DE4113700A1 - Automatic milking using milking robot - using stored data to position milking cups for each individual cow - Google Patents

Abstract

The milking robot (27) uses milking cups (21) which are automatically fitted to the teats of the cow standing in the milking stall under control of a data memory and processor. The robot (27) brings each milking cup (21), or the milking cup group, into an intermediate position (ZWP1) in front of the udder of the cow. A specific intermediate position (ZWP1) is held in the memory for each individual cow. The milking cups (21) are attached to the teats in a specified sequence. Pref. the specific data for each cow is held in the memory as path lengths, the movement of the cow within the milking stall detected via position sensors to update the automatic positioning of the milking cups. ADVANTAGE - Allows automatic attachment of milking cups, without harming cow.

Description

The invention relates to a method for automatic milking of standing in a milking box Animals, especially dairy cows, using a robot guided teat cup, which, from a data storage and computer controlled, approached to the animal's teats and put on, as well as on a milking box, the one Milking robot and a milking module Performing this procedure.

It is known to use dairy cows automatically milking automatic milking robots. The dairy cows are to do this through an entrance door into a milking box, in which the cow is surrounded by walls after entering is that allow a comfortable standing, the However, restrict freedom of movement. On the head side the milking box is a feeding place that the cow lets forget that their freedom of movement is restricted is. The cow also knows that she is in the milking box is milked and generally feels this as enjoyable.

According to the state of mind of the cow when entering the milking box and how to cope with the situation they either move calmly to wildly. A calm one Behavior will attach the milking cup to the  Do not make teats difficult. But it is difficult with itself wild or actively moving cows. In these cases the automatic milking robot fail or even to be damaged.

Another disadvantage of known automatic milking robots consists in the length of the milking process. The milking cup become with each new milking process Starting position outside the cow for each milking teat.

It is an object of the invention, a method of the beginning to create the type mentioned, in which the piecing process accelerated and ensured that the piecing process completed safely and without danger to cow and robot can be.

The object is achieved according to the invention in that that

• - the milking cup or a milking cup group from the robot is moved to an intermediate position, which is in a horizontal plane in front of and below the udder of the animal, previously in one Teach-in process once for each individual animal milking the location of this intermediate position as well measured from teat positions and the measured values as data storage animal-specific positions have been entered,
• - the robot handling the teat cups from the animal-specific intermediate position computer controlled in for the teat of this animal drives specific teat start positions, these  Teat start positions when handling one Teat cup group may be skipped,
• - The robot then handles the individual Milking cups computer controlled one after the other, stored individual target teat positions and at Manage a teat cup group computer controlled approaches a central target teat position,
• - Probe controlled from these target teat positions the current actual teat position is determined and from Milking cup or the milking cup group is approached,
• - the milking cup or the milking cup group from the actual quotation zenposition is set by raising.

By introducing the intermediate and start positions before The teat cup can be attached to the udder or several can be combined into one Milking cup group summarized milking cups from the robot can be quickly moved near the udder if there are the perhaps wildly or actively moving cow for behaves calmer for a moment. Of this Intermediate position from the individual approach from Milking cups these successively the teat start positions, the target teat positions and actual teat positions start up, the data storage and computer also for this will ensure that a physical return to the Intermediate or start positions do not have to take place, but by referring to the intermediate or start positions from one teat to the next immediately Teat approached with its target and actual teat position becomes.

When using a group of teat cups, the Intermediate position immediately a central debit  Teat position approached, which is between the teats and from which the computer is the teat cup group probe-controlled to the current central actual teat position runs between the teats.

Data storage is of particular importance the dimensions of each cow. Every udder is individually designed differently. Become the individual Dimensions of each cow previously in the data storage entered, then only the name or one is needed Code of the cow to be called if this the Milk box enters. The robot arm can then do this Milking cup immediately in the intermediate position of the straight milking cow and from there using global sensors drive to the starting positions from which over the stored target teat position the current actual teat position can be reached in the shortest possible time.

The behavior of the cow goes into the start-up and attachment process a. If a cow reacts with too active, wild movements, be it when entering the milking box or while it is moving already staying in this one because maybe she's a fly annoyed, then the robot arm stops immediately and remains in this position until the cow is back has calmed down. Only then does he set his start-up and Attachment movement continues. So the cow becomes wild Movements not from the still moving Robot arm irritates, so it can calm down more quickly. But it is also important that the cow overreacts the robot arm, which remains calm, is not damaged.  

According to a further embodiment of the invention provided that the cow-specific data in the data memory saved as path lengths. This setting and Saving the path lengths provides an easy way represents the milking cup or cups by means of the robot arm, specifically tailored to the individual cow, for Intermediate position and on to the start positions and To move teats.

According to a further embodiment of the invention provided that the movements of the cow in the milking box be monitored by sensors that are on the body of the Cow are directed. Preferably come as sensors Ultrasonic sensors into consideration. But it is just as good possible to work with infrared or optical sensors. The sensors are very sensitive Changes in the position of the cow's body in the milking box.

According to a further embodiment of the invention provided that the spacing approximately every 40 to 60 msec between the affected parts of the cow and the Sensors measured and from that the during this Time intervals of changes in position of the Cow body can be determined. In a further embodiment this feature of the invention provides that the determined changes in position per time interval in classes can be divided into the data storage and computer tell whether the cow is calm, lively or active behaves, the driving process of the robot arm in Courses and thus during the time of the wild or the cow's active behavior is interrupted.  

According to a further embodiment of the invention provided that the path lengths in two-dimensional X-Y coordinate system of a horizontal plane saved and that from the respective teat start position and teat target positions outgoing probe-controlled Final alignment to the respective teat is completed by lifting the teat cup in the Z coordinate of the Coordinate system. Approaching the individual positions down to the actual teat position in the horizontal level simplifies the mechanical effort.

According to a further embodiment of the invention provided that several milking cups from the robot arm a teat cup module and this Milking cup module after attaching the milking cup to the respective teat is lowered from the attachment position. In order to the teats are only with the Milk cups loaded. You can also use the teat cup adjust freely to the teats. So the animal doesn't from the teat cup module, which acts as an attachment and removal aid serves, disturbed.

To carry out the method according to the invention is at a milking box provided that on the rear wall of the milking box, facing the rear of the cow, at about the same height to the ground and at a distance from each other sensors are whose measuring lobes face forward on the rear of the cow are directed, and that on the side walls of the milking box in Body height and a little more in front of the cow's udder Sensors are arranged, the measuring lobes across the cow whose bodies are directed. The measuring lobes are there preferably with a scattering angle of approx. 10 ° to the  Body of the cow directed. Several, preferably two on sensors directed at the rear of the cow switch measurement errors, caused by a moving tail of the cow can be out.

However, this assumes that the rear sensors are not closed are arranged high. Are the rear sensors too high? arranged, then measure them because of the very jagged Shape of the animal too imprecise. Are the rear sensors closed deeply placed, then the probability increases that the tail bothers. In a further embodiment of the invention the rear sensors are a few centimeters, preferably 15-20 centimeters lower than the base of the tail be.

The moving tail is only ever a sensor fake a shorter distance. For setting the Distance is always the measured value on the rear of the cow Directed sensor evaluated, the larger measured value delivers. This is the measured value from the rear of the Cow comes from.

To carry out the method according to the invention the robot used is designed according to the invention in such a way that the robotic arm only horizontally by one swivel joint provided with a vertical swivel axis is pivotable and still at a distance from it Swivel another acting around a vertical axis Swivel joint has to perform rotary movements in the horizontal X-Y direction. This has the advantage that the Drives of the vertical axes of rotation are decoupled from the Force absorption (weight forces caused by the animal  and vertical impact forces). The joints can do this be robust and relatively small, gearless Servo drives are operated.

