GB2486903A

GB2486903A - Preventing movement of a dairy carousel

Info

Publication number: GB2486903A
Application number: GB1022057.2A
Authority: GB
Inventors: Mikael Lidberg; Jan Eriksson
Original assignee: DeLaval Holding AB
Current assignee: DeLaval Holding AB
Priority date: 2010-12-29
Filing date: 2010-12-29
Publication date: 2012-07-04
Also published as: GB201022057D0; AU2011353168A1; WO2012091666A1; EP2658367A1

Abstract

A method or apparatus 1 for preventing accidental injury to animals which are treated on a movable animal treatment platform 14 apparatus provided with an entrance arrangement 2, an exit arrangement 3 and a platform control system 27. The presence of an identified animal on said platform is registered. The exit of said animal from said platform is registered at an exit check point 6 located at the platform exit arrangement. Further movement of said platform is prevented if, at the expiry of an exit time period for a relevant animal, the said animal has not been detected at said exit check point. There may additionally be provided means for generating an alarm signal in case an animal has not left the platform as expected or there may be provided means for temporarily immobilising the platform until an animal's exit has been confirmed. The platform is preferable a rotating platform and is either provided with stalls 12 around its circumference or with a plurality of circumferentially arranged animal treatment locations (Fig 4)

Description

Animal monitoring at a rotary platform The present invention relates to animal monitoring at a rotary platform. In particular, the method relates to the monitoring of animals entering and leaving a rotary platform such as a milking platform which is provided with treatment stalls spaced about the platform circumference.

During milking of animals in automatic milking apparatuses such as rotating milking platforms with animal stalls, there is a risk that an animal may fall or climb out from the platform, or by some accident find itself at a location where it should not be, which may pose a hazard to itself, to other animals or to equipment. In some cases, an animal may find itself trapped by parts of a platform or by equipment at the platform. In such a case, in an automatic and generally unsupervised apparatus such as in an installation in which animals may voluntarily move between locations, e.g. in a voluntary milking installation, there is a risk of injury to the animal. Even if there is no immediate injury, then a significantly increased probability of injury exists if the system continues to rotate until such a time as a person notices what has occurred. Where there is limited surveillance of an installation by operators, some considerable time may pass before an operator becomes aware of an incident of this nature.

Rotary platforms of various designs are known in the art of animal management, in particular, for the milking and feeding of animals. Additional treatments such as cleaning or animal inspection or other treatments may also be performed. A platform of the type having entry and exit means and a rotary platform surface which is evenly circumferentially divided into animal stalls is described in US5687673. In order to assist the rapid exit of animals from the platform, an exit barrier is provided which is shaped such that animals reverse out of their stall towards a curved barrier portion before turning towards an exit passage leading away from the platform. Another rotary platform is known from US 3709196, which concerns a milking platform which is designed to be easy to operate, in particular easy to load and unload with animals. The platform comprises parallel stalls about its circumference and may rotate intermittently. Animals board the stall at a fixed entry location and they leave the platform by reversing out of a stall at the fixed exit location.

In GB 1398596, there is disclosed a rotary milking platform in which animals are arranged in a parallel or herringbone stall arrangement about the platform circumference. The platform rotates with an intermittent motion such that each platform stop position brings an animal stall in line with an exit and another animal stall in line with an entrance. Milking takes place during a revolution of the platform in which an animal travels from the entrance to the exit location. Animals face either towards or away from the centre of the platform when they are in their stalls. Various emergency stop switches are provided. Some of these would allow an operator to manually stop the platform if an emergency were observed. These switches require the permanent presence of operators if emergency situations are to be observed and acted upon early. Others stop switches are intended to trigger the stoppage of the platform in case an animal pushes itself against a lateral side of an entrance or exit passage at a location immediately adjacent to the periphery of the platform. This system can trigger the stoppage of a platform in cases where there is no danger to animal or equipment, merely if an animal happens to touch a barrier element at the platform periphery. In addition, if an animal remains in its stall, or becomes trapped in a way which does not trigger a stop switch, then the platform will continue to operate, with potentially adverse consequences.

In order to solve the above-mentioned problems concerning the risk of injury to animals and also concerning improved monitoring of animal traffic at a moving plafform, the present invention provides an improved system of checks which ensures rapid and appropriate action in case animals encounter difficulty when moving off a platform. Further aspects of the invention address additional problems and provide further advantages.

A method according to the invention is defined in appended claim 1. Further preferred features thereof are defined in subclaims 2-8. An apparatus according to the second aspect of the invention is defined in appended claim 9. Further features thereof are defined in subclaims 10-11.

According to the invention, there is provided a method for preventing accidental injury to animals which are treated on an animal treatment platform apparatus. The platform may in particular be a milking platform or a platform for any other animal treatment. The movable platform may be a rotary platform which may move in rotation describing either a circular or a non-circular path. A moving platform may also include a composite platform which is comprised of multiple adjacent platform elements carried by a moving undercarriage which may move around a circular or non-circular path.

Typical treatments which may be envisaged in the context of the invention include any animal related treatments in particular a treatment using automatic means such as a milking treatment and/or a feeding treatment and/or a cleaning treatment.

The method relates in particular to platforms of the type having animal treatment stalls arranged about the platform periphery or circumference. In particular, stalls may be spaced evenly about the platform periphery or circumference. The provision of stalls imposes a requirement that an animal is within a stall at all times when it is on the platform, except when the stall is at an exit or entrance location, i.e. when a stall is in a position at an exit or entrance arrangement. When the stall is at an exit or entrance location, the animal may momentarily find itself partially within a platform stall, at the same time as being partially on and partially off the platform. In general, each stall may be separated from a directly neighbouring stall by a generally radially arranged partition. In some arrangements, a partition may be offset at angle to a radial direction of the platform, as in a herringbone arrangement. A stall partition may in particular be a barrier and it may traverse the entire radius of the platform area or it may traverse less than the entire radius of the platform area. In particular, a stall partition may traverse significantly less than the radius of the platform area. In the present specification, a stall may designate a portion of the platform where an animal is confined, i.e. prevented from moving to any neighbouring stall.

