JPH09243315A - Device for measuring position of bodily part of walking animal and milking device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a measuring device for the position of a bodily part of a walking animal, which can reduce the burden of the operator as to the work of cleaning a translucent member. SOLUTION: A device for measuring the position of a bodily part of a walking animal, in which a detection means 1 designed to emit determining light and to receive the emitted light reflected by a predetermined bodily part of the walking animal so as to determine the position of the bodily part is enclosed in a storage part 2 having a translucent member 3 through which the light emitted and reflected can be transmitted freely, and in which a determining means 4 is provided for determining the position of the bodily part according to information about the light received by the detecting part 1, is provided with a cleaning means W for cleaning the surface of the translucent member 3 and a control means 100 for operating the cleaning means W in accordance with a command to clean it.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention emits light for discrimination in order to discriminate the position of a predetermined body part of a walking animal, and receives the reflected light reflected by the emitted light hitting the body part. The detection means configured in (1) is stored in a storage portion that includes a transmissive member that is capable of transmitting the emitted light and the reflected light, and a determination means that determines the position of the body part based on the light reception information of the detection portion. The present invention relates to a body part position measuring device for a walking animal provided.

[0002]

2. Description of the Related Art A body part position measuring device for a walking animal is used to determine a predetermined body part of a walking animal in order to automatically perform a predetermined treatment on a predetermined body part of the walking animal. It is what is done. For example, it is used to determine the position of the teat of a dairy cow in a milking apparatus that automatically attaches a milking means to the teat of a milking animal such as a cow and milks the milk.

By the way, the working environment for performing a predetermined treatment on a predetermined body part of a walking animal is manure, mud, etc. of the walking animal.
It is inferior due to dust and the like (hereinafter, these may be collectively referred to as dirt), and adhesion of dirt to the device is unavoidable. Then, when the dirt adheres to the surface of the transmissive member of the storage section, it becomes difficult for the emitted light and the reflected light to pass therethrough,
Since the body part cannot be discriminated, the operator has manually manually cleaned the surface of the transparent member.

[0004]

However, since it is necessary to clean the transparent member frequently, the burden on the operator is very heavy.

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a body part position measuring device for a walking animal which can reduce the burden on the operator for cleaning the transparent member. .

[0006]

According to the characterizing feature of claim 1, when the cleaning command is issued, the cleaning means is automatically operated to clean the surface of the transmitting member. Therefore,
The burden on the operator for cleaning the transparent member can be reduced. By the way, if the device that automatically applies a prescribed treatment to a prescribed body part of a walking animal is configured to automatically issue a cleaning instruction in response to the execution of the treatment, the worker can issue a cleaning instruction. Is unnecessary, and the cleaning of the surface of the transparent member can be completely automated.

According to the characterizing feature of the second aspect, when the cleaning command is issued, the storage unit moves so that the transparent member is located at the cleaning position, and when the transparent member is located at the cleaning position, the cleaning is performed. The means is activated to clean the surface of the transmissive member. In other words, cleaning the surface of the transparent member by the cleaning means
The transparent member is placed at a cleaning position different from the determination position for determining the position of the body part. Therefore, a configuration for retracting the cleaning means from the optical path of the emitted light or the reflected light so as not to block the emitted light or the reflected light is not necessary, so that the configuration can be simplified and the present invention can be implemented. It has become possible to reduce costs.

By the way, since the body part of a walking animal to be discriminated is not always located at a fixed position, in such a body part position measuring device for a walking animal, the transmissive member is usually placed at the discrimination position. Sweeping means for sweeping the emitted light within a predetermined range is provided. According to the characteristic configuration of claim 3, the sweeping means is configured to integrally move the accommodating portion as the emitted light is swept, and the sweeping means is also used as the moving means. is there. Therefore, the implementation cost of the present invention can be further reduced.

According to the fourth aspect of the invention, when the cleaning command is issued, the transmitting member moves from the discriminating position to the cleaning position and then again to the discriminating position side. When the permeable member reciprocates, the water is sprayed on the surface of the permeable member by the water sprinkling means in the forward path, and the water adhering to the surface of the permeable member is removed by the water removing means. By removing means
Water adhering to the surface of the transparent member is removed. Therefore, in the outward path, the wastewater is washed away by the cooperative action of water sprinkling and water removal, and in the return path, the water adhering to the surface of the permeable member is removed, so the performance of removing the filth adhered to the surface of the permeable member In addition, it is possible to prevent the deterioration of the transmission performance of emitted light and reflected light due to the cleaning water remaining on the surface of the transmissive member.

