JPH11281340A - Device for measuring body position of walking animal and milking device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To surely detect the prescribed body position of a walking animal. SOLUTION: Plural ultrasonic position detecting means 55 for transmitting ultrasonic waves in different angular directions receive the reflected waves of the ultrasonic waves transmitted to the existing area of a prescribed body position, that is, a nipple Te4 from the body for detecting distances to the body position, and judge the body position based on the plural distance detection information. When the body position is not judged, the body position is surely judged based on the detected information of a laser optical position detecting means 76 for scanning-projecting a laser beam along a set angular range LA so that the transmission area of the ultrasonic waves can be included, and detecting the body position based on the information of the projecting angle and the light reception information of the reflected light of the laser beam on the body position.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a reflected wave of an ultrasonic wave transmitted toward an area where a body part is predicted to exist in order to determine the position of a predetermined body part of a walking animal. And a plurality of ultrasonic position detecting means configured to detect the distance to the body part and receive the ultrasonic waves from different angles with respect to the body part are provided. The present invention relates to a body part position measuring device for a walking animal and a milking apparatus provided with the body part position measuring device for a walking animal.

[0002]

2. Description of the Related Art In a body part position measuring device for a walking animal, for example, a plurality of (eg, two) ultrasonic position detections are performed using a nipple of a milking animal such as a cow as a body part to be located. Transmitting ultrasonic waves at different angular directions from the means toward the area where the nipple is present, and detecting the distance to the nipple based on the time until each ultrasonic wave is reflected by the nipple is received The position of the body part (nipple) is determined by triangulation based on each distance information and arrangement information of a plurality of ultrasonic position detecting means. Further, in the milking apparatus having the body part position measuring device for the walking animal, based on the determined nipple position information, for example, by automatically moving the milking implement to the position of the nipple and aligning the same.
The automatic mounting reduces the burden on the operator as compared with a case where the operator manually attaches a milking implement to the nipple and performs milking (for example, see Japanese Patent Application Laid-Open No. 9-24331).
No. 5).

[0003]

However, in the above-mentioned conventional configuration, the ultrasonic position detecting means can detect the position of the object (body part) in a relatively wide range at a high speed. The direction of the transmitted ultrasonic wave is out of the region where the body part to be located is located, or the shape of the body part to be located is deformed (for example, in the case of the nipple, the nipple is straight (In the case of a normal shape that hangs down, it is bent in the horizontal direction.) In such a case, since the reflected wave does not return normally, the body part is determined based on the detection information of the ultrasonic position detecting means. May not be able to be properly determined. If the position of the body part cannot be determined, for example, based on the determination of the body part position, the milking implement is automatically aligned with the nipple of the animal, and further, the milking implement is positioned on the nipple of the animal. Operation such as automatic mounting cannot be performed.

The present invention has been made in view of the above circumstances, and a first object of the present invention is to preferentially operate an ultrasonic position detecting means to quickly detect a body part of a walking animal. In the above manner, when the body part cannot be detected by the ultrasonic position detecting means, the range including the detection area by the ultrasonic position detecting means is accurately detected as an image by the laser position detecting means. Thus, there is provided a body part position measuring device for a walking animal that can more reliably detect a body part.
An object of the present invention is to appropriately perform a milking operation based on positional information of a body part determined by the body part position measuring device for a walking animal.

[0005]

According to a first aspect of the present invention, there are provided a plurality of ultrasonic position detecting means provided to transmit ultrasonic waves from different angles to a predetermined body part of a walking animal. However, the reflected wave from the body part of the ultrasonic wave transmitted toward the region where the body part is predicted to be present is received, the distance to the body part is detected, and the plurality of ultrasonic positions are determined. The position of the body part is determined based on the detection information of the detection means. On the other hand, when the position of the body part is not determined based on the detection information of the plurality of ultrasonic position detecting means, the laser light type position detecting means is detected and operated, and the ultrasonic position detecting means The projection is performed while scanning the laser beam light over the set angle range so as to include the transmission region of the ultrasonic wave, and the reception information of the reflected light of the laser beam light at the body part and the projection angle of the laser beam light The position of the body part is detected based on the information, and the position of the body part is determined based on the detection information of the laser beam type position detecting means.

Accordingly, as shown in FIG. 16, an ultrasonic position detecting means 5 capable of detecting a relatively large area at high speed.
5 is activated preferentially, and the body part of the walking animal (in the figure,
While quickly detecting the nipple Te4), for example, the direction of the ultrasonic wave from the ultrasonic-type position detecting means 55 is out of the existing region of the body part to be position-determined, or the body part to be position-determined. In the case where the shape is deformed (in the figure, the nipple Te4 is bent) or the like, and the position cannot be detected well by the ultrasonic position detecting means 55, the position detecting means 76 of the laser beam type is used. As a result, a body part position measuring device for a walking animal that can accurately detect the range including the detection region of the ultrasonic position detecting means 55 as an image and can more reliably detect the body part is obtained.

According to a second aspect of the present invention, in the first aspect, the ultrasonic position detecting means and the laser position detecting means are arranged so that any one of a plurality of nipples of the animal to be milked is the predetermined nipple. The position is detected as the body part. Therefore,
For example, based on the position information of one nipple whose position has been determined, a breast pump including a plurality of milking tools is moved to the vicinity of the nipple, and in that state, an operator manually attaches the milking tool to each nipple. Thus, the milking operation can be appropriately performed.

