Robotic Milking Attacher Camera Self-Cleaning Nozzle
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing dairy milking systems are inefficient and inadequate in terms of scalability and automation, particularly in maintaining clear visibility for robotic attachers and effectively attaching teat cups to dairy cows.
Innovation Solution
A milking box system equipped with a robotic attacher featuring a main arm, supplemental arm, and a vision system with a camera, which includes a protective layer and a nozzle for cleaning, to facilitate efficient teat cup attachment and maintain clear visibility by preventing debris accumulation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the camera is positioned proximate to the cup gripping claws to provide increased visibility, then the measurement precision and positioning accuracy improve, but the camera becomes subject to dirt, milk, or other debris that can obscure visibility
Solution Approach 1:
A protective layer is positioned in front of the camera lens to act as an intermediary barrier between the camera and the harmful debris environment. This protective layer prevents dirt and milk from directly contacting the camera lens while still allowing the camera to capture images of the teats and positioning accuracy to remain high.
2Object-affected harmful factors
If a protective layer is positioned in front of the camera lens to prevent debris accumulation, then the camera visibility is protected, but the protective layer may accumulate condensation or debris that can blur visibility
Solution Approach 1:
The protective layer is equipped with a nozzle that sprays cleanser directly onto the protective layer surface. This self-service mechanism allows the protective layer to automatically clean itself, removing condensation and debris that accumulate on its surface, thereby maintaining clear visibility without requiring manual intervention.
3Extent of automation
If the robotic attacher uses a vision system to locate teats automatically, then the extent of automation increases, but the system complexity and difficulty of maintaining clear visibility increase
Solution Approach 1:
The protective layer serves as an intermediary that simplifies the vision system by providing a stable, protected interface between the camera and the variable milking environment. This reduces the complexity of the vision system by eliminating the need for complex protective measures while maintaining automated teat location capability.
Solution Approach 2:
The self-cleaning mechanism with nozzle and cleanser automatically maintains the protective layer clarity, reducing the maintenance burden and system complexity associated with keeping the vision system operational. The system serves itself by automatically removing contaminants without requiring external intervention.
4Manufacturing precision
If the robotic attacher moves the cup toward the teat with increased precision, then the manufacturing precision of attachment improves, but the time required for accurate positioning increases
Solution Approach 1:
The vision system with camera replaces manual visual inspection and mechanical positioning methods. The camera captures images that are processed to automatically determine teat location and cup positioning, substituting mechanical trial-and-error positioning with optical detection and computational analysis, thereby achieving high precision attachment while reducing the time required for positioning.
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 accuracy and efficiency of teat cup attachment, reduces maintenance costs, and improves the overall automation of dairy milking operations by ensuring clear camera visibility and effective cleaning of the protective layer.
Implementation Method 1
A nozzle is positioned in front of the camera and is operable to spray cleanser on the protective layer
Data Source
Figure 1A
Figure 1B~2
Figure 3
AI summary
In certain embodiments, a system includes a robotic attacher (150) comprising a main arm (152) and a supplemental arm (154) operable to extend into a stall portion of a milking box. A camera (158a,158b) couples to the supplemental arm (154). The supplemental arm comprises a camera-facing nozzle operable to spray the camera (158a,158b) with a cleanser.