EP2341767A2 - Procédé et dispositif de pose d'un pot de traite au trayon d'un animal - Google Patents

Procédé et dispositif de pose d'un pot de traite au trayon d'un animal

Info

Publication number
EP2341767A2
EP2341767A2 EP09780839A EP09780839A EP2341767A2 EP 2341767 A2 EP2341767 A2 EP 2341767A2 EP 09780839 A EP09780839 A EP 09780839A EP 09780839 A EP09780839 A EP 09780839A EP 2341767 A2 EP2341767 A2 EP 2341767A2
Authority
EP
European Patent Office
Prior art keywords
teats
milking
teat
direct
animal
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP09780839A
Other languages
German (de)
English (en)
Inventor
Elmar Nieswand
Andreas Springer
Timm Krebs
Reinhold Knoche
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
GEA Farm Technologies GmbH
Original Assignee
GEA Farm Technologies GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by GEA Farm Technologies GmbH filed Critical GEA Farm Technologies GmbH
Publication of EP2341767A2 publication Critical patent/EP2341767A2/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01J—MANUFACTURE OF DAIRY PRODUCTS
    • A01J5/00—Milking machines or devices
    • A01J5/017—Automatic attaching or detaching of clusters
    • A01J5/0175—Attaching of clusters

Definitions

  • the invention relates to a method for applying at least one milking cup to a teat of an animal according to the preamble of claim 1 and to an apparatus for carrying out the method.
  • a generic method and a generic device are known from DE 103 51 549 Al.
  • it is proposed, with the aid of a detection device, to determine the coordinates of a teat in the room and possibly the coordinates of a teat cup in the room and then, depending on this measurement, move the teat cup to the location of the teat and attach it to the teat. put.
  • This solution has proven itself, but it requires a particularly precise measuring device for the absolute determination of the positions in the room and a large computing power.
  • the milking robots currently in use usually use a teat-locating device which operates with the aid of a camera and a laser. With the help of these components, a laser triangulation system is realized, which is arranged on the moving parts of the milking robot.
  • the camera detects the reflection of the red laser light and the teat position can be calculated on the basis of the synchronized movements of the actuators of the milking robot.
  • the known device must also here the absolute position of the teat cup opening can. This means that there is a very high, precise correlation between the elements of the robot kinematics (ie in particular the parts of these kine actuated by actuators). matik), the milking cup opening, the teat locating sensor and the selected teat must exist.
  • WO 2007/104 discloses Al, retaining the teats and the milking cup (s) in a common 3D direct recording and designing the measurement of the position of the one or more teats with respect to the milking cup (s) as a relative measurement , In this way, the measurement and thus the piecing process are considerably simplified
  • the object of the invention is to provide a further optimized method and a further optimized device for applying a teat cup to a teat of an animal.
  • the invention solves this object with regard to the method by the subject-matter of claim 1 and with regard to the device by the subject-matter of claim 16.
  • the invention according to claim 1 provides a method for applying one or more teat cups to a teat or to a plurality of teats of a dairy animal, comprising the steps of: a: obtaining a 3D perspective direct image of the at least one or more teat cups and the one or the multiple teats of the dairy animal; b: then the relative distance between the milking cup and the teats or teats is determined from the 3D direct recording, c: with the aid of the distance determination from step b), a control device performs an activation to be carried out by the milking cup (s) calculated movement for one or more actuators for moving the milking cup or teat cups, with which the determined relative distance between the milking cup or the teat cups and the teats is reduced, d: the driving movement is performed and completed, if no error occurs, and / or e: one or more of the 3D direct images taken is / are evaluated by means of a diagnosis and / or stored and / or output for a diagnosis.
  • the saving or outputting of the 3D direct recording preferably takes place at least when an error occurs in step d).
  • an alarm is given and / or the Ansetzvorgang aborted.
  • a computer-aided diagnosis of the 3D image taken takes place in step b).
  • a diagnosis of the 3D image taken can be made on the basis of an animal-specific comparison with prestored data, in particular on the basis of a comparison with data of previous attachment processes.
  • the driving movement of the milking cups comprises driving the robot kinematics required to move and align the milking cups, i. usually a driving of the actuator or actuators of the support arm for the milking and / or a driving of the actuator for the milking cup.
  • the device consists of the 3D direct camera, and the image processing and control device for the actuators, the latter device can be combined software and hardware to a device or may consist of separate facilities.
  • the 3D camera generates a perspective view of the udder (diagonally from below) and the teat cup or milking cup. Then, by means of the recording, a relative distance measurement is carried out between the teats and the milking cups. This data activates the control of the axles and moves the teatcup relative to the teat.
  • the teat cups are positioned by a constant recalculation of the relative current distances from new shots in a simple manner targeted.
