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WO1999031970A1 - Dispositif en rapport avec un animal - Google Patents

Dispositif en rapport avec un animal Download PDF

Info

Publication number
WO1999031970A1
WO1999031970A1 PCT/SE1998/002387 SE9802387W WO9931970A1 WO 1999031970 A1 WO1999031970 A1 WO 1999031970A1 SE 9802387 W SE9802387 W SE 9802387W WO 9931970 A1 WO9931970 A1 WO 9931970A1
Authority
WO
WIPO (PCT)
Prior art keywords
animal
animal related
receiving member
related apparatus
manure
Prior art date
Application number
PCT/SE1998/002387
Other languages
English (en)
Inventor
Gösta FORSÉN
Jouko Raninen
Original Assignee
Alfa Laval Agri Ab
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Alfa Laval Agri Ab filed Critical Alfa Laval Agri Ab
Priority to AU19920/99A priority Critical patent/AU1992099A/en
Publication of WO1999031970A1 publication Critical patent/WO1999031970A1/fr

Links

Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01J—MANUFACTURE OF DAIRY PRODUCTS
    • A01J5/00—Milking machines or devices
    • A01J5/017—Automatic attaching or detaching of clusters
    • A01J5/0175—Attaching of clusters
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
    • A01K1/00—Housing animals; Equipment therefor
    • A01K1/01—Removal of dung or urine, e.g. from stables

