Device for positioning the manipulator of robotic plants for pre-milking the udder and milking

摘要

The utility model relates to the field of animal husbandry, in particular to robotic devices used both for pre-milking the udder and for milking animals. The purpose of the utility model is to ensure the positioning of the manipulator of the pre-milking udder, which provides simultaneous processing of all nipples. two spaced apart on opposite sides with respect to the axis of the pre-milking machine udder of a video camera and a computer with software. located at the bottom of the machine and are able to move along its elements, as well as rotate about the vertical axis to find the optimal shooting location. Processing of images obtained from cameras is carried out by computer software. The position of the nipple of the udder is determined by processing two flat images of the udder obtained from cameras. The image processing is based on the characteristics of the optical part of the cameras. The manipulator uses the coordinates determined by the processing of the image received from the cameras and, on a computer command, brings the working body into the work area.