Animal identification system

Abstract

The disclosure relates to an animal identification system (12) for a milking parlour (2) comprising a number of milking positions (4) arranged adjacent to each other. The animal identification system (12) comprises RFID reader devices (14), a control arrangement (18), and a camera (20). The number of RFID reader devices (14, 16) comprises a first RFID reader device (14') arranged at a first milking position (4'). The camera (20) is configured to view the milking positions (4). The control arrangement (18) is configured to: - activate and deactivate the RFID reader devices (14); - analyse image data from the at least one camera (20); - identify, based on the image data, visual representations of at least portions of animals (3); - distinguish, based on the image data, individual milking positions (4) of the number of milking positions (4); - activate the first RFID reader device (14') when an animal enters the first milking position (4').

Description

[0001] Animal Identification System

[0002] TECHNICAL FIELD

[0003] The invention relates to an animal identification system for a milking parlour comprising a number of milking positions arranged adjacent to each other, each milking position being configured to temporarily house an animal to be milked. The animal identification system comprises a number of RFID reader devices and a control arrangement. Individual RFID reader devices of the number of RFID reader devices are arranged at at least some of the milking positions and are configured to read RFID tags carried by the animals. The number of milking positions comprises a first milking position and the number of RFID reader devices comprises a first RFID reader device arranged at the first milking position.

[0004] BACKGROUND

[0005] The present invention relates to the field of animal identification systems, specifically those that utilise RFID (Radio Frequency Identification) tags carried by animals and RFID reader devices configured to read the tags. Such systems are widely used in various agricultural settings to monitor and manage livestock, providing data for efficient operation of dairy farms.

[0006] Accordingly, each animal at the dairy farm, such as each cow, has its animal identity, which is represented by a unique RFID tag attached to the animal individual. The tags are passive RFID tags that rely on external radio signals to activate and transmit a unique identifier of the RFID tag. Passive RFID tags are small, battery-free devices attached to the animals, such as ear tags, wherein the passive RFID tag contains a microchip and an antenna. When an RFID reader device emits a radio signal, the RFID tag's antenna captures the energy from this signal, which powers the microchip. The RFID tag then transmits its unique identifier back to the RFID reader device. This read event is an interaction that happens as an animal pass or stand within a reading range of the RFID reader device. The read event includes the unique identifier of the RFID tag together with a time stamp as well as RFID reader device data of the relevant RFID reader device performing the read event. The read event is transmitted to an animal database of a herd management system, which can be accessed through various interfaces, enabling dairy farmers to monitor and manage their animals.

[0007] In the current state of technology, milking parlours are equipped with a number of RFID reader devices. In one kind of animal identification system, one RFID reader device is positioned at an entrance to the milking parlour to identify animals as they enter and additional RFID reader devices are installed at some milking positions of the milking parlour. This kind of system may be referred to as one comprising an entrance RFID reader device with verification RFID reader devices at some of the milking positions. A different kind of animal identification system has one RFID reader device at each milking position and no RFID reader device at the entrance. This kind of system may be referred to as one comprising in-place RFID reader devices.

[0008] A known milking parlour is disclosed in W02004 / 008844, which milking parlour comprises a row of stalls accessible to the animals from a front end thereof, and an identification station arranged in the front end for identifying the animals when entering the parlour. A method of verifying the identities of the animals in the row comprises: (i) identifying the animals in the stall located at a far end of the row, in the stall located at the front end of the row, and in a stall located there in between by first, second and third identification members; (ii) comparing the identifications of the first, second, and third identification members with the first, last and n'th identifications from the identification station, where the stall located between the far and front ends is the n'th stall as counted from the far end; and (iii) depending on the comparison verifying the identities of at least some of the animals in the row.

[0009] A reliable identification of animals at each milking position is important to ensure proper management and recording of milking activities. However, existing animal identification systems face challenges that may affect the reliability of the animal identification. For example, disturbances can interfere with the RFID signals by multiple RFID reader devices causing interference with each other. Moreover, so called cross-readings can occur, wherein an RFID reader device identifies an animal in a neighbouring milking position or outside the milking parlour, causing incorrect identification of the animal in the milking position.

[0010] Animals may also enter a different milking position than expected, which complicates the identification process. In addition, there are instances where animals enter the milking parlour with malfunctioning RFID tags or without their RFID tags due to loss, leading to identification failures.

[0011] One known way of addressing some of these issues includes an automated timing sequence to switch on and off each RFID reader device when it is anticipated that the animals need to be identified. However, this approach does not fully resolve the challenges associated with ensuring reliable identification in the circumstances mentioned above. In the context of BCS (Body Condition Scoring) of animals, WO2017 / 078600 discloses a reader device that is switched on if an animal is detected with a camera within an identification zone in a passageway configured to allow only a single animal at a time within a view field of the camera.

[0012] Moreover, for the purpose of singling out an animal without a label or with a defect label, W02007 / 064202 discloses a method and apparatus for animal identity verification, wherein animals provided with an electronic identification label are guided along an antenna device of an electronic identification system. The animals are guided through a passageway provided with the antenna device of the electronic identification system, wherein a passage of an animal through the passageway is detected with the aid of a presence detector.

[0013] SUMMARY

[0014] It is an object of the invention to improve an animal identification reliability in a milking parlour by addressing the challenges described above. By enhancing the reliability of the RFIDbased animal identification system, the invention aims to support better management of livestock and more efficient operation within the milking parlour.

[0015] According to the invention, the object is achieved by an animal identification system for a milking parlour comprising a number of milking positions arranged adjacent to each other, each milking position being configured to temporarily house an animal to be milked. The animal identification system comprises a number of RFID reader devices and a control arrangement. Individual RFID reader devices of the number of RFID reader devices are arranged at at least some of the milking positions and are configured to read RFID tags carried by animals. The number of milking positions comprises a first milking position. The number of RFID reader devices comprises a first RFID reader device arranged at the first milking position. The animal identification system comprises at least one camera configured to view the milking positions, wherein the control arrangement is configured to:

[0016] - activate and deactivate the RFID reader devices,

[0017] - analyse image data from the at least one camera,

[0018] - identify, based on the image data, visual representations of at least portions of animals,

[0019] - distinguish, based on the image data, individual milking positions of the number of milking positions, and

[0020] - activate the first RFID reader device when an animal enters the first milking position. In this way, it is ensured that the first RFID reader device is activated only when the animal enters the first milking position. As a result, the first RFID reader device does not disturb any of the other RFID reader devices when there is no animal to be identified at the first milking position. The reliability of the animal identification system is therefore improved, and the above-mentioned object is achieved. Hence, the first RFID reader device is switched from deactivated to activated when its reading functionality is required for identifying the animal to be milked in the first milking position. It has also been found that the chances of reliably reading a single animal’s identity is when the individual animal enters the milking position.

[0021] Thus, the control arrangement is configured to coordinate the use of the RFID reader devices of the animal identification system by selectively activating and deactivating them to reduce the risk of interferences between the RFID reader devices, and to more reliably identify individual animals entering their milking positions. Moreover, the control arrangement will hereby reduce the energy consumption and / or possible occurrence of stray voltage in the milking parlour by activating RFID reader devices only when necessary. The animal, as previously mentioned, hereby provides a favourable posture and position in relation to the RFID reader device when entering the milking position. When the animal is detected, based on the image data, as entering the first milking position, the control arrangement switches the first RFID reader device from a deactivated mode to an activated mode. Conversely, it deactivates the first RFID reader device after the RFID tag carried by the animal has been read. A further option may be for the control arrangement to deactivate the first RFID reader device when an animal enters an adjacent second milking position to avoid a cross-reading or interference with a further RFID reader device.

[0022] The at least one camera, also referred to as the camera, is intended to encompass more than one camera, allowing it / them to capture image data on all the animals as they enter all the milking positions. The camera is a component that monitors the milking positions and is positioned in or at the milking parlour to have an unobstructed view of the milking positions. The camera's image processing software is configured to detect a presence of an animal and / or recognize specific visual markers of an animal to identify the presence of the animal. The camera enhances the reliability of the identification system by ensuring that the RFID reader devices are only activated, when necessary, to hereby reduce the interference among multiple RFID reader devices arranged near each other.

