Automated livestock TEAT spraying apparatus

Abstract

In one aspect the invention provides an automated livestock teat spraying apparatus arranged to spray a fluid on the teats of livestock traveling through a livestock raced defined by two side walls. The apparatus includes a spray assembly engaged with the bottom of the livestock race and configured to spray fluid upwards on to livestock passing over the spray assembly. Also provided is a sensor assembly configured to provide at least one signal identifying the presence of livestock at or adjacent to the spray assembly. The apparatus also includes a mounting assembly configured to engage with the side walls of the livestock race and the sensor assembly to elevate the sensor assembly above the livestock race.

Description

[0001] AUTOMATED LIVESTOCK TEAT SPRAYING APPARATUS

[0002] Field of the Invention

[0003] This invention relates to an automated livestock teat spraying apparatus. In various preferred embodiments the invention may trigger the spraying of mastitis prevention or treatment liquids in an accurate and timely manner.

[0004] Background of the Invention

[0005] When operating a dairy farm is important to ensure a dairy herd is kept in optimum health. Dairy farmers seek to prevent and treat ailments which herd members may suffer from while also seeking to maximise milk production.

[0006] One such health related task is the spraying of treatment or prevention liquids on to the teats of dairy animals. These types of sprays seek to prevent or treat mastitis infections which can significantly impact on milk production.

[0007] It is common for dairy farmers to manually spray the teats of their animals to prevent mastitis occurring. However this manual process is normally an additional time consuming action which is undertaken during a milking parlour session. Completing teat spraying operations during a milking session allows a worker to individually inspect the udders of the dairy herd in a controlled environment. However, with teat spraying being undertaken manually there is chance that a worker may forget to spray particular animals, or may incorrectly assume that an animal does not need a spray applied.

[0008] Attempts have been made to automate teat spraying operations in the past, with US patent publications US5630379 and US20210289736 providing representative examples of the technology developed. These systems seek to apply teat spray to an animal entering or leaving a milking parlour through a livestock race. A race width restriction structure may also need to be installed with such systems to ensure that the spray station described can reliably spray a single animal. These automated systems rely on an animal proximity detection system preferably formed by horizontally orientated break beam lasers or similar components. However the livestock race environment can cause problems for such delicate optical systems, with livestock races being potentially wet and dirty environments. Vibrations being generated through livestock impacts with the race walls, or vibrations generated with an animal moving past the spray system can also have a detrimental effect on these types of detection systems.

[0009] It would be of advantage to have improvements in the field of livestock teat spraying systems which addressed any of the above issues or at least provided the public with an alternative choice. In particular it would be of advantage to have an improved automated livestock teat spraying apparatus which could trigger the spraying of mastitis prevention or treatment liquids in an accurate and timely manner. It would also be of advantage to have improvements which reduced the time required to maintain and / or clean such a spraying apparatus to keep it functioning effectively. An improved spraying apparatus which could be easily installed at a range of locations with different widths of livestock race would also be of advantage.

[0010] Disclosure of the Invention

[0011] According to one aspect of the present invention there is provided an automated livestock teat spraying apparatus arranged to spray a fluid on the teats of livestock traveling through a livestock raced defined by two side walls, the apparatus including a spray assembly engaged with the bottom of the livestock race and configured to spray fluid upwards on to livestock passing over the spray assembly, a sensor assembly configured to provide at least one signal identifying the presence of livestock at or adjacent to the spray assembly, a mounting assembly configured to engage with the side walls of the livestock race and the sensor assembly to elevate the sensor assembly above the livestock race. According to another aspect of the present invention there is provided a spraying apparatus substantially as described above wherein the mounting assembly allows for variations in the distance it spans to engage with the side walls of the livestock race.

[0012] According to a further aspect of the present invention there is provided a spraying apparatus substantially as described above which also includes a controller configured to receive signals from the sensor assembly and to issue at least one trigger signal to the spray assembly.

