A control arrangement, method, and computer program for obtaining, from a real-time location system, positions of individual animals and of individual mobile agricultural devices located in a livestock area, and automatically controlling one or more of the mobile agricultural devices based on the obtained positions of the mobile agricultural devices and the individual animals so that the mobile agricultural devices are operated optimally and safely of the animals.
QUALITY SENSOR, COMPUTER-IMPLEMENTED METHOD OF PREDICTING INHOMOGENEITIES IN MILK EXTRACTED FROM AN ANIMAL, COMPUTER PROGRAM AND NON-VOLATILE DATA CARRIER
A quality sensor that predicts a degree of inhomogeneities in milk extracted from an animal, by receiving a set of input variables reflecting at least one characteristic each of the animal, the extracted milk, and at least process during which milk was extracted from the animal, and by feeding the input variables into a trained artificial neural network in the quality sensor, which generates an estimate of a predicted degree of inhomogeneities in the milk of the animal.
G06V 10/764 - Arrangements for image or video recognition or understanding using pattern recognition or machine learning using classification, e.g. of video objects
G06V 10/82 - Arrangements for image or video recognition or understanding using pattern recognition or machine learning using neural networks
A milking system equipped with teat cups each connected to a respective milk evacuation tube, a vacuum pump, a milk tank, vacuum regulators configured to control a vacuum pressure level prevailing in the teat cup, vacuum pressure sensors each configured to measure vacuum pressure level prevailing under one of the teats, an animal identification sensor, a database, a processing device configured to: determine animal ID, extract data of each respective teat from the database, determine a teat specific vacuum pressure level at each teat, and generate a command to each vacuum regulator, to set the teat specific vacuum pressure level at each teat cup.
A system and detergent container for cleaning a piece of milking equipment, where the system includes a cleaning unit that uses the detergent and water to create a mixture for cleaning the milking equipment, a dosing device supplying detergent to the cleaning unit, a wireless communicator that communicates wirelessly with a configuration tag on the detergent container that includes a memory device that stores a reference to the detergent, and a control unit, where the wireless communicator retrieves the reference from the memory device, and the control unit is configured to use the obtained reference to obtain the detergent reference via the wireless communicator from the memory device and set a cleaning parameter for cleaning the piece of the milking equipment.
A control unit, computer-implemented method, and computer program for controlling a milk transport and cooling apparatus where a flow of milk is controlled from a balance tank to a storage tank, based on a temperature-indicating signal measuring a temperature of the flow of milk before entering the storage tank, and a level-indicating signal reflecting a milk level in the balance tank in relation to low- and high-threshold levels respectively, such that the control unit generates a first control signal controlling the speed of the milk pump based on the temperature-indicating signal when the level-indicating signal is within low- and high-threshold levels respectively, and can also generate a second control signal controlling a capacity of a chiller based on the temperature-indicating signal with respect to an uninterrupted time period.
Arrangement (100) evaluating performance of milk dosing arrangement (105)/ lateral flow stick (110). The arrangement (100) comprises: the lateral flow stick (110) arranged to indicate a biomarker in a milk sample. The lateral flow stick (110) comprises sample pad (210), conjugate pad (230), indication zone (250) and porous membrane (240). The milk sample is applied to the sample pad (210). A camera (120) is directed to capture an image (300) of the lateral flow stick (110). A controller (130) is configured to instruct the camera (120), to capture the image (300); receive the captured image (300); define a first area (310) of the image (300) of the lateral flow stick (110), substantially depicting a subsection of the porous membrane (240) upstream the indication zone (250) in the flow direction; apply image processing on the first area (310); evaluate performance of the milk dosing arrangement (105) based on the image processing.
System (100) arranged to monitor and control application of a milk sample extracted from an animal (101) to a sample pad (210) of a lateral flow stick (110). The milk dosing arrangement (105) comprises a tube element (145) and a needle (150) arranged to receive and apply the milk sample to a lateral flow stick (110) on the carrier (145) in an application position. The system (100) comprises a moveable structure (160) arranged to hold the milk dosing arrangement (105) and to move the needle (150) between the application position and a retracted position, at a distance (d) from the carrier (115). The system (100) comprises a drive unit (165) acting on the moveable structure (160), and a controller (130), for determining the distance (d) between a needle tip (151) in the retracted position and the carrier (115); comparing the distance (d) with a predetermined distance; and, when the distance (d) is different from the predetermined distance: adjust either the distance (d), or the predetermined distance.
Arrangement (100) for aligning a needle (150)/ dry stick (110) when applying an animal milk sample. The dry stick (110) indicates a biomarker value of the milk sample. The arrangement (100) comprises a carrier (115) with the dry stick (110); a tube element (155) for receiving the milk sample; the needle (150) connected to the tube element (155); a light source (160) illuminating the dry stick (110); a camera (120) configured to capture an image (300) of the dry stick (110) and its shadow (111); a drive unit (170) for moving the carrier (115)/ dry stick (110); and a controller (130). The controller (130) triggers the camera (120) to capture and provide the image (300). Image analysis of the image (300) is made and a signal is provided to the drive unit (170) to move the dry stick (110) into position wherein the needle (150) applies the milk sample.
An apparatus and method for cooling down milk in a milk cooling apparatus, where the milk cooling apparatus includes a coolant circuit with a milk cooling heat exchanger for heat exchange between milk and the coolant, and also includes a chiller with a refrigerant circuit for heat exchange between a refrigerant and the coolant, where the method includes measuring an OUT-temperature of the coolant upstream of the milk cooling heat exchanger and downstream a coolant cooling heat exchanger, and operating one or more compressors based on the measured OUT-temperature to minimize a difference between the measured OUT-temperature and a desired OUT-temperature, and also measuring an IN-temperature of the coolant upstream the coolant cooling heat exchanger and downstream the milk cooling heat exchanger, where the method configures how many compressors of the one or more compressors being active at a certain OUT-temperature based on the measured IN-temperature.
An arrangement (100) arranged to determine quality of a lateral flow stick (110b) arranged on a carrier (120), for determining a biomarker of milk of an animal (301). The arrangement (100) comprises a camera (130) capturing an image (200) of the lateral flow stick (110b); a marker (140), arranged to apply a visual indication (180) on the lateral flow stick (110b), or the carrier (120), indicating quality of that lateral flow stick (110b); and a controller (150). The controller (150) is configured to obtain an image (200) of the lateral flow stick (110b); perform image processing of the image (200); determine quality of the lateral flow stick (110b) based on the image processing; and apply the visual indication (180) via the marker (140). A method (400) at a farm, to check quality of the lateral flow stick (110b) by detect-ing the provided visual indication (180) is also disclosed.
The disclosure concerns a system (1) for monitoring a cleaning process in a milking installation (2). A central controller (3) obtains from a pressure sensor arrangement (36) at each milking point (10) of the installation (2) an identity indicator indicative, a series of measured values of pressure levels indicative of pressure levels, and temporal indicators. The central controller (3) is configured: - for each pressure sensor arrangement (36) to store in a database (5), - to evaluate the series of measured values of pressure levels to determine a progress of a slug of cleaning liquid along a common milk line (4), and - to issue a notification signal related to the progress of the slug of cleaning liquid along the common milk line (4).
The invention relates to a cleaning system for cleaning milking equipment, the cleaning system comprising: a main water supply line (100) for providing water from a water source (10) to a mixing location (20) at which a cleaning agent is to be mixed into the water for further conveyance to the milking equipment to be cleaned, a plurality of dosing sources (30, 40, 50) for dosing different cleaning agents, a control unit (60) configured to control dosing of the different cleaning agents from the plurality of dosing sources (30, 40, 50). Further, the cleaning system comprises: a branch line (102) for providing a mix of water and cleaning agent to the mixing location (20), an inlet end of the branch line (102) being connected to the main water supply line (100) at a distribution point (13), the plurality of dosing sources (30, 40, 50) being connected to the branch line (102) via a respective dosing line (103, 104, 105), and an outlet end of the branch line (102) being connected to the mixing location (20), wherein a cleaning agent flow meter (12) is arranged in the branch line (102) downstream of the dosing lines (103, 104, 105).
A milk extracting system and computer-implemented method of adjusting the vacuum pressures applied respectively at different teat cups for milking the teats of an animal during a milk extraction procedure, where a teat-specific milk flow value is determined for each individual teat during the milk extraction, based on measurements received from respective milk flow meters, each determined teat specific milk flow value is compared with a first threshold limit, and when a determination is made that all of the teat specific milk flow values exceed the first threshold limit the vacuum pressure at each teat cup is adjusted to a high flow vacuum pressure level.