Definitions

  • the present invention relates to an animal related apparatus comprising a manure receiving member for allowing manure to be transported by gravity towards a manure receiving device, a first end portion of said manure receiving member being hingedly arranged, and a driving means arranged to direct a second end portion of said manure receiving member into an animal related space for allowing said ma- nure receiving member to rest against a rear part of an animal.
  • Such an apparatus is known from SU 1 426 514 in which a manure channel cover is opened by means of a hydraulic cylinder in response to a transducer.
  • the transducer senses when a cow standing in front of the cover starts to bend its back and raise its tail, i.e. intends to start defecating.
  • the cover is rotated to a position where an edge of the cover rests against the hind legs of the cow.
  • the faeces are received by the cover, which is closed - i.e. moved to cover the manure channel - after 60 to 70 seconds.
  • the faeces break away from the cover into the manure channel and are removed by a transporter. Residues of faeces will, however, stick to the surface of the cover and must be removed manually.
  • EP-A-0 647 390 discloses a manure funnel, which is moved towards the rump of a cow by means of a four-bar linkage. It is obvious that the described design suffers from a serious drawback, as the four-bar linkage will be subjected to kicks by the cow and to dirt, both risking to hamper function of the linkage. As a precaution, a grid floor is provided for manure that is not collected by the manure funnel. The funnel, as well as the grid floor, needs to be manually cleaned.
  • An animal stall needs to be cleaned for avoiding dirt to be collected. This is normally done manually twice a day by the farmer.
  • An object of the invention is to overcome the drawbacks of the disclosed prior art, and to obtain an animal related apparatus, which avoids the need for manual cleaning-
  • said fluid supply means comprises a fluid line and at least one nozzle connected thereto and directed towards the manure receiving member during cleaning thereof.
  • a fluid line and at least one nozzle connected thereto and directed towards the manure receiving member during cleaning thereof.
  • said fluid is supplied at a high pressure.
  • cleaning becomes even more efficient.
  • said fluid comprises air.
  • cleaning without liquid is allowed, which may be preferable in countries where water is expensive.
  • said fluid comprises a liquid, such as water, optionally with added detergent.
  • a sensor means associated with a control means is provided for establishing a position of said manure receiving member.
  • said sensor means is adapted to sense the position of said second end portion.
  • said sensor means is adapted to sense an angle of the manure receiving member for establishing the position of the second end portion.
  • Such a sensor may be an rotary position indicator associated with said horizontal axis.
  • said driving means is provided with an elongated flexible member, such as a rope, connectible to said manure receiving member, said driving means being ar- ranged to move said elongated flexible member for allowing said manure receiving member to be moved by gravity.
  • the driving means may be a pneumatic or hydraulic vane motor, a hydraulic or pneumatic cylinder or an electric motor.
  • said sensor means is adapted to establish the length of moved elongated flexible member. This may be performed by utilising a rotary position indicator associated with the motor axle or a longitudinal sensor associated with the cylinder. The position of the second end portion is thus established outgoing from the moved distance of the flexible member.
  • said sensor means comprises a distance meter, said control means being adapted to establish a position of at least said second end portion, outgoing from a sensed distance.
  • a distance meter may be e.g. a laser distance meter or an ultrasonic distance meter.
  • said sensor means comprises an image capturing device, said control means being adapted to analyse a captured image for establishing a position of at least said second end portion.
  • image capturing devices are video cameras and digital cameras.
  • said animal space is defined at least by a rearward limiting means. Hereby, the animal is prevented from moving backwards more than desired.
  • said manure receiving member is adapted to move in a direction away from the animal space, pass the rearward limiting means and move to a substantially horizontal position outside said animal space and above said manure channel.
  • said manure receiving member is adapted to move in a direction away from the animal space, pass the rearward limiting means and move to a substantially horizontal position outside said animal space and above said manure channel.
  • said rearward limiting means is adapted to prevent said manure receiving member from moving away from said animal space and to support said manure receiving member thereagainst. Hereby, the manure receiving member is prevented from moving outside the animal space.
  • said fluid supplying means is arranged on said rearward limiting means.
  • a controlled fixed arrangement of the fluid supplying means is provided.
  • said animal related apparatus further comprises an animal related device associated with said control means, for performing an animal related operation in response to said sensor means.
  • said animal related device comprises a milking equipment provided with teatcups to be attached to the teats of said animal.
  • milking is allowed to be performed in the animal space.
  • said animal related device comprises a robot provided with a robot arm arranged with a gripper.
  • the animal related devices are possible to be attached to the robot arm.
  • said robot comprises a camera means for controlling the movement of said robot arm-
  • said animal related operation is performed in response to said sensor means.
  • said manure receiving member is provided with at least one surface, one surface adapted to prevent light reflections.
  • a surface is preferably matt and dark.
  • a light source may be arranged e.g. on the robot arm.
  • an animal identification means associated with said control means.
  • said control means it is possible to identify an animal individual.
  • said animal space is provided with a floor, said manure receiving mem- ber being hingedly arranged at substantially the same level as the floor.
  • said animal space is provided with a floor, said manure receiving member being hingedly arranged at a level substantially above level of the floor.
  • said animal space is provided with a floor, said manure receiving member being hingedly arranged at a level substantially underneath the level of the floor.
  • said manure receiving device comprises a recess forming means.
  • a pit or a channel for the manure is achieved.
  • said recess forming means is provided with a manure transporting means.
  • FIG. 1 illustrates an animal related apparatus according to the invention
  • Figure 2 illustrates the animal related apparatus of figure 1, provided with an alternative driving means
  • Figure 3 illustrates the animal related apparatus of figure 1, provided with an alternative hinge position
  • Figure 4 illustrates the animal related apparatus of figure 1, provided with a further alternative hinge position.
  • Figure 1 illustrates a cow in an animal stall defining an animal space 1, limited by a floor la, an entrance gate 2, an exit gate 3, frontward and rearward limiting means 4, 5, , the latter comprising an upper and a lower railing 5a, 5b-
