JPH1189463A - Milking equipment - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide milking equipment capable of rapidly dealing with a situation in the case of inappropriate automatic milking operation caused by the divergence of control parameters and continuing the subsequent milking operation. SOLUTION: In this milking apparatus constituted so as to control an automatic milking treatment for milking an animal of target for milking coming to a milking position by a control apparatus 90, the control apparatus 90 is constituted to communicate through a modem 91 with an external operation apparatus 92 by information and to perform a remote operation treatment for changing control parameters in the automatic milking treatment into values set based on manual operations by the external operation apparatus 92.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION The present invention relates to a method for controlling an automatic milking process for automatically milking an animal to be milked when the animal to be milked comes to a milking place. And a milking apparatus configured as described above.

[0002]

2. Description of the Related Art Conventionally, in the above-mentioned milking apparatus, a first computer (corresponding to the above-mentioned control means) for controlling the operation of the milking apparatus, as shown in, for example, JP-A-6-70655, A second computer connected to the computer via a telephone line via a modem, and when the milking apparatus has an abnormality such as a failure, communicating information such as which member has failed to the second computer. There was one that was configured to be able to.

[0003]

In the above conventional configuration, the second computer is installed in, for example, a service department provided separately from the milking apparatus, so that when a failure occurs in the milking apparatus, Compared to the case where service personnel go to the place where the milking equipment is installed and start repair work for the fault, the fault location can be notified immediately, so that the fault can be dealt with as quickly and accurately as possible. become.

By the way, in this type of milking apparatus,
Performs automatic milking on the animal to be milked, so that during and before milking, the animal's feet and body interfere with parts of the milking machine, causing the parts to break down to the point that they cannot perform automatic milking operations By the time the condition is reached, it is conceivable that the components have not failed, but the control parameters have shifted from the proper state and the operation of the automatic milking process cannot be performed properly.

[0005] However, in the above-described conventional configuration, even in such a case, it is erroneously determined that the component is out of order, and even though the component is not out of order, the service personnel can replace the component. There is a disadvantage in that repair work such as replacement is performed.

The present invention has been made in view of such a point, and its purpose is not a failure of parts, but a case where an automatic milking operation is not properly performed due to a deviation of control parameters. Another object of the present invention is to provide a milking apparatus capable of promptly responding and continuing the milking operation thereafter.

[0007]

According to the first aspect of the present invention, when an animal to be milked comes to a milking place,
In the milking apparatus configured to be controlled by the control means so as to execute an automatic milking process for automatically milking the animal, the control means communicates with the external operation device via the communication means. Information communication is possible between the automatic milking process and a remote operation process for changing a control parameter in the automatic milking process to a value set based on a manual operation by the external operation device is executed.

Therefore, if the external operation device is installed in a place different from the place where the milking apparatus is installed, for example, in a place where service personnel are on standby, the automatic milking process of the milking apparatus can be performed. In the case where the operation cannot be performed properly, the service personnel can change and set the control parameters in the automatic milking process based on the manual operation by the external operation device without going to the place where the milking device is installed. it can. When the automatic milking process can be performed well by changing such control parameters, the automatic milking process is performed using the control parameters thereafter, so that the service staff goes to the place where the milking device is installed. There is no need to waste time waiting for milking.

As a result, when the automatic milking operation is not properly performed due to the deviation of the control parameters, a milking apparatus capable of promptly coping with the subsequent milking operation is provided. We can provide it.

According to a second aspect of the present invention, in the first aspect, position detecting means for detecting a position of a nipple of the animal is provided, and the control means controls the position detecting means in the automatic milking process. Based on the detection information, the milking cup is automatically mounted on the nipple to start milking, and in the remote operation process, the control parameter of the position detecting means is changed.

In this type of milking apparatus, the most important thing is to automatically attach the milking cup to the animal's nipple. However, the position detecting means for detecting the position of the animal's nipple is important. In order to improve the detection accuracy, the detection accuracy is reduced due to interference with the animal's body or the like, since the detection accuracy is reduced. For example, in a case where the position is detected based on distance information from a nipple, a control parameter such as a calculation constant of a detected signal and a required distance information or a threshold value of a detection signal deviates from an appropriate value. Sometimes. Therefore, by changing and setting such control parameters to appropriate values in the remote operation process, the automatic placement of the milking cup on the nipple can be performed well thereafter.