[0013] According to another aspect of the present invention there is provided a spraying apparatus substantially as described above wherein the mounting assembly includes at least two clamps, each being engaged with opposite side walls of the livestock race, and at least two lifting struts, each being pivotally connected to a clamp and pivotally connected to the sensor assembly at the opposite end of the strut.

[0014] The present invention is adapted to provide an automated livestock teat spraying apparatus. In various embodiments the fluid sprayed seeks to treat or prevent mastitis infections in dairy animals. The invention is installed in, at or adjacent to a selected point in a livestock race which defines a restricted passage with two opposed side walls. At different sites or locations the race sidewalls can be separated by a range of distances, providing variability in race width.

[0015] Reference throughout this specification will also be made to the invention being utilised primarily in conjunction with dairy animals. However those skilled in the art will appreciate that the invention may be used with other livestock types and with various species of livestock animals. References made to the application of the invention to the dairy industry throughout this specification should not be seen as limiting.

[0016] The invention includes a spray assembly engaged with the bottom of the livestock race. The spray assembly can be positioned so that dairy animals moving through the race will pass over the spray assembly and have liquid sprayed upwards to contact the teats of the animal. In various preferred embodiments the spray assembly may include at least one nozzle arranged to deliver a pressurised spray of fluid upwards towards a passing dairy animal. In additional embodiments multiple nozzles may be integrated into the spray assembly, potentially to spray different amounts or different types of fluids. In such embodiments the spray assembly may also include reservoirs of, or connections to reservoirs of different types of spraying fluids.

[0017] In a preferred embodiment the spray assembly may include a rigid armoured exterior housing to cover and enclose the remaining parts of the assembly. This housing can protect these components from inadvertent damage from animals standing on the assembly.

[0018] The invention includes a sensor assembly which can provide a signal which identifies the presence of livestock adjacent to the spray assembly.

[0019] In a preferred embodiment a sensor assembly may include a camera capable of providing image data signals, where this image data preferably incorporates or defines arrays of pixels. Those skilled in the art will appreciate that various types of camera technologies including infrared, visible and / or time-of-flight lidar cameras may be provided in various embodiments as part of a sensor assembly.

[0020] The invention includes a mounting assembly which engages with both the race side walls and sensor assembly to elevate the sensor assembly above the race. Those skilled in the art will appreciate that references made to the sensor assembly being elevated above the race identify the positioning of the sensor assembly above the tops of each of the side walls the race. This position therefore elevates the sensor assembly above livestock travelling through the race and over the spray assembly. Preferably the field of view of the spray assembly at this elevation encompasses both the spray assembly and any animals immediately adjacent to the spray assembly.

[0021] In various preferred embodiments the mounting assembly can include at least two clamps, each engaged with opposite side walls of the livestock race. In such embodiments at least two lifting struts can be provided, each being pivotally connected to a clamp and pivotally connected to the sensor assembly at the opposite end of the strut. The length or extent of these lifting struts will therefore determine the width of livestock race which can be spanned by the mounting assembly while also continuing to elevate the sensing assembly.

[0022] In various additional preferred embodiments the mounting assembly may include two lifting struts engaged with each clamp. In such embodiments the sensing assembly may be provided with four points of contact to the mounting assembly which distributes the weight of the sensing assembly through four separate lifting struts.

[0023] In a preferred embodiment each lifting strut may be constructed with a telescoping form. This allows the effective length of the strut to be changed depending on the width of the livestock race the mounting assembly is to engage with.

[0024] In further preferred embodiments a mounting strut may be formed by two nested hollow beams of material with one able to move within the interior of the other. Locking pins or other connectors can be used to engage the two nested beams together at various points to adjust the effective length of the strut.

[0025] In preferred embodiments the invention may also include a controller configured to receive signals from the sensor assembly and to issue at least one trigger signal to the spray assembly. This controller can be used to analyse the signals generated by the sensor assembly and operate the spray assembly. Those skilled in the art will appreciate that this controller may be implemented through various forms of information technology hardware and software. Computer hardware resident within the sensor assembly may for example provide a controller in some embodiments. Conversely in other embodiments a communications interface can be used to employ computer hardware resident at a remote location.