[0023] The animal identification system is utilized for identifying animals that are milked in a milking parlour. Each milking position of the milking parlour is provided with a milking implement configured for milking an animal standing in the relevant milking position. At least the milk yield of each animal is recorded during the milking of an animal individual. By identifying the animal standing in the relevant milking position, the milk extracted in that milking positions is associated with the relevant animal individual, e.g. as its milk yield in the animal database of the dairy farm. In the milking parlour, the adjacent milking positions may be arranged in parallel with each other, such as in a single- or double-sided parallel milking parlour.

[0024] Alternatively, the milking positions may be arranged in a herringbone pattern, such as in a single- or double-sided herringbone milking parlour. Depending on the configuration of the animal identification system, the number of RFID reader devices comprise, in addition to the first RFID reader device at the first milking position, one or more of a parlour entrance RFID reader device arranged at an entrance to the milking parlour, further reader devices arranged at some of the milking positions of the number of milking positions, and one RFID reader device arranged at each milking position. Moreover, the milking parlour can be of a conventional type comprising a manual attachment of a milking cluster or an automatic system comprising an automatic attachment of teat cups to the teats of the animal.

[0025] The control arrangement may be a dedicated control arrangement of the animal identification system, or it may form part of a larger control system at the dairy farm. Some of the steps may be performed by processing hardware of the camera, others of these steps may be performed in processing hardware of the control arrangement outside the camera. The control arrangement may contain position data related to the first milking position and to further milking positions of the milking parlour. The milking parlour may also be provided with visual markers enabling the camera to distinguish and identify the individual milking position. Accordingly, delimited sub-areas of a total viewed area of the camera are associated with respective milking positions of the milking parlour. Thus, the control arrangement can identify when an animal enters a specific milking position.

[0026] According to an embodiment, the control arrangement is configured to:

[0027] - deactivate the first RFID reader device after the RFID tag carried by the animal in the first milking position has been read.

[0028] In this manner, the first RFID reader device is deactivated as soon as it has read the RFID tag of the animal in the first milking position. Thus deactivated, the first RFID reader device does not interfere with other RFID devices of the animal identification system.

[0029] According to a further embodiment, the number of milking positions comprises a second milking position adjacent to the first milking position, and the control arrangement is configured to: - deactivate the first RFID reader device when an animal enters the second milking position.

[0030] In this manner, the first RFID reader device is deactivated and does not interfere with other RFID devices of the animal identification system, such as an RFID reader device related to the adjacent second milking position. In addition, it may reduce the risk of the first RFID reader device cross-reading of the animal entering the adjacent second milking position. If the animal in the first milking position has not been identified before an animal enters the second milking position and the first RFID reader device is deactivated, the first RFID reader device may be reactivated at a later time. For instance, it may be activated again after the animal in the second milking position has been identified or it may be activated after all milking positions of the milking parlour have been occupied with animals.

[0031] According to an embodiment, the number of RFID reader devices comprises a second RFID reader device arranged at a further milking position of the number of milking positions, and wherein the control arrangement is configured to:

[0032] - activate the second RFID reader device when an animal enters the further milking position associated with the second RFID reader device.

[0033] Accordingly, a further second RFID reader device is activated based on the image data as provided by the camera when it is identified that an animal enters the relevant milking position. The further milking position is a different milking position than the first milking position. As discussed above, further milking positions of the number of milking positions is typically provided with RFID reader devices. There may be provided RFID reader devices in some of the milking positions. Alternatively, each of the milking positions may be provided with an RFID reader device.

[0034] According to some embodiments, individual RFID reader devices of the number of RFID reader devices are arranged at each of the milking positions, wherein the control arrangement is configured to:

[0035] - establish whether an RFID tag of an animal standing in a specific milking position of the number of milking positions is unread, and in response thereto

[0036] - alternatingly activate and deactivate the RFID reader device of the specific milking position and one or more further RFID reader devices of the number of RFID reader devices, to provide one or more further attempts at reading the RFID tag of the animal standing in the specific milking position. In this manner, the RFID reader device of that specific milking position is activated when the other individual RFID reader devices are deactivated. In case empty milking positions of the milking parlour are still being loaded with animals entering the milking parlour, the individual RFID reader devices of the empty milking positions are activated when animals enter them, as discussed herein. However, as soon as such an entering animal has been identified, the RFID reader device of the relevant milking position may be deactivated and the RFID reader device of the specific milking position with the unidentified animal may be activated to make another attempt at reading the RFID tag of that animal. If all milking positions of the milking parlour are loaded and some of the animals are unidentified, the relevant RFID reader devices may be alternatingly activated and deactivated until all animals have been identified.

[0037] According to some embodiments, the control arrangement is configured to:

[0038] - identify, based on the image data, that more than one animal is standing within a reading range of the individual RFID reader devices arranged at the milking positions, and in response thereto

[0039] - deactivate the relevant individual RFID reader device or maintain the relevant individual RFID reader device deactivated.

[0040] In this manner, identification of the wrong animal is avoided. Namely, there may be situations when an animal in an adjacent milking position is leaning with its RFID (ear) tag towards the relevant individual RFID reader device or when an already milked animal standing outside the milking parlour is within the reading range of the relevant individual RFID reader device. A deactivation or maintained deactivation of the relevant individual RFID reader device hereby avoids the faulty cross-readings of RFID tags of different animals than the one standing in the relevant milking position. Accordingly, the camera can be utilised for ensuring that only one animal is within the reading range of the relevant RFID reader device. The relevant RFID reader device may be activated when, based on the image data, the control arrangement identifies that only the animal standing in the relevant milking position is within the reading range of the relevant individual RFID reader device. Such identification is performed by the control arrangement being configured to continuously monitor the relevant situation to identify, based on the image data, when only the animal standing in the relevant milking position is within the reading range of the relevant individual RFID reader device.

[0041] According to an embodiment, the number of milking positions comprises a second milking position adjacent to the first milking position, and the control arrangement is configured to: - identify, based on the image data, a position of an animal or of a portion of an animal, such as an animal head, within the first milking position and a position of an animal or of a portion of an animal, such as an animal head, within the second milking position,

[0042] - alter an RF emitting strength of the first RFID reader device, and when the RFID tag of an animal in the first milking position has failed to be read,

[0043] - increase the RF emitting strength of the first RFID reader device if the position of the animal or of the portion of the animal in the first milking position is determined to be out of ordinary reading range from the first RFID reader device and the animal or the portion of the animal in the second milking position is determined to be out of reading range of the first RFID reader device, and / or deactivating the first RFID reader device if the position of the animal or of the portion of the animal in the second milking position is determined to be within reading range from the first RFID reader device.

[0044] In this manner, based on the image data, the radio frequency (RF) emitting strength of the first RFID reader device can be increased in situations when a reading of the RFID tag of an animal in the first milking position has failed, to thereby increase the likelihood of a successful subsequent reading of the RFID tag of the animal in the first milking position. Moreover, in these embodiments, the first RFID reader device can be deactivated until an animal in the second milking position no longer interferes with the first RFID reader device. As discussed above, the failure to read the RFID tag of the animal in the first milking position may depend on the animal in the first milking position having its head directed away from the first RFID reader device, in which case an increased RF emitting strength may suffice to read the RFID tag of the animal. However, as also discussed, the failure to correctly read the RFID tag of the animal in the first milking position may depend on cross-readings, wherein the RFID tag of an animal in the second milking position emits animal identification data simultaneously with the RFID tag of the animal in the first milking position. In such situations, the embodiment increases the likelihood of correct identification of the animal in the first milking position by avoiding a cross-reading of the animal in the adjacent second milking position. In both these exemplified situations, the image data provided by the camera is utilised for determining a position of the animal or of a portion of the animal within the first and / or second milking position.

[0045] According to some embodiments, the second RFID reader device is arranged at the second milking position, and the control arrangement is configured to:

[0046] - identify, based on the image data, a position of an animal or of a portion of an animal, such as an animal head, within the first milking position, and - activate or deactivate the second RFID reader device depending on the identified position of the animal or of the portion of the animal within the first milking position.

[0047] The control arrangement is hereby configured to operate the second RFID reader device such that the animal in the first milking position, i.e. its RFID tag, does not cause erroneous readings by the second RFID reader device. Thus, a similar reliable identification of the animal within the second milking position is thereby ensured. In this context, utilising the camera and its image data to identify a position of an animal or of a portion of an animal in the first milking position, and in dependence thereon activate or deactivate the second RFID reader device, enhances the reliable control of the second RFID reader device.