According to the fifth aspect of the invention, the wiper device mechanically wipes the surface of the transparent member to remove dirt and water. Therefore, since the performance of removing dirt and water can be further improved, the performance of cleaning the surface of the transmitting member can be further improved.

According to the sixth aspect of the invention, the air blown onto the surface of the permeable member by the air blower blows away dirt and water. Therefore, the structure of the water removing means is, for example, compared with a structure in which the surface of the permeable member is mechanically wiped by a wiper device,
Since it is simplified, the cost for implementing the present invention can be further reduced while improving the cleaning performance of the surface of the transmitting member.

According to the seventh aspect of the present invention, the detecting means is provided to determine the position of the teat of the milked animal, and the determining means determines the position of the teat of the milked animal. Based on the information, the mounting means ensures that the milking means is aligned with the proper position to be mounted on the teat of the milking animal and is securely mounted on the teat. And
When the cleaning command is transmitted, the cleaning means automatically operates to clean the surface of the transparent member. Therefore, the position of the teat is determined by the body part position measuring device of the walking animal,
It has become possible to provide a milking apparatus in which the milking means is surely attached to the teat and the operator does not need to clean the transmitting member.

[0013]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments in which the present invention is applied to an automatic milking apparatus will be described below with reference to the drawings.
As shown in FIG. 1, in a body part position measuring device B for a walking animal, in order to determine the position of a predetermined body part of the walking animal, a laser beam for determination is emitted and the emitted light is the body part. A scanner S configured to receive the reflected light reflected by the body and an ultrasonic wave for determination to determine the approximate position of the body part, and receive a reflected wave of the transmitted ultrasonic wave. The rough sensors 55, 55 configured as described above, and the discrimination unit 4 for discriminating the position of the body part based on the light reception information of the scanner S and the reception information of the rough sensors 55, 55 are provided.

The scanner S emits a discriminating laser beam for discriminating the position of a predetermined body part of a walking animal, and receives the reflected light reflected by the emitted light hitting the body part. The detecting means 1 has a transmitting member 3 made of glass or the like through which the emitted light and the reflected light can pass.
It is configured to be stored in a cylindrical storage portion 2 having

The automatic milking device A is a milking device Aa as a milking means which is mounted on a teat of a milking animal such as a cow and milks.
(Cluster), a sensor robot Ab as a mounting means for aligning the breast pump Aa so as to be mounted on a teat of a dairy cow, and a control unit C for controlling various controls of the automatic milking apparatus A. Then, the detection means 1 and the rough sensors 55, 55 are provided to determine the position of the teat of the dairy cow, and the control unit C of the determination means 4 so as to align the breast pump Aa to the teat of the dairy cow. The sensor robot Ab is configured to operate based on the determination information.

The automatic milking apparatus A will be described below. As shown in FIG. 4, the milking device Aa is normally located at a retracted position laterally of the milking room R, and the cow is brought into a predetermined milking position in the milking room R by the cow detecting means (not shown). When it is detected that the dairy cow has been detected, the dairy cow is configured to be positioned at the milking position where it is projected and moved to the lower abdomen. In the following description, the upper direction is set to the right and the lower direction is set to the left in the drawing of FIG.

As shown in FIGS. 5 to 8, the breast pump Aa
Is provided with a waist bending link 51 having four teat cups 50 that can be attached to the teat at the tip on the right side of the milking room R, and the sensor robot Ab uses each teat cup 50.
4 of the dairy cows in a predetermined milking posture in the milking room R
The nipples are arranged so that they are aligned directly below the nipples corresponding to the respective nipples.

As shown in FIGS. 5 and 6, the breast pump Aa
Is a tip arm 51a having a teat cup 50,
The waist bending link 51 is composed of the tip arm 51a and a base end arm 51b which is provided on a support 54 fixed to the right side of the milking room R, and two return cylinders 52 and 53. The outside of the teat cup 50 is covered with a rubber material, and the upper link 6 is attached to the protruding portions above and below the rubber material.
3a and a lower link 63b having a length shorter than that of the lower arm 63 are supported by the tip arm 51a via an isosceles side link mechanism 63, and an elevating cylinder 64 is installed between the tip arm 51a and the bottom link 63b. Base arm 51b
Is a lifting mechanism (rodless cylinder, electric cylinder, etc.)
It is supported by a support body 54 so as to be capable of moving up and down in parallel via 66, so that the base end cylinder 53 can also be moved up and down in conjunction therewith.
A bar 67 provided upright on the support 54 is fitted so as to be vertically slidable.

