Robotic Arm Camera Cleaning for Milking Cup Attachment
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Solution Overview
Problem
Existing dairy milking systems are inefficient and inadequate in terms of scalability and automation, particularly in accurately attaching milking cups to dairy cows and maintaining camera visibility during the process.
Innovation Solution
A robotic attacher with a supplemental arm and a vision system, including a camera with a protective layer and a nozzle for cleaning, facilitates the efficient attachment of milking cups by providing improved visibility and cleanliness, using a camera system to locate teats and a nozzle to prevent condensation and debris from affecting the camera's view.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Illumination intensity
If the camera is positioned proximate to the cup gripping claws to provide increased visibility, then the visibility for locating teats is improved, but the camera is subject to dirt, milk, or other debris
Solution Approach 1:
A protective layer is positioned in front of the camera lens to act as an intermediary barrier between the camera and contaminants (dirt, milk, debris). This protective layer allows the camera to maintain close proximity to the cup gripping claws for improved visibility while preventing direct contamination of the camera sensor.
Solution Approach 2:
The harmful contaminating substances (dirt, milk, debris) are extracted or removed from the camera surface using a nozzle that sprays cleanser. This separates the camera from the contaminating environment by actively removing contaminants rather than allowing them to accumulate.
2Object-affected harmful factors
If a protective layer is positioned in front of the camera lens to prevent contamination, then the camera is protected from debris, but condensation may form and blur visibility
Solution Approach 1:
An anti-condensation coating is applied to the protective layer to change its surface properties. This coating modifies the physical parameters of the protective layer to prevent condensation from forming on its surface, thereby maintaining visibility while still providing protection from contaminants.
3Productivity
If the robotic attacher is used to automate cup attachment, then productivity is improved, but the complexity of the system increases
Solution Approach 1:
The supplemental arm is designed to perform multiple functions: it holds the camera for visibility, positions the nozzle for cleaning, and can potentially perform other auxiliary tasks. This multi-functionality reduces the need for separate dedicated components, thereby managing system complexity while maintaining productivity benefits.
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 system enhances the efficiency and accuracy of milking cup attachment, reduces maintenance costs, and improves the overall operational efficiency of dairy milking operations by minimizing human intervention and ensuring consistent, clean camera operation.
Implementation Method 1
The supplemental arm comprises a camera-facing nozzle operable to spray the camera with a cleanser
Implementation Method 2
The protective layer may include an anti-condensation to prevent the cleanser from forming condensation and blurring the visibility of the camera
Data Source
AI summary
A milking robot comprises a robotic arm, a camera coupled to the robotic arm, a camera-facing nozzle coupled to the robotic arm, and a controller. The robotic arm extends in a longitudinal direction between the hind legs and from the rear of a dairy livestock located in a milking stall. The camera-facing nozzle sprays a protective layer of the camera with a cleanser. The controller communicates a signal instructing the camera-facing nozzle to spray the camera with cleanser.