公开(公告)号：US20150366156A1

公开(公告)日：2015-12-24

申请号：US14764590

申请日：2014-02-05

Applicant: DeLaval Holding AB

Inventor： Kerstin HOLMSTRÖM ,  Henrik OLANDER

IPC: A01J7/04

CPC classification number: A01J7/04 ,  A01J5/0175

Abstract: 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.

Abstract translation: 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）进行奶头处理动作，和（v）连续地重复发起， 注册，推导和处理关于每个奶头的步骤，直到所有奶头被处理，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，该方法被中断并且是默认的 用于处理所有剩余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。