  • a manure receiving member 6 in the form of a substantially flat, elongated member is hingedly arranged about a substantially horizontal axis at a first end 7a.
  • the ma- mire receiving member is preferably made of a flexible material, such as rubber or any other suitable polymer.
  • the hinge is arranged at an edge 8 of a manure channel 9, which extends transversely to the longitudinal extension of the animal stall 1.
  • the hinge is preferably made as an integral part of the manure receiving member 6, e.g. a thinner portion of the polymer material, in order to avoid collection of dirt-
  • manure receiving member 6 should not be made too heavy, as the tail of the cow should be allowed to be lifted over the second end portion 7b. For the same reason, the manure receiving member 6 must be allowed to move easily about the hinge.
  • a driving means 10 in the form of a pneumatic cylinder is connected to the manure receiving member 6- When driving the pneumatic cylinder 10, the manure receiving member 6 is moved about the hinge from a position where it rests against a cow in the animal stall 1, past the lower railing 5b, to a position where it at least partly covers the manure channel 9.
  • a one or several nozzles 11 are provided for supplying a fluid, such as air or water, optionally with added detergent, at a high pressure to- wards the manure receiving member 6, for removing manure from its surface-
  • a fluid such as air or water, optionally with added detergent
  • the nozzles may be arranged on the upper railing 5a.
  • a mixture of air and water is supplied towards the manure receiving member 6.
  • the fluid is supplied to the nozzle by means of e.g. a high pressure tubing arranged in- side the tubing 5b. Alternatively, only water or only air is supplied.
  • a robot 12 with robot ami 13 is arranged to attach teatcups 14 onto the respective teats of the cow by means of a gripper 15, which is arranged perpendicularly to the robot arm, at least during teatcup attachment.
  • a gripper 15 is arranged perpendicularly to the robot arm, at least during teatcup attachment.
  • an image capturing device 16 is provided on the robot arm or on the gripper 15. If needed, a laser transmitter is provided (not shown) for illuminating a teat with at least one laser stripe.
  • an angle sensor 17' is arranged at the hinge of the manure receiving member 6 to sense the position thereof. In particular the position of the second end portion 7b opposite the hinge (the first end portion 7a) is to be established.
  • the distance sensor 17 is a video camera able to perform image analysis of a captured image.
  • the cow is provided with a transponder 18, for allowing identification of each animal individual.
  • the transponder is read by a not shown transponder reader.
  • the channel 9 is provided with a generally known reciprocating manure scraper 19 provided with scraper members 19a that are active in one direction, but inactive in the other.
  • the viewing direction of the image capturing device 6 during teatcup attachment is towards a rearward limiting means 5.
  • a rearward limiting means 5 In order to readily perform an analysis of a captured image, it is important that the image does not contain irrelevant or disturbing information.
  • a defined background is created, which simpli- fies the image analysis as a better contrast is obtained, which in turn allows for a quicker teatcup attachment.
  • Figure 2 illustrates the same animal stall as in figure 1, however with a modified manure receiving member 6, which is long enough to not pass the lower railing 5b (or vice versa).
  • the driving means 10 is in the form of a vane motor, connectible to a source of vacuum and provided with a flexible member 10a, such as a rope, which is connected to the manure receiving member 6.
  • a sensor 17 " in the form of a ro- taiy position indicator senses the length of the rope that is wound or unwound by the motor 10.
  • the rope is connected to an air spring arranged above the floor la.
  • a linear sensor sensing the position of the piston of the air spring is util- ised.
  • pneumatic cylinder shown in figure 1 is possible to be utilised as driving means 10 to move the manure receiving member 6 of figure 2 instead of the vane motor (or the air spring) with the rope, and vice versa.
  • Figure 3 illustrates a manure receiving member 6, which is hingedly arranged about a horizontal axis above the level of the floor la, where the cow puts its hind legs.
  • Figure 4 illustrates a manure receiving member 6, which is hingedly arranged about a horizontal axis underneath the level of the floor la.
  • the manure receiving member 6 is moved towards the hind legs or the rump of the cow disregarding whether the cow needs to defecate (or to urinate) or not. Accordingly, the floor and the equipment will be kept clean during the cow's stay in the space.
  • air and or water is sprayed by means of the nozzles 11 towards the surface thereof. This is either performed when the manure receiving member rests against the cow, or when it is in a raised position, and is then performed when the cow has left the stall.
  • the manure receiving member 6 rests against the hind legs or the rump of the cow is advantageously used as a starting signal for the robot, i.e. the animal related operation - such as teat cleaning or teatcup attachment - is not allowed to be performed until the manure receiving member is in a stable position.
  • the sensor for establishing the position of the manure receiving member, e.g. the laser sensor 17. If the cow is nervous and moves about in the ani- mal space 1, the animal related operation should not be started. However, if the animal related operation has started, and the animal starts to behave nervously, the operation should be interrupted and the cow be let out by opening the exit gate 3.
  • the sensed position of the manure receiving mem- ber may be used as an indication of the position of the cow in the stall, which in turn is used as a rough indication for the robot of the position of the teats of the cow, which may be stored as a relative value regarding a particular breed of cows.
  • the robot will then start to search for the teats within an expected area outgoing from the indication-
  • the exact teat location is established by means of the image capturing device 16, or any kind of known teat locating device.
  • the cow individual is identified by means of the transponder 18.
  • Data regarding the position of the teats is stored in a memory and is updated after each milking, as the form of the udder varies over the lactation period.
  • the robot is given an expected area where to start the exact teat locating procedure, by means of the image capturing device 16. It happens that the cow moves a distance in the animal space 1. This may cause the teatcup attachment to be interrupted, as the image capturing device is no longer able to view the teat in question.
  • the sensed position of the manure receiving member is then used as an indicator for the moved distance, so that the robot can easily find the lost teat again, without having to start the teat locating process from the beginning again.
  • the manure receiving mem- ber is retracted.
  • the cow is let out by opening the exit gate 3.
  • the manure receiving member 6 rinsed by spraying water by means of the nozzles 11.
  • the stall is now ready to perform an animal related operation to the next cow.
  • the animal related apparatus relates to all milking animals, such as sheep, goats, horses and buffaloes.

