WO2018038674A1

WO2018038674A1 - Portable apparatus and method for classifying teats with respect to size measures

Info

Publication number: WO2018038674A1
Application number: PCT/SE2017/050856
Authority: WO
Inventors: Ricardo Castro; Marcel LAPLANTE; Philip Wood; Nils ÄLVEBY
Original assignee: Delaval Holding Ab
Priority date: 2016-08-25
Filing date: 2017-08-24
Publication date: 2018-03-01

Abstract

A portable apparatus (130) classifies teats (T1) with respect to size measures. A camera (131) records image data representing a scene (125) containing a teat (T1 ) of a dairy animal. The scene (125) also contains first and second markers (121,122) projected onto the teat (T1 ) by a respective collimated light source (111;112) located at a well-defined distance (D_L) from one another. A processing unit (135) in the portable apparatus (130) calculates at least one size measure (X, Y) of the teat (T1) based on the recorded image data. This, in turn, forms a basis for determining a size-related classification of the teat (T1), which for example is associated with a recommended teatcup liner (TCL_R) for the diary animal.

Description

Portable Apparatus and Method for Classifying Teats with Respect to Size Measures,

THE BACKGROUND OF THE INVENTION AND PRIOR ART

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.

Zwertvaeghier, I. , "Teat Dimensions of Dairy Cows and their Re- lation with Udder Health as assessed using a Novel 2D-Vision- Based Device", PhD Dissertation, Ghent University, Department of Reproduction, Obstetrics and Herd Health Faculty of Veterinary Medicine, 18 June 2012, pp 132-137 suggests that in a future automatic milking system one could imagine a robot measu- ring the teat pre milking, determining the teat dimensions, teat shape and teat end shape, and selecting the teatcup liner most appropriate for milking the specific teat from a provided number of teatcup liners with different designs.

PROBLEMS ASSOCIATED WITH THE PRIOR ART

In practice, however, it is not feasible from a cost point-of-view to tailor the milking of the individual teats in a manner that involves selecting a particular teatcup or teatcup liner in connection with the milking of a given animal or teat.

SUMMARY OF THE INVENTION

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.

According to one aspect of the invention, 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. This portable apparatus is advantageous because it facilitates selection of a suitable teatcup liner for an entire livestock of dairy animals.

According to one embodiment of this aspect of the invention, the size-related classification of the teat is associated with a recommended teatcup liner for the diary animal. Of course, this provides further assistance to the farmer when choosing the teatcup liner for his/her livestock, or part thereof.

According to another embodiment of this aspect of the invention, 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. In response thereto, 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.

According to a further embodiment of this aspect of the invention, 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. For example, 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.

According to still another embodiment of this aspect of the invention, 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.

According to yet another embodiment of this aspect of the invention, 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. Moreover, the portable apparatus can be implemented in a multipurpose device, such as in the form of an application in a smartphone.

According to another aspect of the invention, 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 advantages of this method, as well as the preferred embodiments thereof, are ap- parent from the discussion above with reference to the proposed system.

According to a further aspect of the invention 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.

According to another aspect of the invention 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.

Further advantages, beneficial features and applications of the present invention will be apparent from the following description and the dependent claims.

BRIEF DESCRIPTION OF THE DRAWINGS

The invention is now to be explained more closely by means of preferred embodiments, which are disclosed as examples, and with reference to the attached drawings.

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; and

Figure 6 illustrates, by means of a flow diagram, the general method according to the invention.

DESCRIPTION OF PREFERRED EMBODIMENTS OF 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. In embodiments of the invention, 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. In the latter case, 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. On the other hand, 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.

In any case, 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.

To enable the proposed classification, 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. Thus, 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. Here, a first measure X represents a width of the teat T1 and 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.

In order to effect these calculations 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. Alternatively, or additionally, 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.

Moreover, the processing unit 135 is also configured to provide a size-related classification of the teat T1 . This will be explained further below with reference to Figure 4. According to one embo- diment of the invention, the size-related classification of the teat T1 , in turn, is associated with a recommended teatcup liner TCLR for the diary animal to which the teat T1 belongs. This will be explained further below with reference to Figure 5. According to one embodiment of the invention, 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. a so-called WiFi connection), the Bluetooth standard or the BLE standard (BLE = Bluetooth low energy). In any case, in this embodiment, 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. In response thereto, 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. In other words, 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. To this aim, 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.

Alternatively, or additionally, 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. In such a case, 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. I n the example represented in Figure 4, 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 first category "short and thin" 41 1 to which teats shorter than 35 mm and thinner 24 mm belong ;

- a second category "short and average" 412 to which teats shorter than 35 mm and between 24 mm and 27 mm in width belong;

- a third category "short and wide" 41 3 to which teats shorter than 35 mm and over 27 mm wide belong;

- a fourth category "average and thin" 414 to which teats between 35 mm and 60 mm long and thinner than 24 mm belong ;

- a fifth category "average" 415 to which teats between 35 mm and 60 mm long and between 24 mm and 27 mm in width belong ;

- a sixth category "average and wide" 416 to which teats between 35 mm and 60 mm long and over 27 mm wide belong; - a seventh category "long and thin" 41 7 to which teats longer than 60 mm and thinner than 24 mm belong;

- an eighth category "long and average" 41 8 to which teats longer than 60 mm and between 24 mm and 27 mm in width belong ; and

- a ninth category "long and wide" 41 9 to which teats between longer than 60 mm and wider than 27 mm belong.