  • At least one of the 3 D direct recordings, which should or should be used for application is stored in the camera system or elsewhere in the dispensing device of the milking robot. If a start-up process is unsuccessfully terminated or takes a particularly long time, the image with the corresponding error code can also be sent to a herd management system (a higher-level computer with corresponding programs). There, then, e.g. a diagnosis is made by the farmer to determine why the piecing process could not be performed automatically on the particular animal. Thus, it is conceivable that the diagnosis shows that the animal is better integrated into a handheld arrester group due to an unusual udder geometry.
  • the diagnosis takes place on site at an input and output terminal of the milking robot.
  • the diagnosis is carried out as a remote diagnosis, in particular via the Internet.
  • the invention also provides a milking robot according to claim 17 with an apparatus according to claim 16. Preferably, it has an inflation device with a modular construction.
  • FIG. 1a is a photo-like 3D direct recording of an udder of an animal
  • FIG. 1b shows an outline drawing created from the receptacle of FIG. 1
  • FIG. 2 shows a schematic representation of a 3D direct recording of the udder of an animal and the milking cups of a milking cluster
  • Fig. 3 is a schematic representation of a part of a device according to the invention.
  • FIG. 3 shows a part of a device 1 according to the invention for applying a teat cup to a teat of an animal, which in turn is part of an automatic milking robot, not shown here, which has at least one milking station or several milking stations for milking dairy animals.
  • the device 1 here in a preferred embodiment has a milking cluster 2, which has a Cincinnatisammei Republic 3, which is connected via short milk tubes 4 with milking cups 5.
  • the short milk hoses 4 are also each associated with at least one actuator 6, with which the short milk hoses 4 and thus the teat cups 5 can each be moved from a lowered to a raised position.
  • a part of the milking cups 5 is in the lowered position and one of the milking cups 5 is in the raised position.
  • the milking cluster 2 is arranged on a single-part or multi-part support arm 7, to which at least one or more actuators 8 are assigned, which make it possible to mount the support arm 7 on a basic frame, not shown here, at the milking place in a predetermined space section in the three space dimensions X, Y and Z to move.
  • a recognition device SD direct camera 9 which is an image processing and control device 10 and / or connected to such, which evaluates the images of the 3D direct camera 9 and calculates control movements for the actuators 6 and / or 8 from the recordings and controls the actuators accordingly.
  • the recordings may also be saved.
  • a spatial coordinate system can be placed virtually directly in the 3D direct image from which the relative distance X between the teat and the respective milking cups can be determined.
  • the evaluation and control device may be part of a higher-level control device which serves to monitor and control the entire milking robot in its operation.
  • preference is given to a decentralized, modular design of the milking robot and, in particular, of the dispensing device of the milking robot, in which various autonomous computers for controlling autonomous functional areas are connected to a central data bus (eg Ethernet) of the milking robot, one of these functional areas being the one includes automatic teat finding and the automatic setting of the teat cups to the found teats.
  • an SD direct receptacle of the teat cups 5 and the udder of the animal to be milked, located in the milking robot is first of all taken (see FIG . 1 and 2).
  • the recording is made from a position obliquely below the teats.
  • the image is taken with the 3D direct camera 9 from a predetermined basic position, which can be determined empirically, and which generally makes it possible to take a picture on which both the teats of the animal and the teat cups are imaged.
  • the relative distance between the milking cups 5 and the teats 11 is determined directly from the 3D direct recording, without absolutely determining the position of the teats 11 in the room.
  • this distance determination is one of the robot kinematics on the milking or the or the Melkbechern 5 to be performed driving movement, which is necessary to reduce the distance between the milking cups 5 and the one or more teats 11.
  • the milking cup or cups 5 are moved into the raised position as a whole right at the beginning of the piecing process or at least after a first coarse straightening of the carrier arm 7 after a first picking (see FIG. 2).
  • the placement process may be aborted and possibly an error signal output.
  • the piecing process can be aborted and, if appropriate, an error signal output and preferably at least one image can be stored if computer-assisted from the 3D direct recording is diagnostic-like or by an operator other fault condition is determined, such as a missing (eg assigned teat) or a diseased teat or the like)
  • the diagnosis can be made on-site at an input and output terminal of the milking robot or as part of a remote diagnosis, for example. over the internet. It may also be directly computer-aided with the device 10, a diagnosis e.g. done by comparison with prestored data.
  • the invention also makes it possible to determine the alignment of the teats in the room. If this differs greatly from the vertical, it is conceivable to align the milking unit 5 when placing it against the teats 11 in accordance with this alignment information.

