WO1999031970A1

WO1999031970A1 - An animal related apparatus

Info

Publication number: WO1999031970A1
Application number: PCT/SE1998/002387
Authority: WO
Inventors: Gösta FORSÉN; Jouko Raninen
Original assignee: Alfa Laval Agri Ab
Priority date: 1997-12-19
Filing date: 1998-12-18
Publication date: 1999-07-01
Also published as: SE514616C2; SE9704778D0; AU1992099A; SE9704778L

Abstract

An animal related apparatus comprises a manure receiving member (6) for allowing manure to be transported by gravity towards a manure receiving device (9), a first end portion (7a) of said manure receiving member (6) being hingedly arranged, and a driving means arranged to direct a second end portion (7b) of said manure receiving member (6) into an animal related space for allowing said manure receiving member (6) to rest against a rear part of an animal. According to the invention, a fluid supply means (11) is provided for directing a fluid towards said manure receiving member (6).

Description

An animal related apparatus

TECHNICAL BACKGROUND OF THE INVENTION

The present invention relates to an animal related apparatus comprising a manure receiving member for allowing manure to be transported by gravity towards a manure receiving device, a first end portion of said manure receiving member being hingedly arranged, and a driving means arranged to direct a second end portion of said manure receiving member into an animal related space for allowing said ma- nure receiving member to rest against a rear part of an animal.

Such an apparatus is known from SU 1 426 514 in which a manure channel cover is opened by means of a hydraulic cylinder in response to a transducer. The transducer senses when a cow standing in front of the cover starts to bend its back and raise its tail, i.e. intends to start defecating. The cover is rotated to a position where an edge of the cover rests against the hind legs of the cow. The faeces are received by the cover, which is closed - i.e. moved to cover the manure channel - after 60 to 70 seconds. The faeces break away from the cover into the manure channel and are removed by a transporter. Residues of faeces will, however, stick to the surface of the cover and must be removed manually.

EP-A-0 647 390 discloses a manure funnel, which is moved towards the rump of a cow by means of a four-bar linkage. It is obvious that the described design suffers from a serious drawback, as the four-bar linkage will be subjected to kicks by the cow and to dirt, both risking to hamper function of the linkage. As a precaution, a grid floor is provided for manure that is not collected by the manure funnel. The funnel, as well as the grid floor, needs to be manually cleaned. OBJECT OF THE INVENTION

An animal stall needs to be cleaned for avoiding dirt to be collected. This is normally done manually twice a day by the farmer.

An object of the invention is to overcome the drawbacks of the disclosed prior art, and to obtain an animal related apparatus, which avoids the need for manual cleaning-

SUMMARY OF THE INVENTION

This object has been achieved by the apparatus of the initially defined kind, which is characterised in that a fluid supply means is provided for directing a fluid towards said manure receiving member. Hereby, the manure receiving member is readily cleaned.

Suitably, said fluid supply means comprises a fluid line and at least one nozzle connected thereto and directed towards the manure receiving member during cleaning thereof. Hereby, an efficient cleaning of the receiving member is achieved.

Preferably, said fluid is supplied at a high pressure. Hereby, cleaning becomes even more efficient.

Suitably, said fluid comprises air. Hereby, cleaning without liquid is allowed, which may be preferable in countries where water is expensive.

Alternatively, or additionally said fluid comprises a liquid, such as water, optionally with added detergent.

Preferably, a sensor means associated with a control means is provided for establishing a position of said manure receiving member. In particular, said sensor means is adapted to sense the position of said second end portion. Alternatively, said sensor means is adapted to sense an angle of the manure receiving member for establishing the position of the second end portion. Such a sensor may be an rotary position indicator associated with said horizontal axis. Hereby, it is possible to establish whether the manure receiving member is resting properly against a fear part of an animal.