The platform apparatus comprises at least one entrance arrangement and at least one exit arrangement, each such arrangement being positioned at a platform edge. In embodiments of the invention, entrance and exit arrangements may be nearby or adjacent one another. In embodiments of the invention, there may be provided a transition region of a platform between an entrance and an adjacent exit location, in which region no treatment operations are normally conducted, save for auxiliary operations such as cleaning or maintenance operations performed on a platform location in the transition region. In the context of the present specification, a reference to a treatment region on an animal platform signifies a reference to a series of locations on the platform within an arc which stretches in the rotation direction of the platform beginning at an entrance and ending at an exit. This is the region which is normally occupied by animals during a treatment, such as milking and/or feeding, on the platform. A reference to a transition region on an animal platform signifies a reference to a location on the platform within an arc which stretches in the rotation direction of the platform beginning at an exit and ending at an entrance. This is the region which is normally vacated following the animals' exit at an exit location, having completed their treatment on the platform and prior to the arrival, at an entrance arrangement, of a subsequent animal to be treated on the platform.

According to the invention, the method is carried out at a platform apparatus which is provided with a platform control system. The control system may be a control system dedicated to a particular platform apparatus or it may be a control system for an animal installation comprising multiple platform arrangements. Control tasks for aspects of the apparatus may be carried out by dedicated parts of the control system, which may include sub-elements such as a milking control system, an entrance control system, an exit control system and a rotation control system, as well as other sub system elements for any treatments or tasks to be carried out by the apparatus under the control of the control system.

According to the invention, the method comprises registering the presence of an identified animal at a given stall on the platform. The registration of the presence of such an animal may take place after an animal has entered a given platform stall via a platform entrance arrangement or it may take place in other ways e.g. as a result of the entrance control system recording which stall is at an entrance location when an already identified animal boards the platform. The movement progress of each stall about an arc described by the platform may in particular be monitored, along with the animal in or at the particular stall as the platform rotates, especially as the platform rotates through a treatment region on the platform.

According to another feature of the method of the invention, the passage of each animal at an exit check point located at a platform exit arrangement is monitored. This ensures that animals, which have been present on the platform at a stall which stall is at an exit location or which has been moved past an exit location, can be positively registered as having left the plafform.

In particular, the detected passage, presence or arrival of any animal at an exit check point may occur only after the particular animal has fully alighted from the rotary platform, so that a positive registration of an animal at an exit check point can serve as a confirmation that the animal is not in danger from a further or continued movement of the platform. The failure of an animal to be registered at an exit check point can thereby provide an early indication that an exceptional situation is likely or has already occurred.

In case an animal is not registered at an exit check point in due time, then, according to the method of the invention, a signal is generated which prevents further rotational movement of the platform. In addition, a signal such as a warning signal may be generated, intended to draw attention of an animal's non-appearance at an exit check point to an operator or to supervisory staff and intended to draw the attention of operating staff to the platform stoppage resulting from an animal's non-appearance at an exit check point. In embodiments of the invention, the exit time period may be a predetermined period of time or it may be a time period which is determined by the stall movement through an exit location. For example, the exit time period may begin upon arrival of a stall to an exit position at an exit arrangement. It may expire (i.e. end) upon subsequent movement of the stall through a

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predetermined distance away from its exit position, e.g. past its exit position, such as in the case of a continuous movement platform. Alternatively, the exit time period may expire after a predetermined time calculated to be sufficient for an animal to vacate its position on the platform, such as in the case of an incremental movement platform. In aspects of the invention, the exit time for a relevant animal may be the permitted time period inside which an animal which occupied a stall which is at an exit location of the apparatus is expected to fully emerge from the stall.

Depending on the platform drive arrangements, i.e. depending on whether the platform rotates continuously or incrementally, the absence of a detection signal for a relevant animal at an exit check point after expiry of an exit time period may either immediately cause the stoppage of the platform rotation or it may inhibit the next incremental movement cycle of the platform. In aspects of the invention relating to a platform which is controlled to move incrementally, a further incremental rotation of the platform may be inhibited until a relevant animal detection signal is received from the exit check point.

In an optional aspect of the method of the invention, if the exit time period expires without a relevant animal being detected at an exit checkpoint, then, after the further rotation of the platform has been prevented and before an alarm signal is issued, the control system may begin the count of an extended exit time period. The extended exit time is intended to allow an animal which is not in danger, but which is taking a long time to exit the platform to complete its exit without an operator intervention being needed. In embodiments of the invention, if the extended exit time period expires without a relevant animal being detected at an exit checkpoint, then the movement of the platform will continue to be suppressed and an alarm signal will be generated by the control system. This allows a platform apparatus to operate with a comparatively short stoppage cycle times at an exit or with comparatively higher rotation speed because it accommodates situations in which animals occasionally need additional time, without immediately signalling an emergency.

If, before the expiry of the extended exit time, the relevant animal is detected at an exit check point, then the control system will no longer prevent the further movement of the platform and no alarm signal is sounded. As a result, in the case of a continuous movement platform, its rotation may resume. In the case of an intermittent motion platform, its next movement may be effected without impediment from the exit control system. This allows a platform apparatus to operate with a comparatively short stoppage cycle times at an exit or with comparatively higher rotation speed because it accommodates situations in which animals occasionally need additional time, without immediately signalling an emergency.

In further embodiments of the invention, if the exit time period expires without a relevant animal being detected at an exit checkpoint, a further check may be carried out whether the particular animal is detectable at a stall on the platform. In case the animal is detected at a stall on the platform, and in case the platform is of a design according to which an animal may remain in a stall during the passage of the stall though a transition region, then the generation of an alarm signal any platform stoppage signal may be suppressed. In case the platform is of a design according to which an animal may not remain in a stall during the passage of the stall though a transition region, then the generation of a platform movement preventing signal and any alarm signal not be suppressed. Alternatively, where an animal may not remain in a stall in a transition region of a platform arrangement, there may be no requirement to carry out an additional check whether the animal is at a stall, in case it is not detected as required at an exit check point.

