System for connecting a teat cup
View Patent ↗The invention provides a system for connecting a teat cup to a teat, and a teat cup of this type. A teat cup of this type includes an optical sensor which looks from the inside outwards through the opening of the teat cup. An image of, for example, a teat can thus be produced, and said image can be used very simply to assist a robot arm in guiding the teat cup to the teat.
1. A system for connecting a teat cup of an automatic milking system to a teat, comprising:
at least one teat cup having a chamber and an opening to accommodate a teat, wherein the chamber comprises a base through which milk is transported from the teat cup to a milk line;
a robot arm, which is configured to move the teat cup;
a teat cup positioning system with at least one optical sensor and which is configured to control the robot arm with the aid of the sensor to connect the teat cup,
wherein the optical sensor is provided in the base of the teat cup chamber and is configured to form an image of the environment above the teat cup through the opening.
2. The system according to claim 1 , wherein the optical sensor comprises a camera.
3. The system according to claim 1 , wherein the optical sensor comprises a CCD camera.
4. The system according to claim 1 , wherein the teat cup has a centre line and a milk discharge which opens out in the teat cup essentially perpendicular to the centre line, and wherein the optical sensor is provided on or in the base of the teat cup.
5. The system according to claim 1 , wherein the teat cup has a centre line and a milk discharge which opens out in the teat cup essentially perpendicular to the centre line, and wherein the optical sensor is provided on the centre line of the teat cup.
6. The system according to claim 1 , wherein the at least one optical sensor is configured to recognize an extreme in a brightness of the image.
7. The system according to claim 6 , wherein the at least one optical sensor is configured to determine a location of a maximum in the brightness of the image.
8. The system according to claim 1 , wherein the teat cup positioning device comprises an image recognition device which is configured to recognize a teat.
9. The system according to claim 8 , wherein the image recognition device is configured to determine a position of the teat.
10. The system according to claim 1 , further comprising at least one light source configured to illuminate the environment above the teat cup.
11. The system according to claim 10 , comprising one or more LEDs or ends of optical fibres which are attached to at least one of: an upper edge of the teat cup, a teat cup liner of the teat cup, or on the outside of the teat cup.
12. The system according claim 1 , further comprising an additional teat detection system.
13. The system according to claim 12 , wherein the teat cup positioning system is configured to control the robot arm to connect the teat cup under the control of the optical sensor and the additional teat detection system.
14. The system according to claim 12 , wherein the additional teat detection system comprises one or more of: an ultrasonic scanner, an optical sensor and an animal recognition device, and a database with previous teat positions.
15. The system according to claim 12 , wherein the additional teat detection system comprises an optical 3D sensor.
16. An automatic milking system teat cup for use in a system according to claim 1 , comprising an optical sensor which is provided in the teat cup and is configured to form an image of the environment above the teat cup through the opening.
17. The teat cup according to claim 16 , wherein the sensor is configured with an optical system which is set to form a sharp image outside the teat cup.