JPH09275834A - Teat position detector for automatic milking machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To exactly detect a teat position, to speedily and surely mount a teat cup and further, to attain remarkable cost down. SOLUTION: A U-shaped sensor frame 3, where a teat H is put in, is provided while being arranged above a teat cup T and, on this sensor frame 3, plural sets of transmissive photosensors 4a (4b, 4c...) composed of a pair of light emitting parts 5a (5b, 5c...) and light receiving parts 6a (6b, 6c...) are arranged so that matrix-shaped optical paths Ea, Eb, Ec... can be formed in a space S inside the sensor frame 3. This device is provided with a main detection part 2 for detecting the position of the teat H put into the sensor frame 3 and an auxiliary detection part 7 for detecting the position of the teat H by repeatedly turning and displacing a reflection type photosensor 8, which is arranged near the sensor frame 3, over a prescribed angle range.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a teat position detecting device for an automatic milking machine which detects the position of a teat when the teat cup is mounted on the teat.

[0002]

2. Description of the Related Art Generally, in an automatic milking machine, a teat cup supported by an end effector of a milking robot is automatically attached to a cow moored in a stall, so that the position of the teat is accurately detected when the milking robot is attached. There is a need.

Conventionally, as a teat position detecting device for detecting the position of the teat, European Patent No. 300115A1
A teat position detecting device disclosed in the publication is known. FIG. 9 shows a teat position detecting device disclosed in the publication. In the figure, 90 is a teat position detection device, which comprises a right frame portion 92 and a left frame portion 93 facing each other, and an intermediate frame portion 94 interposed between one end of the right frame portion 92 and one end of the left frame portion 93. A U-shaped frame 91 is provided. A plurality of light emitting portions 95a, 95b, 95c ... Are arranged at predetermined intervals in the right frame portion 92, and a plurality of light receiving portions 96a, 96b, corresponding to the respective light emitting portions 95a, are provided in the left frame portion 93. .. are arranged at predetermined intervals, and the position of the teat H in the frame 91 in the X direction is detected.

-X in the U-shaped frame 91
Since the light emitting portion or the light receiving portion cannot be arranged in the direction, the reflection type ultrasonic sensor 97 is arranged at the center of the intermediate frame portion 94, and the position of the teat H in the Y direction is detected. In addition, in FIG. 9, a dotted arrow indicates an optical path.

[0005]

However, the above-described teat position detecting device 90 has the following problems.

[0006] Firstly, since the detection of the Y-direction position must rely on one ultrasonic sensor 97, the accuracy is lacking.
Although it is sufficient to increase the number of ultrasonic sensors 97, a plurality of expensive ultrasonic sensors 97 are required and the circuit becomes complicated, resulting in a significant cost increase.

Secondly, the frame 9 is basically U-shaped.
Since the purpose is to detect the position of the teat that has entered 1, the teat located outside the frame 91 cannot be detected. Therefore, the teat position detection device 90 alone cannot fast and surely attach the teat cup, and in order to detect the teat located outside, it is necessary to provide a separate detection unit, which significantly increases the cost. Invite.

The present invention solves the problems existing in the prior art as described above. The teat position can be accurately detected, and the teat cup can be mounted quickly and reliably, and a large amount of the teat cup can be mounted. It is an object of the present invention to provide a teat position detection device for an automatic milking machine that can achieve cost reduction.

[0009]

A teat position detecting device 1 of an automatic milking machine according to the present invention is arranged above a teat cup T and has a U-shaped sensor frame 3 into which a teat H is inserted. The sensor frame 3 has a pair of light emitting portions 5a (5b, 5c ...) And a light receiving portion 6a (6b, 6b).
6c ...) is a transmissive optical sensor 4a (4b, 4c).
,) To form a matrix of optical paths Ea, Eb, Ec ... in the space S inside the sensor frame 3 and to detect the position of the teat H entering the sensor frame 3. 2 and a preliminary detection unit 7 for detecting the position of the teat H by repeatedly rotationally displacing the reflection type optical sensor 8 arranged near the sensor frame 3 over a predetermined angle range. To do.

In this case, according to a preferred embodiment, the transmissive optical sensors 4a ... Form a lateral optical path Ea ... Between the left frame portion 3x and the right frame portion 3y of the sensor frame 3 and are intermediate with the left frame portion 3x. Arranged so as to form oblique optical paths Ee ..., Eh ... between the frame portion 3m and the right frame portion 3y and the intermediate frame portion 3m, in particular, one of the lateral optical paths Ec and one of the oblique optical paths Eh is a teat. Cup T
It is arranged so as to pass through the center position Sc of. Further, the reflective optical sensor 8 is arranged on the opposite side to the opening side of the sensor frame 3, and the preliminary detection unit 7 has a neck for repeatedly displacing the reflective optical sensor 8 over a predetermined angle range. The vibration drive unit 9 and the angle detection unit 10 that detects the rotation angle of the reflective optical sensor 8 are provided.

