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

Device for measuring position of bodily part of walking animal and milking device

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Publication number
JPH09243315A
JPH09243315A JP8052975A JP5297596A JPH09243315A JP H09243315 A JPH09243315 A JP H09243315A JP 8052975 A JP8052975 A JP 8052975A JP 5297596 A JP5297596 A JP 5297596A JP H09243315 A JPH09243315 A JP H09243315A
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Japan
Prior art keywords
means
position
cleaning
milking
configured
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Pending
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JP8052975A
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Japanese (ja)
Inventor
Shinichi Kawabata
Shigeru Tanaka
河端  真一
田中  滋
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Kubota Corp
株式会社クボタ
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Application filed by Kubota Corp, 株式会社クボタ filed Critical Kubota Corp
Priority to JP8052975A priority Critical patent/JPH09243315A/en
Publication of JPH09243315A publication Critical patent/JPH09243315A/en
Application status is Pending legal-status Critical

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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.
COPYRIGHT: (C)1997,JPO

Description

【発明の詳細な説明】 DETAILED DESCRIPTION OF THE INVENTION

【0001】 [0001]

【発明の属する技術分野】本発明は、歩行動物の所定の体部位の位置を判別すべく、判別用の光を出射するとともに、その出射光が前記体部位に当たって反射した反射光を受光するように構成された検出手段が、前記出射光及び反射光が透過自在な透過部材を備えた収納部内に収納され、前記検出部の受光情報に基づいて、前記体部位の位置を判別する判別手段が設けられた歩行動物の体部位位置計測装置に関する。 The present invention relates to, in order to determine the position of a predetermined body part of a walking animal, with emitting light for discrimination, so as to receive the reflected light that emitted light is reflected against the body portion detecting means arranged in the said outgoing light and the reflected light is received in the receiving portion provided with a freely transmitting member transmitting, based on the received information of the detector, the determination means for determining a position of the body portion of body portion position measuring apparatus provided walking animals.

【0002】 [0002]

【従来の技術】かかる歩行動物の体部位位置計測装置は、歩行動物の所定の体部位に対して所定の処置を自動的に施すために、歩行動物の所定の体部位を判別するために用いられるものである。 BACKGROUND ART Such a walking animal body part position measuring device, in order to automatically perform predetermined treatment to a predetermined body part of a walking animal, used to determine the predetermined body part of a walking animal it is as it is. 例えば、乳牛等の被搾乳動物の乳頭に搾乳手段を自動的に装着して搾乳する搾乳装置において、乳牛の乳頭の位置を判別するために用いられる。 For example, in the automatic milking apparatus for milking wearing the milking means to the teats of the milking animal cows, etc., is used to determine the position of the teats of the cow.

【0003】ところで、歩行動物の所定の体部位に対して所定の処置を施す作業環境は、歩行動物の糞尿、泥、 [0003] By the way, the work environment for performing a predetermined treatment for a given body site of walking animals, manure of walking animals, mud,
埃等(以下、これらを汚物と総称する場合がある)により劣悪なものであり、装置への汚物の付着は避けられないものである。 Dust (hereinafter these may be collectively referred to as dirt) are those poor by, but inevitable adhesion of dirt to the device. そして、汚物が収納部の透過部材の表面に付着すると、出射光や反射光が透過しにくくなって、 When the dirt is adhered to the surface of the transparent member of the housing unit, the emitted light and the reflected light it becomes difficult to transmit,
体部位の判別ができなくなるため、作業者が、適宜、手作業で透過部材の表面を清掃していた。 It becomes impossible to distinguish the body site, the operator, as appropriate, was cleaning the surface of the manually transmission member.

【0004】 [0004]

【発明が解決しようとする課題】しかしながら、透過部材の清掃は頻繁に行う必要があるため、作業者の負担は非常に大きいものであった。 [SUMMARY OF THE INVENTION However, since the cleaning of the transmission member it is necessary to frequently perform, operator's burden was very large.

【0005】本発明は、かかる実情に鑑みてなされたものであり、その目的は、透過部材の清掃作業に対する作業者の負担を軽減し得る歩行動物の体部位位置計測装置を提供することにある。 [0005] The present invention has been made in view of such circumstances, and its object is to provide a body portion position measuring device of the walking animals can reduce the burden on the operator for cleaning the transparent member .

【0006】 [0006]

【課題を解決するための手段】請求項1に記載の特徴構成によれば、清掃指令が発せられると、清掃手段が自動的に作動して、透過部材の表面が清掃される。 Means for Solving the Problems] According to the characterizing feature of claim 1, the cleaning command is issued, the cleaning means is operated automatically, the surface of the transmitting member is cleaned. 従って、 Therefore,
透過部材の清掃作業に対する作業者の負担を軽減することができるようになった。 It has become possible to reduce the burden on the operator for cleaning of the transmitting member. ちなみに、歩行動物の所定の体部位に対して所定の処置を自動的に施す装置側において、処置の実行に対応させて清掃指令を自動発信させるように構成すると、作業者による清掃指令の発信作業が不要となって、透過部材の表面の清掃を完全に自動化することができる。 Incidentally, in automatically applying apparatus a predetermined treatment to a predetermined body part of a walking animal, configuring cleaning command in association with the execution of the treatment so as to automatically transmitted, transmitting the work of the cleaning command by the operator it becomes unnecessary, it is possible to fully automate the cleaning of the surface of the transparent member.

【0007】請求項2に記載の特徴構成によれば、清掃指令が発せられると、透過部材が清掃用位置に位置するように収納部が移動し、透過部材が清掃用位置に位置すると、清掃手段が作動して、透過部材の表面が清掃される。 According to the feature configuration described in claim 2, the cleaning command is issued, the transmission member moves the housing part so as to be positioned in the cleaning position, the transmitting member is positioned in the cleaning position, cleaning means operates and the surface of the transmitting member is cleaned. つまり、清掃手段による透過部材の表面の清掃は、 That is, the cleaning of the surface of the transparent member by the cleaning means,
透過部材を、体部位の位置を判別すべく位置させる判別用位置とは異なる清掃用位置に位置させて行わせるようにしてある。 The transmission member, it is constituted such that it takes place is positioned in the position for different cleaning of the discrimination position to position so as to determine the position of the body parts. 従って、出射光や反射光を遮らせないように、清掃手段を出射光や反射光の光路から退避させるための構成が不要となるので、構成を簡略にすることができて、本発明の実施コストを低減することができるようになった。 Therefore, so as not to block the light emitted or reflected light, since the arrangement for retracting the cleaning means from the optical path of the emitted light and the reflected light is not required, it is possible to simplify the structure, implementation of the present invention it has become possible to reduce the cost.

【0008】ところで、歩行動物の判別対象の体部位は定位置に位置するとは限らないので、かかる歩行動物の体部位位置計測装置においては、通常、透過部材を判別用位置に位置させた状態で出射光を所定の範囲内に掃引する掃引手段を設ける。 By the way, since the determination target body part of a walking animal is not necessarily located in position, the body part position measuring device according walking animals, usually in a state of being positioned the transmission member to discrimination position providing a sweeping means for sweeping the output light within a predetermined range. 請求項3に記載の特徴構成によれば、掃引手段を、出射光の掃引に伴って、収納部も一体的に移動させるように構成して、その掃引手段を移動手段に兼用するようにしてある。 According to a feature arrangement according to claim 3, the sweep unit, with the sweep of the outgoing light, storage unit be configured so as to move integrally, and double as the sweeping means to the moving means is there. 従って、本発明の実施コストを更に低減することができるようになった。 Therefore, it becomes possible to further reduce the cost of implementing the present invention.