Suitably, said driving means is provided with an elongated flexible member, such as a rope, connectible to said manure receiving member, said driving means being ar- ranged to move said elongated flexible member for allowing said manure receiving member to be moved by gravity. Hereby, a simple driving of the manure receiving member is achieved. The driving means may be a pneumatic or hydraulic vane motor, a hydraulic or pneumatic cylinder or an electric motor.

Preferably, said sensor means is adapted to establish the length of moved elongated flexible member. This may be performed by utilising a rotary position indicator associated with the motor axle or a longitudinal sensor associated with the cylinder. The position of the second end portion is thus established outgoing from the moved distance of the flexible member.

Alternatively, said sensor means comprises a distance meter, said control means being adapted to establish a position of at least said second end portion, outgoing from a sensed distance. Such a distance meter may be e.g. a laser distance meter or an ultrasonic distance meter.

Alternatively, said sensor means comprises an image capturing device, said control means being adapted to analyse a captured image for establishing a position of at least said second end portion. Examples of image capturing devices are video cameras and digital cameras. Suitably, said animal space is defined at least by a rearward limiting means. Hereby, the animal is prevented from moving backwards more than desired.

Preferably, said manure receiving member is adapted to move in a direction away from the animal space, pass the rearward limiting means and move to a substantially horizontal position outside said animal space and above said manure channel. Hereby, it is possible to allow manure to be dumped into the manure receiving device before rinsing the manure receiving member.

Alternatively, said rearward limiting means is adapted to prevent said manure receiving member from moving away from said animal space and to support said manure receiving member thereagainst. Hereby, the manure receiving member is prevented from moving outside the animal space.

Suitably, said fluid supplying means is arranged on said rearward limiting means. Hereby, a controlled fixed arrangement of the fluid supplying means is provided.

Preferably, said animal related apparatus further comprises an animal related device associated with said control means, for performing an animal related operation in response to said sensor means.

Suitably, said animal related device comprises a milking equipment provided with teatcups to be attached to the teats of said animal. Hereby, milking is allowed to be performed in the animal space.

Preferably, said animal related device comprises a robot provided with a robot arm arranged with a gripper. Hereby, the animal related devices are possible to be attached to the robot arm.

Suitably, said robot comprises a camera means for controlling the movement of said robot arm- Suitably, said animal related operation is performed in response to said sensor means.

Preferably, said manure receiving member is provided with at least one surface, one surface adapted to prevent light reflections. Such a surface is preferably matt and dark. As the contrast is enhanced, an improved image of e.g. the udder is achieved. If an even better image is needed, a light source may be arranged e.g. on the robot arm.

Suitably, an animal identification means associated with said control means. Hereby, it is possible to identify an animal individual.

Preferably, said animal space is provided with a floor, said manure receiving mem- ber being hingedly arranged at substantially the same level as the floor.

Alternatively, said animal space is provided with a floor, said manure receiving member being hingedly arranged at a level substantially above level of the floor.

Alternatively, said animal space is provided with a floor, said manure receiving member being hingedly arranged at a level substantially underneath the level of the floor.

Hereby, different angles of the manure receiving member are achieved, which al- lows for adaptation to different kinds and breeds of animals.

Suitably, said manure receiving device comprises a recess forming means. Hereby, a pit or a channel for the manure is achieved. Preferably, said recess forming means is provided with a manure transporting means. Hereby, it is possible to transport the manure to a larger pit, a cistern or a vehicle.

DRAWING SUMMARY

The invention will now be described in more detail by reference to the accompanying drawings, in which

Figure 1 illustrates an animal related apparatus according to the invention,

Figure 2 illustrates the animal related apparatus of figure 1, provided with an alternative driving means,

Figure 3 illustrates the animal related apparatus of figure 1, provided with an alternative hinge position,

Figure 4 illustrates the animal related apparatus of figure 1, provided with a further alternative hinge position.