In aspects of the method of the invention, the method may be performed in relation to a platform arrangement which comprises an incremental movement platform. Such a platform may in particular move stepwise through a predetermined successive distance of arc corresponding to the circumferential width of each stall on the platform. Accordingly, each successive incremental rotation of said platform may be inhibited until a relevant animal detection signal is received from an exit check point. The control system thereby inhibits each incremental platform movement until a relevant animal detection signal is received following its detection at an exit check point. The failure to register, at an exit checkpoint, an animal which has moved fully or partially out from a stall which has moved to an exit location, may provide an indication of a likely hazard. Therefore, in particular in relation to an intermittent movement platform, the absence of a detection signal of a relevant animal at an exit check point may appropriately also trigger an alarm signal.

In a further optional aspect of the invention, the exit time period for an identified animal may begin upon detection of the arrival of a given stall, in which the relevant identified animal is present, at an exit position at the exit arrangement. In some arrangements additional measures may be needed in order to allow an animal to emerge from a stall after the stall has reached its exit location. This may be the case, for example where a barrier or blocking means at or nearby the platform periphery is required to be opened before an animal may leave the platform. In such cases, or according to the present embodiment, the point in time of the detected arrival of a stall at the exit arrangement, i.e. the start time of an exit time period, may in particular be or be deemed to be that point in time from which an animal is able to leave the platform. It should be noted that certain animals may be so-called slow-milkers". In order to accommodate such animals in the context of the present invention, the start time for the exit time period for an individual animal may not be triggered upon the first arrival of its occupied stall at an exit area. The animal may be allowed to pass around the platform more than once in order to fully complete its milking operation (i.e. its milking treatment) without unduly holding up the progress of the platform at a speed adapted to the majority of more rapidly milked animals. In other words, the start time for the exit period of an animal may be triggered following the second or subsequent arrival of its occupied stall at an exit arrangement.

In a further aspect of the method of the present invention, the detection of the presence of an identified animal at an exit check point may be carried out by the same registration method as the registration of the presence of an identified animal at a given stall on the platform. By way of example, a method for identifying and registering the presence of an animal at a given stall or its passage at an exit check point may utilise any appropriate means such as transponder type identification tags in connection with a transmit/receive module. Alternatively, in some embodiments animal movement tracking equipment may be used in combination with sensory devices such as photocell technology, lnfra-Red detectors or UV-detectors, if necessary in combination with image analysis equipment.

In a further improvement in accordance with the invention, the method may further comprise monitoring the passage of each animal at an entrance control point located at a platform entrance arrangement. In this context, it is understood that an entrance control point is located such that the detected passage of any animal at the entrance control point occurs before the particular animal has reached the rotary plafform. According to this embodiment, if an identified animal has not been detected at a designated animal stall before the expiry of an entrance time period, then the further rotational movement of the platform is prevented. In addition, a warning signal may be generated by the control system. Accordingly, in a further optional aspect of the invention, the method may include the detection of an animal at a boarding check point located inside or at the stall at a position such that detection of an animal at the boarding check point occurs only after the particular animal has fully boarded the rotary platform. In this context, references to an animal fully boarding a platform signifies the animal having all its feet on the platform, or none of its feet in the entrance arrangement. In further optional embodiments of this aspect of the invention, if the entrance time period expires without a relevant animal being detected at a stall, e.g. at a boarding check point, then, after the further rotation of the platform has been prevented and before an alarm signal is issued, the control system may begin the count of an extended entrance time period. The extended entrance time is intended to allow an animal which is not in danger, but which is taking a long time to enter the platform to complete its boarding of the platform without an operator intervention being needed. In embodiments of the invention, if the extended entrance time period expires without a relevant animal being detected at an animal stall, then the movement of the platform will continue to be suppressed and an alarm signal will be generated by the control system.

If, before the expiry of the extended entrance time, the relevant animal is detected at an animal stall on the platform, then the control system will no longer prevent the further movement of the platform and no alarm signal is sounded. As a result, in the case of a continuous movement platform, its rotation may resume. In the case of an intermittent motion platform, its next movement may be effected without impediment from the entrance control system.

In embodiments of the present invention, the exit time period for an identified animal may expire after a predetermined length of time following its beginning.

In accordance with this embodiment, if, after the expiry of the predetermined exit time period, which is calculated to allow enough time for an animal to leave the platform -and which may include a time period for operating an animal expulsion apparatus -no relevant animal detection signal is emitted by said exit check point, then the control system may generate a signal which immobilises the platform and which may also trigger a warning signal.

Alternatively, or additionally, an alarm signal may be generated for an operator to attend to the situation. This arrangement may ensure that an animal not having satisfactorily alighted from the platform will not be moved through the transition region of the platform in a subsequent incremental movement step of the platform. In embodiments of the invention, an entrance time period may be determined in the same way, with corresponding platform stoppage and warning or alarm signals being generated on its expiry, if a relevant animal is not detected as having boarded the platform.

According to this embodiment, the predetermined exit time period for an identified animal may be a uniform predetermined exit time applied to all animals in a group or it may be an individual predetermined exit time, adapted to an individual animal. This enables the system and method of the present invention to accommodate for animals which are known to move more or less quickly out of their respective stall. In any case, the predetermined exit time period may be adapted using current data relating to the exit speed of any individual animal or group of animals. For example, animals may exit from a platform more quickly when, after some time, they grow better accustomed to the apparatus.

According to a further optional aspect of the method of the invention, the exit time period for an identified animal expires upon detection of the movement of a given stall from which an identified animal is expected to emerge, through a certain distance away from an exit position of the stall. In particular, the movement away from an initial exit position may be a movement through a predetermined distance past its arrival position at an exit arrangement. In optional aspects of the invention, the detected arrival time of a stall at a position corresponding to an exit arrangement or exit location may triggers the start of the exit time period. On the other hand, the end (expiry) of the exit time period for an animal at a particular stall may be signalled by the movement of the given stall through a predetermined distance from its exit position, as detected by the control system. If the relevant animal has not been detected at the exit check point, so that a relevant exit detection signal for an identified animal has not been received before the end of the exit time period, then the control system generates a signal preventing further rotation of the platform. In some embodiments of the invention, this signal to inhibit further movement of the platform may trigger both the stoppage of the platform rotation and an alarm signal for an operator.