According to a third aspect of the present invention, as shown in FIG. 16, one of a plurality of nipples Te1 to Te4 of a milking target animal is measured by the apparatus for measuring a body part position of a walking animal according to the second aspect.
After the positions of the four nipples Te4 are detected, the relative position between the plurality of nipples is detected by the relative position detecting means 56, and the ultrasonic position detecting means 55 and the relative position detecting means 5 are detected.
The milking implement is automatically mounted on each of the plurality of nipples based on each of the detection information of No. 6 or each of the detection information of the laser light type position detecting means 76 and the relative position detecting means 56. Therefore, since the milking implement is automatically attached to each of the plurality of nipples of the milking target animal, the burden on the worker is further reduced as compared to the case where the operator manually attaches the milking implement to each nipple. A milking apparatus capable of performing a milking operation properly is obtained.

[0009]

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, a case where the body part position measuring device for a walking animal according to the present invention is applied to a milking device for a dairy cow, which is a milking target animal as an example of a walking animal, will be described.
This will be described with reference to the drawings. FIG. 1 shows the entire layout of the barn. 1A is a cattle feeding ground adapted for automatic milking,
1B is a feeding area for cows not compatible with automatic milking, 2A is a first area as a living area for cows compatible with automatic milking,
The second area 2B is a free stall for cows that are not compatible with automatic milking, the third area is a milking place as a milking place, and the first and second areas 2A and 2B have a large number of stalls (beds) separated by pipes. 2a and 2b are arranged. Feeding area 1A and first area 2A are two unidirectional gates 4 and 5
The one-way gates 4 and 5 are configured to allow only passage from the feeding area 1A to the first area 2A. And, between the first area 2A and the second area 2B and the milking place 3, a passage L1 through which cows move,
A waiting area 6 for waiting for the milking order is provided. In addition, a passage L2 is formed between the milking place 3 and the feeding place 1A.
Therefore, the cows in the first area 2A pass through the milking parlor 3 to the feeding area 1A, and after eating, pass through the one-way gates 4 and 5 and return to the first area 2A along a one-way circulation path. To move. Note that a passage L3 is formed between the second area 2B and the feeding ground 1B so as to be able to move freely.

[0010] Between the first and second areas 2A and 2B and the milking place 3, cows in the first area 2A can freely go to the milking place 3, and cows in the second area 2B. A first state in which the cows in the first area 2A are prohibited from moving to the milking place 3 and a cow in the second area 2B is free to go to the milking place 3; Second
An open / close gate G8 is provided which can be switched between states. The milking parlor 3 is provided with an automatic milking apparatus A for automatically attaching a teat cup 50 as a milking tool to a nipple to a cow that has come and milking the cow.

The milking system in this barn will be briefly described. A plurality of cows to be milked are classified into cows that are suitable for automatic milking by the automatic milking apparatus A and cows that are not suitable for automatic milking. Cows that are compatible with automatic milking (hereinafter referred to as automatic cows) are managed to live in the first area 2A, and cows that are not compatible with automatic milking (hereinafter referred to as manual cows) are designated as first cows. 2 area 2B
It is managed to live in. In addition, the cows that are not suitable for automatic milking include, for example, cows whose nipples do not match the shape of the teat cup 50 and are difficult to be automatically fitted, and cows who go into the milking parlor 3 without being calm and automatically A cow that cannot perform milking or a cow that is suffering from a disease such as mastitis, and that cannot automatically perform automatic milking by the automatic milking apparatus A.

In many time periods of the day, as shown in FIG. 2, the open / close gate G8 is switched to the first state, and the automatic cows in the first area 2A are:
Whenever you are hungry, you can freely go through the milking parlor 3 to the feeding ground. Although there is no food in the first area 2A, the place where the animal feeds when milking is performed by the automatic milking apparatus A in the milking place 3 is supplied with concentrated feed which is a delicious food that appeals to the taste of cows. The dairy cow who knows this (educated) naturally goes to the milking parlor 3 when hungry. In addition, automatic milking device A
Feeds 1A and 1B, which are places where food is fed when milking is not performed, are fed with a feed containing a large amount of roughage such as grass. The automatic cow can freely go to the milking place 3 at any time. However, the individual identification information transmitted by the responder RS attached to the neck of each cow is detected by the tag T installed on the floor side of the milking place 3 to detect the individual. When the set time (about 4 hours) has not elapsed since the last milking time, the milking machine 3 is moved out of the milking place 3 without executing the automatic milking. .

[0013] The manual cow is artificially managed and milked. In other words, the manual cow in the second area 2B can go to the feeding place at any time through the passage L3 and feed, but cannot normally go to the milking place 3 freely because the opening and closing gate G8 is closed. . Then, when a predetermined milking time is reached, the operator switches the opening / closing gate G8 to the second state, and sequentially moves the manual cows in the second area 2B to the milking place 3. In 3, the milking is performed by attaching the teat cup 50 by manual operation. The milked manual cow returns to the second area 2B via the return route L4.

Next, the milking place 3 will be described.
As shown in the figure, an automatic milking apparatus A is installed in each of the two milking rooms 7 and 7 arranged in series, a moving passage 8 is provided beside these milking rooms, and a cow that has failed automatic milking is located on the entrance side. A return passage L5 for returning is provided side by side. In addition, at the rear corner of each milking room 7, 7, an ejector WS for ejecting water for flushing cow dung on the floor is installed, and drainage after this washing is discharged through a drainage channel (not shown). (See FIG. 13). As shown in FIG. 3, a first gate G1 which can be opened and closed is provided at the entrance side of the moving passage 8 (on the side of the waiting area 6), and each of the milking rooms 7, 7 is a second (fourth) entrance serving as a cow. ) Gate G
2 and G4, and third (fifth) gates G3 and G5 as exits. At the exit side of the moving passage 8, a sixth automatic cattle is divided into a passage L2 to the feeding ground 1A and a return passage L5.
Gate G6, manual cow return L4 and return L5
And a seventh gate G7.
A one-way gate G9 is provided on the side of the waiting area 6 of the return path L5, which allows only passage to the waiting area 6 side.

