Implement for automatically milking a dairy animal

• US 10,039,259 B2
• Filed: 07/10/2014
• Issued: 08/07/2018
• Est. Priority Date: 09/05/2006
• Status: Active Grant

• Current Assignee: Maasland N.V.
• Original Assignee: Maasland N.V.
• Inventors: Van Den Berg, Karel
• Primary Examiner(s): VALENTI, ANDREA M
• Application Number:
  US14/327,583
• Publication Number:
  US 20140318459A1
• Time in Patent Office: 1,489 Days
• Field of Search: 119 1403, 119 1408, 119 1401, 119 1402, 119 1414, 119 1447, 119 1418, 119670, 901 46
• CPC Class Codes: A01J 5/017 Automatic attaching or detaching of clusters
• CPC Class Codes: A01J 5/0175 Attaching of clusters
• CPC Class Codes: G01S 17/42 Simultaneous measurement of distance and other co-ordinates indirect measurement G01S17/46
• CPC Class Codes: G01S 17/88 Lidar systems specially adapted for specific applications
• CPC Class Codes: Y10S 901/09 Closed loop, sensor feedback controls arm movement
• CPC Class Codes: Y10S 901/46 Sensing device

Abstract

An implement for automatically milking a dairy animal, such as a cow, comprises a milking parlour, a sensor for observing a teat, and a milking robot for automatically attaching a teat cup to the teat. The milking robot comprises a robot control that is connected to the sensor. The sensor comprises a radiation source for emitting light, a receiver for receiving electromagnetic radiation reflected from the dairy animal, a lens, and sensor control unit. The sensor comprises a matrix with a plurality of rows and a plurality of columns of receivers. The sensor control unit is designed to determine for each of the receivers a phase difference between the emitted and the reflected electromagnetic radiation in order to calculate the distance from the sensor to a plurality of points on the part to be observed of the dairy animal.

Claims

1. An implement for automatically milking a dairy animal, comprising:

a milking parlour;

a milking robot for automatically attaching a teat cup to a teat, the milking robot comprising a robot arm having at least two pivoting joints, a 3D sensor being disposed on an end of the robot arm, which the 3D sensor is configured to observe the teat of the dairy animal and the teat cup, and a robot control unit operatively connected to a 3D sensor,

wherein the 3D sensor comprises;

a radiation source for emitting electromagnetic radiation;

a receiver comprising a matrix with a plurality of rows and a plurality of columns of receivers configured to receive electromagnetic radiation reflected from the dairy animal and the at least one teat cup;

a lens for imaging the reflected electromagnetic radiation onto the receiver;

a sensor control unit;

wherein the sensor control unit is operatively connected to the radiation source to modulate the electromagnetic radiation, and

wherein the sensor control unit is programmed to determine for each of the receivers a phase difference between the emitted and the reflected electromagnetic radiation to calculate distances from the 3D sensor to a plurality of points on the diary animal including the teat and further programmed to calculate distances from the 3D sensor to a plurality of points on the teat cup and transmitting these calculated distances to the control unit;

wherein the robot control unit is programmed to calculate a mutual distance between the teat cup and the teat and to control motion of the at least two pivoting joints of the robot arm and further to control a longitudinal displacement of the robot arm, on the basis of the calculated mutual distance to move the teat cup to the teat.

2. The implement according to claim 1, wherein the robot control unit monitors the connection between an attached teat cup and the teat concerned.

3. The implement according to claim 1, wherein:

the sensor control unit repeatedly determines the phase difference between the emitted and the reflected electromagnetic radiation in order to calculate distances from the sensor to a plurality of points on the teat and on the teat cup; and

the robot control unit determines with the aid thereof the mutual speed between the attached teat cup and the teat concerned.

4. The implement according to claim 1, wherein:

the sensor control unit determines a phase difference between the emitted and the reflected electromagnetic radiation in order to calculate distances from the sensor to a plurality of points on at least one leg of the animal to be milked; and

the robot control unit controls the milking robot also on the basis thereof.

5. The implement according to claim 1, wherein the robot control unit determines whether the dairy animal should be milked on the basis of the calculated distances from the sensor to the plurality of points on the teat and/or on the basis of calculated distances from the sensor to a plurality of points on an udder.

6. The implement according to claim 1, wherein the robot control unit is designed to identify the dairy animal on the basis of the calculated distances from the sensor to the plurality of points on the dairy animal.

7. The implement according to claim 1, wherein the robot control unit controls cleaning brushes for cleaning the teat of the dairy animal on the basis of the calculated distances from the sensor to a plurality of points on the teat of the dairy animal and/or on the basis of calculated distances from the sensor to a plurality of points on the cleaning brushes.

8. The implement according to claim 1, wherein the robot control unit starts a cleaning process of the milking parlour if the robot control unit establishes that there is no dairy animal in the milking parlour on the basis of observation by the sensor.

9. The implement according to claim 1, further comprising a cleaning device for cleaning at least the teat cup, wherein:

the sensor control unit determines a phase difference between the emitted and the reflected electromagnetic radiation in order to calculate distances from the sensor to a plurality of points on the cleaning device; and

the robot control unit controls, on the basis thereof, the milking robot in such a way that the teat cup is moved to the cleaning device in order to be cleaned.

10. The implement according to claim 1, wherein:

the sensor control unit determines repeatedly the phase difference between the emitted and the reflected electromagnetic radiation in order to calculate distances from the sensor to a plurality of points on the dairy animal; and

the robot control unit determines with the aid thereof the mutual speed between the sensor and the relevant plurality of points on the dairy animal.

11. The implement according to claim 1, wherein a wave length of the modulation of the emitted electromagnetic radiation is between 1 mm and 5 meters.

12. The implement according to claim 11, wherein the wave length is adjustable.

13. The implement according to claim 11, wherein the wave length is switchable between at least two values.

14. The implement according to claim 1, wherein the radiation source emits radiation in a pulsating manner.

15. The implement according to claim 14, wherein the radiation source emits radiation with a pulsation frequency between 1 Hz and 100 Hz.

16. The implement according to claim 1, wherein the radiation source has an adjustable light intensity and/or an adjustable angle of radiation.

17. The implement according to claim 1, wherein an angle of view of the sensor is adjustable.

18. The implement according to claim 1, wherein the matrix with a plurality of rows and a plurality of columns of receivers is arranged pivotably.

19. The implement according to claim 18, wherein the radiation source is arranged pivotably.