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

Teat position detector for automatic milking machine

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Publication number
JPH09275834A
JPH09275834A JP8114288A JP11428896A JPH09275834A JP H09275834 A JPH09275834 A JP H09275834A JP 8114288 A JP8114288 A JP 8114288A JP 11428896 A JP11428896 A JP 11428896A JP H09275834 A JPH09275834 A JP H09275834A
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JP
Japan
Prior art keywords
position
teat
frame
sensor
nipple
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
JP8114288A
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Japanese (ja)
Inventor
Naotake Nishizawa
Tetsuo Ota
哲郎 太田
尚武 西澤
Original Assignee
M Ee T:Kk
Orion Mach Co Ltd
オリオン機械株式会社
株式会社エム・エー・ティー
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Application filed by M Ee T:Kk, Orion Mach Co Ltd, オリオン機械株式会社, 株式会社エム・エー・ティー filed Critical M Ee T:Kk
Priority to JP8114288A priority Critical patent/JPH09275834A/en
Publication of JPH09275834A publication Critical patent/JPH09275834A/en
Application status is Pending legal-status Critical

Links

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.
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】本発明は乳頭にティートカップを装着する際に当該乳頭の位置を検出する自動搾乳機の乳頭位置検出装置に関する。 The present invention relates to relates to teat position detecting device for an automatic milking machine which detects the position of the teat when mounting the teat cup to the teat.

【0002】 [0002]

【従来の技術】一般に、自動搾乳機ではストールに係留された乳牛に対して、搾乳ロボットのエンドエフェクタに支持されるティートカップを自動で装着するため、装着に際しては乳頭の位置を正確に検出する必要がある。 In general, with respect to dairy cows, which are anchored to the stall in an automatic milking machine, for mounting the teat cup is supported on the end effector of the milking robot automatically, accurately detect the position of the teats during attachment There is a need.

【0003】従来、乳頭の位置を検出する乳頭位置検出装置としては、ヨーロッパ特許No. Conventionally, as a teat position detecting device for detecting the position of the teats, European Patent No. 300115A1 300115A1
公報で開示される乳頭位置検出装置が知られている。 Nipple position detection apparatus disclosed in Japanese is known. 図9は同公報で開示される乳頭位置検出装置を示したものである。 Figure 9 shows the teat position detecting device disclosed in this publication. 同図中、90は乳頭位置検出装置であり、対峙する右フレーム部92と左フレーム部93、さらに、右フレーム部92の一端と左フレーム部93の一端間に介在する中間フレーム部94からなるコの字形のフレーム91を備える。 In the figure, 90 is a nipple position detecting device, the right frame portion 92 and the left frame portion 93 facing to, further comprises an intermediate frame portion 94 interposed between one end of the one end and the left frame portion 93 of the right frame portion 92 It comprises a frame 91 of U-shaped. そして、右フレーム部92には複数の発光部95a,95b,95c…を所定間隔置きに配設するとともに、左フレーム部93には各発光部95a…に対応する複数の受光部96a,96b,96c…を所定間隔置きに配設し、これにより、フレーム91に入った乳頭HのX方向位置を検出していた。 A plurality of light emitting portions on the right frame portion 92 95a, 95b, as well as arranged 95c ... of every predetermined interval, a plurality of light receiving portions 96a in the left frame portion 93 corresponding to the respective light emitting portions 95a ..., 96b, disposed 96c ... of every predetermined interval, thereby, has detected the X-direction position of the nipple H entering the frame 91.

【0004】―方、コの字形のフレーム91におけるX [0004] - how, X in the frame 91 of the U-shaped
方向には、発光部又は受光部を配設できないため、中間フレーム部94の中央に反射型の超音波センサ97を配設し、これにより、乳頭HのY方向位置を検出していた。 The direction can not be disposed a light emitting portion or light receiving portion, disposed a reflection type ultrasonic sensor 97 in the center of the intermediate frame portion 94, thereby, has detected the Y direction position of the nipple H. なお、図9中、点線矢印は光路を示す。 In FIG. 9, a dotted line arrow indicates an optical path.

【0005】 [0005]

【発明が解決しようとする課題】しかし、上述した乳頭位置検出装置90は、次のような問題があった。 [0008] However, the nipple position detector 90 described above, has the following problems.

【0006】第―に、Y方向位置の検出は一つの超音波センサ97に頼らざるを得ないため、正確性に欠ける。 [0006] A - in order to detect the Y-direction position is forced to rely on one of the ultrasonic sensors 97, it lacks accuracy.
なお、超音波センサ97の数量を増やせばよいが、高価な超音波センサ97が複数必要になり、また、回路も複雑化するため、大幅なコストアップを招く。 It may be increased the number of ultrasonic sensors 97, but requires more expensive ultrasonic sensor 97, also to be complicated circuit, leading to significant increase in cost.

【0007】第二に、基本的にはコの字形のフレーム9 [0007] Secondly, is basically U-shaped frame 9
1に入った乳頭の位置を検出することを目的とするため、フレーム91の外方に位置する乳頭は検出できない。 To the purpose of detecting the position of entering the nipple 1, the nipple is located outside the frame 91 can not be detected. したがって、乳頭位置検出装置90のみではティートカップの装着を迅速かつ確実に行うことができないとともに、外方に位置する乳頭を検出するには、別途の検出部を設ける必要があり、大幅なコストアップを招く。 Thus, with the only nipple position detector 90 can not perform the mounting of the teat cup quickly and reliably, to detect the nipple located outside, it is necessary to provide a separate detector, large cost increase the lead.

