Patent Description:
In an agricultural environment where milk is extracted from animals, such as on a dairy farm, the animals may be kept in a holding area, before they are allowed to enter a milking parlour where the animals are milked. The holding area may sometimes have a moveable crowd gate for encouraging the animals to move within the holding area, towards the milking parlour in order to get milked, so that the milking operations (parlour filling time) proceed as smoothly as possible. The crowd gate is often used in combination with a "bell" that sounds before or while the crowd gate moves.

<CIT> discloses an automated crowd gate connected to a milking box to ensure that the animals move from a first pasture section to the milking box. The crowd gate is provided with at least one first arm which is pivotal about an upwardly directed shaft. Mounted at or near the end of this first arm there may be provided a second arm which is pivotal relative to this first arm. An infrared sensor may be provided on the milking box for finding the location of an animal. By means of the infrared sensor the approximate position of the animals can be determined, whilst using the crowd gate an animal can be guided to the milking box.

<CIT> discloses a holding pen for dairy livestock, a crowd gate, and a controller. The holding pen is adjacent to an entrance to a milking parlor. The crowd gate is operable to form a side of the holding pen and to move in relation to the entrance to the milking parlor along an axis substantially parallel to two other sides of the holding pen. The controller is operable to store a triggering threshold associated with a counter related to the milking parlor, to determine whether the counter has reached the triggering threshold, and to initiate a first mode of operation of the crowd gate in response to determining that the counter has reached the triggering threshold, wherein the first mode of operation comprises a pre-forward reverse step in which the crowd gate initiates movement away from the entrance prior to moving towards the entrance.

One challenge today is that crowd gates are generally manually or semi-manually operated, which means that it is difficult to obtain a consistent flow of animals into the milking parlour entrance. Also, crowd gates are sometimes operated from remote distance, by a person who does not have a complete overview, meaning that sometimes the crowd gate can be activated even though the animals that it pushes are prevented from moving forward because there are too many other animals blocking their way. Such operation associated with the crowd gate may cause unnecessary stress levels to the animals. It may even be a potential risk for farm employees, who may be hit by the moving gate (if not by the gate so by being squeezed or trampled by the animals), as well as to the animals in the holding area.

It would for these reasons be desirable to find a way to better control the crowd gate, giving the animals sufficient space while still ensuring a consistent animal flow towards the milking parlour entrance.

It is an object of the disclosure to alleviate at least some of the drawbacks with the prior art. Thus, it is an object to provide a crowd gate controlled such that it does not stress the animals, but still ensures a consistent animal flow towards the milking parlour.

According to a first aspect but not according to the invention, the disclosure relates to a method for controlling an automated crowd gate operable to form a side of a holding area and to move in relation to an entrance of a destination, in order to cause animals located in the holding area to move towards the destination. The method comprises obtaining, from a real-time location system, RTLS, location data defining individual positions of one or more animals located in the holding area, obtaining a current position of the crowd gate, and controlling an operation associated with the crowd gate, based on the obtained position of the crowd gate and the location data. By using location data from a RTLS it is possible to get a desired flow of animals through the entrance to the destination, as the current location of individual animals in the holding area may be considered when controlling the operation.

In some embodiments, the controlling comprises controlling a movement of the crowd gate and/or controlling transmission of a warning signal that is perceivable to one or more of the animals in the holding area. Hence, the location data may be used to control the operation associated with the crowd gate in different ways, in order to improve the flow of animals through the entrance to the destination.

In some embodiments, the controlling comprises controlling a speed or a speed pattern of the movement of the crowd gate. Thereby, the speed may be adopted to be optimised based on different situations, for example based on where in the holding area the animals are located.

In some embodiments, the location data comprises at least one of level of stationarity, movement, acceleration and direction of movement of the one or more individual animals. Hence, different types of data may be used to make the control of the operation even more adapted to, for example, the specific situation and the animal's behaviour.

In some embodiments, the method comprises determining, based on the location data, a count of animals located within a distance of the entrance and the controlling comprises controlling the operation based on the determined count of animals located within a distance of the entrance. By analysing how many animals are queuing at the entrance, the crowd gate may be controlled to strive at making sure that there are always a certain count of animals ready to enter the destination.

In some embodiments, the method comprises determining, based on the location data, a count of animals located within a distance of the crowd gate and the controlling comprises controlling the operation based on the determined count of animals located within a distance of the crowd gate. Thereby, it is possible to for example move the crowd gate more gently, if there are many animals that need to move forward. Hence, stress and potential injuries among the animals may be avoided.