The first gate G1 is usually called a Texas gate, and has a pair of left and right gate pieces 9 and 9 that can swing about the vertical axis. The pair of gate pieces 9 and 9 are simultaneously opened and closed by an air cylinder or the like. It has a double door structure. The second gate G2 is configured as a door type that is swingable about the vertical axis, and is set so as to almost block the moving passage 8 at the open position, so that the cow can enter the first milking room 7 without fail. It is. The fourth gate G4 of the second milking room 7 has exactly the same structure. The third gate G3 has a first door 10 supported on the side wall of the milking room 7 so as to be swingable about the vertical axis, and a second door G3 supported on the first door 10 so as to be able to swing about the vertical axis.
The door 11 is configured as a folding door having a two-fold structure. The third gate G3 is configured to push the buttocks of the cow out of the milking room 7 to promote the forward movement by the movement of the second door accompanying the closing operation (see FIG. 5 (f)). The fifth gate G5 of the second milking room 7 has exactly the same structure. The sixth gate G6 is connected to the moving passage 8 and the passage L2.
, The moving passage 8 and the return passage L5.
Is configured to be freely switchable to a position for communicating with. The seventh gates G7 are provided so as to be swingable about vertical axes, respectively, and are switchable between a position for connecting the moving passage 8 and the return passage L5 and a position for connecting the moving passage 8 and the return passage L4. It is configured.

In order to operate the gates in a coordinated manner, a number of sensors S1 to S8 for detecting the passage or presence or absence of a cow are provided. All of the sensors are configured as optical sensors that are pairs of a light emitter and a light receiver, and detect and operate by blocking the optical axis or restarting the optical axis.

As shown in FIG. 3, a pair of upper and lower first and second
The sensors S1 and S2 are arranged so as to be orthogonal to the moving path 8 at a point 60 cm away from the first gate G1, and the first sensor S1 detects the cow leg and the second sensor S2 detects the trunk. It is. The third sensor S3 is connected to the first milking room 7
Are arranged obliquely so as to extend over the start end side portion of the first milking room 7 and the end portion of the first milking room 7 opposite to the moving passage. The fourth sensor S4 is disposed obliquely so as to extend over the portion of the first milking room 7 opposite to the moving passage on the start end side and the end portion of the first milking room 7. The fifth sensor S5 is disposed obliquely so as to extend over the start end side portion of the second milking room 7 and the end portion of the second milking room 7 opposite to the moving passage. The sixth sensor S6 is
The second milking room 7 is obliquely disposed so as to extend over the portion on the opposite side of the moving passage on the start end side and the end portion of the second milking room 7. A pair of upper and lower seventh and eighth sensors S7 and S8 are arranged in a state in which the moving passage 8 near the terminal side of the second milking chamber 7 is orthogonal to the moving path 8, and the same as the first and second sensors S1 and S2. The seventh sensor S7 detects the leg, and the eighth sensor S8 detects the trunk.

Next, the linking operation between each sensor and each gate will be described with reference to FIGS. First, in the initial state, as shown in FIG. 3 (a), the second gate G2 is opened and the sixth gate G6 is operated at a position where it is distributed to the side of the passage to the feeding ground. G3, G4,
G5 is all closed. As shown in FIG.
The gate G1 opens and the cow enters the passage 8 and
When the passage through the second sensors S1 and S2 is completed, the first gate G1 is closed. Then, when the cow enters the first milking room 7 through the third sensor S3 and the tag T receives the identification information transmitted from the responder RS and detects the individual (cow), the second gate G2 is closed. At the same time, the fourth gate G4 opens (see FIG. 4C).

Then, the milking by the automatic milking apparatus A is started in the first milking room 7, and the first gate G1 can be opened again so that the next cow can enter the moving passage 8. In the first gate G1, a cow comes to a waiting position immediately before the first gate G1 by a presence / absence sensor (not shown) arranged in front of the gate, and one of the first and second milking rooms 7, 7 is vacant. It is convenient if the opening is set only when the condition is satisfied (there is also a means for manually operating only the opening operation of the first gate G1).

Next, when the cow enters the moving passage 8 and passes through the first and second sensors, the first gate G1 is closed, and the fourth gate G4, which is the entrance of the second milking room 7, is opened (the second gate G4). When the gate G2 is closed or when the first gate G1 is opened, the fourth gate G4 may be opened.)
The milking room 7 is ready to be greeted (see FIG. 4 (d)). Then, when the third to fifth sensors S3, S4, S5 detect and operate the cow, the cow enters the second milking room 7, and the tag T receives the identification information transmitted from the responder RS and detects the individual. G4 is closed, and the milking rooms 7, 7 are milked.

Next, when the milking in the first milking room 7 is completed,
When the automatic milking apparatus A is reset, the third gate G3, which is the outlet of the first milking room 7, is opened in association with the reset, and the cow proceeds to the moving passage 8 (see FIG. 5 (e)). At this time, the fourth sensor S4 blocked by the passage of the cow returns to the initial state again (or both the fifth and sixth sensors S5 and S6 detect and operate), and the folded state. The third gate G3, which is open at the time, is closed, and the second door 11 is closed as shown in FIG.
As shown in (f), a function of pushing the buttocks of the cow to promote forward movement is exhibited. When the cows exiting the first milking room 7 pass the fifth and sixth sensors S5 and S6 and then reach the seventh and eighth sensors S7 and S8, the third gate G3.
Is closed and the first gate G1 is opened [FIG.
(G), the first gate G1 can be opened by detecting the passage of the seventh and eighth sensors S7 and S8. When the milking is completed, the cow is opened to the feeding ground 1 through the passage L2.