【0009】請求項4に記載の特徴構成によれば、清掃指令が発せられると、透過部材は判別用位置から清掃用位置に移動した後、再び、判別用位置側に移動し、そのように透過部材が往復移動する際に、その往路においては、散水手段によって、透過部材の表面に散水されると共に、水除去手段によって、透過部材の表面に付着した水が除去され、復路においては、水除去手段によって、 According to the feature configuration described in claim 4, the cleaning command is issued, after transmitting member is moved to the cleaning position from the discrimination position again, moves to discriminating position, as such when the transparent member is reciprocated in its forward, by sprinkling means and are sprinkled on the surface of the transparent member, the water removal means, the water adhering to the surface of the transparent member is removed, the return path, water by the removal means,
透過部材の表面に付着した水が除去される。 Adhered to the surface of the transparent member water is removed. 従って、往路においては、散水と水除去の協働作用によって、汚物が洗い流され、復路においては、透過部材の表面に付着した水が除去されるので、透過部材の表面に付着した汚物の除去性能を更に向上することができるとともに、清掃用の水が透過部材の表面に残存することによる出射光や反射光の透過性能の低下を回避することができるようになった。 Thus, in the forward path, by the cooperative action of the water spray and water removal, soil is washed away, in the return path, since the water adhering to the surface of the transparent member is removed, the removal of adhering to the surface of the transparent member filth performance it is possible to further improve, it has become possible to water for cleaning to avoid degradation of the transmission performance of the emitted light and reflected light by remaining on the surface of the transparent member.

【0010】請求項5に記載の特徴構成によれば、ワイパー装置によって、透過部材の表面が機械的に拭われて、汚物や水が除去される。 According to the feature configuration described in claim 5, the wiper device, the surface of the transparent member is wiped mechanically, dirt and water is removed. 従って、汚物及び水の除去性能を更に向上することができるので、透過部材の表面の清掃性能を更に向上することができるようになった。 Accordingly, it is possible to further improve the removal performance of the waste and water began to cleaning performance of the surface of the transmitting member can be further improved.

【0011】請求項6に記載の特徴構成によれば、噴風装置によって、透過部材の表面に空気が吹き付けられることにより、汚物や水が吹き飛ばされる。 According to the feature configuration described in claim 6, the air jet device, by air is sprayed on the surface of the transparent member, it is blown off the dirt and water. 従って、水除去手段の構成が、例えばワイパー装置によって透過部材の表面を機械的に拭うように構成するものに比較して、 Therefore, construction of the water removal means, for example as compared to those configured to wipe the surface of the transmitting member mechanically by a wiper device,
簡単になるので、透過部材の表面の清掃性能を優れたものにしながら、本発明の実施コストを更に低減することができるようになった。 Since it becomes simple, while the excellent cleaning performance of the surface of the transparent member, it becomes possible to further reduce the cost of implementing the present invention.

【0012】請求項7に記載に特徴構成によれば、検出手段が、被搾乳動物の乳頭の位置を判別すべく設けられ、判別手段によって、被搾乳動物の乳頭の位置が判別され、その判別情報に基づいて、装着手段によって、搾乳手段は被搾乳動物の乳頭に装着されるべき適正な位置に位置合わせされて、乳頭に確実に装着され。 [0012] wherein, according to the characteristic configuration according to claim 7, the detection means, provided in order to determine the position of the teats of the milking animal, the determination means, the position of the teats of the milking animal is determined, the determination based on the information, by the mounting means, the milking means are aligned in the proper position to be attached to the teats of the milking animal it is firmly seated in the nipple. そして、 And,
清掃指令が発信されると、清掃手段が自動的に作動して、透過部材の表面が清掃される。 Cleaning the command is transmitted, the cleaning means is operated automatically, the surface of the transmitting member is cleaned. 従って、歩行動物の体部位位置計測装置によって乳頭の位置が判別されて、 Thus, the position of the teat is determined by walking an animal body part position measuring device,
確実に搾乳手段が乳頭に装着され、しかも、作業者による透過部材の清掃作業が不要な搾乳装置を提供することができるようになった。 Reliably milking means is mounted on the nipple, yet, it has become possible to cleaning of the transmitting member by the operator to provide unnecessary milking device.

【0013】 [0013]

【発明の実施の形態】以下、本発明を自動搾乳装置に適用した実施の形態について、図面に基づいて説明する。 DETAILED DESCRIPTION OF THE INVENTION Hereinafter, embodiments of the present invention is applied to an automatic milking device will be described with reference to the drawings.
図1に示すように、歩行動物の体部位位置計測装置Bにおいては、歩行動物の所定の体部位の位置を判別すべく、判別用のレーザ光を出射するとともに、その出射光が前記体部位に当たって反射した反射光を受光するように構成されたスキャナーSと、前記体部位の概略位置を判別すべく、判別用の超音波を送信するとともに、その送信した超音波の反射波を受信するように構成されたラフセンサ55,55と、それらスキャナーSの受光情報及びラフセンサ55,55の受信情報に基づいて、前記体部位の位置を判別する判別手段4が備えられている。 As shown in FIG. 1, in the body part position measuring device B walking animals, in order to determine the position of a predetermined body part of a walking animal, while emitting a laser beam for determination, the emitted light is the body site a scanner S, which is configured to receive the reflected light reflected against the, in order to determine the approximate position of the body portion, transmits ultrasonic waves for discrimination, to receive a reflected wave of ultrasound that the transmission and Rafusensa 55 that is configured, based on information received light information and Rafusensa 55, 55 thereof scanner S, determining means 4 is provided to determine the position of the body portion.

【0014】スキャナーSは、歩行動物の所定の体部位の位置を判別すべく、判別用のレーザ光を出射するとともに、その出射光が前記体部位に当たって反射した反射光を受光するように構成された検出手段1が、前記出射光及び反射光が透過自在なガラス等から成る透過部材3 [0014] Scanner S, in order to determine the position of a predetermined body part of a walking animal, while emitting a laser beam for determination, is configured such that the emitted light receives the reflected light reflected against the said body portion detecting means 1 is transparent member 3 in which the outgoing light and the reflected light is made of freely glass transparent
を備えた円筒形状の収納部2内に収納されて構成されている。 Is housed is configured in a cylindrical shape in the housing portion 2 having a.

【0015】自動搾乳装置Aは、乳牛等の被搾乳動物の乳頭に装着されて搾乳する搾乳手段としての搾乳器Aa The automatic milking device A breast pump Aa as milking means for milking are attached to the nipple of the milking animals cows, etc.
(クラスター)と、その搾乳器Aaを乳牛の乳頭に装着すべく位置合わせする装着手段としてのセンサロボットAbと、自動搾乳装置Aの各種制御を司る制御部Cが備えられて構成されている。 And (cluster), a sensor robot Ab of the breast pump Aa as a mounting means for aligning in order to mount the teats of dairy cows, control unit C which controls the various controls of the automatic milking device A is configured provided. そして、検出手段1及びラフセンサ55,55が、乳牛の乳頭の位置を判別すべく設けられ、制御部Cは、搾乳器Aaを乳牛の乳頭に装着すべく位置合わせするように、判別手段4の判別情報に基づいて、センサロボットAbを作動させるように構成されている。 Then, the detection means 1 and Rafusensa 55, provided in order to determine the position of the teats of the cow, the control unit C, the breast pump Aa to align in order to mount the teats of dairy cows, the discriminating means 4 based on the determination information, and is configured to actuate the sensor robot Ab.

【0016】以下、自動搾乳装置Aについて、説明を加える。 [0016] In the following, the automatic milking apparatus A, add a description. 図4に示すように、搾乳器Aaは、通常は搾乳室R横側方の退避した位置に位置し、乳牛検出手段(図示せず)により、乳牛が搾乳室Rにおいて所定の搾乳姿勢になったことが検出されると、乳牛の下腹部に突出移動した搾乳位置に位置するように構成されている。 As shown in FIG. 4, the breast pump Aa is usually located at the retracted position of the milking parlor R lateral side, the cow detection means (not shown), cow reaches the predetermined milking position in the milking parlor R If it is detected with, and is configured to be positioned milking position protruding moved to the lower abdomen of the cow. 尚、以下の説明では、図4の図面上、上方向を右方向と、下方向を左方向に設定する。 In the following description, the drawings of FIG. 4, the right direction upward, to set the downward leftward.

