WO2011049473A1

WO2011049473A1 - Improvements in & relating to initiating control of apparatus associated with a rotary dairy platform

Info

Publication number: WO2011049473A1
Application number: PCT/NZ2010/000214
Authority: WO
Inventors: Leslie David Goss
Original assignee: Shutt Fisher Holdings Limited
Priority date: 2009-10-22
Filing date: 2010-10-22
Publication date: 2011-04-28
Also published as: NZ580616A

Abstract

Initiation control apparatus, suitable for use in dairy milking sheds employing rotary platforms, is typically positioned at or near the circumferential perimeter of the platform or some other annular feature of the platform. The apparatus comprises following means which physically interacts with the platform (or feature thereof) to rotate indexing means associated with sensors, sensing the amount and direction of rotation thereof. The sensors provide data to a controller which relatively precisely calculates position of the rotating platform and compares this to stored data to determine if one or more control actions (e.g. signals) need to be initiated. Additional criteria may also be considered to determine if a control action needs to be undertaken.

Description

IMPROVEMENTS IN & RELATING TO INITIATING CONTROL OF APPARATUS ASSOCIATED WITH A ROTARY DAIRY PLATFORM

FIELD OF INVENTION

The present invention is directed to apparatus for determining the relative position of rotation or travel of a rotary platform such as used for milking in dairy sheds, and for initiating a control or trigger signal when a predetermined position has been reached. The initiation of the signal may be conditional upon further additional criteria.

BACKGROUND DESCRIPTION

The present invention focuses on the initiation of apparatus in a dairy shed comprising a rotary milking platform, and where the timing of the initiation of this apparatus may depend on one or more factors which include the relative rotational position of the rotary platform. For simplicity the description shall relate to the problems and issues associated with rotary dairy sheds, though it is also envisaged that the present invention may find other applications. Most milking operations, currently, are automated or semi-automated. Reliance is made on electronic equipment, and sometimes software, to control many of the operations occurring during milking. Rotary milking sheds, in particular, have leant themselves to ongoing automation as they are easier to modify than the more traditional herringbone (layout) milking shed. Unfortunately for sensitive electronic equipment, the typical dairy shed is a harsh environment. It is a typically wet environment where many corrosive chemicals are used. As a consequence, electronic equipment is generally located away from areas where it may be damaged or adversely affected.

However, the remote location of equipment is not always an option and equipment associated with automation sometimes needs to be positioned in areas where it may be susceptible to the environment. One good example is the use of teat spraying apparatus, such as used to help guard against mastitis and other pathogens, in rotary dairy sheds. Several commercial powered models are available, but a problem lies with the timing and operation of the equipment - particularly if it is not mounted on the rotating platform but externally thereof. As most such devices rely on a piece of apparatus to be swung or inserted between the legs of an animal, timing is crucial if the apparatus is to pass between the legs of a cow (or other animal) as it moves past on the rotating platform. If the timing is wrong, then the apparatus may hit the back of the animal's leg, which can cause distress and possible damage to the spraying apparatus. Apart from possible injury to an animal, this can also train animals to be suspicious of the milking bale and more likely to protest during the milking operation.

As most animals are contained in stalls in a platform, and may be positioned with the aid of leg spreading apparatus (see the applicant's co-pending applications based on NZ Patent Application No. 580617 and 580615), it is generally known where the animal will be and the region of insertion between their legs relative to the platform. In simple terms the problem therefore becomes one of knowing the position of an externally mounted device relative to the platform. Even when the apparatus being controlled is not external to the rotating platform, there can be other equipment which need to be triggered when the rotating platform reaches a predetermined position.

In reality only, a platform may include many stalls, which may be occupied or unoccupied. This may need to be further taken into account. If apparatus being controlled fails to operate, then it may also be necessary to monitor this, and effect one or more other control actions as a consequence.

Additionally, the apparatus should also be able to be retrofitted readily to existing rotary platforms, which may be of substantially different design - both mechanically and in terms of their control. Accordingly, modifying the control equipment of platform rotation to allow for accurate position sensing and control, is not a viable option as the existing control equipment may vary from the rudimentary through to sophisticated, and may not readily allow the extend of modification required.

Accordingly there is a need for apparatus which can trigger the initiation of apparatus such as teat sprayers at appropriate times during the rotation of a platform. Ideally, but not necessarily, they should also be able to gauge when it is appropriate to do so. Ideally also, they should designed to withstand the normal rigours of a dairy shed.