When the milking in the second milking room 7 is completed, the operation is almost the same as that in the first milking room 7 (see FIG. 6 (h)), but the difference is that the fifth gate G5 is closed. The operation and the openable state of the first gate G1 are achieved by the detection of the completion of the passage of the seventh and eighth sensors S7 and S8 (see FIG. 7), and the fourth gate G4 is still maintained in the closed state. (At this time, the fourth gate G4 is opened and operated when a cow is in the first milking room 7 at that time). Then, the cows in the second milking room 7
If no cows have yet come to the first milking room 7 when leaving outside, the gates G1 to G6 return to the initial state in which only the second gate is opened.

In this system, when both milking rooms 7, 7 are both empty, cows are set in preference to the first milking room 7. The advantages of the cross arrangement of the third to sixth sensors S3 to S6 in the moving passage 8 in front of the milking rooms 7, 7 are as follows. That is, since the moving-out movement from the moving passage 8 to the milking room 7 arranged in series is performed at the side wall portion of the milking room 7, the sensor can be sensed at a position close to the entrance and exit of the milking room 7 by the diagonal arrangement of the sensors. The function and, for example, if the cows exiting the second milking room 7 back up during the passage of the seventh and eighth sensors S7 and S8, the fifth and sixth sensors S5 and S6 are activated and It is possible to exhibit both functions of detecting inconveniences, and is superior to the means of arranging sensors at right and left of the moving passage 8 before and after each gate in terms of detection points and the required number of sensors.

Each of the gates described above is configured to be freely opened and closed by an air cylinder or the like, and its opening and closing operations are controlled by a control device based on detection information of each sensor. This is an example when the operation is performed, and various operation situations can be considered depending on the case. For example, milking in the second milking room 7
If the processing is completed earlier, the first gate G1 can be opened as the cows in the second milking room 7 pass through the seventh and eighth sensors S7 and S8. At that time the first gate G
When the next cow is in front of you, the first gate G1 opens,
The cow passes the first milking room 7 and enters the second milking room 7 directly, and so on. Also, each sensor S1
S8 use the same sensor, and are optically constructed by a pair of a light emitter and a light receiver.

The structure of the automatic milking apparatus A will be described.
As shown in FIGS. 8 to 11, a breast pump (cluster) configured to include a hip folding arm 51 having four teat cups 50 attachable to a teat at a tip thereof on the right side of the milking room 7.
Aa and a sensor robot Ab for sensing the four teats of a cow in a predetermined milking position in the milking room 7 and positioning the teat cup 50 directly below each corresponding teat. ing.

As shown in FIGS. 8 and 9, the breast pump Aa
A tip arm 51a having a teat cup 50, and a support 5 fixed to the right side of the milking room 7 with the tip arm 51a.
4 and a base end arm 51b which is erected on the lower end 4 and two return cylinders 52 and 53. The outside of the teat cup 50 is covered with a rubber material.
It is supported on the distal arm 51a via a non-equilateral link mechanism 63 comprising a lower link 3a and a lower link 63b shorter than this, and an elevating cylinder 64 is laid across the distal arm 51a and the lower link 63b. Base arm 51b
Is supported by a support 54 so as to be able to move up and down in parallel via an elevating mechanism 66, and is slidably movable up and down on a bar 67 erected on the support 54 so that the base end cylinder 53 can also move up and down in conjunction therewith. It is fitted.

The four teat cups 50 are arranged in a trapezoidal shape with a wide front side in accordance with the arrangement of the nipples of the cow, and this arrangement is basically fixed. However, the upper and lower links 63a, 63b and the tip arm 51a
With the elasticity of the rubber bush (not shown) interposed at the connecting portion with the rubber member covering the teat cup 50,
The position and posture of the teat cup 50 are flexible, and the opening 50a at the upper end of the teat cup 50 is provided.
Has an upwardly expanded shape (see FIG. 8), so that the teat cup 50 can be fitted even if the relative positions of the four nipples are slightly shifted from the standard state. This structure is made possible by the fact that the relative positions of the teats are basically not so different from cow to cow.

When the teat cup 50 is mounted on the teat, it serves as a support reference body for mounting the next teat cup 50, and the mounted teat cup 50 does not move much when the next cup is mounted. It is convenient because it can improve the success rate. Therefore, when the teat cup 50 is mounted on the teat, a mechanism for reducing the flexibility of the rubber bush (for example, an electromagnetic magnet is embedded in the connecting portion, and the upper and lower links 63a and 63b and the tip arm are energized when energized). 51a is in a rigid state, etc.) to enhance the reliability of cup mounting. This milking machine A
a is a milking position (lower abdomen of a dairy cow) that projects from the retracted position retracted to the right side of the milking room 7 to the left and right center of the milking room 7 by the expansion and contraction drive of the distal cylinder 52 and the proximal cylinder 53.
Can be moved without changing the posture of the teat cup 50. Incidentally, reference numeral 65 denotes a mounting portion for the sensor robot Ab to be combined.

