Apparatus for performing animal related operations

• US 6,431,116 B1
• Filed: 01/24/2001
• Issued: 08/13/2002
• Est. Priority Date: 07/24/1998
• Status: Expired due to Term

• Current Assignee: Delavan Limited (Enpro Industries Incorporated)
• Original Assignee: Delavan Limited (Enpro Industries Incorporated)
• Inventors: Nilsson, Mats
• Primary Examiner(s): SHAW, ELIZABETH ANNE
• Application Number:
  US09/744,398
• Time in Patent Office: 566 Days
• Field of Search: 119/14.01, 119/14.08, 119/14.18, 119/14.14
• US Class Current: 119/14.08
• CPC Class Codes: A01J 5/0175 Attaching of clusters

Abstract

An apparatus for performing animal related operations includes a robot arm movable in response to a controller, the robot arm being provided with a gripper for gripping an animal related device. A sensor is adapted to establish a location of the animal related device.

Claims

1. An apparatus for performing animal related operations comprising a robot arm (2) movable in response to a control means, said robot arm (2) being provided with a gripper (3) for fetching at least one animal related means (4a, 4b, 4c), characterised in that

a sensor means (7, 5, 10, 12) comprising at least one image capturing device (5, 12) associated with the control means is adapted to establish a location of said animal related means (4a, 4b, 4c).

2. An apparatus according to claim 1, characterised in that

said gripper (3) is adapted to fetch said animal related means (4a, 4b, 4c) one after the other and to transport said means (4a, 4b, 4c) to its attachment position and then back.

3. An apparatus according to claim 1, wherein said sensor means is adapted to sense the presence of said animal related means at a predetermined location.

4. An apparatus according to claim 3, characterised in that

said predetermined location is a storage means (8) for said animal related means (4a, 4b, 4c).

5. An apparatus according to claim 3, characterised in that

said predetermined location is the gripper (3) of said robot arm (2).

6. An apparatus according to claim 3, characterised in that

said sensor means (7) is included in the storage means (8).

7. An apparatus according to claim 6, characterised in that

said sensor means (7) comprises a laser sensor (10) adapted to project a laser line on said animal related means (4a, 4b, 4c).

8. An apparatus according to claim 7, characterised in that

said animal related means (4a, 4b, 4c) is provided with at least one bar code (11).

9. An apparatus according to claim 3, characterised in that

said sensor means (7) is included in the gripper (3).

10. An apparatus according to claim 1, characterised in that

said control means is adapted to recognise different kinds of animal related means (4a, 4b, 4c).

11. An apparatus according to claim 1, characterised in that

said control means is adapted to perform image analysis of a captured image.

12. An apparatus according to claims 1, characterised in that

said animal related means comprises at least one teatcup (4a).

13. An apparatus according to anyone claim 1, characterised in that

said animal related means comprises a teat cleaning means (4b).

14. An apparatus according to claim 1, characterised in that

said animal related means comprises a teat desinfection means (4c).

15. Automated milking system, characterised in that

said automated milking system comprises an apparatus according to claim 1.

17. A method according to claim 15, characterised by

performing said establishment by the sensor means (5, 7, 10, 12) regularly, e.g. after performed milking.

18. Automated milking system, characterised in that

said automated milking system comprises means for carrying out a method according to claim 15.

16. A method of performing animal related operation by means of a robot arm (2) movable in response to a control means, said robot arm (2) being provided with a gripper (3) for gripping an animal related means,

characterised by the step of

adapting a sensor means (5, 7, 10, 12) comprising at least one image capturing device (5, 12) associated with the control means to establish a location of said animal related means (4a, 4b, 4c).

19. An apparatus for performing animal related operations, comprising:

a movable robot arm;

a gripper on an end of said movable robot arm for retrieving at least one animal related device;

a contact sensor on said gripper for sensing the presence of said at least one animal related device; and

at least one image capturing device connected to said movable robot arm for identifying the location and type of said at least one animal related device.