DE68928489D1 - Vorrichtung zum Positionieren eines Tieres, Terminal für ein automatisches Melksystem und Verfahren zum automatischen Melken eines Tieres - Google Patents
Vorrichtung zum Positionieren eines Tieres, Terminal für ein automatisches Melksystem und Verfahren zum automatischen Melken eines TieresInfo
- Publication number
- DE68928489D1 DE68928489D1 DE68928489T DE68928489T DE68928489D1 DE 68928489 D1 DE68928489 D1 DE 68928489D1 DE 68928489 T DE68928489 T DE 68928489T DE 68928489 T DE68928489 T DE 68928489T DE 68928489 D1 DE68928489 D1 DE 68928489D1
- Authority
- DE
- Germany
- Prior art keywords
- animal
- positioning
- terminal
- milking
- automatically
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01J—MANUFACTURE OF DAIRY PRODUCTS
- A01J5/00—Milking machines or devices
- A01J5/017—Automatic attaching or detaching of clusters
- A01J5/0175—Attaching of clusters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/026—Acoustical sensing devices
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
- G01S15/42—Simultaneous measurement of distance and other co-ordinates
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/66—Sonar tracking systems
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/87—Combinations of sonar systems
- G01S15/876—Combination of several spaced transmitters or receivers of known location for determining the position of a transponder or a reflector
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
-
- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10K—SOUND-PRODUCING DEVICES; METHODS OR DEVICES FOR PROTECTING AGAINST, OR FOR DAMPING, NOISE OR OTHER ACOUSTIC WAVES IN GENERAL; ACOUSTICS NOT OTHERWISE PROVIDED FOR
- G10K11/00—Methods or devices for transmitting, conducting or directing sound in general; Methods or devices for protecting against, or for damping, noise or other acoustic waves in general
- G10K11/18—Methods or devices for transmitting, conducting or directing sound
- G10K11/26—Sound-focusing or directing, e.g. scanning
- G10K11/28—Sound-focusing or directing, e.g. scanning using reflection, e.g. parabolic reflectors
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Computer Networks & Wireless Communication (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Multimedia (AREA)
- Animal Husbandry (AREA)
- Environmental Sciences (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
- Length Measuring Devices Characterised By Use Of Acoustic Means (AREA)
- Manipulator (AREA)
- Investigating Or Analyzing Materials By The Use Of Ultrasonic Waves (AREA)
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
NL8800042A NL8800042A (nl) | 1988-01-08 | 1988-01-08 | Ultrasone detector voor een automatische melkinrichting. |
NL8800272A NL8800272A (nl) | 1988-02-04 | 1988-02-04 | Werkwijze voor het met behulp van een robot zoeken en/of volgen van een bewegend voorwerp, robotsysteem gebruikmakend van deze werkwijze en robotsysteem voor het automatisch melken van een vrouwelijk zoogdier. |
NL8801785A NL8801785A (nl) | 1988-07-13 | 1988-07-13 | Ultrasone sensoreenheid en melkstel voorzien van een centrale ultrasone sensoreenheid. |
Publications (2)
Publication Number | Publication Date |
---|---|
DE68928489D1 true DE68928489D1 (de) | 1998-01-22 |
DE68928489T2 DE68928489T2 (de) | 1998-04-02 |
