WO2018038674A1 - Appareil portable et procédé permettant de classer les mamelles par rapport à des mesures de taille - Google Patents

Appareil portable et procédé permettant de classer les mamelles par rapport à des mesures de taille Download PDF

Info

Publication number
WO2018038674A1
WO2018038674A1 PCT/SE2017/050856 SE2017050856W WO2018038674A1 WO 2018038674 A1 WO2018038674 A1 WO 2018038674A1 SE 2017050856 W SE2017050856 W SE 2017050856W WO 2018038674 A1 WO2018038674 A1 WO 2018038674A1
Authority
WO
WIPO (PCT)
Prior art keywords
size
teat
portable apparatus
image data
processing unit
Prior art date
Application number
PCT/SE2017/050856
Other languages
English (en)
Inventor
Ricardo Castro
Marcel LAPLANTE
Philip Wood
Nils ÄLVEBY
Original Assignee
Delaval Holding Ab
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Delaval Holding Ab filed Critical Delaval Holding Ab
Publication of WO2018038674A1 publication Critical patent/WO2018038674A1/fr

Links

Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01J—MANUFACTURE OF DAIRY PRODUCTS
    • A01J5/00—Milking machines or devices
    • A01J5/017—Automatic attaching or detaching of clusters
    • A01J5/0175—Attaching of clusters
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01J—MANUFACTURE OF DAIRY PRODUCTS
    • A01J5/00—Milking machines or devices
    • A01J5/007—Monitoring milking processes; Control or regulation of milking machines
    • A01J5/0075—Monitoring milking processes; Control or regulation of milking machines with a specially adapted stimulation of the teats
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01J—MANUFACTURE OF DAIRY PRODUCTS
    • A01J5/00—Milking machines or devices
    • A01J5/013—On-site detection of mastitis in milk
    • 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