[0048] According to some embodiments, the control arrangement is configured to:

[0049] - identify, based on the image data, one or more empty milking positions between two occupied milking positions, and in response thereto

[0050] - produce a notification.

[0051] In this manner, personnel are notified that there are empty milking positions in the milking parlour. This may be advantageous in at least two situations. Firstly, the notification notifies personnel when an animal has not entered, as expected, the adjacent milking position next to the most recently occupied milking position. If this occurs, the capacity on the milking parlour is not fully utilised. Accordingly, the notification enables personnel to take action to remedy this. Secondly, there may be situations during a milking session, when different groups of animals enter the milking parlour. In such cases, the different groups may be kept separated by at least one empty milking position in the milking parlour. In such cases, personnel may block the access to one of more milking positions and guide the first animal of a subsequent group entering the milking parlour into a milking position one or more milking positions away from the milking position occupied by the last animal of the previous group. Accordingly, the notification confirms to personnel that the separation of the two groups was successful. In this context, utilising the camera and its image data to identify empty milking positions, provides reliable information as a basis for the notification.

[0052] According to some embodiments, the milking parlour comprises in-parlour feeding equipment, and the control arrangement is configured to:

[0053] - dispense feed in the first milking position to attract an animal to enter the first milking position,

[0054] - identify, based on the image data, presence of the animal in the first milking position, and in response thereto - dispense feed in the second milking position to attract a subsequent animal to enter the second milking position.

[0055] In this manner, the first animal is enticed to enter the first milking position by dispensing feed in the first milking position, and the next animal is enticed to enter the second milking position by dispensing feed in the second milking position after the first animal has entered its first milking position. This increases the chance that the subsequent animals enter their intended milking positions, i.e. in this case the second milking position.

[0056] Thus, the control arrangement may be configured to:

[0057] - identify, based on the image data, presence of an animal in each of the milking positions, and in response thereto

[0058] - dispense feed in an empty milking position adjacent to an occupied milking position to attract a subsequent animal to enter the empty milking position. Utilising the image data provided by the camera ensures that feed is dispensed in the next available milking position with an appropriate timing to entice the next animal to enter the correct milking position.

[0059] According to some embodiments, the control arrangement is configured to:

[0060] - alter an RF emitting strength of the first RFID reader device, and when in response to activation of the first RFID reader device when an animal enters the first milking position the RFID tag carried by the animal in the first milking position has failed to be read,

[0061] - increase the RF emitting strength of the first RFID reader device.

[0062] In this manner, the reading range of the first RFID reader device is increased in cases when reading the tag of the animal in the first milking position was unsuccessful. The increased field strength increases the likelihood of reading the RFID tag in situations when the portion of the animal that is provided with the RFID tag is located farther away from the first RFID reader device than normal.

[0063] According to some embodiments, the control arrangement is configured to:

[0064] - increase the RF emitting strength of the first RFID reader device only if the RFID tags of animals in other occupied milking positions have been read.

[0065] In this manner, it is ensured that the first RFID reader device does not interfere with RFID reader devices of the other milking positions that are occupied by other animals. According to some embodiments, the control arrangement is configured to:

[0066] - maintain an RFID reader device of the number of RFID reader devices associated with an empty milking position of the number of milking positions deactivated until the control arrangement, based on the image data, concludes that an animal enters the empty milking position.

[0067] In this manner, for each milking position with an associated RFID reader device, the RFID reader device is activated only when it is required to read the RFID tag of an animal entering the relevant milking position. Accordingly, interference by RFID reader devices of empty milking positions is avoided. In this context, utilising the camera and its image data to establish when an animal enters a relevant milking position reliably ensures that the relevant RFID reader device remains deactivated until it is required to read an RFID tag.

[0068] According to some embodiments, the animal identification system comprises a parlour entrance RFID reader device arranged at an entrance to the milking parlour. The control arrangement is configured to.

[0069] - determine, based on the image data, whether the milking parlour is filled with animals, and in response thereto

[0070] - deactivate the parlour entrance RFID reader device.

[0071] In this manner, the parlour entrance reader device does not interfere with the other RFID reader devices at the milking positions. Accordingly, the RFID reader devices at the milking positions can operate more reliably. Furthermore, as previously mentioned, the energy consumption of the animal identification system can be reduced by deactivating the parlour entrance RFID reader device when not required for reading RFID tags of animals entering the milking parlour. Moreover, as previously mentioned, a deactivation of the entrance RFID reader device may reduce stray voltage that may arise due to various undesired conditions, such as incorrectly installed equipment, poor wiring, insulation / cables gnawed by rodents, insufficiently grounded electrical system etc.

[0072] In this context, utilising the camera and its image data to deactivate the parlour entrance RFID reader device, ensures a reliable deactivation of the parlour entrance RFID reader device. A parlour entrance RFID reader device may be provided in an animal identification system which does not have an RFID reader device at each of the milking positions of the milking parlour. In such animal identification systems, the parlour entrance RFID reader device identifies each animal entering the milking parlour and the control arrangement is configured to associate each of the milking positions with the respective animals having entered the milking parlour. This is done based on the order in which the animals have been identified when entering the milking parlour. The RFID reader devices arranged at some of the milking positions are utilised to verify that, on a sample basis, the animals are standing in the expected milking positions. The individual milking positions of the number of milking positions are also distinguished based on the image data from the camera. If both the image data and the RFID reader device at the milking position verifies the identity of the animal in the identified milking position, the animal ID may be confirmed, and the milk data can be stored with confidence on the identified animal in that milking position.

[0073] Furthermore, if for instance an RFID tag of an animal malfunctions or if an animal has lost its RFID tag, it will not be identified by the parlour entrance RFID reader device and the control arrangement is not able to verify the animal with the RFID reader device in the milking position either. In such cases, the control arrangement may notify personnel to inspect the animal and its RFID tag, and / or to manually / automatically mark the animal for a subsequent RFID tag inspection / replacement, and / or to manually input the identity of the animal standing at the milking position.

[0074] According to embodiments, the control arrangement is configured to:

[0075] - determine, based on the image data, whether the milking position closest to the parlour entrance RFID reader device is empty, and in response thereto

[0076] - activate the parlour entrance RFID reader device.

[0077] In this manner, the control arrangement identifies that the milking parlour is either completely empty of animals or only partially filled with animals and accordingly, the parlour entrance RFID reader device is automatically activated for identifying animals entering the milking parlour. In this context, utilising the camera and its image data to activate the parlour entrance RFID reader device, ensures an automatic and reliable activation of the parlour entrance RFID reader device. The milk data of the animals that have left the milking parlour may hereby be logged / stored with confidence and the milking implement may be automatically prepared for new animals entering the milking parlour by for instance performing a backflushing of the teat cups of the milking clusters.

[0078] According to embodiments, the control arrangement is configured to:

[0079] - determine, based on the image data, whether a human is present in an exit area of the milking parlour, and in response thereto

[0080] - prevent an opening of an exit gate for releasing the animals in the milking parlour. Thus, the safety for any staff that may move around the exit area of the milking parlour is enhanced. The exit gate may automatically open to release the animals when the control arrangement, based on the image data, determines that no humans remain in the exit area.

[0081] According to some embodiments, the control arrangement is configured to:

[0082] - determine, based on the image data, whether animals have exited one or more of the milking positions closest to the parlour entrance RFID reader device, and in response thereto

[0083] - admit animals to be milked into the milking parlour.

[0084] In this manner, the camera can be utilised to automatically and reliably admit new animals into the milking parlour by opening an entrance gate to the parlour. When the control arrangement determines, based on the image data, that the animals have exited one or more of the milking positions closest to the parlour entrance RFID reader device, this means that either the entire milking parlour is empty or that only the milking positions closest to the entrance are empty. In the latter case, the last animals of a group of animals currently being milked can be admitted into the empty milking positions.

[0085] According to embodiments, the control arrangement is configured to:

[0086] - determine, based on the image data, whether animals have exited one or more milking positions, and in response thereto

[0087] - log, in an animal database, milk data collected at respective milking positions relative respective animals having occupied the relevant one or more milking positions.

[0088] In this manner, a reliable logging of the milk data is provided since it is ensured that the animals have truly left their milking positions and that thus, milking has ended and complete milk data for the animals are available for logging. Thus, utilising the camera and its image data ensures a more reliable logging of the collected milk data for each animal than using for instance known proximity sensors arranged on the gates, which may malfunction for various reasons, to indicate the release of the animals.