【0008】本発明はこのような従来の技術に存在する課題を解決したものであり、乳頭位置を正確に検出できるとともに、ティートカップの装着を迅速かつ確実に行うことができ、しかも、大幅なコストダウンを達成できる自動搾乳機の乳頭位置検出装置の提供を目的とする。 [0008] The present invention has solved the problems existing in the conventional art, with the nipple position can be accurately detected, it is possible to perform the mounting of the teat cup quickly and reliably, yet, significant and an object thereof is to provide a teat position detecting device for an automatic milking machine which can achieve a cost reduction.

【0009】 [0009]

【課題を解決するための手段及び実施の形態】本発明に係る自動搾乳機の乳頭位置検出装置1は、ティートカップTの上方に配するとともに、乳頭Hの入るコの字形のセンサフレーム3を有し、このセンサフレーム3に、一対の発光部5a(5b,5c…)と受光部6a(6b, Nipple position detection apparatus 1 of an automatic milking machine according to the challenge means and the embodiment of the Invention The present invention, together disposed above the teat cup T, the sensor frame 3 of a U-shaped entering the nipple H has, in the sensor frame 3, a pair of light emitting portion 5a (5b, 5c ...) and a light receiving portion 6a (6b,
6c…)からなる透過型光学センサ4a(4b,4c Transmissive optical sensor 4a consisting 6c ...) (4b, 4c
…)を複数組配することにより、センサフレーム3の内方の空間Sにマトリクス状の光路Ea,Eb,Ec…を形成し、センサフレーム3に入った乳頭Hの位置を検出する主検出部2と、センサフレーム3の近傍に配した反射型光学センサ8を、所定の角度範囲にわたって反復的に回動変位させることにより、乳頭Hの位置を検出する予備検出部7を備えることを特徴とする。 By the ...) a plurality of sets distribution, the optical path Ea of matrix inwardly of the space S sensor frame 3, Eb, to form a Ec ..., main detection unit for detecting the position of the entered nipple H on the sensor frame 3 2, the reflection type optical sensor 8 arranged in the vicinity of the sensor frame 3, by repeatedly rotational displacement over a predetermined angular range, and further comprising a pre-detection unit 7 for detecting the position of the nipple H to.

【0010】この場合、好適な実施の形態により、透過型光学センサ4a…はセンサフレーム3の左フレーム部3xと右フレーム部3y間に横光路Ea…を形成するとともに、左フレーム部3xと中間フレーム部3m問及び右フレーム部3yと中間フレーム部3m間にそれぞれ斜光路Ee…,Eh…を形成するように配設し、特に、横光路の一つEcと斜光路の一つEhはティートカップT [0010] In this case, the preferred embodiment, to form a horizontal light path Ea ... the transmissive optical sensor 4a ... is between the left frame portion 3x and the right frame portion 3y of sensor frame 3, the left frame section 3x and the intermediate frame portion 3m interrogation and right frame portions 3y and the intermediate frame portion 3m respectively oblique path between Ee ..., disposed so as to form a Eh ..., in particular, one Eh one Ec and oblique path Yokomitsu path teat Cup T
の中心位置Scを通るように配設する。 Arranged so as to pass through the center position Sc. また、反射型光学センサ8はセンサフレーム3の開口側に対して反対側に配するとともに、予備検出部7には、反射型光学センサ8を所定の角度範囲にわたって反復的に回動変位させる首振駆動部9と、反射型光学センサ8の回動角度を検出する角度検出部10を備える。 Further, the neck with disposed on the opposite side to the opening side of the reflective optical sensor 8 is a sensor frame 3, the pre-detection unit 7, which repeatedly rotational displacement of the reflective optical sensor 8 over a predetermined angular range comprising the oscillation driving unit 9, the angle detector 10 for detecting the rotation angle of the reflective optical sensor 8.

【0011】これにより、予備検出部7は反射型光学センサ8の反復的回動変位により、主検出部2におけるセンサフレーム3の外方に位置する乳頭Hを検出できるため、当該センサフレーム3に対して乳頭Hを円滑かつ確実に入れることができる。 [0011] Thus, the repetitive rotational displacement of the pre-detection unit 7 is reflective optical sensor 8, it is possible to detect the teat H positioned outside the sensor frame 3 in the main detecting section 2, to the sensor frame 3 the nipple H can be placed smoothly and reliably against. この場合、乳頭Hをセンサフレーム3に入れれば足りるため、予備検出部7の検出精度は要求されず、一つの反射型光学センサ8で十分である。 In this case, it is sufficient if you put a nipple H to the sensor frame 3, the detection accuracy of the preliminary detector 7 is not required, it is sufficient a single reflection type optical sensor 8.

【0012】そして、乳頭Hがセンサフレーム3に入ったなら、主検出部2により、乳頭Hの位置を検出する。 [0012] Then, if the nipple H enters the sensor frame 3, by the main detection unit 2 detects the position of the nipple H.
即ち、センサフレーム3の内方の空間S内に形成される光路Ea,Eb,Ec…の一部を乳頭Hが遮断するため、乳頭Hの位置を検出できるとともに、光路Ea…はマトリクス状のため、正確(高精度)に検出できる。 That is, the optical path Ea formed inwardly in the space S of the sensor frame 3, Eb, Ec ... part for nipple H is cut off, it is possible to detect the position of the nipple H, the optical path Ea ... the matrix Therefore, it can be detected accurately (accurate). 特に、横光路Ecと斜光路Ehが遮断されることにより、 In particular, by horizontal light path Ec and oblique light paths Eh is blocked,
乳頭HがティートカップTの中心位置Scに存在することを検出できる。 It can be detected that the nipple H is present at the center position Sc of the teat cup T.

【0013】 [0013]

【実施例】次に、本発明に係る好適な実施例を挙げ、図面に基づき詳細に説明する。 EXAMPLES Next, like the preferred embodiment of the present invention, will be described with reference to the drawings in detail.