According to a third aspect of the present invention, in the second aspect, in the milking operation for the set number of animals, the control means determines that the number of times the automatic mounting of the milking cup was not properly performed is equal to the set number of times. Is configured to automatically switch to a state in which information communication with the external operation device can be executed when the number exceeds the limit.

[0013] Among many animals, a small percentage of animals may not originally be compatible with automatic milking. When the automatic milking process is not properly performed on such an animal, it is not preferable to immediately change the control parameters using the external operation device. Therefore, in the milking operation for the set number of animals, when the number of times the automatic attachment of the milking cup was not properly performed exceeds the set number of times, that is, when the number of animals exceeds the set number of times properly, Only when the automatic mounting cannot be performed, the state is switched to a state where the information communication with the external operation device can be executed.

As a result, only when it is considered that the control parameter clearly deviates from the proper value, the control parameter is changed and set, so that unnecessary change setting can be prevented.

According to a fourth feature of the present invention, in any one of the first to third aspects, the control means may stop milking even after a set time has elapsed after starting the automatic milking process. It is configured to automatically switch to a state in which information communication with the external operation device can be performed when the information communication is not performed.

If milking does not end even after the set time has elapsed since the start of the automatic milking process, the control parameters in the automatic milking process may be deviated. Is switched to a state in which information communication can be performed with an external operation device, and in the remote operation processing, such a control parameter is changed and set to an appropriate value. It is in a state where it can be mounted well.

According to a fifth aspect of the present invention, in accordance with the third or fourth aspect, when the control means switches to a state in which information communication can be performed with the external operation device, the external operation is performed. The device is configured to perform an alarm action.

Therefore, as described above, when the automatic milking process is not properly performed, the alarm operation is performed, so that, for example, the waiting service personnel can immediately confirm that such a state is in such a state. Since the judgment can be made, a quicker response is possible.

[0019]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a milking apparatus according to the present invention will be described.
A case where the present invention is applied to a dairy cow as an animal to be milked 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 cattle feeding ground not adapted for automatic milking, 2A
Is a first area as a living area for cows suitable for automatic milking, 2B is a second area 2B, a living area for cows not suitable for automatic milking, 3 is a milking place as a milking place,
A large number of stalls (beds) 2a, 2b partitioned by pipes are arranged in the first and second areas 2A, 2B. The feeding area 1A and the first area 2A are two unidirectional gates 4,
The one-way gates 4 and 5 are configured to allow only passage from the feeding area 1A to the first area 2A. That is, the one-way gates 4 and 5 correspond to one-way passing means. Further, between the first area 2A and the second area 2B and the milking place 3, a passage L1 in which cows move and a waiting place 6 for waiting the order of milking are 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. The breeding area is constituted by the first area 2A and the feeding ground 1A. Note that a passage L3 is formed between the second area 2B and the feeding ground 2B so as to be able to move freely.

Between the first and second areas 2A and 2B and the dairy 3, cows in the first area 2A can freely go to the dairy 3 and are in the second area 2B. A first state in which cows are prohibited from going to milking place 3, and a cow in first area 2A is prohibited from moving to milking place 3, and cows in second area 2B are free to go to milking place 3. An opening / closing gate G8 is provided which can be switched to a second state in which the opening / closing can be performed. The milking place 3 is provided with an automatic milking apparatus A as a milking apparatus according to the present invention, which automatically attaches a teat cup 50 as a milking cup to a nipple and milks a coming cow. .

