FIELD OF THE INVENTION

The invention is in the field of animal husbandry, more specifically in the field of dairy herd management. Although the application refers to cows, the disclosed principles can be applied equally to sheep, goats or other milk producing animals. BACKGROUND OF THE INVENTION

Historically, milk production in a dairy herd was tracked at the level of individual cows but feed consumption was measured at the herd level. As a result, any calculation of conversion efficiency of feed to milk could be done only as a herd average, not for individual cows.

More recently, publications suggesting measurement of feed consumption at the level of the individual cow have appeared.

SUMMARY OF THE INVENTION

A broad aspect of the invention relates to reducing feed waste in a dairy herd. In some exemplary embodiments of the invention, a reduction in feed waste contributes to improved profitability of individual cows and/or to improved profitability of the herd as a whole.

One aspect of some embodiments of the invention relates to measuring a consumed feed amount for each individual cow on a first period (e.g. day) and offering each individual cow only said consumed feed amount plus a small increment in a subsequent period (e.g. day). According to various exemplary embodiments of the invention the small increment is +5%, +10%, +15%, +20% or intermediate or lower percentages.

Another aspect of some embodiments of the invention, relates to distributing an initial amount of feed (e.g. 60% of a herd average daily consumed feed amount) to a plurality feeding stations equipped with stanchions, populating the stations with cows, locking the stanchions, identifying the individual cows at each station and delivering a supplemental amount of feed to bring the total amount of feed for each individual cow to a consumed feed amount for that individual cow from one or more previous days. Alternatively or additionally, in some embodiments specific additives are delivered to individual feeding stations based on the identity of an individual cow in the station.

Still another aspect of some embodiments of the invention relates to weighing an individual portion of feed for a specific cow and delivering that individual portion to a specific feeding station where that cow is stanchioned. In some embodiments, a shuttle device transports the weighed individual portion to a correct feeding station. In some embodiments, an alignment mechanism aligns the shuttle device with the specific feeding station. Alternatively or additionally, in some embodiments a transfer mechanism delivers the weighed individual portion of feed from the shuttle device to the feeding station.

Yet another aspect of some embodiments of the invention relates to a central controller including a data processor that coordinates delivery of portions of feed weighed in accord with a consumption history of individual cattle stanchioned at individual feeding stations to said feeding stations. According to various exemplary embodiments of the invention individual cattle at feeding stations are identified by RFID tags or by Optical Character Recognition (OCR) of physical tag labels (e.g. on the ear or neck.) Alternatively or additionally, in some embodiments shuttle devices and/or individual feeding stations are marked with RFID tags and/or NFC tags and/or equipped with readers for such tags.

It will be appreciated that the various aspects described above relate to solution of technical problems associated with reducing feed waste in a dairy herd

Alternatively or additionally, it will be appreciated that the various aspects described above relate to solution of technical problems related to improving conversion of feed to milk in a dairy herd.

In some exemplary embodiments of the invention there is provided a system including: (a) a feed distribution robot with a plurality of food portion compartments, each of the compartments individually emptiable into a delivery funnel, the robot subject to control of a computerized controller; and (b) motorized wheels on the robot designed and configured to move the robot in response to an operation signal from the controller. In some embodiments the system includes a plurality of feeding stations, each station providing an output signal including its location and an identity of a cow occupying the station to the computerized controller. Alternatively or additionally, in some embodiments the system includes a portion preparation module designed and configured to receive and mix measured amounts of feed ingredients and prepare custom portions. Alternatively or additionally, in some embodiments each custom portion is prepared in response to a preparation signal received from the computerized controller based on an identity of a specific cow in a specific feeding station. Alternatively or additionally, in some embodiments the system includes an orts weighing mechanism in a feed bin at each of the feeding stations. Alternatively or additionally, in some embodiments the system includes an orts disposal hatch in the feed bin. Alternatively or additionally, in some embodiments the system includes an alignment mechanism designed and configured to align the delivery funnel of the robot with a feed bin at a feeding station specified in the operation signal from the controller. Alternatively or additionally, in some embodiments the system includes an orts removal mechanism positioned below the orts disposal hatch in the feed bin. Alternatively or additionally, in some embodiments the system includes data describing milk quantity and quality from each individual cow provided to the central controller.