Definitions

  • the present invention relates generally to solutions for adapting automatic milking installations to the animals being milked. More particularly the invention relates to a portable apparatus according to the preamble of claim 1 and a corresponding method. The invention also relates to a computer program and a processor-readable medium. For improved efficiency and to reduce the risk of mastitis and other problems related to the mechanical stress to which the teats of a dairy animal is subjected during milking various solutions are known for measuring the teat characteristics and adapting the milking machine thereto. For example, US 6,427,625 describes an apparatus for milking an animal, which apparatus includes a first set of teatcups and a second set of teatcups.
  • the first set of teatcups contains at least two teatcups of the same size or shape
  • the second set of teatcups contains at least two teatcups of the same size or sha- pe
  • each of the teatcups is elongated and has a rigid shell and a flexible liner forming a pulsation space.
  • the liner is adapted to receive a teat at one end and to let out extracted milk at a second end.
  • the first set of teatcups contains teatcups of a first size or shape and the second set of teatcups contains teatcups of a second size or shape, where the first size or shape is different from the second size or shape.
  • EP 2 685 81 1 shows a human operated control device for assisting a plurality of milking robots, which includes a controller adapted for controlling communication with a plurality of milking ro- bots operated substantially simultaneously, a graphical user interface adapted for displaying information received from at least one milking robot and for receiving input from a human supervisor for operating the at least one milking robot based on the displayed information, and a processor adapted to convert the input received from the human supervisor into a command for opera- ting the at least one milking robot from which the information was received.
  • a milking robot for operating milking equipment is adapted to operate in one of an automated mode of operation and a human assisted mode of operation.
  • the object of the present invention is therefore to offer a solution which; on one hand, provides a degree of adaptation to the individual animals' anatomical measures; and on the other hand, is efficient with respect to usage of time and machine resources.
  • the object is achieved by the initially described portable apparatus, wherein the apparatus contains a processing unit configured to calculate at least one size measure of the teat based on the recorded image data. Based on the at least one size measure, in turn, the processing unit is configured to provide a size-related classification of the teat.
  • the apparatus contains a processing unit configured to calculate at least one size measure of the teat based on the recorded image data. Based on the at least one size measure, in turn, the processing unit is configured to provide a size-related classification of the teat.
  • This portable apparatus is advantageous because it facilitates selection of a suitable teatcup liner for an entire livestock of dairy animals.
  • the size-related classification of the teat is associated with a recommended teatcup liner for the diary animal.
  • this provides further assistance to the farmer when choosing the teatcup liner for his/her livestock, or part thereof.
  • the portable apparatus includes a communication module configured to communicate with a host computer via a wireless link.
  • the portable apparatus is further configured to send data repre- senting the at least one size measure to the host computer over the wireless link.
  • the portable apparatus is configured to receive an identification of the size-related classification of the teat from the host computer over the wireless link.
  • Such an external classification of the teats assists in keeping the classification data updated with respect to any modifications of the classification scheme, which may be caused by changes in the manufacturer's product assortment.
  • the portable apparatus includes a memory module contai- ning a database over a set of size-related classifications and their respective measurement characteristics.
  • the processing unit is configured to determine the size-related classification of the teat based on the at least one size measure and the database.
  • the at least one size measure can be used as an entry to the database, and thereby the size-related classification is made very straightforward.
  • the processing unit implements an image processor configured to receive the recorded image data. Further, based on an assumption that the first and second markers are located at the well-defined distance from one another, the processing unit is configured to calculate the at least one size measure of the teat. This renders the processing task relatively uncomplicated for the processing unit.
  • the portable apparatus includes a detachable projector in which the first and second collimated light sources are included. This facilitates the manual handling when performing the measurements.
  • the portable apparatus can be implemented in a multipurpose device, such as in the form of an application in a smartphone.
  • the object is achie- ved by the method described initially, wherein at least one size measure of the teat is calculated based on the recorded image data. A size-related classification of the teat is then provided based on the at least one size measure.
  • the object is achieved by a computer program loadable into the memory of at least one processor, and includes software adapted to imple- ment the method proposed above when said program is run on at least one processor.
  • the object is achieved by a processor-readable medium, having a program recorded thereon, where the program is to control at least one pro- cessor to perform the method proposed above when the program is loaded into the at least one processor.
  • Figure 1 shows an overview of a system in which the invention can be implemented
  • Figure 2 schematically illustrates an example of a teat and a pair of markers projected thereon according to one embodiment of the invention
  • Figure 3 shows a portable apparatus according to one embodiment of the invention
  • Figures 4-5 show examples of screen windows that may be displayed on the proposed portable apparatus ac- cording to embodiments of the invention.
  • Figure 6 illustrates, by means of a flow diagram, the general method according to the invention.
  • Figure 1 shows an overview of a system in which the invention can be implemented and Figure 2 schematically illustrates an example of a teat T1 and a pair of markers 121 and 122 projected onto the teat T1 .
  • the system includes a portable apparatus 1 30 and a projector 1 10.
  • the system also includes a host computer 140 and/or a network resource 160, which may each be associated with a database 145 and 165 respectively.
  • the host computer 140 in turn, may be connected to the network resource 160 via a network 150, e.g. the Internet.
  • the projector 1 1 0 may either be a unit separate from the portable apparatus 130, as illustrated in Figure 1 ; or the projector 1 10 may be detachably connected to the portable apparatus 130, as shown in Figure 3.
  • the latter alternative is advantageous be- cause it facilitates the manual handling when performing the measurements.
  • the former alternative is flexible in terms of the angle in which the markers 121 and 122 are projected. This can be useful because the space around the teats is often limited.
  • the portable apparatus 130 is arranged for classifying the teats of dairy animals with respect to the size measures of the teats.
  • the udder U of a standard cow normally has four teats, and preferably these teats are classified/categorized individually for each animal of a herd. Further preferably, the classification is updated repeatedly to maintain good data quality, also when the members of the herd are aging and/or are exchanged. Namely, with knowledge about the classification , in turn, the farmer can adapt the milking equipment to suit his/her herd of animals. This may involve selecting a type of teatcup liner that is considered to be appropriate with respect to the size measures of all teats in the herd. If the variation in teat size measures proves to be especially high in the herd, it may be appropriate to divide the herd into two or more subdivisions and regard each of these subdivisions of animals as a new herd for which an appropriate teatcup liner shall be selected.
  • the portable apparatus 130 contains a camera 131 , which is configured to record image data representing a scene 125.
  • the scene 125 here contains a teat T1 of a dairy animal plus first and second markers 121 and 122 respectively projected onto the teat T1 .
  • the first and second markers 121 and 122 are presumed to be located at a well-defined distance DL from one another because the first and second markers 121 and 122 are presumed to be generated by light emitted from a respective collimated light source 1 1 1 and 1 12 being located at the well-defined distance DL from one another.
