Dairy cow nipple treatment system and application method

Abstract

A dairy cow nipple processing system comprises a multi-axis robot, a cleaning device, a disinfection device, a brushing device, a massage stimulation device, a milking device, a nipple coating device, a camera and a control system. At least two sets of multi-axis robots, at least two sets of cameras and at least two sets of control systems are provided. The cleaning device, the disinfection device, the brushing device, the massage stimulation device and the milking device are installed at the upper end and the lower end of a supporting plate of one set of multi-axis robots respectively. The nipple coating equipment is installed at the upper end of a supporting plate of the other set of multi-axis robot, a picture acquisition module, a data comparison module and control module application software are installed in the control system, and marking module application software is installed in the PC terminal; the application method of the dairy cow nipple treatment system comprises the five steps. According to the full-automatic milking machine, breast cleaning, disinfecting and brushing drying, massage stimulation and milking and nipple film coating work can be fully automatically completed, the working efficiency is improved, the production cost is saved, and the safety of a milk source and the health of dairy cows are guaranteed.

Description

Technical Field

[0001] The invention relates to the technical field of auxiliary systems and application methods for breeding applications, and in particular to a dairy cow teat processing system and application method. Background Art

[0002] In large-scale dairy farms, in order to improve the efficiency of udder cleaning, disinfection and drying, stimulation, milking and nipple coating (the main functions include preventing mastitis, protecting nipples and preventing bacterial invasion), a large electric drive turntable is generally used to assist the staff to complete the above work. During the specific work, the staff will drive multiple cows one by one into the corresponding multiple isolation frames of the turntable at the entrance, and then the multiple isolation frames will run to the udder cleaning, disinfection and drying, massage stimulation and milking stations (hereinafter referred to as milking stations), and nipple coating stations. The staff at the two stations will clean and disinfect the udders of the cows, brush dry, massage and stimulate, milk and nipple coating, which improves production efficiency.

[0003] Although the existing electric drive turntable combined with manual methods can meet the needs of udder cleaning, disinfection and brushing, stimulation and milking, and teat coating of dairy cows to a certain extent, due to technical limitations, there are still the following technical problems. First, the equipment for udder cleaning, disinfection and brushing, massage stimulation and milking, and teat coating application are all independent structures, which means that the staff need to use the above equipment one by one to complete the corresponding work, which will not only bring inconvenience to the staff, but also increase the production cost and have an adverse effect on work efficiency. Second, manual operation is affected by the staff's experience or lack of work responsibility, and cannot guarantee that the udder cleaning, disinfection and brushing, massage stimulation and milking, and teat coating processes can proceed normally. In other words, it is possible that the udder cleaning, disinfection and brushing do not meet the requirements of the operating specifications, resulting in the quality of the squeezed milk not meeting the required quality, the stimulation and milking do not meet the requirements of the operating specifications, resulting in a reduction in the amount of milk squeezed, the teat coating does not meet the requirements of the operating specifications, and the teats of the cows suffer from papillitis, which has an adverse effect on the healthy milk production of the cows. In summary, it is particularly necessary to provide a system and application method that can intelligently complete the udder cleaning, disinfection and brushing, massage stimulation and milking, as well as teat coating of dairy cows. Summary of the invention

[0004] In order to overcome the disadvantages described in the background technology that humans are required to cooperate with electric drive turntables to complete udder cleaning, disinfection and drying, massage stimulation and milking, and nipple coating of cows in existing large-scale dairy farms, the present invention provides a cow nipple processing system and application method based on two sets of multi-axis robots, which are respectively installed at two stations of the electric drive turntable, and the udder cleaning, disinfection and drying, massage stimulation and milking equipment, as well as nipple coating equipment are respectively integrated and installed on the front ends of the mechanical arms of the two sets of multi-axis robots, and the image data collected by the camera can be used to locate the udder of the cow under the joint action of the artificial intelligence recognition software unit, so that the udder cleaning, disinfection and drying, massage stimulation and milking, and nipple coating can be completed automatically, thereby improving work efficiency, saving production costs, and ensuring the safety of milk sources and the health of dairy cows.