In some exemplary embodiments of the invention there is provided a method including: (a) measuring a consumed total feed amount for each individual cow in a first period; and (b) offering each individual cow only the consumed feed amount plus 5% or less on a subsequent period.

In some exemplary embodiments of the invention there is provided a method including: (a) measuring a consumed feed total amount and milk yield for each individual cow during a first period of time; (b) calculating a feed conversion ratio for each individual cow during the first period of time; and (c) offering individual cows with a feed conversion ratio more than 30% above a herd average feed conversion ratio an amount of total feed below the consumed total feed amount measured in the first period of time during a subsequent period of time.

In some exemplary embodiments of the invention there is provided a method including: (a) mechanically distributing 60% of a herd average daily individual consumed total feed amount to a plurality of feeding stations equipped with stanchions; (b) populatingthe stations with cows, locking the stanchions, and identifying the individual cows at each station; and (c) delivering a supplemental amount of feed to bring the total amount of feed for each individual cow to a consumed total feed amount for that individual cow from one or more previous days. In some exemplary embodiments of the invention, the method includes mechanically delivering additives to individual feeding stations based on the identity of an individual cow in the station.

In some exemplary embodiments of the invention there is provided a method including: (a) weighing an individual portion of total feed for a specific cow; and (b) mechanically delivering the individual portion to a specific feeding station where the specific cow is stanchioned. In some exemplary embodiments of the invention, the mechanically delivering includes: using a shuttle device (e.g. a robot) to transport the weighed individual portion to a correct feeding station. Alternatively or additionally, in some embodiments the method includes aligning the shuttle device with the specific feeding station. Alternatively or additionally, in some embodiments the method includes transferring the weighed individual portion of feed from the shuttle device to the feeding station.

In some exemplary embodiments of the invention there is provided a computerized controller designed and configured to: (a) receive output signals from a plurality of feeding stations, each signal indicating an identity of a specific cow and a specific station; (b) query a database of feed consumption history to ascertain a portion size appropriate for each specific cow; and (c) issue operational signals for measurement and delivery of portions of total feed appropriate for each specific cow to each of the feeding stations.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Although suitable methods and materials are described below, methods and materials similar or equivalent to those described herein can be used in the practice of the present invention. In case of conflict, the patent specification, including definitions, will control. All materials, methods, and examples are illustrative only and are not intended to be limiting.

As used herein, the terms "comprising" and "including" or grammatical variants thereof are to be taken as specifying inclusion of the stated features, integers, actions or components without precluding the addition of one or more additional features, integers, actions, components or groups thereof. This term is broader than, and includes the terms "consisting of" and "consisting essentially of" as defined by the Manual of Patent Examination Procedure of the United States Patent and Trademark Office. Thus, any recitation that an embodiment "includes" or "comprises" a feature is a specific statement that sub embodiments "consist essentially of" and/or "consist of" the recited feature.

The phrase "consisting essentially of" or grammatical variants thereof when used herein are to be taken as specifying the stated features, integers, steps or components but do not preclude the addition of one or more additional features, integers, steps, components or groups thereof but only if the additional features, integers, steps, components or groups thereof do not materially alter the basic and novel characteristics of the claimed composition, device or method.

The phrase "adapted to" as used in this specification and the accompanying claims imposes additional structural limitations on a previously recited component.

The term "method" refers to manners, means, techniques and procedures for accomplishing a given task including, but not limited to, those manners, means, techniques and procedures either known to, or readily developed from known manners, means, techniques and procedures by practitioners of architecture and/or computer science.

Implementation of the method and system according to embodiments of the invention involves performing or completing selected tasks or steps manually, automatically, or a combination thereof. Moreover, according to actual instrumentation and equipment of exemplary embodiments of methods, apparatus and systems of the invention, several selected steps could be implemented by hardware or by software on any operating system of any firmware or a combination thereof. For example, as hardware, selected steps of the invention could be implemented as a chip or a circuit. As software, selected steps of the invention could be implemented as a plurality of software instructions being executed by a computer using any suitable operating system. In any case, selected steps of the method and system of the invention could be described as being performed by a data processor, such as a computing platform for executing a plurality of instructions.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to understand the invention and to see how it may be carried out in practice, embodiments will now be described, by way of non-limiting example only, with reference to the accompanying figures. In the figures, identical and similar structures, elements or parts thereof that appear in more than one figure are generally labeled with the same or similar references in the figures in which they appear. Dimensions of components and features shown in the figures are chosen primarily for convenience and clarity of presentation and are not necessarily to scale. The attached figures are:

