WO1998051143A1 - Systeme de traite automatique - Google Patents

Systeme de traite automatique Download PDF

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Publication number
WO1998051143A1
WO1998051143A1 PCT/GB1998/001378 GB9801378W WO9851143A1 WO 1998051143 A1 WO1998051143 A1 WO 1998051143A1 GB 9801378 W GB9801378 W GB 9801378W WO 9851143 A1 WO9851143 A1 WO 9851143A1
Authority
WO
WIPO (PCT)
Prior art keywords
milking
ordinates
transponder
information
teat
Prior art date
Application number
PCT/GB1998/001378
Other languages
English (en)
Inventor
Hugh Gerald Stirling
Paul Victor Biscoe
Original Assignee
Btg International Limited
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 Btg International Limited filed Critical Btg International Limited
Priority to CA002287328A priority Critical patent/CA2287328A1/fr
Priority to EP98921608A priority patent/EP0984677A1/fr
Publication of WO1998051143A1 publication Critical patent/WO1998051143A1/fr

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Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01K—ANIMAL HUSBANDRY; CARE OF BIRDS, FISHES, INSECTS; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
    • A01K11/00—Marking of animals
    • A01K11/006—Automatic identification systems for animals, e.g. electronic devices, transponders for animals
    • 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

Definitions

  • This invention relates to the voluntary milking of cows and like animals.
  • Techniques for identifying an animal presenting herself for milking and determining whether or not milking is appropriate are already known and are based on control devices such as a specially-programmed small computer.
  • control devices such as a specially-programmed small computer.
  • the general position of the teats of any particular animal can be predicted and this information used to bring a teat cup closer to a teat for the final phase of teat cup application than by just using animal position information.
  • the actuators have suitable transducers it may be possible to derive information about teat position from the output of the transducers, so as to update information stored about an animal.
  • a voluntary milking system comprising a computer or like information storage device to derive a first set of milking location co-ordinates for the teat cups, positioning means operative to move a teat-detection device to or towards said first set of milking location co-ordinates and, if these do not correspond to the optimum milking location co-ordinates for the teat cups, to move the teat cups to said optimum milking location co-ordinates, wherein the computer or like information storage device is connected with an interrogator which, in turn, communicates with and updates an information-carrying read/write transponder secured to the animal to be milked, said information corresponding to said first set of milking coordinates.
  • the information storage device may predict expected changes in the optimum milking location co-ordinates in dependence on relevant information pertaining to the particular animal to be milked e.g. the time that has elapsed since the last milking of that animal, her lactation cycle etc.
  • transponders there are two said transponders and these are adapted to be secured one to each ear of the animal to be milked so that if one transponder is inadvertently dislodged, e.g. as a result of the animal scratching herself against a post, say, the remaining transponder will still allow satisfactory operation of the system.
  • the two said transponders are operable in a read/write mode without either one interfering with the operation of the other.
  • the transponder can additionally carry information relating to the special dietary requirements of the animal, her past health etc. This information can be especially significant when the animal is sold from one farmer to another since the purchaser will in this way receive with the animal an up-to-date and comprehensive history of the animal that he has acquired.
  • practical embodiments of the invention also includes a read/write transponder for use in the voluntary milking system of the present invention.
  • the invention may use the method and identification systems disclosed in EP 161799 A, GB 2.116,808 A or EP 467,036 A.
  • identification systems a plurality of transmitters, typically transponders, are activated by a power signal (or an "interrogation signal") and then transmit reply signals, usually containing identification data, to a receiver, which typically forms part of the interrogator.
  • the signals may be transmitted in many ways, including electromagnetic energy, e.g. radio frequency (RF), infra red (IR), and coherent light, and sound, e.g. ultrasound.
  • RF radio frequency
  • IR infra red
  • coherent light e.g. ultrasound.
  • the transmission may be achieved by actual emission of RF energy by the transponders, or by the modulation of the reflectivity of an antenna of the transponder, resulting in varying amounts of RF energy in the interrogation signal being reflected or back-scattered from the transponder antenna.
  • EP 494112 A, EP 585,132 A and EP 598,624 A disclose an interrogator/transponder system in which an interrogator broadcasts an interrogation signal to a plurality of transponders present in the interrogation field.
  • the identification system comprises an interrogator or reader which transmits interrogation signals at a power of approximately 15W and at a frequency of approximately 915 MHZ to a number of passive transponders.
  • the transponders derive a power supply from energy in the interrogation signal, and modulate a portion of the energy received from the interrogator with an identification code to generate a response signal, which is transmitted back to the interrogator.
  • the transponders can use separate receiver and transmitter antennas, or a single antenna can be utilised for both reception and transmission. If a single antenna is used, the response signal can be generated by modulating the reflectivity of such an antenna: if separate receiver and transmitter antennae are used, then a modulator which redirects energy from the receiver antenna to the transmitter antenna is required. Alternatively, the transponders can be independently powered and may generate their own response signal.