In some embodiments, the controlling comprises reducing, reversing or stopping the movement of the crowd gate upon determining, using the real-time location system, presence of a human, or an animal having a certain level of stationarity, in the holding area or within a distance of the crowd gate. Thus, if there is a person right in front of the crowd gate, the crowd gate is in these embodiments controlled to not move at all, in order to avoid hitting the person. The same applies if an animal is lying down right in front of the crowd gate.

In some embodiments, the controlling comprises controlling transmission of the warning signal such that, before an animal is hit by the crowd gate, a warning signal perceivable to the animal is transmitted. This may decrease stress, as the animals will always be warned before they are hit. On the other hand, if no animals are in the way, no warning signal is transmitted, which makes the wait before milking even more quiet and peaceful.

In some embodiments, the method comprises determining, based on the location data, a distribution of animals within the holding area and/or a density of animals within a part of the holding area, and the controlling comprises controlling the operation associated with the crowd gate based on the determined distribution or density. Thereby, the movement of the crowd gate may be adapted based on the density (i.e. no. animals per a certain area unit) for example right in front of the crowd gate, which makes it possible to avoid for example situations where the crowd gate tries to push animals that cannot move as they are hindered by other animals.

In some embodiments, the controlling comprises controlling the crowd gate to move with a lower speed if the determined density of animals in a part of the holding area is above a first value, than if it being below the first density value. Thereby, the animals are less stressed if the holding area is crowded so that it may be difficult for the animals to move, but the animals are on the other hand moved in an efficient way if there is a lot of space.

In some embodiments, the controlling comprises refraining from moving the crowd gate upon the determined density in a part of the holding area meeting a second density value. Thus, if the holding area, or a part of it, is very crowded it may be better not to move the crowd gate at all.

In some embodiments, the controlling comprises operating the crowd gate such that there is always a certain count of animals within a distance of the entrance. Thereby, a constant flow of animals to the destination may be assured.

In some embodiments, the method comprises determining, based on the location data, a movement of one or more of the animals in the holding area, and the controlling comprises controlling the operation associated with the crowd gate based on the determined movement. Thus, the crowd gate may be operated based on whether the animals move or act in a desired manner. If they do, it is typically desirable to disturb them as little as possible. Hence, the crowd gate should typically not hit any animal and the warning signal does not need to be transmitted.

In some embodiments, the controlling comprises operating the crowd gate to a default position upon determining, based on the location data, that the count of the animals in the holding area is below a threshold. Thus, when all (or most of) the animals have entered the destination, the crowd gate may move back to let in more animals.

In some embodiments, the controlling comprises ceasing to transmit the warning signal upon the determined movement corresponding to a desired movement. Thereby, the animals are not disturbed when not required, which makes the process of moving them more relaxed.

In some embodiments, the warning signal is at least one of a visible signal, an audio signal, a vibration signal, an electrical signal or a tactile signal. Thus, different types of warning signals may be used, or different combinations of warning signals may be used.

In some embodiments, the controlling comprises controlling the operation associated with the crowd gate using one or more rules, which are configurable, settable or predefined. Thereby, the farmer may choose to adapt the rules to a certain population of animals, or a default value may be used.

According to a second aspect, an automated crowd gate according to the invention is disclosed in claim <NUM>.

According to a third aspect but not according to the invention, the disclosure relates to a computer program comprising instructions which, when the program is executed by a computer, cause the computer to carry out the method according to the first aspect.

According to a fourth aspect but not according to the invention, the disclosure relates to a computer-readable medium comprising instructions which, when executed by a computer, cause the computer to carry out the method according to the first aspect.

As livestock systems (for example dairy, beef, sheep and pigs) become more intensive, producers typically need to manage livestock on a larger scale, while labour availability, skill and resources are often limited. For this purpose, many farms use Real-Time Location Systems, RTLS. For example, <CIT> discloses an animal monitoring system, comprising an RTLS for individually identifying and tracking the movements of tagged animals in three dimensions within a monitoring zone.

This disclosure is based on the insight that location data provided by a RTLS may also be used to control operation of a crowd gate. More specifically, it is herein proposed to let a control system of a crowd gate, based on location data provided by an RTLS, find out the positions of individual animals that are in the holding area and use it for controlling operation associated with the crowd gate. By also knowing the position of the crowd gate, the information from the RTLS may be used to control the operation associated with the crowd gate in an efficient way. The location data may also in some embodiments comprise information regarding if and how the individual animals move, which may also be useful when deciding how to operate the crowd gate. The principles of controlling a crowd gate based on location data obtained from an RTLS will now be described with reference to the figures.