Accordingly, it is an object of the present invention to consider and address at least some of the above problems. At the very least it is an object of the present invention to provide the public with a useful alternative choice.

Aspects of the present invention will be described by way of example only and with reference to the ensuing description.

GENERAL DESCRIPTION OF THE INVENTION According to one aspect of the present invention there is provided initiation control apparatus for use with a rotating dairy platform, comprising following means for following the rotational progress of said dairy platform, and said following means coupled to positioning means for determining a relative rotational position of said rotating dairy platform;

said positioning means comprising rotating indexing means, sensing means interacting with said rotating indexing means to determine both direction and degree of rotation of the indexing means, and a controller for receiving and interpreting information from said sensing means;

said controller able to output a signal comprising at least either or both of a trigger signal to activate an event, and information about the rotation position of said rotating dairy platform.

According to another aspect of the present invention there is provided initiation control apparatus, substantially as described above, in which the following means comprising at least one travelling wheel capable of interacting with a feature of said rotating dairy platform.

According to another aspect of the present invention there is provided initiation control apparatus, substantially as described above, in which there is a biasing mechanism applying a pressure on a said travelling wheel against said feature of said rotating dairy platform. According to another aspect of the present invention there is provided initiation control apparatus, substantially as described above, in which said feature of said rotating dairy platform is a drive rail for said platform.

According to another aspect of the present invention there is provided initiation control apparatus, substantially as described above, in which a said rotating indexing means comprises features which interact with said sensing means as the rotating index means rotates.

According to another aspect of the present invention there is provided initiation control apparatus, substantially as described above, in which the indexing means comprises magnetically different regions which a detected by magnetic sensors.

According to another aspect of the present invention there is provided initiation control apparatus, substantially as described above, in which the indexing means includes one or more discrete magnets, and the magnetic sensors are Hall Effect sensors.

According to another aspect of the present invention there is provided initiation control apparatus, substantially as described above, in which the indexing means comprises a rotating index element with optically different features.

According to another aspect of the present invention there is provided initiation control apparatus, substantially as described above, in which the sensors interact with said rotating index element on the basis of optical reflectance, and said rotating index element comprises optically different features which have different reflectances for the working wavelengths of either or both an emitter and receiver.

According to another aspect of the present invention there is provided initiation control apparatus, substantially as described above, in which the sensors work on optical transmission through a said rotating index element. According to another aspect of the present invention there is provided initiation control apparatus, substantially as described above, in which a said rotating index element optically different features comprising clear and opaque regions for the working wavelengths of either or both an emitter and receiver. According to another aspect of the present invention there is provided initiation control apparatus, substantially as described above, in which a clear region comprises a removed region in a said rotating index element.

According to another aspect of the present invention there is provided initiation control apparatus, substantially as described above, in which there are a plurality of optically different features distributed about a said rotating index element.

According to another aspect of the present invention there is provided initiation control apparatus, substantially as described above, in which there are between 12 and 90 different optical features about a said rotating index element. According to another aspect of the present invention there is provided initiation control apparatus, substantially as described above, in which the sensors comprise at least one optical emitter and at least one optical receiver.

According to another aspect of the present invention there is provided initiation control apparatus, substantially as described above, in which the sensors comprise at least two receivers associated with an emitter or an emitter set, positioned such that interaction with the rotation Of the rotating index element will first trigger a different receiver of the two or more receivers than it would if the rotating index element was rotating in the opposite direction.

According to another aspect of the present invention there is provided initiation control apparatus, substantially as described above, which use emitters and sensors operating in the infrared region.

According to another aspect of the present invention there is provided initiation control apparatus, substantially as described above, which includes bale sensing means for determining when a new bale on the platform is present. According to another aspect of the present invention there is provided initiation control apparatus, substantially as described above, in which the bale sensing means sensors one or more of: the metal of the fence between bales, a special applied bale sensor trigger device positioned on the rotating platform, and a signal from a controller for the rotating platform. According to another aspect of the present invention there is provided initiation control apparatus, substantially as described above, in which said controller counts signals from the sensors to determine the relative position of the rotating platform.

According to another aspect of the present invention there is provided initiation control apparatus, substantially as described above, in which said controller resets or adjusts its count when a signal indicating a new bale is received from a bale sensing means.