In a further embodiment of the invention, that the robot arm or just the teat cups perpendicular to it can be raised and lowered in the Z direction. The robotic arm with each attachment process before the Z-height setting only in the X-Y plane on the respective cow udder set and then in the actual attachment process, for example, in a module technology by individual, pro Milking cup provided lifting axes, with a stroke of for example 250 mm superscript. So that the Simply set up the robot's motor skills. The actual Attachment process can, since it is affected by low forces is done very quickly.

In a further embodiment of the invention provided that the pivoting movements of the robot arm in the horizontal x-y plane around its horizontal Swivel axes by means of respectively assigned electric motors takes place while lifting and lowering in the vertical Z-direction is done pneumatically. The The pneumatic stroke in the Z axis is in itself also possible stroke using toothed belts or servo motors preferable because the pneumatics by means of pressure relief valves can react ideally to animal strikes. Strikes a cow the module or the teat cups, so the module or the milking cup when exceeding a certain one Give in and out in the direction of the Z axis lower. Using a position control loop (actual value encoder calculation ner valves cylinders) become modules or milking cups  after the blow soft again in the starting position method.

According to a further embodiment of the invention, the Realization of the automatic milking process Robot that is characterized by a Teat location arrangement (A) with from energy sources emitted energy (ultrasound or infrared) radiate on a target center above a individual milking cup or a central target center one with a group of teat cups Milking module are directed, with a deviation of one target center specified by the computer from the actual average point at which the teat (s) is located, which the Milk cup or robotic arm carrying the milking cup module is shifted computer-controlled in the X and Y directions until the target and actual centers coincide. The Energy beams measure the difference between target and Actual center point in the area of one of the center points enclosing measuring circuit and are able to within this measuring circuit with the computer for tracking Actual center point.

According to a further embodiment of the invention provided that two first energy beams opposite Parallels to a second energy beam at 30 ° are inclined towards each other, with the center lines cut all energy rays in the target center. The measurement is carried out by the formation of a isosceles measuring triangle; it becomes very precise.  

According to a further embodiment of the invention provided that below the first energy sources for the first two beams of energy two more Energy sources for further first energy rays are provided, which increase with the first and second energy beams in the target mean meet point. The further energy rays are used when the behavior of the animal in the Beam teats hinder the measurement. The The computer then switches from the top first energy sources to the other lower energy sources, which Take measurement.

According to a further embodiment of the invention provided that the first energy rays and the second Energy beam rising by 15 ° from the horizontal and the further energy rays towards the Horizontal rises by 40 ° to the target center are directed. This arrangement ensures that the Milking cup while measuring yourself in one sufficient safety distance below the teats are located.

According to a further embodiment of the invention Automatic milking robot characterized by

• - A teat locator with one of one Radiation source outgoing light beam leading to a Light level is expanded, through which light level Can reach through teats,
• - At least one video camera CCD 1 and / or CCD 2 , the lens center lines y 1 or / and y 2 meet in the teat cup or teat cup module center point, which also falls into the light plane, with a deviation from a predetermined target point given by the computer From the actual center in which the teat (s) is located, the robot arm carrying the teat cup or the teat cup module is shifted in a computer-controlled manner in the X and Y directions until the target and actual center points overlap.

In a further embodiment of the invention provided that that generated by the radiation source Beam of light a laser beam with highly focused parallel light rays. Serves as a radiation source preferably a laser diode. These Image processing arrangement allowed via the video cameras other observations, such as cleanliness or externally visible udder disorders. The work with just one video camera reduces the technical Expenditure. Two video cameras improve the quality of the Measurement.

According to a further embodiment of the invention provided that the lens centerlines are opposite Parallels to the blasting center line by 28 ° towards the Blasting center line are delivered.

According to a further embodiment of the invention provided that the teat location arrangement (A, B) to a Robot arm is arranged, the teat cup or the Carries teat cup module with the group of teat cups. The teat location arrangement is thus together with the Robot can be moved from milking box to milking box.

According to a further embodiment of the invention  provided that all supply lines to the teat cup and the teat cup modules over the module carrying the Robot arm and the robot to a central Milk collection point and energy supply unit are. This can make the arrangement more agile, if, for example, the lines run over a Roll guide above the robot and the Do not hinder robot movements.

The teat cups can be made in different ways be handled by a robot. A single milking cup is taken from a magazine on its own and scheduled. Here are the distances to be overcome but quite long and numerous. It is cheaper, everyone Milk cups as a group as close as possible to the Bring udder area. For this, milking cups modules used. According to a further embodiment of the Invention, such a module is designed such that

• - each milking cup detachable in one him comprehensive, carried by the robot arm Lifting device is held, by means of which he can be raised and attached to a teat,
• - The lifting device then by lowering the Teat and the milking cup sticking to it can be lowered alone again,
• - The milking cup after the milking process is complete can be traced back to the module by lowering it.

In this case, the robot arm only moves in the X-Y plane. In the Z direction only need a little Crowds to be moved.

Another embodiment of a teat cup module is  characterized in that

• - each milking cup by means of a Lifting device for attaching to a teat is, the lifting device by means of a supports inflatable rubber bellows on the module,
• - the rubber bellows can be relaxed after the attachment process, whereby the milking cup is in an angular range of up to 40 ° to the individual animal udder adjusts.

In this version, the module lowers after Do not start the milking cup; rather, it remains below the udder in contact with the attached Milking cup. In this case, it is after another Embodiment of the invention advantageous if for each An animal's teat is assigned to one of these teats Lifting device is provided, which can be with or without supports the inserted rubber bellows on a tray, the mutual spatial assignment of the Lifting devices on the tray of the middle distribution of the Teats in the X-Y plane. In one The milking cups are swiveled under the cow successively attached to the corresponding teats. In order to is a significant time saver.

Another embodiment of a teat cup module for automatic milking of standing in a milking box Dairy cows are characterized in that

• - The individual milking cups lined up in a row are arranged between parallel rails which form a sliding magazine between them,
• - The milking cups in the magazine to a lifting position are displaceable in which there is a lifting device  located,
• - The milking cup in the lifting position from the lifting device to one teat Lifting is applicable.

This teat cup module is very small. With him the teat cups are set individually; the next milking cup pushes itself after Immediately lift out the previously handled teat cup after, so that the next subsequent piecing process takes place immediately and can connect without wasting time.

Should it be desired to use the lifting movement in the Then take the Z direction out of the robot arm this according to a further embodiment of the Milk cup module for automatic milking in one Milking cows standing milk cows are made that

• - The module has a tray with four Recordings for teat cups is provided, in each a milking cup is detachably removable,
• - the arm of the robot placed on the tray Milking cups one after the other in their actual teat positions from which the robot arm then moves out a computer controlled milking cup for Attaching to the teat lifts
• - the robot arm the tray after each application lowers, after which the robot arm another Computer controlled milking cup under another teat in their actual teat position until the Tray alone after placing all milking cups lowered under the milking cups.

This attachment process is thus characterized by a  Swiveling under the cow and positioning four times for each cup, with each cup through the appropriate lifting device is attached. The advantage this module is that the cups are free on the udder stick and the module to the ground during milking persists.

For all teat cup modules with detachable attachments Milk cups is, according to a further embodiment Invention provided that the milking cup after graduation the milking process on the lowered tray or module be withdrawn.