An image processor that obtains image data registered by a time-of-flight imaging system and representing a scene illuminated by two or more light sources calibrated to enable the image processor to include distance data in the image data, where the image processor determines if a shadow effect exists by which a first object in the scene obstructs light of at least one light source from reaching a part of a second object in the scene, and adjusts the distance data to compensate for the at least one light source for which light did not reach the part of the second object.
Via at least one network (130), a remote server (110) sends configuration data (CF) to a local server (120) at a farm (150) having a milking plant system with a set of farm components (141, 142, 143). Each of the farm components (141, 142, 143) is operatively connected to a respective controller (C1, C2, C3) that is configurable by a set of configuration parameters comprised in the configuration data (CF). In response to receiving the configuration data (CF), the local server (120) transmits a respective set of configuration parameters (CF1, CF2, CF3) to each of the respective controllers (C1, C2, C3). In response to receiving the set of configuration parameters (CF1, CF2, CF3) each of the respective controllers (C1, C2, C3) sets a configuration of the controller (C1, C2, C3) in accordance with the respective set of configuration parameters (CF1, CF2, CF3) for that controller (C1, C2, C3). Thus, the farm components of the milking plant system can be configured and upgraded in a convenient and efficient manner.
G05B 19/418 - Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control (DNC), flexible manufacturing systems (FMS), integrated manufacturing systems (IMS), computer integrated manufacturing (CIM)
17.
CONFIGURATION SYSTEM FOR A MILKING PLANT MONITORING SYSTEM, COMPUTER-IMPLEMENTED METHOD, COMPUTER PROGRAM AND NON-VOLATILE DATA CARRIER
FFFF), the first server (110) transmits a configuration message (CF{ID,R}) to the second server (140). The configuration message (CF{ID,R}) indicates the specific role that each controller (C1, C2, C3, C4, C5, C6, C7, C8, C9) shall attain. The second server (140) transmits respective programming messages (ID1:rl, ID2:r2, ID3:r3, ID4:rl, ID5:r2, ID6:r2; ID7:r2) to each controller (C1, C2, C3, C4, C5, C6, C7, C8, C9) causing the controllers to attain the specific role indicated by the configuration message (CF{ID,R}).
A system for configuring the components in milking plants at dif- ferent farms, each of which components is operatively connected to a respective configurable controller. A central server (110) generates a first configuration file (CF{ID1}) based on a first mil-5 king plant specification (S{ID1}) identifying components in a first set of farm components (141, 142, 143) at a first farm (150). A portable computer (130) is temporarily connected to the central server (110); and while connected, the portable computer (130) receives the first configuration file (CF{ID1}) from the central 10 server (110). Thereafter, the portable computer (130) is tempo- rarily connected to at least one configurable controller (C1, C2, C3) at the first farm (150), either directly or via a first local server (120) and a first local network (125). While connected, the por- table computer (130) transfers a set of configuration parameters 15 (CF1, CF2, CF3) to the at least one of the configurable controllers (C1, C2, C3), which set of configuration parameters is comprised in the first configuration file (CF{ID1}). Thus, a configuration of the configurable controller (C1, C2, C3) is set in accordance with the received respective set of configuration parameters (CF1, CF2, 20 CF3) for that configurable controller (C1, C2, C3).
The invention relates to a sequence gate for use in a milking arrangement, which sequence gate comprises a plate shaped body (1) comprising an attachment interface (6) for attachment to a pivot arm (15) in the milking arrangement, said attachment interface (6) being arranged at the upper end of the plate shaped body (1) of the sequence gate, wherein the plate shaped body (1) is formed of a composite material having a core (7) comprised of a first material enclosed in an shell (8) comprised of a second material. The invention also relates to a milking arrangement comprising at least on sequence gate.
A milking system (100), comprising a plurality of teat cups (150a, 150b, 150c, 150d); a plu- rality of milk evacuation tubes (140a, 140b, 140c, 140d), each one connected to a respec- tive teat cup (150a, 150b, 150c, 150d); a vacuum pump arrangement (110); a receiver (120), connected to the vacuum pump arrangement (110) via a pipe (115), and also con- nected to each one of the teat cups (150a, 150b, 150c, 150d) via the respective connected milk evacuation tube (140a, 140b, 140c, 140d), wherein an under-pressure in relation to atmospheric pressure prevails in the receiver (120) during the milking session; and a vacu- um regulator (130a, 130b, 130c) for setting the under-pressure prevailing in the receiver (120) to a first level of under-pressure at a commencement of the milking session; and in- crease the under-pressure during the milking session to a second level of under-pressure.
A message handling node of a farm management system that receives error messages from a plurality of automatic devices, and generates and sends out error reports to user terminals, where the message handling node applies a rules system prescribing that an error report concerning a particular one of the automatic devices is generated based on fulfillment of a frequency criterion relating to a number of times at which the message handling node receives the error messages from said particular one device within at least one previous period in order to manage a total number of error reports received by each of the user terminals.
A method for controlling operation of a manure arrangement (10) that includes a manure storage structure (3), an agitator (11), and an agitator motor (8) arranged to actuate the agitator (11). The method including monitoring (S1), while mixing manure in the manure storage structure (3) with the agitator (11), a load quantity indicative of a load on the agitator motor (8). The method further including controlling (S2) operation of the manure arrangement (10) based on the monitored load quantity. A manure arrangement (10) arranged to perform the method is provided.
A support device (100) for a milking cluster (2), the support device (100) comprising a frame (1), a cluster removal device (3) for the milking cluster (2), a retraction line (4) connected with the milk cluster and the cluster removal device (3), a support arm (5) pivotally connected to the frame (1) and comprising a first guide (6) configured to guide the retraction line (4) along its path from the milking cluster to the cluster removal device (3). The support arm (5) comprises a first sub-arm (5a) connected to the frame (1) through a first rotational joint (7), a second sub-arm (5b) connected to the first sub-arm (5a) through a second rotational joint (8). The first guide (6) is arranged at an opposite second end (12) of the second sub-arm (5b), and a second guide (13) is arranged at the first end (11) of the second sub-arm (5b).
SYSTEM AND COMPUTER-IMPLEMENTED METHOD FOR IMAGE DATA QUALITY ASSURANCE IN AN INSTALLATION ARRANGED TO PERFORM ANIMAL-RELATED ACTIONS, COMPUTER PROGRAM AND NON-VOLATILE DATA CARRIER
An imaging system registers image data (Dimg) in connection with an installation performing at least one action relating to an animal. A system for image data quality assurance contains a control unit and a digital storage unit. The control unit obtains image data (Dimg) registered by the imaging system when the installation is in an idle mode. The control unit analyzes the obtained image data (Dimg) to determine if a cleaning action to remove dirt (D) from a front window of the imaging system has been performed. If it is determined that such a cleaning action has been performed, control unit (120) causes a point in time for the cleaning action to be recorded in the digital storage unit (130) for use performance tracking of the installation in conjunction with the cleaning actions.
A system and method for monitoring at least one operating pressure in a milking installation by a pressure sensor measuring values of a pressure level in a component of a milking point of the milking installation, the pressure level being indicative of the at least one operating pressure to be monitored. A processing node generates monitoring data representing a series of measured values of the pressure level, and the monitoring data contains temporal indicators designating a respective timestamp indicative of a point in time when a value of the pressure level was measured. The temporal indicators serve as a basis for triggering at least one alarm, such as when a timestamp indicates that the pressure level was measured to a value outside of an acceptable range of values at the point in time indicated by the timestamp.
A01J 5/007 - Monitoring milking processes; Control or regulation of milking machines
G01M 3/26 - Investigating fluid tightness of structures by using fluid or vacuum by measuring rate of loss or gain of fluid, e.g. by pressure-responsive devices, by flow detectors
26.
SYSTEM AND COMPUTER-IMPLEMENTED METHOD FOR DETERMINING AN OFFSET FOR A MILKING TOOL IN AN AUTOMATIC MILKING MACHINE, COMPUTER PROGRAM AND NON-VOLATILE DATA CARRIER
An offset for a first milking tool in a tool carrier of an automatic milking machine is determined as a spatial vector between a tool reference position (TRP) and an estimated actual position (TAP) of the milking tool. A three-dimensional image data is registered that represents a teat (T) during attachment to and/or detachment from the milking tool. The image data is processed by searching, within a search zone, for a predefined part (MP) of the teat (T) while the teat (T) is attached to the milking tool. Provided that the predefined part (MP) fulfills a measurement criterion, a distance (doff) is calculated between a specific point of the predefined part (MP) and the tool reference position (TRP). The offset is then determined based on the calculated distance (doff).