According to another aspect of the present invention there is provided initiation control apparatus, substantially as described above, in which the controller keeps a stored count of signals, from the sensing means of the positioning means, associated with the distance between bales based on information from bale sensing means, and wherein this stored count of signals is reset or altered upon receiving new information from bale sensing means.

According to another aspect of the present invention there is provided initiation control apparatus, substantially as described above, in which the stored count of signals averages the number of counted signals, from the sensing means of the positioning means, associated with the distance travelled over a discrete number of bales, and in which said discrete number is two or higher.

According to another aspect of the present invention there is provided initiation control apparatus, substantially as described above, in which the controller uses a count of signals to determine when the rotating platform has progressed to a predetermined position part way through a bale.

According to another aspect of the present invention there is provided initiation control apparatus, substantially as described above, in which said predetermined position is when the rotating platform has aligned itself substantially such that a point which is substantially midway in a bale is aligned with a predetermined point.

According to another aspect of the present invention there is provided initiation control apparatus, substantially as described above, in which said controller initiates a trigger signal for external apparatus when the platform has progressed to a predetermined position or alignment. According to another aspect of the present invention there is provided initiation control apparatus, substantially as described above, which also includes occupation sensing means to determine if an animal occupies a particular bale, and in which said trigger signal for external apparatus is not initiated if the occupation sensing means indicates that no animal occupies a bale.

According to another aspect of the present invention there is provided initiation control apparatus, substantially as described above, in which the controller keeps a memory of bales that have already travelled past a particular point, and will not initiate a said trigger signal for external apparatus if the memory indicates that a bale has already- travelled past said particular point.

According to another aspect of the present invention there is provided initiation control apparatus, substantially as described above, in which the controller can receive bale reset information, upon which time the memory of bales is updated such that a trigger signal for external apparatus can be initiated if a bale travels past said particular point another time.

According to another aspect of the present invention there is provided initiation control apparatus, substantially as described above, in which said bale reset information comprises one or more of: a signal from a manually operated switch, information from a controller for an automated milking system associated with the rotating platform, and information from a controller for rotation of said rotating platform.

According to another aspect of the present invention there is provided initiation control apparatus, substantially as described above, which includes cup sensor means which senses if milking cups of an automated milking system are present on an animal, and wherein the controller will not initiate a trigger signal to external apparatus if said cup sensor means indicates their presence on an animal in a bale with which the trigger signal is associated.

According to another aspect of the present invention there is provided initiation control apparatus, substantially as described above, in which a controller can accept information from an automated milking system associated with said rotating platform, and wherein the controller will not initiate a trigger signal to external apparatus if said information from the automated milking system indicates the presence milking cups on an animal in a bale associated with the trigger signal.

According to another aspect of the present invention there is provided initiation control apparatus, substantially as described above, in which the controller includes a learning setup function in which a user will operate said rotating platform in the normal direction of travel for a predetermined distance, and in which the controller will take information from both bale sensing means and from sensed data from rotation of the indexing means to calibrate and store information relating to one or more of: the normal direction of rotation of the platform, the averaged sensed distance between bales, and the number of bales associated with the platform.

According to another aspect of the present invention there is provided initiation control apparatus, substantially as described above, configured to initiate the operation of same when the initiation control apparatus determines that the platform has progressed to a particular point. According to another aspect of the present invention there is provided initiation control apparatus, substantially as described above, in which initiation of teat spray operation is dependent upon additional sensor and/or information criteria being met.

According to another aspect of the present invention there is provided initiation control apparatus, substantially as described above, when installed on a rotary dairy platform. According to another aspect of the present invention there is provided initiation control apparatus, substantially as described above, when coupled to an automated milking system associated with said rotary dairy platform.

The present invention has been developed for use with a rotary platform, such as commonly used in milking sheds. For simplicity of description, embodiments of the present invention suited for such use are described, though it should be realised that the present invention may find use in analogous situations outside of dairy sheds.

As it is generally difficult or impossible to modify existing platform rotation control equipment to accurately gauge the exact position of a platform, the applicant has determined that it is potentially more advantageous to use equipment, which is installed independently of any platform motor control equipment, to sense the position of the rotating platform. The outputs of this equipment can then be used to provide control signals for the motor or motor controller for the rotating platform. In most cases these control signals can be limited to stop, forward, and reverse - something which most rotary platform controllers allow for,, even if only in the form of a manual switch control for the farmer. This provides for a more simple solution to the retrofitting of the present invention to existing rotary platforms of many different makes and designs.