Fig. la is a simplified flow diagram of a method according to some embodiments of the invention;

Fig. lb is a simplified flow diagram of a method according to some embodiments of the invention;

Fig. 2 is a simplified flow diagram of a method according to some embodiments of the invention;

Fig. 3 is a simplified flow diagram of a method according to some embodiments of the invention;

Fig. 4 is a simplified schematic diagram of a herd management system including a computerized controller according to some embodiments of the invention;

Fig. 5 is a simplified schematic diagram of a food preparation and distribution system including a computerized controller according to some embodiments of the invention;

Fig. 6 is a simplified schematic diagram of a portion of the system of Fig. 5 illustrating parallel deployment of robots according to some exemplary embodiments of the invention; and

Fig. 7 is a schematic diagram of data flow within a system according to exemplary embodiments of the invention.

DETAILED DESCRIPTION OF EMBODIMENTS

Embodiments of the invention relate to systems and methods for managing feed consumption of individual cows in a dairy herd.

Specifically, some embodiments of the invention can be used to distribute portions of total feed that are sized for individual cows based on their past feed consumption and/or milk yield. The principles and operation of a system and/or method according to exemplary embodiments of the invention may be better understood with reference to the drawings and accompanying descriptions.

Before explaining at least one embodiment of the invention in detail, it is to be understood that the invention is not limited in its application to the details set forth in the following description or exemplified by the Examples. The invention is capable of other embodiments or of being practiced or carried out in various ways. Also, it is to be understood that the phraseology and terminology employed herein is for the purpose of description and is not limiting.

Exemplary calibration method

Fig. la is a simplified flow diagram of a method, indicated generally as 100, for managing feed consumption of individual dairy cattle according to some embodiments of the invention. Depicted exemplary method 100 includes measuring 110 a consumed total feed amount for each individual cow on a first period (e.g. day) and offering 120 each individual cow only the consumed feed amount (measured at 110) plus 5% or less in a subsequent period (e.g. day). In the context of method 100 "day" can indicate a period of more than one day. For purposes of this specification and the accompanying claims, the term "total feed amount" indicates roughage plus concentrate.

Exemplary restricted consumption method

Fig. lb is a simplified flow diagram of a method, indicated generally as 101, for limiting feed consumption of individual cattle according to some embodiments of the invention.

Depicted exemplary method 101 includes measuring 130 a consumed total feed amount and milk yield for each individual cow during a first period of time. In the depicted embodiment, method 101 includes calculating 140 a feed conversion ratio for each individual cow during the first period of time. In some embodiments, method 100 includes offering individual cows with a feed conversion ratio more than 30% above a herd average feed conversion ratio an amount of total feed below said consumed total feed amount measured in the first period of time during a subsequent period of time. In some exemplary embodiments of the invention, practice of method 101 reduces a daily milk yield of an individual cow but improves her feed conversion ratio.

Exemplary custom portion size delivery method

Fig. 2 is a simplified flow diagram of a method, indicated generally as 200, for delivering custom portion sizes to individual cows according to some embodiments of the invention.

Depicted exemplary method 200 includes mechanically distributing 210 60% of a herd average daily individual consumed total feed amount to a plurality of feeding stations equipped with stanchions. This portion of the method is based on the idea that all cows in the herd will consume at least 60% of the herd average daily individual consumed total feed amount. In some embodiments, presence of an initial amount of feed in the feeding stations attracts the cows to enter the stations so they can be locked in place by the stanchions. According to various exemplary embodiments of the invention different percentages of the herd average daily individual consumed total feed amount are used. According to various exemplary embodiments of the invention 40%, 50%, 60%. 65%, 70% or intermediate or higher percentages of the herd average daily individual consumed total feed amount are distributed at 210.

In the depicted embodiment, method 200 includes populating 220 the stations with cows, locking the stanchions , and identifying the individual cows at each station. Identification of individual cows is accomplished using RFID tags, NFC (near field contact) tags, or OCR (optical character recognition) of physical numbered tags (e.g. on the ear or neck of the cow).