DETAILED DESCRIPTION

Figure 1 illustrates a cow in an animal stall defining an animal space 1, limited by a floor la, an entrance gate 2, an exit gate 3, frontward and rearward limiting means 4, 5, , the latter comprising an upper and a lower railing 5a, 5b-

A manure receiving member 6 in the form of a substantially flat, elongated member is hingedly arranged about a substantially horizontal axis at a first end 7a. The ma- mire receiving member is preferably made of a flexible material, such as rubber or any other suitable polymer. The hinge is arranged at an edge 8 of a manure channel 9, which extends transversely to the longitudinal extension of the animal stall 1. The hinge is preferably made as an integral part of the manure receiving member 6, e.g. a thinner portion of the polymer material, in order to avoid collection of dirt-

It is contemplated that the manure receiving member 6 should not be made too heavy, as the tail of the cow should be allowed to be lifted over the second end portion 7b. For the same reason, the manure receiving member 6 must be allowed to move easily about the hinge.

A driving means 10 in the form of a pneumatic cylinder is connected to the manure receiving member 6- When driving the pneumatic cylinder 10, the manure receiving member 6 is moved about the hinge from a position where it rests against a cow in the animal stall 1, past the lower railing 5b, to a position where it at least partly covers the manure channel 9.

On the lower railing 5b, a one or several nozzles 11 are provided for supplying a fluid, such as air or water, optionally with added detergent, at a high pressure to- wards the manure receiving member 6, for removing manure from its surface- Of course, the nozzles may be arranged on the upper railing 5a.

A mixture of air and water is supplied towards the manure receiving member 6. The fluid is supplied to the nozzle by means of e.g. a high pressure tubing arranged in- side the tubing 5b. Alternatively, only water or only air is supplied.

A robot 12 with robot ami 13 is arranged to attach teatcups 14 onto the respective teats of the cow by means of a gripper 15, which is arranged perpendicularly to the robot arm, at least during teatcup attachment. In order to locate the teats, an image capturing device 16 is provided on the robot arm or on the gripper 15. If needed, a laser transmitter is provided (not shown) for illuminating a teat with at least one laser stripe.

A sensor means 17, such as a laser distance meter, is provided for establishing the distance to the manure receiving member or the position thereof. Alternatively, an angle sensor 17' is arranged at the hinge of the manure receiving member 6 to sense the position thereof. In particular the position of the second end portion 7b opposite the hinge (the first end portion 7a) is to be established.

Alternatively, the distance sensor 17 is a video camera able to perform image analysis of a captured image.

The cow is provided with a transponder 18, for allowing identification of each animal individual. The transponder is read by a not shown transponder reader.

The channel 9 is provided with a generally known reciprocating manure scraper 19 provided with scraper members 19a that are active in one direction, but inactive in the other.

The viewing direction of the image capturing device 6 during teatcup attachment is towards a rearward limiting means 5. In order to readily perform an analysis of a captured image, it is important that the image does not contain irrelevant or disturbing information. When raising the manure receiving member 6 towards the rear of the cow, i.e. the legs or the rump, a defined background is created, which simpli- fies the image analysis as a better contrast is obtained, which in turn allows for a quicker teatcup attachment.

Figure 2 illustrates the same animal stall as in figure 1, however with a modified manure receiving member 6, which is long enough to not pass the lower railing 5b (or vice versa). In the figure, an extra lower railing is provided, as a kick by the cow may otherwise cause the manure receiving member 6 to pass the lower railing 5b. Furthermore, the driving means 10 is in the form of a vane motor, connectible to a source of vacuum and provided with a flexible member 10a, such as a rope, which is connected to the manure receiving member 6. A sensor 17^" in the form of a ro- taiy position indicator senses the length of the rope that is wound or unwound by the motor 10.

Alternatively, the rope is connected to an air spring arranged above the floor la. In this case, a linear sensor sensing the position of the piston of the air spring is util- ised.

Of course, the pneumatic cylinder shown in figure 1 is possible to be utilised as driving means 10 to move the manure receiving member 6 of figure 2 instead of the vane motor (or the air spring) with the rope, and vice versa.

