reference to control device 30, in this way, a backup stop for the rotation of brush 8 can be provided in the event that stop 108, based on a value related to the instantaneous power consumption of electric motor 10, may fail.

[0153] According to the implementation plan, method 100 may further include the following steps:

[0154] - The value associated with instantaneous power consumption was compared to a limit 126, which was higher than the threshold.

[0155] - Determine whether the value related to instantaneous power consumption (128) is equal to or lower than the limit.

[0156] - Determine whether the tilt of the 130° rotation axis relative to the reference direction is equal to or less than the threshold tilt, and

[0157] - Stop the 132 electric motor 10 if the value related to instantaneous power consumption is equal to or lower than the limit and the tilt of the rotating axis is equal to or lower than the threshold tilt.

[0158] As discussed above with reference to control device 30, in this way, the stopping of the rotation of electric motor 10 and brush 8 can be improved under certain operating conditions of the brushing device (such as, as explained above, during the brushing of an animal, the animal may cause the brush 8 to pivot back and forth frequently).

[0159] According to the implementation plan, method 100 may further include the following steps:

[0160] -When electric motor 10 starts, duration timer 48 is activated for duration 134, and

[0161] -When the electric motor 10 stops, stop the duration timer 48 of 136.

[0162] Accordingly, as discussed above with reference to control device 30, the total operating time of electric motor 10 can be tracked, and further, the total operating time of animal brushing device can be tracked.

[0163] Figure 4 An embodiment of a computer-readable storage medium 99 is illustrated, which, when executed by a computer or computing unit 32, causes the computer or computing unit 32 to perform the steps of the method 100 according to any of the aspects and / or embodiments discussed herein.

[0164] The computer-readable storage medium 99 may be provided, for example, as a data carrier carrying computer program code for performing at least some of the steps 102 to 136 according to some embodiments when loaded into one or more computing units 32. The data carrier may be, for example, ROM (Read-Only Memory), PROM (Programmable Read-Only Memory), EPROM (Erasable PROM), flash memory, EEPROM (Electrically Erasable PROM), hard disk, CD-ROM, memory stick, optical storage device, magnetic storage device, or any other suitable medium, such as a disk or magnetic tape capable of storing machine-readable data in a non-transitory manner. The computer-readable storage medium may also be provided as computer program code on a server and may be remotely downloaded to computing unit 32, for example, via an Internet or intranet connection, or via other wired or wireless communication systems.

[0165] In some implementations, the computer-readable storage medium 99 may be a non-transitory computer-readable medium, such as a tangible electronic, magnetic, optical, infrared, electromagnetic, and / or semiconductor system, apparatus, and / or device.

[0166] Figure 4 The computer-readable storage medium 99 shown is a non-limiting example in the form of a USB memory stick.

[0167] According to another aspect, a computer program including instructions is provided that, when executed by a computer, cause the computer to perform method 100 according to any one of the aspects and / or embodiments discussed herein.

[0168] Those skilled in the art will understand that the method 100 for controlling the animal brushing device 2 can be implemented via programming instructions. These programming instructions typically constitute a computer program that, when executed in a computer or computing unit 32, ensures that the computer or computing unit 32 performs desired controls, such as steps 102 to 136 of the method according to aspects and / or embodiments of the invention. The computer program is typically part of a computer-readable storage medium, including suitable digital storage media on which the computer program is stored.

[0169] It should be understood that the foregoing is illustrative of various exemplary embodiments, and the invention is defined solely by the appended claims. Those skilled in the art will recognize that modifications can be made to the exemplary embodiments without departing from the scope of the invention as defined by the appended claims, and different features of the exemplary embodiments can be combined to create embodiments different from those described herein.

Claims

1. An animal scrubbing device (2), the animal scrubbing device comprising: Support member (6), the support member being configured to be attached to support structure (4); Brushes (8); An electric motor (10) arranged to rotate the brush (8) about a rotation axis (12); and a control device (30) for controlling the electric motor (10), wherein... The control device (30) is configured to: - Determine the value related to the instantaneous power consumption of the electric motor (10) during operation. - Compare the value associated with the instantaneous power consumption to a threshold, and - If the value associated with the instantaneous power consumption is equal to or lower than the threshold, the electric motor (10) is stopped.

2. The animal brushing device (2) according to claim 1, wherein, in order to determine the value associated with the instantaneous power consumption, the control device (30) is configured to determine the current consumed by the electric motor (10).

3. The animal brushing device (2) according to claim 1 or 2, wherein the control device (30) is configured to determine the voltage of the electric motor (10) in order to determine the value associated with the instantaneous power consumption.

