Animal husbandry system

Abstract

Animal husbandry system, wherein a group of animals can roam freely in an area intended therefor, the system comprising a tracking system with automated tracking means configured for repeatedly tracking a plurality of individual animals in the area and in doing so assigning to the individual animals a track comprising tracking position data and tracking identity data, wherein the system is further provided with at least one autonomously movable vehicle which is provided with identification means configured for determining position and / or identity data of an animal and for transmitting said data to the tracking system. The animals can be tracked efficiently and identified accurately in a cheap and simple manner.

Description

[0001] Animal husbandry system

[0002] The present invention relates to an animal husbandry system, wherein a group of animals can roam freely in an area intended therefor, the system comprising a tracking system with automated tracking means configured for repeatedly tracking a plurality of individual animals in the area and in doing so assigning to the individual animals a track comprising tracking position data and tracking identity data.

[0003] Such systems are known in the art. Monitoring the animals in the system and gathering relevant individual animal data plays an important role in modern animal husbandry systems. Being able to correctly track individual animals within the group is of paramount importance for this.

[0004] WO2018 / 174812 describes a video monitoring system for identifying an individual animal in a group of animals each carrying an identification tag. An event of interest related to the individual animal is detected, after which the animal in question is tracked and its identity is determined by means of the identification tag as soon as it visits an identification station. Multiple animals may be tracked at the same time, when multiple events of interest have been detected. Not all individual animals are tracked all the time.

[0005] WO2022 / 260576 shows a positioning system in which mobile units transmit radio messages containing identity information via ultra-wideband (UWB) to a number of fixed base stations which determine the position of each mobile unit. T races of the mobile units are registered. If a sufficiently large number of traces is being interrupted in a certain area in a certain time interval, the base station configuration is adapted.

[0006] EP1100322 discloses an assembly of a stable and an unmanned vehicle provided with detection means for determining the climate in the stable. The unmanned vehicle may comprise an animal identification system and / or a camera and / or a radar, allowing it to trace a specific animal.

[0007] EP3494779 deals with a livestock feeding system with an autonomous feed pusher vehicle having an animal recognition system for repeatedly recognizing individual animals at the feeding fence. There is no tracking system.

[0008] There is a need for an improved, yet economical and simple animal husbandry system.

[0009] It is an object of the present invention to provide such an improved system.

[0010] The invention achieves the object at least in part by means of a system according to claim 1 , in particular an animal husbandry system, wherein a group of animals can roam freely in an area intended therefor, the system comprising a tracking system with automated tracking means configured for repeatedly tracking a plurality of individual animals in the area and in doing so assigning to the individual animals a track comprising tracking position data and tracking identity data, wherein the system is further provided with at least one autonomously movable vehicle which is provided with identification means configured for determining position and / or identity data of an animal and for transmitting said data to the tracking system.

[0011] With the additional autonomously movable vehicle, the tracking system can track the animals in the husbandry system more efficiently and more accurately in a relatively cheap and simple manner. Thus, a user-friendly, animal-friendly, economical and reliable animal husbandry system is realized, in which the animals are correctly tracked.

[0012] The invention is based on the insight that in case of a tracking error in the tracking system, an animal can be reidentified with the aid of the autonomously movable vehicle in an efficient way. This can be achieved in a both user-friendly and animalfriendly, automated manner.

[0013] Suitable and advantageous embodiments are described in the dependent claims, as well as in the description below.

[0014] According to a first embodiment of the invention, the vehicle is configured for following a 1-, 2- or 3-dimensional route in the area specified by the tracking system, for detecting on said route animals in its vicinity, for determining position and / or identity data of said animals and for transmitting said data to the tracking system. In this way, the tracking system actively controls the movements of the vehicle in order to improve the tracking performance.

[0015] In accordance with a further embodiment, the vehicle is configured for navigating to a position specified by the tracking system. Thus, the vehicle can assist the tracking system at a desired, optimal position.

