System and method for improved attachment of a cup to a dairy animal

Patent metadata

Field	Value
Publication number	US-10327415-B2
Application number	US-201815950654-A
Country	US
Kind code	B2
Filing date	Apr 11, 2018
Priority date	Apr 28, 2011
Publication date	Jun 25, 2019
Grant date	Jun 25, 2019

Abstract

A system includes a robotic arm and a controller. The controller accesses a first image and a second image generated by a first camera. The controller determines a reference point based at least in part on the first image. The controller determines a position of a teat of the dairy livestock based at least in part on the second image. The controller instructs the robotic arm to grip a milking cup and move it towards the determined position of the teat between the hind legs of the dairy livestock from the rear. The controller then instructs the robotic arm to release the milking cup, to move in an upward direction towards an udder of the dairy livestock, and to move away from the teat.

First claim

What is claimed is:

1. A system, comprising:
a robotic arm;
a controller communicatively coupled to the robotic arm, wherein the controller:
accesses a first image generated by a first camera, the first image including one or more main features of a dairy livestock;
determines a reference point based at least in part on the first image, the reference point determined from at least one of the one or more main features of the dairy livestock;
accesses a second image generated by a second camera, the second image including at least a portion of an udder of the dairy livestock;
determines a position of a teat of the dairy livestock based at least in part on the second image;
instructs the robotic arm to grip a milking cup;
instructs the robotic arm to move the milking cup towards the determined position of the teat between the hind legs of the dairy livestock from the rear;
instructs the robotic arm to release the milking cup in response to the milking cup being attached to the teat;
instructs the robotic arm to move in an upward direction towards an udder of the dairy livestock in conjunction with the robotic arm releasing the milking cup; and
instructs the robotic arm to move away from the teat.

2. The system of claim 1 , wherein instructing the robotic arm to move the milking cup towards the teat comprises instructing the robotic arm to move to a set of coordinates associated with the position of the teat.

3. The system of claim 2 , wherein the set of coordinates are offset relative to the position of the teat.

4. The system of claim 1 , wherein the controller further instructs the robotic arm to move at an angle away from the teat in response to releasing the milking cup.

5. A system comprising:
a robotic arm;
a controller communicatively coupled to the robotic arm, wherein the controller:
accesses a first image generated by a first camera, the first image including one or more main features of a dairy livestock;
determines a reference point based at least in part on the first image, the reference point determined from at least one of the one or more main features of the dairy livestock;
accesses a second image generated by a second camera, the second image including at least a portion of an udder of the dairy livestock;
determines a position of a teat of the dairy livestock based at least in part on the second image;
instructs the robotic arm to grip a milking cup;
instructs the robotic arm to move the milking cup proximate to the determined position of the teat between the hind legs of the dairy livestock from the rear;
instructs the robotic arm to release the milking cup; and
instructs the robotic arm to move in an upward direction towards an udder of the dairy livestock and in a horizontal direction towards the rear of the milking stall in conjunction with the gripper releasing the milking cup.

6. The system of claim 5 , wherein the controller further instructs the robotic arm to move at an angle away from the teat in response to releasing the milking cup.

7. The system of claim 5 , wherein the controller further instructs a pulsating device to apply pressure to the milking cup in response to the milking cup being within a threshold distance of the teat.

8. The system of claim 7 , wherein the pressure is applied to the milking cup such that the teat is drawn into the milking cup.

9. The system of claim 5 , wherein instructing the robotic arm to move the milking cup proximate to the teat comprises instructing the robotic arm to move to a set of coordinates associated with the position of the teat.

10. The system of claim 9 , wherein the set of coordinates are offset relative to the position of the teat.

11. A system, comprising:
a robotic arm;
a controller communicatively coupled to the robotic arm, wherein the controller:
accesses a first image generated by a first camera, the first image including one or more main features of a dairy livestock;
determines a reference point based at least in part on the first image, the reference point determined from at least one of the one or more main features of the dairy livestock;
accesses a second image generated by a second camera, the second image including at least a portion of an udder of the dairy livestock;
determines a position of a teat of the dairy livestock based at least in part on the second image;
instructs the robotic arm to grip a milking cup;
instructs the robotic arm to move the milking cup towards the determined position of the teat;
instructs the robotic arm to release the milking cup in response to the milking cup being attached to the teat;
instructs the robotic arm to move in an upward direction towards an udder of the dairy livestock in conjunction with the robotic arm releasing the milking cup; and
instructs the robotic arm to move away from the teat.

12. The system of claim 11 , wherein instructing the robotic arm to move the milking cup towards the teat comprises instructing the robotic arm to move to a set of coordinates associated with the position of the teat.

13. The system of claim 12 , wherein the set of coordinates are offset relative to the position of the teat.

14. The system of claim 11 , wherein the controller further instructs the robotic arm to move at an angle away from the teat in response to releasing the milking cup.

Assignees

• Tech Holding Corp
• Technologies Holdings Corp

Inventors

• Hofman Henk
• De Ruijter Cor
• Koekoek Menno
• Van Der Sluis Peter Willem

Classifications

• A01J5/003

  Movable milking machines · CPC title

• G06T7/73

  using feature-based methods · CPC title

• A01J5/007

  Monitoring milking processes; Control or regulation of milking machines · CPC title

• G06T1/0014

  Image feed-back for automatic industrial control, e.g. robot with camera (robots B25J19/023) · CPC title

• A01J5/0175 Primary

  Attaching of clusters · CPC title