【0014】まず、自動搾乳機Mを備えるストールAの全体構成について、図7及び図8を参照して説明する。 [0014] First, an overall configuration of a stall A comprising an automatic milking machine M, will be described with reference to FIGS.

【0015】ストールAは一頭の乳牛Cを収容するための区画である。 [0015] The stall A is a compartment for containing the cow C one head. ストールAは複数のフレーム70…の組み合わせにより構成し、前部には餌槽71を一体に有するスタンチョンユニット72を備える。 Stall A is composed of a plurality of frames 70 ... combination of a front portion provided with a stanchion unit 72 having Esaso 71 together. このスタンチョンユニット72はエアシリンダ73により前後に移動する。 The stanchion unit 72 is moved back and forth by the air cylinder 73. また、ストールAの右後半部には扉74を付設し、 In addition, it annexed the door 74 to the right rear half portion of the stall A,
この扉74は前端を回動支点として開閉する。 The door 74 opens and closes the front end as a rotation fulcrum. なお、7 In addition, 7
5は乳牛Cの動きを抑制するための踏台である。 5 is a footstool for suppressing the movement of the cow C.

【0016】一方、ストールAには自動搾乳機Mを付設する。 [0016] On the other hand, it is in a stall A additionally provided an automatic milking machine M. 自動搾乳機Mは搾乳ロボット50を備える。 Automatic milking machine M comprises a milking robot 50. 搾乳ロボット50はストールAの床面よりも低位の載置面G Milking robot 50 mounting the lower than the floor of the stall A surface G
に設置する。 It is installed in. 搾乳ロボット50は固定部51と、この固定部51に対して昇降する昇降部52と、この昇降部5 Milking robot 50 and the fixing unit 51, an elevating unit 52 for elevating against the fixing unit 51, the lifting unit 5
2の上面から突出した駆動軸部53と、この駆動軸部5 A drive shaft portion 53 protruding from the second upper surface, the drive shaft portion 5
3に後端側を取付けたアーム機構部54と、このアーム機構部54の先端に支持されるエンドエフェクタ50H An arm mechanism 54 attached to the rear end side 3, the end effector 50H supported on the distal end of the arm mechanism 54
を備える。 Equipped with a. この場合、アーム機構部54はL形アーム5 In this case, the arm mechanism 54 L-arm 5
5及びI形アーム56を連結して構成する。 5 and I-shaped arm 56 constitutes linked.

【0017】次に、本実施例に係る乳頭位置検出装置1 Next, the nipple position detection apparatus 1 according to this embodiment
を備えるエンドエフェクタ50Hの構成について、図5 The configuration of the end effector 50H comprise, 5
及び図6を参照して説明する。 And it will be described with reference to FIG.

【0018】11はI形アーム56の先端に支軸部12 [0018] 11 support shaft portion 12 at the tip of the I-arm 56
を介して支持されるエンドエフェクタ50Hのベース部であり、前面部及び下面部を開放したボックス状に構成する。 A base portion of the end effector 50H supported via, configured in a box shape having an open front portion and a lower surface portion. そして、このベース部11には、先端にティートカップT…をそれぞれ支持する四つの移動機構部Ua, Then, the base portion 11, four moving mechanism for supporting each teat cup T ... into tip Ua,
Ub,Uc,Udを左右方向(図6において上下方向) Ub, Uc, Ud the horizontal direction (vertical direction in FIG. 6)
に配設する。 Disposed to. なお、図6は右側の移動機構部Ua及びU 6 shows the right side of the moving mechanism unit Ua and U
bのみを示すが、左側の移動機構部Uc及びUdも右側と同様に構成する。 b shows only, but the moving mechanism unit Uc and Ud left also configured similar to the right. この場合、右側の移動機構部Ua及びUbと左側の移動機構部Uc及びUdは左右対称となる。 In this case, the moving mechanism unit Uc and Ud of the right moving mechanism Ua and Ub and the left becomes symmetrical.

【0019】移動機構部Uaは、大別してX方向移動部14,Y方向移動部15及びZ方向移動部16により構成する。 The moving mechanism unit Ua is roughly classified into constituting the X-direction moving unit 14, Y-direction moving unit 15 and the Z-direction moving unit 16.

【0020】X方向移動部14はスライダ17を備え、 [0020] with X-direction moving unit 14 slider 17,
このスライダ17はベース部11の上板部11uの内面に固定したレールガイド部18によりスライド自在に支持される。 The slider 17 is slidably supported by the rail guide portion 18 fixed to the inner surface of the upper plate portion 11u of the base portion 11. この場合、スライダ17は内部中空のボックス形に形成し、スライダ17の上面に固着したX方向に沿ったリニアレール部19を、レールガイド部18にスライド自在に装填する。 In this case, the slider 17 is formed inside a hollow box-shaped, the linear rail portion 19 in the X direction fixed to the upper surface of the slider 17, is slidably mounted to the rail guide portion 18. また、X方向移動部14にはスライダ17を移動させるX方向駆動部20を備える。 Further, in the X-direction moving unit 14 comprises an X-direction driving unit 20 for moving the slider 17. X
方向駆動部20は上板部11uの内面にヘッド側が水平軸により回動自在に支持されたエアシリンダ21を備える。 Direction driving section 20 includes an air cylinder 21 which is rotatably supported by the head-side horizontal axis on the inner surface of the upper plate portion 11u. そして、エアシリンダ21のロッド側はスライダ1 Then, the rod side of the air cylinder 21 the slider 1
7の内部に収容し、ロッド部22の先端をスライダ17 Housed inside the 7, the tip of the rod portion 22 slider 17
の前端部に結合する。 It binds to the front end. よって、エアシリンダ21を駆動制御することにより、スライダ17をX方向に移動させることができる。 Thus, by controlling the driving of the air cylinder 21, it is possible to move the slider 17 in the X direction.

