Milking arrangement, computer-implemented method, computer program and non-volatile data carrier

Abstract

A dairy animal (A) is held in a milking box (110) during a milking session. Before controlling a robot arm (220) to enter a space (W) beneath a belly of the dairy animal (A) to attach teatcups, a controller (230) determines, based on range image data (Dimg3D) from a camera (225) on the robot arm (220), if at least one leg (RR') of the dairy animal (A) is detected, which said at least one leg (RR') is positioned such that said at least one leg (RR') is estimated to restrict the robot arm (220) from operating in the space (W) to attach at least one of the teatcups. If said at least one leg (RR') is detected in said position, the controller (230) is configured to control at least one displacing member (241, 242, 243) to prompt the dairy animal (A) to move at least one leg such that after the movement no leg of the dairy animal (A) is expected to restrict the robot arm (220) from operating in the space (W) to attach the teatcups.

Description

[0001] Milking Arrangement, Computer-Implemented Method, Computer Program and Non-Volatile Data Carrier

[0002] TECHNICAL FIELD

[0003] The present invention relates generally to automatic milking of dairy animals. Especially, the invention relates to a milking arrangement according to the preamble of claim 1 and a corresponding computer-implemented method. The invention also relates to a computer program and a non-volatile data carrier storing such a computer program.

[0004] BACKGROUND

[0005] It is challenging to achieve fully automatic milking of dairy animals. This is particularly the case if high operational reliability, cost-efficiency, robustness and animal friendliness are factored in. Various types of so-called robot milking systems are known, for example where the animals are milked on a voluntary basis. However, for instance, automatic milking systems may also be employed together with milking parlors of herringbone type or where the animals are milked on a rotating platform. Below follows examples of solutions that are applicable in automatic milking systems.

[0006] EP 2 091 321 discloses a system for automatic adjustment of at least one interior dimension of a milking location for an animal. The milking location comprises an enclosure formed by e.g. four confining means, whereby at least one of the confining means is movable. The system comprises a first sensor means operable to detect the presence of an animal In the milking location. The system also comprises a control means connected to the first sensor means. When an animal is detected in the milking location, the control means is operable to move the at least one movable confining means stepwise, in order to adjust the at least one interior dimension of the milking location to the animal.

[0007] EP 2 999 327 describes a milking stall that is arranged to houseone animal at a time. The milking stall comprises a fence arrangement defining the space of the milking stall. The fence arrangement comprises a first long side comprising a first entrance gate and a first exit gate, and a second long side formed by a stationary fence section. The fence arrangement comprises a first short side formed by a second entrance gate and a second short side formed by a second exit gate.

[0008] EP 3 241 431 reveals a method for performing a teat-related operation on a dairy animal in an animal-positioning area using a robot device. The robot device has a robot arm with a camera and a teattreating device. The method comprises providing the robot arm outside the animal-positioning area, at least once performing determining an image of the environment by means of the camera, searching for a leg in the image, if no leg has been recognized in the image: displacing the robot arm in longitudinal direction outside the animal-positioning area until a leg has been recognized in the image, determining the longitudinal position of the leg with respect to the camera, displacing the robot arm in the direction of a predetermined position range with respect to the determined leg as long as the determined position is not in the predetermined position range, displacing the end part of the robot arm at right angles to the longitudinal direction from outside the animal-positioning area as far as under the dairy animal, and performing the teat-related operation. Furthermore, a robot device with a robot arm, a teat-treating device and a camera for performing the method is provided.

[0009] WO 00 / 11940 shows an apparatus for determining the length of an animal by monitoring an animal related area. The apparatus comprises an image capturing device arranged on at least one location of said animal related area, said image capturing device being associated with a control means. According to the invention said image capturing device is directed towards an animal having outlines recognizable by said control means adapted to identify the lengths of said animal by eliminating all the background means surrounding said animal.

[0010] WO 2007 / 050012 describes a visual detection arrangement that isprovided in a milking system, which, in turn, comprises a robot arm for attaching a teatcup to a teat of a milking animal, and a control device for controlling the movement of the robot arm. The detection arrangement comprises first visual detection means provided on the robot arm for repeatedly determining the teat position relative the robot arm and second visual detection means directed towards the milking animal. The second visual detection means is provided for detecting a position of the animal in a longitudinal direction, and the control device is initially provided for controlling the movement of the robot arm based on information of the position of the teat of the animal relative the animal itself, and on the detected longitudinal position of the animal.

[0011] WO 2023 / 199186 discloses a robot milking system for milking a milking animal, which is provided with at least one milking box, milking means and a robot arm for connecting the milking means, as well as an animal recognition device for automatically determining the identity of the milking animal, and with a control system for controlling the robot milking system. The robot milking system further comprises a positioning aid for determining the position of the milking animal in the milking box, which is movable by the control system between an inactive state away from the milking animal and an active state which is up against the milking animal at least during said connecting. Moreover, the control system is arranged to bring the positioning aid into the active state as a function of the identity determined. This provides calming and / or more accurate positioning of the milking animal, so that connection of the teatcups can be quicker and more reliable. When this is not necessary, the positioning aid remains away from the milking animal, and the latter has optimum freedom of movement in the milking box.

