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    • 62. 发明授权
    • Arrangement and method for determining positions of the teats of a milking animal
    • 用于确定挤奶动物的乳头位置的布置和方法
    • US08624744B2
    • 2014-01-07
    • US12812635
    • 2009-01-16
    • Hans HolmgrenThomas AxelssonBohao Liao
    • Hans HolmgrenThomas AxelssonBohao Liao
    • G08B21/00
    • A01K1/126A01J5/017A01J5/0175A01K1/12G01S5/16G01S11/12G01S17/89
    • An arrangement is provided for attaching teat cups to teats of a milking animal in a rotary milking system having a milking stall for housing the milking animal during milking. The arrangement comprises a three-dimensional camera configured to be directed towards the udder of the milking animal in the milking stall and to repeatedly record three-dimensional images of the udder of the milking animal in real time. The three-dimensional camera is further configured to be directed towards the teat cups located in a magazine and to repeatedly record three-dimensional images of the teat cups in real time. The arrangement also includes an image processing device configured to repeatedly detect the teats of the milking animal and determine the positions of the teats in three spatial dimensions based on said repeatedly recorded three-dimensional images of the teats. The image processing device is also configured to repeatedly detect the plurality of teat cups and determine the positions of the teat cups in three spatial dimensions based on said repeatedly recorded three-dimensional images of the teat cups located in the magazine. The arrangement also includes a control device configured to control a robot arm, based on the determined positions of the teats of the milking animal and the determined positions of the teat cups, to automatically attach at least one teat cup to at least one teat of the milking animal in the milking stall.
    • 提供了一种布置,用于将挤奶杯连接到具有用于在挤奶期间容纳挤奶动物的挤奶档位的旋转挤奶系统中的挤奶动物的奶头。 该装置包括:三维照相机,被配置为指向挤奶档中的挤奶动物的乳房,并且实时地重复记录挤奶动物的乳房的三维图像。 三维摄像机进一步被构造成指向位于盒中的奶杯,并且实时地重复记录奶头杯的三维图像。 该装置还包括图像处理装置,其被配置为基于所述重复记录的乳头的三维图像,重复地检测挤奶动物的乳头并确定三个空间维度中的乳头的位置。 图像处理装置还被配置为基于位于盒中的乳头杯的所述重复记录的三维图像重复地检测多个奶头杯并确定三分之一空间尺寸的奶杯的位置。 该装置还包括控制装置,其被配置为基于所确定的挤奶动物的乳头的位置和确定的奶杯的位置来控制机器人手臂,以将至少一个奶杯自动附接到至少一个奶头 在挤奶摊位挤奶动物。
    • 63. 发明授权
    • Milking arrangement for animals
    • 动物的挤奶安排
    • US08616155B2
    • 2013-12-31
    • US13203742
    • 2010-03-02
    • Kerstin VollmerJan Eriksson
    • Kerstin VollmerJan Eriksson
    • A01J5/007
    • A01K1/126
    • A milking arrangement for animals includes rotary platform (2), a driving mechanism (12) adapted to provide a rotary motion of the platform (2), milking stalls (3) adapted to house the animals (1) to be milked on the platform (2), a blocking system (11, 20, 25) for blocking selected milking stalls (3) on the platform (1) temporarily such that the animals (1) do not have access to the blocked milking stalls (3) during a period of time and the remaining non-blocked milking stalls will be used more frequently.
