12 results about "Automatic milking" patented technology

The present application relates to the technical field of automatic milking, in particular to a safety control method and system for a milking robot based on equivalent load. The present application solves the technical problem that it is difficult to accurately identify the unexpected physical contact between the mechanical arm and the cow in the process of the mechanical arm performing automatic milking in the prior art. According to the real-time strain data of the support plate and / or the mechanical arm, the present application reversely simulates and calculates the simulation equivalent load of the power output end of the mechanical arm, and according to the real-time load data of the power output end of the mechanical arm, the present application forwardly simulates and calculates the simulation equivalent stress value of the support plate and / or the mechanical arm, and according to the two, the present application jointly determines whether the mechanical arm has the unexpected contact with the body of the cow. When it is determined that the unexpected contact occurs, the present application controls the mechanical arm to stop working or retreat to a preset safety position. The present application can accurately identify whether the mechanical arm has the unexpected contact with the body of the cow, and can realize the quick response to regulate the working state of the mechanical arm.

A controller (100) for an automated milking apparatus (110) acquires an animal's identifier (ID1). Based on the identifier (ID1), the controller (100) retrieves an exposure setting (ID1:xs1) from a data storage (120) selected to capture image data (D) of at least one body part (131, 132, 133, 134) of the animal whose unique identity is reflected by the identifier (ID1). img Using the stored exposure settings (ID1:xs1), the camera (140) captures image data (D) representing at least one body part (131,132,133,134). img The controller (100) is based on image data (D). img The camera (140) uses the exposure settings (ID1:xs1) from the data storage (120) to register image data (D). img At least one first frame of the image data (D). img If at least one region of interest in the image does not meet the image quality standard, the exposure setting (ID1:xs1) for the animal whose unique identity is reflected by the identifier (ID1) is adjusted (ID1:xs1') and stored in the data storage (120) to replace the previously stored exposure setting (ID1:xs1).

An automatic milking device (110) voluntarily head by a dairy animal is controlled by a controller (100) such that milking of the animal (120) is permitted only when a permission condition (MP) is satisfied for the animal (120). Respective points in time (ti, t2, t3) of three consecutive milking rounds of the animal (120) and second and third milk quantities (V2, V3) extruded from the animal (120) in a second milking round and a third milking round are recorded. A first milk production (Pvi) per unit time of the animal (120) within a time interval (I12) between the first and second time points (tT; t2) is determined. It is determined that the animal (120) at the second and third time points (t2; ts) within a time interval (I23) between the first milk production amount (PV2gt) per unit time and the second milk production amount (PV2gt; . A check is made as to whether the first and second milk yields (Pvi, PV2) per unit time satisfy linearity requirements with each other. A permission condition (MP) for the animal (120) for a fourth milking round following the third milking round is set only when the linearity requirement is met such that a time interval (I34) between the third milking round and the fourth milking round must be longer than a time interval (I23) between the second milking round and the third milking round.

A controller controls an automatic milking device for which a dairy animal voluntarily goes such that milking of the animal is permitted only when permission conditions (MP (3), MP (4)) are met for the animal. The permission condition (MP (3), MP (4)) specifies the earliest point in time for which repeated milking is permitted after a previous milking round of the animal. The controller sets a permission condition (MP) based on at least one volume (V2, V3) of milk extruded from the animal during at least one earliest milking round (t2, t3) and, after said earliest point in time, sets an acceptance period (AP) within which the animal should reach the automatic milking device for repeated milking. If the animal has not reached the automatic milking device for repeated milking at the expiration of the acceptance period (AP), the controller triggers a delayed milking alarm (A) of the animal. Upon repeated milking (t4) after expiration of the acceptance period (AP), a volume (V4) of milk extruded from the animal (120) during the repeated milking satisfies linear requirements with respect to a recent earlier milking round of the animal (120), the controller extends the acceptance period (AP) of the animal (120).

The present disclosure provides for compositions and methods for antimicrobial materials for automatic milking systems and dairy applications. In one aspect, the disclosure relates to composite compositions including an antimicrobial agent and a polymer. A non-limiting example of the disclosed antimicrobial agent is one that includes ZnO, and a non-limiting example of the disclosed polymer is one that includes a silicone polymer. The present disclosure also pertains to methods of making the disclosed composite composition, which in some aspects provides for even distribution of ZnO as disclosed herein. The present disclosure also pertains to methods of abrogating or eliminating mastitis in a dairy herd including using a dairy liner in milking operation including a disclosed composite composition. The present disclosure further pertains to products including the disclosed composite composition. In some aspects, the disclosed products include a dairy liner used in a milking operation.

The present application relates to the technical field of automatic milking, in particular to a teat cup control method and device of a milking robot, and provides a teat cup control method and device of a milking robot, which solves the technical problem of low positioning accuracy of automatic teat cup in the prior art and reduces work efficiency. The teat cup control method of the milking robot provided by the present application determines whether the teat cup can be teated by detecting the distance vector between the milking cup and the teated teat during the control of the automatic teat cup, without the need to know the accurate position of the detection equipment, thereby reducing the number of parts that need to be positioned, improving the positioning accuracy between the milking cup and the teated teat, further improving the accuracy of the automatic teat cup, and improving work efficiency.