Landscapes

  • Life Sciences & Earth Sciences (AREA)
  • Animal Husbandry (AREA)
  • Environmental Sciences (AREA)
  • Manipulator (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Apparatus For Radiation Diagnosis (AREA)
  • Image Analysis (AREA)
  • Image Processing (AREA)

Abstract

L'invention concerne un procédé de pose d'un ou plusieurs pots de traite sur un ou plusieurs trayons (11) d'un animal donnant du lait. Ce procédé comprend les étapes suivantes : a) une prise de vue directe en trois dimensions est réalisée desdits un ou plusieurs pots de traite (5) et desdits un ou plusieurs trayons (11) de l'animal donnant du lait ; b) un dispositif de traitement d'images détermine à partir de la prise de vue directe en trois dimensions une distance relative entre le ou les pots de traite (5) et le ou les trayons (11) ; c) un dispositif de commande (10), à l'aide de la distance déterminée dans l'étape b), calcule les courses de positionnement à effectuer par un ou plusieurs actionneurs (6, 8) pour le déplacement desdits un ou plusieurs pots de traite (5) afin de réduire la distance relative mesurée entre le ou les pots de traite (5) et le ou les trayons (11) ; d) les courses de positionnement sont effectuées et achevées à la condition qu'aucune erreur ne se produise ; et/ou e) une ou plusieurs prises de vues directes en trois dimensions sont analysées par un dispositif de diagnostic et/ou sont stockées pour un diagnostic et/ou fournies en sortie.
EP09780839A 2008-07-29 2009-07-20 Procédé et dispositif de pose d'un pot de traite au trayon d'un animal Withdrawn EP2341767A2 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102008035384A DE102008035384A1 (de) 2008-07-29 2008-07-29 Verfahren und Vorrichtung zum Ansetzen eines Melkbechers an eine Zitze eines Tieres
PCT/EP2009/059311 WO2010012625A2 (fr) 2008-07-29 2009-07-20 Procédé et dispositif de pose d'un pot de traite au trayon d'un animal

Publications (1)

Publication Number Publication Date
EP2341767A2 true EP2341767A2 (fr) 2011-07-13

Family

ID=41259893

Family Applications (1)

Application Number Title Priority Date Filing Date
EP09780839A Withdrawn EP2341767A2 (fr) 2008-07-29 2009-07-20 Procédé et dispositif de pose d'un pot de traite au trayon d'un animal

Country Status (6)

Country Link
US (1) US20110168096A1 (fr)
EP (1) EP2341767A2 (fr)
CN (1) CN102105049A (fr)
DE (1) DE102008035384A1 (fr)
RU (1) RU2011106596A (fr)
WO (1) WO2010012625A2 (fr)

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Also Published As

Publication number Publication date
RU2011106596A (ru) 2012-09-10
CN102105049A (zh) 2011-06-22
WO2010012625A3 (fr) 2010-06-10
WO2010012625A2 (fr) 2010-02-04
US20110168096A1 (en) 2011-07-14
DE102008035384A1 (de) 2010-02-04

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