The invention is explained in more detail with reference to the drawing. Show it:

Fig. 1 shows a milk box in plan view with sensors for measurement of movements in a standing cow the milk box,

Fig. 2 is a diagram showing an intermediate position and teat start positions that are stored in a data memory for each cow after measurement and are retrieved when the cow enters the milking box, the positions by means of the sensors provided on the milking box each time it is re-entered the milking box is updated by the cow,

FIGS. 3a and 3b, a teat locating arrangement with sensors for the detection and the start of the actual position of the teats, starting from the starting positions of the teat and of the measured and stored reference position of the teats,

Fig an apparatus concerned. 3c and 3d by means of an image processing locating and moving to the teat,

FIG. 4a is a side view of a milking robot with a robot arm, which carries at its free end teat cups,

FIG. 4b is a plan view of the milking robot with a milking box, wherein a Roboternebenarm performs an individual teat cups,

FIG. 5a is a Melkbechermodul with a group of four vertically adjustable and removable teat cups, which teat cup on each separately operating lifting devices located abstützten directly to an upper plate of the module, wherein the teat cups are arranged on the module in a square,

Fig. 5b a Melkbechermodul with a group of four vertically movable teat cups, which teat cup on each separately operating lifting devices are supported on an inflatable rubber-elastic ring on the top plate of the module, wherein the module is provided with teat cups arranged in a square.

Fig. 5c is a side view of a Melkbechermoduls with on a rail displaceably arranged one behind another set of teat cups,

. A plan view of the milking robot in addition to a milk box, said Roboternebenarm performs a module with a group of teat cups, are moved up in the Einzelansetzverfahren to the actual positions of the individual teats and attached to this Figure 5d.

A milking box shown in FIG. 1 1 for milking cows includes a Boxboden 3 and Boxwände. 5 The animal should feel comfortable and not crowded in the milking box 1 ; it is therefore restricted by the box walls 5 only as much as necessary. This means that the dimensions of the milking box 1 should be adaptable to the size of the animal. The milking box 1 has a fixed side wall 5 a, which extends from the rear of the cow to her head in accordance with these specifications. In the head area there is a concentrate feed trough 7 with an adjustable front limit 9 . An identification device 11 is arranged on the front boundary 9 , with which the identity of the individual cow is recognized. Opposite the fixed side wall 5 a is a door post 5 b that is adjustable relative to it. An entrance door 5 g and an exit door 5 d are provided on both sides of the door jamb 5 b. The entrance door is rotatably mounted on an adjustable stop 5 e of a box rear wall 5 f. A pivot hinge 5 h is arranged on the concentrate trough for the exit door 5 c. The door movements can be adjusted hydraulically or pneumatically by means of actuating cylinders 13 . If necessary, the rear parapet 5 f can be adjusted together with the sensors 17 d and 17 c to the respective length dimensions of the animals by pneumatic or hydraulic adjustment. The length dimensions are learned once for each animal in the data memory and stored in it. The animal should never be squeezed. Its free space should only be minimized to facilitate the attachment process.

The interior of the box 15 is primarily designed to be soft, in that all box profiles (curves, arches and circle segments) are organically adapted to the cow shape and are optionally covered with soft materials (air cushions, rubber).

The udder must be free of the hind legs during the milking process, so that favorable teat location, descendant and attachment conditions are given. Above all, the teats should not touch the inside of the legs. The milking box floor 3 is therefore designed in such a way that the rear box floor is lower than the front box floor.

Sensors 17 a-d are provided on the milking box 1 , which belong to a global room measuring system 17 and with which the movement behavior of the animal in the milking box 1 can be monitored without contact. A sensor 17a is located in the area of the feed trough and measures its distance from the head of the cow. The distance determined is an indication of whether the cow is eating or not. Another sensor 17 b is arranged on the fixed side wall 5 a and directed towards the cow's body approximately in the longitudinal region of the cow's body in which the udder is located. The sensor 17 b measures the distance between itself and the cow body on its long side. Two further sensors 17 c and 17 d are located on the rear wall of the box 5 f at approximately the same height and at a distance which corresponds approximately to the mean distance between the rear cow legs. These sensors 17 c and 17 d are aimed at the rear of the cow. The cow's tail is movable between them; if it moves, it can only falsify the measurement with one of the two sensors 17 c, 17 d. The measured value is always correct and is obtained without interference from the tail. The decisive factor is the measured value, which gives the larger distance.

The sensors 17 a-d can work on the basis of ultrasound, infrared or laser scanner. All sensors 17 a-d measure with their measuring beams or measuring lobes at a time interval of 40 to 60 ms, preferably 50 ms, the instantaneous distance between themselves and the parts of the cow exposed to the cow. The difference in distance determined between two measurements reflects the movement behavior of the cow. This movement behavior is divided into three classes:
little movement, lively movement, wild movement. If the sensors 17 a-d measure little or brisk movement, ie the cow behaves calmly, then the milking cup can be attached. However, if the cow moves wildly, ie it is active, the attachment process is not started or interrupted. The evaluation of the measurement results of the sensors 17 a to 17 d will be described later in the context of the animal behavior routine.

Fig. 2 shows a schematic diagram of the attachment paths for the milking cups. For the sake of simplicity, only one milking cup 21 is shown at one end 23 of a robot arm 25 . The robot arm is moved by a robot 27 shown in FIGS. 4a and 4b.

For each cow, the robot arm 25 sets different positions in an XY coordinate system in a horizontal plane 29 that are learned from the data storage and computer 31 of the robot 27 and updated by positioning and / or external robot sensors S 1 to S 6 in real time. The robot sensors S 1 to S 6 belong to a teat location arrangement, which will be described in more detail. All the positions approached are stored as path lengths in the data memory 31 of the robot 27 . This teach-in process is carried out by hand. If there is a cow with an identification number or identification name in the milking box 1 , the milking cup 21 is moved by hand to the individual, current teat positions. Whenever the corresponding teat cup is located exactly below one of its teats 1 to 4 , this animal-specific teat position is stored in the data memory 31 in XY coordinates. The values of the internal robot sensors (which supply the specified XY positions of the teats just approached to the reference coordinate system) are equated with the values of the position sensors, from which the animal-specific, initially unknown length dimensions of the individual teat positions to the reference coordinate system can then be calculated. A cow-specific intermediate position ZWP 1 and cow-specific teat start positions ZPR and ZPL are calculated from the cow-specific teat positions. The intermediate position ZP 1 lies between the front teats 200 mm towards the head of the cow. The teat start position ZPR is located approximately 100 mm to the right of the front right teat 4 . The teat position ZPL is located 100 mm to the left of the left teat 3 . After this teaching-in process and the calculation of the intermediate position ZP 1 and the teat start positions SPL, SPR, the robot 27 knows when, for example, a cow with the name Lisa has entered the milking box 1 , where Lisa has the intermediate position ZWP 1 , the teat start positions ZPR and ZPL and the teats are. The robot arm 25 then moves to the teat positions in a short time, controlled by the data memory 31, without a new measurement. The order of attachment to teats 1 to 4 is defined as follows: rear left (HL1), rear right (HL2), front left (VL3), front right (VL4).

If there is a cow in the milking box 1 , then the positions ZWP 1 , ZPR and ZP 1 are approached according to the values of this cow defined in the data memory 31 . The robot arm 25 moves the milking cup 21 via the called position ZWP 1 to the position ZPL. A precondition for the movement of the robot arm is that the position sensors 17 a-d report rest when querying the movement activity, that is to say little or lively movement. If the sensors 17 a-d report active movement, that is to say wild behavior, then the robot arm 25 would not move or interrupt the process.

If the milking cup 21 has reached the teat start position SPL and the respective teat target position via the position ZWP 1 , then one of several conceivable teat location arrangements becomes effective for the respective actual correction.