  • the interrogation system described in EP 598,624 A may be easily adapted to produce interrogators and transponders according to the invention.
  • the system for storage and communication of information disclosed in EP 689.151 A may be modified to function in a milking parlour.
  • the interrogator may be positioned in a milking stall, for example adjacent to the manger so that the transponders may be interrogated as soon as they are within range.
  • Each transponder may be interrogated several times during the milking process, either to download information carried by the transponder or to write new information to the transponder.
  • the communications protocol employed by the identification system may include provisions for determining whether data transmissions, either from the transponder(s) or from the interrogator, have been corrupted and for confirming that the data has been written correctly.
  • the transponder(s) may be uniquely coded and may be called individually.
  • each transponder may be of any suitable kind e.g. passive or active.
  • the transponder(s) may be strictly timed e.g. by a crystal oscillator with timing derived from the powering/interrogation field, or may have local timing means, such as the tags described in EP 4941 12 A and EP 585,132 A .
  • the transponder(s) may be given an identity, in addition to the data, and the protocol may include downloading the identity of the transponder(s) (or the cow).
  • Having historic data stored on a tag attached to an animal could be most advantageous. For example, it would not matter into which stall or pen the animal came, her previous history could be downloaded into the sensor array attached to that particular stall or pen. This could be extremely useful if there was a necessity to adjust some aspect of physical dimension or electronic sensitivity to suit individual animals. This could be the case in ketosis sensing where if an animal had previously low readings then the sensitivity range of an analysis system could be adjusted to ensure that it was appropriate for the animal entering. Similarly, the positioning of sensors to measure physical features of the body e.g. conformation, could again be adjusted on the basis of information carried on the tag.
  • the invention includes a method of voluntary milking comprising reading a read/write transponder secured to the animal to be milked, deriving from the information read from the transponder a first set of milking location co-ordinates for the teat cups, moving a teat-detection device to or towards said first set of milking location co-ordinates and. if these do not correspond to the optimum milking location coordinates for the teat cups, moving the teat cups to said optimum milking location coordinates in response to information from the teat-detection device, and updating the information in the transponder in response to a determination of said optimum milking location co-ordinates.
  • each cow 14 carries two transponder tags 16A.16B (collectively referred to as tags 16), and that in a milking parlour stall 18, no crosstalk from tags in stalls either side is possible.
  • the milking parlour is bathed in a powering radio frequency field from an interrogator source 20. such that no nulls or low power spots exist.
  • Communication with the tags in each stall is undertaken by a local, short range, narrow beam interrogator receiver or other reader/writer unit 22.
  • the reader/writer unit in each stall uses a slightly different frequency from its neighbour, thereby enabling "crosstalk" to be detected.
  • the tags 16 remain silent until illuminated by the unit 22, which may be triggered by a pressure sensitive device 24 located in the floor of the stall 18 in front of a manger 26.
  • the unit 22 issues a "who goes there?" question and the tags 16 which receive this question transmit a response after waiting for a random wait cycle. In using a randomly timed reply, it is unlikely that two tags will reply with a response at the same time and for the same duration. Tien the unit 22 receives a response, from the tag 16A. say. it immediately issues a "mute" instruction to the other tag 16B (and vice versa).
  • the reader/writer unit extracts a clock signal from the response and downloads the information that tag 16A is carrying from the data in its response signal. Once tag 16A has finished transmitting the response signal the tag is acknowledged and the other tag (16B) is reactivated. The reader/writer now waits for a response from tag 16B and the data from both tags is compared.
  • the most recently updated data is then read by an on-site computer 28 and used to position a robotic milking arm 30 to apply the teat cups to the cow's udder (as shown at 32) and begin milking.
  • reference numeral 34 indicates a store from which the inverted teat cups 36 are removed one by one by cup-handling and teat-sensor assembly 38 carried at one end of the arm 30.
  • This arm is mounted on a movable platform 40, both the arm and the platform being controlled by the computer 28 to right the teat cup and to apply it to the appropriate one of the cow's teats as above described.
  • the unit 22 When the unit 22 needs to write to one or other of the tags 16 to update it with the latest information available, the unit issues a new "who goes there?" question which reactivates the tags to use the randomly timed tag responses. As already described above, when a clear response is received from one of the two tags 16. the unit 22 mutes the other tag and issues a write command followed by the new data to be written to the non-muted tag. At the end of the data stream, a disable command indicates to this tag that all the data has been received and that it is disabled until reactivated e.g. by leaving the powering field for sufficient time to be reset. The unit 22 also unmutes the previously muted tag and the same cycle is repeated to write to the other tag.