【0017】図5ないし図8に示すように、搾乳器Aa [0017] As shown in FIGS. 5 to 8, the breast pump Aa
は、乳頭に装着可能な4個のティートカップ50を先端に備えた腰折れリンク51を搾乳室Rの右横に備えて構成され、センサロボットAbは、各ティートカップ50 It is configured to buckling link 51 having four teat cups 50 can be attached to the teat tip provided on the right side of the milking parlor R, sensor robot Ab, each teat cup 50
を、搾乳室Rにおいて所定の搾乳姿勢になった乳牛の4 A cow has reached a predetermined milking position in the milking parlor R 4
箇所の乳頭のうち夫々に対応する乳頭の真下に位置合せするように構成されている。 It is configured to align beneath the nipple that corresponds to each of the portions of the papillary.

【0018】図5及び図6に示すように、搾乳器Aa As shown in FIGS. 5 and 6, the breast pump Aa
は、ティートカップ50を備えた先端アーム51aと、 Includes a distal arm 51a provided with a teat cup 50,
この先端アーム51aと搾乳室R右横に固着された支持体54とに架設される基端アーム51bとから成る腰折れリンク51と、2個の復帰用シリンダ52,53とで構成されている。 The buckling link 51 composed of the distal arm 51a and parlor proximal arm 51b which is bridged with support 54 which is secured to the R right side, and a two return cylinders 52, 53. ティートカップ50は外側がゴム材で覆われており、そのゴム材上下の突出部分に上リンク6 Teat cup 50 is covered outside with a rubber material, the upper link to the projecting portion of the rubber material vertical 6
3aとこれより長さの短い下リンク63bとで成る不等辺リンク機構63を介して先端アーム51aに支持するとともに、先端アーム51aと下リンク63bとに亘って昇降シリンダ64を架設してある。 3a and while supporting it from the distal arm 51a via a scalene link mechanism 63 consisting of a short lower link 63b lengths, are bridged the elevating cylinder 64 over the distal arm 51a and a lower link 63b. 基端アーム51b Proximal arm 51b
は、昇降機構(ロッドレスシリンダや電動シリンダ等) Is, the lifting mechanism (rodless cylinder or an electric cylinder or the like)
66を介して平行昇降可能に支持体54に支持されており、基端シリンダ53も連動して昇降可能となるよう、 66 are supported in parallel vertically movable support 54 via a vertically movable and so as proximal cylinder 53 linked to,
支持体54に立設されたバー67に上下スライド自在に嵌装してある。 The bar 67 erected on the support 54 are fitted freely slide up and down.

【0019】4個のティートカップ50は、乳牛の乳頭の配列状態に合せて前側が横に広い台形状に配置されており、この配置状態は基本的に固定されている。 The four teat cups 50, the front side in accordance with the arrangement of the teat in dairy cows is arranged in a wide trapezoidal laterally, the arrangement is basically fixed. しかしながら、上下のリンク63a,63bと先端アーム51 However, the upper and lower links 63a, 63b and distal arm 51
aとの連結部に介装されたゴムブッシュ(図示せず)、 Rubber bush interposed in a connecting part between a (not shown),
及びティートカップ50を覆うゴム部材の弾性によって、ティートカップ50の位置及び姿勢には融通が持たされており、かつ、ティートカップ50上端の開口部が上拡がり形状(図5参照)であることから、4個の乳頭の相対位置が標準状態から多少ズレていてもティートカップ50の嵌着が可能となっている。 And by the elasticity of the rubber member covering the teat cup 50, the position and orientation of the teat cup 50 has been Motasa is flexible, and, since the opening of the teat cup 50 upper end is above spread shape (see FIG. 5) , the relative positions of the four teats has become possible fitted and the teat cup 50 be slightly deviated from the standard conditions. この構造は、乳頭の相対位置が基本的に乳牛毎でそう大きくは違わないことによって可能となっている。 This structure, the relative position of the nipple is made possible by not differ in so large basically each cow.

【0020】又、ティートカップ50が乳頭に装着されると、それが次のティートカップ50装着のための支持基準体となり、その装着されたティートカップ50はあまり動かない方が次のカップ装着の成功率を改善できる点で都合が良い。 [0020] Also, when the teat cup 50 is mounted on the nipple, it is the support reference member for the next teat cup 50 mounted teat cup 50 that has been mounted is better sedentary the next cup mounting convenient in that it can improve the success rate is good. そこで、ティートカップ50の乳頭への装着に伴って、前記のゴムブッシュによる融通を殺す機構(例えば、電磁マグネットを連結部に埋込んでおき、通電すれば上下のリンク63a,63bと先端アーム51aとがリジッド状態になる、等)が設けてあり、 Accordingly, with the attachment to the teat of the teat cup 50, mechanism killing flexibility by the rubber bushing (e.g., is squirreled embedding the electromagnet on the connecting portion, the upper and lower links 63a if energized, 63 b and distal arm 51a Doo is rigid state, etc.) is provided with,
カップ装着の確実性を強化してある。 It is to enhance the certainty of the cup mounting. この搾乳器Aa The breast pump Aa
は、先端シリンダ52と基端シリンダ53との伸縮駆動により、搾乳室Rの右横に退避した退避位置から、搾乳室Rの左右中央に突出した搾乳位置(乳牛の下腹部)に亘ってティートカップ50の姿勢を変えずに移動できるようにしてある。 Is the expansion and contraction drive of the tip cylinder 52 and a proximal cylinder 53, from a retracted position retracted to the right of the milking parlor R, over a milking position protruding to the left and right center of the milking parlor R (abdominal cow) teat It is to be moved without changing the attitude of the cup 50. 尚、65はセンサロボットAb合体用の被装着部である。 Incidentally, 65 is a mating attachment section of the sensor robot Ab coalescence.

【0021】図7及び図8に示すように、センサロボットAbは、2個のラフセンサ55,55と1個のスキャナー(ファインセンサに相当)56とを備えた先端平行四連リンク57と、これと枠筒69下部の上下突出板6 As shown in FIGS. 7 and 8, the sensor robot Ab has a tip parallel quadruplicate link 57 that includes a two Rafusensa 55, 55 and one scanner (corresponding to the fine sensor) 56, which a frame tube 69 the lower part of the upper and lower projecting plate 6
9a,69bとに亘る基端平行四連リンク58と、第1 9a, the proximal end parallel quadruplicate link 58 extends between the 69b, first
及び第2シリンダ60,61等から構成されている。 And and a second cylinder 60, 61 and so on. 枠筒69は、モータ70aとネジ軸70bとで成る上下移動機構70によって昇降移動可能に支柱59に嵌装されるとともに、その支柱59は、2箇所の搾乳室R,Rの右側脇に亘って架設された左右一対の移動用レール62 Frame tube 69, while being fitted to the post 59 vertically movable by vertical movement mechanism 70 consisting of a motor 70a and a screw shaft 70b, the post 59, two places milking parlor R, over the right side of the R bridged Te pair of right and left rails for moving 62
上を転動移動可能な台車68に支持されている。 It is supported on the rolling movable carriage 68. 尚、下突出板69bの延長部を、台車68に立設した支持バー68aに上下スライド自在に嵌装して枠筒69の回り止めを行っている。 Incidentally, an extension of the lower projecting plate 69b, is performed detent frame tube 69 fitted freely slide up and down on the support bar 68a erected on the truck 68.