[0005] The technical solution adopted by the present invention to solve its technical problem is: A dairy cow teat processing system, comprising a multi-axis robot, a cleaning device, a disinfection device, a brush drying device, a massage stimulation device, a milking device, a teat coating device, a camera, and a control system; the multi-axis robot, the camera, and the control system are at least two sets respectively, and the front ends of the forearms of the two sets of multi-axis robots are respectively installed with support plates, and the cleaning device, the disinfection device, the brush drying device, the massage stimulation device, and the milking device are respectively installed on the upper and lower ends of the support plate of one set of the multi-axis robots; the teat coating device is installed on the upper end of the support plate of the other set of the multi-axis robot, and the two sets of multi-axis robots Two sets of cameras are respectively installed on the side ends of the electric drive turntable milking station and the teat coating station, the signal output ends of the two sets of cameras and the signal input ends of the two control systems are respectively connected via data cables, and the multi-channel power output ends of the two control systems are respectively electrically connected to the first set of multi-axis robots, cleaning equipment, disinfection equipment, brushing equipment, stimulation equipment, milking equipment, and the power input ends of the second set of multi-axis robots and teat coating equipment; the control system is installed with an image acquisition module, a data comparison module, and a control module application software, and the PC end is installed with a marking module application software.

[0006] Furthermore, the control system is one of a host computer, a computer system, and a PLC.

[0007] Furthermore, the cleaning equipment adopts a water spray cleaner, the disinfection equipment adopts an iodine spray disinfector, the brush drying equipment adopts an electric brush dryer, and the massage stimulation equipment adopts an electric rotating brush head to massage and stimulate the cow's nipples, promote nipple blood circulation and health, and improve the cow's milk production and quality.

[0008] Furthermore, the image acquisition module can collect the orientation data of the electric turntable, dairy cows, cleaning equipment, disinfection equipment, brushing equipment, stimulation equipment, milking equipment, teat coating equipment, and multi-axis robots, and output the processed data to the data comparison module.

[0009] Furthermore, after receiving the data from the image acquisition module, the data comparison module can retrieve the data in the database for comparison, and then output different signals to the control module. The database of the data comparison module stores the data on the correct position of the udders of cleaning equipment, disinfection equipment, brushing equipment, stimulation equipment, milking equipment, teat coating equipment and cows.

[0010] Furthermore, after receiving different control signals output by the data comparison module, the control module can control the movement mode of the forearm of the multi-axis robot, so that in the milking station, the cleaning equipment, disinfection equipment, brushing equipment, stimulation equipment, and milking equipment can contact the cow's udder one by one to complete the cleaning, disinfection, brushing, stimulation, and milking processes. In the nipple coating station, the nipple coating equipment approaches the udder to automatically coat the udder.

[0011] An application method of a dairy cow teat processing system comprises the following steps: S1: based on artificial intelligence deep learning technology, the characteristics of an electric drive turntable, a cleaning device, a disinfection device, a brush drying device, a stimulation device, a milking device, a teat coating device, a multi-axis robot and a cow and its udder position data image are annotated by a labeling module, and at the same time, error position image data corresponding to the above data are provided in a one-to-one ratio, and these data are divided into a training set and a test set according to a certain ratio; S2: based on artificial intelligence deep learning technology, a corresponding artificial intelligence deep learning type is designed for the characteristics of a milking station and an udder coating station; S3: the model is trained with the annotated image data; S4: the empirical model generated on the artificial intelligence platform based on artificial intelligence deep learning is tested with a test set to see if it is correct, and the data generated by the test set is stored in a data comparison module as a comparison data According to; S5: the electric drive turntable drives the cows to stay at the milking station and the teat coating station for a period of time. The image acquisition module collects the position data of the electric drive turntable, the cows, the cleaning equipment, the disinfection equipment, the brushing equipment, the stimulation equipment, the milking equipment, the teat coating equipment, and the multi-axis robot in real time through the camera, and outputs the data to the data comparison module after processing. After receiving the data from the image acquisition module, the data comparison module can call up the data in the database for comparison, and then output different signals to the control module. After receiving the different control signals output by the data comparison module, the control module can control the forearm movement mode of the multi-axis robot, so that in the milking station, the cleaning equipment, the disinfection equipment, the brushing equipment, the stimulation equipment, and the milking equipment can contact the cow's udder one by one to complete the cleaning, disinfection, brushing, stimulation, and milking processes. In the teat coating station, the teat coating equipment approaches the udder to automatically coat the udder.