The present invention may take many forms but typically comprises following means, positioning means, and a controller. In simple terms the following means typically comprises means for following and responding to the rotational progress of a rotary platform. An interaction between the platform and positioning means allows the positioning means to obtain information for determining the position or progress of the platform, while the controller uses this information from the positioning means to determine when certain events should happen. While the exact interrelationship may vary in different embodiment, preferred embodiments of the present invention allow for the initiation of a trigger signal when the rotary platform is in a certain rotational position (and may also require additional criteria to be met), and/or to provide information about the relative rotational position of the platform. The following description will provide further insight as to the exact nature of different embodiments of the present invention.

The following means may take many forms, though in the relatively rugged environment of a dairy shed it is considered that simplest may be best in terms of longevity. Accordingly preferred embodiments use a wheel, which is basically a rotating wheel which rotates in response to rotation of the platform. While a geared wheel arrangement could be used (which interacted with a toothed wheel or rack associated with the platform), initial experimentation by the applicant indicated that a rotating wheel which ran against an element of the platform could work reliably. Hence, preferred embodiments rely on a following wheel, which can be a simple wheel with an outer rubber tyre or rim portion, which run along a convenient element such as the drive rail of most (if not all) common rotary platforms. Running along any other suitable component of the platform can also be considered. While the follower wheel is simple, potential issues identified were possible long term ^• calibration problems leading to misalignment - something of some concern for a device used to gauge the rotational position of a rotary platform. Such calibration issues could occur if the wheel ever slipped (dairy sheds are a wet environment), encountered foreign material on the path it travelled, or if there was wear on the path it travelled, or due to slow calibration drift over time. Further investigation indicated that where these issues could be a problem, corrections could be made to the way the controller operated and interacted with various received information so as to reduce the impact of calibration issues. These will be discussed later herein. Generally, where a follower wheel is used, some form of associated biasing mechanism is also used to ensure a pressured contact of the follower wheel against the platform. A simple spring, biased arm and/or suspension arrangement can be used to maintain the wheel against the rotary platform. It should also be appreciated that a following wheel may also comprise a carriage assembly with multiple wheels. The following means interacts with the indexing means of the positioning means, generally by some form of transmission means. This may comprise a direct rotational connection, a geared connection, a pulley connection, and/or any one or more means of transmitting the rotation of the following means to the indexing means in a proportional (generally linearly proportional) manner. Typically this is transmitted as a rotational motion to the indexing means, though other transmission methods may be employed - e.g. conversion to reciprocating motion, etc. For simplicity of description we shall limit our description to rotational transmission - i.e. rotation of the following means causes rotation of the indexing means.

While the indexing means may take many forms, most embodiments rely upon a rotating index element such as a disc. The indexing means interacts with sensing means, the nature of which also affects the nature of the rotating index element. While various combinations of indexing and sensing means may be used - e.g. magnets and hall effect sensors, encoded magnetic stripes and readers, etc. - preferred embodiments rely on optical sensing means. These, along with the indexing means, are housed typically within a sealed housing to protect them against the environment and foreign material. A sealed bearing may be used (as may other mechanical equivalents) to allow transmission means to pass between the follower wheel and the indexing means.

Optical methods associated with the indexing means may rely upon transmission or reflection, and in each case the rotating index element will exhibit regions with different optical characteristics - particularly in the working spectral range of the sensors in use. Typically the ER. region will be used as the sensors can be filtered to remove ambient visible light (which could interfere with operation), and because matched emitter/receiver pairs in this spectrum are readily available.

In preferred embodiments transmissive methods are used with an emitter on one side of the rotating index element shining through transparent portions of the index element to a receiver on the other side, or where the emitted light (we shall include IR within the definition of light, but exclusive from 'visible light') is blocked by opaque portions of the rotating index element.

By this method, the emitter/receiver pair will see a series of pulses as the rotating index element rotates. Increasing the number of alternating transparent and opaque portions on the rotating index element can increase the number of pulses per revolution, which increases the potential resolution of the controller in determining the rotational position of the platform. Where each transparent/opaque combination occupies a 10° segment of the rotating index wheels, then rotational accuracies approaching 1mm are possible for a typical rotating dairy platform. Accordingly most embodiments of a rotating index element will have between 12 and 120 optical features (an optically transparent/opaque pair representing two optical features) distributed about the index element.

