Method and assembly for treating hooves of farm animals

Abstract

The invention relates to a method for treating at least one hoof (3) of a farm animal, comprising the following steps: automatedly determining a degree of lameness of an animal; and treating the at least one hoof (3) of the animal by means of a spraying device (15) by spraying on a cleaning product, a disinfectant and / or a care product according to the determined degree of lameness. The invention also relates to an assembly for treating at least one hoof (3) of a farm animal, which assembly is designed to carry out the method.

Description

[0001] METHOD AND ORDER FOR TREATING HORSES OF LIVESTOCK

[0002] The invention relates to a method and an arrangement for treating, in particular for cleaning, disinfecting and / or caring for, at least one claw of a farm animal.

[0003] Cleaning, disinfecting, and / or caring for the hooves of farm animals is essential for maintaining their health and mobility. To ensure continuous and targeted hoof care, especially on larger farms with a large number of animals such as cows, sheep, or goats, automated, technical treatment systems and procedures are frequently used.

[0004] For example, a cleaning station is known from publication EP 2 163 155 A1, in which the animal enters an area enclosed by entrance and exit gates and is kept in this area for a specified treatment period. The animal's hooves are treated with a cleaning fluid and, optionally, a disinfectant fluid by a spray system with swiveling nozzles.

[0005] The publication EP 3 203 834 B1 describes a similar hoof treatment system integrated into a milking parlor. This system also includes a recognition system that automatically determines the animal's hoof condition using camera images. A spray device integrated into this system is activated based on the detected hoof condition. In addition, animal-specific information from a database regarding disease risks for the animal is retrieved, and this risk is taken into account when activating the spray device.

[0006] However, not every hoof disease can be reliably or early enough detected from images of the hooves. An undetected hoof disease can then lead to suboptimal or even contraindicated hoof treatment.

[0007] A device for determining the mobility status of an animal on a farm is known from EP 3 933 766 B1. In particular, a mobility level is determined individually for each animal by evaluating camera images.

[0008] It is an object of the present invention to create a method and a system for the hoof treatment of farm animals that reliably prevents inappropriate treatment of the hooves.

[0009] This task is solved by a method and an arrangement with the features of the respective independent claim. Advantageous embodiments and further developments are the subject of the dependent claims.

[0010] A method according to the invention for treating at least one claw of a farm animal comprises the following steps: The degree of lameness of an animal is automatically determined and the at least one claw of the animal is treated by means of a spray device by spraying on a cleaning agent, a disinfectant and / or a care product depending on the determined degree of lameness.

[0011] Instead of the prior art method of directly optically determining the condition of an animal's claws, the method according to the invention uses automatic lameness detection to infer the condition of the claws and enable appropriate treatment. Determining the claw condition indirectly via the degree of lameness is very sensitive and allows a claw disease to be detected even if it is not yet, or not yet clearly, apparent in the external, optically perceived image of the claws.

[0012] In an advantageous embodiment of the method, the degree of lameness is determined by evaluating camera images with regard to the animal's posture and / or movement sequence. Alternatively or additionally, the degree of lameness can be determined by evaluating the animal's movement profile. Both methods allow for the efficient and reliable automated detection of an animal's degree of lameness. Furthermore, additional information, particularly health information about the animal, which may be stored in a herd management system, can preferably be taken into account. This information may indicate an increased risk of restricted mobility and thus a potentially higher degree of lameness.In a further advantageous embodiment of the method, the steps for determining the animal's degree of lameness are performed spatially (and, up to a certain period, also temporally) independently of the treatment. The animal is identified both during the determination of the lameness degree and in connection with the treatment. This is achieved, for example, using an RFID reader in combination with an RFID chip attached to the animal and / or by analyzing a camera image based on characteristic physical features of the animal, such as its coat pattern or body shape. By identifying the animal, the two otherwise independent steps of recognizing the degree of lameness and treating the claw can be coordinated and carried out individually for each animal.

[0013] In a further advantageous embodiment of the method, the quantity and / or composition of the sprayed agents is selected depending on the determined degree of lameness. Furthermore, the frequency of treatment for spraying the agents can be selected based on the determined degree of lameness. In both cases, the selection can be individualized for each animal and, if necessary, take into account not only the degree of lameness but also other stored characteristics, in particular the animal's health characteristics.