[0012] Thus, various technical solutions are known for enabling and facilitating automatic attachment of teatcups by means of a robot arm. However, there is still room for improving the efficiency and animalsafety of robot-assisted milking.

[0013] SUMMARY

[0014] The object of the present invention is therefore to offer an improvedautomatic milking solution.

[0015] According to one aspect of the invention, the object is achieved by a milking arrangement that includes a milking box, a robot arm, a controller and at least one displacing member. The milking box is adapted to hold one dairy animal at the time during a milking session. The milking box has a bottom surface with a general rectangular shape extending in a length dimension and a width dimension respectively. The robot arm is adapted to attach at least one teatcup to a respective at least one teat of the dairy animal when the dairy animal is held in the milking box. The robot arm is arranged along a first side of the milking box, which first side extends in the length dimension. The robot arm carries a camera that is configured to register range image data representing at least a portion of the dairy animal. The controller is configured to obtain the range image data and based thereon control the robot arm to attach the at least one teatcup to the respective at least one teat. The at least one displacing member is configured to prompt the dairy animal to move along at least one of the length and width dimensions in the milking box. Before controlling any part of the robot arm to enter a space beneath a belly of the dairy animal to attach the at least one teatcup to the respective at least one teat, the controller is configured to determine, based on the range image data, if at least one leg of the dairy animal is detected, which said at least one leg is positioned in at least one of the length and width dimensions such that said at least one leg is estimated to restrict the robot arm from operating in the space to attach the at least one teatcup to the respective at least one teat. If said at least one leg is detected in said position with respect to the at least one of the length and width dimensions, the controller is further configured to control at least one of the at least one displacing member to prompt the dairy animal to move at least one leg such that after the movement no leg of the dairy animal is expected to restrict the robot arm from operating in the space to attach the at least one teatcup to the respective at least one teat.

[0016] This milking arrangement is advantageous because it efficiently avoids collision with the animal’s legs by using the camera that isused for attaching teatcups. Thus, no equipment is required in addition to what is typically already present in a modern milking installation.

[0017] According to one embodiment of this aspect of the invention, after having controlled the at least one displacing member to prompt the dairy animal to move the at least one leg, the controller is further configured to determine, based on the range image data, if at least one leg of the dairy animal is detected, which said at least one leg is positioned with respect to at least one of the length and width dimensions such that said at least one leg is estimated to restrict the robot arm from operating in the space beneath the belly of the dairy animal to attach the at least one teatcup to the respective at least one teat. Only if no leg is detected to be positioned with respect to any of the length and width dimensions such that it is estimated to restrict the robot arm from operating in the space to attach the at least one teatcup to the respective at least one teat, the controller is configured to control the robot arm to enter the space beneath the belly of the dairy animal to attach the at least one teatcup to the respective at least one teat of the dairy animal. In other words, the controller double checks that no animal leg risks interfering with the robot’s movements before controlling it to enter the space beneath the animal’s belly. Naturally, this is highly beneficial from an animal-safety point-of-view.

[0018] According to another embodiment of this aspect of the invention, the milking box includes a light-sensing arrangement configured to produce position information that is indicative of a location of a rear part of the dairy animal along the length dimension.

[0019] Here, the controller is further configured to obtain the position information, and based thereon determine if the rear part is located at a desired position in the milking box along the length dimension. If the rear part is found to be located at the desired position while at least one leg of the dairy animal is detected, which said at least one leg is positioned with respect to at least one of the length and width dimensions such that said at least one leg is estimated to restrict the robot arm from operating in the space beneath the bellyof the dairy animal to attach the at least one teatcup to the respective at least one teat, the controller is configured to control the at least one displacing member to prompt the dairy animal to move the at least one leg by causing the at least one displacing member to move back and forth in at least one of the length and width dimensions. This is advantageous because it allows resolving a situation where the dairy animal actually is ideally positioned to have the teatcups attached, however, one or more of her legs are unfortunately located in relation to an intended path of the robot arm. According to still another embodiment of this aspect of the invention, after having controlled the at least one displacing member to prompt the dairy animal to move the at least one leg by causing the at least one displacing member to move, the controller is further configured to control the at least one of the at least one displacing member to return to a position in which it avoids prompting the dairy animal to move the at least one leg. Hence, the prompting is merely a temporary means to reposition one or more of the animal’s legs. Thus, any unnecessary disruption of the animal may be avoided. According to yet another embodiment of this aspect of the invention, if the rear part is located at a position, which is different from the desired position along the length dimension while said at least one leg is detected, which said at least one leg is positioned with respect to at least one of the length and width dimensions such that said at least one leg is estimated to restrict the robot arm from operating in the space beneath the belly of the dairy animal to attach the at least one teatcup to the respective at least one teat, the controller is further configured to control the at least one displacing member to prompt the dairy animal to move along at least one of the length and width dimensions by causing the at least one displacing member to move a distance in at least one of the length and width dimensions, and then causing the at least one displacing member to be locked. Thereby, the animal is prevented from returning to a position that is unfavorable from a teatcup-attachment perspective. This, in turn, improves the chances of successful teatcup attachment.The above-mentioned light-sensing arrangement may preferably contain a light source-photocell array that is configured to project and detect light along the width dimension across the milking box, which light source-photocell array is positioned at a height above the bottom surface, where the height is between an estimated bellyheight and back-height for the dairy animal above the bottom surface. Consequently, the controller may readily detect whether or not the dairy animal is generally positioned where teatcup attachment should be possible considering the location of the robot arm. According to one embodiment of this aspect of the invention, the space beneath the belly of the dairy animal defines a volume within the milking box, which volume adjoins the first side and which volume comprises a work envelope of an end effector on the robot arm, which end effector is adapted to attach the at least one teatcup to the respective at least one teat. The work envelope defines an entire space that can be reached by the end effector. Thus, said space beneath the belly designates where the end effector may need to be located when attaching the teatcups to the dairy animal’s teats. It is therefore highly relevant to examine the presence of any legs in this space.

