• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    A feed system for determining a roughage intake of individual livestock animals in a shed environment comprises a feed corridor for delivering roughage for the animals thereon, a feed fence through which the animals in the shed environment have access to the roughage in the feed corridor, an animal recognition system for repeated recognition of individual animals as a function of the time and the location along the feed fence, a feed measuring device for repeatedly determining a feed quantity indication along the feed fence, and a control for the feed system connected to the animal recognition system and the feed measuring device. This control is adapted to determine an individual roughage intake of at least one of the animals on the basis of the repeatedly determined feed quantity indications and the animals recognized repeatedly as a function of the location along the feed fence and of the time. Thus, a feeding time and a consumed amount can now be determined per animal, which provides more information about feeding behavior, and thus about animal health and feed conversion and the like.
    公开号:NL2022146A
    申请号:NL2022146
    申请日:2018-12-06
    公开日:2019-06-13
    发明作者:Van Den Berg Karel；Noordam Jacob；Cornelis Blokland Korstiaan；Li Yan；Van Koeveringe Maurits；Cornelis Maria Meeuwesen Adrianus
    申请人:Lely Patent Nv；
    IPC主号:
    专利说明:

    Feed system
    The present invention relates to a livestock feed system for feeding livestock animals, comprising a feed passage for the supply of roughage for the animals thereon, a feed fence via which the animals in the stable environment have access to the roughage in the feed passage, a feed measuring device for repeatedly determining a feed quantity -performance indication along the feed fence, and a control for the feed system operatively connected to the feed measuring device.
    Such systems are known per se. For example, the Lely Vector system for use with a feed fence includes a feed presser (Lely Juno®) with a measuring system for determining the amount of feed at the location of the feed that has been pushed on. The control can thus determine how much roughage there is at the feed fence and whether new feed should be provided.
    A disadvantage of this system is that it can only make a statement about the eating behavior of the animals as a group. However, it is often desirable to also receive information about individual feeding behavior, at least from roughage at the feed fence.
    It is therefore an object of the present invention to improve the dairy feed system mentioned in the introduction such that it can provide information about individual feeding behavior of livestock animals with regard to roughage.
    The invention achieves this object with a feed system according to claim 1, in particular a feed system for determining a roughage intake of individual livestock in a stable environment, comprising a feed passage for depositing roughage for the animals thereon, a feed fence via which the animals in the stable environment have access to the roughage in the feed alley, an animal recognition system designed for repeated recognition of individual animals as a function of time and location along the feed fence, a feed measuring device for repeatedly determining a feed quantity indication along the feed fence, and one with the animal recognition system and with the feed measuring device operatively connected control for the feed system, which is arranged for determining an individual roughage intake of at least one of the animals on the basis of the repeatedly determined feed quantity indications and the animals repeatedly recognized as a function of the position along the feed fence and of the time.
    With the animal feed system according to the invention it is possible to obtain a good impression of the amount of food fed from individual animals. The system can recognize individual animals by the feed fence, by means of the animal recognition system. Because that system repeatedly recognizes individual animals, it (or at least the associated control) can determine how long the relevant animal (or the animals in question) remain at the feeding fence, or determine the individual feeding time. Furthermore, the feed measuring device can determine a feed quantity indication at least at the location of the identified animal, so that the device, or at least the associated control, can also determine a feed quantity, by determining the change of the feed quantity indication in the time that the identified animal is present at the feed fence. was standing. It goes without saying that the controls are set up accordingly. The control is therefore designed to determine the decrease in the feed quantity (indication) and which animal is responsible for this.
    It is noted here that by "fodder" in the present specification is meant to mean "roughage", that is, hay, silage, corn and the like. Concentrate feed such as chunk and the like is expressly excluded. Concentrate feed has been supplied and measured individually for a long time, but roughage is also an important feed component in ruminants such as livestock. Information about the roughage intake is very important for determining cow health, feed conversion and so on.
