3D Camera Tool Positioning for Rotary Milking Platforms
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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 installations with numerous milking stalls.
Innovation Solution
A system utilizing a camera and control unit to register three-dimensional image data of tools, identify their positions using reference data, and calculate accurate space coordinates, eliminating the need for human intervention and reducing errors by disregarding false positives based on predefined patterns and threshold distances.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If semi-manual programming is used to teach tool positions, then the milking robot can be programmed with tool positions, but the process becomes tedious and error-prone, especially for large numbers of stalls
Solution Approach 1:
The system enables automatic self-programming of tool positions by using the milking robot's own camera to capture images, process them through image recognition algorithms, and automatically update position data in the control unit, eliminating the need for manual operator intervention
Solution Approach 2:
The patent replaces the mechanical manual programming process with an automated vision-based system that uses camera imaging, computer vision algorithms, and automatic image processing to determine and program tool positions
2Measurement precision
If semi-manual programming is used, then tool positions can be programmed, but accuracy is reduced due to operator control limitations and safety positioning constraints
Solution Approach 1:
The patent introduces a camera as an intermediary device that captures precise visual data of tool positions, which is then processed through image recognition algorithms to accurately determine positions without requiring direct manual manipulation or line-of-sight verification by the operator
3Ease of manufacture
If reference position translation is used for all stalls, then programming is simplified, but considerable errors occur in individual tool positions, especially for larger platforms
Solution Approach 1:
The system processes each stall's tool positions independently by capturing and recognizing images specific to each location, rather than using a single reference translation approach, allowing accurate determination of individual positions while maintaining ease of operation
Data Source
AI summary
In picking up tools in an automatic milking arrangement, the positions of the tools are determined by registering, via a camera at an origin location, three-dimensional image data representing the tools whose positions are to be determined. Using an algorithm involving matching the image data against reference data, tool candidates are identified in the three-dimensional image data. A respective position is calculated for the tools based on the origin location and data expressing respective distances from the origin location to each of the identified tool candidates. It is presumed that the tools have predefined locations relative to one another. Therefore, any second tool candidate is disregarded, which is detected at a separation distance from a first tool candidate when the separation distance exceeds a first threshold distance in relation to the predefined relative locations.