[0020] According to another embodiment of this aspect of the invention, a basis of the robot arm is arranged at a position relative to the first side of the milking box and the volume defined by the space is delimited by spatial coordinates that have a fixed relationship to said position. As a result, it is a straightforward task for the controller to determine, based on the range image data, whether or not the end effector may reach a particular teat position. It should be noted that the given position for the basis of the robot arm may be adjustable, at least along the length dimension of the milking box.

[0021] According to embodiments of this aspect of the invention, the at least one displacing member comprises at least one of: a first push member configured to drive the dairy animal to move in a first direction along the length dimension of the milking box in response to a first control signal generated by the controller, a second push member configured to drive the dairy animal to move in a second direc-tion along the length dimension of the milking box in response to a second control signal generated by the controller, and a fourth push member configured to drive the dairy animal to move in a fourth direction along the width dimension of the milking box in response to a fourth control signal generated by the controller. Thereby, both an overall position of the dairy animal and the positioning of her legs may be conveniently controlled by the controller.

[0022] The above first and second directions are preferably opposite to one another, where for example the first push member is configured to drive the dairy animal to move in a backward direction towards an entry gate adapted to allow the dairy animal into the milking box when the entry gate is positioned in an open state, and the second push member is configured to drive the dairy animal to move in a forward direction towards an exit gate adapted to allow the dairy animal to leave the milking box when the exit gate is positioned in an open state.

[0023] Further, it is preferable if the fourth direction is aimed towards the first side of the milking box, i.e. where the basis of the robot arm is located.

[0024] According to yet another embodiment of this aspect of the invention, at least one of the at least one displacing member is configured to abutt the dairy animal to drive the dairy animal to move. I.e. the displacing member is adapted to make physical contact with the dairy animal at least during a part of the period when the displacing member operates. For example, the displacing member may be represented by a swivellable or slidable bracket, plate and / or rod.

[0025] In addition, or as an alternative to the above, according to one embodiment of this aspect of the invention, the at least one displacing member comprises at least one attraction member that, in response to a third control signal generated by the controller, is movable in at least one of the first and second directions and is adapted to contactlessly stimulate the dairy animal to move in the forward and / or backward directions respectively. Thereby, the dairy animal may be controlled efficiently based on positive stimuli.According to another aspect of the invention, the object is achieved by a computer-implemented method, which is performed in a processing unit in a controller, which controller, in turn, is included in the above-proposed milking arrangement. The method involves obtaining the range image data, and based thereon controlling the robot arm to attach the at least one teatcup to the respective at least one teat of the dairy animal. Specifically, before controlling any part of the robot arm to enter a space beneath a belly of the dairy animal to attach the at least one teatcup to the respective at least one teat, the method involves determining, based on the range image data, if at least one leg of the dairy animal is detected, which said at least one leg is positioned such that said at least one leg is estimated to restrict the robot arm from operating in the space to attach the at least one teatcup to the respective at least one teat. If said at least one leg is detected in said position with respect to the at least one of the length and width dimensions, the method further involves controlling at least one of the at least one displacing member to prompt the dairy animal to move at least one leg such that after the movement no leg of the dairy animal is expected to restrict the robot arm from operating in the space to attach the at least one teatcup to the respective at least one teat. The advantages of this method, as well as the preferred embodiments thereof, are apparent from the discussion above with reference to the proposed animal handling system.

[0026] According to a further aspect of the invention, the object is achieved by a computer program loadable into a non-volatile data carrier communicatively connected to at least one processing unit. The computer program includes software for executing the above method when the program is run on the at least processing unit.

[0027] According to another aspect of the invention, the object is achieved by a non-volatile data carrier containing the above computer program.

[0028] Further advantages, beneficial features and applications of the present invention will be apparent from the following description and the dependent claims.BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The invention is now to be explained more closely by means of preferred embodiments, which are disclosed as examples, and with reference to the attached drawings.

[0030] Figure 1 illustrates the outline of a generic milking box according to one embodiment of the invention;

[0031] Figures 2 - 3 show side and top views respectively of a milking box according to one embodiment of the invention; and Figure 4 illustrates, by means of a flow diagram, the general method according to the invention.

[0032] DETAILED DESCRIPTION

[0033] Figure 1 illustrates the outline of a generic milking box 110 that is included in a milking arrangement according to the invention. Figures 2 and 3 show respective side and top views of the milking box 1 10 according to one embodiment of the invention.