[0012] Furthermore, in step S1, the larger the accumulated amount of error position picture data is, the better, and the training set and the test set contain both error position picture data and qualified data.

[0013] Furthermore, in step S5, it is possible to adapt to different working environments and individual differences of dairy cows and complete milking and coating work respectively.

[0014] Furthermore, in step S5, when the image acquisition module identifies that there is dirt on the cow's teat, the flow rate and pressure of the cleaning fluid output by the cleaning device can be automatically increased.

[0015] Furthermore, in step S5, when the image acquisition module captures and identifies that the nipple is in an abnormal state or has a disease, an alarm can be issued to remind the staff to conduct manual inspection and treatment.

[0016] Compared with the prior art, the present invention has the following beneficial effects: the present invention is based on two sets of multi-axis robots, the two sets of multi-axis robots and cameras are respectively installed at two stations of the electric drive turntable, and the udder cleaning, disinfection and brushing, massage stimulation and milking equipment, as well as the nipple coating equipment are respectively integrated and installed on the front ends of the mechanical arms of the two sets of multi-axis robots, and the image data collected by the camera can be used to locate the udder of the cow under the joint action of the artificial intelligence recognition software unit, and the udder cleaning, disinfection and brushing, massage stimulation and milking, as well as nipple coating work can be completed automatically, thereby improving work efficiency, saving production costs, and ensuring the safety of milk sources and the health of dairy cows, providing strong support for the development of the dairy farming industry. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0018] Figure 1 The present invention is a schematic diagram of a dairy cow teat processing system.

[0019] Figure 2 The invention discloses an application flow chart of an application method of a dairy cow teat processing system. DETAILED DESCRIPTION

[0020] Figure 1 As shown in, a dairy cow teat processing system includes a multi-axis robot 1, a cleaning device, a disinfection device, a brushing device, a massage stimulation device, a milking device, and a teat coating device, a camera, and a control system; the multi-axis robot, the camera, and the control system are respectively provided in two sets, and a support plate 2 is horizontally installed at the front side end of the forearm of each of the two sets of multi-axis robots; the cleaning device, the disinfection device, and the brushing device are longitudinally distributed and fixed on the upper end of the support plate 2 of one of the multi-axis robots; the massage stimulation device and the milking device are longitudinally distributed and fixed on the lower end of the support plate of one of the multi-axis robots 1; the teat coating device is fixedly installed on the other set of multi-axis The upper end of the robot's support plate, the lower end of the two multi-axis robots and the two cameras are fixedly installed on the side ends of the electric drive turntable milking station and the nipple coating station respectively. The signal output ends of the two cameras and the signal input ends of the two control systems are connected via data cables respectively. The multi-channel power output ends of the two control systems are connected to the first multi-axis robot, cleaning equipment, disinfection equipment, brushing equipment, stimulation equipment, milking equipment, and the power input ends of the second multi-axis robot and nipple coating equipment via wires respectively; the control system is installed with an image acquisition module, a data comparison module, and a control module application software, and the PC is installed with a marking module application software.