<FIG> illustrates a schematic scenario of a farm, seen from above. The farm comprises a destination <NUM>, here embodied as a milking parlour, and a holding area <NUM> with an entrance <NUM> in-between. The holding area <NUM> (sometimes also be referred to as waiting area, holding pen, etc.) is used to hold animals waiting to be milked. A group of animals <NUM> is allowed to enter the holding area <NUM> through an entrance (not shown). The milking parlour may comprise any type of batch milking system, such as a conventional parlour, a number of milking robots, a rotary milking platform, etc. Typically, a predetermined number of animals <NUM> may be allowed to enter the holding area <NUM> where after the entrance to the holding area <NUM> is closed.

The animals <NUM> may be any arbitrary type of animal such as for example a domesticated animal. However, the herein provided non-limiting examples primarily relate to non-human milk and/ or meat producing animals such as cow, goat, sheep, camel, dairy buffalo, yak, etc..

The size of the holding area <NUM> may be adjusted by means of a moveable crowd gate <NUM> arranged to form one side of the holding area <NUM>. The crowd gate <NUM> is operable to selectively move towards and away from the entrance <NUM> of the destination <NUM>. When the crowd gate <NUM> is moved towards the entrance <NUM> of the destination <NUM>, the size of the holding area <NUM> is decreased and when the crowd gate <NUM> is moved away from the entrance <NUM> of the destination <NUM>, the size of the holding area <NUM> is increased. The moveable crowd gate <NUM> may move in relation to the entrance <NUM> along an axis substantially parallel to two other sides of the holding area <NUM> and may for example rest on rails along the walls, floor or ceiling of the holding area <NUM>. However, the moveable crowd gate <NUM> may alternatively be supported by wheels running on the floor, or in any other feasible manner. The moveable crowd gate <NUM> may in some alternative embodiments be arranged on an autonomous vehicle, configured to guide the animals <NUM> towards the entrance <NUM> to the destination <NUM>.

An actuator <NUM>, such as an electrical/ pneumatic/ hydraulic/ engine, may be arranged to cause the moveable crowd gate <NUM> to move from a starting position (as illustrated in <FIG>) in a first direction <NUM> towards the entrance <NUM> of the destination <NUM>. The animals <NUM> are thereby encouraged to enter the destination <NUM> through the entrance <NUM>. Operations associated with the crowd gate <NUM> are controlled by a control unit <NUM>, based on data received from a RTLS <NUM>, as will be further explained in conjunction with presentation of the proposed method (<FIG>) and the illustrative scenarios of <FIG>. The actuator <NUM> may be distinct from the control unit <NUM> but may receive commands from the control unit <NUM> via a wired or wireless communication interface.

In some embodiment, a warning arrangement <NUM> is arranged at the crowd gate <NUM> for encouraging the animals <NUM> to move towards the entrance <NUM> of the destination <NUM>. The warning arrangement <NUM> comprises for example one or more bells, speakers, vibrators or light sources. The warning arrangement <NUM> is configured to transmit a warning signal perceivable to one or more of the animals <NUM> in the holding area <NUM>.

The warning signal is for example a visible signal, an audio signal, a vibration signal, an electrical signal or a tactile signal. In some embodiments, the warning arrangement <NUM> is arranged such that the warning signal may be directed towards one or more of the animals <NUM>. In some embodiments the warning signal is transmitted using a tag <NUM> (<FIG>) of the RTLS <NUM>. For example, the tags <NUM> may be configured to generate the warning signal (for example a sound signal, a vibration or a tactile signal) perceivable in particular to the animal <NUM> wearing it. The warning arrangement <NUM> may be distinct from the control unit <NUM> but may receive commands from the control unit <NUM> via a wired or wireless communication interface.

The moveable crowd gate <NUM> may in some embodiments, as a security measure, comprise a pressure sensor, proximity sensor or the like, arranged on the crowd gate <NUM>, which may serve as an emergency stop for the movements of the crowd gate <NUM> in case an animal <NUM> is in the way. The movement may be halted for a predetermined or configurable period of time. It may thereby be avoided that animals <NUM> get hurt by the crowd gate <NUM> or get stuck in the crowd gate <NUM>. The emergency stop may trigger an emergency alarm, engaging the attention of the farmer.