The four teat cups 50 are arranged in a trapezoidal shape whose front side is wide laterally in accordance with the arrangement state of the nipples of the cow, and this arrangement state is basically fixed. However, the upper and lower links 63a and 63b and the tip arm 51
a rubber bush (not shown) interposed in the connecting portion with a,
Also, due to the elasticity of the rubber member covering the teat cup 50, the position and the posture of the teat cup 50 are flexible, and the opening at the upper end of the teat cup 50 has an upwardly widened shape (see FIG. 5). Even if the relative positions of the four teats are slightly deviated from the standard state, the teat cup 50 can be fitted. This structure is possible because the relative positions of the teats do not differ so much between cows.

Further, when the teat cup 50 is mounted on the teat, it serves as a support reference body for mounting the next teat cup 50, and the mounted teat cup 50 should not move much when the teat cup 50 is mounted next. It is convenient because it can improve the success rate. Therefore, when the teat cup 50 is attached to the teat, a mechanism for canceling the accommodation by the rubber bush (for example, an electromagnetic magnet is embedded in the connecting portion and the upper and lower links 63a and 63b and the distal end arm 51a are energized). And are in a rigid state, etc.),
The certainty of wearing the cup is strengthened. This milking machine Aa
The teat extends from the retracted position retracted to the right side of the milking chamber R to the milking position (the lower abdomen of the cow) protruding to the left and right center of the milking chamber R by the expansion and contraction drive of the distal end cylinder 52 and the proximal end cylinder 53. The cup 50 can be moved without changing its posture. Reference numeral 65 is a mounted portion for sensor robot Ab combination.

As shown in FIGS. 7 and 8, the sensor robot Ab has a front end parallel quadruple link 57 including two rough sensors 55, 55 and one scanner (corresponding to a fine sensor) 56, and this. And the vertically protruding plate 6 at the bottom of the frame tube 69
9a, 69b and the base end parallel quadruple link 58, the first
And second cylinders 60, 61 and the like. The frame cylinder 69 is fitted to the support column 59 so as to be movable up and down by the vertical movement mechanism 70 including the motor 70a and the screw shaft 70b, and the support column 59 extends over the right side of the two milking chambers R, R. A pair of left and right moving rails 62 erected
It is supported by a carriage 68 that can roll over. The extension of the lower projecting plate 69b is slidably fitted on a support bar 68a provided upright on the carriage 68 to prevent the frame cylinder 69 from rotating.

The extension / contraction movement of the first cylinder 60 allows the base end parallel quadruple link 58 to move laterally with respect to the frame 69, and the extension / contraction movement of the second cylinder 61 causes the tip parallel quadruplet link 57 to be base parallel. It is movable left and right with respect to the quadruple link 58, and as shown in FIG. 8, without changing the postures of the rough sensor 55 and the scanner S with respect to the carriage 68, from the retracted position retracted to the right side of the milking room R from the milking room R It is possible to move laterally over the milking position (lower abdomen of the cow) protruding to the left and right center of the. Although the rough sensors 55, 55 are fixed in position, the scanner S has an upper arm 56a and a lower arm 56b.
The scanner operating quadruple link 56 and the motor mechanism 71 acting on the lower arm 56b are vertically movably supported by the front end parallel quadruple link 57, and
Although details will be described later, the electric motor 5 is configured to be rotatable about a vertical axis with respect to the pedestal 76. In addition, 7
Reference numeral 2 is a mounting portion for combining the breast pump Aa.

Here, the breast pump Aa and the sensor robot Ab
9, the mounted portion 65 is configured to include a pair of hooking portions 65a and 65a and a pair of protrusion guides 65b and 65b, and the mounting portion 72 as shown in FIG.
Is a pair of engaging pieces 7 that are relatively connected to each other by a hip break link 73.
2a and 72a are vertically provided so as to be pivotally supported, and a lower end of a rod 75 which can be operated to move in and out by a solenoid 74 is connected to a central link piece 73a of a waist bending link 73. To release the engagement, the solenoid 74 may be extended. Therefore, as shown in FIG.
2 and the mounted portion 65 are laterally aligned,
When the entire sensor robot Ab is moved downward, the engaging piece 72
a is guided by the projection guide 65b, and as shown in FIG. 9B, the tip of the engaging piece 72a and the hooking portion 65 are provided at two locations.
a is engaged, and the breast pump Aa and the sensor robot Ab are united.