【0022】第1シリンダ60の伸縮動によって基端平行四連リンク58を枠筒69に対して左右移動可能であるとともに、第2シリンダ61の伸縮動によって先端平行四連リンク57を基端平行四連リンク58に対して左右移動可能であり、図8に示すようにラフセンサ55及びスキャナーSの台車68に対する姿勢を変えずに、搾乳室Rの右横に退避した退避位置から、搾乳室Rの左右中央に突出した搾乳位置(乳牛の下腹部)に亘って横移動可能である。 [0022] as well as a possible lateral movement relative to the first frame tube 69 proximal parallel quadruplicate link 58 by expansion and contraction movement of the cylinder 60, proximal parallel tip parallel quadruplicate link 57 by expansion and contraction movement of the second cylinder 61 a possible lateral movement relative to quadruplicate link 58, without changing the orientation with respect to carriage 68 of Rafusensa 55 and scanner S as shown in FIG. 8, from the retracted position retracted to the right of the milking parlor R, milking parlor R possible lateral movement over the milking position protruding to the left and right central (abdominal cow). ラフセンサ55,55は位置固定であるが、スキャナーSは、上アーム56aと下アーム56b Rafusensa 55 is stationary, but the scanner S, the upper arm 56a and the lower arm 56b
とで成るスキャナー操作用四連リンク56、及び下アーム56bに作用するモータ機構71とにより、上下移動可能に先端平行四連リンク57に支持されるとともに、 The motor mechanism 71 which acts on the scanner operation quadruplicate link 56 and the lower arm 56b, consisting of a, while being supported vertically movably tip parallel quadruplicate link 57,
詳細は後述するが、電動モータ5によって受台76に対して上下軸芯周りで回動可能に構成されている。 Although details will be described later, it is configured to be rotatable about a vertical axis relative to the cradle 76 by an electric motor 5. 尚、7 In addition, 7
2は搾乳器Aa合体用の装着部である。 2 is a mounting portion for breast pump Aa coalescence.

【0023】ここで、搾乳器AaとセンサロボットAb [0023] In this case, breast pump Aa and the sensor robot Ab
との合体構造を説明すると、図9に示すように、被装着部65は、一対の引掛け部65a,65aと一対の突起ガイド65b,65bとを備えて構成され、装着部72 To explain the combined structure of, as shown in FIG. 9, the mounting portion 65 is configured to include a pair of hook portions 65a, 65a and a pair of projections guides 65b, and 65b, mounting portion 72
は、腰折れリンク73で相対連結された一対の係合片7 A pair of engagement pieces 7 in a relatively connected by buckling link 73
2a,72aを枢支可能に垂設するとともに、ソレノイド74で出退操作可能なロッド75の下端を腰折れリンク73の中央リンク片73aに連結して構成されている。 2a, together with the pivotably to vertically the 72a, it is configured by connecting the lower end of the operable rod 75 retreat out by a solenoid 74 to the central link piece 73a of the stall link 73. 係合を解除するには、ソレノイド74を伸長動させれば良い。 To release the engagement, it is sufficient to extended dynamic solenoid 74. 従って、図9(イ)に示すように、装着部7 Accordingly, as shown in FIG. 9 (b), the mounting portion 7
2と被装着部65とが横方向で位置合せされた状態で、 In a state where 2 and the mating attachment section 65 is aligned in the transverse direction,
センサロボットAb全体を下降移動すると、係合片72 With downward movement of the entire sensor robot Ab, the engaging piece 72
aが突起ガイド65bに誘導され、図9(ロ)に示すように、2箇所において係合片72a先端と引掛け部65 a is induced in the projection guide 65b, as shown in FIG. 9 (b), the engaging piece 72a tip and the engaging portion 65 at two points
aとが係合し、搾乳器AaとセンサロボットAbとが合体するのである。 And a a engage a breast pump Aa and the sensor robot Ab is to coalesce.

【0024】次に、制御部Cの制御によって奏する自動搾乳装置Aの作用を、図4、及び、図10ないし図17 Next, the operation of the automatic milking device A exhibited by the control of the control station C, a 4 and, 10 to 17
を参照して説明する。 With reference to the description. 尚、乳牛の首には、固体別に設定された識別情報を発信する発信器(図示せず)を装着され、図中のTは、前記発信器から発信される信号を受信する受信機である。 Note that the neck of the cow is mounted transmitter for transmitting the identification information set to a solid by a (not shown), T in the figure, is a receiver for receiving a signal transmitted from the transmitter . 更に、制御部Cには、予め、識別情報に対応させて、識別情報に対応する乳牛の固体情報、 Further, the control station C, a beforehand, in correspondence with the identification information, individual information cow corresponding to the identification information,
例えば、体格データや乳頭位置データが記憶されている。 For example, body size data and the nipple position data is stored.

【0025】先ず、第1搾乳室Rの右横位置に、搾乳器Aaとこれよりも高い位置にあるセンサロボットAbとが横並び状態で待機している(図4)。 [0025] First, the right lateral position of the first milking parlor R, a sensor robot Ab in breast pump Aa and a position higher than this is waiting side-by-side (Fig. 4). 次いで、前記乳牛検出手段により、乳牛が所定の搾乳姿勢になったことが検出されると、餌箱36をその乳牛に適合した量後退させて所定の搾乳姿勢に操作するとともに、左右の牽制部材33,33が作用姿勢に切換る(図10)。 Then, by the cow detecting means, when the cow is detected that reaches a predetermined milking position, while operation by an amount retracted adapted to Feeders 36 to the cow to a predetermined milking posture, the right and left restraining member 33, 33 Setsu換Ru in action posture (Fig. 10). このとき、餌箱36の後退移動終了に伴って、センサロボットAbが左横に移動し、かつ、下方移動すること(図1 At this time, along with the backward movement end feeders 36, the sensor robot Ab moves to the left, and move downward (FIG. 1
3)によってセンサロボットAbが搾乳器Aaに合体する。 Sensor robot Ab coalesce the breastpump Aa by 3).

【0026】尚、図示しないが、電動モータ等の餌箱3 [0026] It should be noted that, although not shown, bait box 3, such as an electric motor
6を移動操作する手段、餌箱36が前記所定の搾乳姿勢に位置したことを検出する手段、及び、シリンダ等の牽制部材33を退避姿勢と作用姿勢に切り換える手段が設けられている。 Means for moving operation 6, it means for detecting that the feeders 36 is located at the predetermined milking position, and, means for switching the check member 33 such as a cylinder to the retracted position and the working position is provided. 牽制部材33を作用姿勢に切り換えると、所定の搾乳姿勢にある乳牛の後脚の直前位置に突出して後脚の前方移動を規制し、牽制部材33を退避姿勢に切り換えると、所定の搾乳姿勢にある乳牛の前進を許容する。 Switching the restraining member 33 to the working position, to restrict the forward movement of the rear leg protrudes just in front of the rear legs of the cow in the predetermined milking position, switch the restraining member 33 to the retracted position, the predetermined milking position to allow the advancement of certain dairy cattle.

【0027】合体された自動搾乳装置Aは、センサロボットAbの第1及び第2シリンダ60,61を駆動しての概略の横移動でティートカップ50を乳牛の下腹部に移動し(図11)、それから、ラフセンサ55,55を用いて第4乳頭(リファレンスティート)を検出し、各々のティートカップ50を対応する乳頭の下方となるように第1及び第2シリンダ60,61を駆動制御して(搾乳器Aaの2個のシリンダ52,53は追従移動する)概略の位置合せを行う(図14、図15参照)。 The automatic milking device A that is coalesced, the teat cup 50 in the lateral movement of the outline of driving the first and second cylinders 60, 61 of the sensor robot Ab moved to the lower abdomen of cows (Fig. 11) , then, it detects a fourth nipple (reference teat) with Rafusensa 55 drives and controls the first and second cylinders 60 and 61 so that each of the teat cup 50 becomes lower corresponding papillary (the two cylinders 52, 53 of the breast pump Aa to follow movement) performs positioning of the outline (see FIG. 14, FIG. 15). 次に、モータ機構71を駆動してスキャナーSを持上げ、 Next, lift the scanner S by driving the motor mechanism 71,
上下方向でも乳頭の間に位置させ、かつ、後述するように駆動回転させながら4箇所の乳頭位置センシングを行う(図14、図15参照)。 In the vertical direction it is located between the nipple and performing papillae position sensing four portions while rotated as will be described later (see FIG. 14, FIG. 15).