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.

Here, 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, and an eighth teatcup liner "type 8" 518 is recommended for 42 teats.

According to the invention, alternatively or additionally, either one or both of the screen windows 400 and 500 may be displayed on the host computer 140. Although it is generally preferable, 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.

As mentioned above, either 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. However, the host computer 140, in turn, 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. In the latter case, 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.

In order to sum up, and with reference to the flow diagram in Figure 6, we will now describe the general method according to the invention for classifying teats with respect to size measures.

In a first step 610, 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).

In 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.

Thereafter, in a step 630, a size-related classification of the teat is provided based on the at least one measure calculated in step 620. After that, the procedure ends. Of course, alternatively, 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. Moreover, although 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. For example, 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. Further, 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. When the program is embodied in a signal which may be conveyed directly by a cable or other device or means, the carrier may be constituted by such cable or device or means. Alternatively, 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.

Although 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.

The term "comprises/comprising" when used in this specification is taken to specify the presence of stated features, integers, steps or components. However, the term does not preclude the presence or addition of one or more additional features, integers, steps or components or groups thereof.

The invention is not restricted to the described embodiments in the figures, but may be varied freely within the scope of the claims.

Claims

1 . A portable apparatus (130) for classifying teats (T1 ) with respect to size measures, the apparatus (130) comprising:

a camera (131 ) configured to record image data represen- ting a scene (125) containing:

a teat (T1 ) of a dairy animal, and

first and second markers (121 , 122) projected onto the teat (T1 ) by a respective collimated light source (1 1 1 ; 1 12) located at a well-defined distance (DL) from one ano- ther,

characterized in that the apparatus (130) comprises a processing unit (135) configured to:

calculate at least one size measure (X, Y) of the teat (T1 ) based on the recorded image data, and

provide a size-related classification (410) of the teat (T1 ).

2. The portable apparatus (130) according to claim 1 , wherein the size-related classification (410) of the teat (T1 ) is associated with a recommended teatcup liner (TCLR) for the diary animal.

3. The portable apparatus (130) according to any one of claims 1 or 2, comprising a communication module (133) configured to communicate with a host computer (140) via a wireless link (WL), the portable apparatus (130) being configured to:

send data representing the at least one size measure (X, Y) to the host computer (140) over the wireless link (WL), and in response thereto

receive an identification of the size-related classification of the teat (T1 ) from the host computer (140) over the wireless link (WL).

4. The portable apparatus (130) according to any one of claims 1 or 2, comprising a memory module (138) containing a database over a set of size-related classifications (410) and their respective measurement characteristics (420), and the processing unit (135) is configured to determine the size-related classi- fication (410) of the teat (T1 ) based on the at least one size measure (X, Y) and the database.

5. The portable apparatus (130) according to any one of the preceding claims, wherein the processing unit (135) implements an image processor configured to receive the recorded image data, and based on an assumption that the first and second markers (121 , 122) are located at the well-defined distance (DL) from one another, calculate the at least one size measure (X, Y) of the teat (T1 ).

6. The portable apparatus (130) according to any one of the preceding claims, comprising a detachable projector (1 10) in which the first and second collimated light sources (1 1 1 ; 1 12) are included.

7. A method implemented in portable apparatus for classifying teats (T1 ) with respect to size measures, the method comprising: recording image data by means of a camera (131 ), the image data representing a scene (125) containing:

a teat (T1 ) of a dairy animal, and

first and second markers (121 , 122) projected onto the teat (T1 ) by a respective collimated light source (1 1 1 ;

1 12) located at a well-defined distance (DL) from one another,

characterized by

calculating at least one size measure (X, Y) of the teat (T1 ) based on the recorded image data, and

providing a size-related classification (410) of the teat (T1 ) based on the at least one size measure (X, Y).

8. The method according to claim 7, wherein the size-related classification (410) of the teat (T1 ) is associated with a recom- mended teatcup liner (TCLR), and the method further comprises: providing recommended teatcup liner (TCLR) for the diary animal based on at least the size-related classification of the teat (T1 ).

9. The method according to any one of claims 7 or 8, comprising:

sending data representing the at least one size measure (X, Y) from a portable apparatus (130) to a host computer (140) over a wireless link (WL), and in response thereto

receiving an identification of the size-related classification (410) of the teat (T1 ) from the host computer (140) over the wireless link (WL).

10. The method according to any one of claims 7 or 8, comprising determining the size-related classification of the teat (T1 ) based on the at least one size measure (X, Y) and a database containing a set of size-related classifications (410) and their respective measurement characteristics (420).

1 1. The method according to any one of claims 7 to 10, comprising:

receiving the recorded image data, and based on an assumption that the first and second markers (121 , 122) are located at the well-defined distance (DL) from one another,

calculating the at least one size measure (X, Y) of the teat

(T1 ).

12. A computer program loadable into the memory (138) of at least one processing unit (135), comprising software for executing the method according any of the claims 7 to 1 1 when the program is run on the at least one processing unit (135).

13. A processor-readable medium (138), having a program recorded thereon, where the program is to make at least one processing unit (135) execute the method according to of any of the claims 7 to 1 1 when the program is loaded into the at least one processing unit (135).