Next, the operation of the automatic milking device A produced by the control of the control unit C will be described with reference to FIGS. 4 and 10 to 17.
This will be described with reference to FIG. A transmitter (not shown) for transmitting identification information set for each individual is attached to the neck of the cow, and T in the figure is a receiver for receiving a signal transmitted from the transmitter. . Further, the control unit C previously associates the identification information with the individual information of the dairy cow corresponding to the identification information,
For example, physique data and teat position data are stored.

First, at the right lateral position of the first milking room R, the breast pump Aa and the sensor robot Ab at a position higher than this are waiting in a side-by-side state (FIG. 4). Next, when the dairy cow detecting means detects that the dairy cow is in a predetermined milking posture, the bait box 36 is retracted by an amount suitable for the dairy cow to operate in a predetermined milking posture, and left and right restraining members are provided. 33, 33 switches to the working posture (FIG. 10). At this time, the sensor robot Ab moves laterally leftward and downward as the bait box 36 ends its backward movement (see FIG. 1).
3) The sensor robot Ab is united with the breast pump Aa.

Although not shown, a bait box 3 such as an electric motor
There are provided a means for moving and operating 6, a means for detecting that the feeding box 36 is in the predetermined milking posture, and a means for switching the restraining member 33 such as a cylinder between the retracted posture and the working posture. When the restraint member 33 is switched to the working posture, the cows in a predetermined milking posture are projected to the position immediately before the hind legs to regulate the forward movement of the hind legs. Allow a dairy cow to move forward.

The combined automatic milking device A moves the teat cup 50 to the lower abdomen of the dairy cow by the approximate lateral movement of the sensor robot Ab by driving the first and second cylinders 60 and 61 (FIG. 11). , Then, the fourth teat (reference teat) is detected by using the rough sensors 55, 55, and the first and second cylinders 60, 61 are driven and controlled so that each teat cup 50 is located below the corresponding teat. (The two cylinders 52 and 53 of the breast pump Aa move following) The rough alignment is performed (see FIGS. 14 and 15). Next, the motor mechanism 71 is driven to lift the scanner S,
The nipple position is sensed at four positions while being positioned between the nipples even in the vertical direction and while being driven and rotated as described later (see FIGS. 14 and 15).

When the precision sensing (nipple position measurement) by the scanner is completed and the teat cups 50 are positioned directly under each teat, first, the teat cup of the first teat Te1 (see FIG. 15 for the positional relationship of the teats). The mounting trial of 50 is started (FIG. 16), and then the mounting of the second, third and fourth teats Te2, Te3, Te4 is carried out. When the mounting of the four teat cups 50 on the teat is completed, the mounting portion 72 is disengaged from the mounted portion 65, the sensor robot Ab is lifted up slightly, and then moved to the right side to return to the retracted position. (FIG. 12). After that, the sensor robot Ab moves toward the adjacent second milking room R by using the rail 62.

When the sensor robot Ab returns to the retracted position,
The elevating mechanism 66 is driven upward, and the elevating cylinder (corresponding to the mounting mechanism) 64 is driven to be shortened, and the breast pump Aa is lifted up around the teat cup 50, and the posture of the teat cup 50 is corrected to a state suitable for a teat. Yes (Fig. 1
7). Then milking begins.

That is, as shown in FIG. 16, the teat cup 50 is placed in a substantially vertical posture in the lower position, giving priority to the ease of fitting to the teat, but in the unequal side link mechanism 63. Since the ascending movement is in a state similar to the swinging ascending movement, the posture becomes slightly backward and the teat is slightly twisted. Therefore, the teat cup 5 is lifted by lifting the main body of the breast pump Aa.
A posture correction mechanism M that returns 0 from the backward tilted posture to a substantially vertical standing posture is configured. Further, the posture at the lower position of the teat cup 50 is set in accordance with the backward tilted posture of the teat whose tip is slightly forward, and the remarkable backward tilted posture due to the ascent is set back to the original slight backward tilted posture. It is more convenient. Lifting and moving the breast pump Aa body afterward is also meaningful in that it secures an upper and lower space necessary for allowing the combined sensor robot Ab to move sideways with the completion of the attachment of the teat cup 50. is there.

