3D Camera Tool Pickup for Misplaced Milking Robot Cups

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Solution Overview

Problem

Automatic milking robots face inefficiencies and potential equipment damage due to futile attempts to pick up misplaced teatcups and cleaning cups, as existing systems rely on pre-programmed tool positions that may not accurately reflect the actual location of tools.

Innovation Solution

A tool-pickup system equipped with a robotic arm and camera that registers three-dimensional image data, using an image-based object identification algorithm to determine tool positions and control the grip device for precise pick-up operations, while also alerting for anomalies like misplaced hoses.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Extent of automation

If pre-programmed tool positions are used in the milking robot, then the robot can automatically retrieve tools, but the robot may attempt to pick up non-existing tools for a considerable period of time causing time wastage and potential equipment damage

Engineering Contradiction:

Improveautomatic tool retrievalVSAvoidtime wastage in futile pick-up attempts

Core Design Contradiction:

Extent of automationVSLoss of time

Solution Approach 1:

The system performs preliminary detection of tool positions using a camera before the robot attempts to pick up tools. The image processing unit captures images of the tool storage area and determines the actual positions of tools, allowing the robot to plan its pickup actions based on verified tool locations rather than relying solely on pre-programmed positions

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

The system continuously monitors tool positions using the camera and image processing unit, providing feedback to the control unit. When tool positions change or tools are misplaced, the system updates the robot's action plan accordingly, preventing futile pickup attempts at incorrect locations

Inventive Principle:

Principle #23Feedback

2Extent of automation

If pre-programmed tool positions are used in the milking robot, then the robot can operate automatically, but the robot risks damaging the equipment during futile pick-up attempts

Engineering Contradiction:

Improveautomatic tool retrievalVSAvoidequipment damage risk

Core Design Contradiction:

Extent of automationVSObject-affected harmful factors

Solution Approach 1:

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

The system preemptively identifies and avoids harmful actions by detecting the actual tool positions before the robot moves the grip device. By verifying tool presence and location in advance, the system prevents the robot from attempting pickups at wrong locations where equipment damage could occur

Inventive Principle:

Principle #9Preliminary anti-action

3Reliability

If the robot moves the grip device to programmed positions frequently to check for tools, then tool availability can be monitored, but productivity decreases due to repeated movements

Engineering Contradiction:

Improvetool position accuracyVSAvoidmilking operation efficiency

Core Design Contradiction:

ReliabilityVSProductivity

Solution Approach 1:

The system replaces the mechanical approach of moving the grip device to check for tools with an optical detection system. The camera and image processing unit visually identify tool positions and verify tool availability, eliminating the need for repeated mechanical movements of the grip device while maintaining accurate tool position information

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

Data Source

PatentEP3873199B1Tool-pickup system, method, computer program and non-volatile data carrier

Publication Date: 2022.11.02 DELAVAL HLDG AB

Figure 1~2
Figure 3~5

AI summary

Tools in an automatic milking arrangement are picked up by using a robotic arm (110). The robotic arm (110) moves a camera (130) to an origin location (PC) from which the camera (130) registers three-dimensional image data (Dimg3D) of at least one tool (141, 142, 143, 144). The three-dimensional image data (Dimg3D) is processed using an image-based object identification algorithm to identify objects in the form of tools (141, 143, 144) and/or hoses (152). In response to identifying at least one tool (141, 143, 144), a respective tool position (PT1, PT3, PT4) is determined for each identified tool (141, 143, 144) based on the origin location (PC) and the three-dimensional image data (Dimg3D). Then, a grip device (115) on the robotic arm (110) is exclusively controlled to the one or more of the respective tool positions (PT1, PT3, PT4) to perform a pick-up operation. Thus, futile attempts to pick-up non-existing or blocked tools can be avoided.