【0028】スキャナーによる精密センシング(乳頭位置計測)が終了し、各ティートカップ50が各乳頭の真下に位置合せされると、先ず第1乳頭Te1 (乳頭の位置関係は図15参照)のティートカップ50の装着トライが開始され(図16)、それから第2、第3、及び第4乳頭Te2,Te3,Te4 の装着が行われる。 [0028] Precision Sensing (papilla position measurement) is completed by the scanner, the teat cup when the teat cup 50 is aligned directly below each nipple, first the first teat Te1 (see FIG. 15 positional relationship papilla) 50 mounted trie is started (FIG. 16), then the second, attachment of the third and fourth teat Te2, Te3, Te4 is performed. 4個のティートカップ50の乳頭への装着が完了すると、装着部72と被装着部65との係合が解かれてセンサロボットAbが少し持上がり、次いで右側方に移動して退避位置に戻る(図12)。 When four attachment to the teat of the teat cup 50 is completed, disengage the mating attachment section 65 and the mounting portion 72 sensor robot Ab rises slightly lifting it, and then returns to the retracted position moves to the right side (Figure 12). この後、レール62を使ってセンサロボットAbは隣の第2搾乳室Rへと向かうのである。 Thereafter, the sensor robot Ab with the rail 62 is to go to the second milking parlor R next.

【0029】センサロボットAbが退避位置に戻ると、 [0029] When the sensor robot Ab returns to the retracted position,
昇降機構66が上昇駆動されるとともに、昇降シリンダ(装着機構に相当)64が短縮駆動されてティートカップ50を基軸として搾乳器Aaが持上がり、ティートカップ50の姿勢を乳頭に適した状態に矯正する(図1 With elevating mechanism 66 is driven upward (corresponding to the mounting mechanism) elevation cylinder 64 is breast pump Aa rises lifting the teat cup 50 is shortened driven as a key, correct orientation of the teat cup 50 in a state suitable for nipple to (Fig. 1
7)。 7). それから、搾乳が開始されるのである。 Then, it is the milking is started.

【0030】つまり、図16に示されるようにティートカップ50は下方位置では乳頭への嵌まり易さを優先して、ほぼ垂直に起立した姿勢となっているが、不等辺リンク機構63での上昇移動が揺動上昇と似た状態となってやや後傾姿勢になり、乳頭を少し捩じる状態となるので、搾乳器Aa本体の持上げにより、ティートカップ5 [0030] That is, the teat cup 50 as shown in FIG. 16 with priority fits easy to papilla at the lower position, but has a substantially vertically upright posture, in scalene link mechanism 63 in a state in which upward movement is similar to the rocking rise becomes inclined backward slightly, since the slightly twisted state nipple, the lifting of the breast pump Aa body, the teat cup 5
0を後傾姿勢からほぼ垂直な起立姿勢に戻す姿勢矯正機構Mが構成されている。 The posture correction mechanism M to return to the substantially vertical upright position and a backward inclined posture 0. 又、先端が少し前に寄る乳頭の後傾姿勢に合せてティートカップ50の下方位置での姿勢を設定し、上昇による顕著な後傾姿勢を元の僅かな後傾姿勢に戻すように設定すればより好都合である。 The tip is in accordance with the backward inclined posture of the nipple by little before setting the position at the lower position of the teat cup 50, is set to return to the original slight after leaning posture noticeable after leaning posture by rising Bayori is convenient. 搾乳器Aa本体を後から持上げ移動させるのは、ティートカップ50の装着完了に伴って、合体しているセンサロボットAbを側方に逃がし移動させるために必要な上下空間を確保する点でも意味がある。 Move lifting later breast pump Aa body, with the attachment-complete the teat cup 50, meaning the point of securing the upper and lower space necessary for moving Relieve sensor robot Ab are united laterally is there.

【0031】以下、体部位位置計測装置Bについて、説明を加える。 [0031] Hereinafter, the body part position measuring device B, added description. 図1ないし図3に示すように、スキャナーSは、受台76上に設けられ、電動モータ5によって、 As shown in FIGS. 1 to 3, the scanner S is provided on the cradle 76, by an electric motor 5,
検出手段1及び収納部2を上下軸芯周りに一体的に回動可能に構成されている。 Is configured to be rotatable integrally with the detection means 1 and the container 2 in the vertical axis around. 更に、電動モータ5には、基準位置からの回転角度を検出すべく、ロータリエンコーダ(図示せず)が設けられている。 Furthermore, the electric motor 5, to detect the rotation angle from the reference position, a rotary encoder (not shown) is provided. つまり、図15に示すように、スキャナーSを乳牛の4個の乳頭の略中央に位置させた状態で、電動モータ5を作動させて、検出手段1を回転させることにより、出射光を乳牛の4個の乳頭に当てるように掃引するように構成されている。 That is, as shown in FIG. 15, the scanner S in a state of being positioned in substantially the center of the four teats of cows, by operating the electric motor 5, by rotating the detection means 1, the light emitted from the cow and it is configured to sweep to direct the four teats. 従って、電動モータ5が掃引手段Dに相当する。 Therefore, the electric motor 5 corresponds to the sweeping means D.

【0032】収納部2の透過部材3の表面を清掃する清掃手段Wが設けられ、その清掃手段Wは、透過部材3の表面に散水する散水手段6と、透過部材3の表面に付着した水を除去するを水除去手段7にて構成されている。 The cleaning means W is provided for cleaning the surface of the transparent member 3 of the container 2, the cleaning means W includes a water spray means 6 for sprinkling on the surface of the transparent member 3, adhered to the surface of the transparent member 3 water and is configured to be removed by water removal means 7.

【0033】散水手段6は、受台76上に立設された支柱77に取り付けられた散水ノズル6aと、その散水ノズル6aへの水の供給を断続する開閉弁6bとから構成されている。 The water spray means 6 is constituted by a water spray nozzle 6a which is attached to strut 77 erected on the pedestal 76, and the on-off valve 6b intermittently the supply of water to the water spray nozzle 6a. 水除去手段7は、ロッドの収縮方向が水平方向になるように支柱77に取り付けられたワイパー用シリンダ7aと、そのワイパー用シリンダ7aのロッド先端に長手方向を鉛直方向に向けて取り付けられたワイパー7bからなるワイパー装置にて構成されている。 Water removal means 7, contraction direction of the rod is mounted with its longitudinal direction in the vertical direction to the rod tip of a wiper cylinder 7a mounted, the wiper cylinder 7a to the strut 77 so that the horizontal wiper It is composed of a wiper device consisting 7b.

【0034】図15に示すように、スキャナーSが乳牛の4個の乳頭の略中央に位置する状態で、散水手段6及び水除去手段7は、平面視において、第3乳頭Te3 と第4乳頭Te4 の略間に位置するようにして、4個の乳頭の位置を計測する際に、出射光や反射光を遮らないように構成されている。 As shown in FIG. 15, in a state where the scanner S is positioned at substantially the center of the four teats of cows, sprinkling means 6 and the water removal means 7, in a plan view, a third nipple Te3 fourth teat Te4 so as to be positioned between the substantially of, when measuring the positions of the four teats, and is configured so as not to block the light emitted or reflected light.