Vacuum supply source (100), comprising: a first vacuum pump (110) configured for providing vacuum pressure at a first maximum vacuum level (Pj); a second vacuum pump (120) configured for providing vacuum pressure at a second maximum vacuum level (P2); wherein the first vacuum pump (110) has a larger capacity than the second vacuum pump (120); a flow limiter valve (140) arranged between the vacuum pumps (110, 120); a vacuum conduit (130), connected to the vacuum pumps (110, 120); a controller (150) configured to: obtain a request for a desired vacuum level (PR); determine a required pump speed of the first and/or second vacuum pumps (110, 120) in order to provide vacuum pressure at the desired vacuum level (PR); and adjust pump speed of the first and/or second vacuum pumps (110, 120) according to the determined required pump speed, via a control signal.
The disclosure concerns a milking installation (2) configured to milk a group (3) of animals (4), the milking installation (2) comprising an entrance area (6), a number of milking positions (8) configured to milk one animal (4) at a time, a selection gate (10), at least one milking stall (12), and an exit path (14). The entrance area (6) is configured to receive therein the group (3) of animals (4). An entry of each milking position (8) of the number of milking positions (8) is arranged with direct access from the entrance area (6). The selection gate (10) is accessible from an exit of each milking position (8). The selection gate (10) is configured to direct one or more individual animals (4) from the group (3) of animals (4) either to the at least one milking stall (12) or to the exit path (14).
The disclosure concerns a milking installation (2) configured to milk a group (4) of animals (6). The milking installation (2) comprises a number of milking positions (8) configured to milk one animal (6) at a time, a holding area (10), a collecting area (12) arranged adjacent to the holding area (10), and a movable barrier (14). Each milking position (8) is arranged with direct access from the holding area (10). The movable barrier (14) is arranged to move along the collecting area (12) in a first direction (16) towards the holding area (10). A one¬ way gate system (18) is arranged between the collecting area (12) and the holding area (10) and configured for passage of animals (6) from the collecting area (12) into the holding area (10).
The disclosure concerns a milking installation (2) comprising milking positions (8) configured to milk one animal (4) at a time, a first common milk line (20) connected to a first milk receiver (22), a second common milk line (24) connected to a second milk receiver (26), a control arrangement (30), and at least one robot arm (32). Each milking position (8) comprises at least one teat cup (34) and a flow directing arrangement (36), the flow directing arrangement (36) comprising an inlet arrangement (38) connected to the teat cup, a first outlet arrangement (40) connected to the first milk line, and a second outlet arrangement (42) connected to the second milk line. The control arrangement (30) is configured to control the flow directing arrangement (36) to fluidly connect the teat cup (34) via the inlet arrangement (38) with either the first outlet arrangement (40) or the second outlet arrangement (42).
The disclosure concerns a milking installation (2) configured to milk a group (3) of animals (4), the milking installation (2) comprising an entrance area (6), a number of milking positions (8) configured to milk one animal (4) at a time, a selection gate (10), at least one milking stall (12), and an exit path (14). The entrance area (6) is configured to receive therein the group (3) of animals (4). An entry of each milking position (8) of the number of milking positions (8) is arranged with direct access from the entrance area (6). The selection gate (10) is accessible from an exit of each milking position (8). The selection gate (10) is configured to direct one or more individual animals (4) from the group (3) of animals (4) either to the at least one milking stall (12) or to the exit path (14).
The disclosure concerns a milking installation (2) comprising milking positions (8) configured to milk one animal (4) at a time, a first common milk line (20) connected to a first milk receiver (22), a second common milk line (24) connected to a second milk receiver (26), a control arrangement (30), and at least one robot arm (32). Each milking position (8) comprises at least one teat cup (34) and a flow directing arrangement (36), the flow directing arrangement (36) comprising an inlet arrangement (38) connected to the teat cup, a first outlet arrangement (40) connected to the first milk line, and a second outlet arrangement (42) connected to the second milk line. The control arrangement (30) is configured to control the flow directing arrangement (36) to fluidly connect the teat cup (34) via the inlet arrangement (38) with either the first outlet arrangement (40) or the second outlet arrangement (42).
A milking arrangement with a milk transport line and a plurality of milk stations connected thereto, with a receiver that receives milk transported from the milk stations via the transport line, a vacuum system that supplies a vacuum in the transport line via the receiver, a cleaning liquid source connected to the transport line, and a controllable injector that introduces gas into the milk transport line that to cause a slug of cleaning liquid from the cleaning liquid source to be formed and forwarded through the transport line, a vibration sensor being arranged on the receiver and configured to measure a motion of the receiver caused by the slug entering the receiver, and a control system configured to control the operation of the injector and to determine an entering of the slug into the receiver based on the measurement of the vibration sensor.
System (400) for alerting when an anomaly is detected during a parturition event (200a, 200b) before an offspring is separated from an animal (401). The system (400) comprises: a control model (120) trained to detect one parturition stage (210a, 210b, 210c, 210x), based on input data; a camera (420) configured to capture a stream of images of the animal (401) and provide the stream of images to the control model (120), via a controller (410); an alerting device (430); and the controller (410), configured to determine a moment when one of the parturition stages (210a, 210b, 210c, 210x) is commenced; determine a passed time since the moment in time and compare it with a time threshold length; and either trigger the alerting device (430) when the time threshold length is exceeded; or determine when the parturition stage (210a, 210b, 210c, 210x) of the parturition event (200a, 200b) is discontinued.
A milking arrangement with a plurality of milk stations connected to the milk transport line, a receiver connected to the transport line that receives milk transported from the milk stations via the transport line, and a vacuum system that supplies a vacuum in the transport line via the receiver, with a cleaning liquid source connected to the transport line, a controllable injector that introduces an amount of gas into the transport line to produce a temporary pressure increase therein that causes a slug of a cleaning liquid from the cleaning liquid source to be formed and forwarded through the transport line, and a control system configured to control the operation of the injector, wherein the control system is configured to control characteristics of the slug by controlling the vacuum level supplied by the vacuum system and/or the amount of gas introduced via the controllable injector.
A milk system (100), comprising a milk extracting arrangement (110); an animal identifier device (116); a milk flow meter (112); a time measurement device (119); and a database (130) storing milk flow data (300, 400, 500). The milk flow data (300, 400, 500) comprises milk flow rates (310a, 310b, 410a, 410b, 510a, 510b, 510c, 510d) of a milk session (220a, 5220b, 220c); and a measured time period (240a) between milk sessions (220a, 220b, 220c); and a control unit (120), configured to: obtain the milk flow data (300, 400, 500) from the database (130); determine a criterion (360a, 360b, 460a, 460b, 560a, 560b, 560c, 560d) of the milk flow rates (310a, 310b, 410a, 410b, 510a, 510b, 510c, 510d) at a moment (350a, 350b, 450a, 450b, 550a, 550b, 550c, 550d) of the milk session (220b); set the time 10period of a milk interval (230b); and allow the milk extracting arrangement (110) to attach the teat cups (111) to the animal (101) when the set time period has passed.
A computer-implemented method, a controller, an arrangement, and a milking system, wherein a point in time of an insemination of an animal is received, and a measurement of progesterone level is obtained in an analyte of the animal, and the animal is determined to be non-pregnant when the progesterone level of the obtained measurement is lower than a progesterone threshold limit, where the measurement is made within 11 days from the point in time of the insemination.
A milk system (100), comprising a milk extracting arrangement (110); an animal identifier device (116); a milk flow meter (112); a time measurement device (119); and a database (130) storing milk flow data (300, 400, 500). The milk flow data (300, 400, 500) comprises milk flow rates (310a, 310b, 410a, 410b, 510a, 510b, 510c, 510d) of a milk session (220a, 5220b, 220c); and a measured time period (240a) between milk sessions (220a, 220b, 220c); and a control unit (120), configured to: obtain the milk flow data (300, 400, 500) from the database (130); determine a criterion (360a, 360b, 460a, 460b, 560a, 560b, 560c, 560d) of the milk flow rates (310a, 310b, 410a, 410b, 510a, 510b, 510c, 510d) at a moment (350a, 350b, 450a, 450b, 550a, 550b, 550c, 550d) of the milk session (220b); set the time 10period of a milk interval (230b); and allow the milk extracting arrangement (110) to attach the teat cups (111) to the animal (101) when the set time period has passed.