[0089] According to some embodiments, the control arrangement is configured to:

[0090] - determine, based on the image data, whether animals have exited one or more milking positions, and in response thereto

[0091] - handle at least one milking parlour routine associated with animals exiting the milking parlour and / or animals entering the milking parlour. In this manner, at least one milking parlour routine, such as backflushing of teat cups in the milking implement can be automatically initiated when it is ensured that at least one animal has left its milking position. In this context, utilising the camera and its image data ensures a reliable and automatic execution of at least some of the milking parlour routines.

[0092] According to an embodiment, an AMS batch milking parlour comprises the animal identification system, wherein each milking position comprises a milking robot for an automatic attachment of the teat cups, and each milking position comprises the RFID reader device, wherein the control arrangement is configured to activate the RFID reader device when an animal enters the respective milking position of each milking robot. The control arrangement may hereby deactivate the RFID reader device after the RFID tag carried by the animal has been read. A further option may be for the control arrangement to deactivate the RFID reader device when an animal enters an adjacent second milking position to avoid a cross-reading or interference with a further RFID reader device, and / or deactivate or maintain deactivation of the individual RFID reader device to avoid a faulty cross-reading of RFID tags of different animals than the one standing in the relevant milking position. Thus, the camera can be utilised for ensuring that only one animal is within the reading range of the relevant RFID reader device in the milking robot.

[0093] The milking robots in the AMS batch milking parlour are arranged adjacent each other, and each milking robot has the RFID reader device. The invention ensures that the RFID reader device of each milking robot is only activated when the animal enters the milking robot. Thus, the RFID reader devices of the milking robots are switched from deactivated to activated when their reading functionality is required for identifying the animals to be milked in their respective milking positions. As a result, the RFID reader device of one milking robot does not disturb the RFID reader devices of the other adjacent milking robots, and faulty crossreadings may furthermore be avoided. The reliability of the animal identification system is therefore improved in the AMS batch milking parlour.

[0094] Further features of, and advantages with, the invention will become apparent when studying the appended claims and the following detailed description.

[0095] BRIEF DESCRIPTION OF THE DRAWINGS

[0096] Various aspects and embodiments of the invention, including its features and advantages, will be readily understood from the embodiments discussed in the following detailed description and the accompanying drawings, in which: Figs. 1a - 1d illustrate top views of milking parlours according to embodiments, and

[0097] Fig. 2 illustrates an example of a control arrangement of an animal identification system.

[0098] DETAILED DESCRIPTION

[0099] Aspects and detailed embodiments of the invention will now be described more fully. Like numbers refer to like elements throughout. Well-known functions or constructions will not necessarily be described in detail for brevity and clarity.

[0100] Figs. 1a and 1b illustrate top views of two milking parlours 2 according to two different detailed embodiments. Fig. 1c illustrates a top view of a portion of the milking parlour 2 of Fig. 1b. Fig. 1d illustrates a top view of a further embodiment of a milking parlour 2. Fig. 1e illustrates a top view of a further embodiment of an AMS batch milking parlour 2.

[0101] Each of the shown milking parlours 2 comprises a number of milking positions 4 arranged adjacent to each other. Herein the milking positions are generally numbered with reference number 4. For the sake of explanation, some of the milking positions are specifically identified with reference numbers 4’, 4”, 4”’. Each of the milking parlours 2 is configured for milking a number of animals 3, such as cows. In Figs. 1a, 1b, and 1 d, one animal 3 is shown about to enter the milking parlour 2, and each milking position 4 is configured to temporarily house one animal 3 to be milked.

[0102] In the embodiments of Figs. 1a - 1c, each of the milking parlours 2 is a parallel milking parlour, wherein the milking positions 4 are arranged side by side such that a milking implement (milking cluster) 6 of each milking position 4 is to be attached between the rear legs of an animal standing in the relevant milking position 4. Milking personnel are standing in a pit 7 arranged next to the milking parlour 2 and from there have access to a rear of the animals standing in the milking parlour 2.

[0103] A parallel milking parlour is one example of the milking parlour 2. However, alternatively, the milking parlour 2 may be a herringbone milking parlour as in the embodiment of Fig. 1 d, wherein the milking positions 4 are arranged in a herringbone pattern and at an angle such that a milking implement 6 of each milking position 4 is to be attached between the front and rear legs of an animal 3 standing in the relevant milking position 4. In the embodiment of Fig. 1e, the milking parlour 2 is an AMS batch milking parlour, wherein each milking position 4 comprises a milking robot for automatic attachment of teat cups to the teats of the animal 3. Thus, the milking implement 6 of each milking robot further comprises a robotic arm for an automatic milking of the animals including automatic teat-cleaning, attachment of the teatcups and post-treatment (teat spraying) of the teats after milking is completed.

[0104] As in the embodiments of Figs. 1a - 1c, the milking positions 4 may be arranged in subgroups, each including, in this case, five milking positions 4. This enables the release of a limited subgroup of animals standing in the milking parlour 2. This also enables that a limited subgroup of animals can be admitted into some of the milking positions 4, while other animals are still being milked. For instance, this may be utilised when the animals at a farm are milked in different groups, which are held and handle separated from each other. Thus, to expedite milking of a group of animals in the milking parlour 2, the last animal / s of a group of animals may be admitted into the milking parlour 2, while other animals of the same group are still being milked. Alternatively, to expedite milking of two groups of animals, the first animals of a subsequent group of animals may be admitted into the milking parlour 2 while animals of the previous group are still being milked therein.

[0105] The milking implement 6 at each milking position 4 forms part of a milking arrangement configured for milking the animals in the milking parlour. In a known manner, the milking implement 6 comprises a milking cluster with teat cups connected to milk tubes and pulsation tubes. The milking arrangement typically also comprises one or more sensors, such as a milk flow meter and / or a milk quality sensor in connection to each milking implement 6. Based on data from such sensors, milk data for the animals 3 being milked is provided. In the AMS batch milking parlour of Fig. 1e, the milking implement 6 typically comprises teat cups with individual long milk tubes connected directly to a milk receiver in the milking robot 4, wherein each long milk tube is provided with an individual milk flow meter and milk quality sensor. This enables individual control in the milking operation including a sensing of both milk flow and milk quality on each quarter on a cow being milked in the milking robot 4.

[0106] In the embodiments of Figs. 1a - 1d, the milking parlour 2 comprises an entrance gate 8 for animals to enter the milking parlour 2 and to access the milking positions 4. The entrance gate 8 is arranged for passage of one animal at a time into the milking parlour 2. Each animal having entered the milking parlour 2, will walk along the milking positions 4 to occupy a free milking position 4, which is farthest away from the entrance gate 8. Thus, the milking positions 4 of the milking parlour 2 are loaded (accessed and occupied) one after the other as the animals enter the milking parlour 2. When all milking positions 4 are loaded by animals, the entrance gate 8 is closed. In the embodiment of Fig. 1e, the AMS batch milking parlour comprises individual milking robots defining the individual milking positions 4 provided with an individual entrance gate 8 to each milking robot 4. The AMS batch milking parlour 2 further comprises a waiting area 5 in which a group of animals is gathered for a milking session in the AMS batch milking parlour 2.

[0107] In the embodiments of Figs. 1a - 1c, the milking parlour 2 comprises an exit gate mechanism 10 configured to individually release single subgroups of animals from the milking positions 4 in the milking parlour 2. The exit gate mechanism 10 extends along a front end of the milking positions 4. The exit gate mechanism 10 is divided into a number of gate sections 10’, which are also known as gang sections 10’ that can be opened separately. Thus, when opened, each gate / gang section 10’ of the exit gate mechanism 10 releases one single subgroup of animals from the milking positions 4 in the milking parlour 2. Since the milking parlour 2 of Figs. 1a - 1c is a parallel milking parlour, in a known manner, sequence gates 11 are arranged between the individual milking positions 4. A function of the sequence gates 11 is to guide the animals into each milking position 4. This is done to load the milking parlour 2 in an orderly fashion from a first milking position 4’ located farthest away from the entrance gate 8 and sequentially one milking position 4 at a time towards the entrance gate 8 until the milking parlour 2 has been loaded with the animals to be milked in a milking session.

