3D Tool Positioning for Rotary Milking Platform Programming
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Solution Overview
Problem
Current automatic milking systems, particularly rotary milking platforms, face challenges in accurately determining tool positions due to semi-manual programming methods, which are tedious and error-prone, especially in large setups where numerous milking stations require precise tool placement.
Innovation Solution
A system utilizing a control unit and a camera to capture three-dimensional image data, allowing for the automatic registration and storage of tool positions, eliminating the need for human intervention and ensuring high accuracy by using predefined patterns and threshold distances to validate tool candidates, and enabling the robotic arm to pick up tools based on calculated positions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of manufacture
If semi-manual programming is used to teach tool positions, then the system can be programmed with basic functionality, but the programming process becomes tedious and error-prone especially for large numbers of milking stations
Solution Approach 1:
The patent replaces the mechanical joystick-based manual programming system with an optical scanning system using a camera and light source. The camera automatically captures images of tools in the magazine, and the system processes these images to determine tool positions and generate control data, eliminating the need for manual operator intervention.
Solution Approach 2:
The system enables self-service programming by allowing the tool magazine and tools themselves to provide the programming information. The optical scanning system automatically detects tool positions, identifies tools based on their physical characteristics, and generates control data without requiring an operator to manually teach each position.
2Ease of operation
If semi-manual programming is used, then the system can operate with basic functionality, but accuracy deteriorates due to operator positioning errors and safety distance constraints
Solution Approach 1:
The patent replaces manual operator positioning with an automated optical measurement system. The camera captures precise images of tool positions, and image processing algorithms calculate accurate spatial coordinates, eliminating human error in position determination.
Solution Approach 2:
The patent introduces an optical intermediary system consisting of a light source and camera that acts as a mediator between the tool magazine and the control system. This intermediary automatically captures and transmits position information, eliminating the need for direct operator observation and positioning.
3Productivity
If reference position translation is used for multiple stalls, then programming effort is reduced, but errors accumulate and manufacturing precision deteriorates for larger platforms
Solution Approach 1:
The system applies self-service programming to each individual stall by automatically scanning and identifying tools in each magazine. Each stall's tool positions are independently measured and programmed, preventing error accumulation that occurs with reference-based translation methods.
Solution Approach 2:
The patent segments the programming process by stall, with each stall being independently scanned, identified, and programmed. This segmentation prevents error propagation across multiple stalls and allows each position to be accurately determined without relying on reference translations.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This solution enables efficient and accurate determination of tool positions in automatic milking arrangements, reducing errors and eliminating the need for semi-manual programming, allowing for direct operation of the milking system with high data quality and convenience across various platform sizes.
Implementation Method 1
The apparatus emits waves into a region which is expected to contain a teatcup or teatcups. The apparatus includes a detector for detecting reflections of the waves.
Data Source
Figure 1~2
Figure 3~6
AI summary
The positions of the tools (141, 142, 143, 144) in an automatic milking arrangement are determined by registering, via a camera (130) at an origin location (PC), three-dimensional image data (Dimg3D) representing the tools (141, 142, 143, 144) whose positions are to be determined. Using an algorithm involving matching the image data (Dimg3D) against reference data, tool candidates (TC1, TC2, TC3, TC4) are identified in the three-dimensional image data (Dimg3D). A respective position (PT1, PT2, PT3, PT4) is calculated for the tools (141, 142, 143, 144) based on the origin location (PC) and data expressing respective distances from the origin location (PC) to each of the identified tool candidates (TC1, TC2, TC3, TC4). It is presumed that the tools (141, 142, 143, 144) have predefined locations (Δd) relative to one another. Therefore, any second tool candidate (TC2) is disregarded, which is detected at a separation distance (ds) from a first tool candidate (TC1) if the separation distance (ds) exceeds a first threshold distance (dth1) in relation to the predefined relative locations (Δd).