[0014] It may be advantageous to define several different treatment programs that differ in the quantity and / or composition of the sprayed agents and / or the frequency of treatment. Preferably, threshold values ​​for the degree of lameness are defined to select which of the various treatment programs is applied. A treatment program is then selected when the predefined threshold values ​​are exceeded or not met by the detected degree of lameness.

[0015] Particularly advantageous is the use of an artificial intelligence (AI) method to predefine and / or adjust the limit values ​​for each individual animal. The AI ​​method can be trained, for example, based on a manual correction or predefining of the limit values ​​after lameness has been detected. Especially when a deviation from a standard treatment program is planned in the case of detected lameness, the method according to the invention preferably provides for informing a responsible person, such as a farmer, herd manager, and / or veterinarian, about the detected degree of lameness, for example, via the herd management system. This person then assesses the animal's health, particularly its hooves, and confirms or modifies the treatment program to be applied. This information is entered into a control unit of the method and can be used to train the AI ​​method.

[0016] In a further advantageous embodiment of the method, the treatment of at least one claw of the animal takes place while the animal is standing in a milking stall. The milking stall can be, for example, a stall in a milking parlor, such as a group milking parlor and / or a row milking parlor, or a stall in a rotary milking parlor. Preferably, the claw treatment takes place after the milking process is complete, and particularly preferably only after the milking unit of the milking parlor has been removed from the animal's udder and is located outside an area where it could be contaminated by the agents sprayed by the hoof treatment device. Furthermore, the spray device is preferably designed to emit spray jets onto the animal's claws at a horizontal or downward spray angle, which also prevents contamination of the milking unit.

[0017] An arrangement according to the invention for treating at least one claw of a farm animal comprises a device for automatically determining the degree of lameness of the animal and a spray device for spraying a cleaning agent, a disinfectant, and / or a conditioning agent onto the at least one claw of the animal. The arrangement is configured to carry out the previously described method. The advantages mentioned in connection with the method result.

[0018] The invention is explained in more detail below with reference to an exemplary embodiment and the accompanying figures. The figures show:

[0019] Fig. 1 a spatial representation of a milking parlor, occupied by a cow, with a hoof care arrangement;

[0020] Fig. 1b shows the milking parlor of figure 1a, unoccupied and without inlet or outlet gates and without a front boundary;

[0021] Fig. 1c shows the milking parlor as in Figure 1b, but occupied by a cow; Fig. 2a shows a top view of the milking parlor of Figure 1a with the front boundary swung away;

[0022] Fig. 2b is a top view of the milking parlor of figure 1b;

[0023] Fig. 3 shows a top view of a milking carousel with a hoof trimming arrangement; and

[0024] Fig. 4 shows a flowchart of a procedure for hoof treatment.

[0025] In all figures, identical reference symbols denote identical or equivalent elements. For clarity, not all elements in every figure are marked with reference symbols. In the context of the figures, terms such as "right," "left," "above," and "below" refer to their respective representations within the figures. The terms "in front of," "behind," "above," and "below," on the other hand, refer to the animal's position as depicted in Figures 1a, 1c, 2a, and 3.

[0026] Figures 1a-c and 2a, b show a milking parlor 10 with a single milking stall and a hoof care device with which a method according to the invention can be carried out. Figure 3 shows, as a further example, a milking carousel with a plurality of milking stalls 23, which also has a hoof care device for carrying out a method according to the invention.

[0027] Figures 1a-c and 2a, b each show milking parlor 10 in different views, specifically in a spatial oblique view in figures 1a to 1c and in a top view in figures 2a and 2b. In figures 1a, c and 2a, milking parlor 10 is occupied by a cow 1 to be milked, whereas in figures 1b and 2b it is shown empty.

[0028] The milking parlor 10 has a base plate 11 on which the cow 1 stands during the milking process.

[0029] The base plate 11 is spanned by a bridge 12, which has a column on one long side of the milking parlor 10 and an inlet gate 121 and an outlet gate 122 on the long side opposite the column. Actuators for automatically opening and closing the gates 121 and 122 are located in the column and / or in the part of the bridge 12 spanning the base plate 11. A milking robot 13 is also arranged laterally on the base plate 11, adjoining the column of the bridge 12 and forming a side section of the milking parlor 10 together with the column. The opposite side of the milking parlor 10 is formed by the two gates 121 and 122.