    • 用于动物的挤奶装置包括旋转平台(2),适于提供平台(2)的旋转运动的驱动机构(12),适于容纳待挤奶的动物(1)的挤奶档(3) (2),用于临时阻止所述平台(1)上的选定挤奶档(3)的阻塞系统(11,20,25),使得所述动物(1)在所述停止挤奶档(3)期间不能进入所述封闭的挤奶档 一段时间和剩余的非堵塞挤奶摊将更频繁地使用。
    • 66. 发明申请
    • MILKING SYSTEM, AND A METHOD FOR OPERATING A MILKING SYSTEM
    • 研磨系统和操作系统的方法
    • US20130213304A1
    • 2013-08-22
    • US13881740
    • 2011-11-11
    • Epke BosmaStaffan Persson
    • Epke BosmaStaffan Persson
    • A01J11/06A01J7/02
    • A01J11/06A01J5/0134A01J7/022
    • A milking system includes a milking member for extracting milk from an animal, a transport line, a milk tank, a milk filter unit for filtering the milk with a first filter device and a second filter device, each including a filter container and a filter element, and a valve arrangement to convey milk through the devices, where the valve arrangement communicates with a control unit. The milking system further includes an indication device generating an indication to a user when any one of the filter elements needs to be replaced, which filter of the first and second filter device needs to be replaced, and when the filter element indicated to need to be replaced is accessible for replacement. A method for operating and cleaning the milking system is also provided.
    • 挤奶系统包括用于从动物提取牛奶的挤奶构件,输送管线,牛奶罐,用第一过滤装置过滤牛奶的牛奶过滤器单元和第二过滤器装置,每个包括过滤容器和过滤元件 以及阀装置,其通过装置输送牛奶,其中阀装置与控制单元通信。 挤奶系统还包括指示装置,当需要更换任何一个过滤器元件时,向用户生成指示,需要更换第一和第二过滤器装置的哪个过滤器,以及当要求过滤元件需要时 更换可更换。 还提供了一种用于操作和清洁挤奶系统的方法。
    • 67. 发明申请
    • EMERGENCY STOP DEVICE FOR A ROTARY PLATFORM OF A MILKING PARLOUR
    • 紧急停止装置,用于公共场合的旋转平台
    • US20130153360A1
    • 2013-06-20
    • US13820600
    • 2011-09-02
    • Helmut Obermuller
    • Helmut Obermuller
    • F16D63/00
    • F16D63/00A01K1/126
    • An emergency stop device for a rotary platform (1) of milking parlour for a milking parlour that includes at least one component (10, 13a) arranged beside an edge portion (1a, 1b) of the platform (1). The emergency stop device includes a detecting element (13b) adapted to initiate an emergency stop of the rotary platform (1) in a case of an object being detected in a detecting area (13b1) located beside the edge portion (1a, 1b) of the platform (1) at an upstream distance (D) from the component (10, 13a) with respect to the rotary direction of the platform (1). The upstream distance (D) is longer than an estimated stopping distance (d) of the edge portion (1b) when the platform (1) is emergency stopped.
    • 一种用于挤奶室的挤奶室的旋转平台(1)的紧急停止装置,其包括布置在平台(1)的边缘部分(1a,1b)旁边的至少一个部件(10,13a)。 紧急停止装置包括检测元件(13b),该检测元件(13b)在被检测物体的情况下,在位于边缘部分(1a,1b)旁边的检测区域(13b1)中的情况下,启动旋转平台(1)的紧急停止 所述平台(1)与所述部件(10,13a)相对于所述平台(1)的旋转方向处于上游距离(D)。 当平台(1)紧急停止时,上游距离(D)比边缘部分(1b)的估计停止距离(d)长。
    • 68. 发明申请
    • METHOD AND ARRANGEMENT FOR CONTROL OF THE MILKING
    • 用于控制奶粉的方法和装置
    • US20130112143A1
    • 2013-05-09
    • US13808270
    • 2011-07-05
    • Ron Mulder
    • Ron Mulder
    • A01J5/00A01K15/04
    • A01J5/007A01K1/12A01K15/04A01K29/00
    • A method for control of milking of animals permitted to move within an area including at least one grazing paddock wherein the animals graze, a milking area located remote from the grazing paddock, and a raceway via which animals in the grazing paddock access the milking area, the milking area including a milking system for milking the animals that access the milking area. The animals that access the milking area via the raceway are counted in at least one position located remote from the milking system, a future amount of animals in the milking area is predicted based on the animals counted in the at least one position located remote from the milking system, and the operation of the milking system or other arrangement in the area is controlled in a manner and at a point of time based on the predicted future amount of animals in the milking area.