Figure 3 illustrates a manure receiving member 6, which is hingedly arranged about a horizontal axis above the level of the floor la, where the cow puts its hind legs.

Figure 4 illustrates a manure receiving member 6, which is hingedly arranged about a horizontal axis underneath the level of the floor la.

The different positions of the horizontal axes, as shown in figures 1 (and 2), 3 and 4, allow for adaptation of a leaning point of the end 7b against the cow, as cows of different breeds are differently high.

OPERATION

As soon as the cow has entered the animal space l,and the entrance gate 2 has closed, the manure receiving member 6 is moved towards the hind legs or the rump of the cow disregarding whether the cow needs to defecate (or to urinate) or not. Accordingly, the floor and the equipment will be kept clean during the cow's stay in the space.

In order to clean the manure receiving member 6, air and or water is sprayed by means of the nozzles 11 towards the surface thereof. This is either performed when the manure receiving member rests against the cow, or when it is in a raised position, and is then performed when the cow has left the stall.

The fact that the manure receiving member 6 rests against the hind legs or the rump of the cow is advantageously used as a starting signal for the robot, i.e. the animal related operation - such as teat cleaning or teatcup attachment - is not allowed to be performed until the manure receiving member is in a stable position. This is established by means of the sensor for establishing the position of the manure receiving member, e.g. the laser sensor 17. If the cow is nervous and moves about in the ani- mal space 1, the animal related operation should not be started. However, if the animal related operation has started, and the animal starts to behave nervously, the operation should be interrupted and the cow be let out by opening the exit gate 3.

According to another alternative, the sensed position of the manure receiving mem- ber may be used as an indication of the position of the cow in the stall, which in turn is used as a rough indication for the robot of the position of the teats of the cow, which may be stored as a relative value regarding a particular breed of cows. The robot will then start to search for the teats within an expected area outgoing from the indication- The exact teat location is established by means of the image capturing device 16, or any kind of known teat locating device.

Alternatively, the cow individual is identified by means of the transponder 18. Data regarding the position of the teats is stored in a memory and is updated after each milking, as the form of the udder varies over the lactation period. Also in this case, the robot is given an expected area where to start the exact teat locating procedure, by means of the image capturing device 16. It happens that the cow moves a distance in the animal space 1. This may cause the teatcup attachment to be interrupted, as the image capturing device is no longer able to view the teat in question. The sensed position of the manure receiving member is then used as an indicator for the moved distance, so that the robot can easily find the lost teat again, without having to start the teat locating process from the beginning again.

After the animal related operation has been performed, the manure receiving mem- ber is retracted. The cow is let out by opening the exit gate 3. The manure receiving member 6 rinsed by spraying water by means of the nozzles 11. The stall is now ready to perform an animal related operation to the next cow.

Wherever reference is made to a cow, it should be interpreted that the animal related apparatus according to the invention relates to all milking animals, such as sheep, goats, horses and buffaloes.

Claims

1. An animal related apparatus comprising a manure receiving member (6) for al- lowing manure to be transported by gravity towards a manure receiving device (9), a first end portion (7a) of said manure receiving member (6) being hingedly arranged, and a driving means arranged to direct a second end portion (7b) of said manure receiving member (6) into an animal related space (1) for allowing said manure receiving member (6) to rest against a rear part of an animal, characterised in that a fluid supply means (11) is provided for directing a fluid towards said manure receiving member (6).

2. An animal related apparatus according to claim 1, wherein said fluid supply means (11) comprises a fluid line and at least one nozzle connected thereto and di- rected towards the manure receiving member (6) during cleaning thereof.

