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公开(公告)号：EP2953448B1
公开(公告)日：2017-03-22
申请号：EP14706136.0
申请日：2014-02-05
申请人： DeLaval Holding AB
CPC分类号： A01J7/04 , A01J5/0175
摘要： An automatic teat treatment method and apparatus uses a control system and an associated robot apparatus with an arm that carries a treatment apparatus, to establish a treatment operation start time and establish the presence of an animal at a treatment location, and then (i) initiate detection of a spatial teat position of a first teat, (ii) register the spatial position, (iii) derive a dedicated teat-treating action, (iv) carry out the teat-treating action, and (v) successively repeat the initiating, registering, deriving, and treating steps once in respect of each teat until all teats are treated, where, when after the start time, a predefined point in time is passed before any of the preceding steps is completed, the method is interrupted and a default treating action for treating all remaining untreated teats is derived and carried out by the treatment apparatus and thereafter the robot arm is retracted.
摘要翻译： 一种自动奶嘴处理方法和设备使用带有臂的控制系统和相关的机器人设备，该臂携带处理设备，建立处理操作开始时间并在处理位置建立动物的存在，然后（i）启动 （ii）注册空间位置，（iii）导出专用的奶头处理动作，（iv）执行奶头处理动作，以及（v）连续地重复初始的奶头位置， 注册，导出和处理关于每个奶嘴一次的步骤，直到对所有奶嘴进行处理，其中，在开始时间之后，在任何前述步骤完成之前通过预定时间点，则该方法被中断，并且默认 处理所有其余的未经处理的奶头的治疗动作由治疗设备导出和执行，此后机器人手臂缩回。
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公开(公告)号：EP2953448A1
公开(公告)日：2015-12-16
申请号：EP14706136.0
申请日：2014-02-05
申请人： DeLaval Holding AB
CPC分类号： A01J7/04 , A01J5/0175
摘要： An automatic teat treatment method and apparatus uses a control system and an associated robot apparatus with an arm that carries a treatment apparatus, to establish a treatment operation start time and establish the presence of an animal at a treatment location, and then (i) initiate detection of a spatial teat position of a first teat, (ii) register the spatial position, (iii) derive a dedicated teat-treating action, (iv) carry out the teat-treating action, and (v) successively repeat the initiating, registering, deriving, and treating steps once in respect of each teat until all teats are treated, where, when after the start time, a predefined point in time is passed before any of the preceding steps is completed, the method is interrupted and a default treating action for treating all remaining untreated teats is derived and carried out by the treatment apparatus and thereafter the robot arm is retracted.
摘要翻译： 一种自动乳头治疗方法和装置使用具有手臂的控制系统和相关联的机器人装置，所述手臂携带治疗装置，建立治疗操作开始时间并在治疗位置建立动物的存在，然后（i）启动 检测第一乳头的空间乳头位置，（ii）记录空间位置，（iii）导出专门的乳头处理动作，（iv）进行乳头处理动作，以及（v）连续地重复发起， 注册，导出和处理每个奶头一次，直到所有乳头被治疗，其中何时在开始时间之后，在任何前述步骤完成之前传递预定义的时间点，该方法被中断并且默认 用于处理所有剩余的未处理的乳头的处理动作由处理装置导出并执行，之后机器人手臂缩回。
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公开(公告)号：EP2953449B1
公开(公告)日：2017-03-22
申请号：EP14706137.8
申请日：2014-02-05
申请人： DeLaval Holding AB
CPC分类号： A01J7/04 , A01J5/0175 , A01K13/001 , B25J9/1664 , B25J9/1697 , Y10S901/09
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公开(公告)号：EP2953449A1
公开(公告)日：2015-12-16
申请号：EP14706137.8
申请日：2014-02-05
申请人： DeLaval Holding AB
CPC分类号： A01J7/04 , A01J5/0175 , A01K13/001 , B25J9/1664 , B25J9/1697 , Y10S901/09
摘要： Automatic teat treatment method and apparatus for carrying out a pre-or post-treatment operation on the teats of an individual dairy animal using a robot apparatus (1) with a control system (5) which robot is capable of carrying a teat treating device (12) on an arm (10) thereof, the method comprising the steps of initiating automatic detection of all the spatial teat positions of all n said teats of and individual animal at a pre-or posttreatment location and registering the spatial positions of all of the detected individual animal's teats; and deriving a dedicated treating action effective to move the treating device through a dedicated path defined by the registered spatial teat positions and initiating and carrying out the treating by movement of the treating device through the dedicated path. If not all of the relevant spatial positions of all animal's teats are detected, then said method comprises the steps of either: registering the spatial position of each of the detected teats and deriving an adapted treating action effective to move the treating device through an adapted path defined by the registered spatial teat positions and by approximated spatial locations in lieu of the undetected teat positions, or, where no teat spatial positions have been detected: deriving a default treating action effective to move the treating device through a default treating path.
摘要翻译： 一种自动奶嘴处理方法和设备，用于使用具有控制系统（5）的机器人设备（1）对单个乳品动物的奶头进行预处理或后处理操作，所述控制系统（5）能够携带奶头处理设备 所述方法包括以下步骤：在治疗前或治疗后位置开始自动检测所有n个所述奶头和个体动物的全部空间奶头位置，并将所有奶嘴的空间位置 检测到个别动物的乳头; 并且导出专用处理动作，该处理动作有效地使处理装置移动通过由所记录的空间奶头位置限定的专用路径，并且通过处理装置通过专用路径的移动来启动和执行处理。 如果不是所有动物乳头的相关空间位置都被检测到，则所述方法包括以下步骤：登记每个检测到的乳头的空间位置，并导出适合的治疗动作，以有效地将治疗装置移动通过适应的路径 由已记录的空间探测位置和通过代替尚未探测到的探测位置的近似空间位置定义，或者在没有探测到空间探测位置的情况下：导出有效地使处理装置移动通过默认处理路径的默认处理动作。
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