A milking arrangement includes a milk transport line (1), a plurality of milk stations, and a cleaning arrangement (4) with a delivery arrangement (5) configured to deliver a cleaning liquid into the milk transport line (1) and a pump (6) configured to pump the cleaning liquid through the milk transport line (1) at a pressure larger than atmospheric pressure, thereby filling the transport line (1) with cleaning liquid. A control unit (9) is configured to determine a volume and/or length of the milk transport line (1) on basis of registered first point of time of pump start, a second point of time of passage of cleaning liquid through the milk transport line (1), and the amount of liquid introduced into the milk transport line from the first point of time to the second point of time.
A milking control arrangement and milk extracting system, configured to obtain teat size data of at least one teat of an animal to be milked and to adjust a milking parameter of a milk extraction unit when milk is extracted from the teat based on the obtained teat size data of the teat.
A control unit obtains a respective first state of a first operation parameter of each drive unit of a rotary milking parlor in a first mode of operation, and a second state of the first operation parameter during operation of the rotating platform in a second mode of operation. For each drive unit, the control unit compares the first and second states of the first operation parameter with one another and when, for one or more detected drive units, a difference between the first and second states does not exceed a threshold level, the control unit generates a first alarm with respect to the one or more detected drive units.
A system and method for automatically matching a sensor device attached to an animal with an ID tag attached to the animal, wherein a reader device, located in or alongside a passage of an animal enclosure, transmits a signal toward the animal in the passage that triggers the ID tag to transmit ID information, and a monitoring device in communication with the reader device receives the ID information from the reader device, receives sensor device information from the sensor device including a sensor device identity, and determines that the ID tag and the sensor device are attached to a same animal based on time information associated with the ID information and the sensor device information.
A rotary milking parlor arrangement contains a rotating platform with a plurality of stalls (S) each of which is configured to house a respective animal during milking, a set of at least three drive units (241, 242, 243, 244, 245) configured to cause the rotating platform to move in at least a first direction (RF, RB) of rotation around a rotation axis, and a primary control unit (100) configured to control operation of each drive unit in the set of drive units (241, 242, 243, 244, 245). A set of links connect the drive in a ring network (Nl) in which the primary control unit (100) is included. Each link is bi-directional enabling signals to pass in both directions through the ring network (Nl). The primary control unit (100) is configured to identify any single faulty link in the set of links by: transmitting a first signal in a clockwise direction through the ring network (Nl), transmitting a second signal in a counter clockwise direction through the ring network (Nl), and checking how far each of the first and second signals can be transmitted through the ring network (Nl) in the clockwise and counter clockwise direction respectively without being interrupted by the single faulty link.
A milking system (100), comprising: a vacuum pump (210), a receiver (220), a milk line (130), and a plurality of milking units (140, 140a, 140b). Each milking unit (140, 140a, 140b) is connected to the milk line (130) via a respective milk conduit (260). Each milking unit (140, 140a, 140b) is also associated with a respective valve arrangement (250), arranged in the milk conduit (260), wherein the valve arrangement (250) comprises an ad-justable passage (300) for adjustment of the fluid pressure. The system (100) also com-prises a pressure sensor (270), arranged to measure fluid pressure in the milk conduit (260) upstream the valve arrangement (250); and a controller (280). The controller (280) is configured to obtain a pressure level measurement from the pressure sensor (270) and generate and provide a control signal to the valve arrangement (250), to adjust the adjust-able passage (300), based on the pressure level measurement.
A rotary milking parlor arrangement contains a rotating platform with a plurality of stalls (S) each of which is configured to house a respective animal during milking, a set of at least three drive units (241, 242, 243, 244, 245) configured to cause the rotating platform to move in at least a first direction (RF, RB) of rotation around a rotation axis, and a primary control unit (100) configured to control operation of each drive unit in the set of drive units (241, 242, 243, 244, 245). A set of links connect the drive in a ring network (Nl) in which the primary control unit (100) is included. Each link is bi-directional enabling signals to pass in both directions through the ring network (Nl). The primary control unit (100) is configured to identify any single faulty link in the set of links by: transmitting a first signal in a clockwise direction through the ring network (Nl), transmitting a second signal in a counter clockwise direction through the ring network (Nl), and checking how far each of the first and second signals can be transmitted through the ring network (Nl) in the clockwise and counter clockwise direction respectively without being interrupted by the single faulty link.
A system and method for automatically matching a sensor device attached to an animal with an ID tag attached to the animal, wherein a handheld reader device triggers transmission of sensor device information from the sensor device and triggers transmission of ID information from the ID tag, and a monitoring device, in communication with the handheld reader device, is configured to determine and record that the ID tag and the sensor device are attached to a same animal based on time information associated with both the ID information transmitted from the ID tag and the sensor device information transmitted from the sensor device.
A feed dispenser for the feeding of pelleted animal feed, comprising a first tube (1 ), a conveyor screw (2) arranged in the first tube (1 ) and configured to displace the pelleted animal feed in a first direction in the first tube (1 ). A second tube (3) is connected to a lateral side of the first tube (1 ) and configured to enable the pelleted animal feed to be fed through the second tube (3) in a longitudinal direction of the second tube (3) into the first tube (1 ) in a region of the conveyor screw (2). On an inner peripheral surface (4) of the second tube (3) there is provided a first projecting baffle (5) which has a first surface (6) which is a remote surface of the first projection (5) with regard to the first tube (1 ) and which slopes in a direction from the inner peripheral surface (4) of the second tube (3) towards the first tube (1 ) and towards na longitudinal centre axis of the second tube (3).
A milking system (100), comprising a milk line (110); a vacuum arrangement (161); a milk-ing unit (130); a pulsator (150), configured to adjust pulsation ratio and pulsation rate of fluid pressure at two distinct levels; a receiver (160) connected to the milk line (110), and also connected to the vacuum arrangement (161); a milk meter (170); and a processing device (190) communicatively connected to the milk meter (170) and the pulsator (150); the processing device (190) is configured to, repeatedly during the milking session obtain and compare a milk flow measurement with a low milk flow limit (MFL); and, when the milk flow measurement is lower than said limit (MFL) apply a low pulsation rate and a first pulsation ratio, wherein the D-phase is longer than the B-phase; or otherwise apply a high pulsation rate and a second pulsation ratio, wherein the B-phase is longer than the D-phase.
A milking system (100), comprising a milk line (110); a vacuum arrangement (161); a milk-ing unit (130); a pulsator (150), configured to adjust pulsation ratio and pulsation rate of fluid pressure at two distinct levels; a receiver (160) connected to the milk line (110), and also connected to the vacuum arrangement (161); a milk meter (170); and a processing device (190) communicatively connected to the milk meter (170) and the pulsator (150); the processing device (190) is configured to, repeatedly during the milking session obtain and compare a milk flow measurement with a low milk flow limit (MFL); and, when the milk flow measurement is lower than said limit (MFL) apply a low pulsation rate and a first pulsation ratio, wherein the D-phase is longer than the B-phase; or otherwise apply a high pulsation rate and a second pulsation ratio, wherein the B-phase is longer than the D-phase.
A teatcup for the teat of an animal includes a casing having an upper end and a lower end, a cartridge inserted in the casing, and a pulsation chamber. An upper annular seal element extends between the cartridge and the casing to seal the pulsation chamber from the environment. The cartridge includes an elongated support member including an upper end section, a lower end section, and an intermediate support structure between the upper and lower end sections. A barrel defining an inner space for the teat is mounted in the elongated support member and stretched between the upper and the lower end sections. The intermediate support structure is permeable to gas. The pulsation chamber is delimited by the barrel, the casing and the upper annular seal element positioned at the upper end of the casing.
A method for operating an autonomous feed robot at a feed table in a livestock area, in which one or more stationary cameras are disposed to monitor the feed table, includes obtaining one or more images captured using the one or more stationary cameras and indicative of a distribution of feed on the feed table and controlling the operation of the autonomous feed robot based on the distribution of feed indicated by the one or more images. The disclosure also relates to control circuitry, an autonomous feed robot, and a computer program for performing the method.