<FIG> illustrates an example of a RTLS <NUM> that may be used by the proposed method and control unit <NUM>. An RTLS <NUM> is a known type of system used to track the location of objects, such as animals <NUM>, in real time using tags <NUM> (active or passive) attached to animals <NUM> and readers <NUM> that receive wireless signals from these tags <NUM> to determine their locations. The wireless communication includes, but is not limited to, a cellular radio, a WiFi radio, a Bluetooth radio, a Bluetooth low energy (BLE) radio, UltraWideBand (UWB) radio or any other appropriate radio frequency communication protocol. The particular number and placement of the readers <NUM> will depend on the size and shape of a tracking zone <NUM>, for example a farm, being monitored.

In some embodiments the tags <NUM> also comprise orientation sensors configured to generate data indicative of the orientation of the sensor, such as a three-axis accelerometer assembly or a gyro assembly. The tags <NUM> may also include other sensors or components, such as object monitoring sensors. The object monitoring sensors may comprise a thermometer, a heart rate monitor, a vibration sensor, a camera, a microphone, or any other appropriate device.

When the RTLS <NUM> is in use, the location of each tag <NUM> is tracked within the tracking zone <NUM> using multi-lateration techniques known in the art, for example using Time Difference of Arrival (TDOA) and Received Signal Strength Indicator (RSSI) techniques. To this end, data from the readers <NUM> is supplied to a control system <NUM> that determines, in real-time basis, the instantaneous position of each tag <NUM> in the tracking zone <NUM>. The control system <NUM> may be implemented as a computer-based system that is capable of executing computer applications (for example, software programs). An exemplary application of the control system <NUM> includes a real-time location function, configured to determine a two or three-dimensional position of the tag <NUM> within a tracking zone <NUM>. The control system <NUM> may for example use triangulation of data provided by three or more readers <NUM> to determine the location of the tags <NUM>.

In some embodiments, the control system <NUM> is configured to determine a movement of the tags <NUM>, including for example direction of movement and amount of movement. In some embodiments, the control system <NUM> is configured to determine an orientation of the tag <NUM>. In some embodiments, the control system <NUM> is configured to discriminate between different activities of an animal <NUM> wearing the tag <NUM> based upon the location, movement and orientation of the animal's tag within the monitoring zone. As an example, the level of stationarity may be determined, such as whether the animal is sleeping, lying down, resting, stagnant or active. The object monitoring function, any other applications and an operating system executed by the control system <NUM> may be stored on a non-transitory computer readable medium, such as a memory.

The control system <NUM> also may have one or more communications interfaces. The communications interfaces may include for example, a modem and/or a network interface card. The communications interfaces enable the control system <NUM> to send and receive data to and from other computing devices such as the control unit <NUM> configured to control the operation associated with the crowd gate <NUM>. Also, the communications interface enables the control system <NUM> to receive messages and data from the readers <NUM> or directly from the tags <NUM> either directly or via another communications network. The communications network may be any network platform and may include multiple network platforms. Exemplary network platforms include, but are not limited to, a WiFi network, a cellular network, etc..

The proposed technique will now be described in further detail with reference to the flow chart of <FIG> and the farm of <FIG>.

The flow chart in <FIG> illustrates the method for controlling an automated crowd gate <NUM> operable to form a side of a holding area <NUM> and to move in relation to an entrance <NUM> of a destination <NUM>, in order to cause animals <NUM> located in the holding area <NUM> to move towards the destination <NUM>. The method is typically performed when a group of animals <NUM> shall be moved to a destination <NUM>, such as to a milking parlour for milking.

The method may be implemented as a computer program comprising instructions which, when the program is executed by a computer (for example a processor <NUM> in the control unit <NUM> (<FIG>)), cause the control unit <NUM> to carry out the method. According to some embodiments the computer program is stored in a computer-readable medium (for example a memory or a compact disc) that comprises instructions which, when executed by a computer, cause the computer to carry out the method.

In order to control the operation of the moveable crowd gate <NUM>, the method may comprise a number of steps S1-S5. However, some of these steps are optional, which is illustrated with dashed lines, and may be performed solely in some embodiments. Further, the described steps may be performed in a somewhat different chronological order than the numbering suggests.

The method comprises obtaining S1 location data from the RTLS <NUM>. The location data defines individual positions of one or more animals <NUM> located in the holding area <NUM>. In other words, information which is typically already available in the RTLS <NUM> is retrieved using a communication interface <NUM>. The location data is typically continually or repetitively obtained S1 by the control unit <NUM>. In some embodiments, the location data also comprises, in addition to the individual positions, at least one of level of stationarity, movement, acceleration and direction of movement of the one or more individual animals <NUM>, as described above.