【0021】一方、Y方向移動部15はスライダ17の先端に一体に設けた支持板部23を備え、この支持板部23の上にリニアガイド部24を介してスライドプレート25をY方向へ平行移動自在に取付ける。 Meanwhile, Y-direction moving unit 15 includes a support plate portion 23 provided integrally with the leading end of the slider 17, parallel to the slide plate 25 in the Y direction via the linear guide 24 on the support plate portion 23 attaching move freely. また、スライドプレート25をY方向に移動させるY方向駆動部2 Also, Y-direction driving section 2 to move the slide plate 25 in the Y-direction
6を備える。 Equipped with a 6. Y方向駆動部26はスライダ17の外下面に固定したエアシリンダ27と、スライドプレート25 Y-direction drive unit 26 and the air cylinder 27 fixed to the outer lower surface of the slider 17, the slide plate 25
の上下面に配した一対のピニオン28u,28dを軸部を介して結合したピニオン部28と、エアシリンダ27 A pair of pinions 28u which arranged on the upper and lower surfaces, 28d and pinion 28 attached through a shaft portion, the air cylinder 27
のロッド部29に一体に設けることにより下面側のピニオン28dに噛合する駆動ラック部30と、スライドプレート25に一体に設けることにより上面側のピニオン28uに噛合する被動ラック部31を備える。 Comprising a driving rack 30 that meshes with the lower surface of the pinion 28d by providing integrally with the rod portion 29, a driven rack 31 that meshes with the upper surface of the pinion 28u by providing integrally with the slide plate 25. よって、 Thus,
エアシリンダ27を駆動制御することにより、スライドプレート25をY方向に移動させることができる。 By controlling the driving of the air cylinder 27, it is possible to move the slide plate 25 in the Y direction.

【0022】他方、Z方向移動部16はスライドプレート25の上面に取付けたZ方向駆動部32を備える。 [0022] On the other hand, the Z-direction moving unit 16 includes a Z-direction driving unit 32 mounted on the upper surface of the slide plate 25. Z
方向駆動部32は鉛直方向に配したエアシリンダ33を備え、このエアシリンダ33のロッド部34の先端にはティートカップTを支持するカップ支持部35を取付ける。 Direction drive unit 32 includes an air cylinder 33 disposed in the vertical direction, the tip of the rod portion 34 of the air cylinder 33 attached to the cup support part 35 for supporting the teat cup T. この場合、エアシリンダ33はカップ支持部35を上昇させ得る小容量のエアシリンダでよい。 In this case, the air cylinder 33 may be an air cylinder having a small capacity which may increase the cup support part 35. また、カップ支持部35は上側に配したカップホルダ37と下側に配したグリッパ部38を備える。 Also, the cup support 35 comprises a gripper unit 38 arranged underneath the cup holder 37 arranged on the upper side. カップホルダ37はティートカップTが遊びを介して挿通する挿通孔36を有するとともに、グリッパ部38は開閉し、閉時にティートカップTを把持するとともに、開時にティートカップTの把持を解除する機能を有する。 The cup holder 37 which has an insertion hole 36 which teat cup T is inserted through the play, the gripper unit 38 is opened and closed, thereby gripping the teat cup T into closed, the ability to release the grip of the teat cup T to open at a. なお、ティートカップTの外周面にはカップホルダ37の上面に載って係止する係止部Tsを有する。 Incidentally, on the outer circumferential surface of the teat cup T having a locking portion Ts for locking resting on the upper surface of the cup holder 37.

【0023】以上の構成は移動機構部Ubにおいても同様に構成する。 The above configuration is similarly constructed in the movement mechanism unit Ub. この場合、移動機構部UaとUbにおける各部の形状,長さ,方向等は異なるも基本的な構成及び機能は一致する。 In this case, the shape of each part of the moving mechanism unit Ua and Ub, length, direction, etc. are also basic configuration and functions different matches. なお、移動機構部Ubにおける移動機構部Uaと同一機能部分には同一符号を付し、その構成を明確にした。 The same reference numerals are assigned to the same functional portions as the moving mechanism section Ua of the moving mechanism unit Ub, clarifies its configuration.

【0024】一方、前側の二つのティートカップT…を支持する移動機構部UaとUdには、乳頭位置検出装置1…をそれぞれ配設する。 On the other hand, the moving mechanism unit Ua and Ud for supporting the front side of the two teat cups T ..., to dispose the teat position detection apparatus 1 ..., respectively. この場合、移動機構部Uaのスライドプレート25上面に支持部40を起設し、この支持部40の上端に乳頭位置検出装置1を配設する。 In this case, Okoshi設 the support portion 40 in the slide plate 25 the upper surface of the moving mechanism unit Ua, disposing the teat position detecting device 1 to the upper end of the support portion 40. この構成は移動機構部Udも同じである。 This structure is the same even moving mechanism unit Ud. なお、乳頭位置検出装置1は後側の二つのティートカップT…を支持する移動機構部UbとUcには配設しない。 Incidentally, nipple position detecting device 1 is not disposed on the moving mechanism Ub and Uc for supporting two of the teat cup T ... of the rear.