In the depicted embodiment, method 200 includes delivering 230 a supplemental amount of feed to bring the total amount of feed for each individual cow to a consumed total feed amount for that individual cow from one or more previous days.

After the cows leave the feeding station ORTS are measured at each individual feeding station and actual consumption data for individual cows is updated in a database for the current day. In some exemplary embodiments of the invention, the supplemental amount delivered at 230 includes mechanically delivering 240 additives to individual feeding stations based on the identity of an individual cow in the station. customization of size . 3 is a simplified flow diagram of a method, indicated generally as 300, for customization of portion size according to some embodiments of the invention. In some embodiments, method 300 is used in conjunction with method 200. According to those embodiments method 300 relates to the amount of total feed to be added to the 60% provided at 210. In other exemplary embodiments of the invention, method 300 operates independently of method 200 and relates to preparation and delivery of a consumed total feed amount measured for an individual cow on one or more previous days.

Depicted exemplary method 300 includes weighing 310 an individual portion of total feed for a specific cow and mechanically delivering 320 the individual portion to a specific feeding station where the specific cow is stanchioned.

In some exemplary embodiments of the invention, mechanically delivering 320 includes using 330 a shuttle device to transport the weighed individual portion to a correct feeding station. In some exemplary embodiments of the invention, the shuttle device is configured as a cup or bucket. In other exemplary embodiments of the invention, the shuttle device is a designated portion of a conveyor belt.

In some embodiments mechanically delivering 320 includes aligning 340 the shuttle device with the specific feeding station. According to various exemplary embodiments of the invention alignment 340 relies on electronic (e.g. RFID or NFC) or optical (e.g. OCR or light beam alignment) recognition of a specific feeding station by a specific shuttle device or the opposite.

In some embodiments mechanically delivering 320 includes transferring 350 the weighed individual portion of feed from the shuttle device to the feeding station. According to various exemplary embodiments of the invention the type of transfer is related to the type of shuttle device. For example, in some embodiments where the shuttle device is configured as a cup or bucket, transfer includes inversion of the shuttle device to empty the contents into the feeding station. Alternatively, in some embodiments where the shuttle device is configured as a cup or bucket, transfer includes opening a trap door in a bottom of the shuttle device to empty the contents into the feeding station. Alternatively, in some embodiments where the shuttle device is a designated portion of a conveyor belt, transfer includes moving a plow across the conveyor to push the contents into the feeding station.

Exemplary computerized controller

Fig. 4 is a simplified schematic diagram of a herd management system including a computerized controller according to some embodiments of the invention.

In the depicted embodiment, computerized controller 410 is designed and configured to receive output signals 414 from a plurality of feeding stations 412 (one is depicted for clarity although a much larger number is typically present). Each signal 414 indicates an identity of a specific cow 424 and a specific station 412.

In the depicted embodiment, controller 410 queries 426 a database 420 of feed consumption history to ascertain a portion size 422 appropriate for each specific cow 424. This information is returned to controller 410 which associates portion size 422 appropriate for each specific cow 424 with a specific feeding station 412 where the relevant cow is waiting.

In the depicted embodiment, controller 410 bundles data for portion size 422 with identity of individual feeding stations 412 and issues operational signals 430 for measurement and delivery 442 of portions 422 of total feed appropriate for each specific cow 424 to each of said feeding stations 412 by distribution system 440.

Exemplary food preparation and distribution system

Fig. 5 is a simplified schematic diagram of a food preparation and distribution system including a computerized controller, indicated generally as 500, according to some embodiments of the invention.

Depicted exemplary system 500 includes a feed distribution robot 530 with a plurality of food portion compartments 5. Each of compartments 5 is individually emptiable into a delivery funnel 8 via a release port 35. In the depicted embodiment, emptying of a compartment 5 is in response to a signal 30 from controller 510. Controller 510 also provides a locomotion signal 39 to robot 530. In the depicted embodiment, a sub controller 7 relays signal 30 to an appropriate release port 35 to empty a specific compartment 5. In the depicted embodiment, battery 6 powers robot 530.

In the depicted embodiment, motorized wheels 14 on robot 530 are designed and configured to move robot 530 along a track 9 in response to locomotion signal 39 from controller 510.

