Abstract:
A device for determining the spatial position of an animal&#39;s teat having a first transmitter element for emitting a first ray or beam of rays in a first sub-area of a space which includes the presence of the teat, and a second transmitter element differing from the first transmitter element for emitting a second ray or beam of rays in a second sub-area in such space, the first sub-area and the second sub-area overlapping by a few degrees where the join. A first receiver element receives a reflection of the first ray or beam of rays and a second receiver element differing from the first receiver element receives a reflection of a second ray or beam of rays. A mirror having reflections or both of the rays or beams of rays from the transmitter elements. At least three of the reflective sides of the mirror have different angles relative to the axis of rotation so that the teat is essentially simultaneously detected at different levels, the location of the teat in general and its disposition at the different levels being determined by triangulation.

Description:
FIELD OF THE INVENTION 
     The invention relates to a device for determining the spatial position of a teat of an animal. 
     BACKGROUND OF THE INVENTION 
     Such a device is known from the International Patent Application No. 98/00460, of Fransen et al, published Feb. 25, 1999, WO 99/09430, and its equivalent U.S. Pat. No. 6,118,118, of Van der Lely et al, which issued Sep. 12, 2000. although this device functions satisfactorily and is adapted to determine highly accurately the position of a teat, in some cases, such as for tilting teats, it appears to be desirable to improve the determination of the position. 
     SUMMARY OF THE INVENTION 
     It is an object of the invention to provide a device for determining the spatial position of a teat of an animal, said device enabling an improved determination of the position. 
     For that purpose, according to a first aspect of the invention, a device for determining the spatial position of a teat animal which comprises a transmitted element for transmitting a first ray or beam of rays in a first sub-area of space and a further transmitter element for emitting a second ray or beam of rays to a second sub-area of space, a first receiver to receive a reflection of the first ray or beam of rays, a second receiver element arranged to receive a reflection of the second ray or beam of rays, a mirror that rotates about an axis of rotation for directing the ray or beam of rays from each transmittal element in a relevant plane of the relevant sub-area of space for directing a ray or beam of rays from the relevant receiver element, or doing both, and means for directing the ray or beam or rays from each transmittal element in at least two spaced-apart relevant position determination surfaces of the relevant sub-area of space. 
     Because at least two spaced-apart position determination surfaces, a more accurate determination of the position is possible due to the fact that there is also obtained a determination of the position in height of the teat, so that tilt of the teat can be determined. 
     In an embodiment of a device according to the invention, the mirror is constituted by a polygon having at least two reflective surfaces, at least one of the reflective surfaces being at a different angle relative to the axis of rotation than one of the remaining reflective surfaces. Due to the fact that a polygon is used, there is obtained in a simple constructive manner a synchronisation of the rotation of the reflective surfaces. As a result thereof the further processing of the data is also simplified. 
     The device is preferably provided with a means for directing the ray or beam of rays emanating from each transmitter element in three spaced-apart relevant position determination surfaces of the relevant sub-area of the space. In practice it has appeared that the use of three position determination surfaces in almost all cases suffices for determining the position of a teat. 
     In an embodiment of a device according to the invention the mirror is constituted by a pentagon having five reflective surfaces, one of the reflective surfaces being parallel to the axis of rotation, two of the reflective surfaces being at an equal positive angle relative to the axis of rotation, and the remaining two reflective surfaces being at an equal negative angle relative to the axis of rotation. Thus there are obtained three position determination surfaces, the two outer surfaces being scanned twice at one rotation of the pentagon. Thus there can be obtained a very accurate determination of the position, in particular tilt determination, of a teat. It is especially advantageous when the positive and negative angle are between approximately 3 degrees and approximately 13 degrees. 
     In an alternative embodiment of a device according to the invention, two of the reflective surfaces are parallel to the axis of rotation, one of the reflective surfaces being at a first angle relative to the axis of rotation, and the remaining two reflective surfaces being at a second angle relative to the axis of rotation. The first angle is preferably between approximately 1 degree and approximately 7 degrees, whereas the second angle is preferably between approximately 1 degree and approximately 20 degrees. An especially accurate determination of the position of a teat is obtained when the second angle is at least approximately twice as great as the first angle. 