The present invention also relates to a rotary animal treatment platform apparatus which is capable of carrying out the method of the invention. In particular, the platform apparatus of the invention comprises a rotary platform having animal stalls arranged about the platform circumference and being provided with an entrance arrangement through which animals gain access to the rotary platform and an exit arrangement through which animals leave the rotary platform. The apparatus further comprises a control system and is capable of automatically carrying out the method according to the invention.

The apparatus is further capable of registering the presence of an identified animal at a given stall on the platform, and of registering the arrival of each animal at an exit check point located at a platform exit arrangement. The means for registering animals at respective locations are already previously discussed in relation to the corresponding method steps for detecting the animals.

In further optional embodiments of the apparatus, the position of the exit check point at an exit arrangement, and the configuration of associated animal detection equipment, is such that an animal is detectable at the exit check point only if it has completely alighted from the rotary platform. In accordance with this embodiment, it is ensured that an exit check point and an exit arrangement are mutually arranged such that an animal of the type for which the platform is designed cannot be detected at the exit check point if any of its feet is on the platform. Optionally, the exit check point is located at a distance from the platform periphery which is greater than the maximum stride of an animal for which the platform is designed or used. Alternatively, the exit check point may be located in relation to constructional elements of the exit arrangement, such that an animal for which the platform is designed or used may not be detectable at an exit check point while still being fully or partially on the platform. According to this embodiment, detection equipment may be physically located at a check point in an appropriate manner, or remote detection equipment, such as camera type detection equipment, may be configured to register the presence or passage of an animal at the relevant check point location.

In a further optional aspect of the apparatus of the invention, a detection system for registering the presence of a relevant animal at a given stall on the platform may detect the presence of an animal at a boarding check point located at each stall. In particular, the position of the boarding check point may be such that an animal is detectable at the stall only if it has completely boarded the rotary platform. According to this embodiment, the boarding check point may be located at a position such that detection of an animal at the boarding check point occurs only after the particular animal has fully boarded the rotary platform, wherein the term "fully boarded" signifies that an animal has all its feet on the platform, or none of its feet in the entrance arrangement. The registration of an animal at an animal stall may take place by means of detection apparatus which identifies the animal when it is present at a stall. Alternatively, the registration of an animal at an animal stall may take place by means of apparatus which registers the presence in a stall of an animal, following its identification at an entrance control point located nearby the platform periphery, and at a time during which the stall is at an entrance location and capable of receiving an animal at the stall. According to this aspect, the animal is registered as having taken its place at the stall which is positioned at an entrance arrangement at a time when the animal passes an entrance check area.

In a second aspect, the present invention relates to animal monitoring at a rotary platform for treating animals such as a feeding platform or a feeding and milking platform, which platform allows the free movement of animals on the rotary platform.

Platforms for animal treatments including milking and cleaning and on which animals can be supplied with feed are known. Many such platforms are provided with animal stalls which are created by means of partitions extending across substantially the whole width of the platform such that animals, once they are on the platform, are prevented from moving around the platform from one stall to another. In other platform constructions, individual stalls may be provided using reduced constructional means, perhaps limited to a feed trough construction with, optionally an animal restraining means at the feed trough such as a neck lock. In such arrangements, animals may be free to move around on the platform and to leave the platform at a time of their choosing. An example of such a platform is discussed in EP 1523878.

In many such arrangements in which animals are fed, or milked and fed, an animal will leave a platform if it is not or no longer restrained and after it is no longer being supplied with feed. This may especially be the case when animals are taught to expect to be fed at a location off the platform after their feed supply on a platform is denied. In some cases, animals may remain on the platform even when they are neither eligible for a treatment nor eligible to receive feed on the platform. This can cause a hindrance to the effective functioning of the platform and operations on the platform and in relation to other animals on the platform which require feeding and/or treatment. If the system is operated with voluntary cow traffic, then it may operate autonomously for long periods without an expectation of surveillance. In such a situation, animals remaining on the platform with no purpose may cause considerable disruption.

The present invention, in a second aspect, provides a solution to the problem posed. To that end, there is proposed a method for ensuring that animals which are not eligible to remain on a platform are detected within an appropriate time frame before significant disruption can be caused. A method according to the second aspect of the invention is defined in appended claim 12. Further preferred features thereof are defined in subclaim 13. An apparatus according to the second aspect of the invention is defined in appended claim 14. Further preferred features thereof are defined in subclaim 15.

According to the second aspect of the invention, there is provided a method for monitoring animals at a rotary animal treatment platform apparatus comprising a platform control system and rotary platform with a plurality of circumferentially arranged animal treatment locations i.e., treatment locations which are arranged at a series of locations around the platform on a platform floor surface. In particular, the platform is of the type on which animals may freely circulate, and comprises an entrance arrangement and an exit arrangement which may allow multiple animals to enter or exit simultaneously.

The method comprises registering the accession of an identified animal onto the platform and monitoring the passage of each animal at an exit check point located at a platform exit arrangement. In this regard, the detected passage of any animal at an exit check point may preferably occur only after the particular animal has fully alighted from the rotary platform. Further according to the method of the second aspect, a warning signal, which may be a missing animal signal or an alarm signal, is generated by the control system if an identified animal has not been detected at an exit check point before the expiry of an exit time period for that animal.

Optionally, the exit time period may be a predetermined period of time starting from the accession time of the animal on the platform or starting from the end time of a treatment operation for an identified animal on the platform. This method may thereby additionally comprise any or each of the steps of monitoring the time of accession of the animal on the platform, or monitoring the time of completion of an animal treatment (such as milking and/or feeding and/or cleaning), while the platform rotates, in particular, while the platform rotates through a treatment region on the platform.