[0034] The milking box 110 is adapted to hold one dairy animal A at the time during a milking session. The milking box 110 has a bottom surface 111 with a general rectangular shape extending in a length dimension x and a width dimension y respectively. If the milking box 110 is located on a rotating platform, the length sides of the milking box 110 are typically not completely parallel to one another because here the bottom surface 111 has the general shape of a truncated triangle. In this disclosure, however, such a shape is also considered to be a general rectangular shape.

[0035] In addition to the milking box 110, the milking arrangement contains a robot arm 220, a controller 230 and at least one displacing member, which in Figures 2 and 3 are exemplified by reference numerals 241, 242, 243 and 244 respectively.

[0036] The robot arm 220 is adapted to attach at least one teatcup to a respective at least one teat of the dairy animal A when the dairy animal A is held in the milking box 110. The robot arm 220 is ar-ranged along a first side rx of the milking box 110, which first side rx extends in the length dimension x.

[0037] The robot arm 220 carries a camera 225 that is configured to register range image data Dimg3D representing at least a portion of the dairy animal A, say at least a part of its belly and / or teats, its front right leg FR, its front left leg FL, its rear right leg RR and its rear left leg RL respectively. The range image data Dimg3D indicates respective distances between an image plane in the camera 225 and different imaged elements in front of the camera 225.

[0038] The controller 230 is configured to obtain the range image data Dimg3D, and based thereon control the robot arm 220 to attach the at least one teatcup to the respective at least one teat.

[0039] In response to control signals C1 , C2, C3 and C4 from the controller 230 the displacing members 241 , 242, 243 and 244 respectively are configured to prompt the dairy animal A to move along at least one of the length and width dimensions x and / or y in the milking box 110. Specifically, before controlling any part of the robot arm 220 to enter a space W beneath a belly of the dairy animal A to attach the at least one teatcup to the respective at least one teat, the controller 230 is configured to determine, based on the range image data Dimg3D, if at least one leg RR’ of the dairy animal A is detected, which said at least one leg RR’ is positioned in at least one of the length and width dimensions x and / or y such that said at least one leg RR’ is estimated to restrict the robot arm 220 from operating in the space W to attach the at least one teatcup to the respective at least one teat.

[0040] If, in the range image data Dimg3D, the controller 230 detects at least one leg RR’ in said position with respect to the at least one of the length and width dimensions x and / or y, the controller 230 is further configured to control at least one of the displacing members 241 , 242, 243 and / or 244 to prompt the dairy animal A to move at least one leg such that after the movement no leg of the dairy animal A is expected to restrict the robot arm 220 from operating in the space W to attach the at least one teatcup to the respective at least one teat.For example, in the scenario illustrated in Figure 2, the controller 230 may generate a first control signal C1 to control a first displacing member 241 to prompt the dairy animal A to drive the dairy animal A to move in a first direction D1x, say backwards, along the length dimension x of the milking box 110, so that the dairy animal A is expected to move its rear right leg RR’ to a position in which the robot arm 220 is allowed to pass into the space W without risking to hit the leg in question.

[0041] To further reduce the risk that the robot arm 220 hits any part of the dairy animal A, after having controlled the at least one displacing member 241 , 242, 243 and / or 244 to prompt the dairy animal A to move the at least one leg, the controller 230 is preferably further configured to determine, based on the range image data Dimg3D, if at least one leg of the dairy animal A is detected, say the right rear leg RR’, which leg is positioned with respect to at least one of the length and width dimensions x and / or y such that said at least one leg RR’ is estimated to restrict the robot arm 220 from operating in the space W beneath the belly of the dairy animal A to attach the at least one teatcup to the respective at least one teat. Only if no leg is detected to be positioned with respect to any of the length and width dimensions x and / or y such that it is estimated to restrict the robot arm 220 from operating in the space W to attach the at least one teatcup to the respective at least one teat, the controller 230 is configured to control the robot arm 220 to enter the space W beneath the belly of the dairy animal A to attach the at least one teatcup to the respective at least one teat of the dairy animal A.

[0042] The milking arrangement may further include a light-sensing arrangement to derive a general position of the dairy animal A within the milking box 110. The light-sensing arrangement, in turn, may include a light-source photocell array that is configured to project light along the width dimension y across the milking box 110. For example, a first array 251 on a first length side may include a number of light sources, e.g. of LED IR type, and a second array 252 on a second length side opposite to the first length side may include a number of photocells configured to detect the light emitted by thelight sources. Alternatively, both the light sources and the photocells may be arranged on the first length side, and a reflective surface may be arranged on the second length side. In any case, the light-source photocell array components 251 and 252 respectively are positioned at a height h above the bottom surface 111, which height h is between an estimated typical belly-height and typical back-height for the dairy animal A above the bottom surface 111, such that a body of the dairy animal A being located in the milking box 110 between the light-source photocell array components 251 and 252 influences the light transmission from the light sources to the photocells.

[0043] The light-sensing arrangement 251 and 252 may thus produce position information PS indicative of a location Px of a rear part B of the dairy animal A along the length dimension x, since only those photocells that are not covered by the dairy animal’s A body are able to receive the light emitted from the light-sources.

[0044] The controller 230 is configured to obtain the position information PS, and based thereon determine if the rear part B of the dairy animal A is located Px at a desired position in the milking box 110 along the length dimension x. For example, the desired position may here be a position at which an end effector 227 on the robot arm 220 is expected to reach the teats of the dairy animal A, which end effector 227 is adapted to attach the at least one teatcup to a respective at least one teat of the dairy animal A.