Abstract

L'invention se rapporte à un système de traite automatique (10) comportant des transpondeurs de lecture/écriture (16A, 16B) destinés à être fixés sur l'animal (14) à traire; un ordinateur (28) réagissant aux informations provenant des transpondeurs et devant calculer un premier ensemble de coordonnées d'un point de traite dans le but de positionner les gobelets trayeurs; et un élément de positionnement (30) dont la fonction est d'amener un dispositif de détection des tétines (38) au niveau dudit premier ensemble de coordonnées du point de traite, ou bien en direction de ce point. Si le premier ensemble de coordonnées du point de traite ne correspond pas aux coordonnées du point optimal de traite par les gobelets, l'élément de positionnement (30) fait se déplacer les gobelets trayeurs en direction des coordonnées du point de traite optimal (32) et ce, en réponse aux informations provenant du dispositif de détection des tétines (38). Ce système comporte enfin un élément d'actualisation (22, 28) destiné à actualiser les informations du transpondeur (16A, 16B) en réponse à la détermination desdites coordonnées du point de traite optimal.
PCT/GB1998/001378 1997-05-14 1998-05-14 Systeme de traite automatique WO1998051143A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CA002287328A CA2287328A1 (fr) 1997-05-14 1998-05-14 Systeme de traite automatique
EP98921608A EP0984677A1 (fr) 1997-05-14 1998-05-14 Systeme de traite automatique

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
GB9709740A GB2325141A (en) 1997-05-14 1997-05-14 Automatic milking system
GB9709740.6 1997-05-14

Publications (1)

Publication Number Publication Date
WO1998051143A1 true WO1998051143A1 (fr) 1998-11-19

Family

ID=10812267

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/GB1998/001378 WO1998051143A1 (fr) 1997-05-14 1998-05-14 Systeme de traite automatique

Country Status (4)

Country Link
EP (1) EP0984677A1 (fr)
CA (1) CA2287328A1 (fr)
GB (1) GB2325141A (fr)
WO (1) WO1998051143A1 (fr)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SE513749C2 (sv) * 1999-01-15 2000-10-30 Alfa Laval Agri Ab Metod och anordning för positionering av spenkoppar på ett mjölkdjur
WO2015009167A1 (fr) * 2013-07-19 2015-01-22 Radian Technology 2012 Limited Procédés et systèmes relatifs à des abris à traite