[0030] The milking parlor 10 is bounded at the rear and front by a rear boundary 14 and a front boundary 15, respectively. In the illustrated embodiment, the rear boundary 14 is constructed like a grid and is static. The front boundary 15, on the other hand, is movable and can be pivoted to adjust the length of the milking stall in the milking parlor 10 to the length of the cow 1.

[0031] Furthermore, the front boundary 15 includes a feed trough 151 and an RFID (Radio Frequency Identification) reader 152 located in the head region of the cow 1. The RFID reader 152 can read an identification chip, which is attached, for example, to an ear of the cow 1, to identify the cow 1. It should be noted that other identification methods for the cow 1 can also be used within the framework of the inventive method described below. For example, a camera can be provided instead of or in addition to the RFID reader 152, whereby the cow 1 is identified, for example, by evaluating a camera image based on its characteristic spot pattern.

[0032] For the sake of clarity and to provide a better insight into the structure of the milking parlor 10, the inlet gate 121, the outlet gate 122 and the front boundary 15 are not shown in figures 1b, c and 2b.

[0033] A robot arm 131 is arranged on the milking robot 13, which carries or grasps a milking unit 132 and swings laterally between the hind legs 2 and the unspecified front legs of the cow 1 under the torso of the cow 1.

[0034] In milking parlor 10, a rinsing device 16 is arranged in the lower area in front of the rear boundary 14. After the cow 1 enters the milking parlor 10 through the entrance gate 121, the rinsing device 16 is located behind the hind legs 2 of the cow 1 at the level of the hooves 3 of the hind legs 2. As can be clearly seen in particular in Figures 1b and 2b, the rinsing device 16 has at least two spray nozzles 161 or groups of spray nozzles 161, with which, during operation of the spraying device 16, various liquids can be sprayed in the form of spray jets 162 onto the hind hooves 3 of the cow 1.

[0035] The spray device 16 is used to treat the hind hooves 3 of the cow 1. Such treatment can include cleaning, disinfecting, and / or conditioning the hooves 3. The liquids used can be cleaning agents, disinfectants, and / or conditioning agents. Preferably, the spray nozzles 161 are oriented so that the spray jets 162 are emitted as horizontally as possible, or preferably inclined downwards, to prevent contamination, particularly of the milking equipment 132.

[0036] A drainage grid 111 is arranged in the base plate 11 to allow, among other things, the liquids sprayed by the spray device 16 to drain away.

[0037] Furthermore, as Figure 2a shows, a camera 17 is arranged in an access area in front of the milking parlor 10, the function of which will be explained in more detail below in connection with Figure 4.

[0038] The milking carousel 20 shown in a top view in Figure 3 has a rotating platform 21 that rotates about a pivot point 22, with the rotation in the illustrated case being counterclockwise. A plurality of the previously mentioned milking stalls 23 are arranged along the outer circumference of the milking carousel 20. In the illustrated example, the rotating platform 21 is annular in shape, while the inner part of the milking carousel 20 is stationary. Alternatively, the rotating platform can also be circular with a rotating inner section.

[0039] In the illustrated case, milking carousel 20 is a medium-sized milking carousel with 40 milking stalls for cows 1. This number is purely exemplary.

[0040] In this example, milking stations 23 are each designed as automatic milking stations, where a milking unit (not shown separately here) is automatically attached to the teats of cow 1, and the milking process is carried out and monitored automatically. This monitoring includes, for example, the correct attachment of the teats and monitoring of the milk flow, which determines when the milking process is complete. If necessary, the automatic milking process is preceded or followed by a cleaning process for the teats of cow 1 and / or the milking unit, as well as a final teat care treatment.

[0041] Outside the rotating platform 21, there is an entrance area 24 where the cows 1 are guided individually towards the rotating platform 21 by means of appropriate barriers, e.g., gates. The depicted milking carousel 1 is a so-called "external milking carousel" in which the cows 1 stand on the milking stalls 23 with their heads oriented towards the pivot point 22. The milking stall 23 is appropriately limited in the head area so that the cows 1 are stopped as soon as they have reached the desired milking position on the milking stall.