As a result, the preliminary detecting section 7 can detect the papilla H located outside the sensor frame 3 in the main detecting section 2 by the repetitive rotational displacement of the reflective optical sensor 8. On the other hand, the nipple H can be smoothly and surely inserted. In this case, since it is sufficient to put the teat H in the sensor frame 3, the detection accuracy of the preliminary detection unit 7 is not required, and one reflective optical sensor 8 is sufficient.

When the teat H enters the sensor frame 3, the main detector 2 detects the position of the teat H.
That is, since the nipple H blocks a part of the optical paths Ea, Eb, Ec ... Formed in the space S inside the sensor frame 3, the position of the nipple H can be detected and the optical paths Ea. Therefore, it can be detected accurately (highly accurately). Particularly, by blocking the lateral optical path Ec and the oblique optical path Eh,
It can be detected that the teat H exists at the center position Sc of the teat cup T.

[0013]

Next, preferred embodiments according to the present invention will be described in detail with reference to the drawings.

First, the overall structure of the stall A including the automatic milking machine M will be described with reference to FIGS. 7 and 8.

The stall A is a compartment for accommodating one cow C. The stall A is composed of a combination of a plurality of frames 70, and has a stanchion unit 72 integrally provided with a bait tank 71 in the front part. The stanchion unit 72 is moved back and forth by an air cylinder 73. In addition, a door 74 is attached to the right rear half of the stall A,
The door 74 opens and closes with the front end as a pivot. In addition, 7
Reference numeral 5 is a step for suppressing the movement of the dairy cow C.

On the other hand, an automatic milking machine M is attached to the stall A. The automatic milking machine M includes a milking robot 50. The milking robot 50 has a mounting surface G lower than the floor surface of the stall A.
Installed in The milking robot 50 includes a fixed part 51, an elevating part 52 that moves up and down with respect to the fixed part 51, and an elevating part 5
2 and the drive shaft 53 protruding from the upper surface of the drive shaft 5.
3, an arm mechanism portion 54 having a rear end side attached thereto, and an end effector 50H supported at the tip of the arm mechanism portion 54.
Is provided. In this case, the arm mechanism 54 is the L-shaped arm 5
5 and the I-shaped arm 56 are connected.

Next, a teat position detecting device 1 according to the present embodiment.
The configuration of the end effector 50H including
And FIG. 6 will be described.

Reference numeral 11 denotes a support shaft portion 12 at the tip of the I-shaped arm 56.
It is a base portion of the end effector 50H that is supported via the, and is configured in a box shape in which the front surface portion and the lower surface portion are open. The base portion 11 has four moving mechanism portions Ua for supporting the teat cups T ...
Ub, Uc, Ud in the horizontal direction (vertical direction in FIG. 6)
To be installed in Note that FIG. 6 shows the right side moving mechanism units Ua and U.
Although only b is shown, the left side moving mechanism units Uc and Ud are also configured similarly to the right side. In this case, the right moving mechanism units Ua and Ub and the left moving mechanism units Uc and Ud are bilaterally symmetrical.

The moving mechanism unit Ua is roughly composed of an X-direction moving unit 14, a Y-direction moving unit 15, and a Z-direction moving unit 16.

The X-direction moving unit 14 has a slider 17,
The slider 17 is slidably supported by a rail guide portion 18 fixed to the inner surface of the upper plate portion 11u of the base portion 11. In this case, the slider 17 is formed in the shape of a hollow box, and the linear rail portion 19 fixed to the upper surface of the slider 17 along the X direction is slidably mounted on the rail guide portion 18. In addition, the X-direction moving unit 14 includes an X-direction driving unit 20 that moves the slider 17. X
The direction drive unit 20 includes an air cylinder 21 which is rotatably supported on the head side by a horizontal shaft on the inner surface of the upper plate 11u. The rod side of the air cylinder 21 is the slider 1
7 inside, and the tip of the rod portion 22 is attached to the slider 17
To the front end of the. Therefore, the slider 17 can be moved in the X direction by controlling the drive of the air cylinder 21.