【0025】乳頭位置検出装置1は図1及び図2に示すように、主検出部2と予備検出部7を備える。 The nipple position detection apparatus 1, as shown in FIGS. 1 and 2, includes a main detection section 2 and the preliminary detector 7. 主検出部2は支持部40の上端から前方に設けたセンサフレーム3を有する。 The main detector 2 includes a sensor frame 3 provided forward from the upper end of the support portion 40. センサフレーム3は図5に示すように、ティートカップTの上方に配され、乳頭Hが入るコの字形に形成する。 Sensor frame 3, as shown in FIG. 5, is disposed above the teat cup T, formed in a U-shaped papillary H enters. センサフレーム3は対峙する左フレーム部3xと右フレーム部3y,さらに、左フレーム部3xの一端と右フレーム部3yの一端間に介在する中間フレーム部3mからなり、センサフレーム3のフレーム内部には、複数組の透過型光学センサ4a,4b,4c…,4 Sensor frame 3 opposed to the left frame portion 3x and the right frame portion 3y, further consists intermediate frame portion 3m interposed between one end of the one end and the right frame portion 3y of the left frame portion 3x, the inside of the frame sensor frame 3 a plurality of sets of transmissive optical sensor 4a, 4b, 4c ..., 4
e…,4h,4i…を配設する。 e ..., 4h, the 4i ... arranged. 各透過型光学センサ4 Each transmission optical sensor 4
a…は図1に示すように、一対の発光部5a(5b,5 a ..., as shown in FIG. 1, a pair of light emitting portion 5a (5b, 5
c…,5e…,5h,5i…)と受光部6a(6b,6 c ..., 5e ..., 5h, 5i ...) and a light receiving portion 6a (6b, 6
c…,6e…,6h,6i…)からなり、センサフレーム3の内方の空間Sにマトリクス状の光路Ea,Eb, c ..., 6e ..., 6h, consists 6i ...), optical path Ea of matrix inwardly of the space S sensor frame 3, Eb,
Ec…,Ee…,Eh,Ei…を形成する。 Ec ..., Ee ..., Eh, to form a Ei .... この場合、 in this case,
左フレーム部3xと右フレーム部3y間には四本の横光路Ea,Eb,Ec…を、左フレーム部3xと中間フレーム部3m間には三本の斜光路Ee…を、右フレーム部3yと中間フレーム部3m間には四本の斜光路Eh,E Left frame portion 3x and the right frame portion 3y horizontal light path of the four is between Ea, Eb, and Ec ..., three oblique path Ee ... a of between left frame portion 3x and the middle frame portion 3m, right frame portions 3y oblique and of four is between the middle frame portion 3m path Eh, E
i…をそれぞれ形成するように配設し、特に、横光路の一つEcと斜光路の一つEhはティートカップTの中心位置Scを通るように配設する。 i ... was disposed so as to form respectively, in particular, one Eh one Ec and oblique path Yokomitsu path is arranged so as to pass through the center position Sc of the teat cup T. これにより、主検出部2はセンサフレーム3に入った乳頭Hの位置を正確に検出できる。 Thus, the main detection unit 2 can accurately detect the position of the nipple H entering the sensor frame 3. また、各受光部6a…の検出結果は入力ポート44を介してコントローラ45に付与する。 The detection result of the light receiving portions 6a ... are granted through the input port 44 to the controller 45.

【0026】一方、予備検出部7は支持部40の上端から後方に設けた取付板41の上面に首振駆動部9を配設するとともに、この首振駆動部9により所定の角度範囲にわたって反復的に回動変位せしめられる反射型光学センサ8を備える。 [0026] On the other hand, the pre-detection unit 7 is disposed head-shaking drive unit 9 on the upper surface of the mounting plate 41 provided from the upper end of the support portion 40 to the rear, repeat over a predetermined angular range by the neck oscillation driving unit 9 to a reflective-type optical sensor 8 induced to rotational displacement. 反射型光学センサ8はレーザ光を用いた光学センサを利用できる。 Reflective optical sensor 8 may utilize optical sensors using laser light. これにより、反射型光学センサ8はセンサフレーム3の開口側に対して反対側の近傍に位置し、主検出部2におけるセンサフレーム3の外方に位置する乳頭Hを検出できる。 Thus, the reflection type optical sensor 8 is located in the vicinity of the opposite side to the opening side of the sensor frame 3 can detect the teats H positioned outside the sensor frame 3 in the main detecting section 2. なお、図中、Esは光路を示す。 In the figure, Es shows the optical path.

【0027】また、反射型光学センサ8の検出結果は、 Further, the detection result of the reflection type optical sensor 8,
図3に示すようにコンピュータ機能を有するコントローラ45に付与するとともに、反射型光学センサ8の回動角度は角度検出部10により検出し、コントローラ45 With conferring to the controller 45 having the computer functions as shown in FIG. 3, the rotation angle of the reflective optical sensor 8 is detected by the angle detection unit 10, the controller 45
に付与する。 To grant to.

【0028】次に、本実施例に係る乳頭位置検出装置1 Next, the nipple position detection apparatus 1 according to this embodiment
を含む自動搾乳機Mの動作(機能)について、図1〜図8を参照して説明する。 The operation of the automatic milking machine M including (function) will be described with reference to FIGS.

【0029】今、ストールA内に乳牛Cが進入すれば、 [0029] Now, if the cow C is entered in the stall A,
扉74を閉じて乳牛Cの識別処理を行う。 Performing identification processing of dairy cows C closes the door 74. 乳牛CはID Dairy cattle C is ID
コードを記憶した首輪を掛けており、スタンチョンユニット72に配設した不図示のコード読取器によりIDコードを読取って乳牛Cを識別する。 And multiplying the collar that stores code for identifying the cow C reads the ID code by an unillustrated code reader which is arranged in the stanchion unit 72. また、不図示のスタンチョンバーにより乳牛Cを係留する。 Moreover, anchoring the cow C by stanchion bars (not shown). そして、搾乳ロボット50を制御し、エンドエフェタ50Hを図8に示す仮想線位置まで移動させる。 Then, by controlling the milking robot 50, to move the Endoefeta 50H to the virtual line position shown in FIG. このとき移動させる位置は乳牛Cのデータベースに基づいて行う。 Position for moving this time is carried out based on a database of cows C.