[0042] In entrance area 24, the milking stalls 23 are initially open to the outside, allowing cows 1 to enter the next milking stall 23 from entrance area 24. Shortly before entering milking stall 23, an RFID reader may be positioned in entrance area 24. This reader reads an identification number assigned to cow 1, which is stored, for example, on an RFID chip attached to the animal's ear. Such an RFID reader can also be installed in other positions, for example, on the milking stalls 23 or mounted close to the heads of passing animals on the milking carousel 20.

[0043] Furthermore, in the entrance area 24, and thus in the access area, similar to the milking parlor 10 of Figures 1a to 2b, a camera 17 is arranged, the function of which will be explained in more detail below in connection with Figure 4.

[0044] Contrary to the direction of rotation of the milking carousel 20, an exit area 25 is located adjacent to the entrance area 24, where the cows 1 can leave the rotating platform 21. The milking stalls 23 in this exit area 25 are also open to the outside. The cows 1 back out of the corresponding milking stall 23, which takes more time than entering the milking stall 23 in the entrance area 24. For this reason, the exit area 25 is wider and, in this case, spans the width of three milking stalls 23. To prevent the cows 1 from falling backward out of one of the milking stalls 23 while riding on the rotating platform 21, the milking carousel 20, with the exception of the entrance area 24 and the exit area 25, is surrounded by a railing 26.

[0045] In a section of the rotational angularity of the rotating platform 21, which in the illustrated embodiment lies approximately in the last quarter of a rotation before the exit area 25, two spray devices 16 are arranged outside the rotating platform 21. The spray devices 16 are each constructed like those of the milking parlor 10 in Figures 1a-2b. Explicit reference is made to the corresponding description. The spray devices 16 each have two spray nozzles (not shown here with reference numerals) that can spray jets 162 onto the hooves 3 of the hind legs 2 of the respective cow 1 standing in the milking stall 23, which is located directly in front of the respective spray device 16.

[0046] The number of two spray devices 16 is exemplary. There can also be only one spray device 16 or more than two spray devices 16. The number is preferably adapted to the number of milking stalls 23 of the milking carousel such that each cow 1 can be treated by one of the available spray devices 16 without requiring a reduction in the rotational speed of the rotating platform 21.

[0047] Figure 4 shows a flowchart of a method according to the invention for hoof treatment of farm animals. The method shown in Figure 4 is explained below by way of example with reference to the arrangement shown in Figures 1a to 2b. It should be noted that the method can alternatively be carried out with other hoof care arrangements than those shown in Figures 1a to 2b. In particular, the method is not limited to a spray device arranged in the milking parlor 10 according to Figures 1a to 2b. The method can, for example, also be carried out with any of the spray devices 16 arranged on the milking carousel 20 of Figure 3, or with a spray device arranged in a stall or box specifically designed for hoof care.

[0048] The process begins in a first step S1, in which an animal, for example, cow 1, is detected by a camera, for example, camera 17, which is positioned in front of milking parlor 10 or in the entrance area 24 of the milking carousel 20. Camera 17 can, for example, be mounted so that it records cow 1 walking underneath it from above. An image sequence of cow 1, as detected by camera 17, is recorded and evaluated in a subsequent step S2. Such an image sequence can also be recorded in any area of ​​the barn, for example, on cow 1's path from the barn area to milking parlor 10 or the milking carousel 20.

[0049] During the evaluation in step S2, cow 1 is identified using the image sequence or one or more individual images from the image sequence. This can be done, for example, based on the spot pattern of her coat or other physical characteristics. For this purpose, the image of cow 1 is compared with stored images from a database, which is maintained, for example, within a herd management system.

[0050] The image sequence is then evaluated with regard to the body position and / or movement sequence of cow 1, whereby its mobility is determined and quantified. This quantification can, for example, be expressed as a so-called lameness grade, which records lameness, i.e., restriction of movement in cow 1, to varying degrees. The grades can, for example, be defined as values ​​between 1 and 8 (inclusive), where, for instance, a value of 1 indicates no restriction of mobility and thus no detected lameness, whereas a value of 8 indicates severe restriction of mobility and thus a severe detected lameness.

