Dairy animal treatment system
View Patent ↗There is provided a method and system for connecting a teat cup ( 4 ) to a first teat ( 1 ) of an udder ( 3 ). In connecting, a first reference position ( 10 ) on the first teat ( 1 ) is taken for connecting, until that reference position ( 10 ) is covered by the teat cup ( 4 ), or is otherwise no longer observed. Then, a further reference position ( 11 ) on the udder is taken for tracking movements by the dairy animal. Thus the optimum reference position ( 10 ) is used for connecting, while when this optimum position is no longer available, a further reference position ( 11 ) is taken.
1. Method for automatically connecting an object to a teat of an udder of a milking animal, by means of a milking robot with a robot arm and a position determining device for determining reference positions on the animal with respect to one of a teat cup and the robot arm, the method comprising the steps of
a) determining a first reference position of a part of the first teat to which an object is to be connected, wherein the object is a teat cup,
b) positioning the teat cup below said teat by means of the robot arm and on the basis of the first reference position
c) moving the teat cup onto the teat,
wherein the first reference position is observed and tracked during step b) and/or c) characterized by the steps of
d) determining a further reference position of another part of said udder with respect to one of the teat cup, the robot arm and the first reference position, and
e) tracking said further reference position while the first reference position is not being observed with at least a predetermined accuracy or reliability, and performing the moving of the teat cup on the basis of the tracked further reference position.
2. Method according to claim 1 , wherein the first reference position is on a tip part of the teat, and in particular is the teat tip.
3. Method according to claim 1 , wherein the tracking of the further reference position is performed during at least a part of step c).
4. Method, according to claim 1 , wherein the further reference position is determined either between step b) and step c) or during step c).
5. Method according to claim 1 , wherein the further reference position comprises, is, one of a position of an udder wall part and a position of another teat, preferably another teat tip, of the udder.
6. Method according to claim 1 , wherein the further reference position is determined as soon as the teat cup moves over the first reference position.
7. Method according to claim 1 , wherein tracking on the basis of the further reference position is performed only after the teat cup moves over the first reference position.
8. Method according to claim 1 , wherein the steps of positioning the teat cup below said teat and moving the teat cup over the teat are performed on the basis of only the first reference position until the teat cup moves over the first reference position, and on the basis of only the further reference position after the teat cup moves over the first reference position.
9. Method according to claim 1 , wherein steps d) and e) are repeated for at least one additional further reference position, which is tracked and used for moving the teat cup, while both the first and the further reference positions are no longer detectable with at least a predetermined accuracy or reliability.
10. Method according to claim 1 , wherein the position determining device comprises an optical device, preferably a laser scanner, more preferably an optical camera, most preferably a 3D camera.
11. Method according to claim 10 , wherein the optical device provides an image containing the first and the further reference positions.
12. System for automatically connecting an object to a teat of an udder of a milking animal, comprising a milking robot with a robot arm and with teat cups, and a position determining device for determining reference positions on the animal with respect to one of a teat cup and the robot arm, the system being arranged to perform the method according to any preceding claim.
13. System according to claim 12 , wherein the position determining device comprises an optical device, preferably a laser scanner, more preferably an optical camera, most preferably a 3D camera.