SE9702968D0 - Procedure and device to place a single sitting on a cow - Google Patents
Procedure and device to place a single sitting on a cowInfo
- Publication number
- SE9702968D0 SE9702968D0 SE9702968A SE9702968A SE9702968D0 SE 9702968 D0 SE9702968 D0 SE 9702968D0 SE 9702968 A SE9702968 A SE 9702968A SE 9702968 A SE9702968 A SE 9702968A SE 9702968 D0 SE9702968 D0 SE 9702968D0
- Authority
- SE
- Sweden
- Prior art keywords
- positioning device
- gripper arm
- cow
- procedure
- place
- Prior art date
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/004—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring coordinates of points
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01J—MANUFACTURE OF DAIRY PRODUCTS
- A01J5/00—Milking machines or devices
- A01J5/017—Automatic attaching or detaching of clusters
- A01J5/0175—Attaching of clusters
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
Abstract
The teat position location method uses a gripper arm (11) initially controlled by a coarse positioning device (16). There is a fine positioning device (17) brought into operation when the gripper arm is inserted in a search position beneath the cow, and a teat is detected within the detection range of the coarse positioning device. The fine positioning device is used for alignment of a milking cup (9) attached to the end of the gripper arm. The gripper arm is retracted when the required number of teats have been located.
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE1996136551 DE19636551C2 (en) | 1996-09-09 | 1996-09-09 | Method and device for locating individual teats of a cow |
Publications (3)
Publication Number | Publication Date |
---|---|
SE9702968D0 true SE9702968D0 (en) | 1997-08-19 |
SE9702968L SE9702968L (en) | 1998-03-10 |
SE520825C2 SE520825C2 (en) | 2003-09-02 |
Family
ID=7805039
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
SE9702968A SE520825C2 (en) | 1996-09-09 | 1997-08-19 | Procedures and apparatus for orienting individual teats on a cow |
Country Status (3)
Country | Link |
---|---|
DE (1) | DE19636551C2 (en) |
NL (1) | NL1006916C2 (en) |
SE (1) | SE520825C2 (en) |
Families Citing this family (27)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
SE513949C2 (en) * | 1998-08-14 | 2000-12-04 | Alfa Laval Agri Ab | Milk robot and method for controlling the movement of the robot arm |
SE513503C2 (en) * | 1998-08-26 | 2000-09-25 | Alfa Laval Agri Ab | Method and apparatus for controlling the movement of a robotic arm of a milking robot |
EP1940218B1 (en) | 2005-10-24 | 2016-03-16 | DeLaval Holding AB | Arrangement and method for visual detection in a milking system |
US9161511B2 (en) | 2010-07-06 | 2015-10-20 | Technologies Holdings Corp. | Automated rotary milking system |
US9149018B2 (en) | 2010-08-31 | 2015-10-06 | Technologies Holdings Corp. | System and method for determining whether to operate a robot in conjunction with a rotary milking platform based on detection of a milking claw |
US10111401B2 (en) | 2010-08-31 | 2018-10-30 | Technologies Holdings Corp. | System and method for determining whether to operate a robot in conjunction with a rotary parlor |
US8720382B2 (en) | 2010-08-31 | 2014-05-13 | Technologies Holdings Corp. | Vision system for facilitating the automated application of disinfectant to the teats of dairy livestock |
US8800487B2 (en) | 2010-08-31 | 2014-08-12 | Technologies Holdings Corp. | System and method for controlling the position of a robot carriage based on the position of a milking stall of an adjacent rotary milking platform |
US9058657B2 (en) | 2011-04-28 | 2015-06-16 | Technologies Holdings Corp. | System and method for filtering data captured by a 3D camera |
US9357744B2 (en) | 2011-04-28 | 2016-06-07 | Technologies Holdings Corp. | Cleaning system for a milking box stall |
US9265227B2 (en) | 2011-04-28 | 2016-02-23 | Technologies Holdings Corp. | System and method for improved attachment of a cup to a dairy animal |
US9681634B2 (en) | 2011-04-28 | 2017-06-20 | Technologies Holdings Corp. | System and method to determine a teat position using edge detection in rear images of a livestock from two cameras |
US8671885B2 (en) | 2011-04-28 | 2014-03-18 | Technologies Holdings Corp. | Vision system for robotic attacher |
US9107379B2 (en) | 2011-04-28 | 2015-08-18 | Technologies Holdings Corp. | Arrangement of milking box stalls |
US8746176B2 (en) | 2011-04-28 | 2014-06-10 | Technologies Holdings Corp. | System and method of attaching a cup to a dairy animal according to a sequence |
US10357015B2 (en) | 2011-04-28 | 2019-07-23 | Technologies Holdings Corp. | Robotic arm with double grabber and method of operation |
US9049843B2 (en) | 2011-04-28 | 2015-06-09 | Technologies Holdings Corp. | Milking box with a robotic attacher having a three-dimensional range of motion |
US9161512B2 (en) | 2011-04-28 | 2015-10-20 | Technologies Holdings Corp. | Milking box with robotic attacher comprising an arm that pivots, rotates, and grips |
US9258975B2 (en) | 2011-04-28 | 2016-02-16 | Technologies Holdings Corp. | Milking box with robotic attacher and vision system |
US8903129B2 (en) | 2011-04-28 | 2014-12-02 | Technologies Holdings Corp. | System and method for filtering data captured by a 2D camera |
US8683946B2 (en) | 2011-04-28 | 2014-04-01 | Technologies Holdings Corp. | System and method of attaching cups to a dairy animal |
US9215861B2 (en) | 2011-04-28 | 2015-12-22 | Technologies Holdings Corp. | Milking box with robotic attacher and backplane for tracking movements of a dairy animal |
US8885891B2 (en) | 2011-04-28 | 2014-11-11 | Technologies Holdings Corp. | System and method for analyzing data captured by a three-dimensional camera |
US10127446B2 (en) | 2011-04-28 | 2018-11-13 | Technologies Holdings Corp. | System and method for filtering data captured by a 2D camera |
US9107378B2 (en) | 2011-04-28 | 2015-08-18 | Technologies Holdings Corp. | Milking box with robotic attacher |
US9043988B2 (en) | 2011-04-28 | 2015-06-02 | Technologies Holdings Corp. | Milking box with storage area for teat cups |
NL1038793C2 (en) * | 2011-05-03 | 2012-11-06 | Dirk Hendrik Martin Ruiter | MILK INSTALLATION. |
Family Cites Families (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE3702465A1 (en) * | 1987-01-28 | 1988-08-11 | Duevelsdorf & Sohn Gmbh & Co K | METHOD AND DEVICE FOR MILKING AND GGFS. FEEDING OF FREEDOMING, IDENTIFICATION-BASED COWS |
DE3938077C2 (en) * | 1989-11-16 | 2000-12-07 | Westfalia Landtechnik Gmbh | Method and device for locating teats to be milked automatically |
-
1996
- 1996-09-09 DE DE1996136551 patent/DE19636551C2/en not_active Expired - Fee Related
-
1997
- 1997-08-19 SE SE9702968A patent/SE520825C2/en not_active IP Right Cessation
- 1997-09-02 NL NL1006916A patent/NL1006916C2/en not_active IP Right Cessation
Also Published As
Publication number | Publication date |
---|---|
NL1006916A1 (en) | 1998-03-10 |
DE19636551A1 (en) | 1998-03-12 |
SE9702968L (en) | 1998-03-10 |
NL1006916C2 (en) | 1998-10-26 |
DE19636551C2 (en) | 2001-09-27 |
SE520825C2 (en) | 2003-09-02 |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
NUG | Patent has lapsed |