【0035】検出部1の受光情報、及び、前記ロータリエンコーダからの出力信号は、判別手段4に入力され、 The light-reception information of the detecting unit 1, and the output signal from the rotary encoder is input to the discriminating means 4,
判別手段4において、検出部1の受光情報及び前記ロータリエンコーダからの出力信号に基づいて、4個の乳頭夫々の位置が算出されるように構成されている。 In the determination means 4, based on the light reception information of the detection unit 1 and the output signal from the rotary encoder, four nipple respective position is configured to be calculated. そして、判別手段4における算出結果は、制御部Cに入力され、制御部Cは、判別手段4による4個の乳頭夫々の算出結果に基づいて、センサロボットAbを作動させる。 Then, the calculation result in the discriminating means 4 is input to the controller C, the control unit C based on the four teats respective calculation result by the determining means 4, actuating the sensor robot Ab.
又、電動モータ51、開閉弁6b及びワイパー用シリンダ7aは、制御部Cに接続されて、夫々の作動が制御部Cによって制御されるように構成されている。 The electric motor 51, on-off valve 6b and the wiper cylinder 7a is connected to the control station C, a actuated each is configured to be controlled by the control unit C.

【0036】次に、体部位位置計測装置Bによる乳頭位置計測について説明する。 Next, a description will be given teat position measurement by the body portion position measuring device B. 体部位位置計測装置Bは、検出手段1からの出射光が物体に当たって反射した反射光を受光することで物体の存在と大きさ及び位置を計測するものであり、図15に示すように、そのスキャナーS Body parts position measuring device B is for light emitted from the detection means 1 for measuring the presence and magnitude and position of an object by receiving light reflected against an object, as shown in FIG. 15, the scanner S
を4個の乳頭のほぼ中央位置において回転させることで、4個の乳頭の位置計測を行う。 By rotating at substantially the center position of the four teats, and performs position measurement of the four teats. 具体的には、図18 Specifically, FIG. 18
に示すように、乳牛の後脚Le、藁クズSt、乳頭T As shown, the cows of the rear leg Le, straw debris St, nipple T
e、乳房Udが計測対象域に存在しているとする。 e, and breast Ud is present in the measurement target area. そして、図20に示すように、反射光の受光によるスキャナーSと物体との距離Diとその基準位置からの角度A Then, as shown in FIG. 20, the angle A between the distance Di between the scanner S and the object by receiving the reflected light from the reference position
nとが順次記録されるのであるが、反射光が来ないとき(データが無いとき)には0(零)が検出されるようになっているとする。 Although the n is being sequentially recorded, when the reflected light does not come 0 (zero) to (when no data) and adapted to be detected.

【0037】図20に示すように、スキャナーSの回転が始まり、先ず後脚Leの存在及びその距離l L1 〜l Ln As shown in FIG. 20 starts the rotation of the scanner S, the presence of the rear leg Le First and distance l L1 to l Ln
と、角度θ L1 〜θ Lnが検出される。 If the angle theta L1 through? Ln is detected. 次に、藁クズの存在及びその距離l S1 〜l Snと、角度θ S1 〜θ Snが検出され、それから、乳頭Teの存在及びその距離l T1 〜l Tn Then, presence and its distance l S1 to l Sn straw waste, the angle theta S1 through? Sn been detected, then the presence of the nipple Te and distance l T1 to l Tn
と、角度θ T1 〜θ Tn 、乳房Ud存在及びその距離l U1 If the angle theta T1 through? Tn, breast Ud presence and distance l U1 ~
Unと、角度θ U1 〜θ Unが順次検出される。 and l Un, the angle theta U1 through? Un are sequentially detected. 又、予め測定された乳牛毎の乳頭位置データから、おおよその乳頭存在エリアであるx0,x1 ・y0,y1 で囲まれた四角形のウィンドウWiが定めてあり、このウィンドウWi内に物体が存在するか否かと、乳頭としての太さ及びスキャナーSからの距離が適切であるかどうかで総合的に判断する。 Further, from the nipple position data for each cow which is previously measured, Yes determined is x0, x1 · y0, square surrounded by y1 window Wi is approximate papilla presence area, the object is present in this window Wi and whether the distance from the thickness and the scanner S as the nipple is comprehensively judged by whether it is appropriate.

【0038】すなわち、図19に示すアルゴリズムのように、検出された距離と角度のデータの算術平均を各物体毎に求め(ステップ#a)、 算術平均:l Av =l 1 +…l n /n,θ AV =θ 1 +…θ n /n 次いで、その求められた値が所定範囲にあるか否か? [0038] That is, as in the algorithm shown in FIG. 19, obtains the arithmetic mean of the data of the detected distances and angles for each object (step #a), the arithmetic mean: l Av = l 1 + ... l n / n, θ AV = θ 1 + ... θ n / n then, whether the determined value is within a predetermined range? ,
及びその物体が所定のウィンドウWi内に存在するか否か? And whether the object is within the predetermined window Wi? を比較し(ステップ#b)、双方の条件が共に満足すれば乳頭Teであると見なし、いずれか一方でも満足しないと乳頭Te以外のものであると見なすように制御されるのである。 Comparing (step #b), it considers both conditions are papillary Te is satisfied together, it being controlled to regard is not satisfied even either to be of non-papillary Te. 尚、図15に示すように、平面図で右後のものが第1乳頭Te1 であり、そこから時計回り方向に順次、第2〜第4乳頭Te2 〜Te4 に設定されている。 As shown in FIG. 15, those right after in plan view a first teat Te1, sequentially therefrom in the clockwise direction and is set to the second to fourth teat Te2 ~Te4. ラフセンサ55で検出されるのは、右前の第4乳頭Te4 である。 Being detected in Rafusensa 55 is a fourth teat Te4 the right front.

【0039】次に、清掃手段Wの作動制御について説明する。 A description will now be given operational control of the cleaning means W. 図12に示すように、4個のティートカップ50 As shown in FIG. 12, four teat cups 50
の乳頭への装着が完了して、センサロボットAbが前記退避位置に戻ると、そのことによって、清掃指令が発せられたことになり、その清掃指令に基づいて、制御部C And attachment to the teats is completed, the sensor robot Ab returns to the retracted position, by the results in the cleaning command is issued, based on the cleaning command, the control unit C
は、以下の如き清掃制御を実行する。 Executes the following such cleaning control.

【0040】尚、乳頭の位置計測を行う際には、記載順に、第4乳頭Te4 、第3乳頭Te3 、第2乳頭Te2 [0040] Incidentally, when performing position measurement of the nipple is in the order, fourth nipple Te4, third nipple Te3, second teat Te2
、第1乳頭Te1 を順次検出すべく、図15に示すように、スキャナーSは、平面視において反時計周り方向に回転する。 , In order to sequentially detect the first teat Te1, as shown in FIG. 15, the scanner S is rotated in the counterclockwise direction in plan view. 従って、4個の乳頭全ての検出が終了した時点では、図15に示すように、透過部材3は、第4乳頭Te4 と第1乳頭Te1 との間に向いた位置に位置している。 Therefore, at the time when the four teats all detected ended, as shown in FIG. 15, the transmission member 3 is located opposite a position between the fourth nipple Te4 the first teat Te1. 従って、センサロボットAbが前記退避位置に戻った時点では、図3(イ)に示すように、透過部材3 Therefore, at the time when the sensor robot Ab has returned to the retracted position, as shown in FIG. 3 (b), transmissive member 3
は、清掃手段Wの清掃作用位置とは異なる位置に位置している。 Is located at a position different from the cleaning action position of the cleaning means W.