As shown in FIGS. 10 and 11, the sensor robot Ab includes two ultrasonic first rough sensors 55 and 5.
5, a four-end parallel link 57 provided with a second rough sensor 76 of a laser beam type and one scanner (corresponding to a fine sensor) 56, and a vertically protruding plate 6 below the frame cylinder 69
9a, 69b, a base parallel quadruple link 58,
And the second cylinders 60, 61 and the like. The frame cylinder 69 is fitted to a column 59 so as to be able to move up and down by a vertical movement mechanism 70 composed of a motor 70a and a screw shaft 70b, and the column 59 extends to the right side of the two milking rooms 7,7. Pair of left and right moving rails 62
It is supported by a trolley 68 that can roll on it. The extension of the lower protruding plate 69b is fitted to a support bar 68a erected on the carriage 68 so as to be vertically slidable to prevent the frame cylinder 69 from rotating. The base parallel quadruple link 58 can be moved left and right with respect to the frame cylinder 69 by the expansion and contraction movement of the first cylinder 60, and the base parallel quadruple link 57 can be moved by the expansion and contraction movement of the second cylinder 61. 58, and each sensor 5 is movable as shown in FIG.
Without changing the posture of the 5, 56, 76 with respect to the carriage 68, the lateral movement from the retracted position retracted to the right of the milking room 7 to the milking position (lower abdomen of the dairy cow) projected to the left and right center of the milking room 7 It is possible.

Here, the breast pump Aa and the sensor robot Ab
12, the mounted portion 65 includes a pair of hook portions 65a, 65a and a pair of protrusion guides 65b, 65b. As shown in FIG.
2, a pair of engaging pieces 72 a, 72 a relatively connected by a waist-folding link 73 are vertically suspended so as to be pivotally supported, and a lower end of a rod 75 operable with a solenoid 74 is connected to a central link piece 73 a of the waist-breaking link 73. It is configured to be connected to. To release the engagement, the solenoid 74 may be extended. Accordingly, as shown in FIG. 12A, when the entirety of the sensor robot Ab is moved downward with the mounting portion 72 and the mounted portion 65 being aligned in the horizontal direction, the engagement piece 72a is moved to the projection guide 65b. As shown in FIG. 12B, the tip of the engaging piece 72a and the hook 65a are engaged at two places, and the breast pump Aa and the sensor robot Ab are engaged.
And coalesce.

When the two first rough sensors 55, 55 and the second rough sensor 76 are moved to the milking position (the lower abdomen of the cow), any one of the plurality of nipples of the cow (the fourth The position of the nipple Te4) is fixed such that the detection direction is directed to the region where the fourth nipple Te4 exists, while the position of the nipple Te4) is determined as the body part whose position is to be determined.
A quadruple link comprising an upper arm 56a and a lower arm 56b,
And a motor mechanism 71 acting on the lower arm 56b. The upper and lower parallel links 57 are vertically movably supported by the link 57, and are rotatable about the vertical axis with respect to the cradle 56c by an electric motor or the like. I have. In addition, 72 is a mounting part for the milking machine Aa combination.

Next, the operation of the automatic milking apparatus A will be described with reference to FIGS.
This will be described with reference to FIG. First, at the right side position of the first milking room 7, the breast pump Aa and the sensor robot Ab at a higher position are waiting side by side (FIG. 1).
3). Next, the feed box 36 is retracted by an amount suitable for the cow, and is operated to a predetermined milking posture. At this time, with the end of the retreat movement of the feed box 36, the sensor robot Ab moves to the left side,
In addition, the sensor robot Ab merges with the breast pump Aa by moving downward (see FIG. 14).

The combined automatic milking apparatus A moves the teat cup 50 to the lower abdomen of the cow by a general lateral movement by driving the first and second cylinders 60 and 61 of the sensor robot Ab. The first teat sensor 55 is used to detect the fourth teat Te4 (reference teat) to determine the position of the fourth teat Te4. Here, when the position of the fourth nipple is not determined based on the detection information of the two first rough sensors 55, the second rough sensor 76 is detected and operated to detect the fourth nipple, and the detection of the second rough sensor 76 is performed. The position of the fourth teat Te4 is determined based on the information. Then, based on the above-described fourth nipple position determination, the first and second teat cups 50 are positioned below the corresponding nipple.
Drive control of the cylinders 60 and 61 (the two cylinders 52 and 53 of the breast pump Aa follow) moves to perform a rough alignment.

Next, the motor mechanism 71 is driven to lift the scanner 56 so that the scanner 56 is positioned between the nipples in the vertical direction, and four nipple positions are sensed while being driven and rotated (FIGS. 15 and 16 ( B)). That is, the scanner 56 corresponds to a relative position detecting means for detecting a relative position between the four nipples after the position of the fourth nipple Te4 is detected by the first rough sensor 55 or the second rough sensor 76.

When the precise sensing (measurement of the nipple position) by the scanner is completed and each teat cup 50 is positioned immediately below each nipple, the milking machine Aa firstly starts the first breast pump.
Attempt to mount the teat cup 50 of the teat Te1 is started (FIG. 17), and then the second, third, and fourth teats Te1
2, Te3 and Te4 are mounted. In other words, the breast pump Aa is connected to the first rough sensor 55 and the first scanner 5.
6, or the teat cup 50 for each of the plurality of nipples based on either the detection information of the second rough sensor 76 or the detection information of each of the second scanner 56.
Corresponds to a milking tool mounting means for automatically mounting And 4
When the attachment of the individual teat cups 50 to each teat is completed, the engagement between the mounting portion 72 and the mounted portion 65 is released, the sensor robot Ab is slightly lifted, and then moves rightward to return to the retracted position. . Thereafter, the sensor robot Ab goes to the adjacent second milking room 7 using the rail 62.