    The animal recognition system adapted for recognizing individual animals can be arranged for recognizing one or more predetermined animals from the group of livestock animals. In other words, it may already be sufficient if the animal identification device recognizes only a part of the animals. Advantageously, this then concerns one or more predetermined animals, for instance animals from which the farmer wishes to obtain more information. As a result, less stringent requirements can be imposed on the animal identification device. Of course, it can also be advantageous if the animal recognition device is adapted to recognize more animals, such as all animals of the group of livestock animals.
    The recognition of the animals can be arranged in many ways. It is for instance possible that the animal identification device comprises one or more RFID chips or "tags" carried by the animals, as well as one or more tag readers. These tag readers are then, for example, mounted on or near the feeding fence, so that the animal identification device can read the tag (s) carried by the animals.
    In embodiments, the animal recognition device comprises at least one camera for repeatedly recording an image of at least a part of the feed alley, as well as image recognition software for recognizing one or more animals in the recorded images. With such an animal recognition device, use is made of image recognition to recognize animals. This may include, for example, recognition of staining patterns, the shape of the muzzle, head, etc., or other such body features. The animal recognition device is furthermore arranged with additional advantage for determining a position of the head of the recognized animal. The individual feeding time can thus be determined with more certainty as the time when the recognized animal with its downward-facing head was at the feeding fence. Incidentally, an animal recognition device with tag reader (s) could also be designed in this way, for instance by placing the tag reader (s) low, such that the animal with the head raised can no longer be recognized due to too great a distance between tag and tag reader.
    The animal identification device may comprise a single camera, the image preferably comprising the entire feeding fence, so that the one camera will register all feeding animals. The animal recognition device advantageously comprises a plurality of cameras, the image recognition software being arranged to recognize from the multiple camera images one or more of the animals present at the feed fence, and in particular the chewing animals. Again, the device is further arranged to determine the eating time per eating and / or recognized animal. Advantages of the device with multiple cameras include that there is less chance of mutual coverage of the animals, and that the resolution in the camera image can be better due to a smaller required distance and / or angle of view, so that better animal recognition is possible.
    In an advantageous embodiment, the feed measuring device or the animal recognition system comprises at least one camera for repeatedly recording an image of at least a part of the feed alley, as well as image recognition software for determining a shape variable such as the height of one or more animals in the recorded images. Seen from the course of such a shape variable over time, the growth of an individual animal or the average growth of a group of animals can easily be determined.
    In practice it can happen that an animal gets stuck on the feed fence. This is possible, for example, because the collar gets stuck behind a protrusion or because the feed fence is of the locking type where the farmer has forgotten to release a secured animal. An animal that is trapped can panic and injure itself or can no longer divert properly for an automatic manure removal system.
    In an advantageous embodiment, the feed system is adapted to determine on the basis of the measured shape quantity whether an animal is in distress, in particular where the shape quantity is the position of the head. The position of the animal's head is an indication that the animal is stuck.
    In a further advantageous embodiment of the invention, the animal feed system is adapted to determine the period of time that the same animal is in the same place on the feed fence and to follow an action when a certain limit value is exceeded, in particular an alarm. An animal that is eating at the feed fence will have eaten sufficiently over time. Too long at the feed fence is an indication of involuntary standing and therefore an emergency. Rapid alarms can prevent suffering.
    Preferably, the camera comprises a 3D camera and preferably the image recognition software is of the deep learning type. The great advantage of such a type is that it improves the longer it is in operation.
    In embodiments, the animal feed system further comprises an autonomous vehicle which is arranged for moving along the feeding fence, in particular driving, the autonomous vehicle comprising said camera. This offers the advantage that with a single camera the entire feeding fence can be taken up with sufficient resolution and without, or with only a small chance of mutual coverage of the animals. Although it is thus more difficult to obtain a continuous picture of the presence or absence of animals at the feed fence, the more the vehicle moves past, the better the picture of the eating behavior is obtained. In practice it is not difficult to determine a desired longitudinal driving frequency for the vehicle. The vehicle may include a trolley on wheels, tracks or the like. Alternatively, the animal feed system, in particular the animal recognition device, includes a gondola or other device adapted to move autonomously along a rail or other guide. It is also possible to provide an autonomous aircraft, such as a drone, as an autonomous vehicle. These offer the advantage that they can make images of the feed fence safely, yet very quickly, and, as it were, make a quasi-continuous image of that feed fence.