[0051] In step S3, the degree of lameness detected in step S2 is stored together with the identified cow 1, for example, by transferring both pieces of information to a higher-level system, such as a herd management system, and storing them there. Preferably, the determined degree of lameness is added to other animal health data and compared with already stored data.

[0052] It should be added that instead of steps S1 to S3, which in the illustrated example are used to determine the degree of lameness for cow 1 using camera 17, other known lameness detection systems can also be used. For example, systems are known that do not analyze posture and movement patterns at individual points, but rather record animal movements over a large area within the yard or barn and, based on these movements, infer mobility or, conversely, lameness in the recorded animals. In addition to cameras used for this purpose, information from other devices in the barn or yard where animal identification takes place, such as footplates or scales, can also be used to determine the animals' mobility.

[0053] In the next step, S4, it is recorded whether an animal enters milking parlor 10. If so, the procedure continues with step S5. Otherwise, or regardless of this, the lameness detection of steps S1 to S3 can be repeated continuously.

[0054] In step S5, the animal that has entered milking parlor 10 is identified, for example using the RF ID reader 152.

[0055] In a subsequent step S6, based on the identification of the animal (step S5), the degree of lameness previously detected in step S2 and stored in a database is retrieved. In the milking parlor 10, the milking process is automatically initiated and carried out using the milking robot 13. Preferably after completion of the milking process, and in particular after the milking unit 132 has been removed from the cow 1 and is outside the range of the spray jets 162 of the spray device 16, hoof treatment is carried out in the subsequent steps of the method according to the invention based on the determined and retrieved degree of lameness of the animal.

[0056] Various treatment programs involving cleaning, care, and / or disinfection processes can be implemented, as illustrated in the flowchart in Figure 4, steps S8, S10, and S11. The specific treatment program chosen is determined for each animal in steps S7 and S9 based on the assessed degree of lameness.

[0057] In step S7, it is first determined whether lameness is present that requires separate treatment. If no lameness is present, a standard treatment is carried out in step S8, for example, cleaning using spray device 16, which involves spraying a cleaning fluid followed by a disinfectant. The cleaning fluid can be, for example, water, possibly with added soap. A water / alcohol mixture can be used as the disinfectant. The disinfection process may be performed not every time, but, for example, only two or three times a week. If lameness is detected in step S7 based on the determined degree of lameness, the procedure branches to step S9, in which a distinction is then made between a mild and a severe form of lameness.In the first case, the procedure branches to step S10, in which a cleaning step similar to that performed in step S8 is carried out, although the composition of the cleaning fluid may differ. For example, water with a higher dose of soap can be used for cleaning. Furthermore, the care or disinfection product may be applied in a higher dosage and / or frequency, e.g., daily if necessary. This step S10 can prevent mild or imminent hoof infections.

[0058] If, however, severe lameness is detected in step S9, the procedure branches to step S11, in which a cleaning, disinfection, and / or care cycle adapted to the condition is carried out. For example, the cleaning step can be omitted entirely, as can the disinfection step, and only a care product applied. It is also possible that no action is taken by the spray device 15 in step S11—that is, neither cleaning, nor disinfection, nor care—in order to avoid any treatment that might be painful for cow 1 or even hinder healing in the event of a severe hoof infection.

[0059] After steps S10 and S11, the procedure branches off to step S12, in which, for example via the herd management system, a notification is issued to the farmer or a herd manager, informing him about the detected lameness and its degree.

[0060] In the described procedure, the distinction between lameness and no lameness in step S7, and between moderate and severe lameness in step S9, is made using threshold values. These thresholds are used to compare the degree of lameness detected in step S3 and retrieved in step S6. For example, in step S7, a lameness grade of 1 or 2 could be considered as no detected lameness for the purpose of selecting the cleaning, disinfection, and / or grooming procedure. Similarly, in step S9, a value of 8 or 9 could be considered severe lameness, while a value below 8 indicates moderate lameness.

[0061] The limit values ​​underlying the decisions in steps S7 and S9 could be fixed for the procedure, possibly the same for all animals.

[0062] In a further development of the procedure, it is planned to make these limit values ​​dynamic and, if necessary, herd-specific and also animal-specific for the arrangement used in the procedure.

[0063] For this purpose, a control device is provided that specifies the limit values ​​used in steps S7 and S9 for the process. Preferably, the control device uses artificial intelligence methods, learning from human decisions regarding the best possible treatment of the claws by the spray device 16.