     The invention further relates to a device for determining the position of a teat of an animal relative to the device, said device being provided with a transmitter element for emitting a ray or beam of rays, with at least one receiver element arranged to receive a ray or beam of rays reflected by a teat, and with at least one reflective surface which is rotatable about an axis of rotation for directing the ray or beam of rays emanating from the transmitter element consecutively to a teat or for directing the ray or beam of rays emanating from a teat to the receiver element, or doing both, characterized in that there are provided means for changing the orientation of the reflective surface relative to the teat during rotation of the reflective surface. Due to the fact that there are provided means for changing the orientation of the reflective surface relative to the teat during rotation of the reflective surface, during rotation there are obtained several surfaces in which the ray respectively beam of rays is emitted. Due to this, besides determination of the position, also determination of the position in height of a teat is possible, so that tilt of the teat can be determined. The synchronisation of the change and the data obtained therefrom may be realised by means of a computer, so that processing of the data can take place accurately. It will be obvious that, on the one hand, the change in orientation may be gradual, that is continuous, but that, on the other hand, a discrete change of orientation may take place as well. 
     The means are preferably suitable for changing the orientation of the reflective surface relative to the axis of rotation. Additionally or alternatively the means are suitable for changing the orientation of the axis of rotation. Such a change may take place e.g. by means of an eccentric suspension or a curve disc or the like. 
     The invention further relates to a device for determining the position a teat of an animal relative to the device, said device being provided with a transmitter element for emitting a ray or beam of rays, with at least one receiver element arranged to receive a ray or beam of rays reflected by a teat, and with a mirror which is rotatable about an axis of rotation for directing the ray or beam of rays emanating from the transmitter element consecutively to a teat or for directing the ray or beam of rays emanating from a teat to the receiver element, or doing both, characterized in that the mirror is constituted by a polygon having at least two reflective surfaces, at least one of the reflective surfaces being at a different angle relative to the axis of rotation than one of the remaining reflective surfaces. Due to the fact that there are at least two reflective surfaces, at least one of the reflective surfaces being at a different angle relative to the axis of rotation than one of the remaining reflective surfaces, there are obtained at least two spaced-apart surfaces in which the ray or respectively beam of rays is emitted. Due to this, besides determination of the position, also determination of the position in height of a teat is possible, so that tilt of a teat can be determined. It will be appreciated that the orientation of the reflective surfaces relative to the axis of rotation may be fixed as well as variable. Further also in this situation the orientation of the axis of rotation may be variable. 
     An optimal determination of the position of teats appears to be possible when the mirror is constituted by a pentagon having five reflective surfaces. 
     A particularly accurate determination of not only the position but also of tilt is obtained when one of the reflective surfaces is parallel to the axis of rotation, two of the reflective surfaces are at an equal positive angle relative to the axis of rotation, and the remaining two reflective surfaces are at an equal negative angle relative to the axis of rotation. As a result thereof there are obtained three detection surfaces, the outer surfaces being created by rays or beams of rays emanating from two reflective surfaces, and thus providing a double measurement. The positive and negative angle are preferably between approximately 3 degrees and approximately 13 degrees. 
     Alternatively there is obtained a particularly accurate determination of the position and the tilt when two of the reflective surfaces are parallel to the axis of rotation, one of the reflective surfaces is at a first angle relative to the axis of rotation, and the remaining two reflective surfaces are at a second angle relative to the axis of rotation. 
     The first angle is preferably between approximately 1 degree and approximately 7 degrees. The second angle is preferably between approximately 1 degrees and approximately 20 degrees. Accurate data when the second angle is at least approximately twice as great as the first angle. 
     For the purpose of accurately determining the position of two teats disposed behind each other relative to the device, the device further comprises means for scanning the space in at least two sub-areas substantially simultaneously. This is preferably obtained in that the device is provided with means for directing at least two separate rays or beams of rays to different areas in that space. When the transmitter elements are alternately switched on and off, a processor which processes the data obtained from the two transmitter elements will suffice. For the purpose of obtaining a simplified assembly of the device, the transmitter element, the receiver element and the directional element are mounted on a bottom plate so as to form a unit. The device is then assembled by accommodating the bottom plate including elements in a housing having a window for letting through the ray or beam of rays emanating from the transmitter element or from a teat, or from both, shock-absorbing means being provided between the housing and the bottom plate. As a result thereof shocks exerted on the housing are not transferred or are transferred to a lesser extent to the sensitive components of the device. 
     To prevent undesired reflection, the window is designed as a flat window and is at an angle relative to the normal on the bottom plate. 