[0108] In the embodiment of Fig. 1 d, the milking parlour 2 comprises an exit gate mechanism 10 configured to simultaneously release the animals 3 from all the milking positions 4 on one side of the milking parlour 2. Since the exemplified milking parlour 2 of Fig. 1d is a herringbone milking parlour there are not provided any divider elements corresponding to the above discussed sequence gates 11 of the parallel milking parlours. Occasionally, this may lead to animals not occupying one or more of the milking positions 4. See further below concerning this problem. In Figs. 1a - 1d, the general direction of the animals 3 passing through the milking parlour 2 in connection with a milking session is indicated with broad arrows.

[0109] In the embodiment of Fig. 1e, the AMS batch milking parlour 2 comprises an exit gate 10 provided on each milking robot to release the individually milked animal 3 from the milking position 4 on an opposite side 5’ to the waiting area 5 of the AMS batch milking parlour 2. The opposite side 5’ is hereby forming an exit alley, which is directing the milked animals back to their original feeding and resting areas.

[0110] Figs. 1a - 1e also schematically show an animal identification system 12 for the milking parlour 2. The animal identification system 12 in Fig. 1a comprises a number of RFID reader devices 14, 16 configured for reading RFID tags 17, such as an ear tag of each animal 3. Herein the RFID reader devices at the milking positions 4 are generally numbered with reference number 14. For the sake of explanation some of the RFID reader devices at some of the milking positions 4’, 4”, 4”’ are specifically identified with reference numbers 14’, 14”, 14”’. The RFID reader devices 14 of the number of RFID reader devices 14, 16 are arranged at some of the milking positions 4 in Figs. 1a - 1d. Thus, Fig. 1a show the RFID reader devices 14 evenly distributed at some of the milking positions 4 with one of the RFID reader devices 16 arranged at the entrance 8 to the milking parlour 2 and accordingly, forms a parlour entrance RFID reader device 16.

[0111] In the embodiment of Fig. 1a, the parlour entrance RFID reader device 16 identifies each animal 3 entering the milking parlour 2 and a control arrangement 18 is configured to associate each of the milking positions 4 with the identities of the respective animals 3 having entered the respective milking positions 4. This association is done based on the order in which the animals 3 have been identified by the parlour entrance RFID reader device 16. The RFID reader devices 14 arranged or distributed at some of the milking positions 4 is configured to verify that the expected animal 3 is standing in the expected milking position 4 associated with a particular RFID reader device 14.

[0112] The animal identification system 12 in Figs. 1b and 1c comprises a number of RFID reader devices 14. The RFID reader devices 14 are configured to read RFID tags 17 carried by the animals 3, such as in an ear of each animal 3. The RFID reader devices 14 of the number of RFID reader devices 14 are arranged one each at the milking positions 4. Again, with reference to Figs. 1a and 1b, the number of RFID reader devices 14, 16 comprises a first RFID reader device 14’ arranged at a first milking position 4’ of the number of milking positions 4. In the embodiment of Fig. 1 d, as in the embodiment of Fig. 1a, some of the RFID reader devices 14 are arranged at some of the milking positions 4 and one of the RFID reader devices 16 is arranged at the entrance 8 of the milking parlour 2 and accordingly, forms a parlour entrance RFID reader device 16. Again, the parlour entrance RFID reader device 16 identifies each animal 3 entering the milking parlour 2 and the control arrangement 18 is configured to associate each of the milking positions 4 with the identities of the respective animals 3 having entered the respective milking positions 4. The RFID reader devices 14 arranged at some of the milking positions 4 verify that the expected animal 3 is standing in the relevant milking position 4. In the embodiment of Fig. 1e, each milking robot is defining a milking position 4, 4’, 4”. 4’”, which comprises the RFID reader device 14, 14’, 14”, 14’”. The RFID reader device 14 is arranged inside the milking position 4 of the milking robot at a position suitable for reading the RFID tags 17 carried by the animals 3. If the animals are provided with ear tags 17, the RFID reader devices 14 are located at a suitable height on the inner side walls or the exit gates of the milking robots.

[0113] In Figs. 1a - 1 d, the first milking position 4’ is the milking position farthest away from the entrance 8. However, this need not always be the case. Broadly seen, the first milking position 4’ may be any of the milking positions 4 in the milking parlour 2. In the AMS batch milking parlour of Fig. 1e, the first milking position 4’ is designating a first milking robot in a group of two adjacent milking robots, wherein the second milking position 14” is designating a second milking robot in the group of two milking robots. The animal identification system 12 comprises the control arrangement 18, which is described in further detail below with reference to Fig. 2.

[0114] In addition, the animal identification system 12 comprises at least one camera 20 configured to view the milking positions 4. The at least one camera 20 is a component that monitors the milking positions 4, 4’, 4”, 4”’. The at least one camera 20 is strategically positioned in or at the milking parlour 2 to have an unobstructed view of each of the milking positions 4, 4’, 4”, 4”’ in the milking parlour 2. In a larger milking parlour 2 more than one camera 20 may be required to view all milking positions 4, 4’, 4”, 4”’. The embodiment in Figs. 1a and 1b is provided with four cameras 20. In Fig. 1d there are two cameras 20. The embodiment in Fig. 1e is provided with several cameras 20, wherein each camera 20 is arranged for viewing a group of two adjacent milking robots. The AMS batch milking parlour in Fig. 1e is only schematically showing the distribution of the milking robots. In a typical AMS batch milking parlour, the milking robots may be provided in a more compact configuration, such as in groups of more than two milking robots placed adjacent each other. Thus, one camera 20 may cover groups of three or four milking robots placed adjacent each other. The functionality of the at least one camera 20 is discussed further below with reference to Fig. 2.

[0115] Fig. 2 schematically illustrates an embodiment of the control arrangement 18 of the animal identification systems 12 discussed above with reference to Figs. 1a and 1b. Accordingly, in the following references is also made to the discussions of Figs. 1a, 1b, 1d and 1e, wherein the control arrangement 18 is also indicated. The control arrangement 18 comprises at least one calculation unit 22 and a memory unit 24. The calculation unit 22 is connected to the memory unit 24, which provides the calculation unit 22 with stored data, which the calculation unit 22 uses for calculations and control of the animal identification system 12. The control arrangement 18 is further provided with respective devices 26, 28, 30, 31 for receiving and / or sending input and output signals. Input signals are supplied to the calculation unit 22 from the devices 26, 28, 30, 31 and / or the devices 26, 28, 30, 31 are arranged to convert calculation results from the calculation unit 22 to output signals for conveying to signal receiving devices of the control arrangement 18 and / or the animal identification system 12 and / or a milking arrangement 32 comprising the milking implements 6.

[0116] Data table content or other stored data may be position data related to the first milking position 4’ and to further milking positions 4 of the milking parlour 2. Such position data may be correlated in a data table with image data provided by the at least one camera 20. One calculation unit 22 and memory unit 24 are shown, but the control arrangement 18 may comprise more than one calculation unit and / or memory unit. For instance, the control arrangement 18 may comprise data processing hardware of the at least one camera 20. The control arrangement 18 may be a dedicated control arrangement of the animal identification system 12, or it may form part of a larger control system.

[0117] The devices 26 send signals to and receive signal from the RFID reader devices 14 at the milking positions 4 and the entrance RFID reader device 16. The device 28 sends signals to and receive signals from the at least one camera 20. The device 30 sends and / or receives signals to / from a milking arrangement 32 comprising the milking implements 6. The device 31 sends signals to a notification means 33 for notifying milking personnel. As indicated in Fig.2, depending on the number of RFID reader devices 14 at the milking positions 4 of the milking parlour 2, there are provided further devices 26. Similarly, if there is provided more than one camera 20, there are provided further devices 28.

[0118] The at least one camera 20 provides images of the milking positions 4 of the milking parlour 2 and as such is configured to produce image data, which represents each of the milking positions 4. The at least one camera 20 produces image data of the animals as they enter the milking positions 4. The camera's image processing software is configured to detect the presence of an animal 3 and / or recognize specific visual markers of an animal to identify presence of an animal 3. The control arrangement 18 is configured to identify, based on the image data, an animal entrance at or presence in the milking positions 4, 4’, 4”, 4”’ and optionally, positions of an animal and / or part of an animal in each of the milking positions 4, 4’, and / or outside the milking parlour 2, such as outside one of the gang / gate sections 10’.