A kind of milk cup bracket for milking robot and cow udder massage system, including milk cup bracket and cow udder massage system, milk cup bracket includes cow udder massage system receiving table, cow udder massage system receiving table, horizontal plate and milk cup receiving table are horizontally arranged, and one end of horizontal plate is welded with one end of milk cup receiving table, the other end of horizontal plate is welded with cow udder massage system receiving table by connecting vertical plate, ladder hole is opened in cow udder massage system receiving table, and cleaning water gun is installed in ladder hole, milk cup bracket is fixedly installed on the end flange of the mechanical arm of milking robot by horizontal plate and bolt, and cow udder massage system is fixedly installed on the cow udder massage system receiving table of milk cup bracket by bolt.Cleaning and massage are carried out on cow udder before milking, to ensure the safety and health of milking process, and to ensure the quality of milk source;At the same time, automatic milking process is realized, operating cost is saved, and high efficiency of milking process is ensured.

The utility model discloses an automatic milking device for cow breeding, and relates to the technical field of cow breeding, the automatic milking device comprises a first plate body, two pairs of universal wheels are installed at the lower end of the first plate body, a first box body is installed at the upper end of the first plate body, a milk tank clamping assembly is installed at one end of the first box body, and a second box body is installed at the other end of the first box body. A milk tank assembly is clamped on the milk tank clamping assembly, a driving milk sucking assembly is installed in the first box body, a milk sucking part is installed at one end of the driving milk sucking assembly, a second motor is started, and movement of a pair of threaded sleeves is achieved through linkage of a two-way threaded rod and the threaded sleeves; at the moment, the pair of threaded sleeves can be assisted by the sliding rails to achieve limiting movement, so that limiting of the tank body is relieved through the clamping plates to achieve convenient replacement of the tank body, the equipment can be conveniently moved through the universal wheels during milking, and convenient and automatic milking operation of milk is achieved.

The present application relates to the technical field of automatic milking, in particular to a milking robot compliance force control method and system based on digital twinning. The technical problem that the existing technology is difficult to accurately predict the damage to the equipment or the injury to the cows when the automatic cupping device fails, and it is difficult to distinguish the specific equipment that fails. The milking robot compliance force control method based on digital twinning provided by the present application calculates the theoretical tension value of the traction piece, the actual tension value of the traction piece and the estimated contact force applied on the milking cup through forward and reverse simulation, judges whether a failure has occurred according to the three, and adjusts the working state of the mechanical arm according to the failure type. Whether the electronic device fails or the mechanical structure fails, the accuracy of fault judgment can be improved according to the three, thereby improving the operation safety of the milking robot.

A processing method and system for dairy cow restraint components that facilitate automated milking, relating to the field of welding manufacturing technology, includes preparing a vertical rod, end plates, reinforcing plates, and a second new rod of double the length; welding the end plates to both ends of the vertical rod to form a first new rod; placing two first new rods and multiple second new rods on a welding device, positioning the second new rods using a rotating frame with insertion holes, and using adjustable grippers to precisely fit the ends of the two first new rods and the second new rods; after welding the fitted joints, cutting the second new rods along the slit in the middle of the rotating frame, repeating the operation to obtain four components, and selecting two to assemble into an automated milking device. Through structural design optimization of simultaneous assembly and flip welding of dual components, and equipment innovation of clamping, positioning, and integrated cutting, the efficiency and precision problems in the manufacturing of tail pen components are systematically solved, providing a highly reliable, low-cost, standardized component production solution for automated milking equipment.

Camera (140) registers image data (D) representing body parts (131, 132, 133, 134) of the milking animal (130). img At least one first frame. Image data (D) is registered using default exposure and / or ISO settings (xs). img Based on this image data, the controller (100) controls the automatic milking device (110) relative to body parts (131, 132, 133, 134). The controller (100) searches the image data (D) via a search process. img At least one region of interest is defined in at least one first frame of the image data. The search process is configured to detect at least one image object that satisfies at least one size-shape criterion, and the search process is performed in 3D image data. At least one region of interest is defined within the at least one image object that satisfies the at least one size-shape criterion. The controller (100) checks the data in each region of interest within the at least one region of interest to see if it satisfies a quality criterion. If the quality criterion is satisfied, the camera (140) continues to register the image data (D) using the default exposure and / or ISO settings (xs). img If the quality criteria are not met, the controller (100) controls the camera (140) to adjust its exposure and / or ISO settings (xs') so that the subsequently registered image data (D) img It is estimated to meet the quality criteria.

A device for detecting parameters in an automated milking operation of an animal, in particular a cattle, but not limited to a cattle, comprises a juice collection unit (10) comprising two or four teat cups (12) and a corresponding juice line connected to a juice claw (14); the device is provided with a multi-function detector (18) positioned near the animal's breast and within a juice claw (14) within which juice exits from each individual teat.