On the other hand, the Y-direction moving portion 15 is provided with a support plate portion 23 integrally provided at the tip of the slider 17, and a slide plate 25 is parallel to the Y-direction via a linear guide portion 24 on the support plate portion 23. Mount freely. In addition, the Y-direction drive unit 2 that moves the slide plate 25 in the Y-direction.
6 is provided. The Y-direction drive unit 26 includes an air cylinder 27 fixed to the outer lower surface of the slider 17 and a slide plate 25.
A pair of pinions 28u and 28d arranged on the upper and lower surfaces of the air cylinder 27
A drive rack portion 30 that is integrally provided on the rod portion 29 and that meshes with the pinion 28d on the lower surface side, and a driven rack portion 31 that is integrally provided on the slide plate 25 and that meshes with the pinion 28u on the upper surface side. Therefore,
By driving and controlling the air cylinder 27, the slide plate 25 can be moved in the Y direction.

On the other hand, the Z-direction moving unit 16 includes a Z-direction driving unit 32 attached to the upper surface of the slide plate 25. Z
The direction drive unit 32 includes an air cylinder 33 arranged in the vertical direction, and a cup support unit 35 that supports the teat cup T is attached to the tip of a rod portion 34 of the air cylinder 33. In this case, the air cylinder 33 may be a small capacity air cylinder that can raise the cup support portion 35. Further, the cup supporting portion 35 includes a cup holder 37 arranged on the upper side and a gripper portion 38 arranged on the lower side. The cup holder 37 has an insertion hole 36 through which the teat cup T is inserted through play, and the gripper portion 38 opens and closes to hold the teat cup T when closed and release the grip of the teat cup T when opened. Have. The outer peripheral surface of the teat cup T has a locking portion Ts which is mounted on the upper surface of the cup holder 37 and locked.

The above-mentioned structure is similarly formed in the moving mechanism unit Ub. In this case, although the moving mechanism units Ua and Ub have different shapes, lengths, directions, etc., the basic configurations and functions are the same. It should be noted that the same functional portions as those of the moving mechanism unit Ua in the moving mechanism unit Ub are designated by the same reference numerals to clarify the configuration thereof.

On the other hand, the teat position detecting devices 1 ... Are respectively arranged in the moving mechanism units Ua and Ud that support the two front teat cups T. In this case, the supporting portion 40 is provided upright on the upper surface of the slide plate 25 of the moving mechanism portion Ua, and the teat position detecting device 1 is arranged at the upper end of the supporting portion 40. This structure is the same for the moving mechanism unit Ud. The teat position detecting device 1 is not provided in the moving mechanism units Ub and Uc that support the two rear teat cups T.

As shown in FIGS. 1 and 2, the teat position detecting device 1 includes a main detecting section 2 and a preliminary detecting section 7. The main detection part 2 has a sensor frame 3 provided in front of the upper end of the support part 40. As shown in FIG. 5, the sensor frame 3 is arranged above the teat cup T and is formed in a U shape into which the teat H is inserted. The sensor frame 3 includes a left frame portion 3x and a right frame portion 3y facing each other, and an intermediate frame portion 3m interposed between one end of the left frame portion 3x and one end of the right frame portion 3y. , A plurality of sets of transmissive optical sensors 4a, 4b, 4c ..., 4
e ..., 4h, 4i ... are provided. Each transmissive optical sensor 4
a is a pair of light emitting parts 5a (5b, 5b) as shown in FIG.
c ..., 5e ..., 5h, 5i ...) and the light receiving portion 6a (6b, 6)
c ..., 6e ..., 6h, 6i ...), and the optical paths Ea, Eb, Eb, Eb are arranged in the space S inside the sensor frame 3 in a matrix form.
Ec ..., Ee ..., Eh, Ei ... are formed. in this case,
Four horizontal optical paths Ea, Eb, Ec ... are provided between the left frame portion 3x and the right frame portion 3y, three oblique optical paths Ee ... are provided between the left frame portion 3x and the intermediate frame portion 3m, and the right frame portion 3y. And the intermediate frame part 3m, four oblique optical paths Eh, E
i, respectively, and in particular, one of the lateral light paths Ec and one of the oblique light paths Eh are arranged so as to pass through the center position Sc of the teat cup T. As a result, the main detector 2 can accurately detect the position of the teat H that has entered the sensor frame 3. Further, the detection result of each light receiving section 6a ... Is given to the controller 45 via the input port 44.

