SE9702968L - Procedures and apparatus for orienting individual teats on a cow - Google Patents

Procedures and apparatus for orienting individual teats on a cow

Info

Publication number
SE9702968L
SE9702968L SE9702968A SE9702968A SE9702968L SE 9702968 L SE9702968 L SE 9702968L SE 9702968 A SE9702968 A SE 9702968A SE 9702968 A SE9702968 A SE 9702968A SE 9702968 L SE9702968 L SE 9702968L
Authority
SE
Sweden
Prior art keywords
cow
positioning device
gripper arm
procedures
teats
Prior art date
Application number
SE9702968A
Other languages
Unknown language ( )
Swedish (sv)
Other versions
SE9702968D0 (en
SE520825C2 (en
Inventor
Kurt Kimm
Gerald Wiese
Original Assignee
Westfalia Landtechnik Gmbh
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Westfalia Landtechnik Gmbh filed Critical Westfalia Landtechnik Gmbh
Publication of SE9702968D0 publication Critical patent/SE9702968D0/en
Publication of SE9702968L publication Critical patent/SE9702968L/en
Publication of SE520825C2 publication Critical patent/SE520825C2/en

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.
SE9702968A 1996-09-09 1997-08-19 Procedures and apparatus for orienting individual teats on a cow SE520825C2 (en)

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 SE9702968D0 (en) 1997-08-19
SE9702968L true 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)

* Cited by examiner, † Cited by third party
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)

* Cited by examiner, † Cited by third party
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

Also Published As

Publication number Publication date
NL1006916A1 (en) 1998-03-10
DE19636551A1 (en) 1998-03-12
SE9702968D0 (en) 1997-08-19
NL1006916C2 (en) 1998-10-26
DE19636551C2 (en) 2001-09-27
SE520825C2 (en) 2003-09-02

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