[0016] In a further embodiment, the tracking system is configured for detecting a tracking error while tracking an animal, and for directing the vehicle to the vicinity of the position of the detected tracking error in order to reidentify the animal in question. This is a very efficient way to improve the tracking performance of the tracking system.

[0017] Advantageously, at least one vehicle is a cleaning vehicle, e.g. for cleaning the area. As these vehicles are frequently present in animal husbandry systems, it is efficient to implement identification means in such a vehicle.

[0018] In a further embodiment, at least one vehicle is a feed pusher. In case such a vehicle is present in the animal husbandry system, it is advantageous to implement identification means in such a vehicle.

[0019] In accordance with yet a further embodiment, at least one vehicle is a drone. This enables the use of 3-dimensional routes for the vehicle.

[0020] Preferably, the tracking means comprise at least one camera, a processor or a computer processing unit, and image analysis means. This constitutes a very animalfriendly implementation, as the animals are not disturbed in any way. As it is automated, it is also a very user-friendly implementation.

[0021] In accordance with another embodiment, the tracking means comprise tags wearable by the animals configured for repeatedly transmitting messages containing identity information of the animal in question to a number of base stations, which are configured for determining the animal's position therefrom. Preferably, the messages are radio messages transmitted using ultra-wideband (UWB). This embodiment also gives good results.

[0022] Advantageously, the system is further provided with animal identification means comprising a set of stored individual animal identity data for identifying the animals at at least one identification location. This further enhances the efficiency of the system.

[0023] In accordance with another embodiment, the identification means comprise a tag wearable by each animal and at least one tag reader. This is a very simple and relatively cheap, yet effective implementation.

[0024] Alternatively, or additionally, the identification means comprise a camera with image analysis means. The animals can be recognized at the at least one identification location from their size, body shape, skin pattern, etcetera, in a manner known as such.

[0025] In a further embodiment, the identification location is situated inside, at or near a milking robot, a feeding / drinking station, a selection gate and / or a detection gate. These are suitable locations for the identification action, because there the animal in question stands still for a while.

[0026] The invention will now be further explained with reference to the following Figures, which schematically illustrate the system according to the invention.

[0027] Figure 1 shows an area with an animal husbandry system according to the invention; Figure 2 shows a vehicle according to the invention monitoring a cow.

[0028] In Figure 1 an animal husbandry system according to the invention is illustrated with an area here in the form of a stable or shed or barn 1 wherein a group of animals 2 can move about freely. In the example shown, the animals are cows. Of course, the invention can also be applied to an animal husbandry system involving other animals, such as goats, pigs, horses, or even chickens, turkeys, etcetera. The stable 1 can also be a structure with, for example, a partly open roof. The system according to the invention can be applied in a free stall barn or in an open area like a meadow or pasture with cattle fences. It can also be applied in a combination of a stall and a pasture.

[0029] In the example shown, the stable 1 has a number of activity areas for the animals 2: a feeding area 3, a drinking area 4, at least one resting area 5 with cubicles 6, a milking area 7 with a milking robot 8, and a treatment area 9. All these areas are interconnected by one or more alleys 10.

[0030] Tracking means in the form of monitoring and analyzing means configured for determining and tracking the identity and the position of each individual animal 2 are provided, in the embodiment shown in the form of a number of cameras 11 and a processor with appropriate software, as will be elucidated below.

[0031] The cameras 11 are arranged for monitoring a region or a subarea or a number of subareas of the stable 1 . Of course, other (optical) sensors can in principle be used instead of the cameras 11 , or additionally. The cameras 11 are provided in such a way that, collectively, they are configured for monitoring substantially the complete shed 1 , particularly all the animals 2. The cameras 11 can be provided in the shed 1 above the animals 2 (e.g. centrally, theoretically only one camera can be used), or as shown in Figure 1 , on the walls of the shed 1 .

[0032] The cameras 11 can be fixedly positioned and oriented in such a way that all relevant subareas of the area 1 can be monitored. Alternatively, they may be mounted in a pivotable way. The subareas may overlap. In case the invention is used in a pasture, the cameras 11 may be provided on fences, at a sufficient height above the ground. The chosen configuration obviously depends on the shape of the area or shed 1.