In the depicted embodiment, system 500 includes an intake funnel 1 for feed ingredients. For example, the feed ingredients are loaded by tractor 1000 in some embodiments. Ingredients loaded in funnel 1 are carried by conveyor 2 to buffer tank 511. In the depicted embodiment, buffer tank 511 is part of portion preparation module 520. Module 520 also includes storage tanks 40 for additives. In the depicted embodiment, a portion preparation signal 512 causes contents of buffer tank 511 and/or additives 40 to descend in measured amounts to a mixing compartment 3 equipped with a mixer 26. It is important to note that signal 512 is specific to an individual cow at a specific feeding station. This means that each portion in a compartment 3 may be different from a portion in a different compartment 3 because it is customized to an individual cow. Each compartment 3 is provided with a release door 36 under control of controller 510. Controller 510 tracks the specific portions until they are delivered to the specific cow they were prepared for. In the depicted embodiment, scale 4 provides feedback to controller 510 to turn off signal 512 when an appropriate amount of feed from buffer tank 511 and/or additives 40 have been released. Mixer 26 is then activated to mix the ingredients in each of compartments 3. Module 520 then transfers the portions from each of compartments 3 to compartments 5 in robot 530 via release ports 35. Signal 30 informs controller 510 which portion is in each of compartments 5. In the depicted embodiment, controller 510 includes integrated software based on Artificial Intelligence.

Exemplary system 500 also includes a plurality of feeding stations 12. Each station 12 provides an output signal 31 including its location 11 and an identity 10 of a cow occupying the station to computerized controller 510. Identity 10 of cows is also provided to controller 510, for example, using RFID tags. As described above, each custom portion in a compartment 3 is prepared in response to preparation signal 512 received from computerized controller 510 based on an identity 10 of a specific cow in a specific feeding station 12.

In some exemplary embodiments of the invention, system 500 includes an orts weighing mechanism 13 in a feed bin 16 at each of the feeding stations.

In some embodiments, the system includes an alignment mechanism designed and configured to align delivery funnel 8 of robot 530 with feed bin 16 at a feeding station 12 specified in operation signal 30 from controller 510. In the depicted embodiment, the system includes an orts disposal hatch 15 in each of feed bins 16. Hatch 15 opens/closes in response to signal 32 from controller 510.

In some exemplary embodiments of the invention, system 500 includes an orts removal mechanism positioned below orts disposal hatch 15 in feed bin 16. In the depicted embodiment, the orts removal mechanism includes a conveyor belt 25 and a retraction cable 27. When hatches 15 open, orts fall onto conveyor belt 25. Uptake wheel then rotates counterclockwise and the rotational motion is translated to leftward linear motion of belt 25 so that the orts 18 are dumped when they reach wheel 29. This causes extension of cable 27 from wheel 28 where it was wound for storage.

After orts 18 are dumped, the direction of rotation of wheels 29 and 28 is reversed. Cable 27 is retracted and coiled around wheel 28. This pulls conveyor belt 25 back below feed bins 16.

In the depicted embodiment, the system receives data describing milk quantity 33 and quality 37 from each individual cow provided to central controller 510. Alternatively or additionally, in some embodiments the system receives data describing environmental conditions 34 provided to central controller 510. In some exemplary embodiments of the invention, central controller employs artificial intelligence algorithms.

Fig. 6 is a simplified schematic diagram of a portion of the system of Fig. 5, indicated generally as 600, from a different angle illustrating parallel deployment of robots 530 according to some exemplary embodiments of the invention. Reference numerals are as in Fig. 5. This view more clearly shows the alignment of delivery funnels 8 with feed bins 16.

Fig. 7 is a schematic diagram of data flow within a system, indicated generally as 700, according to exemplary embodiments of the invention. Fig. 7 depicts an exemplary system architecture for a system of the type depicted in Figs. 5 and 6.

In the depicted embodiment, sensors 710 provide output signals relating to environmental conditions (e.g. ambient temperature, relative humidity, wind speed) and/or weight of specific individual cows and/or body temperature of specific individual cows and/or yield of milk from specific individual cows and/or quality (e.g. protein content, fat content) of milk from specific individual cows and/or feeding station number for specific individual cows and/or feed composition for specific individual cows and/or portion size for specific individual cows and/or feed consumption (as opposed to presentation) data for specific individual cows and/or portion presentation time for specific individual cows.