The milking system in this barn will be described briefly. 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 compatible with automatic milking (hereinafter referred to as automatic cows) are managed so as to live in the first area 2A, and cows not suitable for automatic milking (hereinafter referred to as manual cows). Is managed to live in the second area 2B. In addition, the cows that are not compatible with automatic milking include, for example, cows whose nipple shape does not match the shape of the teat cup 50 and are difficult to be automatically fitted, and those who enter three milking parlors without being calm and rampage. A cow that cannot perform automatic 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 times of the day, as shown in FIG. 2, the open / close gate G8 is switched to the first state, and the automatic cow in the first area 2A is Whenever you are hungry, you can freely go through the milking parlor 3 to the feeding ground. Also, at the place where animals feed when milking is performed by the automatic milking apparatus A in the milking place 3, a thick feed, which is a delicious feed that appeals to the taste of cattle, is fed, and this fact is known (education). Dairy cows will naturally go to milking parlor 3 when they are hungry. In addition, the said concentrated feed has a small amount, it is the amount which finishes eating during milking is performed, and it is in the feeding place 1A, 1B which is a place to eat when milking by the automatic milking apparatus A is not performed. Feeds feed containing a large amount of roughage such as grass. The automatic cows can freely go to the milking parlor 3 at any time, but each cow can perform individual identification by detecting the individual identification information transmitted by the responder provided to each cow by the tag T as described later. When the set time (about 4 hours) has not elapsed since the last milking time, the milking station 3 is left without performing the automatic milking.

The manual cow is milked by being artificially managed. 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, milking is performed by manually attaching a teat cup. Note that the milked manual cow passes through the return route L4 and passes through the second area 2
It returns to B.

Next, the milking parlor 3 will be described. As shown in FIG. 1, in the milking parlor 3, automatic milking apparatuses are installed in each of two milking rooms 7, 7 arranged in series, and a moving passage 8 is provided beside these milking rooms, and automatic milking fails. A return passage L5 for returning the cow to the entrance side is provided side by side. As shown in FIG. 5, the entrance side of the moving passage 8 (the waiting area 6
Side) is provided with a first gate G1 which can be freely opened and closed, and each milking room 7, 7 has a second (fourth) gate G2, which is an entrance of a cow.
G4 and third (fifth) gates G3 and G5 as exits are provided. At the exit side of the moving passage 8, a sixth gate G6 for distributing the automatic cow to the passage L2 to the feeding ground 1A and the return passage L5, and a seventh gate G7 for distributing the manual cow to the return passage L4 and the return passage L5. Is provided. still,
A one-way gate G9 is provided in the return passage L5 on the side of the waiting area 6 to allow 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 that can swing around the vertical axis, and a double-sided opening structure that can simultaneously open and close the pair of gate pieces by an air cylinder (not shown). Is configured. 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 cows out of the milking room 7 to accelerate the forward movement of the cows by the movement of the second doors accompanying the closing operation (see FIG. 7F). The fifth gate G5 of the second milking room 7 has exactly the same structure.

The sixth gate G6 is configured to be switchable between a position where the moving passage 8 communicates with the passage L2 and a position where the moving passage 8 communicates with the return passage L5. 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 are provided for detecting the presence or absence of a cow. 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. The first sensor S1 detects a cow leg and the second sensor S2 detects a trunk. Is what you do. Third sensor S3
Are obliquely arranged 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. Sixth
The sensor S6 is disposed obliquely so as to extend over the portion of the second milking room 7 opposite to the moving passage on the starting 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 so as to be orthogonal to the moving passage 8 near the end side of the second milking room 7, and the first and second sensors S1, S
Similarly to the second sensor, the seventh sensor S7 has a leg portion, and the eighth sensor S8
Detects the body part respectively.

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, the cow enters the first milking room 7 through the third sensor S3, and the tag (receiving device) T is solid (cow) by a responder (not shown) which is a transmitting device attached to the neck.
When the detection operation is performed, the second gate G2 is closed and the fourth gate G4 is opened (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. The first gate G1 is located just before the gate,
That is, it is confirmed by the presence / absence sensor (not shown) arranged on the wall of the waiting area 6 that the cow has come to the waiting position in front of the first gate G1, and the first and second milking rooms 7, 7
Is opened only when one of the conditions is empty.

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)). And third, fourth, and fifth sensors S3, S4, S
When the cattle enters the second milking room 7 and the tag T is solid detected, the fourth gate G4 is closed and the milking state in the two milking rooms 7, 7 is established.