In addition to the location data, the position of the crowd gate <NUM> has to be known. In other words, the method further comprises obtaining S2 a current position of the crowd gate <NUM>. In some embodiments, the current position of the crowd gate <NUM> is obtained using RTLS tag(s) attached to the crowd gate <NUM> (preferably two at the ends, or just one and then the dimensions of the crowd gate may be added to the system configuration for better accuracy). Alternatively, the position may be obtained by deducing the position of the crowd gate <NUM> using historic information, such as the running time or engine speed of the controlling motors. The position of the crowd gate <NUM> may also be obtained using other techniques, for example positioning techniques.

When the location of the individual animals <NUM> and the position of the crowd gate <NUM> are known, different parameters may be calculated. For example, the number of animals located in the holding area <NUM> may be determined.

As the position of each animal <NUM> is known, more advanced calculations may also be made. For example, it is possible to calculate if there are any animals <NUM> close (e.g. in a defined proximity) to the crowd gate <NUM> that may be injured if the crowd gate <NUM> moves. Also, it may be determined if there is a sufficient number of animals <NUM> close to the entrance <NUM>, which implies that an even flow of animals <NUM> through the entrance <NUM> may be expected. In other words, in some embodiments, the method comprises determining S3a, based on the location data, a count of animals <NUM> located within a distance d1 (<FIG>) of the crowd gate <NUM> and/or within a distance d2 (<FIG>) of the entrance <NUM>. Hence, the distances d1 defines an area in the holding area <NUM> right in front of the crowd gate <NUM>, in the direction of the entrance <NUM>, as shown in <FIG>. In the same way, the distance d2 defines an area in the holding area <NUM> right in front of the entrance <NUM>. The distances d1 and d2 are for example one or a few meters.

Also, the density of animals <NUM> in a part of the holding area <NUM>, may be calculated. The certain part of the holding area is for example a specific area of the holding area or the entire holding area. In other words, the number of animals per area unit in the holding area <NUM>, or in a certain part of it may be determined. Alternatively, the distribution of animals may be analysed. The distribution is basically the pattern formed by the positions of the individual animals <NUM> in the holding area <NUM>. The distribution and density may be analysed to find out where in the holding area <NUM> the animals are located. The distribution or density may also provide information regarding if the animals <NUM> have enough space to move (if pushed) or if there is a risk that they are in the way of each other. In conclusion, in some embodiments, the method comprises determining S3b, based on the location data, a distribution of animals <NUM> within the holding area <NUM> and/or a density of animals within a part of the holding area <NUM>.

The location data may also be used to determine how the animals move. For example, by studying the individual positions over time. Based on the location data it is possible to determine if and how an individual animal <NUM> moves. In addition, data provided by orientation sensors in the tags <NUM> may indicate the stationarity of a certain animal, such as if it lies down or has not moved for a while. A level of stationarity corresponds to a likelihood the animal will move (in the desired direction). An animal having a high level of stationarity (as it is facing away or lying down) is not likely to move soon. However, an animal who just took a few steps in a desired direction may be expected to move further soon. In other words, in some embodiments, the method comprises determining S4, based on the location data, a movement of one or more of the animals <NUM> in the holding area <NUM>.

Hence, the location data may be analysed in a variety of ways in order to determine how to control the operation associated with the crowd gate <NUM> in an efficient manner. One or more rules may be defined to control the operation. These rules may be settable (for example in a user interface by a farmer), configurable (e.g. by software or at installation of the crowd gate <NUM>) or predefined. For example, the farmer may set rules based on the personalities of the animals <NUM>. For example, parameters such as the distances d1 and d2 or the density values mentioned above may be configured or predefined. In general, all parameters used to control the crowd gate <NUM> may be configurable, settable or predefined as suitable. More specifically, the method further comprises controlling S5 an operation associated with the crowd gate <NUM>, based on the obtained position of the crowd gate <NUM> and the location data. The operation associated with the crowd gate is for example controlled by sending a control signal or control data to the actuator <NUM> or to the warning arrangement <NUM>. The control signal or control data comprises information defining how to move the crowd gate <NUM> or how to transmit the warning signal. In some embodiments, the controlling S5 comprises controlling a movement of the crowd gate <NUM>. For example, an acceleration, a speed or a speed pattern of the movement of the crowd gate <NUM> is controlled S5. In other words, the crowd gate may be controlled to move in different ways, for example fast or firmly (for example with constant speed) or with small pushes, depending on how the individual animals are positioned in the holding area <NUM>.