[0026] In various preferred embodiments where the sensor assembly includes at least one camera system, the controller may include or communicate with an intelligence assembly configure to receive sensor assembly image data and to output livestock udder position information.

[0027] In additional embodiments an intelligence assembly may also be configured to output additional information related to an animal present in an image. In various embodiments the animal intelligence assembly is configured to output animal metadata, such as for example, a herd ID tag number visible in the image.

[0028] Those skilled in the art will appreciate that other types of animal meta-data may also be compiled in respect of an animal present in an image.

[0029] For example in some embodiments animal hide colours and distribution patterns may be used to derive animal identification information. Furthermore in additional embodiments multiple images of the same animal captured sequentially over time may also be used to compile animal metadata. In particular an animal exhibiting lameness may be identified through an analysis of its motion over successive images.

[0030] In a preferred embodiment the intelligence assembly may be provided by a convolution neural network. Such a network may be trained using a large body of images showing dairy animals generalised for types of lighting and in typical livestock race conditions.

[0031] In particular embodiments the convolution neural network used may be trained on specific features of a dairy animal outline as viewed from above.

[0032] In various embodiments the training of the intelligence assembly includes an instance segmentation process. In such embodiments an assessment is made of the spatial relationship between the pixels of training images during training.

[0033] This approach allows for the compilation of animal position information in the form of animal pixel outlines for each trained dairy animal pattern visible to the sensor assembly. The pixel co-ordinate data defining the outline of an animal can then be used to track dairy animal position and / or velocity. In further embodiments this type of intelligence assembly can be used to estimate dairy animal teat location from an animals known dimensions and size of the recognised animal pixel outline, and can therefore predict when an udder passes over the spray module.

[0034] In a further preferred embodiment the intelligence assembly may include or use multiple convolution layers to multiscale and detect objects of various sizes or at different heights.

[0035] In a preferred embodiment an intelligence assembly can compare the animal position information determined from two or more images recorded in a time ordered sequence and calculate animal velocity information. Combined with current animal position information this velocity information can be used to ensure accurate spraying of animals moving very quickly or very slowly over a spray assembly.

[0036] The present invention may provide many potential advantages over the prior art.

[0037] In various embodiments the invention can be used to identify the position of an animal adjacent to the spraying apparatus, and the velocity of this animal. This approach can be used to trigger the spraying of mastitis prevention or treatment liquids in an accurate and timely manner.

[0038] In further embodiments the invention can reduced the time required to maintain and / or clean such a spraying apparatus to keep it functioning effectively. In particular, the elevation of the sensor assembly above the livestock race isolates it from contaminants and minimises the transmission of vibrations.

[0039] In various embodiments the invention may also be installed with livestock races at different locations which have different race widths. When the mounting assembly is provided with telescoping lifting struts the effective length of these struts may be modified to suit the geometry of a specific race while also elevating the sensor assembly appropriately. Brief description of the drawings

[0040] Additional and further aspects of the present invention will be apparent to the reader from the following description of embodiments, given in by way of example only, with reference to the accompanying drawings in which:

[0041] • figure 1 shows a perspective view of the mounting and sensor assemblies provided in one embodiment and as installed in a single width livestock race,

[0042] • figure 2 shows a top view of the mounting and sensor assemblies of figure 1,

[0043] • figure 3 shows a side view of the mounting and sensor assemblies of figure 1 and 2,

[0044] • figure 4 shows an enlarged area of figure 1 illustrating the telescopic nature of the lifting struts used,

[0045] • figure 5 shows an enlarged area of figure 4 illustrating one of the clamps of the mounting assembly,

[0046] • figure 6 shows a perspective view of the mounting and sensor assemblies of figure 1 installed in a double width livestock race, and

[0047] • figure 7 shows image data obtained from the sensor assembly shown in figures 1 to 6.

[0048] Further aspects of the invention will become apparent from the following description of the invention which is given by way of example only of particular embodiments.