Next, when the milking in the first milking room 7 is completed, the third milking outlet, which is the outlet of the first milking room 7,
The gate G3 opens, and the cow proceeds to the moving passage 8 [Fig.
reference〕. At this time, the fourth sensor S4 blocked by the passage of the cow
The third gate G3, which is open in the folded state, closes and the third gate G3 closes, in conjunction with returning to the initial state again (or that the fifth and sixth sensors S5 and S6 both detect and operate). As shown in FIG. 5 (f), the double door 11 has a function of pushing the buttocks of the cow to promote forward movement. The cows exiting the first milking room 7 receive the fifth and sixth sensors S5,
When passing through S6 and reaching the seventh and eighth sensors S7 and S8, the third gate G3 is closed and the first gate G1 is opened (see FIG. 6 (g)), and the seventh and eighth sensors S7 and S8 are opened.
The first gate G1 can be opened by detecting the passage of 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 in the case of the first milking room 7 (see FIG. 6H), 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 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 oblique arrangement of the sensors. The function and, for example, if a cow exiting the second milking room 7 is backed up while passing through 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. The opening and closing operation is controlled by a control device (see FIG. 26) for controlling the operation of the automatic milking apparatus A based on the detection information of each sensor. However, the above operation is an example when the system is running smoothly,
Various operating situations are conceivable on a case-by-case basis. For example, when milking in the second milking room 7 ends earlier than in the first milking room 7, the cows in the second milking room 7
As the passage of the eighth sensors S7 and S8 ends, the first gate G
1 can be opened. At that time, if the next cow is in front of the first gate G1, the first gate G1 is opened, and the cow passes the first milking room 7 and enters the second milking room 7 directly. is there. Also, each of the sensors S1 to S
8 use the same sensor, and are optically configured by a pair of a projector and a receiver.

The structure of the milking action portion of the automatic milking apparatus A will be described. As shown in FIG. 8 to FIG. 11, a waist-folding arm 51 provided at the tip thereof with a teat cup 50 as four milking cups attachable to the teat is provided on the right side of the milking room 7 as a support mechanism. The teat cup 50 is obtained by sensing the milking machine (cluster) Aa and the four nipples of the cow having a predetermined milking posture in the milking room 7.
And a sensor robot Ab for adjusting the position right below the corresponding nipple.

As shown in FIGS. 8 and 9, the breast pump Aa is
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.
And a base arm 51b provided between the lower arm 4 and a lower end link 51, and two return cylinders 52 and 53. The outside of the teat cup 50 is covered with a rubber material, and the upper link 63 a
A lower link 63b having a shorter length than the lower link 63b supports the tip arm 51a via a non-equilateral link mechanism 63, and a lifting cylinder 64 extends between the tip arm 51a and the lower link 63b. The proximal arm 51b
The support 5 is supported by the support 54 so as to be able to move up and down in parallel via an air cylinder 66 as an actuator for raising and lowering.
4 is slidably fitted up and down on a bar 67 provided upright.

The four teat cups 50 are arranged in a trapezoidal shape with a wide front side in accordance with the arrangement of the teats 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 at the upper end of the teat cup 50 has an upwardly expanding shape (see FIG. 8), so that the relative positions of the four nipples are different from the standard state. The teat cup 50 can be fitted even if it is slightly displaced. 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. Further, inside the teat cup 50, there is provided a mounting detection sensor as mounting detecting means for detecting that the cow is mounted on the nipple of the cow. The milking machine Aa is moved from the retracted position retracted to the right side of the milking room 7 by the expansion and contraction drive of the distal end cylinder 52 and the proximal end cylinder 53 to a milking position (lower abdomen of the cow) protruding to the left and right center of the milking room 7. 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 FIG. 10 and FIG. 11, the sensor robot Ab includes a quadruple parallel link 57 provided with two rough sensors 55 and 55 and one scanner (corresponding to a fine sensor) 56. A base parallel quadruple link 58 extending between the upper and lower protruding plates 69a and 69b at the lower part of the frame cylinder 69, and the first and second cylinders 60 and 61 are provided.
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 including a motor 70a and a screw shaft 70b, and the column 59 is provided at two milking rooms 7,7.
Right and left pair of moving rails 6 spanning the right side of the vehicle
2 is supported by a trolley 68 that can roll. still,
An extension of the lower protruding plate 69b is fitted to a support bar 68a erected on the carriage 68 so as to be slidable up and down to prevent the frame cylinder 69 from rotating.