[0119] In the following, aspects of the control arrangement 18 will be described with reference to Figs. 1a - 2, inter alia as they relate to different events in the milking parlour 2. Unless specifically referred to one of the embodiments of Fig. 1a, Figs. 1b and 1c, Fig. 1d, or Fig. 1e. However, the following relate to the embodiments of the milking parlours 2 shown in Figs. 1a - 1d. A group of animals 3, intended to be milked in a milking session in the milking parlour 2, is waiting outside an entrance gate 8. When the milking parlour 2 is empty and ready to receive animals 3 to be milked, the entrance gate 8 is opened and the animals 3 enter the milking parlour 2, loading its milking positions 4. When the animals 3 enter the empty milking parlour 2, the RFID reader devices 14 at the milking positions 4 are in a deactivated mode. Hence, before a first animal 3 enters the first milking position 4’, the first RFID reader device 14’ is in a deactivated mode. To ensure more reliable readings of the individual RFID tags 17 carried by each animal 3, without interference of the RFID reader devices 14, 16 of the animal identification system 12, at least the RFID reader devices 14 at the milking positions 4 are switched on individually.

[0120] Moreover, to ensure that the respective RFID reader devices 14 are activated when an animal presents itself at one of the milking positions 14, image data from the at least one camera 20 is utilised. Accordingly, the control arrangement 18 is configured to:

[0121] - activate and deactivate the RFID reader devices 14,

[0122] - analyse image data from the at least one camera 20,

[0123] - identify, based on the image data, visual representations of at least portions of animals,

[0124] - distinguish, based on the image data, individual milking positions 4, 4’, 4”, 4”’ of the number of milking positions, and

[0125] - activate the first RFID reader device 14’ when an animal enters the first milking position 4’.

[0126] Activation of the first RFID reader device 14’ triggers a read event of the RFID tag 17 carried by the first animal 3 entering the first milking position 4’. When the animal 3 is identified by the RFID reader device 14’ in the first milking position 4’, the first RFID reader device 14’ can be deactivated. Thus, according to the shown embodiment, the control arrangement 18 is configured to deactivate the first RFID reader device 14’ after the RFID tag 17 carried by the animal 3 in the first milking position 4’ has been read. In some cases, identification of the animal 3 having entered the first milking position 4’ fails. Meanwhile, an animal 3 may have arrived at a second milking position 4” adjacent to the first milking position 4’. To avoid that the first RFID reader device 14’ interferes with other RFID devices 14 of the animal identification system 12, the first RFID reader device 14’ is deactivated. Such RFID reader devices 14 may be a second RFID reader device 14” associated with the second milking position 4”, as in the milking parlour 2 of Figs. 1b and 1c or a second RFID reader device 14” associated with a further milking position 4’” distant from the first milking position 4’, as in the milking parlours 2 of Figs. 1a and 1d. However, even if identification of the animal 3 having entered the first milking position 4’ is successful, the first RFID reader device 14’ may be deactivated by an animal entering the second milking position 4” instead of by the animal 3 in the first milking position 4’ being identified.

[0127] Thus, according to some embodiments, the control arrangement 18 is configured to:

[0128] - deactivate the first RFID reader device 14’ when an animal 3 enters the second milking position 4”.

[0129] Furthermore, based on the image data provided by the at least one camera 20, at least one further RFID reader device 14”, other than the first RFID reader device 14’, can be activated when another animal 3 enters a further milking position 4”, 4’” associated with the further reader device 14”. As described above, the further RFID reader device 14” and the associated milking position 4” may be a second RFID reader device 14” and a second milking position 4” adjacent to the first milking position 4’, see Fig. 1b.

[0130] Alternatively, the further RFID reader device 14” and the associated milking position 4” may be a second RFID reader device 14” and a further milking position 4’” at a distance from to the first milking position 4’, see Figs. 1a, 1d, and 1e. Thus, the control arrangement 18 is further configured to:

[0131] - activate the second RFID reader device 14” when an animal 3 enters the further milking position 4” associated with the second RFID reader device 14”.

[0132] In general, the control arrangement 18 is configured to:

[0133] - activate each RFID reader device 14 associated with a milking position 4 when an animal 3 enters the relevant milking position 4 while the milking parlour 2 is filled with animals 3.

[0134] As indicated above, identification of an animal in a milking position 4 sometimes fails. In the identification system 12 comprising individual RFID reader devices 14 arranged at each of the milking positions 4, the relevant RFID reader devices 14 may be activated and deactivated alternatingly to identify an unidentified animal without interfering with RFID reader devices 14 of other milking positions 4. Thus, according to embodiments, such as in the Fig. 1b, the control arrangement 18 is configured to:

[0135] - establish, based on the image data, whether an RFID tag 17 of an animal 3 standing in a specific milking position 4 of the number of milking positions 4, is unread, and in response thereto

[0136] - alternatingly activate and deactivate the RFID reader device 14 of the specific milking position 4 and one or more further RFID reader devices 14 of the number of RFID reader devices 14, to provide one or more further attempts at reading the RFID tag 7 of the animal 3 standing in the specific milking position 4.

[0137] Accordingly, the camera 20 is utilised for distinguishing a milking position 4 in which an unidentified animal 3 is standing and based thereon, the RFID reader device 14 associated with that milking position 4 is alternatingly activated and deactivated. For instance, in this case, while the animals 3 are entering the milking parlour 2, the individual RFID reader devices 14 of the empty milking positions 4 are activated when animals 3 enter them, as discussed above. However, as soon as such an entering animal 3 has been identified, the RFID reader device 14 of that milking position 4 is deactivated and the RFID reader device 14 of the specific milking position 4 with the unidentified animal 3 is again activated to make another attempt to read the RFID tag 17 of the unidentified animal 3.

[0138] According to all the embodiments of Figs. 1a - 1e, but as specifically shown in Fig. 1c, situations when more than one animal 3 is standing within a reading range of an RFID reader device 14, can be identified using the image data from the camera 20. Failed or uncertain readings with the relevant RFID reader device 14 can hereby be avoided by ensuring that it is deactivated if such situations should arise.

[0139] Thus, according to the embodiments, the control arrangement 18 is configured to:

[0140] - identify, based on the image data, that more than one animal 3 is standing within a reading range of the individual RFID reader devices 14 arranged at the milking positions 4 and in response thereto

[0141] - deactivate the relevant individual RFID reader device 14 or maintain the relevant individual RFID reader device 14 deactivated in cases where it is in a deactivated mode when the more than one animal 3 is identified.

[0142] According to the embodiments, the control arrangement 18 is also configured to:

[0143] - identify, based on the image data, that only one animal 3 is standing within a reading range of the relevant individual RFID reader device 14, and in response thereto

[0144] - activate the relevant individual RFID reader device 14. Thus, identification of the animal 3 standing in the relevant milking position 4 can be performed without another animal 3 disturbing a reliable identification. In other words, the embodiments prevent cross-readings of animals standing in adjacent milking positions.

[0145] Thus, the control arrangement 18 is hereby configured to: - identify, based on the image data, a position of an animal 3 or of a portion of an animal 3, such as an animal head, within the first milking position 4’ and / or any of the other milking positions 4, and

[0146] - activate or deactivate the first RFID reader device 14’ and / or any other RFID reader device 14 associated with the relevant other milking position 4 depending on the identified position of the animal 3 or of the portion of an animal 3.

[0147] Accordingly, the chance of successfully reading the RFID tag 17 of an animal 3, based on the image data and its identified position, may determine whether the relevant RFID reader device 14, 14’, 14” is to be activated or deactivated. The identified portion of the animal 3 may be its head or any other portion thereof, which portion carries the RFID tag 17.

[0148] Furthermore, according to the embodiments, the radio frequency (RF) emitting strength of the first RFID reader device 14’ can be altered in situations when the reading of an RFID tag 17 of an animal 3 in the first milking position 4’ has failed. The chance of a successful subsequent reading of the RFID tag 17 of the animal 3 in the first milking position 4’ thus, can be increased. However, such altering of the RF emitting strength of the first RFID reader device 14’ should be avoided if an animal 3 in an adjacent second milking position 4” could cause a cross-reading by the first RFID reader device 14’, such as a reading of the RFID tag 17 of an animal 3 standing in the second milking position 4”.

