Milking robot with auxiliary lighting

Abstract

A milking robot (1) for dairy animals is provided, said milking robot being equipped with milking means (3), a robotic arm (2) for connecting the milking means, a detection device (4) for determining teat positions, and a controller (10). The detection device comprises a first source (16) for the emission of broadband light, in particular white light, into a solid angle and an optical camera (17) for capturing images with the emitted light. The controller is configured to control a behaviour of emission of said broadband light depending on a criterion which at least determines that the controller increases the light intensity emitted by the first source, at least into part of said solid angle, only at a predetermined minimum ambient illumination. This prevents the dairy animals from being disturbed by flickering light in dark conditions. On the other hand, the additional light ensures more reliable images if the environment itself is already (to some extent) light, and the animals are therefore no longer disturbed as a result.

Description

[0001] Milking robot with auxiliary lighting

[0002] The present invention relates to a milking robot for milking a dairy animal, said milking robot being equipped with milking means, a robotic arm for connecting the milking means and having a detection device which is attached to the robotic arm and is configured to determine the position of teats of the dairy animal, and a controller.

[0003] Such milking robots have been known for some time. Milking robots can connect the milking means, in particular teat cups, to teats of the dairy animal, such as a cow or goat, using a robotic arm and a detection device. The detection device is configured to determine positions of the teats, and transmits said positions to the controller, which then controls the robotic arm to move the teat cups to the determined positions to connect the teat cups. Examples of milking robots available on the market are the Lely Astronaut® and the DeLaval VMS™.

[0004] In order to be able to monitor the milking process or the condition of the dairy animal, in particular at least aspects of the state of health, the detection device can also comprise an optical source to capture an image of at least part of the dairy animal with this radiation.

[0005] In practice, however, this often turns out to be disruptive for the dairy animals and can cause stress. This is undesirable, as it can lead not only to stress-related conditions in the animals, but also to a reduction in milk production.

[0006] The object of the present invention is to provide a milking robot of the type mentioned in the preamble, in which the above disadvantage has been at least partially eliminated in use.

[0007] The invention achieves this object by means of a milking robot according to Claim 1.

[0008] The invention is based on the realisation that the distress is caused directly by the aforementioned optical radiation, at least at times when it is noticeable. In principle, optical radiation seems to be most desirable when the intensity of the ambient light is (too) low. After all, the source can then emit additional light. However, because the light is not constant, it is a sudden flickering light for the animals, which is a disturbance of the environment. If the optical radiation is emitted (only) when there is a relatively large amount of ambient light, this disturbance does not occur, or at least occurs to a much lesser extent. There is obviously still an advantage of the lighting, in the sense that the illumination of the images to be captured can be more even, with, for example, a more constant light colour. This is important when assessing animal parts for colour anomalies and other anomalies. It is also still the case that the effects of stray light, which occur precisely when there is a lot of ambient light, can be reduced by providing a known and, if desired, large proportion of optical radiation from the first source. This radiation can be optimized much more effectively for the occurrence of stray light and other disturbing phenomena than (excessively) present stray light from ambient light.

[0009] According to the invention, precisely no first optical radiation is emitted in times of low ambient light. As a result, the detection device does not capture any images during those periods. However, it still remains possible to assess the milking process, animal health, etc., in other ways, such as with other, non-disruptive, sensors.

[0010] Particular embodiments of the invention are described in the dependent claims and in the following part of the description.

[0011] In embodiments, the milking robot comprises a light meter for measuring the aforementioned ambient brightness. Here, the milking robot is capable of dynamically adjusting the behaviour of the first source to the light conditions. Dense clouds, for example, can also be present during the day, as a result of which there is very little ambient light. In such a case, the first source can also cause distress during the day, so it is better not to switch it on. On the other hand, it is possible that the milking robot is set up in a barn or other space, and that, for example, there is sometimes lighting in that space. In such a case, the emission of optical radiation by the first source can do no harm. By measuring the light intensity of the environment in these and in other cases, the milking robot can take such conditions into account.

[0012] It is not necessary for the milking robot to measure the intensity of the ambient light in order to at least reduce stress from the optical radiation from the first source. In alternative or additional embodiments, the controller, at least the first source, is configured to be able to increase the aforementioned light intensity only during a predetermined part of a day. That predetermined part of the day will obviously be the daytime, i.e. the part of the day when the sun is strong enough on average to produce the desired minimum intensity of ambient light.

[0013] Around the equator, the day always lasts around 12 hours, so that the first source is easy to control. At other latitudes, the length of the day varies more or less during the year, but even then the first source is relatively easy to control with a clock. The predetermined part of the day is then advantageously also seasonally dependent.