Such accuracy is sometimes desirable when controlling certain equipment. Consider the case of teat spraying equipment. If the indexing means could only 'coarsely' determine the rotational position of the platform, such as if the nominal distance between the legs of an animal was only three steps (such as if each step was 10cm), then the platform could have covered a third of the nominal leg spread difference before the teat sprayer was initiated. Allowing for signal lag time, and the fact that most teat sprayers rely on mechanical movement, it is highly possible that the mechanical components of the teat sprayer may not have been able to retract (at the completion of their operation) before the platform has moved past. Being able to more 'finely' determine the position of the platform can help alleviate such issues, by allowing a control signal to be sent as soon as the nominal leg spreading position has been read as being reached.

Further, the controller may also use signals from the indexing means to calculate the rotational velocity of the platform. This can lead to pre-emptive timing— e.g. some embodiments may allow for information about the teat sprayer (or other controlled equipment) to be factored in, so that a signal may be sent early to allow for movement of the platform between the time of sensing and the time the controlled apparatus actually begins an initiated operation - something which is more important on a faster moving platform.

A rotating index element may be formed in different manners. Some examples include an optically clear material (with respect to the working spectrum of the emitter/receiver pair) with opaque portions formed thereon. Another is to place windows or apertures in an optically opaque material. Various options may be considered.

In practice sensing means comprising a single emitter/receiver pair can provide information about distance rotated (i.e. the rotating platform) but not necessarily direction. Accordingly, preferred embodiments include multiple emitters interacting with an optical feature. These may have individual or common associated emitters. In practice if both are subject to a transparent portion of the rotating index element, then which emitter is first affected by the transition to an adjacent opaque portion will depend on which direction the rotating index element is rotating. In such cases the controller makes a note of this and takes this into account when determining the exact position of the rotary platform.

As can be seen, the positioning means through the use of indexing and sensing means, can create information for the controller regarding the degree and direction of rotation of the following wheel, which reflects the rotation of the platform. The controller can then deal with this information in different ways. For instance the controller can merely keep count of how many 'pulses' (we shall assume an embodiment of positioning means which provides a plurality of pulses each time a rotating index element rotates. Movement in one direction may cause pulses to be added, while reverse movement may subtract pulses. The total number of pulses can be used to calculate the angular position of the rotating platform.

While this is a simple system, we have previously mentioned that calibration drift may lead to inaccuracies over time. This may be addressed in many ways, including having one or more checkpoints which send a signal to the controller. The controller can then use this information to reset or amend where the platform is, so that it becomes self- correcting. These checkpoints may be markers or triggering devices positioned regularly about the platform, or which trigger every revolution. Information may also be provided from control apparatus associated with rotation of the platform, and/or automated milking systems mounted thereon. A wide variety of embodiments of calibration checkpoints may be considered, though preferred embodiments rely on a sensor to detect the fence/rail between individual rails. This can provide for more accurate self-calibration than a checkpoint which occurs once every revolution of the platform.

Accordingly, using the bail fence sensor example, the controller can count the pulses between individual bale fences. These may be averaged, reset, or otherwise manipulated. Additionally or alternatively, the controller may count the pulses over a discrete number of bales and average these out. A controller may also note the variation of standard deviation of differences in pulse counts and apply these to its calculations regarding position.

In many cases the initiation control apparatus needs to trigger an event when a bale is substantially centred with respect to a reference point. This reference point may be apparatus which is external or independent (of movement) to the platform. Accordingly the controller will typically calculated how many pulses past, or before, a bale sensor trigger (or other calibration checkpoint) that an event trigger needs to be initiated. More sophisticated embodiments may also introduce additional criteria for there to be the initiation of an event trigger. For instance, a proximity sensor may determine if an animal is present in the bale before a trigger signal can be initiated.

Other sensing means, and/or information from an automated milking system, may be evaluated to determine if the milking cups have yet been removed from an animal - particularly important when the external apparatus to be triggered is teat spraying apparatus.