A method for use with a multibody system includes two body sections assembled via a joint, one of the body sections including a camera which is moveable between a first position and a second position, includes detecting a reference object with the camera situated in the first position, determining a reference value of the reference object, requesting movement of the camera from the first position into the second position, initiating movement of the camera from the first position towards the second position, while iteratively sampling image of the reference object, determining a current object value of the reference object, based on the sampled image, matching the reference value with the current object value, and determining successfulness of the camera movement, based on the matching.
G05B 19/19 - Numerical control (NC), i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
A01J 5/007 - Monitoring milking processes; Control or regulation of milking machines
A01J 5/017 - Automatic attaching or detaching of clusters
53.
A PREPARATION ROBOT FOR PREPARING THE TEATS OF AN ANIMAL, A TEAT PREPARATION ARRANGEMENT AND A METHOD OF PREPARING TEATS
A preparation robot, a teat preparation arrangement, and a method of preparing teats are disclosed. The preparation robot includes a base, a robot arm arrangement connected to and movable in relation to the base, the robot arm arrangement including an outer robot arm member, a first teat-preparing cup, and a second teat-preparing cup, each including an inner space for receiving a respective one of the teats. The first teat-preparing cup is attached to the outer robot arm member to be immovable in relation to the outer robot arm member during operation of the preparation robot. The second teat-preparing cup is detachable from the outer robot arm member to be movable in relation to the outer robot arm member during at least a part of the operation of the preparation robot.
System (100) for determining distribution of time that a respective animal (101, 102, 103) has spent in different zones (210, 220, 230) of a barn (200) during a predetermined time period. The system (100) comprises a Real-Time Location System (110, 120a, 120b, 120c, 130), a database (140) comprising position coordinates of the respective zones (210, 220, 230) and a processing controller (150). The processing controller (150) is configured to determine distribution of time by associating each obtained data entity (301) with a respec-tive zone (210, 220, 230) based on the position coordinates of the respective information entity (301) and the position coordinates of the zones (210, 220, 230); counting the number of data entities (301) in each respective zone (210, 220, 230); and calculating an amount of time the animal (101) has spent in the zone (210, 220, 230) by multiplying the number of data entities (301) of each respective zone (210, 220, 230) with the regular time interval.
System (100) for determining a respective walked distance of animals (101, 102, 103) in a barn (200) during a predetermined time period. The system (100) comprises a Real-Time Location System (110, 120a, 120b, 120c, 130), a database (140) storing historical trajectories (430) of the animals (101, 102, 103) and a processing controller (150). The processing controller (150) is configured to determine the walked distance of the animal (101) by es-tablishing a walked trajectory (450) based on obtained data entities (301), and store the trajectory (450) in the database (140) associated with the animal (101); or detecting a gap (420) of missing or incomplete data entities (301) among the obtained data entities (301); 1and establish the trajectory (450) by inserting replacement distance data in the gap (420), based on historical trajectories (430) extracted from the database (140) and store the es-tablished trajectory (450) in the database (140).
System (100) for determining distribution of time that a respective animal (101, 102, 103) has spent in different zones (210, 220, 230) of a barn (200) during a predetermined time period. The system (100) comprises a Real-Time Location System (110, 120a, 120b, 120c, 130), a database (140) comprising position coordinates of the respective zones (210, 220, 230) and a processing controller (150). The processing controller (150) is configured to determine distribution of time by associating each obtained data entity (301) with a respec-tive zone (210, 220, 230) based on the position coordinates of the respective information entity (301) and the position coordinates of the zones (210, 220, 230); counting the number of data entities (301) in each respective zone (210, 220, 230); and calculating an amount of time the animal (101) has spent in the zone (210, 220, 230) by multiplying the number of data entities (301) of each respective zone (210, 220, 230) with the regular time interval.
System (100) for determining a respective walked distance of animals (101, 102, 103) in a barn (200) during a predetermined time period. The system (100) comprises a Real-Time Location System (110, 120a, 120b, 120c, 130), a database (140) storing historical trajectories (430) of the animals (101, 102, 103) and a processing controller (150). The processing controller (150) is configured to determine the walked distance of the animal (101) by es-tablishing a walked trajectory (450) based on obtained data entities (301), and store the trajectory (450) in the database (140) associated with the animal (101); or detecting a gap (420) of missing or incomplete data entities (301) among the obtained data entities (301); 1and establish the trajectory (450) by inserting replacement distance data in the gap (420), based on historical trajectories (430) extracted from the database (140) and store the es-tablished trajectory (450) in the database (140).
The present disclosure generally relates to feeding animals (10) and in particular to a method for operating a feed robot (1) at a feed table (3) in a livestock area (30). According to a first aspect, the disclosure relates to a method for operating a feed robot (1) at a feed table (3) in a livestock area (30). The method comprises monitoring over a time period subsequent to distributing feed at the feed table (3), animal data acquired using tags carried by animals (10) in the livestock area (30) and indicative of respective positions of the animals (10) in the livestock area (30) in relation to a feed table (3). The method further comprises determining, based on the animal data indicative of respective positions of the animals (10) in relation to the feed table (3), eating statuses of a plurality of individual animals (10) in the livestock area (30) and controlling operation of the autonomous feed robot (1) based on the determined eating statuses of the plurality of individual animals (10). The disclosure also relates a control device (100), and to a computer program for performing the method.
The present disclosure generally relates to feeding animals (10) and in particular to a method for surveying eating behaviour of animals (10) in a livestock area (30). The disclosure also relates a control device (100), and to a computer program for performing the method. According to a first aspect, the disclosure relates to a method for surveying eating behaviour of animals (10) in a livestock area (30). The method comprises monitoring over a time period subsequent to distributing feed at a feed table (31) in the livestock area (30), animal data acquired using tags carried by the animals (10) and indicative of activities of the animals (10) and/or positions of the animals (10) in relation to the feed table (31). The method further comprises performing an action upon the monitored animal data failing to meet one or more eating criteria defining normal eating behaviour of the animals (10) with respect to activities of the animals (10) and/or positions of the animals (10) in relation to the feed table (31). The disclosure also relates a control device (100), and to a computer program for performing the method.
A milking arrangement comprising a milking machine for milking an animal, wherein the milking arrangement comprises a control unit that is configured to obtain identity of the animal in connection with milking of the animal, obtain a reference point in time of a lactation cycle of the identified animal, determine to take at least one milk sample of the animal, when a predetermined time period has passed from the reference point in time; obtain a Haptoglobin level from the milk sample, compare the obtained Haptoglobin level with a Haptoglobin reference limit, and indicate health condition of the animal, based on the made comparison.
An autonomous agricultural vehicle that operates in accordance with a cleaning plan, a method for operating the vehicle, and a computer program related to operating the vehicle, wherein while the vehicle is operated, a load quantity representing an amount of material moved by the cleaning device is monitored at a plurality of individual times, and the cleaning plan of the autonomous agricultural vehicle is adjusted based on a variation in the monitored load quantity among the individual times.
A milking system configured to milk animals includes a milking station, a first milk tank, and a second milk tank, a controllable valve arrangement configured to open or close a first branch and to open or close a second branch of a milk transport conduit, to control to which tank that milk is transported, and a control device configured to control the controllable valve arrangement. The milking system includes a sensor configured to sense a property of milk present in the first milk tank or of milk flowing towards the first milk tank, or a sensor configured to sense a property of a cooling arrangement for controlling the temperature of the milk in the first milk tank. The control device is configured to control the controllable valve arrangement based on information from the sensor.
The present disclosure generally relates to feeding animals (10) and in particular to a method for surveying eating behaviour of animals (10) in a livestock area (30). The disclosure also relates a control device (100), and to a computer program for performing the method. According to a first aspect, the disclosure relates to a method for surveying eating behaviour of animals (10) in a livestock area (30). The method comprises monitoring over a time period subsequent to distributing feed at a feed table (31) in the livestock area (30), animal data acquired using tags carried by the animals (10) and indicative of activities of the animals (10) and/or positions of the animals (10) in relation to the feed table (31). The method further comprises performing an action upon the monitored animal data failing to meet one or more eating criteria defining normal eating behaviour of the animals (10) with respect to activities of the animals (10) and/or positions of the animals (10) in relation to the feed table (31). The disclosure also relates a control device (100), and to a computer program for performing the method.
The disclosure concerns an animal ear tag (2) comprising a housing (6), a battery (20), and an electronic circuit (22) powered by the battery (20). A coupling portion (8) of the housing (6) is provided with an opening (10) configured to receive therein a head portion of a male tag portion. The housing (6) comprises a first housing portion (14) formed in one piece and comprising a main portion of an outer surface (16) of the housing (6). The first housing portion (14) forms a cavity (18) in which the battery (20) and the electronic circuit (22) are arranged. The electronic circuit (22) extends in a circuit plane (28), and the first housing portion (14) extends on both sides of the circuit plane (28).