    For example, the autonomous vehicle is arranged to take pictures of the feeding fence and the animals once per predetermined time. For example, the predetermined time is between 1 minute and half an hour. It is not necessary to determine exactly the start and end times for an animal using the images. It may be sufficient to estimate the minimum and maximum time spent on eating, whereby an increasingly better picture of the animal's feeding behavior can be obtained by repeated measurements and statistical analysis.
    In embodiments, said autonomous vehicle is arranged for sliding feed in the feed passage towards the feed fence. This offers the advantage that the vehicle can not only help in recognizing the animals, but also performs the additional function of sliding feed to the feed fence, so that feed thrown away by the animals is accessible again. In addition, it is an important advantage that the animals are lured to the feed fence precisely by pushing feed on, so that there is a much greater chance of observing and recognizing animals at the feeding fence. Nevertheless, it is of course possible as an autonomous vehicle to provide a vehicle specially equipped for recognition, for instance the above-mentioned drone.
    In embodiments, the feed measuring device is provided on said autonomous vehicle. Again, it offers advantages to combine different functions in one vehicle, such as recognizing animals and determining a feed quantity indication. Nevertheless, the feed measuring device can also be provided on a separate vehicle. The feed measuring device is adapted to determine a feed quantity indicator, which can be an absolute quantity, expressed in volume or mass, but it can also be a relative quantity such as a percentage of the original quantity. In particular, the feed measuring device comprises a feed height meter, with which a decrease in the thickness of the layer of feed can be determined. This already forms a feed quantity indication. The vehicle is advantageously arranged to slide feed to the feeding fence. Practical research shows that by pushing on the feed, the pushed-on feed always takes on approximately the same shape. As a result, it is precisely for a vehicle that pushes feed to the feed fence to determine the height of the pushed feed. Reference is made in particular here to a feed pressure vehicle according to Dutch patent publication NL-2008185, which describes such a system of pushing feed and measuring height thereof. For example, the vehicle may include a laser height gauge for determining the feed height. Alternatively, the vehicle may also comprise a camera system with image recognition software, arranged to determine a height of the feed, or even directly a feed quantity, from recorded images. The camera system herein particularly comprises a 3D camera.
    Advantageously, there is thus provided in the animal feed system an autonomous vehicle which both pushes feed to the feed fence and recognizes one or more animals at the feed fence and determines a feed quantity indication.
    In embodiments, the animal feed system comprises an automatic feeding system which is arranged for automatic composition and delivery of the roughage, as well as with an autonomous feeding device which, and in particular an autonomous vehicle, is arranged for delivering roughage on the feed alley. The automatic feeding system is operatively connected to the control. The animal feed system according to these embodiments can then not only determine which animal has been on the feeding fence and / or eats, and how much the animal will have eaten, but will also be able to determine from the information of the automatic feeding system what the animal in question will have. eaten. Thus, information can be gathered for one or more animals about feeding time (as well as feeding gate time spent on the feeding fence), feeding amount and feed composition absorbed. A good representation of the feeding behavior of the one or more animals can thus be obtained.
    In particular, the functions of recognizing animals, pushing feed and delivering roughage are at least partly combined in one or more autonomous vehicles. For example, the function of adding feed and delivering (new) roughage in one vehicle has been combined. Obviously, this is not necessary, and it can also be advantageous to provide several vehicles, which can then take pictures more often. An example of this is a feed pusher, such as the Lely Juno®, combined with a roughage supply vehicle, such as the MFR (Mixing and Feeding Robot) of the Lely Vector® system, as well as a drone for additional measurements to recognize the animals and determining the eating time. Other combinations are of course possible.
    In all embodiments of the animal feed system according to the invention it holds that the control may be arranged to independently process the collected information into one or more follow-up actions. For example, the control can generate an alarm if the animal in question eats too short or too long, and / or eats too much or too little, and / or eats food of an undesirable composition.