The controller ideally also keeps track on bales which have already had a trigger signal initiated. The apparatus may be set up so that a second (or further) .trigger signal is not initiated until a full revolution of the platform has occurred, or a release signal sent in relation to a bale (e.g. a manual switch, or information from automated milking system that a cow has exited the bale, etc.). This prevents multiple triggering if a farm reverses the platform (e.g. by one or more bales) to deal with a problem. Hence the controller may include a memory for each bale. The controller may also include an automated setup routine which requires the operator to perform a preset sequence of steps once initiated. This may require starting the platform in the normal direction of operation and running it for a minimum number of bales. Various steps may be included to help the initiation control apparatus to perform an initial self calibration so that it at least knows the normal direction of travel and a nominal distance between bales.

As can be appreciated, a wide number of different embodiments of the present invention can be created which all embodiment the same general principles. It is considered that understanding these variations will be well within the grasp of a skilled reader given the description herein. DESCRIPTION OF DRAWINGS

Figure 1 is a diagrammatic front view of a preferred embodiment of the present invention, and

Figure 2 is an top diagrammatic view of a further embodiment of the indexing wheel of the embodiment of figure 1, and Figure 3 is a top diagrammatic view of how the embodiment of figure 1 can be integrated with a rotary platform.

DESCRIPTION OF PREFERRED EMBODIMENT

Figure 1 provides a diagrammatic view of the features of a preferred embodiment of the present invention. The initiation control apparatus (generally indicated by arrow 1) is mounted adjacent to a monitored bale (310) on a dairy platform (3) and preferentially interacts with a feature such as the drive rail (2) on the underside of most diary milking platforms (3).

Here a follower wheel (4) of approximately 75mm diameter sports a rubber tyre portion (5) - this may be solid or pneumatic. A biasing assembly (6) maintains the follower wheel (4) against the drive rail (2). The biasing assembly (.6) should allow for at least 100mm travel in most instances as the drive rail of many older platforms are not perfectly centred, or not perfectly circular.

In this embodiment the biasing means supports both the follower wheel (4) and the housing (7) for the indexing means (generally indicated by arrow 8) and controller (9). A transmission shaft (11) links rotation of the follower wheel (4) to an index wheel (12). This (referring to figure 2) comprises a solid opaque disc of approximately 30mm diameter with removed portions (14) representing transparent regions for an emitter (15) and receiver, (16). The size of the opaque and transparent regions also reflect the size of the emitters and receivers used - in the illustrated embodiment a pair of emitters (15) and receivers (16) are used so as to enable the direction of rotation of the index wheel to be determined (see earlier in the specification).

In the described embodiment there are actually 36 opaque/transparent portions distributed about the disc (12), with each pair occupying a sector angle of approximately 10°. The number of portions can be varied.

The manufacture of the index wheel (12) can also be varied. Another option, for instance, is to use an optically transparent disc with opaque portions printed or laminated thereon. Printing processes may provide closer tolerances, allowing for a more compact indexing means (8) to be constructed. The outputs from the emitters (15) and receivers (16) connect to controller (9). This also receives sensor data from a bale fence sensor (20) and may also receive inputs from additional sensors such as an animal proximity sensor (21) to detect the presence of an animal (30), and a milking cup sensor (22) to determine if milking cups are still present in the udder region of the animal (30) (though alternatively a signal from automatic milking apparatus may be used).

The bale fence sensor (20) senses when a bale fence (27) goes past. The controller can utilise this signal for self-calibration - this has been described in detail previously within the specification. In this embodiment the controller optimally counts the pulses (from indexing means (8)) for four bales and averages this to find the typical number of pulses for a typical bale's width. This may be continually updated, or only calculated when a user initiated calibration process is run.

The controller (9) also provides an output trigger signal for external apparatus - in this case a teat sprayer (25) is represented. Ideally this operates when there is alignment between the sprayer (25) and midpoint of the bale (310), particularly as the sprayer must extend between the legs of an animal (30). The controller will typically analyse the number of pulses past when the bale fence sensor (20) is triggered for when the sprayer (25) and bale (310) midpoint align. Compensation may also be made for the speeds of the platform and sprayer, such that trigger signal initiation may occur prior to alignment. The controller (9) may also take account of the speed of the platform as it nears the middle of the bale (310) - this can be calculated from the interval between pulses occurring. This data can be used for compensation in trigger signal timing.

Trigger signal initiation may also be dependent on the status of additional sensors (20, 21). If either or both are in a predetermined state, then a trigger signal will not be initiated. An audible and visible warning device (32) on top of the sprayer (25) will activate instead if a trigger signal is with-held due to the status of sensors (20, 21).