[0014] The predetermined minimum ambient brightness is not particularly limited. For example, it is between 5 and 10 lux. Below such a value, for example, a cow experiences darkness, and a strong light from the first source could be disruptive. It is assumed here that the first radiation must be significantly stronger than the ambient light in order to exclude disturbing colour influences and the like as much as possible. It will be clear that other limits can also be chosen, such as depending on the species or the preferences of the user.

[0015] The design of the detection device is not particularly limited. For example, the detection device can determine the position of the teats using an ultrasonic sensor. Alternatively, the detection device comprises a second source designed for the emission of narrowband red or infrared second optical radiation, as well as a detector to detect said emitted second optical radiation which is reflected on objects. The use of this radiation and an associated detector, both known in the prior art, offers the advantage that, for example, a cow does not perceive this (infrared) radiation or perceives it to a limited extent only. Moreover, the colour red has hardly any effect on the biorhythm and hormone balance of the cow, so that, with the use of this red or infrared radiation, the teat cups can be connected correctly but without disruption at night also.

[0016] The type of second source is also not particularly limited. For example, the second source comprises an infrared or red laser, laser diode, or LED. Alternatively, the second source comprises a source with multiple types of radiation plus a filter, to emit narrowband (infra)red light only.

[0017] The second source emits narrowband radiation here, and the first source emits broadband "white" light. In this context, 'narrowband' means that the FWHM of the radiation has a maximum range of 50 nm and is preferably predominantly monochromatic, whereas 'broadband' here means that, in the case of a continuous spectrum, the FWHM is at least 200 nm, advantageously occupies substantially the entire visible spectrum, or alternatively comprises at least three LED bands in the red, green and blue range respectively. It is even possible to supplement this optical radiation with (near) infrared and / or UVA radiation. In all such cases, the first source can provide very useful optical information to the detector, which is always designed to detect the relevant broadband radiation in at least most of the transmitted spectrum.

[0018] The position of the first source and possibly the second source is also not particularly limited. For example, they can be attached to a milking box, and therefore permanently installed. It is true that the view of teats, for example, is not always ideal, but the source(s) is / are optimally protected against kicks / contamination, etc., by the dairy animal. Nevertheless, in particular embodiments, the first and / or second source of the detection device is / are attached to the robotic arm. Thus, the first source, and, in particular, the second source, if provided, can optimally illuminate the teats. After all, the optimal position can be determined with the help of the robotic arm, obviously as well as the detection device. Moreover, the target, and therefore the animal part to be assessed, can be something other than teats for the first source, so that, for that reason also, the position of the first source does not have to be on the robotic arm.

[0019] In embodiments, the controller is configured to process the aforementioned images and to recognise a region of interest in said images, and the first source comprises setting means which are configured to change said solid angle, wherein the controller is configured to control the setting means and / or the first source on the basis of said recognized region of interest. The detector captures the radiation from the first source which is reflected on objects in the area in front of the first source. It may suffice in itself to register these images, and then store them for later use, or to forward them to an external processor. The detection device further advantageously comprises an image processor, or the controller is configured to process the images, advantageously to recognise a region of interest, i.e. a sub-area in the image that contains desired or otherwise (more) relevant information.

[0020] The controller can then more effectively illuminate the region of interest (or possibly a plurality of regions of interest) by using the setting means to change the solid angle, i.e. to change the main direction and / or size in one or more directions, and / or by adjusting the intensity of the first source. With this embodiment, the brightness in the region of interest can be increased, and with this the contrast can often be improved or otherwise useful information can be extracted from the images. One advantage here is that the total amount of emitted light does not have to be increased, which causes less stress than simply increasing the light intensity without adjusting the solid angle. The setting means can be, for example, mechanical sliders, diaphragms or controllable mirrors, or electronically controlled means such as an LCD screen.

[0021] The image processing, as well as the recognition of a region of interest, can be carried out in many ways and with many different sub-techniques. Examples include filtering, edge detection, and then comparing detected edges, shapes and so on with known objects, with or without the help of neural networks and machine-learning techniques.

[0022] In particular, the region of interest comprises at least part of one or more of at least one of said teats, an udder, at least one leg and a tail of said dairy animal. It will be clear that such animal parts can provide relevant information for dairy animals, both for the purpose of connecting the milking means and for determining aspects relating to animal health. Nevertheless, it is certainly possible to detect, consider, and assess other animal parts as well.

[0023] The assessment can comprise, for example, comparing an image of the animal part, such as a teat or udder, or a claw of a leg, with a reference image. If the controller detects an anomaly, it can generate an alert message for the livestock farmer.

[0024] The invention will be explained in more detail below on the basis of a nonlimiting exemplary embodiment, as well as the drawing, in which:

[0025] - Figure 1 shows a schematic milking robot according to the invention,

[0026] - Figure 2 shows a detail of a second schematic milking robot according to the invention, and

[0027] - Figure 3 shows schematically a small part of a detection device, together with an image viewed and eliminated by the detection device.