【0041】前記清掃指令が発せられると、図3(ロ) [0041] When the cleaning instruction is issued, 3 (b)
に示すように、平面視において、透過部材3がワイパー7bの作用位置をやや通過する位置に位置するまで、収納部2を反時計周り方向に回転させ、更に、図3(ハ) As shown in, in a plan view, until the transparent member 3 is positioned slightly passes the position of the operating position of the wiper 7b, rotating the housing part 2 in the counterclockwise direction, further, FIG. 3 (c)
に示すように、透過部材3がその位置から図3(イ)に示す位置に位置するまで、収納部2を時計周り方向に回転させるように、電動モータ5を作動させる。 As shown in, the transmission member 3 until the position to the position shown in FIG. 3 (b) from that position, the housing section 2 so as to rotate in the clockwise direction, actuating the electric motor 5. 上記のように、収納部2を往復移動させるべく電動モータ5を作動させるのと並行して、その往復移動の往路においては、開閉弁6bを開作動させるとともに、ワイパー7b As described above, in parallel with the container 2 actuate the electric motor 5 to reciprocate in the forward path of the reciprocation, the switch valve 6b causes the opening movement, the wiper 7b
を透過部材3の表面に当て付けるようにワイパー用シリンダ7aを伸長作動させ、復路においては、開閉弁6b It was extended actuating the wiper cylinder 7a as abutted on the surface of the transparent member 3, in the backward-off valve 6b
を閉作動させ、更に、透過部材3がワイパー7bの作用位置をやや通過した時点で、ワイパー用シリンダ7aを収縮作動させる。 It was closing operation, further, when the transmission member 3 has slightly passed the operating position of the wiper 7b, is contracted operating the wiper cylinder 7a.

【0042】従って、往路においては、散水ノズル6a [0042] Thus, in the forward path, watering nozzles 6a
からの散水とワイパー7bとの協働作用によって、透過部材3の表面に付着した汚物が洗い流され、復路においては、ワイパー7bによって、透過部材3の表面に付着した水が拭われる。 By watering and wiper 7b cooperation of from, dirt attached to the surface of the transparent member 3 is washed away, in return, by the wiper 7b, the water adhering to the surface of the transparent member 3 is wiped.

【0043】従って、前記清掃指令に基づいて、清掃手段Wを作動させる制御手段100は、制御部Cを利用して構成されている。 [0043] Therefore, based on the cleaning command, the control unit 100 for operating the cleaning means W is constituted by using the control unit C. 清掃手段Wは、透過部材3が、乳頭の位置を判別すべく位置する判別用位置とは異なる清掃用位置に位置する状態で、透過部材3の表面を清掃するように構成されている。 Cleaning means W is the transmission member 3, in a state located at the position for a different cleaning of the discrimination position which is located so as to determine the location of the nipple, which is configured to clean the surface of the transparent member 3. 又、透過部材3を前記判別用位置から前記清掃用位置に位置させるように収納部2を移動させる移動手段Mが設けられ、掃引手段Dが、出射光の掃引に伴って、収納部2も一体的に移動させるように構成されて、移動手段Mに兼用されるように構成されている。 Further, transmission member 3 moving means M for moving the container 2 so as to position to the position for the cleaning from said discrimination positions are provided, sweeping means D is, with the sweeping of the emitted light, also housing part 2 It is configured to move integrally, and is configured to be also used as the moving means M.

【0044】制御手段100は、前記清掃指令に基づいて、透過部材3を前記清掃用位置に位置させるように、 The control unit 100, based on the cleaning command, the transmission member 3 so as to be positioned at a position for the cleaning,
移動手段Mを作動させ、且つ、透過部材3が前記清掃用位置に位置するときに、清掃手段Wを作動させるように構成されている。 Actuating the moving means M, and, when the transparent member 3 is located at a position for the cleaning, and is configured to actuate the cleaning means W. 又、制御手段100は、透過部材3 Further, the control unit 100, the transmission member 3
を、前記判別用位置から前記清掃用位置に移動させた後、再び前記判別用位置側に移動させる如く往復移動させるように、移動手段Mを作動させるように構成され、 And after moving to the cleaning position from the discrimination position, is configured to operate, the mobile unit M as to reciprocate as is again moved to the discrimination position side,
並びに、その往復移動の往路においては、散水手段6及び水除去手段7を作動させ、復路においては、水除去手段7のみを作動させるように構成されている。 And, in the forward path of the reciprocation, the water spray means 6 and the water removing device 7 is operated in the backward, is configured to actuate only the water removal means 7.

【0045】〔別実施形態〕次に別実施形態を説明する。 [0045] describing the Other Embodiments Next another embodiment. 検出手段1の具体構成は、上記の実施形態において例示した構成に限定されるものではなく、種々の構成が可能である。 Specific configuration of the detection unit 1 is not limited to the configuration illustrated in the above embodiments, and various configurations. 例えば、電動モータによって回動駆動される鏡によって、出射光を掃引させるように構成してもよい。 For example, the mirror is driven to rotate by the electric motor may be configured to sweep the emitted light.

【0046】 2個の検出手段1を設け、三角測量法によって、乳頭の位置を計測するように構成してもよい。 [0046] The two detection means 1 is provided, by triangulation, it may be configured to measure the position of the nipple.

【0047】 水除去手段7を、透過部材3の表面に空気を吹き付けて水を除去する噴風装置にて構成してもよい。 [0047] The water removal unit 7 may be configured on the surface of the transparent member 3 at air is blown air jet device for removing water.

【0048】 上記の実施形態では、掃引手段Dを移動手段Mに兼用するように構成する場合について例示したが、これに代えて、掃引手段Dと移動手段Mを各別に設けてもよい。 [0048] In the above embodiment has exemplified the case configured to alternate the sweeping means D to the movement section M, instead of this, the moving means M and sweeping means D may be provided separately.

【0049】 位置計測の対象となる歩行動物やその体部位は、上記の実施形態において例示した乳牛やその乳頭に限定されるものではない。 The walking animals and their body parts to be position measurement is not limited to the illustrated cow and its nipple in the above embodiments.

【0050】尚、特許請求の範囲の項に図面との対照を便利にするために符号を記すが、該記入により本発明は添付図面の構成に限定されるものではない。 [0050] Although referred to code For convenience of reference the drawings-claims, the present invention by the entry is not intended to be limited to the configuration of the accompanying drawings.

【図面の簡単な説明】 BRIEF DESCRIPTION OF THE DRAWINGS

【図1】自動搾乳装置及び歩行動物の体部位位置計測装置の全体構成を示すブロック図 1 is a block diagram showing the overall configuration of an automatic milking apparatus and a walking animal body parts position measuring device

【図2】体部位位置計測装置の要部の側面図 Figure 2 is a side view of a main part of the body part position measuring device

【図3】体部位位置計測装置の要部の平面図 Figure 3 is a plan view of a main part of the body part position measuring device

【図4】搾乳器とセンサロボットとの退避位置での横並び状態を示す平面図 Plan view of a side-by-side state of Fig. 4 in the retracted position of the breast pump and the sensor robot

【図5】搾乳器を示す側面図 Figure 5 is a side view showing a breast pump

【図6】搾乳器を示す平面図 6 is a plan view showing a breast pump

【図7】センサロボットを示す側面図 Figure 7 is a side view of a sensor robot

【図8】センサロボットを示す平面図 Figure 8 is a plan view of a sensor robot

【図9】装着部と非装着部の構造を示す一部切欠きの側面図 [9] Some cutout side view showing the structure of a mounting portion and a non-mounting portion

【図10】搾乳器とセンサロボットとの退避位置での合体状態を示す平面図 Figure 10 is a plan view showing a combined state at the retreat position of the breast pump and the sensor robot

【図11】突出移動して作用姿勢の自動搾乳装置を示す平面図 Figure 11 is a plan view showing an automatic milking device projecting move and act posture

【図12】搾乳器による搾乳状態を示す平面図 Figure 12 is a plan view showing a milking state by breast pump

【図13】センサロボットの下降による合体作動を示す要部の側面図 Figure 13 is a side view of an essential part showing a combined operation by the descent of the sensor robot

【図14】スキャナーのセンシング状態を示す要部の側面図 Figure 14 is a side view of an essential part showing a sensing state of the scanner

【図15】ラフセンサ及びスキャナーによるセンシング状態を示す要部の平面図 [15] Rafusensa and plan view of an essential part showing a sensing state by the scanner

【図16】ティートカップのキャッチアップトライを示す側面図 FIG. 16 is a side view showing the catch-up try of the teat cup

【図17】ティートカップ装着後の搾乳器持上げ状態を示す側面図 Figure 17 is a side view showing a breast pump lift state after the teat cup attachment