3 a shows a teat locating arrangement A which works according to the measuring beam method. The description is based on a robot 27 which sets individual milking cups 21 with its arm 25 or its secondary arm 25 c.

The teat locator assembly is carried by a robotic arm 25 . In the illustrated embodiment, the robot arm 25 in turn carries a secondary arm 25 c for a single milking cup 21 which is to be attached to a teat. Furthermore, the robot arm 25 carries sensors S 1 to S 6, which operate with ultrasound or infrared, for example. These sensors are located on a transversely of the side arm 25 c arranged on the latter measurement arm 25 d. The sensors S 2 and S 3 referred to as first sensors are arranged at the same distance from the secondary arm and each form an angle of 60 ° with respect to one another with a parallel to the secondary arm and are directed upwards by 15 °; their measuring beams d 2 and d 3 have a certain scatter and intersect in an imaginary measuring circle 36 c with the desired intersection 36 a. The measuring circuit 36 c with the target intersection 36 a is located above the measuring cup center and below the teats. The likewise diverging measuring beam of a sensor S 1 referred to as the second sensor is directed in the direction of the secondary arm 25 c onto the measuring circuit 36 c and the intersection 36 a of the measuring beams d 2 , d 3 of the sensors S 2 and S 3 . This target intersection is also the target milking cup center 36 a controlled by the computer. Below the sensors S 2 and S 3 there are sensors S 5 and S 6 , referred to as further first sensors, whose measuring beams d 4, like the measuring beams d 2 , d 3, are at 30 ° with respect to parallels to the secondary arm 25 c against one another and additionally at 40 ° are directed at the measuring circuit 36 c and the intersection 36 a of the measuring beams of all sensors S 1 to S 6 above the milking cup 21 . The sensors S 5 and S 6 are always used when the front teats disturb when working on the rear teats.

If the controlled teat is located at point 36 b, the target center of the teat, within the measuring circle 36 c, then the robotic arm 25 gropes with the teat cup 21 below the belly and the teats of the cow alternately by paths dx and dy in the The X direction and the Y direction of the coordinate system from the target center 36 a to the actual center 36 b of the milking cup 21 approach the teat that can be reached. A CCD television camera monitors the approach.

As part of the locating and tracking process of the teat location arrangement, there are two animal-specific starting positions for searching the front teats. To z. For example, to find the left front teat, the robot moves to the right with the Y axis, starting from the starting point on the left (SPL, about 100 mm to the left of the left front teat on the same XY plane). The three ultrasonic sensors S 1 to S 3 arranged on the robot arm 25 scan the scene every 50 ms. The computer evaluates the measured values determined by the ultrasonic sensors S 1 , S 2 and S 3 and searches for three special conditions in order to find the teat sought.
Condition 1: Are all measured distances and differences greater than or equal to zero?
Condition 2: Are the differences between the distances measured by the sensor S 2 and the sensor S 3 (o) and the differences between the distances measured by the sensor S 2 and the sensor S 1 (u) <= 30 mm.
Condition 3a: If the teat is searched for in the front left and o <u, then the teat in the front left is found.
Condition 3b: If the teat on the right front is sought and u <o, then the teat on the right front is found.

Fig. 3a shows the teat locating arrangement with the sensors S 1 to S 6 under the cow and determined during the scanning of the measured values d1, d2 and d3 as well as the differences calculated therefrom and o. It should be noted that the robot 27 moves from left to right when searching for the teat vl and moves from right to left when searching for the teat vr.

Crucial for the search success is:

• - The teat height must be known up to ± 1/3 of the teat length, otherwise there is a risk that the teat will not dip into the measuring cone of the ultrasonic sensors (teat too high) or the udder base will falsify the measurement (teat too deep). If this is the case, the teat height should be measured again. This is done using an altitude routine, which assumes that the animals are milked about three to five times a day. Due to this relatively frequent milking, the teat height fluctuates very little between milking times. However, the teat height can drift during lactation. For this reason, the teat height is measured and corrected before each attachment process. The robot moves so that the teat is in the imaginary measuring circle, centers itself and moves the teat cup 21 downward at the same time. The robot is stopped as soon as the teat emerges from the top of the measuring circuit. This height, read by means of internal robot sensors, represents a defined, reproducible offset between the teat cup 21 and the teat. The height measurement is now successful when the sensors 17 a-d report that the animal is calm. If this message does not appear, the process is repeated.
• - The starting position should be accurate to within ± 40 mm using the one-time teach-in process and the use of the global position sensors. If the Y-axis moving transversely to the cow with the three ultrasonic sensors S 1 , S 2 , S 3 is too far in front of the front teat, then there is a risk that the udder base serves as a sound reflector instead of the teat to be searched for. If the teat is scanned too far, it will not be immersed in the measuring cone of about 10 degrees, and the object to be searched will not be found either.
• - The correct traversing speed is necessary Y axis during the search process. Is the Travel speed of the Y axis too low, then the search takes too long. Is the If the scanning speed is too high, then there is Danger that a condition to be searched is not found becomes.
• - During the search process, animal behavior can be determined in parallel to the search process cancel if necessary. You have to wait for yourself calmed an animal that was too lively. After after the Calming the animal corrected the animal position scanning and searching can continue  or be repeated.

The animal behavior routine operates while the teat locator is operating. The data storage and computer 31 constantly checks animal behavior. Since the robot must be designed to be very stable due to the sometimes high impact forces of the animals, which results in relatively high masses, it is forbidden to follow a moving cow in real time.

Every 50 ms, the current cow position is determined by means of the position sensors 17 a to 17 c arranged on the milking box and compared with the cow position stored after the last animal movement. If the difference is greater than an adjustable minimum z. B. 40 mm, a second condition, the current animal movement speed (TBv) is queried. If this is larger than (an adjustable size) 6 cm / sec, the robot is stopped and waited until TBv <6 cm / sec. Then the initially saved cow position is compared with the current position. The robot moves this offset and starts again or continues at the point in the program at which it was stopped due to excessive cow activity.

When the teat cup has reached the stored teat position, centering starts from the computer-controlled target position of the teat cup (target center 36 a) to the actual position (actual center 36 b) of the teat determined by the sensor arrangement. The teat locator is called up and used whenever the teat is near the center of the teat cup.

This means

• - first: after successfully completing Search process,
• - second: after from the front teat to the rear teat was proceeded
• - third: during the measurement of the teat height and
• - fourth: before the lifting or attaching process.

The X and Y deviations of the center of the teat cup 36 a from the center of the teat 36 b are determined by means of the ultrasonic sensors 55 and 55 and a calculation rule and are transmitted to the robot as reference variables. The necessary travel commands such as start, stop and travel speed are determined and executed in accordance with these command variables for the X and Y axes. If the deviations in the X and Y directions are smaller than an adjustable minimum z. B. 3 mm, the centering process is successfully completed.

The entire piecing process consists of four individual piecing processes. The order of attachment is defined as follows:
Milking cup 1 on the left rear teat (hl),
Milk cup 2 on rear right teat (hr),
Milking cup 3 on teat front left (from left),
Milking cup 4 on teat in front on the right (from right).

The rear teat cups 1 and 2 are each attached using the front teats. The front teats are relatively easy to find automatically and with a 100% success rate; the rear teat is then controlled from there.