  • the collimated light sources 1 1 1 and 1 12 may include a respective laser diode.
  • the portable apparatus 130 further contains a processing unit 135, which is configured to calculate at least one size measure X and/or Y of the teat T1 based on the recorded image data.
  • a first measure X represents a width of the teat T1
  • a second measure Y represents a length of the teat T1 .
  • the at least one size measure X and/or Y is calculated based on the fact that the well-defined distance DL is known and the as- sumption that the image data constitute a linear reproduction of the physical world. In other words, it is assumed that the well-defined distance DL is proportional to any other distance between two arbitrary pixels in the image data. Under typical atmospheric conditions and provided that the camera's 131 optical quality is at least in par with that of a standard smartphone, such a linear assumption is normally valid.
  • the processing unit 135 preferably implements an image processor configured to receive the recorded image data and extract therefrom features correspon- ding to the at least one size measure X and/or Y, such as the width and length of the teat T1.
  • the processing unit 135 is configured to receive user commands designating the respective positions for one or more of the at least one size measure X and/or Y in the image data; and based thereon, the processing unit 135 is configured to calculate the at least one size measure X and/or Y as described above.
  • the processing unit 135 is also configured to provide a size-related classification of the teat T1 .
  • the size-related classification of the teat T1 is associated with a recommended teatcup liner TCLR for the diary animal to which the teat T1 belongs.
  • the portable apparatus 130 contains a communication module 133 configured to communicate with a host computer 140 via a wireless link WL.
  • the wireless link WL may be implemented through a radio inter- face, for example according to the IEEE 802.1 1 standard (i.e.
  • the portable apparatus 130 is configured to send data representing the at least one size measure X and/or Y to the host computer 140 over the wireless link WL.
  • the portable apparatus 130 is further configured to receive an identification of the size-related classification of the teat T1 from the host computer 140 over the wireless link WL.
  • the host computer 140 determines the size-related clas- sification of the teat T1 based on the at least one size measure X and/or Y sent from the portable apparatus 130.
  • the host computer 140 is preferably communicatively connected to a database 145 containing a set of size-related classifications and their respective measurement characteristics. Thereby, the host computer 140 can determine a size-related classification for the teat T1 through a simple look-up operation in the database 145.
  • the portable apparatus 130 may include a memory module 138 containing a database over the set of size-related classifications and their respective measurement characteristics.
  • the processing unit 135 is configured to determine the size-related classification of the teat T1 based on the at least one size measure X and/or Y and the database.
  • Figure 4 shows a first example of a screen window 400 that may be displayed on the portable apparatus 130 according to one embodiment of the invention.
  • Figure 5 shows a second example of screen window 500 that may be displayed on the portable apparatus 130 according to one embodiment of the invention.
  • the screen window 400 shows a set of size-related classifications 41 0 and corresponding intervals of measures 420 in terms of length Y and width X as follows:
  • a rightmost column of the screen window 400 in Fig ure 4 shows a number of teats 430 having been categorized in each of the above categories 41 1 through 41 9 in this example.
  • the screen window 500 of Figure 5 shows a first column 51 0 reflecting a recommended teatcup liner TC LR for a diary animal having teats that belong to a particular category 41 0, and a se- cond column 520 shows a number of teats for which each respective teatcup liner TCLR is recommended in this example.
  • a first teatcup liner "type 1" 51 1 is recommended for 56 teats
  • a second teatcup liner “type 2” 512 is recommended for 45 teats
  • a third teatcup liner “type 3” 513 is recommended for 44 teats
  • a fourth teatcup liner “type 4" 514 is recommended for 58 teats
  • a fifth teatcup liner "type 5" 515 is recommended for 56 teats
  • a sixth teatcup liner “type 6" 516 is recommended for 53 teats
  • a seventh teatcup liner "type 7" 517 is recommended for 56 teats
  • an eighth teatcup liner "type 8" 518 is recommended for 42 teats.
  • either one or both of the screen windows 400 and 500 may be displayed on the host computer 140.
  • a one-to-one relationship between the categories 410 and recommended teatcup liners TCLR 510 is not necessary. In fact, according to the invention, any other relationship is likewise conceivable.
  • the portable apparatus 130 itself de- termines the size-related classification 410 of the teat T1 based on the at least one size measure X and/or Y, or the determination is made externally, such as in the host computer 140.
  • the host computer 140 may be communicatively connected to an external resource 160 over a network 150 (e.g. the Internet), and thus receive the size-related classification 410 of the teats from the external resource 160.
  • a network 150 e.g. the Internet
  • the external resource 160 preferably has access to a database 165 containing the set of size-related classifications 410 and their respective measurement characteristics 420, It is generally advantageous if the processing unit 135 is configured to effect the above-mentioned procedure in a fully automatic manner, for instance by an executing computer program. Therefore, the processing unit 135 may be communicatively con- nected to a memory unit storing a computer program product, which, in turn, contains software for making at least one processor in the processing unit 135 execute the above-described actions when the computer program product is run on the pro- cessing unit 135. Moreover, the portable apparatus 130 is preferably implemented in a multipurpose device, such as in the form of an application in a smartphone.
  • image data are recorded that represent a teat of a dairy animal.
  • the image data also contain a pair of markers projected onto the teat, and which markers are presumed to be located at a well-defined distance from one another (assuming that the markers result from the light emitted by two collimated light sources, e.g. lasers, separated by well-defined distance).
  • a subsequent step 620 at least one measure of the teat is calculated based on the assumption that the well-defined distance is known and that the image data is a linear reproduction of the physical world.
  • a size-related classification of the teat is provided based on the at least one measure calculated in step 620.
  • the procedure ends.
  • the procedure may loop back to step 610 for measuring and clas- sifying another teat.
  • All of the process steps, as well as any sub-sequence of steps, described with reference to Figure 6 above may be controlled by means of a programmed processor.
  • the embodiments of the invention described above with reference to the drawings comprise processor and processes performed in at least one processor, the invention thus also extends to computer programs, particularly computer programs on or in a carrier, adapted for putting the invention into practice.
  • the program may be in the form of source code, object code, a code intermediate source and object code such as in partially compiled form, or in any other form suitable for use in the implementation of the process according to the invention.
  • the program may either be a part of an operating system, or be a separate application.
  • the carrier may be any entity or device capable of carrying the program.
  • the carrier may comprise a storage medium, such as a Flash memory, a ROM (Read Only Memory), for example a DVD (Digital Video/Versatile Disk), a CD (Compact Disc) or a semiconductor ROM, an EPROM (Erasable Programmable Read-Only Memory), an EEPROM (Electrically Erasable Programmable Read-Only Memory), or a magnetic recording medium, for example a floppy disc or hard disc.
  • the carrier may be a transmissible carrier such as an electrical or opti- cal signal which may be conveyed via electrical or optical cable or by radio or by other means.
  • the carrier may be constituted by such cable or device or means.
  • the carrier may be an integrated circuit in which the program is embedded, the integrated circuit being adapted for performing, or for use in the performance of, the relevant processes.
  • the invention is advantageous in connection with cow milking, the invention is equally well adapted for implementation in milking machines for any other kind of mammals, such as goats, sheep or buffaloes.