【図18】スキャナーによる計測原理を示す平面図 Figure 18 is a plan view showing the measurement principle according to the scanner

【図19】スキャナーによる乳頭検出のアルゴリズムを示す図 FIG. 19 is a diagram showing the algorithm of the nipple detection by the scanner

【図20】スキャナーによる乳頭検出データの解析原理を示す図 FIG. 20 shows an analysis principles of the nipple detection data by the scanner

【符号の説明】 DESCRIPTION OF SYMBOLS

1 検出手段 2 収納部 3 透過部材 4 判別手段 6 散水手段 7 水除去手段 100 制御手段 Aa 搾乳手段 Ab 装着手段 D 掃引手段 M 移動手段 W 清掃手段 First detecting means 2 housing portion 3 transmitting member 4 discriminating means 6 sprinkling means 7 water removing means 100 control means Aa milking unit Ab mounting means D sweeping means M moving means W cleaning means

Claims (7)

    【特許請求の範囲】 [The claims]
  1. 【請求項1】 歩行動物の所定の体部位の位置を判別すべく、判別用の光を出射するとともに、その出射光が前記体部位に当たって反射した反射光を受光するように構成された検出手段(1)が、前記出射光及び反射光が透過自在な透過部材(3)を備えた収納部(2)内に収納され、 前記検出部(1)の受光情報に基づいて、前記体部位の位置を判別する判別手段(4)が設けられた歩行動物の体部位位置計測装置であって、 前記透過部材(3)の表面を清掃する清掃手段(W) [Claim 1] In order to determine the position of a predetermined body part of a walking animal, with emitting light for discrimination, configured detecting means so that the output light receiving the reflected light reflected against the said body portion (1), the outgoing light and the reflected light is held in the holding section having a freely transmitting transmission member (3) (2), based on the received information of the detection unit (1), of the body portion position a discriminating means (4) body sites position measuring device of the walking animals provided to determine the cleaning means for cleaning the surface of said transparent member (3) (W)
    と、 清掃指令に基づいて、前記清掃手段(W)を作動させる制御手段(100)が設けられている歩行動物の体部位位置計測装置。 When cleaning on the basis of a command, the cleaning means (W) body part position measuring device of the walking animal control means for actuating (100) are provided.
  2. 【請求項2】 前記清掃手段(W)は、前記透過部材(3)が、前記体部位の位置を判別すべく位置する判別用位置とは異なる清掃用位置に位置する状態で、前記透過部材(3)の表面を清掃するように構成され、 前記透過部材(3)を前記判別用位置から前記清掃用位置に位置させるように、前記収納部(2)を移動させる移動手段(M)が設けられ、 前記制御手段(100)は、前記清掃指令に基づいて、 Wherein said cleaning means (W), said transparent member (3) is, in a state located at the position for a different cleaning of the discrimination position which is located so as to determine the position of the body portion, the transmission member (3) is composed of the surface of such cleaning, the transmission member (3) so as to position the cleaning position from the discrimination position, moving means (M) is moving the housing part (2) provided, said control means (100), based on the cleaning command,
    前記透過部材(3)を前記清掃用位置に位置させるように、前記移動手段(M)を作動させ、且つ、前記透過部材(3)が前記清掃用位置に位置するときに、前記清掃手段(W)を作動させるように構成されている請求項1 So as to position said transmission member (3) to a position for the cleaning, to actuate the moving means (M), and, when the transmission member (3) is located at the position for the cleaning, the cleaning means ( claim is configured to actuate W) 1
    記載の歩行動物の体部位位置計測装置。 Walking animal body part position measuring device according.
  3. 【請求項3】 前記判別用位置において前記出射光を所定の範囲内に掃引するように構成された掃引手段(D) 3. A constructed swept means to sweep the emitted light within a predetermined range in the discrimination position (D)
    が設けられ、 その掃引手段(D)が、前記出射光の掃引に伴って、前記収納部(2)も一体的に移動させるように構成されて、前記移動手段(M)に兼用されるように構成されている請求項2記載の歩行動物の体部位位置計測装置。 So that is provided, its sweeping means (D), with the sweep of the outgoing light, wherein the housing part (2) be configured to move integrally, is also used in the moving unit (M) walking animal body part position measuring device according to claim 2, characterized in that configured.
  4. 【請求項4】 前記清掃手段(W)が、前記透過部材(3)の表面に散水する散水手段(6)と、前記透過部材(3)の表面に付着した水を除去するを水除去手段(7)にて構成され、 前記制御手段(100)は、前記透過部材(3)を、前記判別用位置から前記清掃用位置に移動させた後、再び前記判別用位置側に移動させる如く往復移動させるように、前記移動手段(M)を作動させるように構成され、 Wherein said cleaning means (W) is, the transmission member (3) and sprinkling means for sprinkling (6) on the surface of said transparent member (3) water removal means for removing the water adhering to the surface of the (7) is constituted by the control means (100), said transmission member (3), after moving to the cleaning position from the discrimination position, as is again moved to the discrimination position side reciprocally so as to cause movement by being arranged to actuate said moving means (M),
    並びに、その往復移動の往路においては、前記散水手段(6)及び前記水除去手段(7)を作動させ、復路においては、前記水除去手段(7)のみを作動させるように構成されている請求項2又は3記載の歩行動物の体部位位置計測装置。 And, in the forward path of the reciprocation, the water spray means (6) and actuates the water removing means (7), in the return path, wherein being configured to actuate only said water removing means (7) walking animal body site location measuring apparatus of claim 2 or 3 wherein.
  5. 【請求項5】 前記水除去手段(7)が、前記透過部材(3)の表面を拭って水を除去するワイパー装置にて構成されている請求項4記載の歩行動物の体部位位置計測装置。 Wherein said water removing means (7) is, the transmission member (3) walking animal body parts position measuring device according to claim 4, characterized in that is constituted by a wiper apparatus that wiped surface to remove water .
  6. 【請求項6】 前記水除去手段(7)が、前記透過部材(3)の表面に空気を吹き付けて水を除去する噴風装置にて構成されている請求項4記載の歩行動物の体部位位置計測装置。 Wherein said water removing means (7) is, the transmission member (3) body part of a walking animal Configured claim 4, wherein air is blown at air jet device for removing the water on the surface of position measuring device.
  7. 【請求項7】 請求項1、2、3、4、5又は6記載の歩行動物の体部位位置計測装置を備えた搾乳装置であって、 被搾乳動物の乳頭に装着されて搾乳する搾乳手段(A 7. A milking device provided with a body portion position measuring device according to claim 1, 2, 3, 4 or 6, wherein the walking animals, milking means for milking are attached to the nipple of the milking animals (A
    a)と、 その搾乳手段(Aa)を被搾乳動物の乳頭に装着すべく位置合わせする装着手段(Ab)が設けられ、 前記検出手段(1)が、被搾乳動物の乳頭の位置を判別すべく設けられ、 前記装着手段(Ab)は、前記判別手段(4)の判別情報に基づいて、前記搾乳手段(Aa)を被搾乳動物の乳頭に装着すべく位置合わせするように構成されている搾乳装置。 And a), the milking means (Aa) to align in order to mount the teats of the milking animal attachment means (Ab) is provided, said detecting means (1) to determine the position of the teats of the milking animal so provided, said mounting means (Ab) is based on the discrimination information of said discriminating means (4), the milking means (Aa) is configured to align in order to mount the teats of the milking animal milking equipment.
JP8052975A 1996-03-11 1996-03-11 Device for measuring position of bodily part of walking animal and milking device Pending JPH09243315A (en)

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JP8052975A JPH09243315A (en) 1996-03-11 1996-03-11 Device for measuring position of bodily part of walking animal and milking device

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JP8052975A JPH09243315A (en) 1996-03-11 1996-03-11 Device for measuring position of bodily part of walking animal and milking device

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