The process of attaching a teat cup module 89 ( FIG. 5c) with teat cups 21/1 to 21/4 explained later looks as follows: The robot arm 25 moves with the module 89 on the secondary arm 25 c and the teat cups 21/1 to 21/4 under the Cow to the intermediate position ZWPS and from there to the respective start position ZPL or ZPR. First, the teat 3 will probe (front left) and computer-controlled searched with a search routine, short by means of the teat locating arrangement probe and computer-controlled centered and then moved by means of the above once taught animal related teat positions and the calculated number of offset from the Vorderzitze 3 for Hinterzitze. 1 Now the teat location arrangement is used again and then the teat cup 21/1 is raised by a lifting device 93 for attachment. The teat cup 21/2 is attached to the teat 2 at the rear right, correspondingly via the front teat 4 at the front right, after the teat cup 21/2 in module 89 has been advanced to a lifting position with the lifting device 93 . The milking cups 21/3 and 21/4 are attached directly to the front teats using the following procedures, which are referred to as routine: search routine, centering routine, attachment routine. The search routine and the attachment routine work in a probe and computer controlled manner with the teat location arrangement. The animal behavior routine, with which the animal behavior is constantly monitored, works across and during all attachment processes. If the respective animal behaves very restlessly to wildly, the robot 27 stops, waits until the animal is again calm to little restless, corrects the robot position according to the animal's position and leads with the same routine as before the stopping process and from the same position the attachment process continues relative to the cow. The configuration of module 81 is only to be regarded as exemplary.

The teat positions can also be located, for example by means of an image processing method the teat location arrangement B.

Such optical measurement methods win in the Automation due to the constantly growing Sensor requirements are becoming increasingly important. In addition to the frequently requested position and In addition, length measurements often offer the possibility Information about the color and surface condition of the to deliver objects to be handled. With a view to Control of pollution and health of the cow's udder therefore plays an optical measurement method that additionally used to locate the teat positions can become a special role. There is an abundance of optical measuring methods, their use for a Milking robot is problematic because it is very are computationally intensive because they often have a correspondence problem must be solved. With itself in an unpredictable way These known methods are excluded from moving animals. Other methods, such as the scanner method, require a high level of precision engineering that the Stresses in agriculture has not grown.

In the image processing method, a light beam 39 d is generated as shown in FIGS. 3c and 3d with the aid of a laser light source 39 arranged on the secondary arm 25 c, an infrared light diode with 780 nm and with 5 to 40 mW optical output power. In the diode 39 is mounted in a collimator in which a cylindrical lens the laser beam having a small cross section, to a plane 39 expands e. The power supply of the diode 39 can be with a TTL signal with a frequency of max. Switch 300 Hz on and off. The light plane 39 e is projected into the space to be measured or onto the object to be measured, the teats. If the light plane 39 e hits a flat surface in the room, a teat, a straight section of the route is created at the intersection points. If the surface is curved at the intersections, a curved section of the route is created accordingly. The resulting image of the scene is recorded by one camera CCD or two cameras CCD 1 and CCD 2 . There is the possibility of arranging the camera CCD under the robot arm 25 and the laser diode 39 on the robot arm 25 (comparable to the arrangement of the sensor S 1 and the video camera CCD in FIG. 3a). The distance from camera CCD and laser diode 39 is a fixed geometric size (150 mm), which is necessary for the triangulation. Another possibility of the arrangement is to use two cameras CCD 1 and CCD 2 . These cameras CCD 1 and CCD 2 can be arranged at a distance to the right and left on both sides of the laser diode 39 , which is provided centrally on the secondary arm 25 c. The cameras CCD 1 and CCD 2 are located on the support 25 d, which is attached transversely to the side arm 25 c on this side arm 25 c. The lenses of cameras CCD 1 and CCD 2 are inclined towards each other by 56 ° (each lens is adjusted by 28 ° with respect to parallels to beam line 39 d).

The teat location arrangement B is shown in FIG. 3c in connection with a teat cup module 61 , 81 , as will be described later in connection with FIGS. 5a and 5b. Fig. 3d shows the test setup. The milking module 61 , 81 has a central center 36 a 1 , around which the milking cup 21 is located at a distance or in the middle distribution of the teats of a cow udder in an XY plane.

Deviating from the location of individual teats, as described in connection with FIGS . 3a and 3b, the central target center 36 a 1 is used here for the attachment. When measuring the cow, the computer was not taught in the individual teats, but rather the location of the central teat center by measuring the teats. The computer now controls the robot arm 25 c, as already described ( FIG. 2), to the intermediate point ZWP 1 and from there either via one of the teat start points SPR or SPL or by saving these teat start points to the central teat center.

The teat location arrangement on the robot arm 25 is deliberately arranged on the robot arm. This allows the robot to travel from milking box to milking box. This has the advantage that only one teat location system is required per robot. The teat cup holders for individual teat cups or for modules can be handled directly by the robot arm 25 or on the secondary arm 25 c. The position of the teats can be evaluated as a monocular image using one camera CCD and the laser beam 39 d or as a stereo image using the two cameras CCD 1 and CCD 2 . With stereo images, the results of the right camera are compared with the results of the left camera, corrected or supplemented. The stereo image evaluation generally requires a significant amount of hardware. Therefore the mono image evaluation is easier. Only the teats that are cut by the light plane 39 e of the laser 39 can be measured. The light level 39 e shines over the milking cup 21 or the module; it can be adjusted in height by means of the robot 27 . In order to position the milking cups 21 , the robot arm 25 moves under the cow to the animal-specific intermediate point ZWP 1 . From there, the entire udder is in the field of view of the CCD or CCD 1 and CCD 2 cameras, while the light plane 39 e generated by the laser diode 39 intersects the teat sought. If one puts the position of the light plane 39 e with the position of the intersection points (light plane 39 a-teat), which are recorded by the cameras CCD 1 and CCD 2 , in relation to the positions of the cameras CCD 1 and CCD 2 , the position can the teat in the plane or in space can be determined using triangulation.

The basic circuit diagram according to FIG. 3d shows that the cameras CCD 1 and CCD 2 are connected to the data storage and computer 27 via image processing cards BV 1 and BV 2 and video converter CPV. The image can be distorted in perspective. The image evaluation is carried out primarily on the basis of the gray values occurring in the image, ie a search is carried out for gray values which are caused by the laser radiation, that is to say which exceed a certain threshold value.

Two images taken in quick succession are subtracted from each other. The only difference between the two images is that one image was taken with the laser light switched on, the other with the laser light switched off, that is to say without laser light. The pixel-by-pixel subtraction results in an image of the scene that is independent of the ambient light and thus all intersections of the laser light plane 39 a with the teat or teats.

The image is captured with the help of video cameras CCD or CCD 1 and CCD 2 with remote sensors. Due to their minimal dimensions and weights, the offset transducers permit attachment in the immediate vicinity of the gripper on the robot arm 25 or the carrier 25 d of the secondary arm 25 c.

PC plug-in cards BV 1 and BV 2 are used for image processing, which are equipped with an 8-bit video A / D converter CPV and an image memory of at least 384 kB. Furthermore, a 4096-line table operation (LUT) can be applied to the digitized image. A so-called feedback channel enables some standard image operations within one image cycle. The card is in the computer 27 , which includes an extended processor and a mathematical coprocessor.

The orientation of the CCD 1 and CCD 2 cameras results on the one hand from the measuring room to be covered and on the other hand from the requirement for a low overall height. The field of vision is aligned so that both the entire udder from a greater distance and a single teat can be detected immediately before attachment. That for the accuracy of the location measurement (triangulation) required distance of the light plane 39 a to the axis of the CCD camera (Fig. 3a) or the camera axis z 1, z 2 (Fig. 3c) is determined either by the position of the laser diode 39 via the one Camera CCD or realized via the position of the laser diode 39 next to the cameras CCD 1 and CCD 2 ( Fig. 3c and 3d).