The transmission of the warning signal may also be controlled in an efficient way based on the location data. For example, the warning signal may not be transmitted at all when not required in order to avoid stressing the animals. In some embodiments, the warning signal is directed only to those animals that needs to be warned or alerted. For example, if a tactile signal (such as a gentle vibration or tickling) is transmitted (for example using the tags <NUM>) then the signal may only be transmitted to some of the animals <NUM>. In other words, in some embodiments, the controlling S5 comprises controlling transmission of a warning signal that is perceivable to one or more of the animals <NUM> in the holding area <NUM>. The warning signal is a visible signal, an audio signal, a vibration signal, an electrical signal or a tactile signal.

A plurality of different criteria may be defined and combined to control the operation associated with the crowd gate <NUM> based on the location data. For example, in some embodiments, the controlling S5 comprises controlling S5a the operation based on the determined count of animals <NUM> located within a distance d1 (<FIG>) of the crowd gate <NUM>. For example, if there are no animals <NUM> within the distance d1 the crowd gate <NUM> may be controlled to move with a higher speed.

For example, in some embodiments, the controlling S5 comprises controlling S5 the operation based on the determined count of animals <NUM> located within a distance d2 (<FIG>) of the entrance <NUM>. For example, if there are no animals <NUM> close to the entrance <NUM>, then the crowd gate <NUM> may be controlled to try to force the animals <NUM> to move forward also using the warning signal.

Also, if a person is standing right in front of the crowd gate <NUM>, in the direction of the entrance <NUM>, then the crowd gate <NUM> should typically not move at all, at least not in that direction. The same goes if an animal <NUM> is lying down in the holding area <NUM>. In other words, in some embodiments, the controlling S5 comprises reducing, reversing or stopping the movement of the crowd gate <NUM> upon determining, using the a real-time location system <NUM>, presence of a human, or an animal <NUM> having a certain level of stationarity, in the holding area <NUM> or within a distance d1 of the crowd gate <NUM>.

It may also be desirable to make sure that an animal <NUM> is always warned before it is hit by the crowd gate <NUM>. A hit may be predicted as the position of the crowd gate and the position of the animal <NUM> is known from the location data. In some embodiments, the controlling S5 comprises controlling transmission of the warning signal such that, before an animal is hit by the crowd gate <NUM>, a warning signal perceivable to the animal <NUM> is transmitted.

In some embodiments, the controlling comprises controlling S5b the operation associated with the crowd gate <NUM> based on the determined distribution or density. For example, the crowd gate should typically move slowly when there are many (above a certain threshold) animals <NUM> in a part of the holding area <NUM>, as they may prevent each other from moving fast. In this way the animals <NUM> may be given time to reposition or to leave space for each other, while moving towards the destination <NUM>. In other words, in some embodiments, the controlling S5 comprises controlling the crowd gate <NUM> to move with a lower speed if the determined density of animals is above a first value, than if it being below the first density value.

If the density is very high, it may be better not to move the crowd gate at all, until some more animals have entered the destination <NUM>. In other words, in some embodiments, the controlling S5 comprises refraining from moving the crowd gate <NUM> upon the determined density meeting a second density value.

As the flow of animals through the entrance is typically of high importance, it may be important to assure that there are always one or more animals cueing right at the entrance <NUM>. In other words, in some embodiments, the controlling S5 comprises operating the crowd gate <NUM> such that there is always a certain count of animals <NUM> within a distance d2 of the entrance <NUM>.

Another way of controlling the operation associated with the crowd gate is to study how the animals <NUM> move. In general, if the animals are moving in a desired way or direction, moving the crowd gate <NUM> or transmitting the warning signal may only cause unnecessary stress. In other words, in some embodiments the controlling comprises controlling S5c the operation associated with the crowd gate <NUM> based on the determined movement. In some embodiments, the controlling S5 comprises ceasing S5 to transmit the warning signal upon the determined movement corresponding to a desired movement.