The extension / retraction movement of the first cylinder 60 allows the base parallel quadruple link 58 to move to the left and right with respect to the frame cylinder 69, and the extension / retraction movement of the second cylinder 61 causes the tip parallel quadruple link 57 to move to the base parallel. The sensor can be moved left and right with respect to the quad link 58, as shown in FIG.
Without changing the posture of the 56 with respect to the carriage 68, it is possible to move laterally from a retracted position retracted to the right of the milking room 7 to a milking position (lower abdomen of a dairy cow) projecting to the left and right center of the milking room 7. Although the rough sensors 55 and 55 are fixed in position with respect to the front end parallel quadruple link 57, the scanner 56 includes a quadruple link including an upper arm 56a and a lower arm 56b, and a motor mechanism 71 acting on the lower arm 56b. The electric motor M which is supported by the front end parallel quadruple link 57 so as to be able to move up and down, and
With this configuration, it is configured to be rotated around the vertical axis with respect to the receiving table 56c via the flexible wire fw. In addition, 72 is a mounting part for the milking machine Aa combination.

The rough sensors 55, 55 and the scanner 56 are based on time information from transmission of an ultrasonic wave to reception of the ultrasonic wave reflected by the nipple.
Ultrasonic position detection means for detecting the relative position by determining the distance to the nipple is configured. Then, with the rough sensors 55, 55 in the retracted position, a reference detector CP1 for executing rehabilitation (calibration) of the detection distance is erected on the base parallel quadruple link 58,
Each time it returns to the retreat position, a rehabilitation operation of the detection distance is executed.

The rough sensors 55 and 55 are in a fixed position, and the scanner 56 is rotated around the vertical axis. The scanner 56 is rotated in the direction of transmitting the ultrasonic wave and is rotated. An encoder 56 whose operating angle is arranged close to the scanner 56
By d, it is detected in a state where no error such as twisting due to the flexible wire fw occurs, and the control device synchronizes the detection information of the encoder 56d and the distance information by the ultrasonic wave to process the nipple position accurately. It is configured to detect. Further, similarly to the rough sensor 55, the scanner 56 is provided with a reference detector CP2 for executing rehabilitation (calibration) of detection information at a position serving as a reference of the rotation angle, and renews the detection information as appropriate. It is supposed to run.

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.

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 retreating movement of the bait box 36, the sensor robot Ab moves to the left side and moves downward, so that the sensor robot A
b merges with the breast pump Aa (see FIG. 14).

The combined automatic milking apparatus A moves the teat cup 50 to the lower abdomen of the cow by the approximate lateral movement by driving the first and second cylinders 60 and 61 of the sensor robot Ab, and then the rough sensor The fourth teat (reference teat) is detected by using 55, 55, and the first and second cylinders 60, 61 are driven and controlled so that each teat cup 50 is located below the corresponding teat (milking machine Aa). (The two cylinders 52, 53 move following). 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 the nipple position is sensed at four locations while being driven and rotated (see FIGS. 15 and 16).

When the precision sensing (nipple position measurement) by the scanner is completed and each teat cup 50 is positioned immediately below each teat, first, the teat cup of the first teat Te1 (refer to FIG. 28 for the positional relationship of the teat). 50 is raised by the lifting cylinder 64 to start the mounting trial (FIG. 17), and then the second, third, and fourth nipples Te2,
The mounting of Te3 and Te4 is performed. When the attachment detection sensor detects that the attachment of the four teat cups 50 to the teat is completed, the engagement between the attachment portion 72 and the attached portion 65 is released, and the sensor robot Ab is slightly lifted, Next, it moves rightward and returns to the retreat 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 air cylinder 66 is driven up and the lifting 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.

That is, as shown in FIG. 17, the teat cup 50 is in an almost vertically upright position in the lower position, giving priority to easy fitting to the nipple. Since the ascending movement is similar to the swing ascending movement, the posture is slightly inclined backward, and the nipple is slightly twisted.
0 is returned from the backward inclined posture to a substantially vertical standing posture. 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. The milking machine Aa body is lifted and moved later by using the teat cup 50.
With the completion of the mounting of the sensor robot Ab
There is also a point in securing the vertical space required to escape the side and move it.