To determine the intersection points (laser light teat), hereinafter referred to as objects, the digitized image is searched column by column for the objects. The objects are identified by gray values that exceed the above-mentioned threshold value. As soon as a corresponding object point has been found, the contour of the object is tracked clockwise along the threshold value limit. After each step, which is a pixel spacing, the change of the x- / y-coordinate ( Fig. 3d), that of the x- / y-moments and that of the area are summed up according to the following table via 5 variables. The contour tracking is stopped as soon as the starting point is reached again. The center of gravity of the object area, which represents the image position of the object, can now be calculated from the resulting sums. The object position of the object with respect to the camera coordinate system can now be determined from this by triangulation.

To determine the position of a surface point (x, y, z) of a teat using triangulation, at least the following sizes must be taken into account:
f focal length of the camera,
d distance of the light plane from the camera with respect to the y-axis of the camera coordinate system,
xb, yb position of the pixel belonging to (x, y, z) and
lnz, lnx inclinations of the light plane with respect to the z and x axes of the camera coordinate system normalized with f must be known, lnx should generally be approximately zero.

Under this condition, an intersection (x, y, z) (light plane teat, previously referred to as an object) results from the position (x, y, z) on the image of the CCD camera:
x = lambda * xb,
y = lambda * yb, and
z = f * (1-lambda) with
lambda = d / (yb-lnz + xb * lnx / f).

The object position can then be transformed into the XY coordinate system of the robot 27 by means of a homogeneous coordinate transformation.

Practical application shows that Camera image not only located the teats to be measured can. Out of the multitude of objects found so those who are the ones to be selected Show teat pictures. To distinguish and gradual reduction of possible objects some features that can be checked as quickly as possible used:

1. Feature size

Only objects whose width is in is an allowable interval, d. H. "the object must fit in the teat cup "  Object size can either be the area or the x extent can be used. In both cases however, the object width (triangulation) is too consider.

2. Characteristic position

Only objects whose position in is an allowable space, d. H. "the objects have to be in the rear of the milking box half height ". Of course, the decisive factor here the triangulated spatial position.

3. Feature model

Only objects that are in one certain location to other objects, d. H. "the objects must have an isosceles trapezoid span ". This check is, for example performed by the room positions with the at a previous milking Teat positions are compared.

With a camera focal length f = 8.5 mm and one Light plane distance d = 23 cm, a measuring range of Set 250 mm to over 8000 mm. In the range up to 700 mm then takes the resolution of the z coordinate from 0.5 mm to about 2 mm with a minimum image size of the object of at least 1 pixel hyperbolic too. Because to determine the Object position the center of gravity is used determine the object position much more precisely and so that the resolution can still improve. In the requested The measuring range is therefore an accuracy of ± 1 mm guaranteed in every case. So the accuracy increases  decreasing distance to what is happening at the moment Approaching the robot positively to the udder position affects. In addition, then shortened due to the selected evaluation algorithm additionally the computing time and thus enables a higher measuring frequency.

The repetition rate of the measurements depends essentially on an optimized program flow. Among the cheapest Circumstances (no movement in the scene, only one Teat position is monitored) are up to 20 measurements / s possible. In the worst case, however, will be straight 4 measurements / s reached. The variation results in essentially from the distribution of the object sizes and the Object positions. As a rule, about 10 measurements / s can be achieved.

There is a pair between all measured values of the sensors triangulated. As soon as the triangulation results in one certain relationship with each other is the Teat position found. The movement of the robot arm is stopped at this point.

The automatic milking procedure can be different of course also other suitable ones Operate teat location arrangements.

FIG. 4a shows the milking robot 27 in side view. The milking robot 27 rests on a frame 41 which can be moved next to and / or between milking boxes 1 . This means that a milking robot can operate several milking boxes. The frame 41 carries vertical stamps 43 on which a cross member 45 rests. The punches 43 guide a carriage 47 with two stacked top plates 47 a, 47 b which are arranged at a distance from one another but are firmly connected to one another. To the side of the slide 47 is a first swivel joint 49 with a first vertical swivel joint axis 49 a. The main arm 25 a of the robot arm 25 is pivotable about this pivot axis. At the free-pivoting end 25 b of the main arm 25 a there is a second pivot 51 with a vertical pivot axis 51 a. A secondary arm 25 c of the robot arm 25 can be pivoted about this swivel joint 51 and can carry a single milking cup 21 at its free end 23 , as shown in FIG. 2, or a milking module with four milking cups 21 .

The rotary movements of the main arm 25 a and the secondary arm 25 c are carried out by means of electric motors 53 and belt drives 55 . The electric motor 53 a drives the belt drive 55 a for the first swivel joint 49 . The electric motor 53 b drives the belt drive 55 b and further a belt drive 55 c for the second swivel joint 51 .

Pneumatic cylinders 57 for lifting and lowering the slide 47 with the robot arm 25 stand on the cross member 45 . While the robot arm 25 is pivoted in the XY direction by the rotary joints 49 and 51 in the horizontal movement plane 29 , the pneumatic cylinders 57 move the slide 47 and thus also the robot arm 25 and the milking cup or cups 21 vertically in the Z direction.

The robot is controlled via the data memory and computer 31 , which controls both the electric motors 53 and the pneumatic cylinders 57 . The measured data and measured values of all sensors and sensors are processed in the data memory, processed and then converted into commands for controlling the robot 27 and the milking box 1 .

FIG. 4b shows the robot 27 in plan view, wherein the robot arm 25 with main arm 25 and a side arm 25 c in the inner space 15 of the milking box 1 is pivoted. In the example shown, the secondary arm 25 c carries a milking module 61 with four milking cups 21 . The structure of the module can be of different types.

In FIGS. 5a, 5b, 5c and 5d are shown various embodiments of the Melkbechermodule.

FIG. 5 a shows the milking module 61 indicated in FIG. 4 b in different sections, two milking cups 21 being recognizable. Each of the milking cups 21 rests loosely with its milking ring 63 on a lifting ring 65 which is seated on a milking tray 67 . The lifting ring 67 is part of a lifting cylinder 69 with which the lifting ring 65 can be moved out of the milking tray 67 . Milk and vacuum hoses 71 hang from the milking cups 21 . A floor tray 73 extends below the milking tray 67 and at a distance parallel to it, which is attached to the robot arm 25 c and is connected to the outside of the milking tray 67 . Friction wheels 75 are provided on the bottom tray 73 , by means of which the tubes 71 can be pulled through the module after the milking process or when a milking cup has been knocked off. Instead of the friction wheels, Bowden cable driven drawstrings can also be used, which are firmly connected to the respective vacuum hoses.

The particular importance of the construction of this module can be seen in the fact that the module is lowered as soon as the teat cups 21 adhere to the teats after attachment and only the teat cups 21 are loaded with their weight. This means that the teat cups can easily follow the natural movements of the animal without the module hitting the animal body. The animals cannot go wild with it. During milking, the module 61 rests below the teats on the robot arm 25 , on the secondary arm 25 c or on a module holding arm (not shown), which can also pivot out after the milking cup has been removed. The lifting mechanism is secured against beating of the cows by means of rubber suspensions 77 .

In this teat cup module 61 , all teat cups 21 are attached simultaneously because the module 61 was aligned with the center of the milking module 36 a 1 prior to attachment. After milking has been completed, the milking cups 21 are withdrawn into the module.

Fig. 5b shows partly in side view and partly in section a modification of the milking module according to Fig. 5a. This milking module 81 is carried by the robot arm 25 , the secondary arm 25 c or another type of module holding arm and has a tray 67 a. On the tray 67 a rubber bellows 83 are distributed at the teat spacing. Lifting cylinders 85 are arranged on the upper seating surfaces 84 of the rubber bellows 83 , the lifting pistons 86 of which carry milking cups 21 . The lines leading the operating vacuum and the operating pressure to the rubber bellows 83 and the lifting cylinders 85 are guided through the tray 67 to the robot auxiliary arm 25 c or the like. The milk and pressure hoses 71 to the milking cups 21 form loops which are returned to the milking tray 87 .