[0045] If the rear part B is located Px at the desired position while at least one leg of the dairy animal A, say the right rear leg RR’, is detected, which said at least one leg RR’ is positioned with respect to at least one of the length and width dimensions x and / or y such that said at least one leg RR’ is estimated to restrict the robot arm 220 from operating in the space W beneath the belly of the dairy animal A to attach the at least one teatcup to the respective at least one teat, the controller 230 is configured to control at least one of the displacing members 241 , 242, 243 and / or 244 to prompt the dairy animal A to move the at least one leg RR’ by causing the at least one displacing member 241, 242, 243 and / or 244 to move back andforth in at least one of the length and width dimensions x and / or y. Namely, thereby, although the dairy animal A is located in a position, which is beneficial with respect to the reach of the end effector 227, the at least one leg RR’ needs to be repositioned to enable the robot arm 220 to move along a required path to attach at least one teatcup to a respective at least one teat of the dairy animal A. After having controlled the at least one displacing member 241 , 242, 243 and / or 244 to prompt the dairy animal A to move the at least one leg RR’ by causing the at least one displacing member 241 , 242, 243 and / or 244 to move, the controller 230 is preferably further configured to control the at least one of the at least one displacing member 241 , 242, 243 and / or 244 to return to a position in which it avoids prompting the dairy animal A to move the at least one leg RR’. Otherwise, there is a risk that the dairy animal A moves to a position in the milking box 110 that is less beneficial with respect to the reach of the end effector 227.

[0046] However, if the rear part B is located Px at a position different from the desired position along the length dimension x, while said at least one leg RR’ is detected, which said at least one leg RR’ is positioned with respect to at least one of the length and width dimensions x and / or y such that said at least one leg RR’ is estimated to restrict the robot arm 220 from operating in the space W beneath the belly of the dairy animal A to attach the at least one teatcup to the respective at least one teat, the controller 230 is instead preferably configured to control the at least one displacing member 241 , 242, 243 and / or 244 to prompt the dairy animal A to move along at least one of the length and width dimensions x and / or y by: causing the at least one displacing member 241 , 242, 243 and / or 244 to move a distance in at least one of the length and width dimensions x and / or y, and then causing the at least one displacing member 241 , 242, 243 and / or 244 to be locked. Namely, in this case, in contrast to the above, it is advantageous if the dairy animal A is forced to leave its original position in the milking box 110.

[0047] According to one embodiment of the invention, the space W beneath a belly of the dairy animal A defines a volume within the mil-king box 110, which volume adjoins the first side rx and which volume comprises a work envelope of the end effector 227 on the robot arm 220. A basis 221 of the robot arm 220 is arranged at a given position (XP, yp, ZP) relative to the first side rx of the milking box 110 and the volume defined by the space W is delimited by spatial coordinates that have a fixed relationship to the given position (XP, yp, ZP). Hence, there is a fixed spatial relationship between the work envelope of the end effector 227 and the volume defined by the space W. However, the given position (XP, yp, ZP) of the robot arm 220 may be adjustable, preferably at least along the length dimension x.

[0048] Figures 3 and 4 exemplify the above-mentioned displacing members. For instance, according to one embodiment of the invention, the milking arrangement may include a displacing member that contains a first push member 241 configured to drive the dairy animal A to move in a first direction D1x along the length dimension x of the milking box 110 in response to a first control signal C1 generated by the controller 230. The first push member 241 may here contain one or more cylinder-shaped elements, such as bars and / or rods.

[0049] According to one embodiment of the invention, the milking arrangement includes a displacing member that contains a second push member 242 configured to drive the dairy animal A to move in a second direction D2x along the length dimension x of the milking box 110 in response to a second control signal C2 generated by the controller 230. Analogous to the above, the second push member 242 may contain one or more cylinder-shaped elements, such as bars and / or rods. However, each of the first and second push members 241 and 242 may equally well include an alternative type of element, for instance in the form of a swivellable or slidable bracket and / or plate. Preferably, a swivellable type of second push member is connected to at least one axle 341a, 341b or 342a, 342b respectively, which, in turn, is mounted on the milking box 110.

[0050] For example, the first and second directions D1x and D2x may be opposite to one another, and the first push member 241 may beconfigured to drive the dairy animal A to move in a backward direction towards an entry gate 271 that is adapted to allow the dairy animal A into the milking box 110 when the entry gate 271 is positioned in an open state. Analogously, the second push member 242 may be configured to drive the dairy animal A to move in a forward direction towards an exit gate 272 adapted to allow the dairy animal A to leave the milking box 110 when the exit gate 272 is positioned in an open state. Alternatively, or in addition thereto, the entry gate 271 and / or the exit gate 272 itself may include one or more element which is also configured to function as a push member that is controllable in response to a control signal generated by the controller, such that the controller 230 may prompt the dairy animal A to move at least one leg such that after the movement no leg of the dairy animal A is expected to restrict the robot arm 220 from operating in the space W to attach the at least one teatcup to the respective at least one teat.