Landscapes

  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Animal Husbandry (AREA)
  • Zoology (AREA)
  • Biodiversity & Conservation Biology (AREA)
  • Housing For Livestock And Birds (AREA)
  • Toys (AREA)
  • Fertilizers (AREA)

Abstract

Dispositif en rapport avec un animal, qui comprend un élément de réception (6) du fumier, permettant de transporter celui-ci par gravité vers un dispositif de réception (9) du fumier, une première partie terminale (7a) dudit élément de réception (6) comportant une charnière; et un dispositif d'entraînement conçu pour diriger une seconde partie terminale (7b) dudit élément de réception (6) vers un espace en rapport avec un animal, de façon à permettre audit élément de réception (6) de reposer sur la partie postérieure dudit animal. Selon l'invention, un dispositif d'alimentation en fluide (11) permet de diriger un fluide vers ledit élément de réception (6) de fumier.
PCT/SE1998/002387 1997-12-19 1998-12-18 Dispositif en rapport avec un animal WO1999031970A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AU19920/99A AU1992099A (en) 1997-12-19 1998-12-18 An animal related apparatus

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
SE9704778A SE514616C2 (sv) 1997-12-19 1997-12-19 Anordning för att avlägsna gödsel
SE9704778-1 1997-12-19

Publications (1)

Publication Number Publication Date
WO1999031970A1 true WO1999031970A1 (fr) 1999-07-01

Family

ID=20409484

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/SE1998/002387 WO1999031970A1 (fr) 1997-12-19 1998-12-18 Dispositif en rapport avec un animal

Country Status (3)