As long as there is overpressure in the rubber bellows 83 , the teat cups 23 stand vertically on the tray 67 a. In this vertical position, the teat cups 23 are attached by raising the reciprocating pistons 86 . The excess pressure in the rubber bellows is then switched off. The lifting cylinders 85 are now held flexibly and can be tilted by up to approximately 40 °. In this case, too, the rubber bellows are impact-resistant and protected against damage from the cow.

In the teat cup module 81 according to FIG. 5, the teat cups 21 are placed one after the other. The positioning processes are minimal both in terms of distance and in terms of time, because the teat cup module 81 was aligned with the center of the teat cup 36 a 1 prior to attachment.

Fig. 5c shows a constructed as a magazine Melkbechermodul 89 which is again arranged on the robot arm 25, on the side arm 25 c or a differently designed Modulhaltearm. The teat cup module 89 has two parallel rails 90 , between which holding positions are lined up. The milking cups 21 , 1 to 4 are displaceable from the holding position to the holding position towards the free rail end 91 . The last lifting position 92 located at the free rail end 91 is provided with a lifting device 93 .

The milking cups 21 are individually lifted from the lifting position 92 by means of the lifting cylinder arrangement 93 and attached. The teat cups 21 which have not yet been attached are pushed one after the other to the stroke position 92 . After the last milking cup 21 has been attached, the module 91 is lowered so that the milking cup 21 can hang freely. After the milking process, all milking cups are pulled back between the rails 90 .

FIG. 5d shows a further variant of a teat cup module 95 designed for individual attachment operation, which is carried by the robot 27 via the robot arm 25 , the joint 51 and the secondary arm 25 . The teat cup module 95 has a tray 97 which is provided with recesses 98 for teat cups 21 . The teat cup module 95 is positively and non-positively connected to the side arm 25 c, for example.

The robot 27 successively positions a milking cup 21 under a teat. The positioning is carried out in a probe and computer-controlled manner, as described for FIGS . 3a and 3b, in that each milking cup 21 is moved to its actual teat positions by itself via its target teat positions. The positions that the module can assume are shown in broken lines in the udder area 99 in FIG. 5d. The teat cup 21 is lifted, ie the movement in the z-direction, is carried out by means of the secondary arm 25 c, which acts on the tray 97 directly next to or around each teat cup 21 . After the positioning and attachment process for a teat, the robot 25 lowers the teat cup module 95 ; it is thus available for the next application process of the next teat. This attachment process only begins after the next teat has been located in the manner described above. After completion of each of the piecing operations Melkbechermodul 95 moves down and all the teat cups hang freely to the teat. After the milking process has been completed, all milking cups 21 are withdrawn to the tray of the module.

Claims (29)

1. A method for automatic milking of animals standing in a milking box ( 1 ), in particular milk cows, by means of a milking cup ( 21 ) guided by a robot ( 27 ), which, controlled by a data storage and computer ( 31 ), to the teats of the animal are approached and applied, characterized in that

• - The teat cup ( 21 ) or a teat cup group is moved by the robot ( 27 ) into an intermediate position (ZWP 1 ) in front of the udder of the animal, the position of this intermediate position (ZWP 1 ) and once for each individual animal to be milked previously in a teach-in process the teat positions were measured and the measured values were entered into the data memory ( 31 ) as animal-specific positions,
• - When handling the teat cups ( 21 ), the robot ( 27 ) moves them computer-controlled from the animal-specific intermediate position (ZWP 1 ) into the teat start positions (ZPR, ZPL) specific for the teats of this animal, these teat start positions being possibly ignored when handling a teat cup group,
• - The robot ( 27 ) then moves to the individual handling of the milking cups in a computer-controlled manner, stored individual target teat positions (ZPR, ZPL) and, when handling a milking cup group, computer-controlled a central target teat position ( 36 a 1 ),
• - from these target teat positions, the current actual teat position is determined in a probe-controlled manner and approached by the teat cup ( 21 ) or the teat cup group,
• - The milking cup ( 21 ) or the milking cup group is attached by the robot from the actual teat position by raising.

2. The method according to claim 1, characterized in that the entire outward and reverse process begins in its chronological order and is continued after any interruptions if the cow moves little to manageable lively according to a probe monitoring in the milking box ( 1 ). 3. The method according to claim 1, characterized in that the cow-specific data in the data memory ( 31 ) are stored as path lengths. 4. The method according to claim 2, characterized in that the movements of the cow in the milking box ( 1 ) by means of position sensors ( 17 a-d) are monitored, which are directed to the body of the cow. 5. The method according to claim 4, characterized in that from the box rear wall ( 5 f) forth horizontally at a distance to the body of the cow sensors ( 17 c, 17 d) determine the distance to the box rear wall ( 5 f). 6. The method according to claim 2, characterized in that about every 40 to 60 msec, the distances between the body parts of the cow and the sensors ( 17 ad) measured and therefrom the changes in position of the cow body compared to the position that occurred during these time intervals the cow-specific data is specified as the target position, corrected to the actual position at the corner time. 7. The method according to claim 6, characterized in that the determined changes in position per time interval are divided into classes that tell the data memory whether the cow is calm, lively or wild, the driving process of the robot arm ( 25 ) in the area and thus during the time of the cow's wild behavior is interrupted. 8. The method according to claim 3, characterized in that the path lengths are stored in the two-dimensional XY coordinate system of a two-dimensional horizontal plane ( 29 ) and that the probe-controlled end alignment to the respective teat starting from the respective teat start position (ZPR, ZPL) and target teat position is completed by lifting the teat cup ( 21 ) in the Z coordinate of the coordinate system. 9. milking box for carrying out according to one or more of claims 1 to 8, characterized in that on the rear wall ( 5 f) of the milking box ( 1 ) facing the rear of the cow, at approximately the same height to the floor ( 3 ) Milking box ( 1 ) and at a mutual distance sensors ( 17 c, 17 d) are arranged, whose measuring lobes are directed towards the rear of the cow, and that on the side walls ( 5 a) of the milking box ( 1 ) at body height and slightly in front the udder of the cow further sensors ( 17 b) are arranged, the measuring lobes of which are directed transversely to the cow on the body thereof. 10. Milking box according to claim 9, characterized in that the measuring lobes with a scattering angle of approx. 10 ° to the Cow's body are aimed. 11. Robot for automatic milking of milk cows standing in milking boxes ( 1 ), which can be used to carry out the method according to one or more of claims 1 to 8, characterized in that a robotic arm ( 25 ) carrying the milking cup ( 21 ) or the milking cup group is horizontally pivotable once around a first swivel joint ( 49 ) provided with a vertical swivel axis ( 49 a) and furthermore has a further swivel joint ( 51 ) acting around a vertical axis ( 51 a) at a distance from this first swivel joint ( 49 ) Execution of rotary movements in a horizontal XY plane ( 29 ). 12. Robot according to claim 11, characterized in that the robot arm ( 25 ) perpendicular to the XY plane in the Z direction can be raised and lowered. 13. Robot according to claim 11, characterized in that the teat cup ( 21 ) or the teat cup group perpendicular to the pivot plane ( 29 ) of the robot arm ( 25 ) by means of an independently of the robot ( 27 ) or robot arm ( 25 ) acting lifting or lifting device ( 69 , 85 , 93 ) can be raised and lowered in the Z direction. 14. Robot according to claim 11, characterized in that the pivoting movements of the robot arm ( 25 ) takes place in the horizontal XY plane about its vertical pivot axes ( 49 a, 51 a) by means of respectively assigned electric motors ( 53 ) while lifting and lowering the Robot arm ( 25 ) or the teat cup ( 21 ) in the vertical Z direction is done pneumatically. 15. Robot for automatic milking of milk cows standing in milking boxes ( 1 ), which can be used to carry out the method according to one or more of claims 1 to 8, characterized by a teat locating arrangement (A) with energy (ultrasound or infrared) emitted by energy sources. -jets (d 2 , d 3 ) directed to a target center ( 36 ) above an individual milking cup ( 21 ) or a central target center ( 36 a 1 ) of a milking module with a milking group ( 61 , 81 ) are, in the event of a deviation of a target center point ( 36 a, 36 a 1 ) predetermined by the computer from the actual center point ( 36 b) in which the teat (s) is located (n) which holds the milking cup ( 21 ) or the robot arm carrying the teat cup module ( 61 , 81 ) is moved under computer control in the X and Y directions until the target and actual center points overlap. ( Fig. 3a, b). 16. Robot according to claim 15, characterized in that two first energy beams (d 2 , d 3 ) are inclined towards one another by 30 ° with respect to parallels to a second energy beam ( 39 d), the center lines of all energy beams (d 2 , d 3 , 39 a) cut in the target center ( 36 a, 36 a 1 ). 17. Robot according to one of claims 15 or 16, characterized in that below the first energy sources (S 2 , S 3 ) for the two first energy beams (d 2 , d 3 ) two further energy sources (S 5 , S 6 ) for others first energy beams (d 4 ) are provided, which meet with the first and second energy beams (d 2 , d 3 , d 4 , 36 d) rising in the desired center point ( 36 a, 36 a 1 ). 18. Robot according to one of claims 15 to 17, characterized in that the first energy beams (d 2 , d 3 ) and the second energy beam ( 39 d) rising by 15 ° with respect to the horizontal and the further first energy beams (d 4 ) opposite the horizontal by 40 ° rising to the target center ( 36 a, 36 a 1 ) are directed. 19. Robot for automatic milking of milk cows standing in milking boxes ( 1 ), which can be used to carry out the method according to one or more of claims 1 to 8, characterized by