Family
ID=27352191
Family Applications (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE68928724T Expired - Lifetime DE68928724T2 (de) | 1988-01-08 | 1989-01-06 | Verfahren und Robotsystem zum Suchen eines bewegenden Objekts |
DE68928489T Expired - Lifetime DE68928489T2 (de) | 1988-01-08 | 1989-01-06 | Vorrichtung zum Positionieren eines Tieres, Terminal für ein automatisches Melksystem und Verfahren zum automatischen Melken eines Tieres |
Family Applications Before (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE68928724T Expired - Lifetime DE68928724T2 (de) | 1988-01-08 | 1989-01-06 | Verfahren und Robotsystem zum Suchen eines bewegenden Objekts |
Country Status (5)
Country | Link |
---|---|
US (4) | US5020477A (de) |
EP (4) | EP0439239B1 (de) |
JP (1) | JP3119359B2 (de) |
DE (2) | DE68928724T2 (de) |
DK (1) | DK7489A (de) |
Families Citing this family (106)
Publication number | Priority date | Publication date | Assignee | Title |
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NL8802332A (nl) * | 1988-09-21 | 1990-04-17 | Lely Nv C Van Der | Inrichting voor het melken van een dier. |
DE3938077C2 (de) * | 1989-11-16 | 2000-12-07 | Westfalia Landtechnik Gmbh | Verfahren und Vorrichtung zum Orten von automatisch zu melkenden Zitzen |
NL9200051A (nl) * | 1992-01-13 | 1993-08-02 | Prolion Bv | Automatische melkinrichting. |
NL9100992A (nl) * | 1991-06-10 | 1993-01-04 | Lely Nv C Van Der | Inrichting voor het melken van dieren. |
AU664282B2 (en) * | 1992-06-25 | 1995-11-09 | Lely Patent N.V. | A construction for automatically milking animals, such as cows |
NL9201127A (nl) * | 1992-06-25 | 1994-01-17 | Lely Nv C Van Der | Inrichting voor het automatisch melken van dieren, zoals koeien. |
NL9300443A (nl) * | 1993-03-11 | 1994-10-03 | Prolion Bv | Werkwijze en inrichting voor het bewaken van dierfuncties. |
NL9300578A (nl) * | 1993-04-01 | 1994-11-01 | Texas Industries Inc | Inrichting voor het automatisch melken van dieren. |
NL9301099A (nl) * | 1993-06-24 | 1995-01-16 | Texas Industries Inc | Inrichting voor het automatisch melken van dieren. |
SE509504C2 (sv) * | 1993-09-16 | 1999-02-01 | Alfa Laval Agri Ab | Automatisk mjölkningsorgansavtagare |
EP0700245B1 (de) * | 1994-03-25 | 2002-01-09 | Maasland N.V. | Konstruktion mit einem gerät zum melken von tieren |
NL9401113A (nl) * | 1994-07-04 | 1996-02-01 | Maasland Nv | Constructie met een inrichting voor het automatisch melken van dieren. |
US5743209A (en) * | 1994-08-01 | 1998-04-28 | La Federation Francaise De Controle Laitier (F.F.C.L.) | System and method for monitoring and controlling milk production at dairy farms |
DE69533416T2 (de) * | 1994-12-09 | 2005-09-08 | Maasland N.V. | Anlage zum Melken von Tieren |
SE9404539D0 (sv) * | 1994-12-28 | 1994-12-28 | Tetra Laval Holdings & Finance | Apparatus and method for monitoring animals |
NL1000010C2 (nl) * | 1995-04-03 | 1996-10-04 | Maasland Nv | Werkwijze voor het positioneren van voor het automatisch melken benodigde middelen onder de uier van een dier, alsmede inrichting waarin deze werkwijze kan worden toegepast. |
DE19523676A1 (de) * | 1995-07-03 | 1997-01-16 | Duevelsdorf & Sohn Gmbh & Co K | Verfahren zum Orten eines Objektes |
SE9503588D0 (sv) * | 1995-10-13 | 1995-10-13 | Tetra Laval Holdings & Finance | A method of milking and a milking apparatus |