Country Link
AU (1) AU1992099A (fr)
SE (1) SE514616C2 (fr)
WO (1) WO1999031970A1 (fr)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1312311A1 (fr) * 2001-11-16 2003-05-21 Westfalia Landtechnik GmbH Procédé et appareil pour déterminer l'état de santé des animaux
NL1021157C2 (nl) * 2002-07-25 2004-01-27 A M De Rooy B V Inrichting voor het behandelen van koeklauwen.
EP1559316A1 (fr) * 2004-01-31 2005-08-03 R.J. FULLWOOD & BLAND LIMITED Salle de traite améliorée
EP3300592A1 (fr) * 2016-09-30 2018-04-04 Technologies Holdings Corporation Système de vision d'un positionneur de queue
US10051832B2 (en) 2016-08-17 2018-08-21 Technologies Holdings Corp. Vision system with tail positioner
CN110604066A (zh) * 2018-06-15 2019-12-24 江苏斯凯威畜牧科技有限公司 一种新型的挤奶用智能化棚架结构

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE1096669B (de) * 1959-12-23 1961-01-05 Alois Schmid Schwemmentmistungseinrichtung
SU1426514A1 (ru) * 1987-03-30 1988-09-30 Северо-Кавказский научно-исследовательский институт горного и предгорного сельского хозяйства Животноводческое помещение
EP0384531A1 (fr) * 1989-02-21 1990-08-29 C. van der Lely N.V. Station d'alimentation de bétail laitier
EP0580220A1 (fr) * 1992-07-23 1994-01-26 C. van der Lely N.V. Stalle de traite avec un robot de traite et un dispositif de nettoyage
EP0647390A2 (fr) * 1993-10-11 1995-04-12 Texas Industries Inc. Dispositif de traite automatique d'animaux

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE1096669B (de) * 1959-12-23 1961-01-05 Alois Schmid Schwemmentmistungseinrichtung
SU1426514A1 (ru) * 1987-03-30 1988-09-30 Северо-Кавказский научно-исследовательский институт горного и предгорного сельского хозяйства Животноводческое помещение
EP0384531A1 (fr) * 1989-02-21 1990-08-29 C. van der Lely N.V. Station d'alimentation de bétail laitier
EP0580220A1 (fr) * 1992-07-23 1994-01-26 C. van der Lely N.V. Stalle de traite avec un robot de traite et un dispositif de nettoyage
EP0647390A2 (fr) * 1993-10-11 1995-04-12 Texas Industries Inc. Dispositif de traite automatique d'animaux

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1312311A1 (fr) * 2001-11-16 2003-05-21 Westfalia Landtechnik GmbH Procédé et appareil pour déterminer l'état de santé des animaux
NL1021157C2 (nl) * 2002-07-25 2004-01-27 A M De Rooy B V Inrichting voor het behandelen van koeklauwen.
EP1384400A2 (fr) 2002-07-25 2004-01-28 A.M. de Rooy bv Dispositif pour le traitement de parties du corps animal
EP1559316A1 (fr) * 2004-01-31 2005-08-03 R.J. FULLWOOD & BLAND LIMITED Salle de traite améliorée
GB2410411A (en) * 2004-01-31 2005-08-03 Fullwood & Bland Ltd Milking parlour
GB2410411B (en) * 2004-01-31 2006-03-22 Fullwood & Bland Ltd Improved milking parlour
US10051832B2 (en) 2016-08-17 2018-08-21 Technologies Holdings Corp. Vision system with tail positioner
US10154645B2 (en) 2016-08-17 2018-12-18 Technologies Holdings Corp. Vision system with tail positioner
EP3300592A1 (fr) * 2016-09-30 2018-04-04 Technologies Holdings Corporation Système de vision d'un positionneur de queue
AU2017225080B2 (en) * 2016-09-30 2021-09-09 Technologies Holdings Corp. Vision system with tail positioner
CN110604066A (zh) * 2018-06-15 2019-12-24 江苏斯凯威畜牧科技有限公司 一种新型的挤奶用智能化棚架结构

Also Published As

Publication number Publication date
SE9704778D0 (sv) 1997-12-19
SE514616C2 (sv) 2001-03-19
SE9704778L (sv) 1999-06-20
AU1992099A (en) 1999-07-12

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