In the depicted embodiment, data 720 from the output signals is collected and stored in a database. In some exemplary embodiments of the invention, a data processor 730 analyzes the data. In some embodiments the analysis employs an artificial intelligence (Al) algorithm. In some exemplary embodiments of the invention, the Al algorithm studies the physical behavior of each individual cow in the herd and focuses on parameters which impact feed to milk conversion ratio. In the depicted embodiment, data processor 730 provides an output 740 including suggestions for adjustment of heat load setting and/or feed portion size and/or feed composition for individual cows within the herd. In some exemplary embodiments of the invention, these suggestions are formatted in terms of specific system adjustments 750 or changes to system components such as robots (530 in Fig. 5) and/or portion weight (e.g. for individual cows) and/or aeration and/or laboratory equipment.

In some exemplary embodiments of the invention, specific adjustments 750 consider the impact of the environment on each individual cow and/or on the herd as a whole. In some embodiments specific adjustments 750 contribute to maintaining, or increasing, feed conversion efficiency despite environmental changes. Exemplary Feed Composition

In general, total daily feed for dairy cattle includes concentrate (typically 50%- 70% of feed), roughage (typically 30%-40% of feed) and micro components (typically 5%- 8% of feed).

Examples of concentrate include but are not limited to corn, barley, wheat, sorghum, corn gluten, gluten, rye, cottonseed, Distillers Dried Grains with Solubles (DDGS), and seed meals from the food oil industry (e.g. rapeseed meal, soybean meal, cornmeal, sunflower seed meal).

Examples of roughage include but are not limited to wheat straw, leguminous plants after removal of the seeds (e.g. beans, soybeans, peanuts), cotton plants after removal of the boll, post-harvest vegetable plants (e.g. tomato, eggplant, pepper, squash), hay (e.g. alfalfa hay, vetch hay, wheat hay, clover hay) and silage (e.g. corn silage, wheat silage).

Examples of micro components include but are not limited to salt, magnesium oxide (MGO), calcium supplements, protected fats/oils, biotin oil and OMNIGEN.

It is expected that during the life of this patent many mechanical feed manipulation systems, tagging technologies and management algorithms will be developed and the scope of the invention is intended to include all such new technologies a priori.

Although the invention has been described in conjunction with specific embodiments thereof, it is evident that many alternatives, modifications and variations will be apparent to those skilled in the art. Accordingly, it is intended to embrace all such alternatives, modifications and variations that fall within the spirit and broad scope of the appended claims.

Specifically, a variety of numerical indicators have been utilized. It should be understood that these numerical indicators could vary even further based upon a variety of engineering principles, materials, intended use and designs incorporated into the various embodiments of the invention. Additionally, components and/or actions ascribed to exemplary embodiments of the invention and depicted as a single unit may be divided into subunits. Conversely, components and/or actions ascribed to exemplary embodiments of the invention and depicted as sub-units/individual actions may be combined into a single unit/action with the described/depicted function.

Alternatively, or additionally, features used to describe a method can be used to characterize an apparatus and features used to describe an apparatus can be used to characterize a method.

It should be further understood that the individual features described hereinabove can be combined in all possible combinations and sub-combinations to produce additional embodiments of the invention. The examples given above are exemplary in nature and are not intended to limit the scope of the invention which is defined solely by the following claims.

Each recitation of an embodiment of the invention that includes a specific feature, part, component, module or process is an explicit statement that additional embodiments of the invention not including the recited feature, part, component, module or process exist.

Alternatively or additionally, various exemplary embodiments of the invention exclude any specific feature, part, component, module, process or element which is not specifically disclosed herein.

Specifically, the invention has been described in the context of dairy cattle but might also be used in the context of beef cattle, swine, sheep or goats.

All publications, references, patents and patent applications mentioned in this specification are herein incorporated in their entirety by reference into the specification, to the same extent as if each individual publication, patent or patent application was specifically and individually indicated to be incorporated herein by reference. In addition, citation or identification of any reference in this application shall not be construed as an admission that such reference is available as prior art to the present invention. The terms "include", and "have" and their conjugates as used herein mean

"including but not necessarily limited to".