[0049] Best modes for carrying out the invention

[0050] Figure 1 shows a perspective view of the mounting assembly 1 and sensor assembly 2 provided in one embodiment and as installed in a single width livestock race. Figures 2 and 3 provide top and side views respectively of the assemblies of figure 1. These figures shows how the mounting assembly 1 elevates the sensor assembly 2 above the side walls 3 of a livestock race. This position provides a camera (not shown) integrated into the sensor assembly with a field of view capturing the region directly below and adjacent to the sensor assembly. As can also be seen from figure 1 the mounting assembly 1 includes two clamps 4, with a clamp engaged with the top rail 5 of each of the livestock race side walls. The construction of these clamps are shown and discussed in more detail with respect to figure 5.

[0051] Two lifting struts 6 are connected at one end to each clamp 4, and at their opposite ends to the sensor assembly 2. The ends of each strut are engaged using pivoting connections to allow the angle made by the strut and clamp or sensor assembly to be varied. This variation can accommodate differences in the width of the race which the mounting assembly is engaged with.

[0052] Figures 1-3 shows a spray assembly 7 which incorporates an armoured metal housing 8 defining a top surface aperture 9 through which liquid can be sprayed by a nozzle 10. The spray assembly can be secured to the bottom of a race using a footplate 11, with the sides of the armoured housing defining a series of angled surfaces 12 which seek to prevent livestock from standing on the housing.

[0053] Figure 4 shows an enlarged area of figure 1 illustrating the telescopic nature of the lifting struts 6 used. In the embodiment shown each lifting strut is formed from a central hollow shaft 13 which receives two end beams 14. An array of apertures 15 are formed in the top face of the central hollow shaft which can receive a locking pin (not shown) to fix each end beam 14 in place at a specific point relative to the central shaft 13. The end beams can therefore be telescoped in and out of the central hollow shaft and locked at a specific position to result in a lifting strut of a desired effective length.

[0054] Figure 5 shows in detail one of the clamps 4 of the mounting assembly of figure 4. The movable bearing surfaces of each clamp are formed by curved 'll' brackets 16 bolted to an opposed plate 17, where these brackets are able to accommodate various shapes and sizes of race top rails. Locking nuts 18 are used to engage these components together to secure the clamps in place on the top rail and facilitate the mounting of the sensor assembly.

[0055] Figure 5 also illustrates the pivot connection 19 provided between the ends of the lifting struts and the top plate of the clamp, allowing the angle defined between plate and strut to be varied depending on the width of the race and the effective length of the lifting struts.

[0056] Figure 6 shows a perspective view of the mounting and sensor assemblies of figures 1 to 5 installed in a double width livestock race. As can be seen from this figure the mounting assembly is engaged with a livestock race which is significantly wider than that shown with respect to figures 1 to 5. These dimensions would normally allow multiple animals to pass a spraying assembly which is only able to spray a single animal at one time. For this reason restriction bars 20 have been installed on the side walls of the race shown by figure 6, ensuring that single animal only may move past the spraying assembly at one time.

[0057] A comparison between the configurations of the mounting assembly shown in figures 1 and 6 illustrates how this component allows the invention to be installed in a range of locations with different race widths. In the circumstances shown in figures 1 and 6 the pivoting connections between lifting struts, side wall clamps and sensor assembly allow the angle of each of these struts to be adjusted while also elevating the sensor assembly and spanning the width of the race.

[0058] Figure 7 shows image data obtained from the sensor assembly of figures 1 to 6 when used with different livestock race widths. This image data is captured by a camera with a downward facing field of view. The camera view encompasses a set of race width restriction structures and the regions of the race adjacent to these structures. As can be seen from figure 7 a dairy cow is shown above a spray assembly (not shown) deployed on the bottom of the race and below the sensor assembly.

[0059] In the preceding description and the following claims the word "comprise" or equivalent variations thereof is used in an inclusive sense to specify the presence of the stated feature or features. This term does not preclude the presence or addition of further features in various embodiments.