4. The animal brushing device (2) according to any one of the preceding claims, wherein the control device (30) includes a timer (42) and is configured to: - The timer (42) is activated in response to the value associated with the instantaneous power consumption being equal to or lower than the threshold. If a predetermined time period has elapsed since the start of the timer (42), and the value associated with the instantaneous power consumption remains equal to or below the threshold throughout the predetermined time period, then the electric motor (10) is stopped.

5. The animal brushing device (2) according to any one of the preceding claims, the animal brushing device comprising a suspension structure (14) extending between the support member (6) and the brush (8), wherein the suspension structure (14) enables the brush (8) to pivot from a rest position of the brush (8) in at least one direction.

6. The animal brushing device (2) according to claim 5, wherein the control device (30) includes a tilt sensor (44) and a time counter (46), the tilt sensor being configured to determine whether the brush (8) is in a stationary position, and wherein the control device (30) is further configured to: - When the brush (8) reaches the stationary position, the time counter (46) is started, and - When the set time limit has elapsed since the start of the time counter (46), the electric motor (10) is stopped.

7. The animal brushing apparatus (2) according to claim 5 or 6, wherein the control device (30) includes a tilt sensor (44) configured to determine the tilt of the rotation axis (12) relative to a reference direction, and wherein the control device (30) is further configured to: - If the value associated with the instantaneous power consumption is equal to or lower than the limit and the tilt of the rotation axis (12) is equal to or lower than the threshold tilt, the electric motor (10) is stopped, wherein the limit is higher than the threshold.

8. The animal brushing device (2) according to any one of the preceding claims, wherein the electric motor (10) is a stepper motor type and the rotational speed of the stepper motor type is determined by the frequency of power supplied to the electric motor (10).

9. The animal brushing device (2) according to any one of the preceding claims, wherein the control device (30) includes a duration timer (48), and wherein the control device (30) is further configured to: - The duration timer (48) is activated when the electric motor (10) starts, and - When the electric motor (10) stops, the duration timer (48) is stopped.

10. A method (100) for controlling an animal brushing device (2), the animal brushing device (2) comprising a brush (8) and an electric motor (10) arranged to rotate the brush (8) about a rotation axis (12), wherein the method (100) comprises the following steps: - Determine (102) a value related to the instantaneous power consumption of the electric motor (10) during operation. - Compare the value associated with the instantaneous power consumption to a threshold (104), and any of the following -If the value associated with the instantaneous power consumption is equal to or lower than the threshold, stop (108) the electric motor (10), or - If the value associated with the instantaneous power consumption is higher than the threshold, the electric motor (10) continues to operate (110).

11. The method (100) of claim 10, wherein the step of determining the value related to the instantaneous power consumption of the electric motor (10) during operation comprises the following steps: - Determine (112) the current consumed by the electric motor (10).

12. The method (100) according to claim 10 or 11, wherein the step of determining the value related to the instantaneous power consumption of the electric motor (10) during operation comprises the following steps: - Determine (114) the voltage of the electric motor (10).

13. The method (100) according to any one of claims 10 to 12, the method comprising the following steps: - In response to the value associated with the instantaneous power consumption being equal to or below the threshold, timer (116) (42) is activated, and -If a predetermined time period has elapsed since the step of starting (116) the timer (42) and the value associated with the instantaneous power consumption has been equal to or lower than the threshold throughout the predetermined time period, then the step of stopping (108) the electric motor (10) is performed (118).

14. The method (100) according to any one of claims 10 to 13, the method further comprising the step of: - Determine whether the brush (8) is in a stationary position (120). -When the brush (8) has reached its stationary position, start (122) the time counter (46). - Determine (124a) whether a set time limit has elapsed since the step of starting the time counter (46), and -If the set time limit has been exceeded, stop (124b) the electric motor (10).

15. The method (100) according to any one of claims 10 to 14, the method further comprising the step of: - The value associated with the instantaneous power consumption is compared with a limit (126), where the limit is higher than the threshold. - Determine (128) whether the value associated with the instantaneous power consumption is equal to or lower than the limit. - Determine whether the tilt of the rotation axis (12) relative to the reference direction is equal to or less than a threshold tilt, and - If the value associated with the instantaneous power consumption is equal to or lower than the limit and the tilt of the rotation axis (12) is equal to or lower than the threshold tilt, stop (132) the electric motor (10).

16. The method (100) according to any one of claims 10 to 15, the method further comprising the step of: - When the electric motor (10) starts, the duration timer (48) is activated (134), and - When the electric motor (10) stops, the duration timer (48) is stopped (136).

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