The body part position measuring device B will be described below. As shown in FIGS. 1 to 3, the scanner S is provided on the pedestal 76, and by the electric motor 5,
The detection means 1 and the storage unit 2 are integrally rotatable around the vertical axis. Further, the electric motor 5 is provided with a rotary encoder (not shown) in order to detect the rotation angle from the reference position. That is, as shown in FIG. 15, with the scanner S positioned substantially at the center of the four teats of the cow, the electric motor 5 is operated and the detection means 1 is rotated, so that the emitted light is emitted from the cow. It is configured to sweep to hit four teats. Therefore, the electric motor 5 corresponds to the sweeping means D.

A cleaning means W for cleaning the surface of the permeable member 3 of the storage portion 2 is provided, and the cleaning means W sprinkles water on the surface of the permeable member 3 and water attached to the surface of the permeable member 3. Is formed by the water removing means 7.

The water sprinkling means 6 is composed of a water sprinkling nozzle 6a attached to a support column 77 standing on a pedestal 76, and an on-off valve 6b for intermittently supplying water to the water sprinkling nozzle 6a. The water removing means 7 is a wiper cylinder 7a attached to the column 77 so that the contraction direction of the rod is horizontal, and a wiper attached to the rod tip of the wiper cylinder 7a with its longitudinal direction oriented vertically. The wiper device is composed of 7b.

As shown in FIG. 15, with the scanner S positioned substantially at the center of the four teats of the dairy cow, the sprinkling means 6 and the water removing means 7 are arranged so that the third teat Te3 and the fourth teat are seen in a plan view. It is positioned approximately between Te4 and is configured so as not to block the emitted light and the reflected light when measuring the positions of the four teats.

The light receiving information of the detecting section 1 and the output signal from the rotary encoder are inputted to the discriminating means 4,
The discriminating means 4 is configured to calculate the position of each of the four teats based on the light reception information of the detector 1 and the output signal from the rotary encoder. Then, the calculation result of the determination unit 4 is input to the control unit C, and the control unit C operates the sensor robot Ab based on the calculation result of each of the four teats by the determination unit 4.
Further, the electric motor 51, the on-off valve 6b, and the wiper cylinder 7a are connected to the controller C, and their operations are controlled by the controller C.

Next, the nipple position measurement by the body part position measuring device B will be described. The body part position measuring device B measures the existence, size and position of the object by receiving the reflected light which is the light emitted from the detection means 1 and hits the object, and is reflected, as shown in FIG. Scanner S
Is rotated at a substantially central position of the four teats to measure the positions of the four teats. Specifically, FIG.
As shown in, the rear leg Le of the cow, the straw scrap St, the teat T
e, it is assumed that the breast Ud exists in the measurement target area. Then, as shown in FIG. 20, the distance Di between the scanner S and the object due to reception of the reflected light and the angle A from the reference position thereof.
Although n and n are sequentially recorded, it is assumed that 0 (zero) is detected when reflected light does not come (when there is no data).

As shown in FIG. 20, the rotation of the scanner S starts, and the existence of the rear leg Le and its distances l _{L1 to} l _{Ln are} detected.
And the angles θ _{L1 to} θ _Ln are detected. Next, the presence of straw debris and its distance l _{S1 to} l _Sn and the angles θ _{S1 to} θ _Sn are detected, and then the presence of teat Te and its distance l _{T1 to} l _Tn are detected.
And the angles θ _{T1 to} θ _Tn , the presence of the breast Ud and the distance l _U1 to
l _Un and the angles θ _{U1 to} θ _Un are sequentially detected. Further, from the teat position data measured in advance for each cow, a rectangular window Wi surrounded by x0, x1 · y0, y1 which is an approximate teat existence area is defined, and an object exists in this window Wi. Whether or not the thickness as a teat and the distance from the scanner S are appropriate is determined comprehensively.

That is, as in the algorithm shown in FIG. 19, the arithmetic mean of the detected distance and angle data is obtained for each object (step #a), and the arithmetic mean: l _Av = l ₁ + ... l _n / n, θ _AV = θ ₁ + ... θ _n / n Then, is the obtained value within a predetermined range? ,
And whether the object is within a given window Wi? Are controlled (step #b), and if both conditions are satisfied, the teat Te is considered to be treated, and if neither condition is satisfied, the teat Te is controlled to be other than the teat Te. As shown in FIG. 15, the one on the rear right in the plan view is the first teat Te1, and the second to fourth teats Te2 to Te4 are sequentially set in the clockwise direction from there. The rough sensor 55 detects the fourth teat Te4 at the front right.