[0028] Figure 1 shows a schematic milking robot 1 according to the invention. The milking robot 1 comprises a robotic arm 2 with a teat cup 3, a detection system 4 that emits a laser beam 5, and a camera system 14, 14' that emits radiation 15, 15'. Furthermore, a controller 10 is further shown. The whole system is installed in a milking box 50 for temporary housing of a dairy animal 100 with an udder 101 with teats 102.

[0029] The milking robot is shown highly schematically only, such as with said robotic arm 2 and only one teat cup 3. The milking robot system can comprise, for example, a gripper arm which takes teat cups 3 one by one from a magazine, or can comprise a platform on which all teat cups are removably attached. The teat cup 3 can be a milk cup, a cleaning cup and / or a combination cup. However, such details are of no further importance to the invention.

[0030] In fact, according to the invention, the detection device of the milking robot 1 comprises both the detection system 4 and the camera system 14, 14'. The detection system 4 is configured to determine the position of the teat 102 of the dairy animal 100, such as a cow or goat. The detection system 4 can be implemented in many ways. In the past, ultrasonic sensors were used, but nowadays almost all systems are optical. As in the embodiment shown, for example, the detection system 4 emits a laser beam 5 that is radiated into space in linear form. Alternatively, however, the detection system can also comprise a structured-light camera, time-of-f light camera (ToF camera) or the like, which also emits radiation. This radiation is narrowband here, and also substantially monochromatic in the case of a laser beam. The emitted radiation at least has a maximum FWHM ("Full Width at Half Maximum") of 50 nm. Preferably, and in practice almost always, this radiation is red or infrared radiation, which is experienced as the least disturbing by cows, for example.

[0031] In addition, the detection device here comprises a camera system 14, 14', with two units 15, 15' that each emit initial radiation. This radiation serves to allow the camera system to generate images with sufficiently reliable colours. A first camera unit 14 is attached to the robotic arm 2, and thus has an optimal view of the udder 101 and teats 102 of the dairy animal 100 during the application of the teat cup 3. The second camera unit 14' is attached to the milking box 50. This camera unit 14' can, for example, capture images of the udder 101 and / or the teats 102 from a different direction. Although optimal positioning cannot always be guaranteed for this camera unit, it is better protected against cow kicks, contamination by manure and the like.

[0032] Details of the detection device will be explained with reference to Figure 2, which shows a detail of a second schematic milking robot according to the invention. Similar parts are indicated by the same reference signs, possibly with one or more accent marks.

[0033] Here, the detection system 4 of the detection device comprises a laser source 6 for the laser beam 5-a, and a laser detector 7 for reflected laser light, denoted here as the beam 5-b. The camera system 14 here comprises only one camera unit with a light source 16 for optical radiation 15, and a camera 17. In addition, a controller 10 with a light meter 8 is shown.

[0034] The one camera unit 14 is shown here on the robotic arm 2 on top of the detection system 4, which is itself attached on top of the controller 10. It is explicitly stated that this positioning is shown relatively randomly. Any other reciprocal positioning in which the parts can duly perform their intended function is obviously also usable. In addition, the controller 10 can also be installed elsewhere, as long as it is actively connected to the detection device and the light meter 8.

[0035] Here too, the detection system 4 is shown as a laser system, but again it is explicitly stated that any other suitable teat detection system can also be used, such as the aforementioned ToF camera. The beam 5-b that is shown is obviously also only schematic for the light of the laser beam 5-a reflected on the teat 102. The camera unit 14 is also provided to produce images of the udder 101 or teats 102, or of other parts of the dairy animal, such as a tail or leg. It is important here that the images provide reliable information, wherein consistency is often more important than the "authenticity" of, for example, the colours. Nevertheless, it is advantageous if the colours shown correspond as closely as possible to those that would be seen by a human observer. The optical radiation 15 is therefore preferably broadband optical radiation, such as visual radiation with an FWHM of at least 200 nm. Optical radiation more preferably has a bandwidth of around 400, ranging from around 400 nm to around 800 nm, thus in principle covering the entire visible spectrum. The light source 16 can comprise a broadband light source in itself, such as an incandescent or halogen lamp, or, for example, a plurality of sources that together emit a broadband spectrum, such as LEDs in different colours, preferably RGB LEDs.

[0036] Here, the controller 10 determines whether and when the camera unit 14 may switch on its source 16, using the light meter 8. The light meter 8 measures the brightness of the ambient light L. When this brightness L is below a predetermined threshold Lo, the controller 10 concludes that it is "dark" and blocks the activation of the source 16. This prevents the radiation 15 from disturbing the animals in the environment too much. The value for Lo is, for example, a value between 5 and 10 lux, but can, in principle, be freely chosen. If the measured light intensity L in the environment is higher than Lo, the source 16 may be activated, and the camera 17 can capture an image, here for example of the udder 101 and / or the teat 102.