Citations (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2116808A (en) 1982-03-05 1983-09-28 Sensormatic Electronics Corp Randomized tag to monitoring station communication system
EP0161799A2 (fr) 1984-05-04 1985-11-21 METAL BOX p.l.c. Dispositif pour générer un jet de gaz brûlant en mouvement
FR2595197A1 (fr) * 1986-03-07 1987-09-11 Cemagref Installation de traite automatique
US4726322A (en) * 1985-09-04 1988-02-23 Aalbert Torsius Milking apparatus
WO1990007268A1 (fr) * 1989-01-04 1990-07-12 National Research Development Corporation Traite
EP0467036A2 (fr) 1990-06-15 1992-01-22 Savi Technology, Inc. Procédé et appareil d'identification de radio et de poursuite
EP0494112A2 (fr) 1991-01-04 1992-07-08 JOHNSON & JOHNSON INC. Nappe ouattée à base de pulpe de cellulose avec un grand pouvoir absorbant
EP0585132A1 (fr) 1992-08-26 1994-03-02 Btg International Limited Système d'identification électronique synchronisée
EP0598624A1 (fr) 1992-11-18 1994-05-25 Btg International Limited Détection d'une pluralité d'articles
EP0643907A2 (fr) * 1988-09-21 1995-03-22 C. van der Lely N.V. Procédé de traite d'un aminal
EP0657097A2 (fr) * 1993-11-26 1995-06-14 Maasland N.V. Dispositif de traite automatique d'animaux
EP0689151A2 (fr) 1994-05-31 1995-12-27 Kipp, Ludwig Système pour stockage et communication d'information
EP0736246A1 (fr) * 1995-04-03 1996-10-09 Maasland N.V. Méthode pour positioner des moyens pour la traite automatique d'animaux, par exemple des vaches, et dispositif pour mise en oeuvre de cette méthode

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
NL9401802A (nl) * 1994-10-31 1996-06-03 Maasland Nv Inrichting voor het melken van dieren.
NL9500006A (nl) * 1995-01-02 1996-08-01 Gascoigne Melotte Bv Werkwijze en inrichting voor het positioneren van speenbekers.

Patent Citations (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2116808A (en) 1982-03-05 1983-09-28 Sensormatic Electronics Corp Randomized tag to monitoring station communication system
EP0161799A2 (fr) 1984-05-04 1985-11-21 METAL BOX p.l.c. Dispositif pour générer un jet de gaz brûlant en mouvement
US4726322A (en) * 1985-09-04 1988-02-23 Aalbert Torsius Milking apparatus
FR2595197A1 (fr) * 1986-03-07 1987-09-11 Cemagref Installation de traite automatique
EP0643907A2 (fr) * 1988-09-21 1995-03-22 C. van der Lely N.V. Procédé de traite d'un aminal
EP0452381B1 (fr) 1989-01-04 1993-12-22 Btg International Limited Traite
WO1990007268A1 (fr) * 1989-01-04 1990-07-12 National Research Development Corporation Traite
EP0452381A1 (fr) * 1989-01-04 1991-10-23 Nat Res Dev Traite.
EP0467036A2 (fr) 1990-06-15 1992-01-22 Savi Technology, Inc. Procédé et appareil d'identification de radio et de poursuite
EP0494112A2 (fr) 1991-01-04 1992-07-08 JOHNSON & JOHNSON INC. Nappe ouattée à base de pulpe de cellulose avec un grand pouvoir absorbant
EP0585132A1 (fr) 1992-08-26 1994-03-02 Btg International Limited Système d'identification électronique synchronisée
EP0598624A1 (fr) 1992-11-18 1994-05-25 Btg International Limited Détection d'une pluralité d'articles
EP0657097A2 (fr) * 1993-11-26 1995-06-14 Maasland N.V. Dispositif de traite automatique d'animaux
EP0689151A2 (fr) 1994-05-31 1995-12-27 Kipp, Ludwig Système pour stockage et communication d'information
EP0736246A1 (fr) * 1995-04-03 1996-10-09 Maasland N.V. Méthode pour positioner des moyens pour la traite automatique d'animaux, par exemple des vaches, et dispositif pour mise en oeuvre de cette méthode

Also Published As

Publication number Publication date
EP0984677A1 (fr) 2000-03-15
GB9709740D0 (en) 1997-07-02
GB2325141A (en) 1998-11-18
CA2287328A1 (fr) 1998-11-19

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