Next, the operation control of the cleaning means W will be described. As shown in FIG. 12, four teat cups 50
When the sensor robot Ab returns to the retracted position after the attachment to the teat is completed, this means that a cleaning command is issued, and based on the cleaning command, the control unit C
Performs cleaning control as follows.

When the position of the teat is measured, the fourth teat Te4, the third teat Te3, and the second teat Te2 are listed in the order listed.
, The scanner S rotates counterclockwise in plan view as shown in FIG. 15 in order to sequentially detect the first teat Te1. Therefore, when the detection of all four teats is completed, as shown in FIG. 15, the transmissive member 3 is located at a position facing between the fourth teat Te4 and the first teat Te1. Therefore, when the sensor robot Ab returns to the retracted position, as shown in FIG.
Is located at a position different from the cleaning action position of the cleaning means W.

When the cleaning command is issued, FIG.
As shown in FIG. 3, the storage unit 2 is rotated counterclockwise until the transparent member 3 is located at a position slightly passing the operating position of the wiper 7b in a plan view, and further, as shown in FIG.
As shown in FIG. 3, the electric motor 5 is operated so as to rotate the storage section 2 in the clockwise direction until the transparent member 3 is located at the position shown in FIG. As described above, in parallel with operating the electric motor 5 to reciprocate the storage part 2, in the outward path of the reciprocating movement, the opening / closing valve 6b is opened and the wiper 7b is operated.
The wiper cylinder 7a is extended so as to contact the transparent member 3 with the surface of the transmission member 3, and the open / close valve 6b is provided in the return path.
Is closed, and when the transmitting member 3 slightly passes the operating position of the wiper 7b, the wiper cylinder 7a is contracted.

Therefore, in the outward path, the water spray nozzle 6a
By the cooperation between the sprinkling of water and the wiper 7b, the dirt attached to the surface of the permeable member 3 is washed away, and in the return path, the water attached to the surface of the permeable member 3 is wiped by the wiper 7b.

Therefore, the control means 100 for activating the cleaning means W based on the cleaning command is constructed using the control section C. The cleaning means W is configured to clean the surface of the transmissive member 3 in a state in which the transmissive member 3 is located at a cleaning position different from the discriminating position located to discriminate the position of the teat. Further, a moving means M for moving the storage portion 2 so as to position the transmission member 3 from the determination position to the cleaning position is provided, and the sweeping means D causes the storage portion 2 to also move along with the sweep of the emitted light. It is configured to be integrally moved, and is also configured to be used as the moving means M.

Based on the cleaning command, the control means 100 positions the transparent member 3 at the cleaning position.
The moving means M is actuated, and the cleaning means W is actuated when the transparent member 3 is located at the cleaning position. Further, the control means 100 includes the transparent member 3
Is moved from the discriminating position to the cleaning position, and is then reciprocated so as to be moved again to the discriminating position side.
Also, the water spraying means 6 and the water removing means 7 are operated on the outward path of the reciprocating movement, and only the water removing means 7 is operated on the return path.

[Other Embodiment] Another embodiment will be described below. The specific configuration of the detection unit 1 is not limited to the configuration illustrated in the above embodiment, and various configurations are possible. For example, the emitted light may be swept by a mirror that is rotationally driven by an electric motor.

Two detection means 1 may be provided and the position of the teat may be measured by a triangulation method.

The water removing means 7 may be configured by a blowing device that blows air onto the surface of the permeable member 3 to remove water.

In the above embodiment, the case where the sweeping means D is also used as the moving means M has been described as an example, but instead of this, the sweeping means D and the moving means M may be provided separately.

The walking animal and its body part whose position is to be measured are not limited to the dairy cow and its teat illustrated in the above embodiment.

Incidentally, reference numerals are written in the claims for convenience of comparison with the drawings, but the present invention is not limited to the configuration of the attached drawings by the entry.

[Brief description of drawings]

FIG. 1 is a block diagram showing the overall configuration of an automatic milking device and a body part position measuring device for walking animals.

FIG. 2 is a side view of a main part of the body part position measuring device.

FIG. 3 is a plan view of a main part of the body part position measuring device.