The controller in this embodiment will also not initiate a trigger signal if the platform is moving in a reverse direction. Further, the controller (9) will keep a memory of bales with animals in which a trigger signal has been initiated. Once it records a trigger signal has been initiated for a bale, it will not allow retriggering unless a further event occurs - this may comprise one or more of: a signal from an automated milking system's controller that the animal in the bale has been released, a manual reset by a user, or when the platform has advanced by a particular number of bales past the bale in question (this may be loosely based on the number of bales the platform must advance until the animal is released, or more simply half the number of bales in the platform). These features prevent double spraying of animals in the case that the platform is manually reversed (one or more times) by an operator. Of course, the controller (9) of this embodiment will initiate a trigger signal in the event that there is realignment of a bale (midpoint) with sprayer (25) if it is noted that no trigger signal initiated the last time it was aligned - this is assuming the bale trigger memory has not been reset in the meantime.

Aspects of the present invention have been described by way of example only and it should be appreciated that modifications and additions may be made thereto without departing from the spirit or scope of the present invention as described herein.

It should also be understood that the term "comprise" where used herein is not to be considered to be used in a limiting sense. Accordingly, 'comprise' does not represent nor define an exclusive set of items, but includes the possibility of other components and items being added to the list.

This specification is also based on the understanding of the inventor regarding the prior art. The prior art description should not be regarded as being authoritative disclosure on the true state of the prior art but rather as referencing considerations brought to the mind and attention of the inventor when developing this invention.

Claims

WHAT WE CLAIM IS:

1. Initiation control apparatus for use with a rotating dairy platform, comprising following means for following the rotational progress of said dairy platform, and said following means coupled to positioning means for determining a relative rotational position of said rotating dairy platform;

2. Initiation control apparatus as claimed in claim 1 in which the following means comprising at least one travelling wheel capable of interacting with a feature of said rotating dairy platform.

3. Initiation control apparatus as claimed in claim 1 in which there is a biasing mechanism applying a pressure on a said travelling wheel against said feature of said rotating dairy platform.

4. Initiation control apparatus as claimed in either claim 2 or claim 3 in which said feature of said rotating dairy platform is a drive rail for said platform.

5. Initiation control apparatus as claimed in any one of the preceding claims in which a said rotating indexing means comprises features which interact with said sensing means as the rotating index means rotates.

6. Initiation control apparatus as claimed in claim 5 in which the indexing means comprises magnetically different regions which a detected by magnetic sensors.

7. Initiation control apparatus as claimed in claim 6 in which the indexing means includes one or more discrete magnets, and the magnetic sensors are Hall Effect sensors.

8. Initiation control apparatus as claimed in claim 5 in which the indexing means comprises a rotating index element with optically different features.

9. Initiation control apparatus as claimed in claim 8 in which the sensors interact with said rotating index element on the basis of optical reflectance, and said rotating index element comprises optically different features which have different reflectances for the working wavelengths of either or both an emitter and receiver.

10. Initiation control apparatus as claimed in claim 8 in which the sensors work on optical transmission through a said rotating index element.

11. Initiation control apparatus as claimed as claimed in claim 10 in which a said rotating index element optically different features comprising clear and opaque regions for the working wavelengths of either or both an emitter and receiver.

12. Initiation control apparatus as claimed as claimed in claim 11 in which a clear region comprises a removed region in a said rotating index element.

13. Initiation control apparatus as claimed as claimed in any one of claims 8 through 12 in which there are a plurality of optically different features distributed about a said rotating index element.

14. Initiation control apparatus as claimed as claimed in claim 13 in which there are between 12 and 90 different optical features about a said rotating index element.

15. Initiation control apparatus as claimed in any one of claims 8 through 14 in which the sensors comprise at least one optical emitter and at least one optical receiver.

16. Initiation control apparatus as claimed in claim 15 in which the sensors comprise at least two receivers associated with an emitter or an emitter set, positioned such that interaction with the rotation of the rotating index element will first trigger a different receiver of the two or more receivers than it would if the rotating index element was rotating in the opposite direction.

17. Initiation control apparatus as claimed in any one of claim 8 through 17 which use emitters and sensors operating in the infrared region.

18. Initiation control apparatus as claimed in any one of the preceding claims which includes bale sensing means for determining when a new bale .on the platform is present.