3. An animal related apparatus according to claim 1 or 2, wherein said fluid is supplied at a high pressure.

4. An animal related apparatus according to anyone of claims 1 to 3, wherein said fluid comprises air.

5. An animal related apparatus according to claim 4, wherein said fluid comprises a liquid.

6. An animal related apparatus according to claim 4, wherein said liquid comprises water.

7. An animal related apparatus according to claim 5 or 6 wherein said liquid com- prises a detergent.

8. An animal related means according to claim 7, wherein a sensor means (17, 17', 17") associated with a control means is provided for establishing a position of said manure receiving member (6).

9. An animal related apparatus according to claim 8, wherein said sensor means (17, 17', 17") is adapted to sense the position of said second end portion (7b).

10. An animal related apparatus according to anyone of claims 8 or 9, wherein said sensor means ( 17') is adapted to sense an angle of the manure receiving member (6) for establishing the position of the second end portion (7b).

11. An animal related apparatus according to anyone of claims 1 to 9, wherein said driving means (10) is provided with an elongated flexible member (10a), such as a rope, connectible to said manure receiving member (6), said driving means being arranged to move said elongated flexible member for allowing said manure receiving member (6) to be moved by gravity.

12. An animal related apparatus according to claim 11, wherein said sensor means (17') is adapted to establish the length of moved elongated flexible member.

13. An animal related apparatus according to claims 8 or 9, wherein said sensor means (17) comprises a distance meter, said control means being adapted to establish a position of at least said second end portion (7b), outgoing from a sensed dis- tance.

14. An animal related apparatus according to claim 8 or 9, wherein said sensor means (17) comprises an image capturing device, said control means being adapted to analyse a captured image for establishing a position of at least said second end portion (7b).

15. An animal related apparatus according to anyone of the preceding claims, wherein said animal space (1) is defined at least by a rearward limiting means (5).

16. An animal related apparatus according to claim 15, wherein said manure receiving member (6) is adapted to move in a direction away from the animal space, pass the rearward limiting means and move to a substantially horizontal position outside said animal space and above said manure channel.

17. An animal related apparatus according to claim 15, wherein said rearward limiting means (5) is adapted to prevent said manure receiving member (6) from moving away from said animal space and to support said manure receiving member (6) thereagainst.

18. An animal related apparatus according to anyone of claims 15 to 17, wherein said fluid supplying means (11) is arranged on said rearward limiting means (5).

19. An animal related apparatus according to anyone of the preceding claims, further comprising an animal related device associated with said control means, for performing an animal related operation in response to said sensor means.

20. An animal related apparatus according to claim 19 or 20, wherein said animal related device comprises a milking equipment provided with teatcups to be attached to the teats of said animal.

21. An animal related apparatus according to claim 19 or 20, wherein said animal related device comprises a robot provided with a robot arm arranged with a gripper.

22. An animal related apparatus according to claim 21, wherein said robot comprises a camera means for controlling the movement of said robot arm.

23. An animal related apparatus according to anyone of claims 19 to 22, wherein said animal related operation is performed in response to said sensor means.

24. An animal related apparatus according to anyone of the preceding claims, wherein said manure receiving member (6) is provided with at least one surface adapted to prevent light reflections.

25. An animal related apparatus according to anyone of the preceding claims, comprising an animal identification means associated with said control means.

26. An animal related apparatus according to anyone of the preceding claims, wherein said animal space is provided with a floor, said manure receiving member (6) being hingedly arranged at substantially the same level as the floor (la).

27. An animal related apparatus according to anyone of the preceding claims, wherein said animal space is provided with a floor, said manure receiving member (6) being hingedly arranged at a level substantially above level of the floor (la).

28. An animal related apparatus according to anyone of the preceding claims, wherein said animal space is provided with a floor, said manure receiving member (6) being hingedly arranged at a level substantially underneath the level of the floor.

29. An animal related apparatus according to anyone of the preceding claims, wherein said manure receiving device (9) comprises a recess forming means.

30. An animal related apparatus according to claim 29, wherein said recess forming means is provided with a manure transporting means (19).

31. An animal related device according to anyone of the preceding claims, wherein said manure receiving member (6) is hingedly arranged about a substantially horizontal axis.