[0033] Suitable illumination means (not shown) for the shed 1 are also provided.

[0034] Also, animal identification means may be provided configured for establishing the identity of each individual animal 2 at one or more identification locations. Such an identification location can serve as a calibration or reset point, further increasing the reliability of the system.

[0035] To that end, the animal identification means comprise a set of stored individual animal identity data. These separate identification means can be in the form of a tag in which animal identity data are stored, wearable by each animal 2, which tag can be read by at least one tag reader, provided in at least one identification location, for example in the milking robot 8, at the feeding area 3, at the drinking area 4, and / or on a vehicle which is moveable in the area 1 , e.g. a cleaning vehicle 14 or a feed pushing vehicle 15 or a drone 16. For example, Radio Frequency Identification, known as such, with tags / transponders and an antenna with a reader can be used. The tags may also be read by means of the cameras 11 or with an extra camera. This is a simple and relatively cheap implementation.

[0036] The identification location can be situated inside, at or near the milking robot 8, or inside, at or near a feeding / drinking station 3, 4, or inside, at or near a selection gate 12 and / or a detection gate (not shown). These are suitable locations for the identification action, because there the animal 2 in question stands still for a while. One identification location is sufficient, although in theory more than one location can be used.

[0037] In case the area 1 is large (e.g. a meadow), additional identification locations may be added to the system, for example one or more walk through antennas and / or one or more walk over antennas (not shown).

[0038] The cameras 11 are connected to a processor or a computer processing unit, and image analysis means (known as such, not shown). With the aid of the cameras 11 , the processor and the image analysis means, the animals 2 can be tracked at least temporarily in the area 1.

[0039] In an alternative embodiment, the identification means are also formed by the cameras 11 , the processor and the image analysis means, so that it is not necessary for the animals 2 to wear tags. In that case, the cameras 11 , the processor and the image analysis means form identification means configured for determining the identity of each individual animal 2 and detection and tracking means configured for detecting and tracking the position of each individual animal 2. An extra identification camera may be used in this case at an identification location, for example in the milking robot 8. The animals 2 can be recognized at such a suitable location from their size, body shape, skin pattern, etcetera, in a manner known as such.

[0040] The tracking system with automated tracking means is configured for repeatedly tracking a plurality of individual animals 2 in the area 1 and in doing so assigning to the individual animals 2 a track 13 comprising tracking position data and tracking identity data. For example, once an animal 2 has been identified at an identification location, the cameras 11 and the computer with image analysis means are configured to track the position of the animal 2 when it moves through the area 1 , ideally until a next visit of the animal 2 in an identification location. However, when an animal 2 moves through the area 1 , a tracking error can occur. The animals 2 are moving about freely, so that after a certain time the tracking may be interrupted, for example if a cow 2 hides behind another cow 2, or if a cow 2 is only partly visible for the cameras 11 , or if two cows 2 remain in close contact with each other for a while. Tracking can be readily performed from an identification location 8, 3, 4, 12 onwards, but this is not always necessary, as the cameras 11 alone are normally able to identify an animal 2.

[0041] The tracking means assign to the individual animals 2 a track, schematically illustrated in Figure 1 with reference numeral 13. Here, the term "track" is understood to designate a movement pattern represented by consecutively updates of the animal's position. Of course, in practice the tracks can be much longer than shown in Figure 1 . A track 13 comprises tracking identity data and tracking position data from a moment of detection of an animal 2 until a tracking error occurs and the tracking means lose track of the animal 2 in question. At a later moment, a new track 13 will be assigned to the animal 2, as soon as it is detected again. In Figure 1 , the tracks 13 are only schematically illustrated for clarity and simplicity.