19. Initiation control apparatus as claimed in claim 18 in which the bale sensing means sensors one or more of: the metal of the fence between bales, a special applied bale sensor trigger device positioned on the rotating platform, and a signal from a controller for the rotating platform.

20. Initiation control apparatus as claimed in any one of the preceding claims in which said controller counts signals from the sensors to determine the relative position of the rotating platform.

21. Initiation control apparatus as claimed in claim 20, when dependent upon either claim 18 or claim 19, in which said controller resets or adjusts its count when a signal indicating a new bale is received from a bale sensing means.

22. Initiation control apparatus as claimed in claim 21, or claim 20 when dependent upon either claim 18 or claim 19, in which the controller keeps a stored count of signals, from the sensing means of the positioning means, associated with the distance between bales based on information from bale sensing means, and wherein this stored count of signals is reset or altered upon receiving new information from bale sensing means.

23. Initiation- control apparatus as claimed in claim 22 which the stored count of signals averages the number of counted signals, from the sensing means of the positioning means, associated with the distance travelled over a discrete number of bales, and in which said discrete number is two or higher.

24. Initiation control apparatus as claimed in any one of claims 20 through 23 in which the controller uses a count of signals to determine when the rotating platform has progressed to a predetermined position part way through a bale.

25. Initiation control apparatus as claimed in claim 24 in which said predetermined ' position is when the rotating platform has aligned itself substantially such that a point which is substantially midway in a bale is aligned with a predetermined point.

26. Initiation control apparatus as claimed in either claim 24 or claim 25 in which said controller initiates a trigger signal for external apparatus when the platform has progressed to a predetermined position or alignment.

27. Initiation control apparatus as claimed in claim 26 which also includes occupation sensing means to determine if an animal occupies a particular bale, and in which said trigger signal for external apparatus is not initiated if the occupation sensing means indicates that no animal occupies a bale.

28. Initiation control apparatus as claimed in either claim 26 or claim 27 in which the controller keeps a memory of bales that have already travelled past a particular point, and will not initiate a said trigger signal for external apparatus if the memory indicates that a bale has already travelled past said particular point.

29. Initiation control apparatus as claimed in claim 28 in which the controller can receive bale reset information, upon which time the memory of bales is updated such that a trigger signal for external apparatus can be initiated if a bale travels past said particular point another time.

30. Initiation control apparatus as claimed in 29 in which said bale reset information comprises one or more of: a signal from a manually operated switch, information from a controller for an automated milking system associated with the rotating platform, and information from a controller for rotation of said rotating platform.

31. Initiation control apparatus as claimed in any one of claims 26 through 30 which includes cup sensor means which senses if milking cups of an automated milking system are present on an animal, and wherein the controller will not initiate a trigger signal to external apparatus if said cup sensor means indicates their presence on an animal in a bale with which the trigger signal is associated.

32. Initiation control apparatus as claimed in any one of claims 26 through 31 in which a controller can accept information from an automated milking system associated with said rotating platform, and wherein the controller will not initiate a trigger signal to external apparatus if said information from the automated milking system indicates the presence milking cups on an animal in a bale associated with the trigger signal.

33. Initiation control apparatus as claimed in claim 18, or any one of claims 19 through 32 when dependent upon claim 18, in which the controller includes a learning setup function in which a user will operate said rotating platform in the normal direction of travel for a predetermined distance, and in which the controller will take information from both bale sensing means and from sensed data from rotation of the indexing means to calibrate and store information relating to one or more of: the normal direction of rotation of the platform, the averaged sensed distance between bales, and the number of bales associated with the platform.

35. Initiation control apparatus as claimed in any one of the preceding claims in which the controller compensates for the rotational speed of the platform and adjusts the timing of the initiation of a trigger signal.

36. Initiation control apparatus as claimed in claim 35 in which the controller times the duration of signal information obtained from the indexing means to gauge the rotational speed of the platform.

37. Initiation control apparatus as claimed in any one of the preceding claims coupled with teat spray apparatus and configured to initiate the operation of same when the initiation control apparatus determines that the platform has progressed to a particular point.

38. Initiation control apparatus as claimed in claim 37 in which initiation of teat spray operation is dependent upon additional sensor and/or information criteria being met.

39 Initiation control apparatus as claimed in any one of the preceding claims when installed on a rotary dairy platform.

40. Initiation control apparatus as claimed in claim 39 when coupled to an automated milking system associated with said rotary dairy platform.