    The invention will be explained in more detail below with reference to one or more exemplary embodiments and the drawing. In it shows:
    Figure 1 shows a schematic top view of a stable environment with a livestock feed system according to the invention, and
    Figure 2 shows a schematic side view of a part of a cattle feed system according to the invention.
    Figure 1 shows a schematic top view of a stable environment 1 with a cattle feed system according to the invention. The stable environment 1 comprises an area 2 in which livestock animals can roam freely, as well as cubicles 4, and a milking robot 5. 6 denotes a feeding fence behind which roughage 8 is located in a feed passage 7, which is pressed by a feed presser 9 with a camera device 10 .
    An automatic feeding system is indicated by 11, and comprises a feed installation area or feed kitchen 12 with feeds 13 which are delivered with a crane 14 with a gripper 15 to a feed wagon 16 with a mixing barrel 17 and a camera device 18.
    A drone is indicated by 19 with a camera device 20. A fixedly arranged camera system comprises cameras 21. Finally, a control is indicated by 22.
    The shed environment 1 shown here is intended for dairy cows 3, and for that reason it comprises, in addition to the usual cubicles 4, a milking robot 5, all of which are however not relevant to the invention. The invention is also suitable for livestock animals other than dairy cows, such as sheep and goats, as well as for beef cattle. For the sake of convenience, however, dairy cows will be used below.
    The stable environment 1 also comprises a feeding fence 6, where the cows 3 can eat roughage 8, which is deposited in a feed passage 7. The roughage comprises, for example, grass, hay, silage, silage maize and other, often low-calorie and structurally rich feed, which is an important feed for ruminants. is part of the diet. This roughage can also be supplemented with minerals, concentrate feed and so on.
    When eating the roughage 8, the animals will partly throw it away from the feeding fence 6, after which it must occasionally be pushed back to the feeding fence. This is often done manually, but can also be done automatically, such as with the aid of the optional feed pusher 9, for example a Lely Juno®. Here it is also equipped with a camera device 10 and, if desired, with a feed altimeter not shown here.
    The camera device 10 comprises image recognition software for recognizing (the identity of) the cows 3, for example on the basis of a spot pattern on the animals, morphological features or applied marks. The controller 22 operatively connected to the camera device 10 can then keep track of where and when which identified cow is at the feeding fence 6. Furthermore, the camera device 10, at least its image recognition software, can be designed for determining a quantity of feed, in particular how much feed 8 is present at which location on the feeding fence 6. Additionally or alternatively, use can be made of a feed altimeter, as will be further explained in Figure 2.
    Based on the determined identity, the controller 22 can then estimate or determine how much food an identified animal has eaten by subtracting the amount of food at that animal's site after eating from the amount of food before eating by that animal.
    The height and / or the amount of food and / or the feeding time can be determined additionally or alternatively with the aid of the camera system, which comprises a plurality of cameras 21 which together form an in principle complete picture of the feeding fence 6 and the animals located there. The corresponding distance and angle of view can be easily selected by the skilled person. This camera system offers the advantage that it can at any time make a complete picture of all animals that eat, and thus can determine the feeding time per animal very accurately. Of course, the same image recognition software may work in the camera system as in the camera 10.
    The height and / or the amount of food and / or the eating time can additionally or alternatively be determined with the aid of the camera device 18 on the feed wagon 16. This feed wagon 16, whose feed barrel 17 can be filled in, for example, a feed kitchen 11, drives along the feed fence 6 to issue feed 8 there. The camera device 18 can then also recognize the animals 3 which are located there and eat them. The camera device 18 includes a 3D camera. Of course, the same image recognition software can operate in the camera system as in the camera 10.
    Whenever the vehicle 16 drives past the feed fence 6, the camera device 18 on the vehicle 16 records an image of at least a part of the feed passage 7. From the recorded images, the image recognition software determines a shape quantity such as the height of one or more animals 3. By also recognizing the relevant animal located at the feeding fence 6, the shape quantity is linked to the identity of the animal 3 and together with the time of measurement and location at the feed fence stored in the memory of the software. From this, a growth course in time of the animal 3 can be determined in a known manner.