Each animal may be allowed a maximum dwell time on the platform, which may be a predetermined length of time. This predetermined dwell time may be a function of the time needed for the platform to move through a circular arc from an entrance arrangement to an exit arrangement. Alternatively, the predetermined dwell time may be a predetermined length of time after the completion of a final treatment step for which a relevant animal is eligible, which period of time is long enough to allow an animal to exit the plafform.

Still alternatively, the predetermined dwell time may be adapted to an individual animal, based upon its known milking speed and/or feeding speed.

Additional factors may be used to determine the predetermined dwell time of an animal.

The method according to a second aspect of the invention ensures that animals which dwell for too long on a platform are rapidly brought to the attention of operating or supervisory staff.

Also in according with this second aspect of the invention, there is provided a platform apparatus capable of carrying out the method of the second aspect.

In particular, the apparatus comprises a rotary animal treatment platform apparatus with a rotary platform having a plurality of circumferentially arranged animal treatment locations and on which platform, animals may move about freely to various locations. The platform apparatus further comprises an entrance arrangement through which animals gain access to the rotary platform and an exit arrangement through which animals leave the rotary platform, which arrangements may in particular permit more than one animal to enter or leave at any given time. The exit arrangement may in particular be such that, in combination with the free movement of animals on the platform, permits animals to exit the platform at any time. The entrance arrangement, on the other hand, may comprise means, such as selection gate means, for permitting animals to enter the platform only if they are eligible for treatment on the platform. Further in accordance with the invention, the apparatus comprises blocking means which prevent animals from acceding to a transition region between the exit and entrance arrangements. In addition, the apparatus further comprises a control system which is capable of automatically operating the platform apparatus. In particular, according to this second aspect of the invention, the apparatus comprises apparatus for registering the accession of an identified animal to the rotary platform, and apparatus for detecting the arrival of each animal at an exit check point located at a platform exit arrangement.

In a further optional embodiment of the second aspect of the invention, the location of an exit check point at the exit arrangement is such that an animal is detectable at the exit check point only if it has completely exited the rotary platform, i.e. only when it is in a position in relation to the exit arrangement from which a return to the platform is possible only via a platform entrance arrangement. In order to ensure this effect, the check point may optionally be positioned on an outside of a non-return gate (not shown) or other similar device at the exit arrangement. Depending on the exact layout of a platform apparatus and system, there may be more than one exit check point for any given platform.

Detection equipment for animals exiting the platform may be analogous to the equipment described in relation to the first aspect of the invention.

The method and apparatus of the present invention, including some optional aspects thereof, will be better understood by reference to the appended figures which illustrate non-limiting examples of the invention and various aspects thereof. The figures represent: Fig. 1 A diagram of a simplified layout of an animal treatment platform apparatus according to aspects of the invention Fig. 2 A flow diagram of a simplified method for monitoring an animal exit from a platform with incremental rotation movement Fig. 3 A flow diagram of a simplified method for monitoring an animal exit from a platform with continuous rotation movement Fig. 4 A diagram of a simplified layout of an animal treatment platform apparatus according to a second aspect of the invention The animal treatment platform apparatus 1 which is shown in Fig. 1 comprises a rotary platform 14 surrounded on its outer circumference by a barrier 16.

The illustrated barrier 16 is a stationary barrier which is interrupted at an entrance arrangement 2 and an exit arrangement 3 and across a transition area 7. More entrance or exit arrangements could be provided as a matter of choice. Alternatively, the entrance or exit arrangements could be configured larger than illustrated in order to allow) for example more than one animal to access or leave the platform simultaneously. In another alternative arrangement, the barrier 16 could be movable around the external circumference of the platform 14 and could be articulated at each stall for permitting opening and closing of the stall thereby allowing animals to enter or leave a stall. An internal perimeter of the platform 14 in the form of a railing 9 prevents animals from leaving the platform in a direction towards its centre. In certain embodiments, a feed manger (not shown) may be provided at each stall 12, which may help to entice animals to move to the stalls 12 on the platform as well as providing animals with required nutrition.

The rotary platform 14 is evenly divided into a series of neighbouring stalls 12, arranged around the periphery of the platform 14. Each stall is separated from its neighbouring stalls by a partition in the form of a movable barrier 11 which defines the width extent of each stall in a generally circumferential direction. In the example illustrated, each stall 12 is designed to be occupied by a single animal. In other embodiments, it may in some cases be envisaged to provide stalls which can accommodate two animals. The positions of each movable barrier 11 are set up so that an animal is slightly restrained when it occupies a stall 12 when the barriers 11 at each circumferential side of the stall 12 are in a closed position. In the example of Fig. 1, the stalls are shown arranged on the platform in a so-called herringbone arrangement. Alternative arrangements include a tandem arrangement in which the stalls are longitudinally aligned parallel to the circumference of the platform or a parallel arrangement, in which the longitudinal direction of each stall is radially aligned about the platform. In all cases, animals are positioned at successive locations about the periphery of the platform 14.

The platform 14 which is illustrated has the shape of a circular ring, although the invention may encompass movable platforms which move about a non-cirular path. At the centre of the platform there is a central region 17 within which are shown various operating units which form part of the installation.

Operating units may appropriately also be located outside the outer periphery of the plafform. The location of operating units inside or outside the platform may depend upon the arrangement of animals on the platform (i.e. tandem vs. parallel or whether the animals face inwards or outwards). Operating units may include electromechanical units which carry out operations on animals or on the platform. Other operating units may include control system elements which interact with the platform, with the electromechanical units and with an operator and which may be linked to information databases. A control system element is illustrated at 27, with a display element at 28. The control element may be a computer or more than one computer and is shown having a communication link to each of four illustrated operating units 20, 22, 23 and 24. Where the platform forms part of a milking installation, the unit 20 may be a robot for locating and preparing an animal's teats for milking, e.g. by placing a cleaning and stimulating device on the animal's teats. The unit 22 may be a robot for placing a set of teat cups on the teats of an animal for milking, while the unit 24 may be a post-treatment robot for disinfecting teats after milking has been completed. The unit 23 may be a platform cleaning robot for cleaning each treatment location after it has been vacated by an animal and before it is occupied by a subsequent animal to be treated. Other animal management operations, in particular animal treatments, may appropriately be performed on a platform, in which case the operating units may have alternative functions.

