14 results about "Milking robot" patented technology

The invention relates to a ruminant methane emission measuring system and method based on a milking robot, and the ruminant methane emission measuring system comprises a gas collection device which is arranged in a feeding trough area of the milking robot and is used for collecting sample gas in real time during the feeding period of ruminants, and the sample gas comprises animal exhaled gas; the gas analysis unit is connected with the gas collection device and is used for synchronously analyzing the concentration of methane and the concentration of carbon dioxide in the sample gas; and the data recording and processing unit is in communication connection with the gas analysis unit and is used for recording gas concentration data and detection time and calculating the daily methane emission amount based on the concentration data and the physiological parameters of the ruminant. According to the method, the milking window of the milking robot is used for measuring the methane emission amount of the dairy cow at the individual level for the first time, the balance of individual measurement record numbers is guaranteed, and automatic, high-throughput, large-scale and continuous monitoring is achieved.

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 milking system that includes milking cups, a milking robot with a robot arm configured to attach each of the milking cups to a respective teat, a sensor that detects two adjacent teats, and a control arrangement communicatively connected to the sensor and the robot arm, where the control arrangement is configured to determine a distance between the two adjacent teats, select one of the two adjacent teats to commence attachment of a first milking cup if the distance fulfils a distance criterion, and generate a command to the robot arm to commence the milking cup attachment to the selected teat.

Provided is a milking robot for dairy cattle, equipped with milking equipment, a robotic arm for attaching the milking equipment, a detection device for determining teat positions, and a control system. The detection device comprises a primary source for emitting broadband light, specifically white light, within a solid angle, and an optical camera for capturing images using the emitted light. The control system is designed to control the emission behavior of said broadband light depending on a criterion, which at least entails that the control system increases the light intensity emitted by the primary source—at least within a part of said solid angle—only at a predetermined minimum ambient light intensity. This prevents the dairy cattle from being disturbed by flashing light in dark conditions.On the other hand, the extra light results in more reliable images if the environment itself is already (somewhat) bright, and the animals are therefore no longer disturbed by it.

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 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.

The present application relates to the technical field of fluid mixing, and discloses a static mixing unit, a mixing assembly and a mixer. The static mixing unit comprises a snail unit, the shape of the snail unit is the same as that of an isosceles trapezoidal plate which is symmetrically and spirally extended at an equal pitch with the symmetric axis as the central axis. The static mixing assembly comprises a plurality of static mixing units which are fixedly connected in sequence and coaxially. The static mixer comprises a mixing pipeline and the static mixing assembly. One end of the mixing pipeline is a main inlet, the other end of the mixing pipeline is an outlet, a secondary inlet is arranged on the mixing pipeline, the static mixing assembly is arranged in the mixing pipeline, and the static mixing assembly is arranged on the side of the secondary inlet away from the main inlet. When injecting fluid, the static mixer reduces the resistance and can generate strong vortex and radial circulation, so that the pressure drop and G value meet the requirements of the online cleaning fluid proportioning system of the milking robot, the cleaning fluid is uniformly mixed, and the mixed and diluted cleaning fluid at the outlet side has sufficient flushing kinetic energy.

The application relates to a terminal actuator for milking and a milking robot, the terminal actuator for milking comprising a base, a traction piece and a support piece, the base being provided with a reversing part; the traction piece forms a U-shaped structure by passing the reversing part, a first end of the traction piece being fixedly provided with a first discrete block, a second end of the traction piece being drivingly connected with a driving piece, the driving piece being installed on the base; the first discrete block is used for installing a milking cup; a first end of the support piece is fixedly provided with a second discrete block, a second end of the support piece being drivingly connected with the driving piece and being fixedly arranged opposite to the second end of the traction piece; the support piece is arranged above the traction piece, and the second discrete block is located between the first discrete block and the support piece; the driving piece is configured to drive the traction piece and the second end of the support piece to synchronously and reciprocatingly move linearly, so that the second discrete block and the first discrete block always oppositely move. The terminal actuator for milking can shorten the time of the milking cup applied to the teat of a milk-producing animal, and can improve the efficiency of the milking operation.