[0042] In accordance with the invention, the system is further provided with at least one autonomously movable vehicle 14, 15, 16 which is provided with identification means configured for determining position and / or identity data of an animal 2 and for transmitting said data to the tracking system. Using the additional autonomously movable vehicle 14, 15, 16 the tracking system can track the animals 2 in the husbandry system more efficiently and more accurately in a relatively cheap and simple manner. Thus, a user- friendly, animal-friendly, economical and reliable animal husbandry system is realized, in which the animals are correctly tracked. In case of a tracking error in the tracking system, an animal 2 can be reidentified with the aid of the autonomously movable vehicle 14, 15, 16 in an efficient way. This can be achieved in a both user-friendly and animal-friendly, automated manner.

[0043] Figure 2 shows the vehicle, for example a cleaning vehicle 14 for cleaning the alley 10 or a feed pusher, in the area 1 monitoring a cow 2. The vehicle 14 has a camera connected to a processor (not shown) which is able to determine position data and / or identity data of the cow 2 in question. This can e.g. be done by analysis of the skin pattern of the cow 2, or by means of reading data on a collar worn by the cow 2.

[0044] In Figures 1 and 2 only one or two vehicles 14, 15 are depicted, but of course there can be more than two.

[0045] The at least one vehicle 14, 15, 16 is configured for following a 1-, 2- or 3- dimensional route in the area 1 specified by the tracking system, for detecting on said route animals 2 in its vicinity, for determining position and / or identity data of said animals 2 and for transmitting said data to the tracking system. In this way, the tracking system actively controls the movements of the vehicle 14, 15, 16 in order to improve the tracking performance. The vehicle 14, 15, 16 may be configured for navigating to a position specified by the tracking system. In thatway, the vehicle 14, 15, 16 can assist the tracking system at a desired, optimal position. Alternatively, the 1-, 2- or 3-dimensional route in the area 1 specified by the tracking system can be chosen random. This also gives satisfactory results.

[0046] Highly advantageously, the tracking system is configured for detecting a tracking error while tracking an animal 2, and for directing the vehicle 14, 15, 16 to the vicinity of the position of the detected tracking error in order to reidentify the animal 2 in question. This is a very efficient way to improve the tracking performance of the tracking system.

[0047] At least one vehicle can be a cleaning vehicle 14. As these vehicles are frequently present in animal husbandry systems, it is efficient to implement identification means in such a vehicle.

[0048] Alternatively, or additionally, at least one vehicle is a feed pusher 15. In case such a vehicle is present in the animal husbandry system, it is advantageous to implement identification means in such a vehicle. At a feeding area 3 it is easy for the vehicle 15 to detect and identify the animals 2.

[0049] Also, at least one vehicle can be an unmanned aerial vehicle UAV (drone) 16, as shown in Figure 2. This enables the use of 3-dimensional routes for the vehicle. A flying vehicle can identify animals like cows relatively easily. It can readily be used in a meadow or pasture, but also inside a large barn.

[0050] Preferably, the tracking means comprise at least one camera 11 , a processor or a computer processing unit, and image analysis means. This constitutes a very animal-friendly implementation, as the animals 2 are not disturbed in any way. As it is automated, it is also a very user-friendly implementation. In this case, the major part of the tracking system (everything except the vehicle 14, 15, 16) is stationary, which is advantageous.

[0051] In an alternative embodiment, the tracking means comprise tags wearable by the animals 2 configured for repeatedly transmitting messages containing identity information of the animal 2 in question to a number of base stations (not shown), which are configured for determining the animal's position therefrom. Preferably, the messages are radio messages transmitted using ultra-wideband (UWB). This alternative embodiment also gives good results, although it is susceptible to interference problems. In accordance with the invention, reidentification of an animal 2 may take place by means of the at least one vehicle 14, 15, 16. Advantageously, the system is further provided with animal identification means comprising a set of stored individual animal identity data for identifying the animals 2 at at least one identification location. This further enhances the efficiency of the system.

[0052] The identification means may comprise a tag wearable by each animal 2 and at least one tag reader. This is a very simple and relatively cheap, yet effective implementation. Alternatively or additionally, the identification means may comprise a camera with image analysis means. The animals 2 can be recognized at the at least one identification location from their size, body shape, skin pattern, etcetera, in a manner known as such.