The location data may also be used to determine when all (or most of) the animals <NUM> have entered the destination <NUM>. Hence, in some embodiments, the controlling S5 comprises operating the crowd gate <NUM> to a default position upon determining, based on the location data, that the count of the animals <NUM> in the holding area <NUM> is below a threshold. The default position is for example a reversed position. The default position is in some embodiments, an elevated position, which enables a new group of animals to enter the holding area <NUM> under the elevated crowd gate <NUM>. Alternatively, animals may enter the holding area <NUM> from a specific entrance (not shown) of the holding area <NUM>, which is available in the reverse position. In other words, when there are no animals in the holding area <NUM> (that is, all have entered the destination) it is controlled to automatically reverse to the start position and let a new group of animals <NUM> in. It is also possible to use the RTLS to deduce when the holding area <NUM> is filled and it is time to start a new push cycle, where a new group of animals shall be moved to the destination. The location data may also be used to determine if there are any objects, such as persons, behind the crowd gate <NUM> before starting the reverse movement.

<FIG> illustrates animals located in a holding area <NUM> with a moveable crowd gate <NUM>, according to a first example scenario. In this example scenario, a person <NUM> is located in the holding area <NUM>. The crowd gate <NUM> is then controlled to stop or reverse its movement in response to detecting that the person <NUM>, who is wearing a special RTLS tag, is close to (within a predetermined distance of) the crowd gate <NUM>. Alternatively, the crowd gate <NUM> may be controlled to stop the crowd gate <NUM> and give a system alert if an animal <NUM> is lying down in front of it (in relation to direction of the entrance) with no attempt to stand up. The RTLS tag <NUM> can supply this kind of information, for example if it has an accelerometer.

<FIG> illustrates animals located in a holding area <NUM> with a moveable crowd gate <NUM>, according to a second example scenario. In this example scenario, there are no animals <NUM> right in front of the crowd gate <NUM>. Hence, the crowd gate <NUM> can move firmly (that is with constant speed) with a moderate or high speed until it approaches animals <NUM> located closer to the destination <NUM>.

<FIG> illustrates animals located in a holding area <NUM> with a moveable crowd gate <NUM>, according to a third example scenario. In this example scenario, the holding area <NUM> is extremely dense (for example density is above a threshold). Thus, there may not be a need to move the crowd gate <NUM> at all, or it shall be moved very gently, that is with a very low speed.

<FIG> illustrates an example where animals <NUM> are located in a holding area <NUM> with a moveable crowd gate <NUM>, according to a fourth example scenario. In this example, there is free space right in front of the destination <NUM>, but a group of animals <NUM> are located just in front of the crowd gate <NUM>. The crowd gate <NUM> may then be controlled to move semi-firmly with small pushes. In other words, the crowd gate <NUM> is controlled to move with a periodic speed pattern. For example, the crowd gate moves with s first speed for a short period of time and is thereafter still for a period of time. Such a movement will force the group of animals to move forward and at the same time leave time for animals <NUM> in the front of the group to move in order to provide space for animals <NUM> behind, as the animals <NUM> in the last row (close to the crowd gate <NUM>) may be prevented from moving by the animals <NUM> standing right in front of them. Also, the animals might want to reposition, wait for each other, wait for a certain cow or readjust their order, which requires some time and space. In some embodiments the crowd gate <NUM> is moved in sequence with a warning signal, such as a bell, transmitted by the warning arrangement <NUM>.

<FIG> illustrates animals <NUM> located in a holding area <NUM> with a moveable crowd gate <NUM>, according to a fifth example scenario. In this example scenario, there is just one single animal <NUM> right in front of the crowd gate <NUM> with a lot of space in front of it. In this case the crowd gate <NUM> may be controlled to be moved firmly with moderate speed (possibly in sequence with a bell) with a constant movement pattern, as there are no other animals that are hindering the animal <NUM> from moving.

<FIG> illustrates the control unit <NUM> in more detail. The control unit <NUM> should be considered as a functional unit, which may be implemented by one or several physical units. In other words, the control unit is in some embodiments a control arrangement. The control unit <NUM> comprises hardware and software. The hardware is for example various electronic components on a for example a Printed Circuit Board, PCB. The most important of those components is typically a processor <NUM> for example a microprocessor, along with a memory <NUM> for example EPROM or a Flash memory chip. The software (also called firmware) is typically lower-level software code that runs in the microcontroller. The control unit <NUM> comprises a communication interface, for example I/O interface or other communication bus, for communicating with the RTLS <NUM>.

The control unit <NUM>, or more specifically a processor <NUM> of the control unit <NUM>, is configured to perform all aspects of the method described in <FIG>. This is typically done by running computer program code stored in the memory <NUM>, in the processor <NUM> of the control unit <NUM>. Hence, the control unit <NUM> is configured to control the automated crowd gate <NUM>.