     The device is preferably provided with a dirt detector for detecting contamination of the window. When contamination is detected, the dirt detector may supply a signal to the operator of the device or to an automatic device for cleaning the window. Such a dirt detector may be constituted by separate receiver elements detecting the rays or beams of rays reflected by the window. The device is preferably provided with anti-condensation means for preventing or removing or reducing condensation on the inner side of the window, so that the rays or beams of rays are not affected when passing through the window. The anti-condensation means preferably comprise a heating means which is integrated into the window. The heating means is particular active continuously, in other words, independently of the environmental conditions. As a result thereof the reflective surface, independently of quickly varying environmental conditions, is always free from condensation, which enhances the determination of the position. 
     Consequently, the invention also relates to a device for determining the position of a teat of an animal relative to the device, said device being provided with a transmitter element for emitting a ray or beam of rays, with at least one receiver element arranged to receive a ray or beam of rays reflected by a teat, and with at least one reflective surface which is rotatable about an axis of rotation for directing the ray or beam of rays emanating from the transmitter element consecutively to a teat or for directing the ray or beam of rays emanating from a teat to the receiver element, or for doing both, characterized in that the device comprises a housing having a window for letting through the ray or beam of rays emanating from the transmitter element or emanating from a teat, or both the device being provided with a heating means which is integrated into the window, the heating means being active continuously, in other words independently of the environmental conditions. 
     A further protection against moisture in the housing is obtained when, except the window, the inner side of the walls of the housing is provided with an aluminium coating. 
     The device according to the invention is especially suitable for use in a milking device for milking animals, such as cows, provided with at least one milking compartment comprising at least one milking robot having a robot arm for automatically connecting teat cups to the teats of an animal to be milked, the device being used for determining the position of a teat relative to a teat cup. 
     A milking device in which the device for determining the position of the teat is disposed in a shock-resistant manner is obtained when the housing is covered with a lid that is supported by the robot arm. The lid is preferably composed of stainless steel. 
    
    
     BRIEF DESCRIPTION OF THE DRAWINGS 
     The invention will be explained in further detail with the aid of non-limiting exemplary embodiments with reference to the accompanying drawings in which: 
     FIG. 1 is a schematic cross-sectional side view of an embodiment of the device according to the invention; 
     FIG. 2 is a schematic plan view of the device shown in FIG. 1, and 
     FIG. 3 is a schematic side elevation view of a milking device provided with a device according to FIGS.  1  and  2 . 
    
    
     DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS 
     The embodiment shown in FIGS. 1 and 2 comprises a housing  1  with side walls and a bottom made of material which is impenetrable for the relevant ray or beam of rays, such as light-proof material, for example, laser (IR-) light, having at the front side an aperture or window which is sealed with a plate which is penetrable for the relevant ray or beam or rays, such as a glass plate  2 . Said plate may also be composed of a suitable synthetic material. Behind the glass plate  2 , a directional element in the form of a mirror is arranged that has a reflective surface which reflects the relevant ray or beam of rays. According to an aspect of the invention, one reflective surface will suffice when there are provided means for changing the orientation of the reflective surface relative to the object. This may be provided, for example, by mounting the axis of rotation  4  in a bearing, said bearing performing a reciprocating movement in the direction towards, and away from the window. Such a movement may, for example, be obtained by an eccentric or a curve disc. The invention will be described hereinafter with reference to a mirror in the form of a polygon  3  having at least three reflective surfaces which reflect the relevant ray or beam of rays. Polygon  3  is in particular constituted by a pentagon having five reflective surfaces. 
     Polygon  3  is disposed so as to be rotatable about its axis of rotation  4  and is bearing-supported for that purpose at one side with a shaft end  5  in a bearing  6  in a bottom plate  7 . A lid  8 , preferably of stainless steel, closes the housing  1 . In this embodiment the polygon  3  is driven directly via a stepper motor  9 . Polygon  3  rotates preferably continuously in the same direction at an at least substantially constant speed, so that its drive is lightly loaded and insensitive to wear. 