FIG. 4 is a plan view showing a side-by-side state of the breast pump and the sensor robot at the retracted position.

FIG. 5: Side view showing a breast pump

FIG. 6 is a plan view showing a breast pump.

FIG. 7 is a side view showing the sensor robot.

FIG. 8 is a plan view showing a sensor robot.

FIG. 9 is a side view of partially cutouts showing structures of a mounting portion and a non-mounting portion.

FIG. 10 is a plan view showing a combined state of the breast pump and the sensor robot at the retracted position.

FIG. 11 is a plan view showing the automatic milking device in a projecting position and in a working posture.

FIG. 12 is a plan view showing a milking state by a breast pump.

FIG. 13 is a side view of a main part showing a uniting operation by lowering the sensor robot.

FIG. 14 is a side view of the main part showing the sensing state of the scanner.

FIG. 15 is a plan view of a main part showing a sensing state by a rough sensor and a scanner.

FIG. 16 is a side view showing a catch-up try of the teat cup.

FIG. 17 is a side view showing a state where the breast pump is lifted after the teat cup is attached.

FIG. 18 is a plan view showing the principle of measurement by a scanner.

FIG. 19 is a diagram showing an algorithm for nipple detection by a scanner.

FIG. 20 is a diagram showing a principle of analysis of nipple detection data by a scanner.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Detection means 2 Storage part 3 Permeation member 4 Discrimination means 6 Sprinkling means 7 Water removal means 100 Control means Aa Milking means Ab Mounting means D Sweeping means M Moving means W Cleaning means

Claims (7)

[Claims] 1. A detection means configured to emit a light for discrimination in order to discriminate the position of a predetermined body part of a walking animal and to receive the reflected light reflected by the emitted light hitting the body part. (1) is housed in a housing part (2) provided with a transmissive member (3) capable of transmitting the emitted light and the reflected light, and based on the light reception information of the detection part (1), A body part position measuring device for a walking animal provided with a discrimination means (4) for discriminating a position, the cleaning means (W) for cleaning the surface of the transparent member (3).
And a body part position measuring device for a walking animal, which is provided with a control means (100) for operating the cleaning means (W) based on a cleaning command. 2. The cleaning means (W) is arranged such that the transparent member (3) is located at a cleaning position different from a determination position for determining the position of the body part. The moving means (M) is configured to clean the surface of (3), and moves the storage part (2) so as to position the transparent member (3) from the determination position to the cleaning position. The control means (100) is provided, based on the cleaning command,
When the moving means (M) is operated so that the transparent member (3) is located at the cleaning position, and the transparent member (3) is located at the cleaning position, the cleaning means ( W) configured to operate.
The body part position measuring device of the walking animal described. 3. Sweeping means (D) configured to sweep the emitted light within a predetermined range at the discrimination position.
Is provided, and the sweeping means (D) is configured so as to integrally move the accommodating portion (2) in accordance with the sweeping of the emitted light, so that the sweeping means (D) is also used as the moving means (M). The body part position measuring device for a walking animal according to claim 2, which is configured as follows. 4. The water removing means for removing the water adhering to the surface of the permeable member (3) and the water adhering to the surface of the permeable member (3) by the cleaning means (W). (7), the control means (100) reciprocates so as to move the transparent member (3) from the determination position to the cleaning position and then again to the determination position side. Configured to actuate said moving means (M) to move
Further, the water spraying means (6) and the water removing means (7) are operated on the outward path of the reciprocating movement, and only the water removing means (7) is operated on the return path. Item 2. A body part position measuring device for a walking animal according to Item 2 or 3. 5. The body part position measuring apparatus for a walking animal according to claim 4, wherein the water removing means (7) is constituted by a wiper device that wipes the surface of the permeable member (3) to remove water. . 6. The body part of a walking animal according to claim 4, wherein the water removing means (7) is composed of a blast device that blows air onto the surface of the permeable member (3) to remove water. Position measuring device. 7. A milking apparatus comprising the body part position measuring device for a walking animal according to claim 1, 2, 3, 4, 5 or 6, wherein the milking means is attached to a teat of a milking target animal and milks. (A
a) and a mounting means (Ab) for aligning the milking means (Aa) so as to be mounted on the teat of the milking animal, and the detecting means (1) determines the position of the teat of the milking animal. The mounting means (Ab) is configured to position the milking means (Aa) so as to be mounted on the teat of the milking animal based on the discrimination information of the discrimination means (4). Milking equipment.