The present disclosure generally relates to feeding animals (10) and in particular to a method for operating a feed robot (1) at a feed table (3) in a livestock area (30). According to a first aspect, the disclosure relates to a method for operating a feed robot (1) at a feed table (3) in a livestock area (30). The method comprises monitoring over a time period subsequent to distributing feed at the feed table (3), animal data acquired using tags carried by animals (10) in the livestock area (30) and indicative of respective positions of the animals (10) in the livestock area (30) in relation to a feed table (3). The method further comprises determining, based on the animal data indicative of respective positions of the animals (10) in relation to the feed table (3), eating statuses of a plurality of individual animals (10) in the livestock area (30) and controlling operation of the autonomous feed robot (1) based on the determined eating statuses of the plurality of individual animals (10). The disclosure also relates a control device (100), and to a computer program for performing the method.
The disclosure concerns an animal ear tag (2) comprising a housing (6), a battery (20), and an electronic circuit (22) powered by the battery (20). A coupling portion (8) of the housing (6) is provided with an opening (10) configured to receive therein a head portion of a male tag portion. The housing (6) comprises a first housing portion (14) formed in one piece and comprising a main portion of an outer surface (16) of the housing (6). The first housing portion (14) forms a cavity (18) in which the battery (20) and the electronic circuit (22) are arranged. The electronic circuit (22) extends in a circuit plane (28), and the first housing portion (14) extends on both sides of the circuit plane (28).
A drive unit causes a rotating platform of a rotary milking parlor arrangement to move in a direction of rotation. The drive unit includes first and second drive motors arranged to engage a drive rail of the rotating platform and act on a respective side of the drive rail to cause the rotating platform to move. Each of the drive motors produces a respective pace signal indicating a rotational speed of the drive motor in question. A control unit receives the pace signals from each of the drive motors in each drive unit. The control unit compares the pace signal from the first drive motor with the pace signal from the second drive motor from each drive unit to establish a respective difference in the rotational speeds in the drive unit. If the difference exceeds a threshold value, the control unit triggers an alarm.
A milking system (100), comprising: teat cups (110a, 110b, 110c, 110d), each connected to a respective milk evacuation tube (120a, 120b, 120c, 120d); a vacuum pump (140); a milk tank (130); vacuum adjustment arrangements (150a, 150b, 150c, 150d), configured to adjust an inlet vacuum pressure level (P1), provided to the respectively associated teat cup (110a, 110b, 110c, 110d); vacuum pressure sensors (160a, 160b, 160c, 160d) each configured to measure vacuum pressure under each teat (210a, 210b, 210c, 210d); a processing device (170) configured to: set an inlet vacuum pressure level (P1); obtain measurements of a resulting vacuum pressure level (P2) of the associated teat cup (110a, 110b, 110c, 110d); compare it with a desired milking vacuum pressure level (Pm); calculate an adjusted inlet vacuum pressure level to achieve the desired milking vacuum pressure level (Pm); and cause adjustment according to the respectively calculated adjustment, independently of an animal identity.
Each entity in a group of entities has a respective mobile unit atta-ched to it, which mobile units transmits, periodically, a first radio message (M1) with identity information of the entity to which the mobile unit is attached. A set of base stations containing at least three base stations, receives the first radio message (M1); and based thereon, forwards, via at least one transmission line, the identity information and timing information indicative of a point in time when the first radio message (M1) was received in the res-pective base station. A central unit communicatively connected to the at least one transmission line, receives, via the at least one transmission line, the identity information and the timing informa-tion from at least three base stations in the set of base stations, and based thereon determines a position of the respective entity. Each mobile unit in the set of mobile units alters an energy density (PRF, P) at which the first radio message (M1) is transmitted in response to a trigger input being generated depending on a po-sition of the mobile unit relative to a stationary reference. Thus, the energy resources in the mobile units can be economized while attaining a desired positioning accuracy wherever needed.
G01S 5/00 - Position-fixing by co-ordinating two or more direction or position-line determinations; Position-fixing by co-ordinating two or more distance determinations
70.
POSITIONING SYSTEM, COMPUTER-IMPLEMENTED POSITIONING METHOD, COMPUTER PROGRAM AND NON-VOLATILE DATA CARRIER
A positioning system has a central unit (CU) receiving identity and timing information; and based thereon determines a respective po-sition in an area (A) of each entity in a set of entities. Each entity carries a mobile unit (U1) repeatedly transmitting a radio message (M1) including the identity information. The positioning system al-so contains a set of at least three base stations (B1, B2, B3, B4, B5, B6, B7, B8), each of which receives the radio messages (M1) from the mobile units (U1) in the area (A); and based thereon, forwards the identity and timing information to the central unit (CU). During a measurement period (TM), the central unit (CU) re-gisters respective positions of the entities as a respective trace (TR1) for each mobile unit (U1). The central unit (CU) checks if an alarm criterion is fulfilled, which is considered fulfilled if, during the measurement period (TM) a first predefined number of the tra-ces (TR1) are interrupted during a first threshold interval, and the predefined number of traces (TR1) are interrupted in a first zone (Z1) of the area (A), which first zone exceeds a first threshold size.If the alarm criterion is considered to be fulfilled, a capacity alarm with respect to the first zone (Z1) is generated.
G01S 5/02 - Position-fixing by co-ordinating two or more direction or position-line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
71.
SYSTEM, COMPUTER-IMPLEMENTED POSITIONING METHOD, COMPUTER PROGRAM AND NON-VOLATILE DATA CARRIER
Each entity in a group of entities has a respective mobile unit atta-ched to it, which mobile units transmits, periodically, a first radio message (M1) with identity information of the entity to which the mobile unit is attached. A set of base stations containing at least three base stations, receives the first radio message (M1); and based thereon, forwards, via at least one transmission line, the identity information and timing information indicative of a point in time when the first radio message (M1) was received in the res-pective base station. A central unit communicatively connected to the at least one transmission line, receives, via the at least one transmission line, the identity information and the timing informa-tion from at least three base stations in the set of base stations, and based thereon determines a position of the respective entity. Each mobile unit in the set of mobile units alters an energy density (PRF, P) at which the first radio message (M1) is transmitted in response to a trigger input being generated depending on a po-sition of the mobile unit relative to a stationary reference. Thus, the energy resources in the mobile units can be economized while attaining a desired positioning accuracy wherever needed.
G01S 5/00 - Position-fixing by co-ordinating two or more direction or position-line determinations; Position-fixing by co-ordinating two or more distance determinations
72.
POSITIONING SYSTEM, COMPUTER-IMPLEMENTED POSITIONING METHOD, COMPUTER PROGRAM AND NON-VOLATILE DATA CARRIER
A positioning system has a central unit (CU) receiving identity and timing information; and based thereon determines a respective po-sition in an area (A) of each entity in a set of entities. Each entity carries a mobile unit (U1) repeatedly transmitting a radio message (M1) including the identity information. The positioning system al-so contains a set of at least three base stations (B1, B2, B3, B4, B5, B6, B7, B8), each of which receives the radio messages (M1) from the mobile units (U1) in the area (A); and based thereon, forwards the identity and timing information to the central unit (CU). During a measurement period (TM), the central unit (CU) re-gisters respective positions of the entities as a respective trace (TR1) for each mobile unit (U1). The central unit (CU) checks if an alarm criterion is fulfilled, which is considered fulfilled if, during the measurement period (TM) a first predefined number of the tra-ces (TR1) are interrupted during a first threshold interval, and the predefined number of traces (TR1) are interrupted in a first zone (Z1) of the area (A), which first zone exceeds a first threshold size.If the alarm criterion is considered to be fulfilled, a capacity alarm with respect to the first zone (Z1) is generated.
G01S 5/02 - Position-fixing by co-ordinating two or more direction or position-line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
A method for adjusting a cleaning schedule for cleaning sessions of a scraper arrangement (1) arranged for removing manure in a livestock area. One cleaning session comprises one cleaning along a predefined path in the livestock area. The method comprises monitoring (S2), while performing cleaning sessions in accordance with the cleaning schedule, a load quantity representing an amount of material moved by the scraper arrangement (1). The method also comprises adjusting (S5) the cleaning schedule, based on a variation in the monitored load quantity among the monitored cleaning sessions. The disclosure also relates to a control arrangement (10).
