Laser Vision System for Dynamic Teat Cup Attachment
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Solution Overview
Problem
Existing dairy milking systems face challenges in accurately positioning and maneuvering robotic arms due to the unpredictable movement of dairy livestock, such as cows, and the variability in teat positions, which leads to inefficiencies and potential collisions with the animal's legs and tail.
Innovation Solution
A vision system incorporating a robotic arm, laser, and processor that uses 3D images and profile signals to detect and compensate for leg and teat movement, avoid the tail, and identify teat locations, allowing for real-time adjustments and precise teat cup attachment without hard coding.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If hard coded movements and positions are used for robotic arm operations, then the system structure is simple, but the accuracy of teat cup attachment deteriorates due to unpredictable animal movement
Solution Approach 1:
The system transitions from static hard-coded positions to dynamic real-time detection. The laser continuously scans and generates profile signals that adapt to the animal's movement, allowing the robotic arm to adjust its position dynamically rather than following predetermined paths.
Solution Approach 2:
The system implements feedback through continuous laser scanning and profile signal generation. The processor analyzes these signals to detect teat position and animal movement, then feeds this information back to adjust the robotic arm's positioning in real-time, creating a closed-loop control system.
2Productivity
If real-time detection and adjustment systems are implemented, then the accuracy of teat cup attachment improves, but the device complexity increases
Solution Approach 1:
The system performs self-positioning and self-adjustment through automated laser scanning and processor analysis. The robotic arm independently detects teat location and adjusts its own positioning without requiring external intervention or complex manual control systems.
Solution Approach 2:
The patent replaces complex mechanical positioning systems with optical detection (laser scanning) and computational processing. Instead of using intricate mechanical mechanisms to achieve precise positioning, the system uses light-based detection and software-based adjustment algorithms.
3Productivity
If the robotic arm moves quickly to attach teat cups, then the productivity increases, but the reliability decreases due to potential collisions with animal legs and tail
Solution Approach 1:
The system performs preliminary detection and positioning before the robotic arm moves into place. The laser scans and generates profile signals in advance, allowing the processor to calculate the optimal path and position, enabling the robotic arm to move quickly and accurately without collision risks.
Solution Approach 2:
The vision system acts as an intermediary between the robotic arm and the animal. It provides real-time information about the animal's position and movement, allowing the robotic arm to navigate safely around legs and tail while maintaining high-speed operation.
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
The vision system enhances the accuracy and speed of robotic arm operations by enabling real-time detection and adaptation to the dairy livestock's movements, improving the efficiency and safety of teat cup attachment and milking processes.
Implementation Method 1
The laser is coupled to the robotic arm and is configured to generate a plurality of profile signals, each profile signal comprising information associated with a relative distance between the laser and at least a portion of the dairy livestock
Data Source
AI summary
A system includes a robotic arm, a laser, and a processor. The processor is configured to determine whether a first teat of a diary livestock is found in a first scan of the dairy livestock by the laser, and if so, command the robotic arm to move to a location corresponding to the location of the first teat. The processor is further configured to increment a counter associated with the first teat and then determine whether the counter equals a predetermined number. If the counter equals the predetermined number, the processor commands the robotic arm to attach a teat cup to the first teat. If the counter does not equal the predetermined number, the processor determines whether the first teat is found in a second scan by the laser. If the first teat is found in the second scan, the processor commands the robotic arm to attach the teat cup to the first teat.