[0051] According to one embodiment of the invention, at least one of the displacing members contains a third push member 244 that is configured to drive the dairy animal A to move in a third direction D3y along the width dimension y of the milking box 110 in response to a fourth control signal C4 generated by the controller 230. Here, the third direction D3y is preferably aimed towards the first side rx of the milking box 110 where the robot arm 220 is arranged. This namely improves the chances that the end effector 227 reaches the teats of the dairy animal A.

[0052] According to one embodiment of the invention, at least one of the displacing members is configured to abutt the dairy animal A to drive the dairy animal A to move. This means that the displacing member in question is adapted to make physical contact with the dairy animal A at least temporarily while causing the dairy animal A to move at least one of its legs.

[0053] Alternatively, or in addition thereto, according to one embodiment of the invention, at least one of the displacing members includes at least one attraction member 243 that, in response to a third control signal C3 generated by the controller 230, is movable in at least oneof the first and second directions D1x and / or D2x, which at least one attraction member 243 is adapted to contactlessly stimulate the dairy animal A to move M21 in the forward and / or backward directions respectively. Slidable water bowls and feeding troughs constitute examples of such attraction members 243.

[0054] It is generally advantageous if the controller 230 is configured to effect the above procedure in an automatic manner by executing a computer program. Therefore, the controller 230 may include at least one processing unit 233 and a memory unit 235, i.e. nonvolatile data carrier, storing a computer program 237, which, in turn, contains software for making the at least one processing unit 233 execute the actions mentioned in this disclosure when the computer program 237 is run on the at least processing unit 233.

[0055] In order to sum up, and with reference to the flow diagram in Figure 4, we will now describe the computer-implemented method according to the invention, which method is performed in the at least one processor 233 of the above-described controller 230.

[0056] In a first step 410, range image data are obtained, which range image data have been registered by a camera on the robot arm, and which range image data represent at least a portion of the dairy animal, say her belly, legs and teats.

[0057] In a subsequent step 420, it is checked if, based on the range image data, at least one leg of the dairy animal is detected, which said at least one leg is positioned such that said at least one leg is estimated to restrict the robot arm from operating in the space to attach the at least one teatcup to the respective at least one teat. If no such restricting leg is encountered, a step 440 follows; and otherwise the procedure continues to a step 430.

[0058] In step 430, at least one displacing member is controlled to prompt the dairy animal to move at least one of its legs such that after the movement no leg of the dairy animal is expected to restrict the robot arm from operating in the space to attach the at least one teatcup to the respective at least one teat of the dairy animal.In step 440, the robot arm is controlled to attach at least one teatcup to the respective at least one teat of the dairy animal.

[0059] After each of the steps 430 and 440, the procedure may end. However, preferably, if one or more teatcups remains to be attached, the procedure is restarted in step 410 again.

[0060] The process steps described with reference to Figure 4 may be controlled by means of a programmed processor. Moreover, although the embodiments of the invention described above with reference to the drawings comprise processor and processes performed in at least one processor, the invention thus also extends to computer programs, particularly computer programs on or in a carrier, adapted for putting the invention into practice. The program may be in the form of source code, object code, a code intermediate source and object code such as in partially compiled form, or in any other form suitable for use in the implementation of the process according to the invention. The program may either be a part of an operating system, or be a separate application. The carrier may be any entity or device capable of carrying the program. For example, the carrier may comprise a storage medium, such as a Flash memory, a ROM (Read Only Memory), for example a DVD (Digital Video / Versatile Disk), a CD (Compact Disc) or a semiconductor ROM, an EPROM (Erasable Programmable Read-Only Memory), an EEPROM (Electrically Erasable Programmable Read-Only Memory), or a magnetic recording medium, for example a floppy disc or hard disc. Further, the carrier may be a transmissible carrier such as an electrical or optical signal which may be conveyed via electrical or optical cable or by radio or by other means. When the program is embodied in a signal, which may be conveyed, directly by a cable or other device or means, the carrier may be constituted by such cable or device or means. Alternatively, the carrier may be an integrated circuit in which the program is embedded, the integrated circuit being adapted for performing, or for use in the performance of, the relevant processes.

[0061] Variations to the disclosed embodiments can be understood and effected by those skilled in the art in practicing the claimed inven-tion, from a study of the drawings, the disclosure, and the appended claims.

[0062] The term “comprises / comprising” when used in this specification is taken to specify the presence of stated features, integers, steps or components. The term does not preclude the presence or addition of one or more additional elements, features, integers, steps or components or groups thereof. The indefinite article "a" or "an" does not exclude a plurality. In the claims, the word “or” is not to be interpreted as an exclusive or (sometimes referred to as “XOR”). On the contrary, expressions such as “A or B” covers all the cases “A and not B”, “B and not A” and “A and B”, unless otherwise indicated. The mere fact that certain measures are recited in mutually different dependent claims does not indicate that a combination of these measures cannot be used to advantage. Any reference signs in the claims should not be construed as limiting the scope.

[0063] It is also to be noted that any reference in this specification to a second, third, fourth etc. of an instance or a feature does not require the presence of a first or lower ordered specimen of the instance or feature in question. The ordinal numbers merely represent a convenient means of reference to distinguish the specific instances or features from one another.

[0064] It should further be noted that features from the various embodiments described herein may freely be combined, unless it is explicitly stated that such a combination would be unsuitable.