【0030】次いで、移動機構部Ua及びUdにより前側の二つのティートカップT…を装着する。 [0030] Next, mounting the front of the two teat cups T ... a by the moving mechanism unit Ua and Ud. このときの装着手順を図3にフローチャートで示す。 Illustrated in the flowchart mounting procedure in this case in FIG.

【0031】まず、予備検出部7により乳頭Hの位置を検出する。 Firstly, to detect the position of the nipple H Preliminary detection unit 7. この際、首振駆動部9により、反射型光学センサ8を所定の角度範囲にわたって反復的に回動変位させ、乳頭Hまでの距離とその時の回動角度を角度検出部10により検出し、コントローラ45はこの検出結果に基づいて乳頭Hの位置を検出する(ステップS1,S At this time, the neck oscillation driving unit 9, a reflection type optical sensor 8 repeatedly rotated displaced over a predetermined angular range, the distance between rotation angle at that time to nipple H detected by the angle detection unit 10, the controller 45 detects the position of the nipple H on the basis of the detection result (step S1, S
2)。 2). コントローラ45はこの検出した位置に基づいて移動機構部UaのX方向駆動部20とY方向駆動部26 The controller 45 is the X-direction driving portion of the moving mechanism portion Ua on the basis of the detected position 20 and the Y-direction drive unit 26
を駆動制御し、主検出部2のセンサフレーム3を乳頭H And drive control, and the sensor frame 3 of the main detecting section 2 nipple H
まで移動させるとともに、乳頭Hをセンサフレーム3に入れる(ステップS3,S4)。 It is moved up, put nipple H to the sensor frame 3 (step S3, S4).

【0032】そして、乳頭Hがセンサフレーム3に入ったなら、首振駆動部9の首振動作を停止し、主検出部2 [0032] Then, if the nipple H enters the sensor frame 3, to stop the neck oscillation operation of the neck oscillation driving unit 9, the main detecting section 2
により乳頭Hの位置を検出する(ステップS5,S Detecting the position of the nipple H (step S5, S
6)。 6). 即ち、センサフレーム3の内方の空間Sに形成されたマトリクス状の光路Ea,Eb,Ec…の一部は乳頭Hにより遮断されるため、コントローラ45はこの情報に基づいて乳頭Hの位置を検出する。 That is, the optical path Ea of the inner matrix, which is formed in the space S of the sensor frame 3, Eb, since Ec ... Some blocked by nipple H, the position of the nipple H based controller 45 for this information To detect. この場合、光路Ea…はマトリクス状のため、正確(高精度)に検出できる。 In this case, the optical path Ea ... because of a matrix, can be detected accurately (accurate). コントローラ45はこの検出結果に基づいて、X Controller 45 based on this detection result, X
方向駆動部20とY方向駆動部26を駆動制御し、乳頭HがティートカップTの中心位置Scに位置するように、センサフレーム3を移動させる(ステップS7)。 Drives and controls the direction driving section 20 and the Y-direction drive unit 26, so that the teat H is located at the center position Sc of the teat cup T, to move the sensor frame 3 (step S7).

【0033】この結果、乳頭Hが当該中心位置Scを通る横光路Ecと斜光路Ehを遮断したなら、Z方向駆動部32を作動させてティートカップTを上昇させる(ステップS8,S9)。 [0033] Consequently, if the nipple H is cut off the horizontal light path Ec and oblique light paths Eh through the center position Sc, raising the teat cup T by operating the Z-direction driving unit 32 (step S8, S9). この際、ティートカップTは負圧が生じているため、ある程度上昇すれば、乳頭Hが吸い込まれて真空接続される。 At this time, since the teat cup T is caused negative pressure, if somewhat elevated, nipple H is sucked by vacuum connection. そして、接続されたならティートカップTの上昇を停止する。 Then, to stop the rise of connected if the teat cup T. なお、ティートカップTはグリッパ部38により把持され、定位置に固定されるため、ティートカップTの装着は安定かつ円滑に行われる。 Incidentally, the teat cup T is gripped by the gripper unit 38, to be fixed in position, mounting of the teat cup T is performed stably and smoothly. このような、装着動作は移動機構部Ua及びUd Such, the mounting operation moving mechanism Ua and Ud
においてそれぞれ独立して行われる。 Each independently in is done.

【0034】一方、後側の二つのティートカップT…の装着はデータベースに基づいて行う。 [0034] On the other hand, two of the teat cup T ... mounting of the rear side is carried out on the basis of the database. 前側の二つのティートカップT…は上述したように、正確な位置検出に基づいて装着されるため、個々の乳牛C…における四つの乳頭H…の位置をデータベースとして予め記憶しておけば、後側の二つの乳頭T…の位置は前側の二つの乳頭H As the front side of the two teat cups T ... has been described above, because it is mounted on the basis of the detected accurate position, it is previously stored four teat H ... position of the individual cow C ... as a database, after two of the nipple T ... position of the side the front side of the two nipple H
…の位置検出結果とデータベースに基づいてかなり正確に推定できる。 ... it can be fairly accurately estimated based on the position detection result and database.