[0064] This is illustrated in the flowchart of Figure 3 in steps S13 and S14. Starting with the notification issued to the farmer or herd manager in step S12 when lameness is detected, this person, possibly supported by a veterinarian, examines the animal in question, for example, cow 1, and decides which hoof treatment seems most appropriate for which degree of lameness is detected.

[0065] This human-made decision is entered in step S13 and made available to the control unit. In step S14, the control unit adjusts the threshold values ​​for the decision in steps S7 and S9 so that subsequent treatments for the animal in question correspond to the human-made decision. The control unit preferably uses AI-based learning methods for this purpose.

[0066] It may be stipulated that the decision not only affects animal-specific limit values ​​for steps S7 and S9, but also the limit values ​​used for other animals, particularly for other animals for which individual limit values ​​are not yet available. The determination or adjustment of the limit values ​​can be carried out taking into account other stored animal data (for example, age, weight, breed, lactation status, general health status, etc.). Reference mark

[0067] 1 cow

[0068] 2 hind leg

[0069] 3 Claw

[0070] 10 milking parlor

[0071] 11 Base plate

[0072] 111 Drain grates

[0073] 12 Bridge

[0074] 121 entrance gates

[0075] 122 outlet gates

[0076] 13 milking robots

[0077] 131 Robot arm

[0078] 132 milking equipment

[0079] 14 rear boundary

[0080] 15 front limit

[0081] 151 Feeding trough

[0082] 152 RFID reader

[0083] 16 Spray device

[0084] 161 Spray nozzle

[0085] 162 Spray jet

[0086] 17 Camera

[0087] 20 milking carousels

[0088] 21 rotating platform

[0089] 22 Pivot point

[0090] 23 milking stalls

[0091] 24 Entrance area

[0092] 25 Exit area

[0093] 26 railings

[0094] S1-S14 Procedure steps

Claims

Claims 1. Method for treating at least one claw (3) of a farm animal, comprising the following steps: - Automated determination of an animal's degree of lameness; and - Treating at least one claw (3) using a spray device (15) by spraying on a cleaning agent, a disinfectant and / or a care product depending on the degree of lameness determined.

2. Method according to claim 1, wherein the degree of lameness is determined by evaluating camera images with regard to the animal's posture and / or a movement sequence performed by the animal.

3. Method according to claim 1 or 2, wherein the degree of lameness is determined by evaluating a movement profile of the animal.

4. Method according to one of claims 1 to 3, wherein the steps of determining the degree of lameness of the animal are carried out spatially independently of the treatment, wherein the animal is identified both when determining the degree of lameness and in connection with the treatment.

5. Method according to claim 4, wherein the animal is identified using an RFID reader (122) and an RFID chip and / or by means of a camera recording using an analysis of characteristic body features of the animal.

6. Method according to any one of claims 1 to 5, wherein a quantity and / or a composition of the sprayed agents is selected depending on the determined degree of lameness.

7. A method according to one of claims 1 to 6, wherein a treatment frequency for spraying the agents is selected depending on the determined degree of lameness.

8. Method according to claim 6 or 7, wherein the quantity and / or composition of the sprayed agents and / or the treatment frequency is selected individually.

9. Method according to one of claims 6 to 8, wherein a number of different treatment programs are defined which differ in the quantity and / or composition of the sprayed agents and / or the treatment frequency, wherein a treatment program to be used is determined on the basis of exceeding or falling below limit values ​​of the detected degree of lameness.

10. Method according to claim 9, wherein the limit values ​​are individually specified and / or adjusted using a KL method.

11. Method according to claim 9, wherein the training of the Kl method is based on an animal-specific manual correction or specification of the limit value after a detected lameness.

12. Method according to any one of claims 1 to 11, wherein the treatment of the at least one claw (3) is carried out while the animal is standing in a milking stall.

13. Arrangement for the treatment of at least one claw (3) of a farm animal, having - a device for the automated determination of an animal's degree of lameness and - a spray device (15) for spraying a cleaning agent, a disinfectant and / or a care product onto the at least one claw (3) of the animal, wherein the arrangement is configured to carry out a method according to one of claims 1 to 12.

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