[0065] The invention is not restricted to the described embodiments in the figures, but may be varied freely within the scope of the claims. Any subject-matter falling outside the scope of the claims is provided for information purposes, only.

Claims

Claims1. A milking arrangement comprising:a milking box (110) adapted to hold one dairy animal (A) at the time during a milking session, which milking box (110) has a bottom surface (111) with a general rectangular shape extending in a length dimension (x) and a width dimension (y) respectively, a robot arm (220) adapted to attach at least one teatcup to a respective at least one teat of the dairy animal (A) when the dairy animal (A) is held in the milking box (110), which robot arm (220) is arranged along a first side (rx) of the milking box (110), which first side (rx) extends in the length dimension (x), and which robot arm (220) comprises a camera (225) configured to register range image data (Dimgso) representing at least a portion of the dairy animal (A),a controller (230) configured to obtain the range image data (Dimg3D), and based thereon control the robot arm (220) to attach the at least one teatcup to the respective at least one teat, and at least one displacing member (241 , 242, 243, 244) configured to prompt the dairy animal (A) to move along at least one of the length and width dimensions (x; y) in the milking box (110), characterized in thatbefore controlling any part of the robot arm (220) to enter a space (W) beneath a belly of the dairy animal (A) to attach the at least one teatcup to the respective at least one teat, the controller (230) is configured to:determine, based on the range image data (Dimgso), if at least one leg (RR’) of the dairy animal (A) is detected, which said at least one leg (RR’) is positioned in at least one of the length and width dimensions (x; y) such that said at least one leg (RR’) is estimated to restrict the robot arm (220) from operating in the space (W) to attach the at least one teatcup to the respective at least one teat, and if said at least one leg (RR’) is detected in said position with respect to the at least one of the length and width dimensions (x; y)control at least one of the at least one displacing member (241 , 242, 243, 244) to prompt the dairy animal (A) to move at least one leg such that after the movement no leg of the dairy animal (A)is expected to restrict the robot arm (220) from operating in the space (W) to attach the at least one teatcup to the respective at least one teat.

2. The milking arrangement according to claim 1 , wherein after having controlled the at least one displacing member (241 , 242, 243, 244) to prompt the dairy animal (A) to move the at least one leg, the controller (230) is further configured to:determine, based on the range image data (Dimgso), if at least one leg (RR’) of the dairy animal (A) is detected, which said at least one leg (RR’) is positioned with respect to at least one of the length and width dimensions (x; y) such that said at least one leg (RR’) is estimated to restrict the robot arm (220) from operating in the space (W) beneath the belly of the dairy animal (A) to attach the at least one teatcup to the respective at least one teat, and only if no leg is detected to be positioned with respect to any of the length and width dimensions (x; y) such that it is estimated to restrict the robot arm (220) from operating in the space (W) to attach the at least one teatcup to the respective at least one teat,control the robot arm (220) to enter the space (W) beneath the belly of the dairy animal (A) to attach the at least one teatcup to the respective at least one teat of the dairy animal (A).

3. The milking arrangement according to any one of claims 1 or 2, wherein the milking box (110) comprises a light-sensing arrangement (251 , 252) configured to produce position information (PS) indicative of a location (Px) of a rear part (B) of the dairy animal (A) along the length dimension (x), and wherein the controller (230) is configured to:obtain the position information (PS), and based thereon determine if the rear part (B) is located (Px) at a desired position in the milking box (110) along the length dimension (x), and if the rear part (B) is located (Px) at the desired position while at least one leg (RR’) of the dairy animal (A) is detected, which said at least one leg (RR’) is positioned with respect to at least one of the length and width dimensions (x; y) such that said at least one leg (RR’) is estimated to restrict the robot arm (220) from operating in the space(W) beneath the belly of the dairy animal (A) to attach the at least one teatcup to the respective at least one teatcontrol the at least one displacing member (241, 242, 243, 244) to prompt the dairy animal (A) to move the at least one leg by causing the at least one displacing member (241 , 242, 243, 244) to move back and forth in at least one of the length and width dimensions (x; y).

4. The milking arrangement according to any one of the preceding claims, wherein, after having controlled the at least one displacing member (241 , 242, 243, 244) to prompt the dairy animal (A) to move the at least one leg by causing the at least one displacing member (241 , 242, 243, 244) to move, the controller (230) is further configured to control the at least one of the at least one displacing member (241, 242, 243, 244) to return to a position in which it avoids prompting the dairy animal (A) to move the at least one leg.

5. The milking arrangement according to claim 3, wherein if the rear part (B) is located (Px) at a position different from the desired position along the length dimension (x), while said at least one leg (RR’) is detected, which said at least one leg (RR’) is positioned with respect to at least one of the length and width dimensions (x; y) such that said at least one leg (RR’) is estimated to restrict the robot arm (220) from operating in the space (W) beneath the belly of the dairy animal (A) to attach the at least one teatcup to the respective at least one teat, the controller (230) is further configured to control the at least one displacing member (241 , 242, 243, 244) to prompt the dairy animal (A) to move along at least one of the length and width dimensions (x; y) by:causing the at least one displacing member (241, 242, 243, 244) to move a distance in at least one of the length and width dimensions (x; y), and thencausing the at least one displacing member (241, 242, 243, 244) to be locked.