[0060] It is to be understood that the present invention is not limited to the embodiments described herein and further and additional embodiments within the spirit and scope of the invention will be apparent to the skilled reader from the examples illustrated with reference to the drawings. In particular, the invention may reside in any combination of features described herein, or may reside in alternative embodiments or combinations of these features with known equivalents to given features. Modifications and variations of the example embodiments of the invention discussed above will be apparent to those skilled in the art and may be made without departure of the scope of the invention as defined in the appended claims.

Claims

What we claim is:

1. An automated livestock teat spraying apparatus arranged to spray a fluid on the teats of livestock traveling through a livestock raced defined by two side walls, the apparatus including a spray assembly engaged with the bottom of the livestock race and configured to spray fluid upwards on to livestock passing over the spray assembly, a sensor assembly configured to provide at least one signal identifying the presence of livestock at or adjacent to the spray assembly, a mounting assembly configured to engage with the side walls of the livestock race and the sensor assembly to elevate the sensor assembly above the livestock race.

2. The automated livestock teat spraying apparatus of claim 1 wherein the mounting assembly allows for variations in the distance it spans to engage with the side walls of the livestock race.

3. The automated livestock teat spraying apparatus of claim 1 or claim 2 wherein the mounting assembly includes at least two clamps, each being engaged with opposite side walls of the livestock race, and at least two lifting struts, each being pivotally connected to a clamp and pivotally connected to the sensor assembly at the opposite end of the strut.

4. The automated livestock teat spraying apparatus of claim 3 wherein each lifting strut formed by two nested hollow beams of material with one able to move within the interior of the other.

5. The automated livestock teat spraying apparatus of claim 4 which includes locking pins to engage the two nested beams together at various points to adjust the effective length of the strut.

6. The automated livestock teat spraying apparatus of claim 1 wherein the sensor assembly includes a camera capable of providing image data signals.

7. The automated livestock teat spraying apparatus of claim 6 wherein the field of view of the camera encompasses the spray assembly and animals immediately adjacent to the spray assembly.

8. The automated livestock teat spraying apparatus of claim 1 which includes a controller configured to receive signals from the sensor assembly and to issue at least one trigger signal to the spray assembly.

9. The automated livestock teat spraying apparatus of claim 8 wherein the controller includes or communicates with an intelligence assembly configure to receive sensor assembly image data and to output livestock udder position information.

10. The automated livestock teat spraying apparatus of claim 9 wherein the intelligence assembly is configured to output animal metadata related to an animal present in a camera image.

11. The automated livestock teat spraying apparatus of claim 9 wherein the intelligence assembly is configured to output animal metadata derived from a herd ID tag.

12. The automated livestock teat spraying apparatus of claim 9 wherein the intelligence assembly is provided by a convolution neural network trained on training data composed of images of a dairy animal outline as viewed from above.

13. The automated livestock teat spraying apparatus of claim 9 wherein the training of the intelligence assembly includes an instance segmentation process.

14. The automated livestock teat spraying apparatus of claim 9 wherein the intelligence assembly is used to estimate dairy animal teat location from a detected animal pixel outline compared with image training data showing dairy animals of similar dimensions to the detected animal pixel outline.

15. The automated livestock teat spraying apparatus of claim 9 wherein the intelligence assembly includes multiple convolution layers to multiscale and detect objects of various sizes or at different heights.

16. The automated livestock teat spraying apparatus of claim 9 wherein the intelligence assembly compares the animal position information determined from two or more images recorded in a time ordered sequence and calculates animal velocity information.

17. The automated livestock teat spraying apparatus of claim 1 wherein the spray assembly includes multiple nozzles.

18. The automated livestock teat spraying apparatus of claim 1 wherein the spray assembly includes reservoirs of different types of spraying fluids.

19. The automated livestock teat spraying apparatus of claim 1 wherein the spray assembly includes connections to reservoirs of different types of spraying fluids.

20. The automated livestock teat spraying apparatus of claim 1 which includes a rigid armoured exterior housing.

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