    The animal feed system is designed to determine the period of time that the same animal 3 is in the same place on the feeding fence 6 and an alarm is sent to the farmer when a certain limit value is exceeded, for example via an SMS message. The period of time is determined from the first moment that an animal 3 is at a location on the feeding fence 6. If this animal 3 is no longer detected at the same location at the feed fence 6 at the same location, the measurement of the duration of this animal 3 stops at this location. If the animal 3 is detected at a different location, the time measurement for determining the duration starts again. The location of detection of the animal 3 is determined on the basis of the position of the vehicle. Alternatively, the position of the animal 3 can be determined by a known (not shown) animal localization system.
    In the absence of the recognition device, an average of the animals 3 from a group can be determined by repeatedly averaging the measured shape quantities of the anonymous animals 3.
    In this example, the feed wagon 16 is filled in the automatic feeding system 11. There, in a feed installation area or "feed kitchen" 12, a number of feed types 13 are arranged, such as hay, silage maize, etc., a crane 14 with a grab 15 can each carry a handle of take a type of feed and pour it into the mixing barrel 17 of the feed wagon 16. The feed is then mixed and delivered there after driving to the feed fence.
    The controller 22 serves here as the maker of the recipe of the ration, and as the operator of the crane and grab. In this case, the controller 22 also knows the composition of the feed 8. In combination with the knowledge of the feeding time per animal 3, the controller 22 also knows how much of a given feed 8 an individual animal 3 has eaten, so that even more knowledge about feeding behavior, feed conversion, etc. can be provided per animal. Obviously this is beneficial in the management of the herd and of the individual animals. It is clearly stated here that this knowledge of the feed is optional, as is the feeding system 11 and its implementation.
    Finally, a drone 19 is shown which is equipped with a camera device 20. The height and / or quantity of the feed 8, and / or the feeding time per animal 3 can be additionally or alternatively also determined with the aid of this camera device. An advantage of such a drone 19 is that it can often measure the feed height and / or quantity, and can often and quickly get an overview of which animal is eating where. Furthermore, it is easy for the drone 19 to search for a predetermined animal and then hang on to that animal as long as that animal eats at the feed fence 6.
    Incidentally, it applies to the image recognition software associated with the camera devices 20 and / or 18 and / or 10 and / or 21 that, in addition to recognizing animals 3 and / or the height or quantity of the feed 8, it may also be arranged for recognizing and status of the animals 3, in particular whether the animal eats food or not. For example, standing head down is a clear indication of eating. Such refinement makes the determination of the real eating time even more accurate. Nevertheless, it is optional, since even without this refinement an estimate for the feeding time can be indicated from the total presence time of the animal or animals, if desired corrected with an animal dependent or non-animal dependent factor, which factor can be determined experimentally or from the literature.
    Figure 2 shows a schematic side view of a part of a cattle feed system according to the invention. It comprises a feed pusher 16 'with a camera device 18, a rotatable element 23, and an altimeter 24 with laser beam 25. Furthermore, a cow 3 has a pattern of spots 26, and wears a collar 27 with a tag 28, which is readable by tag reader 29. Finally, 30 is an eartag. Like parts throughout the drawing are indicated with the same reference numerals.
    The feed wagon here is a feed pusher, such as the Lely Juno®, which presses the feed 8 to the feed fence 6 by means of a rotatable element 23, as known, inter alia, from WO2013 / 112042. In this publication it is also disclosed that this squeezing of the feed 8 leads to a generally similar shape of the heap of feed pushed together, so that a simple height measurement already gives a good indication of the feed quantity. To this end, the feed pusher 16 'in the present example comprises a laser height gauge 24, which emits a laser beam 25 which is aimed at the heaped feed pile 8 which has been pushed together.
