Arrangement and method for visual detection in a milking system

A - Human Necessities – 01 – J

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A01J 5/017 (2006.01) B25J 13/08 (2006.01)

Patent

CA 2626286

A visual detection arrangement is provided in a milking system (3) comprising a robot arm (15) for attaching a teat cup (11) to a teat of a milking animal (8), and a control device (19) for controlling the movement of the robot arm. The detection arrangement comprises first visual detection means (17) provided on the robot arm for repeatedly determining the teat position relative the robot arm and second visual detection means (21) directed towards the milking animal. The second visual detection means (21) is provided for detecting a position of the animal in a longitudinal direction (x), and the control device (19) is initially provided for controlling the movement of the robot arm based on information of the position of the teat of the animal relative the animal itself, and on the detected longitudinal position of the animal.

L~invention concerne un dispositif de détection visuelle dans un système de traite (3), comprenant un bras de robot (15) servant à fixer un gobelet trayeur (11) sur un trayon d~un animal laitier (8), et un dispositif de commande (19) servant à commander le mouvement du bras de robot. Le dispositif de détection comprend un premier moyen de détection visuelle (17) monté sur le bras de robot pour déterminer de façon répétée la position du trayon par rapport au bras de robot, et un deuxième moyen de détection visuelle (21) orienté vers l~animal laitier. Le deuxième moyen de détection visuelle (21) sert à détecter la position de l~animal laitier dans une direction longitudinale (x), et le dispositif de commande (19) sert initialement à commander le mouvement du bras de robot en fonction d~informations relatives à la position du trayon vis-à-vis de l~animal laitier et en fonction de la position longitudinale de l~animal laitier.

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