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WO2010012625A3 - Verfahren und vorrichtung zum ansetzen eines melkbechers an eine zitze eines tieres - Google Patents

Verfahren und vorrichtung zum ansetzen eines melkbechers an eine zitze eines tieres Download PDF

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Publication number
WO2010012625A3
WO2010012625A3 PCT/EP2009/059311 EP2009059311W WO2010012625A3 WO 2010012625 A3 WO2010012625 A3 WO 2010012625A3 EP 2009059311 W EP2009059311 W EP 2009059311W WO 2010012625 A3 WO2010012625 A3 WO 2010012625A3
Authority
WO
WIPO (PCT)
Prior art keywords
milking cup
teat
milking
animal
teats
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/EP2009/059311
Other languages
English (en)
French (fr)
Other versions
WO2010012625A2 (de
Inventor
Elmar Nieswand
Andreas Springer
Timm Krebs
Reinhold Knoche
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
GEA Farm Technologies GmbH
Original Assignee
GEA WestfaliaSurge 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 GEA WestfaliaSurge GmbH filed Critical GEA WestfaliaSurge GmbH
Priority to EP09780839A priority Critical patent/EP2341767A2/de
Priority to CN2009801292644A priority patent/CN102105049A/zh
Priority to US12/737,599 priority patent/US20110168096A1/en
Publication of WO2010012625A2 publication Critical patent/WO2010012625A2/de
Publication of WO2010012625A3 publication Critical patent/WO2010012625A3/de
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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)
  • Length Measuring Devices By Optical Means (AREA)
  • Apparatus For Radiation Diagnosis (AREA)
  • Image Processing (AREA)
  • Image Analysis (AREA)

Abstract

Ein Verfahren zum Ansetzen eines oder mehrerer Melkbecher an eine Zitze (11) oder an mehrere Zitzen (11) eines milchgebenden Tieres weist folgende Schritte auf: a) es wird eine perspektivische 3D-Direktaufnahme von dem wenigstens einen oder den mehreren Melkbechern (5) und der einen oder den mehreren Zitzen (11) des milchgebenden Tieres getätigt; b) sodann wird aus der 3D-Direktaufnahme mit einer Bildverarbeitungseinrichtung der relative Abstand zwischen dem oder den Melkbechern (5) und der oder den Zitzen (11) ermittelt; c) mit Hilfe der Distanzbestimmung aus Schritt b) wird von einer Steuerungseinrichtung (10) eine von dem oder den Melkbechern (5) jeweils durchzuführende Ansteuerbewegung für einen oder mehrere Aktuatoren (6, 8) zum Bewegen des oder der Melkbecher (5) errechnet, mit welcher der ermittelte relative Abstand zwischen dem oder den Melkbechern (5) und den Zitzen (11) verringert wird; d) die Ansteuerbewegung wird durchgeführt und abgeschlossen, sofern kein Fehler auftritt; und/oder e) es wird/werden eine oder mehrere der getätigten 3D-Direktaufnahmen mittels einer Diagnose ausgewertet und/oder für eine Diagnose gespeichert und/oder ausgegeben.
PCT/EP2009/059311 2008-07-29 2009-07-20 Verfahren und vorrichtung zum ansetzen eines melkbechers an eine zitze eines tieres Ceased WO2010012625A2 (de)

Priority Applications (3)

Application Number Priority Date Filing Date Title
EP09780839A EP2341767A2 (de) 2008-07-29 2009-07-20 Verfahren und vorrichtung zum ansetzen eines melkbechers an eine zitze eines tieres
CN2009801292644A CN102105049A (zh) 2008-07-29 2009-07-20 用于将挤奶杯安置于动物乳头上的方法和设备
US12/737,599 US20110168096A1 (en) 2008-07-29 2009-07-20 Method and apparatus for positioning a milking cup on a teat of an animal

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102008035384A DE102008035384A1 (de) 2008-07-29 2008-07-29 Verfahren und Vorrichtung zum Ansetzen eines Melkbechers an eine Zitze eines Tieres
DE102008035384.1 2008-07-29

Publications (2)

Publication Number Publication Date
WO2010012625A2 WO2010012625A2 (de) 2010-02-04
WO2010012625A3 true WO2010012625A3 (de) 2010-06-10

Family

ID=41259893

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2009/059311 Ceased WO2010012625A2 (de) 2008-07-29 2009-07-20 Verfahren und vorrichtung zum ansetzen eines melkbechers an eine zitze eines tieres

Country Status (6)

Country Link
US (1) US20110168096A1 (de)
EP (1) EP2341767A2 (de)
CN (1) CN102105049A (de)
DE (1) DE102008035384A1 (de)
RU (1) RU2011106596A (de)
WO (1) WO2010012625A2 (de)