     As schematically shown in FIG. 2, on both sides of the polygon  3  arranged a transmitter element in the form of a laser diode  13 ,  14 . Below each transmitter element  13  and  14  there is disposed a respective receiver element  17 ,  18 , here designed as a so-called CCD. The wavelength of the two diodes  13 ,  14  is preferably in the range of 600-900 nanometers, more preferably in the range of 780-830 nanometers, the wavelengths of the transmitter elements  13  and  14  preferably mutually differing so that no interference occurs when the rays or beams of rays  16  emanating from the transmitter elements  13  and  14  cross each other. Further the wavelength difference is such that the sensitiveness of each receiver element  17  and  18  can be attuned in a reliable manner to the ray of beam of rays  16  emanating from the respective transmitter element  13  or  14 , in order to prevent interference, also in this respect, as much as possible. Alternatively, instead of the wavelength also the transmission amplitude between the transmitter elements  13  and  14  may differ. There may also be a difference in modulation of the emitted signals. In addition it is also possible to direct the rays or beams of  10  rays  16  emanating from the transmitter elements  13  and  14  at different heights through the housing  1 , so that they hit the directional element  3  in different height regions, thus also preventing interference. Also other differences in characteristics of the two rays or beams of rays  16  are  15  possible for counteracting inconvenient effects of interference, such as by making use of combinations of two or more of the aforementioned measures. 
     The receiver elements  17 ,  18  are preferably constituted by a diode sensor. In this situation a receiver element may have a uni-dimensional or two-dimensional series of adjacent detector elements. Each detector element is sensitive to different radiation, and in case of exposure to that radiation, supplies a detection signal corresponding with the intensity of that radiation to an evaluation device  10 . Each receiver element  17  and  18  is attached to the bottom plate  7 . 
     When the lasers  13  and  14  are switched on and off separately, the capacity of the evaluation device  10  remains limited, while nevertheless an accurate determination of the position is possible. So evaluation device  10  processes each time only data from one of the lasers. 
     In this situation the directional element  3  is shared by the two rays or beams of rays. 
     After leaving the respective transmitter element  13  and  14 , the substantially emitted rays or beams of rays, which are parallel to each other, hit a respective deflecting element  19  or  20  for being deflected towards the directional element  3  which is arranged between said deflecting elements  19  and  20 . In this situation each deflecting element is constituted by a reflector  19  or  20  including an angle of approximately 30 degrees with the incident ray or beam of rays  16 . Alternatively there may also be used e.g. a respective prism or bundle of glass fibs cables. 
     Between each deflecting element  19  and  20  and the respective receiver element  17  and  18  a focusing element or convergence element is arranged, in this embodiment constituted by a corresponding lens  24  or  25 , the function of which will be elucidated hereinafter. The directional element is adapted to direct each ray or beam of rays  16  over a respective angle sector  22  and  23  into the space, wherein at teat  21  may be present, so as to determine for example the position of a teat  21  of an animal to be milked in that space. In the situation of a pentagon having five reflective surfaces and two lasers each covering a sector, the angle is approximately 72 degrees for each angle sector  22  and  23 . Angle sectors  22  and  23  may overlap each other, for example over 2 degrees, so that the total angle area  29  to be scanned in the space amounts to 140 degrees. Because of the fact that each ray or beam of rays  16  is constituted by a laser light, the angle sectors, perpendicular to their plane, are at least substantially non-diverging, except some scattered radiation. 
     The radiation reflected from the space or scattered radiation of the ray or beam of rays  16  is received by the directional element  3  as a reflection beam  27  and directed to the corresponding receiver element  17  or  18  via the respective deflecting element  19  or  20 . The reflection beam  26  and  27  then passes through the respective lens  24  or  25 , so that the relatively wide reflection beam  27  is concentrated on a local area of the receiver element. Because in this embodiment the lens  24  and  25  has a fixed focal distance and is, as is apparent from FIG. 3, at an angle relative to a robot arm, and also because the lens  24  and  25  is attached to the bottom plate  7  and is thus fixedly arranged relative to the respective receiver element  17  or  18 , the place where the teat  21  is projected on the receiver element  17  or  18  is in relation to the position of the teat  21  in the space. Each receiver element  17  and  18  supplies a corresponding signal, in dependence of the nature of the signal and its further processing, possibly by intervention of an analog-to-digital converter, to an evaluation device  10  (also attached to the bottom plate  7 ), for example, constituted by a microprocessor. The principle of scanning the teat  21  by means of a ray or beam of rays to be directed consecutively to different areas in the space, and the processing of the signals obtained by means of the sensor device are known per se. 