SE9503792D0 (sv) * | 1995-10-27 | 1995-10-27 | Tetra Laval Holdings & Finance | Teat location for milking |
SE9503793D0 (sv) * | 1995-10-27 | 1995-10-27 | Tetra Laval Holdings & Finance | An apparatus for moving an animal related means and a method therefor |
NL1001912C2 (nl) * | 1995-12-15 | 1997-06-17 | Maasland Nv | Inrichting voor het melken van dieren. |
NL1004406C2 (nl) * | 1996-08-01 | 1998-02-05 | Maasland Nv | Inrichting voor het automatisch melken van dieren. |
SE9604052D0 (sv) * | 1996-11-05 | 1996-11-05 | Alfa Laval Agri Ab | An apparatus for and a method of positioning an animal |
NL1004922C2 (nl) * | 1996-12-31 | 1998-07-01 | Prolion Bv | Inrichting en werkwijze voor het melken van dieren. |
SE9701231D0 (sv) * | 1997-04-04 | 1997-04-04 | Alfa Laval Agri Ab | Apparatus and method for recognising and determining the position of part of an animal |
SE9701547D0 (sv) * | 1997-04-23 | 1997-04-23 | Alfa Laval Agri Ab | Apparatus and method for recognising and determining the positon of a part of an animal |
AU1267499A (en) * | 1997-11-14 | 1999-06-07 | Delaval Holding Ab | An apparatus for performing an animal related operation |
US6089242A (en) * | 1998-02-10 | 2000-07-18 | Babson Bros. Co. | Dairy harvesting facility wash system |
US5974345A (en) * | 1998-02-10 | 1999-10-26 | Babson Bros. Co. | Dairy chemical dispensing system |
NL1009631C2 (nl) * | 1998-07-13 | 2000-01-17 | Gascoigne Melotte Bv | Inrichting en werkwijze voor het melken van een dier. |
AU1440800A (en) * | 1998-09-29 | 2000-04-17 | Babson Bros. Co. | Central dairy system control cabinet |
DE19901241A1 (de) * | 1999-01-14 | 2000-07-20 | Westfalia Landtechnik Gmbh | Vorrichtung zum Ansetzen wenigstens eines Melkbechers an eine Zitze eines Tieres |
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US6443094B1 (en) * | 1999-12-10 | 2002-09-03 | Dewaard Dave | Method and apparatus for cleaning the udder of a cow |
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NL1020783C2 (nl) * | 2002-06-06 | 2003-12-09 | Lely Entpr Ag | Werkwijze en inrichting voor het automatisch melken van een dier. |
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US4654834A (en) * | 1983-05-19 | 1987-03-31 | Dorr John A | Weatherproofed ultrasonic transducer assembly and systems incorporating same |
US4530077A (en) * | 1983-05-19 | 1985-07-16 | Xecutek Corporation | Efficient low cost transducer system |
US4627291A (en) * | 1983-06-06 | 1986-12-09 | Matsushita Electric Industrial Co., Ltd. | Position sensing apparatus for an object to be measured |
NL8304498A (nl) * | 1983-12-30 | 1985-07-16 | Ir Roelof Geert Middel En Rink | Inrichting voor het melken van vee en werkwijze voor het bedrijven van een dergelijke inrichting. |
SU1175404A1 (ru) * | 1984-03-28 | 1985-08-30 | Головное Специализированное Конструкторское Бюро По Комплексу Машин Для Ферм Крупного Рогатого Скота | Решетка навозного канала |
US4620285A (en) * | 1984-04-24 | 1986-10-28 | Heath Company | Sonar ranging/light detection system for use in a robot |
FR2565094B1 (fr) * | 1984-06-01 | 1988-07-15 | Synthelabo | Sonde d'echographie a miroir oscillant de focalisation |
EP0194729B1 (de) * | 1985-03-12 | 1989-12-20 | C. van der Lely N.V. | Gerät zum Melken von Tieren |