The control system also receives directly or indirectly, signals from all active elements of the platform apparatus. In the example shown, there is provided an exit check point 6 associated with detection equipment which transmits a signal to the control system 27 when an animal is detected, i.e. when it is registered, tracked or otherwise identified, at the exit check point 6. Also shown by way of example is a boarding check point 8 at each stall. The detection, using appropriate detection apparatus, of an animal at a boarding check point 8 confirms to the control system 27 that a certain animal has fully boarded the platform and is present at a given stall. This information is received and held in the control system 27.

The arrangement which is shown is intended to function with minimal supervision, with animals presenting themselves voluntarily to be treated at the apparatus and with the apparatus being designed to automatically select or reject animals for treatment and thereafter to automatically process the animals as required without the intervention of operators or supervisors during the normal functioning of the system. Moreover, the apparatus is designed to continue functioning without interruption for prolonged periods.

The entrance arrangement 2 is provided in the form of an entranceway along which animals move in the direction of arrow 5. It has barriers at each side of a path and a control gate 18 with an entrance identification unit 19 in the form of a transmitter/receiver 19. An animal wearing a transponder passing through the entrance arrangement 2 in the direction of the arrow 5 is identified by the receiver and identification device 19 and, if the animal is permitted to enter the platform for treatment such as milking and/or feeding, then the gates 18 will be opened in order for the animal to move towards the platform 14 to a free stall 12 via an open barrier 11. If the animal is not permitted to enter the platform, then an exit gate (not shown) may allow an animal to pass out from the entrance arrangement 2 without passing through access gates 18. Before boarding the platform an animal may be identified at an entrance control point using any suitable means such as an overhead camera type means or an identification transmit/receive unit 25. The arrival of an animal at -and then its departure from -the control point 10 may be detected by the control system 27.

After passing the identification transmitter/receiver 19 and the gates 18, and the entrance control point 10, and after entering the platform 14, the presence of an animal at a stall 12 of the platform 14 will be registered in the control system 27 of the platform. Any suitable means for detecting the presence of an animal at a stall may be used, such as an overhead animal tracking camera (not shown) in connection with image analysis means, or such as a transponder identifier 4, one of which may be located at each stall. In the example shown, each stall is flanked by two transponder identifiers 4, so that the presence of an animal in its correct position at a stall may be confirmed by the animal's transponder being identified by both transponders at each stall.

In particular, the presence of an animal at the boarding check point 8 in each stall may be confirmed by suitable means which may be positioned on the platform or nearby the platform. Although not shown in Fig. 1, an animal may wear a transponder unit around its neck. During each animal's stay on the platform 14, its presence may be detected by suitable detection apparatus associated with the control system 27. It should be noted in this regard that the boarding check point 8 in each stall is a location in the stall which, when occupied by an animal, confirms the presence of the aninal at the stall and fully on board the platform. At any moment when an animal is detected to have moved away from the boarding check point 8 at a stall which it has occupied, then it is possible that the animal finds itself off the platform or partially off the platform (i.e. straddling the platform edge).

Also associated with the platform 14 is a treatment region 26 and a transition region 7. As animals on the platform 14 which have successfully moved to a stall 12 are rotated away from the entrance arrangement 2, they move through a treatment region of the apparatus before approaching the exit arrangement 3. At that point, animals' treatments are expected to be completed and any feed being supplied is expected to be ceased. Upon reaching an exit location, wherein an animal stall 12 is open to an exit arrangement 3, the animal at the stall may leave the platform 14. Animals are expected to leave the platform voluntarily because they no longer receive feed once their stall 12 reaches an exit location 3 and because the animals may expect to receive feed at a location (not shown) beyond the exit arrangement 3.

When an animal moves away from a stall 12, while leaving the platform 14, its movement away from the stall (e.g. away from a boarding check point 8), will be detected. In order to detect an animal's complete exit from the platform 14, the apparatus shown in Fig. 1 is provided with means for detecting its arrival at or its passage at the exit check point 6. The detector means 29 for registering an animal at the exit check point 6, may in particular be a transponder identification detector or any suitable detection apparatus such as a foot switch such as an optical or mechanical trip switch or it may be a detection means including camera means in association with an image analysis or tracking system. In some cases, the detection means for an animal at an exit check point may comprise photocell or Infra-Red or UV camera means.

In most cases, each animal whose stall 12 has reached an exit position, will move away from its stall 12 along the exit direction 15 through the exit arrangement 3 and once it has completely left the platform 14, it will be detected at the exit check point 6 within an expected time period required for its exit. In such cases, the platform 14 and pieces of apparatus which are associated with it, will continue to function normally, according to automatic sequences of operations. Hence, during normal operation, when an entering animal is detected at a stall within an entrance time period, and/or when an animal is detected at an exit check point within an exit time period, in the case of a continuous movement platform 14, the steady, progressive rotation will be uninterrupted or, if it is an incrementally rotating platform, then its next rotation step will be initiated as normal. The number of exit check points 6 will normally correspond to the number of exit arrangements and to the number of animal exit passages or paths, so that animals which exit the platform correctly will of necessity be registered as having done so. A non-return barrier (not shown) or other similar apparatus at the exit arrangement 3 may prevent the obstruction and congestion of the exit check point area 6 by other animals.

On the other hand, in some cases, animals may not enter or leave the platform 14 as required, either for reasons to do with an animal itself or for external, perhaps equally unpredictable reasons. In either case, an animal's incomplete entry or exit from the platform 14 can be hazardous. The detection apparatus for detecting an animal at a check point 6 can thereby serve as an early warning of an irregularity and thereby avoid an accident and/or damage and/or serious interruptions. Similarly, the detection apparatus for detecting an animal at a stall 12 can thereby serve as an early warning of an irregularity and thereby avoid an accident and/or damage and/or serious interruptions at the boarding stage. In particular, the control system 27 is configured such that if, at the expiry of an exit time period for an animal at a given stall 12, there is received by the control system 27 no detection signal from a detection apparatus such as the detector 29, which may be a transponder identification detector or any suitable detection apparatus, then further rotation of the plafform may be suppressed by the control system 27.