     By updating the position of the directional element  3  such as by linking the motor  9  to a pulse generator which generates a pulse per portion of the revolution, such as each 1 degree, by simple calculation in, for example a microprocessor, the position of the directional element  3  at the moment when a ray or beam of rays reflected by the teat  21  hits the receiver element  17  can be deduced. When the teat  21  is located in the other angle sector  22 , the ray or beam of rays will emanate of course from the transmitter element  14  and hit the receiver element  17 . For the purpose of determining a zero position of the polygon the latter is provided with a position indicator, for example a protrusion  11  the position is determined by a detector  12 , for example constituted by a light detector. When the protrusion  11  passes along detector  12  there is supplied a signal to evaluation device  10 . The signal from the detector  12  may also be used for safety purposes. For example, when during a to be pre-set period the detector  12  does not detect passage of the protrusion, it may be assumed that polygon  3  is not rotating, and a subsequent automatic switching off of the lasers will improve the safety. 
     For detecting, for example, dirt on the window  2 , one or both rays or beams of rays  16  may be directed such that, in a pre-determined position of the directional element  3 , a ray or beam of rays  16  without leaving the device returns to a (possibly) additional (non-shown) receiver element via the directional element  3 , so that contamination if any can be measured. 
     As shown in FIG. 1, the glass plate  2  is positioned such that it is disposed of an angle for counteracting for counteracting inconvenient reflection as much as possible. 
     As schematically shown in FIG. 3, there are created three position determination surfaces  28 , because one of the reflective surfaces of the pentagon  3  is parallel to the axis of rotation  4 , two of the reflective surfaces are at an equal positive angle relative to the axis of rotation  4 , and the remaining two reflective surfaces are at an equal negative angle relative to the axis of rotation  4 . By means of these three surfaces  28 ,  29 ,  30  the position of the teat  21 , and at the same time the tilt thereof, can be determined more accurately. It will be apprecated that the invention is not limited to generating three position determination surfaces, but that an accurate determination of the position is already possible with two (or more than three) position determination surfaces. However, the use of three position determination surfaces has proved to be sufficient in practice. Moreover, the number of reflective surfaces generated by the position determination surfaces is adjustable according to the requirements. For example, for three position determination surfaces three reflective surfaces are sufficient. Thus the invention in all its aspects provides the possibility of generating at least two spaced-apart position determination surfaces with the aid of one single transmitter element, the rays or beams of rays to be emitted by the two transmitter elements covering together the space to be scanned on a teat. In this manner it is possible to measure simultaneously the position of a teat in sub-area A by one transmitter element and the position of a teat in sub-area B by the other transmitter element. 
     Taking into account the usual distance between the teats and the dimensions of the teats, the positive and negative angle is between approximately 3 degrees and approximately 13 degrees. 
     In an alternative embodiment in which also three position determination surfaces  28 ,  29  and  30  are created, two of the reflective surfaces are parallel to the axis of rotation, one of the reflective surfaces is at a first angle relative to the axis of rotation, and the remaining two reflective surfaces are at a second angle relative to the axis of rotation. In this situation the first angle is between approximately 1 degree and approximately 7 degrees, and the second angle is between approximately 1 degrees and approximately 20 degrees. The second angle is preferably at least approximately twice as great as the first angle, the second angle being preferably approximately 5.2 degrees and the first angle being preferably approximately 2.6 degrees. Because of the fact that the bottom plate  7  carries the relevant elements of the device, said bottom plate including elements can easily be assembled in the housing  1 . 
     Between the housing  1  and the bottom plate  7  there are provided shock-absorbing means  15 , such as rubber rings. 
     The device is preferably provided with anti-condensation means for preventing or, removing or reducing condensation, or any combination thereof on the inner side of the window, so that the rays or beams of rays are not affected when passing through the window. The anti-condensation means preferably comprise a heating which is integrated into the window and which is active continuously, in other words independently of the environmental conditions. 
     A further protection against moisture in the housing is obtained when the inner side of the walls of the housing, except the window, is provided with an aluminium coating. 
     FIG. 3 shows schematically part of the milking device provided with a device according to FIGS. 1 and 2. The milking device is provided with at least one milking compartment comprising at least one milking robot having a robot arm  31  for automatically connecting teat cups  32  to the teats of an animal to be milked. A scanning device  26  for determining the position of a teat relative to one of the teat cups  32  comprises a device as described with reference to FIGS. 1 and 2. The scanning device is at an angle relative to the longitudinal direction of the robot arm  31  for enabling determination of position in a simple manner, on the basis of the known triangulation principle. 
     Due to the fact that the lid  8  is supported by the robot arm  31  the scanning device  26  for determining the position of the teat is disposed so as to be shock-resistant. 
     The lid, as previously stated is preferably composed of stainless steel. 
     having disclosed the preferred embodiments of my invention, it is to be understood that it is capable of other adaptations and modifications within the scope of the following claims.