TESTING METHOD OF MANIPULATORS OF MILKING COWS Russian patent published in 2014 - IPC A01J5/07 

FIELD: agriculture.

SUBSTANCE: to create a computer model of the manipulator operation using video cameras and markers (LEDs) the position and movement of the teat cups in space is recorded. The intensity of lactation is recorded using the milk counter. The model of manipulator operation includes the trajectory of movement of the teat cups and the values of kinematic and dynamic quantities at each point of the trajectory. The performance criteria of the manipulator operation are calculated, as well as correspondence of angles of derivation of the teat cups to natural position of the dugs, the safety of removal of the teat cups, the values of lactation intensity at which the manipulator goes into modes of final milking and shutdown of the milking machine.

EFFECT: opportunity to evaluate the effectiveness of operation of the manipulators of milking cows.