[0037] Figure 3 serves to clarify the operation of a further embodiment of the milking robot according to the invention, and shows schematically a small part of its detection device, together with an image viewed and illuminated by the detection device.

[0038] Only a source 16' for broadband optical radiation is shown, said source being provided with setting means 18 and an optical camera 17'. Various parts of a dairy animal are also shown, such as the udder 101 with four teats, comprising a right front teat 102RV and a left front teat 102LV, and the udder cleft 103.

[0039] An image 20 illuminated by the source 16' at a (maximum) solid angle 21 is further shown, as well as a first smaller image 22, at a smaller radiated solid angle 23, and a second smaller image 25, at a different, smaller solid angle (not shown in detail).

[0040] In principle, the source 16' will initially emit radiation into a maximum solid angle 21. The camera 17' is preferably adapted to see an image the size of the striped rectangle 20 at this radiated solid angle, although in practice some parallax will occur. The recorded image 20 is processed by the controller using image processing techniques known per se, which are obviously adapted to the requirements of the user. For example, the user wishes to monitor animal health by comparing the image with reference images, to help detect anomalies in one or more animal parts.

[0041] To increase the reliability of the images, it can be useful to increase the brightness and / or contrast. On the other hand, stronger illumination over the entire maximum field of view 21 is often not possible, often not desirable, and certainly not always necessary. However, it is possible to limit the illumination to one or more parts of the image that require further investigation, the so-called regions of interest, or ROIs. These are parts of the image that show a change, or where a possible change cannot yet be properly assessed. In Figure 3, for example, these are the ROI 22 and the ROI 25.

[0042] At ROI 22, it is possible to investigate whether udder cleft dermatitis (UCD) may have occurred, which is accompanied by an infection or damage to the skin in the udder cleft. A high light intensity is required to illuminate this in a reasonably acceptable way. It may then be advantageous to reduce the solid angle to the desired image, such as a solid angle 23, using the setting means 18. The latter comprise, for example, mechanical slides, movable mirrors, or an optical element controllable by the controller. Thus, the luminous flux of the light source 16' can thus be directed entirely or almost entirely at the ROI 22. Alternatively, if the source 16' comprises a plurality of sub-sources which are to be directed separately, for example, only the sub-sources directed at the ROI 22 could be activated. They could even be fed with more power if desired. As a result, the intensity in the radiated solid angle increases, resulting in higher intensity and contrast, while the total emitted luminous flux does not have to increase. As a result, the animals will be disturbed less.

[0043] A second example of an ROI is ROI 25, here the teat tip of the left front teat 102LV. In order to get an idea of the health status of this teat tip, for example to see if teat tip callus or other damage has occurred, the light source 16' can illuminate this ROI 25 as the only one in the total solid angle 21 , or precisely more strongly in the solid angle associated with ROI 25. The setting means 18 can be controlled accordingly by the controller for this purpose.

[0044] The examples described are not intended to be limiting. The protective scope of the invention is determined by the attached claims.

Claims

CLAIMS1. Milking robot for milking a dairy animal, equipped with milking means, a robotic arm for connecting the milking means, a detection device designed to determine the position of the teats of the milking animal, and a controller, wherein the detection device comprises a first source configured to emit broadband first optical radiation, in particular white light, into a solid angle, and an optical camera for capturing images of said emitted first optical radiation which is reflected on objects, wherein the controller is configured to control a behaviour of emission of said broadband optical radiation depending on a criterion, wherein said criterion at least determines that the controller increases a light intensity emitted by the first source, at least in a part of said solid angle, only at a predetermined minimum ambient brightness.

2. Milking robot according to Claim 1 , comprising a light meter for measuring said ambient light intensity.

3. Milking robot according to one of the preceding claims, wherein the controller is configured to be able to increase said light intensity only during a predetermined, preferably seasonally dependent, part of a day.

4. Milking robot according to one of the preceding claims, wherein the detection device comprises a second source configured to emit narrowband red or infrared second optical radiation, and a detector to detect said emitted second optical radiation reflected on objects.

5. Milking robot according to one of the preceding claims, wherein the first and / or second source of the detection device is / are attached to the robotic arm.

6. Milking robot according to one of the preceding claims, wherein the controller is configured to process said images and to recognise a region of interest in said images, and wherein the first source comprises setting means which are configured to change said solid angle, and wherein the controller is configured to control the setting means and / or the first source on the basis of said recognized region of interest.

7. Milking robot according to claim 6, wherein the region of interest comprises at least part of one or more of at least one of said teats, an udder, at least one leg and a tail of said dairy animal.

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