When the sensor robot Ab returns to the retracted position,
The raising / lowering mechanism 66 is driven to rise, and the lifting / lowering cylinder 64 is shortened to drive the breast pump Aa up around the teat cup 50, thereby correcting the posture of the teat cup 50 to a state suitable for the teat (FIG. 18). Then milking begins. In other words, as shown in FIG. 17, the teat cup 50 is in a substantially vertically upright position at the lower position, giving priority to the ease of fitting to the teat, but the upward movement by the unequal side link mechanism 63 is not possible. It becomes a state similar to the swing-up and becomes slightly inclined backward, and the nipple is slightly twisted. Therefore, by lifting the breast pump Aa, the teat cup 50 is moved from the backward inclined posture to a substantially vertical standing posture. It is configured to return. Further, the posture at the lower position of the teat cup 50 is set in accordance with the backward inclination posture of the teat whose tip is slightly forward, so that the remarkable backward inclination posture due to the ascent is returned to the original slightly backward inclination posture. It is more convenient. Lifting and moving the breast pump Aa body later is also meaningful in terms of securing the vertical space necessary for moving the combined sensor robot Ab to the side and moving it with the completion of the attachment of the teat cup 50. is there.

The first rough sensors 55, 55 will be described. As shown in FIG.
5 is to receive the reflected wave from the fourth nipple Te4 of the ultrasonic wave transmitted toward the region where the fourth nipple Te4 whose position is to be determined is present and to detect the distance to the fourth nipple Te4. And two first rough sensors 55 are provided so as to transmit ultrasonic waves to the fourth nipple Te4 from different angular directions. That is, each first
The rough sensor 55 includes a transmitting unit and a receiving unit of an ultrasonic wave, and detects a distance to the object based on a time until the transmitted ultrasonic wave receives a reflected wave reflected by the object (the fourth nipple), The position of the object (fourth nipple) is determined by triangulation from the arrangement of the two first rough sensors 55 and the distance detection information.

The second rough sensor 76 is provided as shown in FIG.
As shown in (b), two first rough sensors 55, 55
Set angle range LA so as to include the transmission region of ultrasonic waves by
Is projected while scanning the laser beam over the fourth period, based on information on the reception of the reflected light of the laser beam at the fourth nipple Te4 and information on the projection angle of the laser beam.
It is configured to detect the position of the teat Te4. In other words, although not shown, the second rough sensor 76 includes a scanning unit that scans the laser light in a set angle range LA in the vertical and horizontal directions by a reflection mirror or the like, and an angle of a potentiometer or the like that detects the projection angle of the scanning light beam. A detection unit, and a light receiving unit that receives the reflected light of the scanned light beam reflected by the object (fourth nipple), and reaches the object (fourth nipple) based on the reflected light received by the light receiving unit. And the position of the object (fourth nipple) is detected as a three-dimensional position. Therefore, as shown in FIG. 16C, the position of the object deformed within the set angle range LA (the fourth nipple bent from the middle) is also set to 3 positions.
It can be detected as dimensional shape information.

The sensing (measurement of the nipple position) by the scanner 56 will be described. The scanner 56 has a function of transmitting and receiving ultrasonic waves, and measures the presence, size, and position of an object by receiving reflected waves of the transmitted ultrasonic waves. As shown in FIG. Scanner 56
Is rotated approximately at the center of the four nipples to measure the positions of the four nipples. Specifically, as shown in FIG. 23, the rear leg Le of the cow, the straw waste St, the teat Te, and the breast Ud
Is present in the measurement target area, the distance Di between the scanner 56 and the object due to the reception of the reflected wave and the angle An from the reference position thereof are sequentially recorded, but 0 (zero) when no reflected wave comes. Is detected.

The rotation of the scanner 56 starts. First, the existence and the distance l _{L1 to} l _{Ln of the} rear leg Le and the angles θ _{L1 to} θ _Ln
Is detected. Next, the presence of straw waste and its distance l _S1 ~
l _Sn and angles θ _{S1 to} θ _Sn are detected.
e and their distances l _{T1 to} l _Tn and angles θ _{T1 to} θ _Tn ,
Existence of breast Ud and its distance l _{U1 to} l _Un and angle θ _{U1 to} θ
_Un is sequentially detected. Also, from the nipple position data for each cow measured in advance, the approximate nipple presence area x0, x1
A rectangular window Wi surrounded by y0 and y1 is defined, and whether an object exists in the window Wi is determined.
Judgment is made comprehensively based on whether the thickness as the nipple and the distance from the scanner are appropriate. That is, as in the algorithm shown in FIG. 24, an arithmetic average of the detected distance and angle data is calculated for each object by the following [Equation 1] (Step #a),

[0041]

## EQU1 ## Arithmetic average: l _Av = l ₁ + ... l _n / n, θ _AV = θ
₁ + ... _{θ n} / _n

Next, is the obtained value in a predetermined range? , And whether the object is within a predetermined window Wi? Are compared (step #b), and if both conditions are satisfied, it is regarded as a teat Te, and if either one is not satisfied, the teat is considered to be other than teat Te. As shown in FIG. 16, the rightmost one in the plan view is the first teat Te1, from which the second to fourth teats Te2 to Te1 are sequentially arranged in the clockwise direction.
Set to 4. What is detected by the rough sensor 55 is the fourth right teat Te4 on the front right.

Next, the algorithm of the whole operation of the automatic milking apparatus A from the time when the cow enters the milking room 7 until it leaves the milking room 7, that is,
The control procedure will be described with reference to FIGS. This control is executed by control means (not shown). First, the entrance gate G2 or G4 is opened, and the cow is turned on by the third or fifth sensor S3 or S5.
The entrance gate G2 or G4 is closed if it has passed (steps # 1 to # 3). When the tag T is detected in the milking room 7 (step # 4), it is determined whether or not the cow has passed a set time (4 hours) or more from the previous milking time. Without performing milking, the process proceeds to step # 28, and the sixth gate is switched to return the cow to the waiting area 6 (first area 2A) (step # 48). If the set time has elapsed, the physique data and the like of the pre-input information of the cow are output, and the feed box 36 is moved backward by a distance commensurate with the cow (steps # 5 to # 5). 6). In this case, if the collar-like responder RS wound around the cow's neck is configured as a large wheel, and the heavy transmitting device part is always located below,
A situation in which detection by the tag T cannot be performed can be avoided.