The sensing (measurement of the nipple position) by the scanner 56 will be described. The scanner 56 has both transmission and reception functions, and measures the presence, size, and position of an object by receiving the reflected wave of the transmitted ultrasonic wave. As shown in FIG. 4
By rotating at about the center of the nipples,
The position of each nipple is measured. Specifically, as shown in FIG. 23, the rear leg Le of the cow, the straw waste St, the teat Te, and the breast U
It is assumed that d exists in the measurement target area. And FIG.
As shown in the figure, 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 when no reflected wave comes (when there is no data), It is assumed that 0 (zero) is detected.

The rotation of the scanner 56 starts. First, the existence and the distances l _{L1 to} l _{Ln of the} rear legs 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, the arithmetic average of the detected distance and angle data is calculated for each object by the following [Equation 1] (step #a).

[0053]

## 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, the disc is considered to be a teat Te, and if either one is not satisfied, the disc is considered to be something other than the 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 control procedure of the automatic milking process by the control device in the automatic milking apparatus A from the time when the cow enters the milking room 7 until it leaves the milking room 7 will be described with reference to FIGS. First, the entrance gate G2 or G4 is opened (step # 1), and whether or not the cow has entered the milking room 7 is detected based on whether or not the passage of the cow has been completed by the third or fifth sensor S3 or S5 (step # 1).
2) If it passes, the entrance gate G2 or G4 is closed (step # 3). When the tag T is detected in the milking room 7 (step # 4), the cow is set for the set time (4) from the previous milking time.
Time) or not. If the set time has not elapsed, milking is not performed, and step # 2 is performed.
8 and switch the sixth gate to place the cow in the waiting area 6 (first
Return to area 2A) (step # 48). If the set time has elapsed, the physique data etc. of the information of the cow previously input are output (step # 5),
The feed box 36 is moved backward by a distance appropriate for the cow (step # 6). In this case, if a collar-like responder (not shown) wound around the cow's neck is used as a large wheel so that the heavy transmitting device portion always comes down, a situation in which the tag T cannot detect the signal may occur. Can be avoided.

When the feed box 36 is retracted and the cow is in the milking position, the sensor robot Ab moves to join the milking machine Aa (step # 7), and the combining is completed (step # 7).
# 8), the nipple position data of the pre-input information of the cow is output (step # 9), and the milking machine Aa and the sensor robot A are combined based on the preliminary data.
b moves to the lower abdomen of the cow (step # 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, R = 0 and N = 1 are set (step # 11), and Sc = 0 is set at the initial measurement position by the scanner 56 (step # 1).
In 2), the detection operation of the fourth nipple (reference teat) by the rough sensor 55 is performed (step # 13).
When the fourth nipple is detected (step # 14), if there is nipple position data at the time of the previous successful attachment (step # 1)
5) A precise positioning movement of the teat cup 50 is performed based on only the data (step # 16), and then a catch-up operation is performed (step # 17), and the mounting detection sensor accompanying the teat mounting of the teat cup 50 is performed. Based on the nipple detection operation (not shown), it is determined whether or not the attachment is successful (step # 18).

When the mounting detection sensor detects that the mounting has succeeded, the process proceeds to a catch-up try (step # 19) of the next nipple (second to fourth nipples). Detection operation (step
# Move to 20). When the mounting of the teats of the four teat cups 50 is completed (step # 21), the union between the sensor robot Ab and the breast pump Aa is released (step # 2).
2), milking by milking machine Aa is started (step #)
23). That is, the operation of the feeding means QS is controlled to suck the milk from the nipple and feed the milk to the milk tank 80.

As milking proceeds, the milking amount per minute (g
If the total volume is below 0.2 l / min (Step # 24),
When the attachment of the teat cup 50 is released, the milking machine Aa is retracted and moved (step # 25), and at that time, the total milking amount of the cow is predicted (the milking amount can be predicted in advance based on past data and the like). (Step # 26), and if 80% or more, the sixth gate G6
Is kept as it is (step # 27), the cow is moved to the feeding ground 1, and if it is less, the sixth gate G6 is switched (step # 28), and the cow is returned to the entrance side to perform milking again.

On the other hand, the nipple detection operation of the scanner 56 accompanying the nipple attachment failure in Step # 18 (Step # 2)
0), the positions of the four teat cups 50 are measured (step # 29), and if the measurement is completed, the rough sensor 55 is set in a state where Tc = 0 (step # 30).
Then, the position of the fourth nipple is continuously detected to detect whether or not the cow is moving (step # 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 stationary (step # 32).
If it is moving, wait until it stops. At this time, the movement of the cow may be cut (considered not moving) after a predetermined time has elapsed.