The generation of the missing animal signal may lead to any one of a series of responses by the apparatus, depending upon its particular configuration and depending upon the progress of operations at the time when the missing animal signal is generated. As shown in the flow chart of Fig. 2, which relates to a method for monitoring the exit of animals from an incrementally moving (i.e. stepwise from one position to the next) rotary platform for any given stall "X", at which an identified animal "Y" is present, the platform rotation is stopped when the stall "X" reaches an exit location at an exit arrangement, after which the animal's exit is permitted and an exit time is started to be counted. This may in particular be a predetermined exit time. If at the end of the exit time, the exiting animal has been detected at an exit check point, then the next incremental rotation of the platform will not be inhibited by the exit control system, and the method will progress in relation to a next stall "X".

If, on the other hand, the relevant animal has not been detected at the exit check point when the exit time expires, then the next rotation step of the platform is prevented. In other words, the platform is immobilised. In this case, a warning signal is issued to an operator and at the end of the exit time period, while the platform remains immobilised, an extended time period is started to be counted, which may in particular be a predetermined time period.

If, before the end of the extended exit time period, the relevant animal is detected at the exit check point, then the immobilisation of the platform is lifted so that the next rotation movement of the platform can be initiated without being impeded by the exit control system. In case the relevant animal is not detected at the exit check point at the expiry of the extended exit time, then an alarm system is generated and the platform remains immobilised.

The flow diagram of Fig. 3 relates to a platform which moves continuously, or substantially continuously, that is to say, the platform moves steadily and progressively so that during uninterrupted, normal operation, the platform moves at a more or less constant slow speed and animals enter and leave the platform in a slowly moving state of the platform. The method operates in much the same manner as that described in relation to the flow diagram of Fig. 2, except that the platform is not stopped when a relevant stall "X" reaches an exit location. Upon a stall reaching an exit location, the exit time begins and an animal at the stall is permitted to exit the platform. As the stall progresses slowly away from its arrival position at an exit location, it eventually reaches a position at which the exit time is deemed to have ended.

The time needed for the platform to move through an arc between an arrival position of a stall at an exit location and an end position for exiting a stall at an exit location is determined such that an animal, under normal conditions, has enough time to leave the platform. If, at the end of the exit time, a detection signal for the relevant animal at an exit check point has been generated, then the platform will continue to move uninterrupted and the process will be repeated for a subsequent stall "X". If, on the other hand, no animal is detected at the exit check point before the expiry of the exit time, then the rotation of the platform is prevented, i.e. it the platform is stopped. At the same time, a warning signal is generated for an operator and the counting of an extended exit time is initiated. The extended exit time may in particular be a predetermined time period. If, before the end of the extended exit time, an animal is detected at an exit check point, the platform rotation may resume and the cycle can be repeated for a next animal stall and a next animal. If, on the other hand, the extended exit time ends without there having been a relevant animal detected at the exit check point, then an alarm is sounded and the platform remains immobilised.

It will be readily understood, with reference to Figs. 2 and 3, and with reference to disclosures concerning monitoring an animal's correct boarding of a platform, that in aspects of the invention, the same processes regarding the platform exit control system and alarm signals, applied in relation to an exiting animal and an exit check point, are be applied in accordance with the present invention to an entrance control system and an entering animal and a detection location at an animal stall.

In Fig. 4 is illustrated an example of a platform apparatus 401 according to a second aspect of the invention. Animals enter the platform 414 via one of several selection gates 436 at an entrance arrangement 402. The animals, having been identified at the selection gate 436 can, if permitted to access the platform 414, freely enter through the entrance arrangement 402 and may position themselves at a stall 412 of their choosing. In passing a boarding check point 408, each animal can be reliably determined to have fully boarded the platform 414. Detection means (not shown) which may include identification means such as transponder identification means, may additionally be provided at each stall 412. Animal treatment may be carried out in particular in an animal treatment region of the platform 438 which may be a milking area. Milking may be carried out in any suitable manner, using any suitable equipment type (not shown). Further treatment can if needed be carried out at a further treatment area 439. The further treatment may for example include any other post-milking treatment and may be carried out in any suitable manner, using any suitable equipment type (not shown). Animals may be fed at their stalls 412 via feed troughs 435 and using automatic feed supply equipment (not shown) which provides feed on the basis of each animal's eligibility for feed. There may or may not be provided restraining means such as neck lock means (not shown) at each stall. Any restraining means may restrain an animal only insofar as is needed e.g. during the completion of a treatment operation such as milking at a particular location.

Animals may freely exit the platform 414 via an exit arrangement 403. In particular, when animals are not restrained, they may seek to exit the platform if their feed supply at the platform is stopped. When exiting the platform, animals pass an exit check point 406, where they may be detected by any suitable detection apparatus, such as transponder type apparatus or camera based surveillance apparatus associated with image analysis means for e.g. tracking animals as they move about a known area.

All aspects of platform control and animal monitoring at the platform apparatus 401 are carried out in connection with a control apparatus 427 and its appropriate sub-systems for respective elements of the platform apparatus 401.

An animal, having entered the platform apparatus entrance arrangement 402 and having been identified at the entrance control point 437, may be detected on the platform at a boarding check point 408 using appropriate detection and/or identification apparatus. Alternatively, an animal may be detected on the platform using detection and/or identification apparatus at an individual stall 412. Still alternatively, each animal may be monitored using suitably arranged tracking type camera technology such that the control system monitors and records animals' movements and locations within the apparatus at all times.