The invention relates to a milking arrangement comprising a milking machine (14) for milking an animal, wherein the milking arrangement comprises an analysing unit (10) configured to determining a value of haptoglobin quantity in a milk sample taken from milk harvest by the milking machine. The analysing unit comprising a haptoglobin sensor device (12) configured to provide a value of haptoglobin quantity in the milk sample, and a processor (13), wherein said processor (13) being configured, on the basis of a reaction time being the time during which said milk sample has been in contact with the haptoglobin sensor device, to determine when the reaction time exceed a threshold time (16), if the provided value of haptoglobin quantity is above a haptoglobin threshold(17), and in confirmative case assign the provided value of haptoglobin quantity to be a determined value of haptoglobin quantity, and in non-confirmative case increase the reaction time to a total reaction time and assign the provided value of haptoglobin quantity to be the determined value of haptoglobin quantity at the point in time where the reaction time exceeds the total reaction time.
The present disclosure generally relates to farming and in particular to a sorting system for automatically selecting animals to be treated during a treatment period. According to a first aspect, the disclosure relates to a sorting system for automatically selecting animals to be treated during a treatment period. The sorting system comprises an automatic sort gate and a control arrangement configured to receive, via a user interface, user input indicative of one or more sorting criteria applicable to one or more animal properties and a maximum number of the animals allowed to be present simultaneously in the sorting area. The control arrangement is further configured to monitor a number of animals that enter and exit the sorting area. The control arrangement is finally configured to adjust one or more parameter values of the one or more sorting criteria, based on the monitored number of animals that enter and exit the sorting area. The disclosure also relates to a corresponding method and to a computer program for performing the method.
The present disclosure generally relates to farming and in particular to a sorting system for automatically selecting animals to be treated during a treatment period. According to a first aspect, the disclosure relates to a sorting system for automatically selecting animals to be treated during a treatment period. The sorting system comprises an automatic sort gate and a control arrangement configured to receive, via a user interface, user input indicative of one or more sorting criteria applicable to one or more animal properties and a maximum number of the animals allowed to be present simultaneously in the sorting area. The control arrangement is further configured to monitor a number of animals that enter and exit the sorting area. The control arrangement is finally configured to adjust one or more parameter values of the one or more sorting criteria, based on the monitored number of animals that enter and exit the sorting area. The disclosure also relates to a corresponding method and to a computer program for performing the method.
A milking system configured to milk animals includes at least one milking station, a milk tank, a transport conduit, a valve arrangement, and a cleaning arrangement that includes a delivery arrangement configured to deliver a first liquid into the milk transport conduit and to deliver a second liquid into the milk transport conduit, a pump, a controller configured to control the delivery arrangement, and a detector configured to detect that a delivery of the first liquid into milk transport conduit has ended. The detector is connected to the controller, which is configured, as a response to a signal from the detector that the delivery of the first liquid has ended, to activate the delivery arrangement to deliver the second liquid into the milk transport conduit subsequently to the ending of the delivery of the first liquid while there is a column of first liquid in the milk transport conduit.
The present invention relates to a dry stick being a competitive lateral flow stick configured to measure haptoglobin in a raw milk sample, said dry stick comprises a base pad capable of allowing lateral flow of fluid there through, comprising a labelled-control conjugate and a labelled-conjugate diffusibly arranged herein, wherein said labelled-conjugate binds haptoglobin, and wherein a complex is formed between said labelled-conjugate and said haptoglobin when said dry stickis in use. The base pad further comprises a test line comprising immobilised target analyte, wherein said immobilised target analyte binds to said labelled-conjugate when not in said complex; and a control line, which is spaced from said test line,and which comprises control analyte capable of binding to said labelled-control conjugate.
The invention relates to a milking arrangement comprising a milking machine for milking an animal, wherein the milking arrangement comprises an analysing unit configured to determining a value of haptoglobin quantity in a milk sample taken from milk harvest by the milking machine. The analysing unit comprising a blood detection sensor device configured to detect the presence of blood in said milk harvest by the milking machine, and a haptoglobin sensor device configured to provide a value of haptoglobin quantity in said milk sample. A processor (13) being configured to adjusting said provided value of haptoglobin quantity based on the blood detection in the said milk.
A milking arrangement includes plural milking places, each milking place having a primary end and an opposite secondary end, an entrance at the primary end, a front side and a rear side, which both extend in parallel with the longitudinal axis, a plurality of sequence gates arranged between the front side and the rear side, each of the sequence gates being pivotable between a closed position and an open position, each sequence gate being only pivotable from its closed position to its open position in a pivotation direction in which the front end is pivoted into a milking place towards the front side of the milking arrangement, main extension planes of the sequence gates being aligned when the sequence gates are in their closed position, with a lower edge of each sequence gate defining a bulge that extends downwards.
NNNN) of milk from the number of milking points (MP1, MP2, MPn). Based thereon (s(L), MiNest), the control unit (110) generates a first control signal (Cl) to a milk pump (150) in the cooling system (170). The milk pump (150) is arranged to cause the flow of milk (F) to be pumped out from the balance tank (120) at a flow rate determined by the first control signal (Cl).
A method, controller, computer program and arrangement for barn cleaning obtaining information from one or more cameras mounted to capture images of an area of operation of an automatic barn cleaning device and identifying at least one location in said area of operation being subjected to manure, based on the obtained information. The method further calculates a route for the automatic barn cleaning device based on the identified at least one location, and controls the automatic barn cleaning device based on the calculated route.
An automatic milking system including an electronic control unit, a milking station, a production milk tank, a second milk tank, an animal identification system, a first sensor to measure at least one indicator of illness of an animal, a data memory in which measurements are gathered. The control unit configured to register a first point of time at which milk from an animal is diverted to the second tank instead of being conducted to the production milk tank, register a second point of time at which milk from the animal is shifted from being conducted to the second tank to being conducted to the production milk tank, and, when the time period between the first point of time and the second point of time is within a predetermined number days, the control unit determines that the animal is in an illness state.
A control unit (240) and configuration tag (125) of a milk analysis apparatus (120) includes a first wireless communication device (310), for communication with a memory device (330) of the configuration tag. The configuration tag is applicable to the milk analysis apparatus and includes a reference sign (115) of a milk extracting arrangement (110) to which the milk analysis apparatus is intended to work in conjunction with. The communication is made via a second wireless communication device (320) comprised in the configuration tag. The control unit (340) is configured to retrieve, via the first wireless communication device, configuration data of the milk extracting arrangement that the milk analysis apparatus is intended to operate in conjunction with, from the memory device of the configuration tag; and to configure the control unit, based on the retrieved configuration data of the milk extracting arrangement.
A milking system (100), comprising milking cups (130a, 130b, 130c, 130d); a milking robot (150) with a robot arm (155) configured to attach each of the milking cups (130a, 130b, 130c, 130d) to a respective teat (120a, 120b, 120c, 120d); a sensor (160) configured to detect two adjacent teats (120a, 120b, 120c, 120d); a control arrangement (170), communicatively connected to the sensor (160) and the robot arm (155). The control arrangement (170) is configured to: determine a distance (300, 310, 320) between the two adjacent teats (120a, 120b, 120c, 120d); select, if the distance (300, 310, 320) fulfils a distance criterion, one of the two adjacent teats (120a, 120b, 120c, 120d) to commence attachment of a first milking cup (130a, 130b, 130c, 130d); and generate a command to the robot arm (155), to commence the milking cup attachment to the selected teat.
A milking system (100), comprising milking cups (130a, 130b, 130c, 130d); a milking robot (150) with a robot arm (155) configured to attach each of the milking cups (130a, 130b, 130c, 130d) to a respective teat (120a, 120b, 120c, 120d); a sensor (160) configured to detect two adjacent teats (120a, 120b, 120c, 120d); a control arrangement (170), communicatively connected to the sensor (160) and the robot arm (155). The control arrangement (170) is configured to: determine a distance (300, 310, 320) between the two adjacent teats (120a, 120b, 120c, 120d); select, if the distance (300, 310, 320) fulfils a distance criterion, one of the two adjacent teats (120a, 120b, 120c, 120d) to commence attachment of a first milking cup (130a, 130b, 130c, 130d); and generate a command to the robot arm (155), to commence the milking cup attachment to the selected teat.