6. The milking arrangement according to any one of claims 3 or 5, wherein the light-sensing arrangement comprises a light-sourcephotocell array (251 , 252) configured to project light along the width dimension (y) across the milking box (110), which light-source photocell array (251, 252) is positioned at a height (h) above the bottom surface (111), which height (h) is between an estimated bellyheight and back-height for the dairy animal (A) above the bottom surface (111).

7. The milking arrangement according to any one of the preceding claims, wherein the space (W) defines a volume within the milking box (110), which volume adjoins the first side (rx) and which volume comprises a work envelope of an end effector (227) on the robot arm (220), which end effector (227) is adapted to attach the at least one teatcup to the respective at least one teat.

8. The milking arrangement according to claim 7, wherein a basis (221) of the robot arm (220) is arranged at a position ((XP, yp, ZP)) relative to the first side (rx) of the milking box (110) and the volume defined by the space (W) is delimited by spatial coordinates that have a fixed relationship to said position ((XP, yp, ZP)).

9. The milking arrangement according to any one of the preceding claims, wherein the at least one displacing member comprises a first push member (241) configured to drive the dairy animal (A) to move in a first direction (D1x) along the length dimension (x) of the milking box (110) in response to a first control signal (C1), and the controller (230) is configured to generate the first control signal (C1).

10. The milking arrangement according to any one of the preceding claims, wherein the at least one displacing member comprises second push member (242) configured to drive the dairy animal (A) to move in a second direction (D2x) along the length dimension (x) of the milking box (110) in response to a second control signal (C2), and the controller (230) is configured to generate the second control signal (C2).

11. The milking arrangement according to claims 9 and 10, whe-rein the first and second directions (D1x; D2x) are opposite to one another, the first push member (241) is configured to drive the dairy animal (A) to move in a backward direction towards an entry gate (271) adapted to allow the dairy animal (A) into the milking box (1 10) when the entry gate (271) is positioned in an open state, and the second push member (242) is configured to drive the dairy animal (A) to move in a forward direction towards an exit gate (272) adapted to allow the dairy animal (A) to leave the milking box (110) when the exit gate (272) is positioned in an open state.

12. The milking arrangement according to any one of the preceding claims, wherein at least one of the at least one displacing member is configured to abutt the dairy animal (A) to drive the dairy animal (A) to move.

13. The milking arrangement according to any one of claims 1 to 1 1 , wherein the at least one displacing member comprises at least one attraction member (243) that, in response to a third control signal (C3), is movable in at least one of the first and second directions (D1x; D2x) and is adapted to contactlessly stimulate the dairy animal (A) to move in the forward and / or backward directions respectively, and the controller (230) is configured to generate the third control signal (C3).

14. The milking arrangement according to any one of the preceding claims, wherein the at least one displacing member comprises a third push member (244) configured to drive the dairy animal (A) to move in a third direction (D3y) along the width dimension (y) of the milking box (110) in response to a fourth control signal (C4), and the controller (230) is configured to generate the fourth control signal (C4).

15. The milking arrangement according to claim 14, wherein the third direction (D3y) is aimed towards the first side (rx) of the milking box (110).

16. A computer-implemented method executed in a processingunit (233) of a controller (230) of a milking arrangement, which further comprises a milking box (110) adapted to hold one dairy animal (A) at the time during a milking session, which milking box (1 10) has a bottom surface (111) with a general rectangular shape extending in a length dimension (x) and a width dimension (y) respectively; at least one displacing member (241 , 242, 243, 244) configured to prompt the dairy animal (A) to move along at least one of the length and width dimensions (x; y) in the milking box (110); and a robot arm (220) adapted to attach at least one teatcup to a respective at least one teat of the dairy animal (A) when the dairy animal (A) is held in the milking box (110), which robot arm (220) is arranged along a first side (rx) of the milking box (110), which first side (rx) extends in the length dimension (x), and which robot arm (120) comprises a camera (225) configured to register range image data (Dimgso) representing at least a portion of the dairy animal (A), which method comprises:obtaining the range image data (Dimgso), and based thereon controlling the robot arm (220) to attach the at least one teatcup to the respective at least one teat of the dairy animal (A), characterized by before controlling any part of the robot arm (220) to enter a space (W) beneath a belly of the dairy animal (A) to attach the at least one teatcup to the respective at least one teat, the method comprises:determining, based on the range image data (Dimgso), if at least one leg (RR’) of the dairy animal (A) is detected, which said at least one leg (RR’) is positioned such that said at least one leg (RR’) is estimated to restrict the robot arm (220) from operating in the space (W) to attach the at least one teatcup to the respective at least one teat, and if said at least one leg (RR’) is detected in said position with respect to the at least one of the length and width dimensions (x; y)controlling at least one of the at least one displacing member (241 , 242, 243, 244) to prompt the dairy animal (A) to move at least one leg such that after the movement no leg of the dairy animal (A) is expected to restrict the robot arm (220) from operating in the space (W) to attach the at least one teatcup to the respective at least one teat.

17. A computer program (237) loadable into a non-volatile data carrier (235) communicatively connected to a processing unit (233), the computer program (237) comprising software for executing the method according to claim 16 when the computer pro-gram (237) is run on the processing unit (233).

18. A non-volatile data carrier (235) containing the computer program (237) of the claim 17.

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