When an animal has completed its treatment on the platform 414 and in particular, including, if appropriate, consuming its supplied feed amount, then the animal is required to leave the platform 414 and thereby to vacate a stall 412. Ordinarily, in an arrangement such as that shown in Fig. 4, which shows a voluntary animal traffic arrangement, if the animal is no longer receiving feed, it will leave the platform 414 because it will seek food in another part of the installation. The animal will thereby pass off the platform and through the exit arrangement 403, where it will be detected at the exit check point 406.

Non-return gates 409 are provided to prevent animals congesting the exit arrangement 403.

According to the example shown in Fig. 4, if an animal which has been admitted to the platform, and which has completed its treatment, does not exit the platform within an exit time, then the attention of a supervisor or operator may be drawn by means of a warning signal. In particular, it is undesirable for animals to spend time congesting the platform when they are not eligible for any type of treatment. Hence, if after a given exit time period, starting from the registered arrival of an animal on the platform, has expired without a detection of the relevant animal at the exit check point 406, the control system 427 may generate a warning signal. An operator may then intervene on the platform if necessary. In a further embodiment, after a warning signal has been given, the counting of an extended exit time period may commence. If, during the extended exit time period, a relevant animal is detected at the exit check point 406, then the warning signal may be suppressed. If, after the expiry of the extended exit time period, a relevant animal is not detected at the exit check point 406, an alarm signal may be generated. In some embodiments, the exit time period may begin when an animal's treatment on the platform 414 is ended, or when its feed supply is ceased.

The invention has been described with reference to non-limiting examples and with reference to various alternatives. The skilled person will nevertheless be capable of realising further embodiments, variants and equivalent features of the invention which are not discussed here but which fall within the scope of the invention as defined in the appended claim.

Claims

CLAIMS1. Method for preventing accidental injury to animals which are treated on a movable animal treatment platform apparatus having animal stalls arranged about a platform periphery, the platform apparatus further being provided with an entrance arrangement and an exit arrangement and a platform control system, the method comprising registering the presence of an identified animal at a given stall on said platform and further registering the passage of each animal at an exit check point located at a platform exit arrangement, wherein further rotational movement of said platform is prevented if, at the expiry of an exit time period for a relevant animal, the said animal has not been detected at said exit check point.
2. Method according to claim 1, wherein furthermore if, at the expiry of an exit time period for a relevant animal, the said animal has not been detected at said exit check point, then the counting of an extended exit time is begun, and wherein if, at the expiry of said extended exit time period, said animal has not been detected at said exit check point, an alarm signal is generated.
3. Method according to claim 2, wherein, if, before the expiry of said extended exit time period, said animal is detected at said exit check point, then further rotational movement of said platform is no longer prevented.
4. Method according to any preceding claim wherein said exit time period for a relevant animal begins upon detection of the arrival of a given stall, in which said animal is present, at an exit position at said exit arrangement.
5. Method according to any preceding claim, wherein said detection of the presence of a relevant animal at a said exit check point is carried out by the same registration method as the registration of the presence of an animal at a given stall on said platform.
6. Method according to any preceding claim, wherein said method further comprises monitoring the passage of each animal at an entrance control point located at a platform entrance arrangement, and wherein further rotational movement of said platform is prevented by said control system if an animal has not been detected at a designated animal stall on said platform before the expiry of an entrance time period.
7. Method according to any preceding claim, wherein said exit time period for an identified animal expires after a predetermined length of time following its beginning, which may be a uniform length of time for a group of animals or an individually adapted length of time.
8. Method according to any previous claim I to 6, wherein said exit time period for an identified animal expires upon detection of the movement of said given stall, from which said identified animal is to emerge, by a predetermined distance past its arrival position at said exit arrangement.
9. Rotary animal treatment platform apparatus having animal stalls arranged about the platform circumference and being provided with an entrance arrangement through which animals gain access to the rotary platform and an exit arrangement through which animals leave the rotary platform, said apparatus further comprising a control system and being capable of automatically carrying out the method according to any preceding claim, wherein the apparatus is capable of registering the presence of an animal at a given stall on said platform, and also capable of registering the passage of each animal at an exit check point located at a platform exit arrangement.
IO.Apparatus according to claim 9, comprising a detection system capable of registering the presence of an animal at said exit check point, wherein the position of said exit check point is such that an animal is detectable at the exit check point only if it has completely alighted from the rotary platform.
11.Apparatus according to claim 9, including a detection system for registering the presence of an animal at a given stall on said platform, which detection system comprises a detection apparatus capable of detecting the presence of an animal at a boarding check point located inside each stall, wherein the position of said boarding check point is such that an animal is detectable at the boarding check point only if it has completely boarded the rotary platform.
12.Method for monitoring animals at a rotary animal treatment platform apparatus comprising a rotary platform with a plurality of circumferentially arranged animal treatment locations, said platform being of the type on which animals may freely circulate, the platform apparatus further comprising an entrance arrangement and an exit arrangement and a platform control system, the method comprising registering the accession of an identified animal onto said platform and monitoring the passage of each animal at an exit check point located at a platform exit arrangement, wherein a warning signal is generated by said control system if an identified animal has not been detected at said exit check point before the expiry of an exit time period.
13.Method as per previous claim 12, wherein said exit time period is a predetermined length of time beginning at the accession time of the animal on the platform or beginning at the end time of a treatment operation for an identified animal on the platform.
14.Rotary animal treatment platform apparatus comprising a rotary platform with a plurality of circumferentially arranged animal treatment locations, said platform being of the type on which animals may freely circulate, the platform apparatus further comprising an entrance arrangement through which animals gain access to the rotary platform and an exit arrangement through which animals leave the rotary platform, said apparatus comprising blocking means which prevent animals from acceding to a transition region at said apparatus between said exit and said entrance arrangements, said apparatus further comprising a control system and being capable of automatically carrying out the method according to preceding claim 12 or 13, wherein the apparatus comprises an identification system for registering the accession of an identified animal to said rotary platform, and an identification system for detecting the arrival of each animal at an exit check point located at a platform exit arrangement.
15.Apparatus according to claim 14, wherein the location of said exit check point at said exit arrangement is such that an animal is detectable at the exit check point only if it has completely exited the rotary platform.