The invention provides a self-adaptive intelligent control system of a milking robot, and relates to the technical field of robots. Comprising an upper computer control unit, a dairy cow identification module, a visual identification module, a mechanical arm motion control module, a sensing monitoring module and a lower relay execution module. The system performs distributed cooperative control based on a robot operating system, each module operates in an independent function node form, and data interaction and state synchronization are realized through an ROS message mechanism. The self-adaptive intelligent adjustment strategy is realized through real-time updating of the point position of the moving target of the manipulator and real-time obstacle avoidance adjustment. A double-route fusion algorithm of visual identification and coordinate calibration is adopted, and real-time tracking and high-precision positioning of a dynamic target (dairy cow nipple) are achieved. According to the control system disclosed by the invention, a closed-loop control logic of'identification-decision-execution-feedback 'is adopted, and an integrated closed-loop process of'identification-cleaning-stimulation-adsorption-milking-disinfection' is constructed.

The present invention relates to an AMS batch milking installation (1) configured to milk groups (2) of dairy animals (3) at fixed milking times. A holding area (4) is configured to receive the groups (2) of dairy animals (3), wherein a set of milking robots (5) is arranged in at least one row that adjoin the holding area (4). An entry gate (7) of each milking robot (5) provides access from the holding area (4) and an exit gate (9) of each milking robot (5) provides access to an exit alley (8) arranged on an opposite side of the milking robots. Each milking robot (5) is configured to detect an incomplete milking of a dairy animal (31), wherein a control unit (10) is configured to provide a notification (11) to an operator of the incomplete milking including an identification (ll1) of the relevant milking robot (5') that has detected the incomplete milking, while retaining the incompletely milked animal (3') in the relevant milking robot (5') for a predetermined time.

The invention relates to the technical field of fluid mixing, and discloses a static mixing unit, a mixing assembly and a mixer.The static mixing unit comprises an oncomelania unit, and the shape of the oncomelania unit is the same as the shape of an isosceles trapezoid plate which spirally extends with the symmetry axis as the center axis at equal pitches; the static mixing assembly comprises a plurality of static mixing units which are sequentially, coaxially and fixedly connected, the static mixer comprises a mixing pipeline and the static mixing assembly, one end of the mixing pipeline is a main inlet, the other end of the mixing pipeline is an outlet, a secondary inlet is formed in the mixing pipeline, and the static mixing assembly is arranged in the mixing pipeline. The static mixing assembly is arranged on the side, away from the main inlet, of the secondary inlet. According to the static mixer, when fluid is injected, resistance is reduced, and strong vortex and radial circulation can be generated, so that the pressure drop and the G value both meet the requirements of an online proportioning system for the cleaning fluid of the milking robot, it is guaranteed that the cleaning fluid is evenly mixed, and the cleaning fluid mixed and diluted on the outlet side has enough flushing kinetic energy.

A milking robot (1) for dairy animals is provided, said milking robot being equipped with milking means (3), a robotic arm (2) for connecting the milking means, a detection device (4) for determining teat positions, and a controller (10). The detection device comprises a first source (16) for the emission of broadband light, in particular white light, into a solid angle and an optical camera (17) for capturing images with the emitted light. The controller is configured to control a behaviour of emission of said broadband light depending on a criterion which at least determines that the controller increases the light intensity emitted by the first source, at least into part of said solid angle, only at a predetermined minimum ambient illumination. This prevents the dairy animals from being disturbed by flickering light in dark conditions. On the other hand, the additional light ensures more reliable images if the environment itself is already (to some extent) light, and the animals are therefore no longer disturbed as a result.

A milking robot (1) for dairy animals is provided, said milking robot being equipped with milking means (3), a robotic arm (2) for connecting the milking means, a detection device (4) for determining teat positions, and a controller (10). The detection device comprises a first source (16) for the emission of broadband light, in particular white light, into a solid angle and an optical camera (17) for capturing images with the emitted light. The controller is configured to control a behaviour of emission of said broadband light depending on a criterion which at least determines that the controller increases the light intensity emitted by the first source, at least into part of said solid angle, only at a predetermined minimum ambient illumination. This prevents the dairy animals from being disturbed by flickering light in dark conditions. On the other hand, the additional light ensures more reliable images if the environment itself is already (to some extent) light, and the animals are therefore no longer disturbed as a result.