[0021] Figure 1As shown in , the control system is one of the upper computer, small computer system, and PLC (the present invention adopts a small computer system). The cleaning equipment adopts a water spray cleaner, etc., the disinfection equipment adopts an iodine spray disinfector, etc., the brushing equipment adopts an electric brush dryer, etc., and the massage stimulation equipment adopts an electric rotating brush head, etc., to massage and stimulate the nipples of dairy cows, promote nipple blood circulation and health, and improve the milk production and quality of dairy cows. The image acquisition module can collect the position data of the electric drive turntable, dairy cows, cleaning equipment, disinfection equipment, brushing equipment, stimulation equipment, milking equipment, teat coating equipment, and multi-axis robot, and output the data to the data comparison module after processing. After receiving the data from the image acquisition module, the data comparison module can call up the data in its own database for comparison, and then output different signals to the control module. The database of the data comparison module stores the correct position data of the udders between the cleaning equipment, disinfection equipment, brushing equipment, stimulation equipment, milking equipment, teat coating equipment, and dairy cows. After receiving different control signals output by the data comparison module, the control module can control the movement mode of the forearm of the multi-axis robot, so that in the milking station, the cleaning equipment, disinfection equipment, brushing and drying equipment, stimulation equipment, and milking equipment can contact the cow's udder one by one to complete the cleaning, disinfection, brushing and drying, stimulation, and milking processes. In the nipple coating station, the coating equipment contacts the cow's udder to automatically coat the cow's udder.

[0022] Figure 1 , 2As shown, an application method of a dairy cow teat processing system includes the following steps: Step 1: In a PC, the electric drive turntable, cleaning equipment, disinfection equipment, brush drying equipment, stimulation equipment, milking equipment, teat coating equipment, multi-axis robot and cow and its udder position data image features are labeled based on artificial intelligence deep learning technology, and the data are labeled by a labeling module, and the image data such as the error position corresponding to the above data are matched, and the data are divided into a training set and a test set according to a certain ratio; the larger the accumulated number of error position image data, the better (more data can better ensure that the relevant equipment can work close to the teat one by one stably and reliably), and the training set and the test set have both error position image data and qualified data. Step 2: Based on artificial intelligence deep learning technology, the corresponding artificial intelligence deep learning type is designed for the characteristics of milking stations and udder coating stations. Step 3: The model is trained with the labeled image data. Step 4: The test set is used to test whether the empirical model generated on the artificial intelligence platform based on artificial intelligence deep learning is correct, and the data generated by the test set is imported into the control system data comparison module as comparison data. Step 5: During actual work, the electric drive turntable drives the cows to stay at the milking station and the teat coating station for a period of time. The image acquisition module collects the azimuth angle data of the electric drive turntable, cows, cleaning equipment, disinfection equipment, brush drying equipment, stimulation equipment, milking equipment, teat coating equipment, and multi-axis robot in real time through the camera, and outputs the data to the data comparison module after processing. After receiving the data from the image acquisition module, the data comparison module can call up the data in its own database for comparison, and then output different signals to the control module. After receiving the different control signals output by the data comparison module, the control module can control the forearm movement mode of the multi-axis robot. , so that in the milking station, the cleaning equipment, disinfection equipment, brushing equipment, stimulation equipment, and milking equipment can contact the cow's udder one by one to complete the cleaning, disinfection, brushing, stimulation, and milking processes. In the nipple coating station, the nipple coating equipment contacts the udder to automatically coat the cow's udder; it can adapt to different working environments and individual differences of dairy cows, and complete milking and coating work respectively. When the image acquisition module collects and recognizes that there is dirt on the cow's nipple, it can automatically increase the flow rate and pressure of the cleaning fluid output by the cleaning equipment. When the image acquisition module collects and recognizes that the nipple is in an abnormal state or has a disease, it can issue an alarm to remind the staff to conduct manual inspection and treatment.