More particularly, the control unit <NUM> is configured to obtain, from a real-time location system <NUM>, location data defining individual positions of one or more animals <NUM> located in the holding area <NUM>.

The control unit <NUM> is also configured to obtain a current position of the crowd gate <NUM> and to control an operation associated with the crowd gate <NUM> (using the actuator <NUM> and warning arrangement <NUM>, based on the obtained position of the crowd gate <NUM> and the location data.

In some embodiments, the control unit <NUM> is configured to control a movement of the crowd gate <NUM> and/or transmission of a warning signal that is perceivable to one or more of the animals <NUM> in the holding area <NUM>.

In some embodiments, the control unit <NUM> is configured to control a speed or a speed pattern of the movement of the crowd gate <NUM>.

In some embodiments, the control unit <NUM> is configured to determine, based on the location data, a count of animals <NUM> located within a distance d1 of the crowd gate <NUM> and/or within a distance d2 of the entrance <NUM> and to control the operation based on the determined count of animals <NUM> located within a distance d1 of the crowd gate <NUM> and/or within a distance d2 of the entrance.

In some embodiments, the control unit <NUM> is configured to reduce, reverse or stop the movement of the crowd gate <NUM> upon determining, using the a real-time location system <NUM>, presence of a human, or an animal <NUM> having a certain level of stationarity, in the holding area <NUM> or within a distance d1 of the crowd gate <NUM>.

In some embodiments, the control unit <NUM> is configured to control transmission of the warning signal such that, before an animal is hit by the crowd gate <NUM>, a warning signal perceivable to the animal <NUM> is transmitted.

In some embodiments, the control unit <NUM> is configured to determine, based on the location data, a distribution of animals within the holding area <NUM> and/or a density of animals within a part of the holding area <NUM>, and to control the operation associated with the crowd gate <NUM> based on the determined distribution or density.

In some embodiments, the control unit <NUM> is configured to control the crowd gate <NUM> to move with a lower speed if the determined density of animals is above a first value, than if it being below the first density value.

In some embodiments, the control unit <NUM> is configured to cause the crowd gate to refrain from moving upon the determined density meeting a second density value.

In some embodiments, the control unit <NUM> is configured to control the operation associated with the crowd gate <NUM> such that there is always a certain count of animals <NUM> within a distance d2 of the entrance <NUM>.

In some embodiments, the control unit <NUM> is configured to determine, based on the location data, a movement of one or more of the animals <NUM> in the holding area <NUM>, and to control the operation associated with the crowd gate <NUM> based on the determined movement.

In some embodiments, the control unit <NUM> is configured to control the operation associated with the crowd gate <NUM> to a default position upon determining, based on the location data, that the count of the animals <NUM> in the holding area <NUM> is below a threshold.

In some embodiments, the control unit <NUM> is configured to cease transmission of the warning signal upon the determined movement corresponding to a desired movement.

In some embodiments, the control unit <NUM> is configured to control the operation associated with the crowd gate <NUM> using one or more rules, which are configurable, settable or predefined.

The terminology used in the description of the embodiments as illustrated in the accompanying drawings is not intended to be limiting of the described method; control unit or computer program. Various changes, substitutions and/or alterations may be made, without departing from the scope of the invention defined by the appended claims.

Claim 1:
An automated crowd gate (<NUM>) comprising a control arrangement (<NUM>) for controlling the automated crowd gate (<NUM>), wherein the crowd gate (<NUM>) is operable to form a side of a holding area (<NUM>) and to move in relation to an entrance (<NUM>) of a milking parlour (<NUM>), in order to cause animals (<NUM>) located in the holding area (<NUM>) to move towards the milking parlour (<NUM>), the control arrangement (<NUM>) being configured to:
- obtain, from a real-time location system (<NUM>), location data defining individual positions of the animals (<NUM>) located in the holding area (<NUM>),
- obtain a current position of the crowd gate (<NUM>),
- control an operation associated with the crowd gate (<NUM>), based on the obtained position of the crowd gate (<NUM>) and the location data,
- determine, based on the location data, a count of animals (<NUM>) located within a distance (d1) of the crowd gate (<NUM>) and/or within a distance (d2) of the entrance (<NUM>), and
- control the operation based on the determined count of animals (<NUM>) located within a distance (d1) of the crowd gate (<NUM>) and/or within a distance (d2) of the entrance.