SE9802612D0 - A device for automatically attaching a teatcup to an animal's teat - Google Patents

A device for automatically attaching a teatcup to an animal's teat

Info

Publication number
SE9802612D0
SE9802612D0 SE9802612A SE9802612A SE9802612D0 SE 9802612 D0 SE9802612 D0 SE 9802612D0 SE 9802612 A SE9802612 A SE 9802612A SE 9802612 A SE9802612 A SE 9802612A SE 9802612 D0 SE9802612 D0 SE 9802612D0
Authority
SE
Sweden
Prior art keywords
teatcup
teat
control means
animal
light
Prior art date
Application number
SE9802612A
Other languages
Swedish (sv)
Other versions
SE512611C2 (en
SE9802612L (en
Inventor
Anders Goesta Axel Bjoerk
Original Assignee
Alfa Laval Agri Ab
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 Alfa Laval Agri Ab filed Critical Alfa Laval Agri Ab
Priority to SE9802612A priority Critical patent/SE512611C2/en
Publication of SE9802612D0 publication Critical patent/SE9802612D0/en
Priority to PCT/SE1999/001303 priority patent/WO2000004765A1/en
Priority to AU56604/99A priority patent/AU5660499A/en
Publication of SE9802612L publication Critical patent/SE9802612L/en
Publication of SE512611C2 publication Critical patent/SE512611C2/en

Links

Classifications

    • 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

Landscapes

  • Life Sciences & Earth Sciences (AREA)
  • Animal Husbandry (AREA)
  • Environmental Sciences (AREA)
  • Manipulator (AREA)

Abstract

The present invention relates to a device and a method for automatically attaching a teatcup (8) onto a teat (19) of an animal, comprising a robot arm (4), a control means for controlling the movement of the robot arm (4), a source of structured light associated with said control means and being adapted to transmit said structured light towards said teat, an image capturing device associated with said control means and being adapted to capture images of at least one first light line (16') projected on said teat, a teatcup holding means (12) associated with said control means and being adapted to disengageably connect said teatcup thereto. According to the invention, said light source is adapted to transmit at least one second light line (18') towards said teatcup (8), said image capturing device being adapted to capture images of the second light line (18') projected on said teatcup.
SE9802612A 1998-07-24 1998-07-24 Apparatus for automatic application of a teat cup to an animal teat SE512611C2 (en)

Priority Applications (3)

Application Number Priority Date Filing Date Title
SE9802612A SE512611C2 (en) 1998-07-24 1998-07-24 Apparatus for automatic application of a teat cup to an animal teat
PCT/SE1999/001303 WO2000004765A1 (en) 1998-07-24 1999-07-23 A device for automatically attaching a teatcup onto a teat of an animal
AU56604/99A AU5660499A (en) 1998-07-24 1999-07-23 A device for automatically attaching a teatcup onto a teat of an animal

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
SE9802612A SE512611C2 (en) 1998-07-24 1998-07-24 Apparatus for automatic application of a teat cup to an animal teat

Publications (3)

Publication Number Publication Date
SE9802612D0 true SE9802612D0 (en) 1998-07-24
SE9802612L SE9802612L (en) 2000-01-25
SE512611C2 SE512611C2 (en) 2000-04-10

Family

ID=20412150

Family Applications (1)

Application Number Title Priority Date Filing Date
SE9802612A SE512611C2 (en) 1998-07-24 1998-07-24 Apparatus for automatic application of a teat cup to an animal teat

Country Status (3)

Country Link
AU (1) AU5660499A (en)
SE (1) SE512611C2 (en)
WO (1) WO2000004765A1 (en)

Families Citing this family (29)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CA2539645C (en) 2006-03-15 2020-04-28 Lmi Technologies Inc. Time of flight teat location system
NL1032435C2 (en) 2006-09-05 2008-03-06 Maasland Nv Device for automatically milking a dairy animal.
AU2009271840B2 (en) 2008-07-15 2014-02-06 Lely Patent N.V. Dairy animal treatment system
NL2004271C2 (en) * 2010-02-19 2011-08-23 Rotec Special Projects B V Automatic milking machine and method for milking animals automatically.
US9161511B2 (en) 2010-07-06 2015-10-20 Technologies Holdings Corp. Automated rotary milking system
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
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
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
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
US9058657B2 (en) 2011-04-28 2015-06-16 Technologies Holdings Corp. System and method for filtering data captured by a 3D camera
US8903129B2 (en) 2011-04-28 2014-12-02 Technologies Holdings Corp. System and method for filtering data captured by a 2D camera
US9107379B2 (en) 2011-04-28 2015-08-18 Technologies Holdings Corp. Arrangement of milking box stalls
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
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
US10357015B2 (en) 2011-04-28 2019-07-23 Technologies Holdings Corp. Robotic arm with double grabber and method of operation
US9161512B2 (en) 2011-04-28 2015-10-20 Technologies Holdings Corp. Milking box with robotic attacher comprising an arm that pivots, rotates, and grips
US8671885B2 (en) 2011-04-28 2014-03-18 Technologies Holdings Corp. Vision system for robotic attacher
US9107378B2 (en) 2011-04-28 2015-08-18 Technologies Holdings Corp. Milking box with robotic attacher
US8885891B2 (en) 2011-04-28 2014-11-11 Technologies Holdings Corp. System and method for analyzing data captured by a three-dimensional camera
US9258975B2 (en) 2011-04-28 2016-02-16 Technologies Holdings Corp. Milking box with robotic attacher and vision system
US9265227B2 (en) 2011-04-28 2016-02-23 Technologies Holdings Corp. System and method for improved attachment of a cup to a dairy animal
US9049843B2 (en) 2011-04-28 2015-06-09 Technologies Holdings Corp. Milking box with a robotic attacher having a three-dimensional range of motion
US8683946B2 (en) 2011-04-28 2014-04-01 Technologies Holdings Corp. System and method of attaching cups to a dairy animal
US9357744B2 (en) 2011-04-28 2016-06-07 Technologies Holdings Corp. Cleaning system for a milking box stall
US10127446B2 (en) 2011-04-28 2018-11-13 Technologies Holdings Corp. System and method for filtering data captured by a 2D camera
US9043988B2 (en) 2011-04-28 2015-06-02 Technologies Holdings Corp. Milking box with storage area for teat cups
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
EP3685659B1 (en) 2019-01-24 2023-06-07 Technologies Holdings Corporation Vision system with teat detection
NL2025365B1 (en) * 2020-04-17 2021-10-26 A4 Agri As MILK APPARATUS, MILK SYSTEM AND PROCEDURE FOR IT

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4113700A1 (en) * 1991-04-26 1992-10-29 Dieter Dipl Ing Schillingmann Automatic milking using milking robot - using stored data to position milking cups for each individual cow
SE9503792D0 (en) * 1995-10-27 1995-10-27 Tetra Laval Holdings & Finance Teat location for milking
SE9503793D0 (en) * 1995-10-27 1995-10-27 Tetra Laval Holdings & Finance An apparatus for moving an animal related means and a method therefor
DE19548347A1 (en) * 1995-12-22 1997-07-03 Westfalia Separator Ag Mechanical automatic or robot method of application of milking suction attachment to udder teats of animal being milked

Also Published As

Publication number Publication date
AU5660499A (en) 2000-02-14
SE512611C2 (en) 2000-04-10
SE9802612L (en) 2000-01-25
WO2000004765A1 (en) 2000-02-03

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