• a teat locating arrangement (B) with a light beam ( 39 d) emanating from a radiation source ( 39 ), which is expanded to a light plane ( 39 e), through which light plane ( 36 e) teats can reach,
• - At least one video camera CCD 1 and / or CCD 2 , the lens center lines y 1 or / and y 2 meet in the target center point ( 36 a, 36 a 1 ), which also falls into the light plane ( 39 e), with a deviation of a target center point ( 36 a, 36 a 1 ) specified by the computer from the actual center point ( 36 b) in which the teat (s) is located (n) which holds the teat cup ( 21 ) or the teat cup module ( 61 , 81 ) carrying robot arm is shifted under computer control in the X and Y directions until the target and actual centers coincide. ( Fig. 3c, d)

20. Robot according to claim 19, characterized in that the light beam generated in a radiation source ( 39 ) is a laser beam with strongly bundled parallel light beams. 21. Robot according to claim 19, characterized in that the lens center lines y 1 or / and y 2 are parallel to the beam center line ( 39 d) by 28 ° in the direction of the beam center line ( 39 d) are delivered. 22. Robot according to one or more of claims 1 to 20, characterized in that the teat location arrangement (A, B) is arranged on a robot arm ( 25 c) which the teat cup ( 21 ) or the teat cup module ( 61 , 81 , 89 , 95 ) with the group of teat cups ( 21 ). 23. Robot according to one of claims 11 to 22, characterized in that all supply lines ( 71 ) of the teat cup ( 21 ) and the teat cup modules ( 61 , 81 , 89 , 95 ) via the robot arm carrying the module ( 25 c) and the robot ( 27 ) to a central milk collection point and energy supply unit. 24. Milking cup module for automatic milking of milk cows standing in a milking box ( 1 ), which is arranged on an arm of a robot, which carries one or more milking cups ( 21 ) and which is set up to carry out the method according to one or more of Claims 1 to 8 is characterized in that

• - each individual milking cup ( 21 ) is detachably held in a lifting device ( 69 ) which surrounds it and is carried by the robot arm ( 25 c) and by means of which it can be raised and attached to a teat,
• the lifting device ( 69 ) can then be lowered again by lowering the teat and the milking cup ( 21 ) adhering to it,
• - The milking cup ( 21 ) after the completion of the milking process by lowering on the module ( 61 , 89 , 95 ) can be returned. ( Fig. 5a).

25. Milking cup module for automatic milking of milk cows standing in a milking box ( 1 ), which is arranged on an arm of a robot, which carries one or more milking cups ( 21 ) and which is set up to carry out the method according to one or more of claims 1 to 8 is characterized in that

• - each individual milking cup ( 21 ) can be raised by means of a lifting device ( 85 ) for attachment to a teat, the lifting device ( 85 ) being supported on the module ( 81 ) by means of an inflatable rubber bellows ( 83 ),
• - The rubber bellows ( 83 ) can be relaxed after the attachment process, as a result of which the teat cup ( 21 ) adapts to the individual animal udder in an angular range of approximately up to 40 °. ( Fig. 5b)

26. teat cup module according to one of claims 24 or 25, characterized in that for each teat of an animal one of these teat associated lifting device ( 69 , 85 ) is provided, which with or without interposed rubber bellows ( 83 ) on a tray ( 67 , 67 a) supports, the mutual spatial assignment of the lifting devices ( 69 , 85 ) on the tray ( 67 , 67 a) corresponding to the average distribution of the teats in the XY plane. 27. Milking cup module for automatic milking of milk cows standing in a milking box ( 1 ), which is arranged on an arm of a robot, which carries one or more milking cups ( 21 ) and which is set up to carry out the method according to one or more of Claims 1 to 8 is characterized in that

• the individual milking cups ( 21 ) are arranged in a row in a row between parallel rails ( 90 ) which form a sliding magazine between them,
• the milking cups ( 21 ) can be moved in the magazine to a lifting position ( 92 ) in which a lifting device ( 93 ) is located,
• - Each of the teat cups ( 21 ) located in the lifting position ( 92 ) can be attached to the teat by lifting them ( 93 ). ( Fig. 5c).

28. Milking cup module for automatic milking of milk cows standing in a milking box ( 1 ), which is arranged on an arm of a robot, which carries one or more milking cups ( 21 ) and which is set up to carry out the method according to one or more of claims 1 to 8 is characterized in that the module has a tray ( 97 ) which is provided with four receptacles ( 98 ) for teat cups ( 21 ), in each of which a teat cup ( 21 ) is detachably removable, that the arm ( 25 c) of the Robot ( 27 ) moves the milking cup ( 21 ) placed on the tray ( 97 ) one after the other into their actual teat positions, from which the robot arm ( 25 c) then lifts a computer-controlled positioned milking cup ( 21 ) to attach to the teat, and that the robot arm ( 25 c) lowers the tray ( 97 ) after each attachment, after which the robot arm ( 25 c) drives another milking cup ( 21 ) under computer control under another teat in its actual teat position until the tray ( 97 ) lowers below the milking area after all the teat cups ( 21 ) have been attached. 29. Milking cup module according to one of claims 24 and 16 to 28, characterized in that the milking cups ( 21 ) are withdrawn after the completion of the milking process on the lowered tray ( 67 , 95 ) or between the rails ( 90 ).