When the feeding box 36 is retracted and the cow is in the milking position, the sensor robot Ab moves to join the milking machine Aa, and when the combining is completed, the nipple of the information of the cow input in advance is completed. The position data is output, and the combined automatic milking apparatus A moves to the lower abdomen of the cow based on the preliminary data (steps # 7 to # 10). Then, the mounting operation of the teat cup 50 starts. Here, R: number of trials of a series of mounting operations (up to 5 times) N: nipple number (1 to 4) Sc: number of scanning attempts of the scanner (maximum) 2
Times) Tc: Defined as the number of tries (catch-up) of the teat cup ascending (up to two times).

First, the detection operation of the fourth nipple by the first rough sensor 55 is performed in a state where R = 0 and N = 1 are set, and Sc = 0 is set at the initial position of the measurement by the scanner 56 (see FIG. 4). Steps # 11 to 13). Here, if the fourth rough nipple is not detected by the first rough sensor 55 after the lapse of the set time, the second rough sensor 76 is operated to detect the fourth nipple (steps # 50 to # 50).
52). When the fourth nipple is detected, if there is nipple position data at the time of the previous successful attachment, precise alignment movement of the teat cup 50 is performed based on only that data, and then the catch-up operation is performed, and the teat cup is operated. Based on the nipple detection operation of a sensor (not shown) accompanying the mounting of the nipple 50, it is determined whether or not the mounting is successful (steps # 14 to # 1).
8).

If the mounting is successful (sensor operation), catch-up try of the next nipple (second to fourth nipple) (step #)
The process proceeds to 19), and when the mounting has failed, the process proceeds to the nipple detecting operation (step # 20) by the scanner 56 for the first time. When the mounting of the teats of the four teat cups 50 is completed, the union between the sensor robot Ab and the breast pump Aa is released, and milking by the breast pump Aa is started (step #).
21-23).

As milking progresses, the milking amount per minute (g
If the volume is less than 0.2 l / min, the teat cup 50
The breast pump Aa is retracted and moved with the release of
At that time, it is determined whether the total milking amount of the cow is 80% or more of the predicted milking amount (which can be predicted in advance based on past data and the like) or less (steps # 24 to # 26). If 80% or more, keep the sixth gate G6 as it is, and move the cow to the feeding ground 1; otherwise, switch the sixth gate G6 (steps # 27-28) and switch the cow to milk again. Return to the entrance side.

On the other hand, the nipple detecting operation of the scanner 56 accompanying the nipple mounting failure in step # 18 (step # 2)
0), the position of the four teat cups 50 is measured, and when the measurement is completed, Tc = 0 is set.
By continuously detecting the position of the fourth nipple with the rough sensor 55, it is detected whether or not the cow is moving (step # 29).
To 31). That is, if the position of the fourth nipple changes, it can be determined that the cow is moving, and if it does not change, it is determined that the cow is stationary (step # 32).
At this time, the movement of the cow may be cut (considered not moving) after a predetermined time has elapsed.

Then, if it is stationary, the longitudinal distance L1 between the second nipple Te2 and the third nipple Te3 and the first nipple Te
1 and the oblique distance L2 between the third nipple Te3 (FIG. 1)
6), and compare these values with a pre-set (lowest value in the standard range) front-rear interval L10 and oblique interval L20,
If the measured value is small, the normal wearing order is different, and if the measured value is large, a different wearing order (start from the third nipple Te3 having a high degree of freedom of attachment of the teat cup 50 corresponding to the third nipple Te3)
(Steps # 33 to # 35) are performed respectively.

Next, the teat cup 50 performs a catch-up operation based on the selected order, determines success or failure of attachment, and if successful, shifts to a catch-up try of the next nipple (second to fourth nipple). (Steps # 36-3
8). It is determined whether or not all four parts have been mounted (step # 39). If the mounting is successful, the flow merges to step # 22 where the sensor robot Ab and the breast pump Aa are united.

If the determination in step # 37 is negative, a catch-up try is performed again, and the number of tries is determined.
If less than two times, the process returns to step # 32, and if not more than two times, the rough sensor 55 determines whether or not the cow is moving at that time (step # 40).
~ 42). As a result, if the cow is moving, it is detected whether or not it has spent one minute or more in the catch-up operation of two times or less in that state, and when it reaches one minute, the cow moves too much and it is considered impossible to continue as it is, The number of times of sensing by the scanner 56 is increased by one, and it is determined whether the number of times is two or less (steps # 43 to # 45).
Start over from sensing.

If the number of times of sensing is the third time, the number of tries of the entire sensing starting from the detection of the fourth nipple Te4 by the rough sensor 55 is increased by one (step # 4).
6), it is determined whether the number is 5 or less (Step # 47). If the number is 5 or less, the process returns to Step # 13 to start over from the sensing operation of the rough sensor 55. The process proceeds to step # 28 of switching the sixth gate G6, and the cow is placed in the waiting area 6 (first area 2A).
Back to.

The automatic milking apparatus A has an automatic mounting mode in which a series of mounting operations of the teat cup 50 are automatically performed;
The series of mounting operations can be switched between a manual operation mode and a manual operation mode in which the breast pump Aa is moved and the teats Te1 to Te4 of the teat cup 50 are moved.
All the lifting movements etc. are performed manually.

A control program for updating and storing the nipple position measurement information by the scanner 56 is provided.
"Success data in the previous time" in step # 16 at 0
Has been captured. That is, the determination in step # 15 is made based on the presence or absence of the success data, and the teat cup 50 is determined.
Each time the nipple position is measured by the scanner 56 at the time of successful attachment of the, only the latest success data is stored. In the "manual mode", even when the teat cup 50 is inserted into the nipple by manual operation, it is convenient if it is regarded that the wearing is successful and the success data is captured.