[0023] Figure 1 , 2As shown, the present invention is based on two sets of multi-axis robots. The two sets of multi-axis robots and cameras are respectively installed at two stations of the electric drive turntable. The breast cleaning, disinfection and brushing, massage stimulation and milking equipment, as well as the nipple coating equipment, are respectively integrated and installed on the front side ends of the mechanical arms of the two sets of multi-axis robots. The equipment is compact and the operation and maintenance are more convenient. Combined with artificial intelligence recognition and control technology, the breasts of different cows can be located through the image data collected by the camera, and the breast cleaning, disinfection and brushing, massage stimulation and milking, as well as nipple coating can be completed automatically (the six-axis robot can work continuously, which greatly improves the efficiency of the electric drive turntable. The fastest operation speed of each station can reach 6.2S / cow), realizing the comprehensive monitoring and management of the dairy cow breeding process and improving the breeding efficiency and quality. Specifically, in the present invention, during the cleaning and disinfection process, the multi-axis robot can adjust the angle and distance between the cleaning and disinfection nozzle and the nipple according to the shape and size of the nipple, and can ensure that the cleaning liquid and the liquid medicine can evenly cover the nipple surface, achieve good cleaning and disinfection effects, reduce the incidence of cow diseases, and improve the health level of cows (and ensure the quality of milk sources). During the massage and stimulation process, the multi-axis robot can adjust the massage speed frequency according to the position of the nipple to improve the comfort of the cow, and massage and stimulation (adjustable massage and stimulation frequency) can promote the blood circulation of the cow's nipple, enhance the resistance of the nipple, further reduce the risk of disease, and avoid the occurrence of milking double peaks. In the processes of milking and coating, the database can also collect and analyze the data in the nursing process to provide decision-making basis for ranch managers. For example, by analyzing the use of the medicinal bath solution and the reaction of the cow, the nursing plan can be optimized and the nursing effect can be improved; by monitoring the health status of the cow, the hidden dangers of disease can be discovered in time and corresponding preventive measures can be taken. In summary, the present invention improves work efficiency, saves production costs, and ensures the safety of milk sources and the health of dairy cows, providing strong support for the development of the dairy cow breeding industry.

[0024] The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. It is obvious to those skilled in the art that the present invention is limited to the details of the above exemplary embodiments, and the present invention can be implemented in other specific forms without departing from the spirit or basic characteristics of the present invention. Therefore, no matter from which point of view, the embodiments should be regarded as exemplary and non-restrictive. The scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims are included in the present invention. Any figure mark in the claims should not be regarded as limiting the claim involved.

[0025] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in the embodiments may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A dairy cow teat processing system, comprising a multi-axis robot, a cleaning device, a disinfection device, a brush drying device, a massage stimulation device, a milking device, a teat coating device, a camera, and a control system; characterized in that: There are at least two sets of multi-axis robots, cameras, and control systems, and support plates are installed at the front ends of the forearms of the two sets of multi-axis robots, respectively. The cleaning equipment, disinfection equipment, brushing equipment, massage stimulation equipment, and milking equipment are installed at the upper and lower ends of the support plate of one of the multi-axis robots, respectively; the nipple coating equipment is installed at the upper end of the support plate of the other multi-axis robot, and the two sets of multi-axis robots and the two sets of cameras are installed at the side ends of the electric drive turntable milking station and the nipple coating station, respectively. The signal output ends of the two sets of cameras are connected to the signal input ends of the two control systems via data cables, and the multi-channel power output ends of the two control systems are electrically connected to the power input ends of the first multi-axis robot, the cleaning equipment, the disinfection equipment, the brushing equipment, the stimulation equipment, the milking equipment, and the second multi-axis robot and the nipple coating equipment, respectively; the control system is installed with a picture acquisition module, a data comparison module, and a control module application software, and the PC end is installed with a marking module application software.

2. A dairy cow teat treatment system according to claim 1, characterized in that: The control system is a type of host computer, computer system, or PLC.