[0053] In a further embodiment, the identification location is situated inside, at or near a milking robot, a feeding / drinking station, a selection gate and / or a detection gate. These are suitable locations for the identification action, because there the animal in question stands still for a while. Walk through antennas and / or walk over antennas may also be used.

[0054] In case a tracking error would not be noticed, the identification means provide a periodical ascertainment of the correct animal identity for the animal tracking means 11 at an identification location by comparing and matching the stored individual animal identity data with the tracking identity data assigned by the tracking means 11 . In this way, a periodical matching with the correct animal identity as stored in the identification means is achieved.

[0055] The system further comprises (optionally) a treatment area 9 and a selection gate 12 for guiding an animal 2 to the treatment area 9. This is useful and user- friendly for the farmer, and animal health and welfare is improved.

[0056] Thus, a highly efficient and accurate, automated, yet animal-friendly animal husbandry system is realized.

[0057] REFERENCE NUMERAL LIST

[0058] 1 stable

[0059] 2 animal 3 feeding area

[0060] 4 drinking area

[0061] 5 resting area

[0062] 6 cubicle

[0063] 7 milking area 8 milking robot

[0064] 9 treatment area

[0065] 10 alley

[0066] 11 camera

[0067] 12 selection gate 13 track

[0068] 14 cleaning vehicle

[0069] 15 feed pusher

[0070] 16 drone

Claims

CLAIMS1. An animal husbandry system, wherein a group of animals (2) can roam freely in an area (1) intended therefor, the system comprising a tracking system with automated tracking means (11) configured for repeatedly tracking a plurality of individual animals (2) in the area (1) and in doing so assigning to the individual animals (2) a track (13) comprising tracking position data and tracking identity data, wherein the system is further provided with at least one autonomously movable vehicle (14, 15, 16) which is provided with identification means configured for determining position and / or identity data of an animal and for transmitting said data to the tracking system.

2. System according to claim 1 , wherein the vehicle is configured for following a 1-, 2- or 3-dimensional route in the area (1) specified by the tracking system, for detecting on said route animals in its vicinity, for determining position and / or identity data of said animals and for transmitting said data to the tracking system.

3. System according to any one of claims 1 - 2, wherein the vehicle is configured for navigating to a position specified by the tracking system.

4. System according to claim 3, wherein the tracking system is configured for detecting a tracking error while tracking an animal, and for directing the vehicle to the vicinity of the position of the detected tracking error in order to reidentify the animal in question.

5. System according to any one of claims 1 - 4, wherein at least one vehicle is a cleaning vehicle (14) for cleaning the alley (10).

6. System according to any one of claims 1 - 5, wherein at least one vehicle is a feed pusher (15).

7. System according to any one of claims 1 - 6, wherein at least one vehicle is a drone (16).

8. System according to any one of claims 1 - 7, wherein the tracking means (11) comprise at least one camera, a processor or a computer processing unit, and image analysis means.

9. System according to any one of claims 1 - 8, wherein the tracking means comprise tags wearable by the animals (2) configured for repeatedly transmitting messages containing identity information of the animal (2) in question to a number of base stations, which are configured for determining the animal's position therefrom.

10. System according to claim 9, wherein the messages are radio messages transmitted using ultra-wideband (UWB).

11. System according to any one of claims 1 - 10, wherein the system is further provided with animal identification means comprising a set of stored individual animal identity data for identifying the animals (2) at at least one identification location (8, 3, 4, 12).

12. System according to claim 11 , wherein the identification means comprise a tag wearable by each animal (2) and at least one tag reader.

13. System according to any one of claims 11 - 12, wherein the identification means comprise a camera with image analysis means.

14. System according to any one of claims 11 - 13, wherein the identification location is situated inside, at or near a milking robot (8), a feeding / drinking station (3, 4), a selection gate (12), a detection gate, a walkthrough antenna and / or a walk over antenna.

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