The milking of the above-mentioned manual cow is basically performed manually (manually). That is, when the preset milking time comes, the operator sets the opening and closing gate G
8 to the second state, the cows in the second area 2B are sequentially moved to the milking room 7, and the "manual mode"
Then, the teat cup 50 is attached to the nipple of a manual cow by manual operation, and milking by the milking machine Aa is executed.

[Alternative Embodiment] In the above embodiment, two ultrasonic position detecting means (first rough sensors 55) are provided. However, three or more ultrasonic position detecting means may be provided in order to increase accuracy and the like.

In the above embodiment, the laser beam type position detecting means (second rough sensor 76) is provided at the side of the installation position of the two ultrasonic type position detecting means (second rough sensor 76). However, the present invention is not limited to such an arrangement. For example, the laser beam type position detecting means 76 may be disposed between two ultrasonic position detecting means 55.

In the above embodiment, the relative position detecting means 56
Is configured as an ultrasonic detection means, but may be configured as a laser light detection means.

In the above embodiment, the body part position measuring device for a walking animal is used to determine the position of the nipple of the animal to be milked (cow), but the position of a predetermined body part of a walking animal other than the animal to be milked is determined. It may be something. Further, the device that includes the body part position measuring device and operates based on the position measurement information is not limited to the milking device that performs the milking operation.

[Brief description of the drawings]

FIG. 1 is an overall plan view showing a barn layout.

FIG. 2 is a plan view showing a milking place and an arrangement state of each gate and each sensor.

FIG. 3 is an operation diagram showing a linked operation state of a sensor and a gate.

FIG. 4 is an operation diagram showing a linked operation state of a sensor and a gate.

FIG. 5 is an operation diagram showing a linked operation state of a sensor and a gate.

FIG. 6 is an operation diagram showing a linked operation state of a sensor and a gate.

FIG. 7 is an operation diagram showing a linked operation state of a sensor and a gate.

FIG. 8 is a side view showing the breast pump;

FIG. 9 is a plan view showing the breast pump.

FIG. 10 is a side view showing a sensor robot.

FIG. 11 is a plan view showing a sensor robot.

FIG. 12 is a partially cutaway side view showing the structure of a mounting portion and a non-mounting portion.

FIG. 13 is a plan view showing a state in which the breast pump and the sensor robot are side-by-side at the retracted position.

FIG. 14 is a side view of the main part showing the union operation by the lowering of the sensor robot.

FIG. 15 is a side view of a main part showing a sensing state of the scanner.

FIG. 16 is an explanatory diagram showing a sensing state by a rough sensor and a scanner.

FIG. 17 is a side view showing a catch-up try of a teat cup.

FIG. 18 is a side view showing the state of lifting the breast pump after attaching the teat cup.

FIG. 19 is a diagram showing an algorithm 1 of an operation sequence of the automatic milking apparatus.

FIG. 20 is a diagram showing an algorithm 2 of the operation sequence of the automatic milking apparatus.

FIG. 21 is a diagram showing an algorithm 3 of the operation sequence of the automatic milking apparatus.

FIG. 22 is a diagram showing an algorithm 4 of the operation sequence of the automatic milking apparatus;

FIG. 23 is a plan view showing the principle of measurement by a scanner.

FIG. 24 is a diagram showing an algorithm for nipple detection by a scanner.

FIG. 25 is a diagram showing the principle of analysis of nipple detection data by a scanner.

[Explanation of symbols]

 Reference Signs List 50 milking tool 55 ultrasonic position detecting means 56 relative position detecting means 76 laser beam type position detecting means Aa milking tool mounting means

──────────────────────────────────────────────────続 き Continued on the front page (51) Int.Cl. ⁶ Identification symbol FI G01S 17/42 G01S 17/42 // A01K 1/12 A01K 1/12

Claims (3)

[Claims] 1. A method for determining the position of a predetermined body part of a walking animal by receiving a reflected wave of an ultrasonic wave transmitted toward an area where the body part is predicted to be present from the body part, and A body part position of a walking animal in which a plurality of ultrasonic position detection means configured to detect a distance to the part are provided so as to emit ultrasonic waves from different angles with respect to the body part. A measuring device, wherein a laser beam light is projected while scanning over a set angle range so as to include a transmission region of the ultrasonic wave by the ultrasonic type position detecting means, and the body part of the laser beam light is emitted. And a laser beam type position detecting means for detecting the position of the body part based on information on the reception of the reflected light and information on the projection angle of the laser beam light, wherein the plurality of ultrasonic position detections are provided. Based on the detection information of the When the position of the body part is not determined, the laser light type position detection means is detected and operated, and the position of the body part is determined based on the detection information of the laser light type position detection means. The configured body part position measuring device for a walking animal. 2. The walking animal is a milking target animal,
The ultrasonic position detecting means and the laser light type position detecting means are configured to detect a position of any one of a plurality of nipples of the milking target animal as the predetermined body part. The body part position measuring device for a walking animal according to claim 1. 3. A milking apparatus comprising the body part position measuring device for a walking animal according to claim 2, wherein the position of one nipple of the plurality of nipples is measured by the body part position measuring device for the walking animal. Is provided, a relative position detecting means for detecting a relative position between the plurality of nipples is provided, and each detection information of the ultrasonic position detecting means and the relative position detecting means, or the laser light type A milking apparatus provided with milking equipment mounting means for automatically mounting a milking equipment on each of the plurality of nipples based on one of the position detection means and the detection information of the relative position detection means.