【0035】よって、後側の二つの乳頭H…の各位置は前側の二つの乳頭H…の位置検出結果とデータベースから算出し、この算出した位置に基づいて移動機構部Ub [0035] Thus, the rear of the two papillary H ... each position was calculated from the two teat H ... position detection result and databases of the front, the moving mechanism section Ub on the basis of the calculated position
及びUcを駆動制御する。 And controls the driving of the Uc. そして、後側の二つの乳頭T Then, after the side two of the nipple T
…に対するティートカップT…の位置決めが終了したならZ方向駆動部32…を作動させてティートカップT… ... teat cup T ... positioning is actuated in the Z direction drive part 32 ... it has finished the respect to the teat cup T ...
を上昇させ、上述した移動機構部Ua及びUdと同様にティートカップT…の装着を行う。 It was elevated to perform a teat cup T ... mounted in the same manner as the moving mechanism unit Ua and Ud described above. このような、装着動作は移動機構部Ub及びUcにおいてそれぞれ独立して行われる。 Such mounting operation is performed independently at the mobile mechanism Ub and Uc. なお、移動機構部Ub及びUcによる装着動作は、移動機構部Ua及びUdにより装着動作と同時進行させてもよいし、移動機構部Ua及びUdによる装着動作が終了してから行ってもよい。 Incidentally, the mounting operation by the moving mechanism unit Ub and Uc may be allowed to mounting operation and simultaneously by the moving mechanism unit Ua and Ud, mounting operation by the moving mechanism unit Ua and Ud may be performed after completion.

【0036】他方、ティートカップT…が乳頭H…に接続されたなら、グリッパ部38…によるティートカップT…の把持を解除し、Z方向駆動部32…によりカップ支持部35…を下降させる。 [0036] On the other hand, if the teat cup T ... are connected to the teats H ..., to release the teat cup T ... gripping by the gripper unit 38 ... lowers the cup support part 35 ... by the Z-direction driving section 32 .... この際、カップホルダ37 In this case, the cup holder 37
…は、ティートカップT…が所定の遊びを介して挿通する挿通孔36…を有するため、カップホルダ37…はティートカップT…から円滑に抜脱する。 ..., because the teat cup T ... has an insertion hole 36 ... for inserting through a predetermined play, the cup holder 37 ... is smoothly pulled out from the teat cup T .... そして、ティートカップT…の装着が終了したなら搾乳を開始する。 Then, to start the milking if the teat cup T ... wearing of has been completed.

【0037】以上、実施例について詳細に説明したが、 The invention has been described in detail for Example,
本発明はこのような実施例に限定されるものではない。 The present invention is not limited to such examples.
例えば、光学センサは超音波センサ等の他の同一機能を有するセンサの使用を排除するものではないとともに、 For example, the optical sensor with not exclude the use of a sensor having the other of the same functions, such as ultrasonic sensors,
光路の数量及び方向等は例示以外の他のパターンで形成できる。 Quantity and direction, etc. of the optical path can be formed in other patterns other than illustrative. また、乳頭位置検出装置は前側の二つの移動機構部に付設した場合を例示したが、一方のみ或いは四つの全ての移動機構部に付設してもよい。 Further, the nipple position detecting device has been exemplified a case where attached to two moving mechanism portion of the front side, may be attached only or all four of the moving mechanism one. その他、細部の構成,形状等において、本発明の精神を逸脱しない範囲で任意に変更できる。 Other construction details, the shapes, etc., can be arbitrarily changed without departing from the spirit of the present invention.

【0038】 [0038]

【発明の効果】このように本発明に係る自動搾乳機の乳頭位置検出装置は、ティートカップの上方に配するとともに、乳頭の入るコの字形のセンサフレームを有し、このセンサフレームに、一対の発光部と受光部からなる透過型光学センサを複数組配することにより、センサフレームの内方の空間にマトリクス状の光路を形成し、センサフレームに入った乳頭の位置を検出する主検出部と、 [Effect of the Invention] Thus nipple position detecting device for an automatic milking machine according to the present invention, together disposed above the teat cup has a sensor frame of U-shaped entry of the teat, in the sensor frame, a pair and by a transmission type optical sensor including a light receiving unit plural sets distribution emitting portions to form a matrix of optical paths inwardly of the space of the sensor frame, the main detection section for detecting a position of entering the teat sensor frame When,
センサフレームの近傍に配した反射型光学センサを、所定の角度範囲にわたって反復的に回動変位させることにより、乳頭の位置を検出する予備検出部を備えるため、 The reflective optical sensor arranged in the vicinity of the sensor frame, by repeatedly rotational displacement over a predetermined angular range, comprising a preliminary detection unit for detecting the position of the nipple,
次のような顕著な効果を奏する。 A marked effect as follows.

【0039】 コの字形のセンサフレームにマトリクス状の光路を形成したため、乳頭の位置を正確(高精度)に検出することができる。 [0039] Since the formation of the U matrix of the optical path to the sensor frame-shaped, it is possible to detect the position of the nipple accurately (accurate).

【0040】 首振動作を行う予備検出部とコの字形のセンサフレームを有する主検出部の組合わせにより、 [0040] by the main detection unit combination of having a sensor frame of the preliminary detection unit and the co-perform the neck vibration operation-shaped,
センサフレームの内方及び外方双方の位置検出を行うことができるため、ティートカップの装着を迅速かつ確実に行うことができる。 It is possible to perform the inner and outer both position detection sensor frame, it is possible to perform the mounting of the teat cup quickly and reliably.

【0041】 超音波センサを使用することなく光学センサのみの組み合わせで実現できるとともに、使用する光学センサの数量も少なくて済むため、大幅なコストダウンを達成できる。 [0041] it is possible to realize a combination of only the optical sensor without the use of ultrasonic sensors, requires less even number of optical sensors used, can achieve significant cost reduction.