Then, if 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 these values are compared with a pre-set (lowest value in the standard range) front-back interval L10 and oblique interval L20 (step # 33). If the measured value is small, the normal mounting sequence (step # 33) is used. If the step # 34) is large, a different mounting order (starting from the third nipple Te3 having a high degree of freedom in mounting the teat cup 50 corresponding to the third nipple Te3) (step # 34)
35) are performed respectively.

Next, based on the selected order, the teat cup 50 operates to catch up (step # 3).
6) Then, the success or failure of the attachment is determined (step # 37), and if successful, the process proceeds to the catch-up try of the next nipple (second to fourth nipple) (step # 38). It is determined whether or not all four positions 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 (step # 40), the number of tries is determined (step # 41), and if less than two, the process returns to step # 32 and returns to twice. If the cow is not mounted yet, the function of the rough sensor 55 determines whether or not the cow is moving at that time (step # 42). As a result, if the cow is moving, it is detected whether or not one minute or more has been spent for catching up to two times or less in that state (step # 43). And the number of times of sensing by the scanner 56 is increased by one (step # 44),
It is determined whether the number is less than or equal to two (step # 4).
5) If it is less than two times, return to step # 20 and start again from sensing by the scanner 56.

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), and determine whether the number is 5 or less (step
# 47) If it is less than 5 times, return to step # 13 and start again from the sensing operation of the rough sensor 55. If it is the 6th time, consider that mounting has failed and proceed to step # 28 for switching the sixth gate G6, Standby 6 (first area 2A)
Back to.

The milking of the automatic cow is appropriately performed by the operation of the automatic milking apparatus A as described above. For a cow that fails to attach and returns to the entrance side, the control device 81 identifies the individual. The number of failures as information is to be determined, and if the number of mounting failures exceeds the set number, such a cow is not suitable for automatic milking by an automatic milking device, It is re-registered as the manual cow, and thereafter moved to the second area 2B.

As described above, the control device 90 for controlling the operation of the automatic milking apparatus A includes an automatic mounting mode (automatic operation state) in which a series of mounting operations of the teat cup 50 are automatically performed, and a series of mounting modes. It is configured to be switchable to a manual operation mode (manual operation state) in which the operation is performed manually,
When the mode is switched to the manual operation mode, the movement of the breast pump Aa and the lifting movement of the teat cup 50 to the teats Te1 to Te4 are all performed manually.

The control device 90 is provided with a control program for updating and storing the nipple position measurement information by the scanner 56, and the "previous success data" in step # 16 in FIG. 20 is fetched. . That is, the determination in step # 15 is made based on the presence or absence of the success data. Since each time the nipple position is measured by the scanner 56 when the teat cup 50 is successfully attached, only the latest success data is stored. is there.
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 for the manual cow is basically performed manually (manually). That is, when the preset milking time comes, the operator switches the opening / closing gate G8 to the second state, and sequentially moves the cows in the second area 2B to the milking room 7, and enters the "manual mode". Switch to manually attach the teat cup 50 to the nipple of a manual cow, and use the milking machine Aa.
Milking is performed. At this time, based on the individual identification information of the cow detected by the tag T, it is determined that the cow previously registered as an automatic cow is a cow re-registered as a manual cow due to a plurality of mounting failures. In such a case, this is notified by, for example, voice or image display, and for such a cow, the mode is switched to the “auto mode”, the teat cup 50 is automatically mounted, and the automatic mounting is performed. If executed properly, it is registered again as an automatic cow and returned to the first area 2A.

As shown in FIG. 26, a control device 90 as a control means for controlling the operation of the automatic milking apparatus A is provided via a modem 91 as a communication means and a public telephone line KL.
It is configured to be able to communicate information with the external operation device 92,
In the automatic milking apparatus A, it is possible to execute a remote operation process of changing a control parameter for detecting a nipple position by the rough sensor 55 or the scanner 56 to a value set based on a manual operation by the external operation device 92. Is configured. The external operation device 92 is provided in a service section for the automatic milking apparatus, and includes a display device 92a including a liquid crystal display element and a CRT, a key input device 92b, and the like. A control unit that performs processing and the like is provided.