Abstract

La présente invention concerne un appareil portable (130) qui classe les mamelles (T1) par rapport à des mesures de taille. Une caméra (131) enregistre des données d'image représentant une scène (125) contenant une mamelle (T1) d'un animal laitier. La scène (125) contient également des premier et second marqueurs (121, 122) projetés sur la mamelle (T1) par une source de lumière collimatée respective (111; 112) située à une distance bien définie (DL) les uns des autres. Une unité de traitement (135) dans l'appareil portable (130) calcule au moins une mesure de taille (X, Y) de la mamelle (T1) sur la base des données d'image enregistrées. Ceci forme, à son tour, une base pour déterminer une classification liée à la taille de la mamelle (T1), qui est, par exemple, associée à un manchon trayeur recommandé (TCLR) pour l'animal laitier.
PCT/SE2017/050856 2016-08-25 2017-08-24 Appareil portable et procédé permettant de classer les mamelles par rapport à des mesures de taille WO2018038674A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
SE1651145-3 2016-08-25
SE1651145 2016-08-25

Publications (1)

Publication Number Publication Date
WO2018038674A1 true WO2018038674A1 (fr) 2018-03-01

Family

ID=59772684

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/SE2017/050856 WO2018038674A1 (fr) 2016-08-25 2017-08-24 Appareil portable et procédé permettant de classer les mamelles par rapport à des mesures de taille