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

【図1】本発明に係る乳頭位置検出装置の平面図、 Plan view of the nipple position detecting device according to the invention, FIG,

【図2】同乳頭位置検出装置の側面図、 Figure 2 is a side view of the nipple position detecting device,

【図3】同乳頭位置検出装置を含む制御系のブロック回路図、 FIG. 3 is a block circuit diagram of a control system including the same nipple position detecting device,

【図4】同乳頭位置検出装置によるティートカップ装着方法を示すフローチャート、 FIG. 4 is a flowchart showing a teat cup attachment method according to the nipple position detecting device,

【図5】同乳頭位置検出装置を備える自動搾乳機におけるエンドエフェクタの一部断面側面図、 [5] partially sectional side view of the end effector in an automatic milking machine having a same nipple position detecting device,

【図6】同乳頭位置検出装置を備える自動搾乳機におけるエンドエフェクタの一部断面平面図、 6 partially sectional plan view of the end effector in an automatic milking machine having a same nipple position detecting device,

【図7】同自動搾乳機を備えるストールの側面図、 FIG. 7 is a side view of the stall with the same automatic milking machine,

【図8】同自動搾乳機を備えるストールの平面図、 FIG. 8 is a plan view of the stall with the same automatic milking machine,

【図9】従来の技術に係る乳頭位置検出装置の平面図、 Figure 9 is a plan view of the nipple position detecting device according to the prior art,

【符号の説明】 DESCRIPTION OF SYMBOLS

1 乳頭位置検出装置 2 主検出部 3 センサフレーム 3x 左フレーム部 3y 右フレーム部 3m 中間フレーム部 4a… 透過型光学センサ 5a… 発光部 6a… 受光部 7 予備検出部 8 反射型光学センサ S センサフレームの内方の空間 Sc ティートカップの中心位置 Ea… 光路 Ec 横光路 Eh 斜光路 T ティートカップ H 乳頭 1 nipple position detecting apparatus 2 main detecting unit 3 sensor frame 3x left frame portion 3y right frame portion 3m intermediate frame portion 4a ... transmissive optical sensor 5a ... emitting portion 6a ... light receiving portion 7 preliminary detector 8 reflective optical sensor S sensor frame central position Ea ... optical path Ec horizontal light path Eh oblique path T teatcup H teats of the inner space Sc teat cup

Claims (5)

    【特許請求の範囲】 [The claims]
  1. 【請求項1】 乳頭の位置を検出する自動搾乳機の乳頭位置検出装置において、ティートカップの上方に配するとともに、乳頭の入るコの字形のセンサフレームを有し、このセンサフレームに、一対の発光部と受光部からなる透過型光学センサを複数組配することにより、センサフレームの内方の空間にマトリクス状の光路を形成し、センサフレームに入った乳頭の位置を検出する主検出部と、前記センサフレームの近傍に配した反射型光学センサを、所定の角度範囲にわたって反復的に回動変位させることにより、乳頭の位置を検出する予備検出部を備えることを特徴とする自動搾乳機の乳頭位置検出装置。 1. A teat position detecting device for an automatic milking machine to detect the position of the teats, with disposed above the teat cup has a sensor frame of U-shaped entry of the teat, in the sensor frame, the pair by plural sets distribution transmissive optical sensor comprising a light emitting portion receiving section to form a matrix of optical paths inwardly of the space of the sensor frame, a main detection section for detecting a position of entering the teat sensor frame , a reflection type optical sensor arranged in the vicinity of the sensor frame, by repeatedly rotational displacement over a predetermined angular range, the automatic milking machine, characterized in that it comprises a preliminary detection unit for detecting a position of the nipple nipple position detection device.
  2. 【請求項2】 前記透過型光学センサは前記センサフレームの左フレーム部と右フレーム部間に横光路を形成するとともに、左フレーム部と中間フレーム部間及び右フレーム部と中間フレーム部間にそれぞれ斜光路を形成するように配設することを特徴とする請求項1記載の自動搾乳機の乳頭位置検出装置。 Wherein said transmission type optical sensor to form a horizontal light path between the left frame part and the right frame portion of the sensor frame, respectively between between the left frame part and the intermediate frame part and the right frame portion and the middle frame portion nipple position detecting device for an automatic milking machine according to claim 1, characterized in that arranged to form oblique path.
  3. 【請求項3】 前記透過型光学センサは前記横光路の一つと前記斜光路の―つがティートカップの中心位置を通るように配設することを特徴とする請求項2記載の自動搾乳機の乳頭位置検出装置。 Papillae one the automatic milking machine according to claim 2, characterized in that disposed to pass through the center position of the teat cup - wherein the transmissive optical sensor is the horizontal light path one said oblique path of the position detector.
  4. 【請求項4】 前記反射型光学センサは前記センサフレームの開口側に対して反対側に配することを特徴とする請求項1記載の自動搾乳機の乳頭位置検出装置。 Wherein said reflective-type optical sensor nipple position detecting device for an automatic milking machine according to claim 1, wherein the placing on the opposite side to the opening side of the sensor frame.
  5. 【請求項5】 前記予備検出部は、反射型光学センサを所定の角度範囲にわたって反復的に回動変位させる首振駆動部と、反射型光学センサの回動角度を検出する角度検出部を備えることを特徴とする請求項1記載の自動搾乳機の乳頭位置検出装置。 Wherein said preliminary detection unit includes a neck oscillation driving unit for iteratively rotational displacement of the reflective optical sensor over a predetermined angular range, the angle detection unit that detects the rotation angle of the reflective optical sensor nipple position detecting device for an automatic milking machine according to claim 1, wherein a.
JP8114288A 1996-04-11 1996-04-11 Teat position detector for automatic milking machine Pending JPH09275834A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP8114288A JPH09275834A (en) 1996-04-11 1996-04-11 Teat position detector for automatic milking machine

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP8114288A JPH09275834A (en) 1996-04-11 1996-04-11 Teat position detector for automatic milking machine

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JPH09275834A true JPH09275834A (en) 1997-10-28

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US8885891B2 (en) 2011-04-28 2014-11-11 Technologies Holdings Corp. System and method for analyzing data captured by a three-dimensional camera
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