DEVICE FOR AUTOMATIC MILKING OF DAIRY CATTLE Russian patent published in 2013 - IPC A01J5/17 

FIELD: agriculture.

SUBSTANCE: invention relates to agriculture. The proposed device for automatic milking of dairy cattle, such as cows, comprises a milking house (1), a sensor (100) to watch the dug (46), and the milking robot (3) for automatic teat cup attachment to the dug. The milking robot (3) comprises the robot control device connected to the sensor. The sensor comprises the source of emission for emitting light, the receiver for receiving electromagnetic radiation reflected from the dairy animal, the lens and the sensor control means. The sensor (100) comprises a matrix with multiple rows and multiple columns of the receivers. The sensor control means are operatively connected to the source of emission for modulating the electromagnetic radiation, and are designed to determine for each of the receivers of the phase difference between the emitted and reflected electromagnetic radiation to calculate the distance from the sensor (100) to the set of points on a part of the dairy animal to be observed. At that the robot control device is made with the ability to calculate the mutual distance between the teat cup and the dug and the milking robot control based on the calculated mutual distance, and is designed to identify with this the mutual velocity between the observed connected teat cup and the dug. The sensor control means are designed for cyclical determination of the phase difference between the emitted and reflected electromagnetic radiation to calculate the distances from the sensor (100) to the set of points on the dug and on the teat cup.

EFFECT: invention provides more rapid and accurate determining the position of the object in space, which is not distorted by the movement of the object in space.

15 cl, 5 dwg