    The camera device 18 is again arranged for recognizing the cow 3, for example on the basis of the unique spot pattern 26 and / or reading the ear tag 30, and / or alternatively / additionally for determining the amount of feed 8. In addition, there is a tag reader 29, which can identify the cow by reading the tag 28 on the collar of the cow 3. By sensitizing and placing the tag reader 29 appropriately, it can be ensured that the tag reader only emits an identification signal if the cow has her head downwards, towards the feed 8. Thus, the eating time can be efficiently determined or controlled.
    It is noted here that the sliding of feed towards the feeding fence 6 in practice leads to many cows 3 looking up that feeding fence, in the sense of fresh feed. This means that recognizing a cow 3 with high probability can be regarded as the start time of a bite, or meal. Determining the duration of that feeding can then easily lead to determining the amount of food eaten.
    The embodiments shown only serve to explain the invention, without limiting it. The scope of protection is defined by the appended claims.
    权利要求:
    Claims (11)
    [1]
    Feed system for determining a roughage intake of individual livestock (3) in a stable environment (1), comprising - a feed alley (7) for delivering roughage (8) for the animals (3) thereon, - a feed fence (6) via which animals (3) in the stable environment (1) have access to the roughage (8) in the feed alley (7), - an animal recognition system adapted for repeatedly recognizing individual animals (3) as a function of time and location along the feed fence (6), - a feed measuring device for repeatedly determining a feed quantity indication along the feeding fence (6), and - a control for the animal feed system operatively connected to the animal recognition system and the feed measuring device, which device is arranged for determining an individual roughage intake of at least one of the animals (3) on the basis of the repeatedly determined feed quantity indications and the animals repeatedly recognized as a function of the position along the feed fence (6) and of the time (3).
    [2]
    Animal feed system according to claim 1, wherein the animal recognition system comprises at least one camera (18, 20, 21) for repeatedly recording an image of at least a part of the feed passage (7), as well as image recognition software for recognizing one or more animals (3 ) in the recorded images.
    [3]
    A feed system according to claim 1 or 2, wherein the feed measuring device or the animal recognition system comprises at least one camera (18, 20, 21) for repeatedly recording an image of at least a part of the feed passage (7), as well as image recognition software for determining a shape quantity such as the height of one or more animals (3) in the recorded images.
    [4]
    Livestock feed system according to claim 3, wherein the livestock feed system is arranged to determine the period of time that the same animal (3) is in the same place on the feed fence (6) and an alarm is triggered if a certain limit value is exceeded.
    [5]
    A feed system according to claim 2, 3 or 4, wherein the camera (18, 20, 21) comprises a 3D camera.
    [6]
    A feed system according to any one of claims 2 to 5, wherein the image recognition software is of the deep learning type.
    [7]
    A feed system according to any one of the preceding claims, further comprising an autonomous vehicle (9, 16) adapted for driving past the feeding fence (6), the autonomous vehicle (9, 16) comprising said camera (10).
    [8]
    A feed system according to claim 7, wherein said autonomous vehicle (9, 16) is arranged for sliding feed (8) in the feed passage (7) towards the feed fence (6).
    [9]
    A feed system according to claim 7 or 8, wherein the feed measuring device is provided on said autonomous vehicle (9, 16), and in particular comprises a feed height meter (24).
    [10]
    A feed system according to any one of the preceding claims, comprising an automatic feeding system (11) adapted to automatically compose and deliver the roughage (8), as well as an autonomous feeding device which, and in particular an autonomous vehicle (16) which, is designed for delivering roughage (8) to the feed alley (7).
    [11]
    Livestock feed system according to any one of the preceding claims, wherein the livestock feed system is arranged to determine the period of time that the same animal (3) is present in the same place on the feed fence (6) and an action follows, in particular when a certain limit value is exceeded. alarm.
    类似技术:
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    同族专利:
    公开号 | 公开日
    EP3494779A1|2019-06-12|
    DE202018006391U1|2020-03-27|
    NL2022146B1|2021-09-21|
    NL2020025B1|2019-06-18|
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    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    NL2020025A|NL2020025B1|2017-12-06|2017-12-06|Feed system|
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