[0149] Thus, according to the shown embodiment, the control arrangement 18 is configured to:

[0150] - identify, based on the image data, a position of an animal 3 or of a portion of an animal 3, such as an animal head, within the first milking position 4’ and a position of an animal or of a portion of an animal 3, such as an animal head, within the adjacent second milking position 4”,

[0151] - alter an RF emitting strength of the first RFID reader device 14’, and when the RFID tag 17 of an animal 3 in the first milking position 4’ has failed to be read,

[0152] - increase the RF emitting strength of the first RFID reader device 14’ if the position of the animal 3 or of the portion of the animal 3 in the first milking position 4’ is determined to be out of ordinary reading range from the first RFID reader device 14’ and the animal 3 or the portion of the animal 3 in the second milking position 4” is determined to be out of reading range of the first RFID reader device 14’, and / or deactivating the first RFID reader device 14’ if the position of the animal 3 or of the portion of the animal 3 in the second milking position 4” is determined to be within reading range from the first RFID reader device 14’. In the context of avoiding cross-readings by a second RFID reader device 14” associated with a second milking position 4” adjacent to the first milking position 4’, as shown in Figs. 1b and 1c, the position of an animal 3 in the first milking position 4’ can also be considered, to avoid its RFID tag 17 interfering with the reading of the second RFID reader device 14”.

[0153] Thus, according to the embodiments, the control arrangement 18 is also configured to:

[0154] - identify, based on the image data, a position of an animal 3 or of a portion of an animal 3, such as an animal head, within the first milking position 4’, and

[0155] - activate or deactivate the second RFID reader device 14” of an adjacent second milking position 4” depending on the identified position of the animal 3 or of the portion of the animal 3 within the first milking position 4’.

[0156] If deactivated, based on the identified position of the animal 3 or of the portion of the animal 3 in the first milking position 4’, the second RFID reader device 14” may be activated again when, based on the image data, it is identified that the position of the animal 3 or of the portion of the animal 3 in the first milking position 4’ no longer affects the second RFID reader device 14”.

[0157] In Fig. 1c, a situation is shown with respect to the second RFID reader device 14” in the second milking position 4”. The animal 3’ standing in the first milking position 4’ has its head turned towards the second RFID reader device 14”. Accordingly, based on the image data showing that the head of the animal 3’ in the first milking position 4’, and its RFID tag, is within reading range of the second RFID reader device 14”, the control arrangement 18 deactivates the second RFID reader device 14” or maintains the second individual RFID reader device 14” deactivated in cases where it is in a deactivated mode.

[0158] According to some embodiments, such as in Figs. 1a - 1c, or in a herringbone milking parlour as shown in Fig. 1 d, situations can occur when one or more of the milking positions 4 turn out to be empty between occupied milking positions 4. This may be on purpose, as instigated by milking personnel or this may occur involuntarily when an animal 3 enters the wrong milking position 4, which may occur in a milking parlour. Notifying milking personnel of such situations can facilitate the work of milking personnel.

[0159] Thus, according to these embodiments, the control arrangement 18 is configured to:

[0160] - identify, based on the image data, one or more empty milking positions 4 between two occupied milking positions 4, and in response thereto

[0161] - provide a notification to an operator. Such a notification can be observed by the milking personnel as a confirmation of intentionally created empty milking positions 4 in the milking parlour. Alternatively, the notification is provided as a warning of unintentionally created empty milking positions 4 in the milking parlour.

[0162] In Fig. 1d, a situation is shown where the second animal 3’ having entered the milking parlour 2 has entered the third milking position 4 from the far end of the milking parlour 2 opposite to the entrance gate 8, despite the second milking position 4” being available. Accordingly, the control arrangement 18 provides a notification to milking personnel since it has, based on the image data from the camera 20, identified the empty second milking position 4”. The notification may be a visual and / or an audible notification, via one or more notification means 33, such as a light signal, a speaker, a screen, an application in a handheld device such as a mobile telephone, etc. Accordingly, the control arrangement 18 may be connected to such means 33 for notification.

[0163] According to some embodiments, the milking parlour 2 comprises in-parlour feeding equipment comprising feed troughs and concentrate feed dispensing devices used for luring the animals 3 entering the milking parlour 2 to the next empty milking position 4 adjacent to the last occupied milking position 4. In such embodiments, the control arrangement 18 is further configured to:

[0164] - dispense feed in the first milking position to attract an animal 3 to enter the first milking position 4’,

[0165] - identify, based on the image data, presence of an animal 3 in the first milking position 4’, and in response thereto

[0166] - dispense feed in the second milking position 4” to attract a subsequent animal to enter the second milking position 4”.

[0167] Furthermore, to increase the reading range of the first RFID reader device 14’ in cases when reading the RFID tag 17 of the animal 3 in the first milking position 4’ was not successful, the RF emitting strength of the first RFID reader device 14’ can be increased. Thus, according to these embodiments, the control arrangement 18 is configured to:

[0168] - alter an RF emitting strength of the first RFID reader device 14’, in response to activation of the first RFID reader device 14’ when an animal 3 enters the first milking position 4’, if the RFID tag 17 carried by the animal 3 in the first milking position 4’ has failed to be read, and in response

[0169] - increase the RF emitting strength of the first RFID reader device 14’. Moreover, the control arrangement 18 may be configured to:

[0170] - increase the RF emitting strength of the first RFID reader 14’ device only if the RFID tags 17 of animals 3 in other occupied milking positions 4 have been read. Thus, the increased RF emitting strength of the first RFID reader device 14’ does not interfere with other of the RFID reader devices 14 of the animal identification system 12.

[0171] It is beneficial to utilise the image data from the camera 20, for each milking position 4 with an associated RFID reader device 14, to activate each RFID reader device 14 only when an animal 3 enters the relevant milking position.

[0172] Thus, the control arrangement 18 is hereby configured to:

[0173] - maintain an RFID reader device 14 of the number of RFID reader devices 14 associated with an empty milking position 4 of the number of milking positions 4 deactivated until the control arrangement 18, based on the image data, determines that an animal 3 enters the empty milking position 4. Accordingly, the deactivated RFID reader devices 14 will not interfere with the RFID reader device 14 of the empty milking position 4, which increases the chance of reading the RFID tag 17 of the animal 3 entering the milking position 4.

[0174] In embodiments comprising a parlour entrance RFID reader device 16, such as in Fig. 1a, is advantageous to prevent the parlour entrance RFID reader device 16 from interfering with the RFID reader devices 14 at the milking positions 4, when the parlour entrance RFID reader device 16 is not needed. Thus, according to these embodiments, the control arrangement 18 is configured to:

[0175] - determine, based on the image data, whether the milking parlour 2 is filled with animals, and in response thereto

[0176] - deactivate the parlour entrance RFID reader device 16.

[0177] The parlour entrance RFID reader device 16 is again activated when its reading functionality is required, and the camera 20 can be utilised for this. Thus, the control arrangement 18 is configured to:

[0178] - determine, based on the image data, whether the milking position 4 closest to the parlour entrance RFID reader device 16 is empty, and in response thereto

[0179] - activate the parlour entrance RFID reader device 16.

[0180] Moreover, according to these embodiments, the control arrangement 18 is configured to: - determine, based on the image data, whether animals 3 have exited one or more of the milking positions 4 closest to the parlour entrance RFID reader device 16, and in response thereto

[0181] - admit animals 3 to be milked into the milking parlour 2. In this manner, the camera 20 and its image data are utilised to admit animals 3 into the milking parlour 2.

[0182] Milk data is recorded, collected, and / or calculated, for each animal 3 milked in the milking parlour 2, by the milking arrangement 32 comprising the milking implements 6 at each of the milking positions 4. Mentioned as examples, the milk data may comprise one or more of the milk yield, fat content, high and low milk flow rates, animal health data, milk quality data, etc. The milk data of each animal individual is of interest to the farmer for managing his herd and the individual animals 3 of the herd. As such the milk data is logged for each animal 3 in an animal database. The animal database may be a local database in a computer at the relevant farm and / or it may be a database stored on a server in the cloud. Thus, according to some embodiments, the control arrangement 18 is configured to:

[0183] - determine, based on the image data, whether animals 3 have exited one or more milking positions 4, and in response thereto

[0184] - log, in an animal database, milk data collected at respective milking positions 4 relative respective animals 3 having occupied the relevant one or more milking positions 4. In this manner, logging of milk data per animal individual is reliably performed.

