3D Camera Teat Location for Dairy Milking Automation
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Solution Overview
Problem
Existing dairy milking systems are inefficient and inadequate in terms of scalability and accuracy, particularly in locating and attaching milking equipment to dairy livestock, often distracting the animals and leading to accidental detachment of equipment.
Innovation Solution
A system utilizing a three-dimensional camera and processor to determine the edges of dairy livestock, facilitating the accurate location of teats and secure attachment of milking equipment by accounting for reference points and historical data, and employing multiple cameras to improve visibility and reduce animal distraction.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If conventional single-camera systems are used to locate teats, then device complexity is reduced, but measurement precision and reliability of teat location deteriorate
Solution Approach 1:
The patent combines multiple cameras (front camera and rear camera) into a unified vision system that captures images of the dairy livestock from different angles simultaneously. The controller integrates images from both cameras to locate teats, combining the advantages of multiple viewing angles while maintaining system coherence through centralized control.
Solution Approach 2:
The system transitions from single-viewpoint 2D imaging to multi-viewpoint 3D spatial understanding by incorporating a rear camera that provides depth information and a different perspective. This dimensional enhancement allows the system to accurately locate teats by triangulating positions across multiple camera viewpoints.
2Ease of operation
If milking equipment approaches from the side of dairy livestock, then ease of operation is improved, but object-affected harmful factors increase due to animal distraction and kicking
Solution Approach 1:
Instead of approaching the dairy livestock from the conventional side direction, the system positions the rear approach camera and milking equipment to approach from the rear of the animal. This inverted approach direction reduces animal distraction and harmful kicking behavior while the system maintains effective teat location and attachment capabilities through rear-view imaging and automated control.
3Measurement precision
If historical data and reference points are not used, then device complexity is reduced, but measurement precision and attachment accuracy deteriorate
Solution Approach 1:
The system performs preliminary actions by capturing and storing historical images of the dairy livestock and identifying reference points (such as ear tags, tail positions, or other permanent anatomical features) in advance. These pre-captured images and reference points are stored in memory and used as baseline data for subsequent teat location operations, eliminating the need for complex real-time calculations while improving accuracy through comparison with historical data.
Solution Approach 2:
The controller compares newly captured images with historical images and reference points to verify teat location accuracy. This feedback mechanism allows the system to adjust its positioning and attachment actions based on the comparison results, ensuring high precision while using relatively simple processing logic that leverages pre-established reference data.
Data Source
AI summary
A system includes a three-dimensional camera and a processor communicatively coupled to the three-dimensional camera. The processor is operable to determine a first and second edge of a dairy livestock. The first edge includes an inner portion of a first hind leg and a first portion of an udder of the dairy livestock. The second edge includes an inner portion of a second hind leg and a second portion of the udder of the dairy livestock. The processor calculates a reference point associated with the udder of the dairy livestock based at least in part upon the first edge and the second edge. A robotic attacher moves toward the udder of the dairy livestock based at least in part upon the calculated reference point.