    • 一种控制动物允许在包括动物放牧的至少一个放牧围场的区域内移动的动物的挤奶方法,位于远离放牧牧场的挤奶区域,以及放牧牧场中的动物进入挤奶区域的滚道, 挤奶区域包括用于挤奶进入挤奶区域的动物的挤奶系统。 通过跑道进入挤奶区域的动物计数在远离挤奶系统的至少一个位置,基于在位于远离挤奶系统的至少一个位置计数的动物来预测挤奶区域中的未来数量的动物 挤奶系统,并且基于挤奶区域中预测的未来动物数量的方式和时间点来控制该区域中的挤奶系统或其他装置的操作。
    • 69. 发明申请
    • MILKING ROBOT, AND A MILKING ARRANGEMENT
    • 烧烤机器人,以及奶制品安排
    • US20130074775A1
    • 2013-03-28
    • US13701562
    • 2011-06-01
    • Jan-Erik AnderssonThomas Axelsson
    • Jan-Erik AnderssonThomas Axelsson
    • A01J5/00
    • A01J5/007A01J5/00A01J5/003A01J5/0175B25J9/101
    • A milking arrangement includes a milking robot (10) having a first link (L1), a second link (L2), a third link (L3), an end effector (E), sensor (16) and a control unit (15). The first link is rotatable to a first angle within a first angle range (α1) via a first joint (11). The second link is rotatable to a second angle within a second angle range (α2) via a second joint (12). The third link (L3) is rotatable to a third angle within a third angle range (α3) via third joint (13). The links (L1, L2, L3) are rotatable so that the end effector is movable within a three-dimensional workspace (W). Each position of the end effector within the workspace corresponds to a single combination of the first, second and third angles.
    • 挤奶装置包括具有第一连杆(L1),第二连杆(L2),第三连杆(L3),末端执行器(E),传感器(16)和控制单元(15)的挤奶机器人(10) 。 第一连杆经由第一接头(11)可转动到第一角度范围(α1)内的第一角度。 第二连杆可经由第二接头(12)在第二角度范围(α2)内旋转至第二角度。 第三连杆(L3)经由第三接头(13)在第三角度范围(α3)内可旋转到第三角度。 连杆(L1,L2,L3)是可旋转的,使得末端执行器可在三维工作空间(W)内移动。 工作空间内的端部执行器的每个位置对应于第一,第二和第三角度的单一组合。
    • 70. 发明申请
    • MILKING SYSTEM AND METHOD FOR ANALYZING MILK
    • 牛奶分析系统及其分析方法
    • US20130025540A1
    • 2013-01-31
    • US13640047
    • 2011-04-01
    • Johan Axelson
    • Johan Axelson
    • A01J5/007
    • A01J5/0132A01J5/007
    • A milking system includes a milk storage tank, a common milk line connected to the tank, at least two milking stations connected to the milk line, a milk constituent analyzing unit connected to the milk line and analyzing the milk provided from each of the stations through the milk line, with respect to a specific milk constituent, and a computer operatively connected to the analyzing unit. The computer stores milk quality information of the extracted milk and animal identity data of each of the specifically identified animals. Each station automatically identifies a specific animal, extracts milk from the animal, and transfers the milk through the common milk line to the milk storage tank. The stations, the computer, and the analyzing unit are operatively connected to allow a result of the milk analysis to be associated with the animal(s) identity specifically identified at each station from which the milk was extracted.
    • 挤奶系统包括牛奶储存罐,连接到罐的普通牛奶管线,连接到牛奶线的至少两个挤奶站,连接到牛奶线的牛奶成分分析单元,并且从每个站点提供的牛奶分析 牛奶线相对于特定的牛奶成分,以及可操作地连接到分析单元的计算机。 计算机存储每个特定识别的动物的提取的牛奶和动物身份数据的牛奶质量信息。 每个站自动识别特定动物,从动物中提取牛奶,并将牛奶通过普通牛奶线转移到牛奶储存罐。 站,计算机和分析单元可操作地连接,以允许牛奶分析的结果与在其中提取牛奶的每个站点处特别标识的动物身份相关联。