[0185] Although the terms first, second, etc., may be used herein to describe various elements, the terms are only used to distinguish one element from another. For example, a first element could be termed a second element, and, similarly, a second element could be termed a first element without departing from the scope of the invention. It is to be understood that the invention is defined by the appended claims. A person skilled in the art will realize that the embodiments may be modified, and that different features of the embodiments may be combined, without departing from the scope of the invention, as defined by the appended claims.

Claims

CLAIMS1. An animal identification system (12) for a milking parlour (2) comprising a number of milking positions (4) arranged adjacent to each other, each milking position (4) being configured to temporarily house an animal (3) to be milked, wherein the animal identification system (12) comprises a number of RFID reader devices (14, 16) and a control arrangement (18), wherein individual RFID reader devices (14) of the number of RFID reader devices (14, 16) are arranged at at least some of the milking positions (4) and are configured to read RFID tags (17) carried by animals (3), wherein the number of milking positions (4) comprises a first milking position (4’), and wherein the number of RFID reader devices (14, 16) comprises a first RFID reader device (14’) arranged at the first milking position (4’), characterised in that the animal identification system (12) comprises at least one camera (20) configured to view the milking positions (4), wherein the control arrangement (18) is configured to:- activate and deactivate the RFID reader devices (14),- analyse image data from the at least one camera (20),- identify, based on the image data, visual representations of at least portions of animals (3),- distinguish, based on the image data, individual milking positions (4) of the number of milking positions (4), and- activate the first RFID reader device (14’) when an animal enters the first milking position (4’).

2. The animal identification system (12) according to claim 1, wherein the control arrangement (18) is configured to:- deactivate the first RFID reader device (14’) after the RFID tag (17) carried by the animal (3) in the first milking position (4’) has been read.

3. The animal identification system (12) according to claim 1 or 2, wherein the number of milking positions (4) comprises a second milking position (4”) adjacent to the first milking position (4’), and wherein the control arrangement (18) is configured to:- deactivate the first RFID reader device (14’) when an animal (3) enters the second milking position (4”).

4. The animal identification system (12) according to any one of the preceding claims, wherein the number of RFID reader devices (14, 16) comprises a second RFID reader device (14”) arranged at a further milking position (4”, 4”’) of the number of milking positions (4), and wherein the control arrangement (18) is configured to:- activate the second RFID reader device (14”) when an animal (3) enters the further milking position (4”, 4”’) associated with the second RFID reader device (14”).

5. The animal identification system (12) according to any one of the preceding claims, wherein individual RFID reader devices (14) of the number of RFID reader devices (14) are arranged at each of the milking positions (4), wherein the control arrangement (18) is configured to:- establish, based on the image data, whether an RFID tag (17) of an animal (3) standing in a specific milking position (4) of the number of milking positions (4) is unread, and in response thereto- alternating^ activate and deactivate the RFID reader device (14) of the specific milking position (4) and one or more further RFID reader devices (14) of the number of RFID reader devices (14), to provide one or more further attempts at reading the RFID tag (17) of the animal (3) standing in the specific milking position (4).

6. The animal identification system (12) according to any one of the preceding claims, wherein the control arrangement (18) is configured to:- identify, based on the image data, that more than one animal (3) is standing within a reading range of the individual RFID reader devices (14) arranged at the milking positions (4), and in response thereto- deactivate the relevant individual RFID reader device (14) or maintain the relevant individual RFID reader device (14) deactivated.

7. The animal identification system (12) according to any one of the preceding claims, wherein the number of milking positions (4) comprises a second milking position (4”) adjacent to the first milking position (4’), and wherein the control arrangement (18) is configured to:- identify, based on the image data, a position of an animal (3) or of a portion of an animal (3), such as an animal head, within the first milking position (4’) and a position of an animal (3) or of a portion of an animal (3), such as an animal head, within the second milking position (4”),- alter an RF emitting strength of the first RFID reader device (14’), and when the RFID tag (17) of an animal (3) in the first milking position (4’) has failed to be read,- increase the RF emitting strength of the first RFID reader device (14’) if the position of the animal (3) or of the portion of the animal (3) in the first milking position (4’) is determined to be out of ordinary reading range from the first RFID reader device (14’) and the animal (3) or the portion of the animal (3) in the second milking position (4”) is determined to be out of reading range of the first RFID reader device (14’), and / or deactivating the first RFID reader device (14’) if the position of the animal (3) or of the portion of the animal (3) in the second milking position (4”) is determined to be within reading range from the first RFID reader device (14’).

8. The animal identification system (12) according to claims 3 and 4, wherein the second RFID reader device (14”) is arranged at the second milking position (4”), and wherein the control arrangement (18) is configured to:- identify, based on the image data, a position of an animal (3) or of a portion of an animal (3), such as an animal head, within the first milking position (4’), and- activate or deactivate the second RFID reader device (14”) depending on the identified position of the animal (3) or of the portion of the animal (3) within the first milking position (4’).

9. The animal identification system (12) according to any one of the preceding claims, wherein the control arrangement (18) is configured to:- identify, based on the image data, one or more empty milking positions (4) between two occupied milking positions (4), and in response thereto- produce a notification.

10. The animal identification system (12) according to claim 3, wherein the milking parlour (2) comprises in-parlour feeding equipment, and wherein the control arrangement (18) is configured to:- dispense feed in the first milking position to attract an animal (3) to enter the first milking position (4’),- identify, based on the image data, presence of the animal (3) in the first milking position (4’), and in response thereto- dispense feed in the second milking position (4”) to attract a subsequent animal (3) to enter the second milking position (4”).

11. The animal identification system (12) according to any one of the preceding claims, wherein the control arrangement (18) is configured to:- alter an RF emitting strength of the first RFID reader device (14’), if the activation of the first RFID reader device (14’), when an animal (3) enters the first milking position (4’), the RFID tag (17) carried by the animal (3) in the first milking position (4’) has failed to be read, and in response- increase the RF emitting strength of the first RFID reader device (14’).

12. The animal identification system (12) according to claim 11, wherein the control arrangement (18) is configured to:- increase the RF emitting strength of the first RFID reader device (14’) only if the RFID tags (17) of animals (3) in other occupied milking positions (4) have been read.

13. The animal identification system (12) according to any one of the preceding claims, wherein the control arrangement (18) is configured to:- maintain an RFID reader device (14) of the number of RFID reader devices (14, 16) associated with an empty milking position (4) of the number of milking positions (4) deactivated until the control arrangement (18), based on the image data, concludes that an animal (3) enters the empty milking position (4).

14. The animal identification system (12) according to any one of the preceding claims, comprising a parlour entrance RFID reader device (16) arranged at an entrance to the milking parlour (2), wherein the control arrangement (18) is configured to.- determine, based on the image data, whether the milking parlour (2) is filled with animals (3), and in response thereto- deactivate the parlour entrance RFID reader device (16).

15. The animal identification system (12) according to claim 14, wherein the control arrangement (18) is configured to:- determine, based on the image data, whether the milking position (4) closest to the parlour entrance RFID reader device (16) is empty, and in response thereto- activate the parlour entrance RFID reader device (16).

16. The animal identification system (12) according to claim 14 or 15, wherein the control arrangement (18) is configured to:- determine, based on the image data, whether animals (3) have exited one or more of the milking positions (4) closest to the parlour entrance RFID reader device (16), and in response thereto- admit animals (3) to be milked into the milking parlour (2).

17. The animal identification system (12) according to any one of the preceding claims, wherein the control arrangement (18) is configured to:- determine, based on the image data, whether animals (3) have exited one or more milking positions (4), and in response thereto- log, in an animal database, milk data collected at respective milking positions (4) relative respective animals (3) having occupied the relevant one or more milking positions (4).

18. An AMS batch milking parlour comprising the animal identification system (12) according to any one of the preceding claims, wherein each milking position (4, 4’, 4”, 4”’) comprises a milking robot for an automatic attachment of the teat cups, and each milking position (4, 4’, 4”, 4”’) comprises the RFID reader device (14, 14’, 14”, 14”’), wherein the control arrangement (18) is configured to activate the RFID reader device (14, 14’, 14”, 14’”) when an animal (3) enters the respective milking position (4, 4’, 4”, 4’”) of each milking robot.

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