During the execution of the automatic milking process as described above, the control device 90 cannot properly mount the teat cup 50 properly in the milking operation on the set number of cows based on the interrupt process. If the number of times exceeds the set number of times, and after starting the automatic milking process, even after the set time has elapsed, if the milking is not finished, automatically the external operating device 9
2 is switched to a state in which information communication can be executed. That is, the modem 91 makes an automatic dial call to the external operation device 92 to perform an automatic login, and switches to a state in which communication with the external operation device 92 is possible. At this time, the external operation device 92 is configured to generate an alarm sound from a built-in speaker in response to the start of communication, to execute an alarm operation, and to start a preset remote processing control program. ing.

When such a communication enabled state is set, for example, a service person or the like uses the key input device 92b to control the automatic milking apparatus A for detecting the position of the nipple by the rough sensor 55 and the scanner 56. Parameters can be changed and set. As the control parameter, the threshold level (detection sensitivity) when receiving the ultrasonic wave
And a calculation constant of the distance information with respect to the time until the ultrasonic wave is received. When the control parameter change setting is completed, a command is issued to execute the automatic milking process again. When the automatic milking process is properly executed by repeating such a change setting process, thereafter, the automatic milking process is set to be changed and the automatic milking process is continuously executed by the control parameters, and the communication is terminated. Is done.

[Another Embodiment] (1) In the above embodiment, a control parameter corresponding to the detection information of the nipple position detecting means is changed and set as a control parameter.
Instead, another control parameter, for example, the number of mounting trials may be changed and set.

(2) In the above embodiment, the external operation device performs the alarm operation using the speaker. However, the alarm may be performed based on light, or may be performed together. Further, a configuration in which such an alarm operation is not performed may be adopted.

(3) In the above embodiment, in the milking operation for the set number of cows, when the number of times the automatic attachment of the teat cup 50 could not be properly performed exceeds the set number of times, After the start, even when the set time has elapsed, if the milking is not completed, it is configured to automatically switch to a state in which the information communication with the external operation device 92 can be executed. Alternatively, when another operation abnormality occurs, the state may be switched to a state where information communication can be executed.

(4) In the above embodiment, communication is performed via a public telephone line. However, a dedicated communication line or wireless communication means may be used, and various communication means can be used. .

(5) In the above embodiment, the case of milking a cow has been exemplified as an example of an animal. However, the present invention may be applied to a goat other than a cow and other animals.

[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 a plan view of a main part 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.

FIG. 26 is a control block diagram of information communication.

[Explanation of symbols]

 Reference Signs List 50 milking cup 55, 56 position detecting means 90 control means 91 communication means 92 external operation device

Claims (5)

[Claims] 1. A milking apparatus which is controlled by a control means to execute an automatic milking process for automatically milking an animal to be milked when the animal to be milked comes to a milking place. An apparatus, wherein the control means is configured to be capable of communicating information with an external operation device via a communication means, and controls a parameter in the automatic milking process based on a manual operation by the external operation device. A milking apparatus configured to execute a remote control process for changing to a set value. 2. The automatic milking process according to claim 2, further comprising a position detecting means for detecting a position of a nipple of the animal, wherein the automatic milking process automatically causes the milking cup to nipple based on detection information of the position detecting means. The milking apparatus according to claim 1, wherein the milking apparatus is configured to start milking by being mounted on the milking apparatus, and configured to change a control parameter of the position detecting means in the remote operation processing. 3. The milking operation for a set number of animals, wherein the number of times the automatic mounting of the milking cup was not properly performed exceeds the set number of times, and the control means automatically communicates with the external operating device. 3. The milking apparatus according to claim 2, wherein the milking apparatus is configured to switch to a state in which information communication can be performed between the apparatuses. 4. The control means automatically starts information communication with the external operating device when the automatic milking process is started and milking is not completed even after a set time has elapsed. The milking device according to any one of claims 1 to 3, wherein the milking device is configured to be switched to an executable state. 5. The external operation device is configured to execute an alarm operation as the control unit switches to a state in which information communication can be performed with the external operation device. 5. The milking apparatus according to claim 4.