WO2010020457A8 - Arrangement and method for controlling a movable robot arm - Google Patents

Arrangement and method for controlling a movable robot arm Download PDF

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Publication number
WO2010020457A8
WO2010020457A8 PCT/EP2009/058164 EP2009058164W WO2010020457A8 WO 2010020457 A8 WO2010020457 A8 WO 2010020457A8 EP 2009058164 W EP2009058164 W EP 2009058164W WO 2010020457 A8 WO2010020457 A8 WO 2010020457A8
Authority
WO
WIPO (PCT)
Prior art keywords
teat
robot arm
milking
controlling
arrangement
Prior art date
Application number
PCT/EP2009/058164
Other languages
French (fr)
Other versions
WO2010020457A1 (en
Inventor
Mats Nilsson
Original Assignee
Delaval Holding 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 Delaval Holding Ab filed Critical Delaval Holding Ab
Publication of WO2010020457A1 publication Critical patent/WO2010020457A1/en
Publication of WO2010020457A8 publication Critical patent/WO2010020457A8/en

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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)
  • Length Measuring Devices By Optical Means (AREA)
  • Manipulator (AREA)

Abstract

An arrangement for controlling a movable robot arm (14) for automatically attaching teat cups (15a) of a milking machine (15) to the teats of a milking animal (13) in a milking stall (12) comprises a three-dimensional camera arrangement (11a) stationary arranged with respect to the milking stall; a visual teat sensing means (11b) arranged on the robot arm; and a control device (17) provided, for each of the teats of the milking animal, for determining teat positions from images recorded by the three-dimensional camera arrangement and the visual teat sensing means, and for controlling the movement of the robot arm in order to attach a respective one of the teat cups to the teat of the milking animal in a two-stage procedure. During a first stage the robot arm is controlled to move to an approximate position for attachment of the teat cup to the teat of the milking animal based on a position of the teat as determined from images recorded by the three-dimensional camera arrangement, and during a second stage the robot arm is controlled to fine adjust its position based on a position of the teat as determined from images recorded by the visual teat sensing means mounted on the robot arm.
PCT/EP2009/058164 2008-08-19 2009-06-30 Arrangement and method for controlling a movable robot arm WO2010020457A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
SE0801808 2008-08-19
SE0801808-7 2008-08-19

Publications (2)

Publication Number Publication Date
WO2010020457A1 WO2010020457A1 (en) 2010-02-25
WO2010020457A8 true WO2010020457A8 (en) 2010-04-29

Family

ID=41137401

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2009/058164 WO2010020457A1 (en) 2008-08-19 2009-06-30 Arrangement and method for controlling a movable robot arm

Country Status (1)

Country Link
WO (1) WO2010020457A1 (en)

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
NL1037471C2 (en) * 2009-11-13 2011-05-16 Lely Patent Nv ANIMAL POSITION SENSOR.
US8671885B2 (en) 2011-04-28 2014-03-18 Technologies Holdings Corp. Vision system for robotic attacher
US10865578B2 (en) 2016-07-15 2020-12-15 Fastbrick Ip Pty Ltd Boom for material transport
WO2018009981A1 (en) 2016-07-15 2018-01-18 Fastbrick Ip Pty Ltd Brick/block laying machine incorporated in a vehicle
WO2019006511A1 (en) 2017-07-05 2019-01-10 Fastbrick Ip Pty Ltd Real time position and orientation tracker
EP3669242A4 (en) 2017-08-17 2021-07-21 Fastbrick IP Pty Ltd Communication system for an interaction system
US11401115B2 (en) 2017-10-11 2022-08-02 Fastbrick Ip Pty Ltd Machine for conveying objects and multi-bay carousel for use therewith

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2595197B1 (en) * 1986-03-07 1988-11-18 Cemagref AUTOMATIC MILKING INSTALLATION
SU1777728A1 (en) * 1990-07-12 1992-11-30 Inst Mash Im A A Blagonravova Automated milking plant
RU2065573C1 (en) * 1993-04-16 1996-08-20 Александр Павлович Парфенов Tv camera for stereogrammetric videorecording of images of objects
NL1001912C2 (en) * 1995-12-15 1997-06-17 Maasland Nv Device for milking animals.
RU2143800C1 (en) * 1997-10-15 2000-01-10 Лаборатория биотехнических систем Института прикладной механики Уральского отделения РАН Teat cup orienting apparatus
RU2244417C2 (en) * 2003-04-11 2005-01-20 Белгородская государственная сельскохозяйственная академия Automatic milking unit
US7895972B2 (en) * 2005-10-24 2011-03-01 Delaval Holding Ab Arrangement and method for visual detection in a milking system
CA3034793C (en) * 2006-03-15 2023-01-03 Gea Farm Technologies Gmbh Time of flight teat location system
NL1032435C2 (en) * 2006-09-05 2008-03-06 Maasland Nv Device for automatically milking a dairy animal.

Also Published As

Publication number Publication date
WO2010020457A1 (en) 2010-02-25

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