SU1323063A1 (ru) * | 1985-04-03 | 1987-07-15 | Всесоюзный научно-исследовательский институт электрификации сельского хозяйства | Устройство дл контрол прохождени коров в заданной зоне и дезинфекции вымени животных |
US4815046A (en) * | 1985-04-29 | 1989-03-21 | Xecutek Corporation | Ultrasonic sensor system |
US4639878A (en) * | 1985-06-04 | 1987-01-27 | Gmf Robotics Corporation | Method and system for automatically determining the position and attitude of an object |
NL8502039A (nl) * | 1985-07-16 | 1987-02-16 | Nedap Nv | Inrichting voor het automatisch aanbrengen van een melkstel. |
NL8502434A (nl) * | 1985-09-04 | 1987-04-01 | Multinorm Bv | Melkinrichting. |
NL8503580A (nl) * | 1985-12-27 | 1987-07-16 | Multinorm Bv | Systeem voor het besturen van een orgaan voor het volgen van een bewegend object. |
NL8600076A (nl) * | 1986-01-16 | 1987-08-17 | Lely Nv C Van Der | Werkwijze en inrichting voor het melken van een dier. |
FR2595197B1 (fr) * | 1986-03-07 | 1988-11-18 | Cemagref | Installation de traite automatique |
EP0258938B2 (de) * | 1986-08-27 | 1999-09-15 | Maasland N.V. | Gerät zum Melken von Tieren |
NL193715C (nl) * | 1987-07-23 | 2000-08-04 | Lely Nv C Van Der | Inrichting voor het melken van een dier. |
US4907169A (en) * | 1987-09-30 | 1990-03-06 | International Technical Associates | Adaptive tracking vision and guidance system |
US4942538A (en) * | 1988-01-05 | 1990-07-17 | Spar Aerospace Limited | Telerobotic tracker |
US4941433A (en) * | 1988-05-23 | 1990-07-17 | Agri-Automation Company, Ltd. | Milking method and related apparatus |
-
1989
- 1989-01-06 EP EP91200695A patent/EP0439239B1/de not_active Expired - Lifetime
- 1989-01-06 DE DE68928724T patent/DE68928724T2/de not_active Expired - Lifetime
- 1989-01-06 EP EP91200696A patent/EP0440313B1/de not_active Expired - Lifetime
- 1989-01-06 EP EP89200035A patent/EP0323875A3/de not_active Withdrawn
- 1989-01-06 DE DE68928489T patent/DE68928489T2/de not_active Expired - Lifetime
- 1989-01-06 EP EP94201682A patent/EP0619941A3/de not_active Withdrawn
- 1989-01-09 DK DK007489A patent/DK7489A/da not_active Application Discontinuation
- 1989-01-09 JP JP01004566A patent/JP3119359B2/ja not_active Expired - Fee Related
- 1989-01-09 US US07/294,794 patent/US5020477A/en not_active Expired - Lifetime
-
1990
- 1990-12-11 US US07/625,357 patent/US5056466A/en not_active Expired - Lifetime
-
1993
- 1993-06-25 US US08/085,687 patent/US5379721A/en not_active Expired - Lifetime
-
1995
- 1995-01-10 US US08/370,317 patent/US5524572A/en not_active Expired - Lifetime
Also Published As
Publication number | Publication date |
---|---|
DK7489D0 (da) | 1989-01-09 |
DE68928489T2 (de) | 1998-04-02 |
US5524572A (en) | 1996-06-11 |
JPH0223823A (ja) | 1990-01-26 |
JP3119359B2 (ja) | 2000-12-18 |
US5056466A (en) | 1991-10-15 |
US5379721A (en) | 1995-01-10 |
EP0439239A1 (de) | 1991-07-31 |
EP0619941A3 (de) | 1994-12-14 |
DK7489A (da) | 1989-07-09 |
DE68928724D1 (de) | 1998-08-06 |
EP0619941A2 (de) | 1994-10-19 |
US5020477A (en) | 1991-06-04 |
EP0440313A3 (en) | 1991-12-27 |
DE68928724T2 (de) | 1998-11-05 |
EP0440313B1 (de) | 1997-12-10 |
EP0323875A2 (de) | 1989-07-12 |
EP0439239B1 (de) | 1998-07-01 |
EP0323875A3 (de) | 1989-11-15 |
EP0440313A2 (de) | 1991-08-07 |
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