3. A dairy cow teat treatment system according to claim 1, characterized in that: The cleaning equipment uses a water spray cleaner, the disinfection equipment uses an iodine spray disinfector, the brush drying equipment uses a brush dryer, and the massage stimulation equipment uses an electric rotating brush head to massage and stimulate the cow's nipples, promote nipple blood circulation and health, and improve the cow's milk production and quality.

4. A dairy cow teat treatment system according to claim 1, characterized in that: The image acquisition module can collect the position data of the electric turntable, dairy cows, cleaning equipment, disinfection equipment, brush drying equipment, stimulation equipment, milking equipment, teat coating equipment, and multi-axis robots, and output the processed data to the data comparison module.

5. A dairy cow teat treatment system according to claim 1, characterized in that: After receiving the data from the image acquisition module, the data comparison module can retrieve the data in the database for comparison, and then output different signals to the control module. The database of the data comparison module stores the data on the correct position of the udders of cleaning equipment, disinfection equipment, brushing equipment, stimulation equipment, milking equipment, teat coating equipment and cows.

6. A dairy cow teat treatment system according to claim 1, characterized in that: After receiving different control signals output by the data comparison module, the control module can control the movement mode of the forearm of the multi-axis robot, so that in the milking station, the cleaning equipment, disinfection equipment, brushing and drying equipment, stimulation equipment, and milking equipment can contact the cow's udder one by one to complete the cleaning, disinfection, brushing and drying, stimulation, and milking processes. In the teat coating station, the teat coating equipment approaches the udder to automatically coat the udder.

7. The application method of a dairy cow teat processing system according to any one of requirements 1 to 6 comprises the following steps: S1: based on artificial intelligence deep learning technology, the characteristics of the electric drive turntable, cleaning equipment, disinfection equipment, brush drying equipment, stimulation equipment, milking equipment, teat coating equipment, multi-axis robot and the characteristics of the cow and its udder position data image are annotated by a marking module, and at the same time, error position image data corresponding to the above data in a one-to-one ratio are provided, and these data are divided into a training set and a test set according to a certain ratio: S2: based on artificial intelligence deep learning technology, a corresponding artificial intelligence deep learning type is designed for the characteristics of the milking station and the udder coating station; S3: the model is trained with the annotated image data; S4: the empirical model generated on the artificial intelligence platform based on artificial intelligence deep learning is tested with a test set to see if it is correct, and the data generated by the test set is stored in a data comparison Module as comparison data; S5: the electric drive turntable drives the cows to stay in the milking station and the teat coating station for a period of time. The image acquisition module collects the position data of the electric drive turntable, the cows, the cleaning equipment, the disinfection equipment, the brushing equipment, the stimulation equipment, the milking equipment, the teat coating equipment, and the multi-axis robot in real time through the camera, and outputs the data to the data comparison module after processing. After the data comparison module receives the data from the image acquisition module, it can call up the data in the database for comparison, and then output different signals to the control module. After receiving the different control signals output by the data comparison module, the control module can control the forearm movement mode of the multi-axis robot, so that in the milking station, the cleaning equipment, the disinfection equipment, the brushing equipment, the stimulation equipment, and the milking equipment can contact the cow's udder one by one to complete the cleaning, disinfection, brushing, stimulation, and milking processes. In the teat coating station, the teat coating equipment approaches the udder to automatically coat the udder.

8. According to the application method of the cow teat processing system described in claim 7, in step S1, the larger the accumulated amount of error position image data, the better, and the training set and the test set have both error position image data and qualified data.

9. According to the application method of the dairy cow teat treatment system described in claim 7, in step S5, it can adapt to different working environments and individual differences of dairy cows to complete milking and coating work respectively.

10. According to the application method of the cow teat treatment system described in claim 7, in step S5, when the image acquisition module captures and recognizes that there is dirt on the cow's teat, it can automatically increase the flow rate and pressure of the cleaning liquid output by the cleaning equipment; when the image acquisition module captures and recognizes that the state of the teat is abnormal or there is a disease, it can issue an alarm to remind the staff to conduct manual inspection and treatment.

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