Country Status (1)

Country Link
WO (1) WO2018038674A1 (fr)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2001019172A1 (fr) * 1999-09-15 2001-03-22 Delaval Holding Ab Appareil et procede permettant d'ameliorer la fixation des gobelets trayeurs grace a des moyens d'illumination et de capture d'image
US6427625B1 (en) 1998-07-24 2002-08-06 Delaval Holding Ab Apparatus for milking an animal
EP2685811A1 (fr) 2011-03-17 2014-01-22 Mirobot Ltd. Système et méthode de modélisation de tétine tridimensionnelle destinés à être utilisés dans un système de traite
WO2014083433A2 (fr) * 2012-12-02 2014-06-05 Agricam Ab Systèmes et procédés pour prédire le résultat d'un état d'un sujet
US20150071491A1 (en) * 2012-04-03 2015-03-12 Gea Farm Technologies Gmbh Method And Device For Optically Determining A Position And/Or Orientation Of An Object In Space

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6427625B1 (en) 1998-07-24 2002-08-06 Delaval Holding Ab Apparatus for milking an animal
WO2001019172A1 (fr) * 1999-09-15 2001-03-22 Delaval Holding Ab Appareil et procede permettant d'ameliorer la fixation des gobelets trayeurs grace a des moyens d'illumination et de capture d'image
EP2685811A1 (fr) 2011-03-17 2014-01-22 Mirobot Ltd. Système et méthode de modélisation de tétine tridimensionnelle destinés à être utilisés dans un système de traite
US20150071491A1 (en) * 2012-04-03 2015-03-12 Gea Farm Technologies Gmbh Method And Device For Optically Determining A Position And/Or Orientation Of An Object In Space
WO2014083433A2 (fr) * 2012-12-02 2014-06-05 Agricam Ab Systèmes et procédés pour prédire le résultat d'un état d'un sujet

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
ZWERTVAEGHIER, I.: "PhD Dissertation", 18 June 2012, GHENT UNIVERSITY, DEPARTMENT OF REPRODUCTION, article "Teat Dimensions of Dairy Cows and their Relation with Udder Health as assessed using a Novel 2D-Vision-Based Device", pages: 132 - 137

Similar Documents

Publication Publication Date Title
AU708672B2 (en) An implement for automatically milking animals
US10660308B2 (en) System and method for imaging and processing animal data
TW201539357A (zh) 家畜識別系統和方法
US9801350B2 (en) Method and arrangement for performing teat related operations in a rotary milking system and rotary milking system
DK2934098T3 (en) MILK DEVICE, KIT OF REPLACEMENT WASTE AND METHOD OF USING A MILK DEVICE
US20110054338A1 (en) Device, system and method for monitoring heat stress of a livestock animal
JP2018170969A (ja) 行動特定装置、行動特定方法、及びプログラム
WO2018180242A1 (fr) Dispositif de spécification de comportement, procédé de spécification de comportement et programme
WO2018038674A1 (fr) Appareil portable et procédé permettant de classer les mamelles par rapport à des mesures de taille
US11553685B2 (en) Control unit, method and computer program for a milking system
US5931115A (en) Method of milking and a milking apparatus
CN109640636B (zh) 用于根据尺寸测量对乳头进行分类的装置和方法
JP2020036627A (ja) 行動特定装置、行動特定方法、及びプログラム
US20240065220A1 (en) Milking system
JP2019062822A (ja) 行動特定装置、行動特定方法、及びプログラム
US20230404021A1 (en) Milk extracting system and computer implemented method
Kudinova et al. CHARACTERISTIC OF HOLSTEIN CATTLE BREED HERD
Roux To teach her own
JP2019527863A (ja) 乳畜管理のための方法及び装置
US20190350164A1 (en) Autonomous voluntary rotary milking-machine and method
Kochetkova et al. CONCEPTUAL REPRESENTATION OF CONTROL PROCESSES COWS'KEEPING MODE BY USING DIGITAL TECHNOLOGIES
JP2019170397A (ja) 行動特定装置、行動特定方法、及びプログラム
WO2023096553A1 (fr) Système de traite permettant la fixation de gobelets trayeurs
WO2019221659A1 (fr) Commande d'une station de traite
NL1037747C2 (nl) Agricultuur installatie.

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 17761613

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 17761613

Country of ref document: EP

Kind code of ref document: A1