On the other hand, the preliminary detection section 7 has a swing drive section 9 disposed on the upper surface of a mounting plate 41 provided rearward from the upper end of the support section 40, and the swing drive section 9 repeats over a predetermined angle range. A reflection type optical sensor 8 that can be rotationally displaced is provided. As the reflection type optical sensor 8, an optical sensor using laser light can be used. As a result, the reflective optical sensor 8 is located in the vicinity of the side opposite to the opening side of the sensor frame 3 and can detect the papilla H located outside the sensor frame 3 in the main detection unit 2. In the figure, Es represents an optical path.

The detection result of the reflection type optical sensor 8 is
As shown in FIG. 3, the rotation angle of the reflection type optical sensor 8 is detected by the angle detection unit 10 while being given to the controller 45 having a computer function.
To be given.

Next, a teat position detecting device 1 according to the present embodiment.
The operation (function) of the automatic milking machine M including the above will be described with reference to FIGS.

Now, when the cow C enters the stall A,
The door 74 is closed and the dairy cow C is identified. Cow C is ID
The collar C storing the code is hung, and the ID code is read by a code reader (not shown) provided in the stanchion unit 72 to identify the cow C. In addition, the cow C is moored by a stanchion bar (not shown). Then, the milking robot 50 is controlled to move the end effector 50H to the virtual line position shown in FIG. The position to be moved at this time is based on the database of the cow C.

Next, the two front teat cups T ... Are mounted by the moving mechanism units Ua and Ud. The mounting procedure at this time is shown in a flowchart in FIG.

First, the position of the teat H is detected by the preliminary detection unit 7. At this time, the swing drive unit 9 repeatedly rotationally displaces the reflective optical sensor 8 over a predetermined angle range, and the angle detection unit 10 detects the distance to the nipple H and the rotational angle at that time, and the controller 45 detects the position of the nipple H based on this detection result (steps S1 and S).
2). The controller 45 uses the detected position to move the X-direction drive unit 20 and the Y-direction drive unit 26 of the moving mechanism unit Ua.
Drive control the sensor frame 3 of the main detection unit 2 to the teat H
And the teat H is put into the sensor frame 3 (steps S3 and S4).

When the teat H enters the sensor frame 3, the swinging motion of the swinging driving unit 9 is stopped, and the main detecting unit 2
Detects the position of the teat H (steps S5, S
6). That is, a part of the matrix-shaped optical paths Ea, Eb, Ec ... Formed in the space S inside the sensor frame 3 is blocked by the teat H, and the controller 45 determines the position of the teat H based on this information. To detect. In this case, since the optical paths Ea ... Are matrix-shaped, they can be detected accurately (highly accurately). The controller 45 determines X based on this detection result.
The direction drive unit 20 and the Y direction drive unit 26 are drive-controlled to move the sensor frame 3 so that the teat H is located at the center position Sc of the teat cup T (step S7).

As a result, if the teat H blocks the lateral optical path Ec passing through the center position Sc and the oblique optical path Eh, the Z-direction drive unit 32 is operated to raise the teat cup T (steps S8 and S9). At this time, since the teat cup T is under negative pressure, if the teat cup T rises to some extent, the teat H is sucked and vacuum-connected. Then, if connected, the rise of the teat cup T is stopped. The teat cup T is gripped by the gripper portion 38 and fixed at a fixed position, so that the teat cup T can be mounted stably and smoothly. Such mounting operation is performed by the moving mechanism units Ua and Ud.
In each case is done independently.

On the other hand, mounting of the two rear teat cups T ... Is carried out based on a database. As described above, the two teat cups T on the front side are mounted on the basis of accurate position detection. Therefore, if the positions of the four teats H on each individual cow C ... are stored in advance as a database, The positions of the two nipples T on the side are the two nipples H on the front side.
It can be estimated fairly accurately based on the position detection result of ... and a database.

Therefore, the positions of the two rear nipples H ... Are calculated from the position detection results of the front two nipples H ... and the database, and the movement mechanism unit Ub is calculated based on the calculated positions.
And Uc are driven and controlled. And the two teats T on the rear side
When the positioning of the teat cup T with respect to ... is completed, the Z-direction drive unit 32 is operated to activate the teat cup T.
And the teat cups T are mounted in the same manner as the above-mentioned moving mechanism units Ua and Ud. Such a mounting operation is independently performed in the moving mechanism units Ub and Uc. The mounting operation by the moving mechanism units Ub and Uc may be performed simultaneously with the mounting operation by the moving mechanism units Ua and Ud, or may be performed after the mounting operation by the moving mechanism units Ua and Ud is completed.

On the other hand, when the teat cups T ... Are connected to the teats H ..., the gripping of the teat cups T ... by the gripper portions 38 ... Is released, and the cup supporting portions 35 ... At this time, the cup holder 37
Since the teat cup T has an insertion hole 36 through which the teat cup T is inserted through a predetermined play, the cup holder 37 is smoothly removed from the teat cup T. When the installation of the teat cup T ... is completed, milking is started.