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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
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
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
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
US9049843B2 (en) 2011-04-28 2015-06-09 Technologies Holdings Corp. Milking box with a robotic attacher having a three-dimensional range of motion
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
US8683946B2 (en) 2011-04-28 2014-04-01 Technologies Holdings Corp. System and method of attaching cups to a dairy animal
US9043988B2 (en) 2011-04-28 2015-06-02 Technologies Holdings Corp. Milking box with storage area for teat cups
EP3366120A1 (de) * 2011-04-28 2018-08-29 Technologies Holdings Corp. Verfahren zum betreiben eines sichtsystems für robotische befestiger
US8903129B2 (en) 2011-04-28 2014-12-02 Technologies Holdings Corp. System and method for filtering data captured by a 2D camera
US9161512B2 (en) 2011-04-28 2015-10-20 Technologies Holdings Corp. Milking box with robotic attacher comprising an arm that pivots, rotates, and grips
US8885891B2 (en) 2011-04-28 2014-11-11 Technologies Holdings Corp. System and method for analyzing data captured by a three-dimensional camera
US10357015B2 (en) 2011-04-28 2019-07-23 Technologies Holdings Corp. Robotic arm with double grabber and method of operation
US8671885B2 (en) 2011-04-28 2014-03-18 Technologies Holdings Corp. Vision system for robotic attacher
US9357744B2 (en) 2011-04-28 2016-06-07 Technologies Holdings Corp. Cleaning system for a milking box stall
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
US10127446B2 (en) 2011-04-28 2018-11-13 Technologies Holdings Corp. System and method for filtering data captured by a 2D camera
US9058657B2 (en) 2011-04-28 2015-06-16 Technologies Holdings Corp. System and method for filtering data captured by a 3D camera
US9107378B2 (en) 2011-04-28 2015-08-18 Technologies Holdings Corp. Milking box with robotic attacher
US9107379B2 (en) 2011-04-28 2015-08-18 Technologies Holdings Corp. Arrangement of milking box stalls
ITMI20111414A1 (it) * 2011-07-28 2013-01-29 Milkline Srl Dispositivo di afferraggio per un gruppo di mungitura
US10238083B2 (en) * 2013-01-29 2019-03-26 Delaval Holding Ab Milking device comprising a support device
US9770007B2 (en) 2013-02-06 2017-09-26 Delaval Holding Ab Teat treatment method and apparatus
WO2014142728A1 (en) * 2013-02-06 2014-09-18 Delaval Holding Ab Teat treatment method and apparatus
DE102016112596A1 (de) * 2016-07-08 2018-01-11 Gea Farm Technologies Gmbh Verfahren und Vorrichtung zum automatischen Ansetzen von Melkbechern an Zitzen eines milchgebenden Tieres
US11464197B2 (en) * 2016-08-25 2022-10-11 Delaval Holding Ab Arrangement and method for classifying teats with respect to size measures
US12083689B2 (en) * 2018-11-01 2024-09-10 Delaval Holding Ab Tool-positioning system and method, rotary milking platform, computer program and non-volatile data carrier
CN109997700B (zh) * 2019-05-20 2024-01-26 安徽永牧机械集团有限公司 一种可精准定位牛乳头的转盘式挤奶机
NL2026125B1 (nl) * 2020-07-23 2022-03-28 Lely Patent Nv Robotmelkinrichting
NL2026602B1 (nl) * 2020-10-01 2022-06-02 Lely Patent Nv Robotmelkinrichting

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Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3742867A1 (de) * 1987-12-17 1989-07-06 Fraunhofer Ges Forschung Vorrichtung zum fuegen von elementen in entsprechende aufnahmeelemente eines objekts
US5666903A (en) * 1992-11-20 1997-09-16 British Technology Group Limited Examination of milking animals
WO2001019172A1 (en) * 1999-09-15 2001-03-22 Delaval Holding Ab An apparatus and a method for improving teatcup attachment, by using illuminating and image capturing means
DE10351549A1 (de) * 2003-11-03 2005-06-02 Westfaliasurge Gmbh Einheit zur Lageänderung einer Leitung, insbesondere einer Milchleitung
WO2007104124A1 (en) * 2006-03-15 2007-09-20 Lmi Technologies Limited Time of flight teat location system
WO2008030086A1 (en) * 2006-09-05 2008-03-13 Maasland N.V. Implement for automatically milking a dairy animal

Also Published As

Publication number Publication date
DE102008035384A1 (de) 2010-02-04
EP2341767A2 (de) 2011-07-13
RU2011106596A (ru) 2012-09-10
CN102105049A (zh) 2011-06-22
WO2010012625A2 (de) 2010-02-04
US20110168096A1 (en) 2011-07-14

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