A feed pusher and a method related to an operation of the feed pusher configured to travel on a feeding table along a longitudinal axis of the feeding table at a distance from a feeding table edge and configured to push animal feed placed on the feeding table sidewards in relation to the longitudinal axis towards the feeding table edge by a rotational movement of a rotatable screw driven by an electric motor include obtaining a value of a parameter related to the electric motor during a time period of the operation of the feed pusher traveling on the feeding table, and estimating an amount of animal feed that has been pushed during the time period based on the obtained value of the parameter.
A system, a sensor and a control unit for determining validity of a result of a lateral flow test, whereby a lateral flow stick that has a sample pad, a conjugate pad having antibody treated gold particles, and a porous membrane for receiving a capillary flow of a milk sample. The porous membrane has a test line treated with a progesterone reference which binds antibody treated gold particles of the milk sample and thereby brings the test line to change colour tint when exposed for milk comprising a progesterone level lower than a threshold limit, and a control line treated with an antibody reference which binds antibody, and thereby brings the control line to change colour tint when exposed for milk comprising antibody treated gold particles.
A method, a controller, a computer program and an arrangement for barn cleaning obtain, from a detection arrangement, information related to animal presence in an area in a barn and derive a measure of animal presence over time in the area in the barn based on the information. The method further includes controlling the operation of an automatic barn cleaning device based on the derived measure.
The present disclosure generally relates to farming and in particular to a control arrangement for controlling operation of mobile agricultural devices in a livestock area. According to a first aspect, the disclosure relates to a control arrangement (100) configured to obtain from the real-time location system (50), positions of individual animals (10) and of individual mobile agricultural devices (20) located in the livestock area and to automatically control operation of one or more of the mobile agricultural devices (20), based on the obtained positions of the one or more individual mobile agricultural devices (20) and of the individual animals (10). Thereby, mobile agricultural devices can be operated optimally and safely with regard to the positions of the animals (and staff). The disclosure also relates to a corresponding method and to a computer program for performing the method.
The present disclosure generally relates to farming and in particular to a control arrangement for controlling operation of mobile agricultural devices in a livestock area. According to a first aspect, the disclosure relates to a control arrangement (100) configured to obtain from the real-time location system (50), positions of individual animals (10) and of individual mobile agricultural devices (20) located in the livestock area and to automatically control operation of one or more of the mobile agricultural devices (20), based on the obtained positions of the one or more individual mobile agricultural devices (20) and of the individual animals (10). Thereby, mobile agricultural devices can be operated optimally and safely with regard to the positions of the animals (and staff). The disclosure also relates to a corresponding method and to a computer program for performing the method.
A milking arrangement comprising a milking unit (1) configured to be attached to the teats of an animal during milking, an accelerometer (2-5) arranged on the milking unit (1), and a control unit (33) connected to the accelerometer (2-5). The accelerometer (2-5) is configured to register motions of the milking unit (1 ) deriving from a milk flow through the milking unit (1), and the control unit (33) is configured to determine a milk flow rate through the milking unit (1 ) on basis of said registered motions.
A method and control arrangement for controlling an automated crowd gate that operates to form a side of a holding area and moves in relation to an entrance of a destination in order to cause animals located in the holding area to move towards the destination, wherein location data defining individual positions of one or more animals located in the holding area is obtained from a real-time location system, location data, a current position of the crowd gate is obtained, and an operation of the crowd gate is controlled based on the obtained position of the crowd gate and the obtained location data of the animals.
Control unit (240) and cassette (130) of a milk analysis apparatus (120) comprising a first wireless communication device (210), for communication with a memory device (230) of a cassette (130) via a second wireless communication device (220) comprised in the cassette (130). The cassette (130) is insertable into the milk analysis apparatus (120) and comprises a predetermined number of milk analysis units (260a, 260b, 260c) for one-time usage. The control unit (240) is configured to determine a number of consumed milk analysis units (260a, 260b, 260c) during a milk analysis session; and transmit information related to the consumed number of milk analysis units (260a, 260b, 260c) during the milk analysis session, to the memory device (230) of the cassette (130), via the first wireless communication device (210), for storage in the memory device (230) of the cassette (130).
G01N 33/487 - Physical analysis of biological material of liquid biological material
G01N 35/00 - Automatic analysis not limited to methods or materials provided for in any single one of groups ; Handling materials therefor
H04W 4/30 - Services specially adapted for particular environments, situations or purposes
H04W 4/80 - Services using short range communication, e.g. near-field communication [NFC], radio-frequency identification [RFID] or low energy communication
96.
A CONTROL UNIT AND A LIQUID CONTAINER INSERTABLE IN A MILK ANALYSIS APPARATUS
A control unit (240) and liquid container (135) of a milk analysis apparatus (120) having a first wireless communication device (210), for communication with a memory device (230) of a liquid container (135). The liquid container (135) is insertable into the milk analysis apparatus, via a second wireless communication device (220) in the liquid container. The control unit (240) is configured to obtain a signal associated with consumed liquid amount of the liquid container, during a liquid extraction session; and transmit information related to the consumed liquid amount via the first wireless communication device, for storage in the memory device of the liquid container.
A01J 5/007 - Monitoring milking processes; Control or regulation of milking machines
A01J 5/013 - On-site detection of mastitis in milk
G01N 35/00 - Automatic analysis not limited to methods or materials provided for in any single one of groups ; Handling materials therefor
97.
QUALITY SENSOR, COMPUTER-IMPLEMENTED METHOD OF PREDICTING INHOMOGENEITIES IN MILK EXTRACTED FROM AN ANIMAL, COMPUTER PROGRAM AND NON-VOLATILE DATA CARRIER
ININOUTjj) determined via a training process involving scoring of densities of milk clot deposits on filters through which extracted milk has been passed during milk extraction processes in relation to training data expressing the set of input variables. The scoring of the densities of milk clot deposits on the filters expresses output training data.
A control valve and a membrane for a moving a valve disk of a control valve between a first position and a second position are provided. The membrane has a central axis perpendicular to an extension plane of the membrane. The membrane includes an outer annular rim portion, a central portion configured to be connected the valve disk, and a flexible portion that is annular and provided between the central portion and the outer annular rim portion. The membrane is flexible to permit the central portion to move back and forth along the central axis, thereby permitting the valve disk to move to one of the first position and the second position. The membrane is designed with an inherent pre-tensioning of the flexible portion, which permits the membrane to exert a force on the valve disk from the first position towards the second position.
F16K 11/044 - Multiple-way valves, e.g. mixing valves; Pipe fittings incorporating such valves; Arrangement of valves and flow lines specially adapted for mixing fluid with all movable sealing faces moving as one unit comprising only lift valves with movable valve members positioned between valve seats
F16K 31/40 - Operating means; Releasing devices actuated by fluid in which fluid from the conduit is constantly supplied to the fluid motor with electrically-actuated member in the discharge of the motor
A01J 5/04 - Milking machines or devices with pneumatic manipulation of teats
F16K 31/06 - Operating means; Releasing devices magnetic using a magnet
99.
SYSTEM AND METHOD FOR MEASURING KEY FEATURES OF A ROTARY MILKING PARLOR ARRANGEMENT, COMPUTER PROGRAM AND NON-VOLATILE DATA CARRIER
A rotating platform having a plurality of stalls is provided, each of the stalls being configured to house a respective animal during milking. The stalls are separated from one another by delimiting structures. A camera registers three-dimensional image data of the rotating platform within a field of view. A controller receives the image data that has been registered while the rotating platform completes at least one full revolution around its rotation axis. The controller processes the image data to derive a set of key features of the rotating platform, and then stores the set of key features in a data storage, which is configured to make the set of key features available for use at a later point in time.
A milking system (100), comprising: teat cups (110a, 110b, 110c, 110d), each connected to a respective milk evacuation tube (120a, 120b, 120c, 120d); a vacuum pump (140); a milk tank (130); vacuum regulators (150a, 150b, 150c, 150d), configured to control a vacuum pressure level prevailing in the teat cup (110a, 110b, 110c, 110d); vacuum pressure sensors (160a, 160b, 160c, 160d) each configured to measure vacuum pressure level prevailing under one of the teats (210a, 210b, 210c, 210d); an animal identification sensor (250); a database (180); a processing device (170) configured to: determine animal ID; extract data of each respective teat (210a, 210b, 210c, 210d) from the database (180); determine a teat specific vacuum pressure level at each teat (210a, 210b, 210c, 210d); and generate a command to each vacuum regulator (150a, 150b, 150c, 150d), to set the teat specific vacuum pressure level at each teat cup (110a, 110b, 110c, 110d).