The embodiment has been described in detail above.
The present invention is not limited to such an embodiment.
For example, optical sensors do not preclude the use of other sensors having the same function, such as ultrasonic sensors,
The number and direction of the optical paths can be formed in other patterns than the example. Also, the nipple position detecting device is illustrated as being attached to the two front moving mechanism parts, but it may be attached to only one or all four moving mechanism parts. In addition, details, configurations, shapes, and the like can be arbitrarily changed without departing from the spirit of the present invention.

[0038]

As described above, the teat position detecting device of the automatic milking machine according to the present invention is arranged above the teat cup and has a U-shaped sensor frame into which the teat is inserted. By arranging multiple sets of transmissive optical sensors consisting of the light emitting part and the light receiving part, a main detection part that forms a matrix-shaped optical path in the space inside the sensor frame and detects the position of the teat in the sensor frame When,
Since the reflection type optical sensor arranged near the sensor frame is repeatedly rotationally displaced over a predetermined angle range, a preliminary detection unit for detecting the position of the teat is provided.
It has the following remarkable effects.

Since the matrix-shaped optical paths are formed in the U-shaped sensor frame, the position of the teat can be detected accurately (highly accurately).

By the combination of the preliminary detection unit for performing the swinging motion and the main detection unit having the U-shaped sensor frame,
Since it is possible to detect both the inner and outer positions of the sensor frame, the teat cup can be mounted quickly and reliably.

This can be realized by combining only optical sensors without using ultrasonic sensors, and the number of optical sensors used can be small, so that a significant cost reduction can be achieved.

[Brief description of drawings]

FIG. 1 is a plan view of a teat position detecting device according to the present invention,

FIG. 2 is a side view of the teat position detecting device,

FIG. 3 is a block circuit diagram of a control system including the teat position detecting device;

FIG. 4 is a flowchart showing a teat cup mounting method using the teat position detecting device.

FIG. 5 is a partial cross-sectional side view of an end effector in an automatic breast pump including the teat position detecting device.

FIG. 6 is a partial cross-sectional plan view of an end effector in an automatic milking machine including the teat position detection device.

FIG. 7 is a side view of a stall including the automatic milking machine,

FIG. 8 is a plan view of a stall provided with the same automatic milking machine,

FIG. 9 is a plan view of a teat position detecting device according to a conventional technique,

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Nipple position detection device 2 Main detection part 3 Sensor frame 3x Left frame part 3y Right frame part 3m Intermediate frame part 4a ... Transmissive optical sensor 5a ... Light emitting part 6a ... Light receiving part 7 Preliminary detection part 8 Reflective optical sensor S Sensor frame Inner space of Sc Sceat center position of tea cup Ea ... Optical path Ec Horizontal optical path Eh Oblique optical path T Teat cup H Teat

Claims (5)

[Claims] 1. A teat position detecting device for an automatic milking machine for detecting the position of a teat, wherein the teat position detecting device is arranged above the teat cup and has a U-shaped sensor frame into which the teat is inserted. By arranging a plurality of transmissive optical sensors consisting of a light emitting part and a light receiving part, a matrix-shaped optical path is formed in the space inside the sensor frame, and a main detection part for detecting the position of the teat in the sensor frame. , A reflection type optical sensor arranged in the vicinity of the sensor frame is repeatedly rotationally displaced over a predetermined angular range, and a preliminary detection unit for detecting the position of the teat is provided, Nipple position detection device. 2. The transmissive optical sensor forms a lateral optical path between the left frame portion and the right frame portion of the sensor frame, and between the left frame portion and the intermediate frame portion and between the right frame portion and the intermediate frame portion, respectively. The teat position detecting device for an automatic milking machine according to claim 1, wherein the device is arranged so as to form an oblique optical path. 3. The teat of an automatic milking machine according to claim 2, wherein the transmissive optical sensor is arranged so that one of the lateral optical path and the oblique optical path passes through a central position of the teat cup. Position detection device. 4. The teat position detecting device for an automatic breast pump according to claim 1, wherein the reflective optical sensor is arranged on the opposite side to the opening side of the sensor frame. 5. The preparatory detection unit includes a swing drive unit for repeatedly rotationally displacing the reflection type optical sensor over a predetermined angle range, and an angle detection unit for detecting a rotation angle of the reflection type optical sensor. The teat position detecting device for an automatic milking machine according to claim 1, wherein: