Rotary Milking Tool Coordinates via 3D Vision and Even Spacing
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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 prone to errors, especially in large installations with numerous milking stalls.
Innovation Solution
A system utilizing a camera and control unit to register and calculate three-dimensional image data of tools, applying algorithms to identify and confirm tool positions based on spatial distribution, eliminating the need for human intervention and ensuring accurate storage of tool coordinates for automated operation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If semi-manual programming is used to teach tool positions, then the milking robot can be programmed with tool positions, but the process is tedious and error-prone
Solution Approach 1:
The patent replaces the mechanical joystick-based manual programming system with an automated optical scanning system using cameras and image processing algorithms. The system automatically captures images of tools in storage locations, processes the image data to identify tool positions, and programs the milking robot without requiring manual operator intervention, thereby eliminating the tedious and time-consuming nature of semi-manual programming while maintaining position accuracy
Solution Approach 2:
The system enables self-service programming by allowing the milking robot to automatically determine and program its own tool positions. The robot uses the automated image processing system to identify tool locations in storage racks and autonomously programs the coordinate data, eliminating the need for external operator intervention and significantly reducing programming time
2Productivity
If reference position translation is used for multiple stalls, then programming work is reduced, but considerable errors occur in individual tool positions
Solution Approach 1:
The patent applies segmentation by treating each tool storage location as an independent measurement target. Instead of translating reference positions across multiple stalls (which propagates errors), the system individually scans and identifies each tool's position using image processing. This segmented approach allows each position to be determined independently with high accuracy, eliminating error propagation while maintaining programming efficiency through automation
3Reliability
If operator control is used for safety reasons, then safety is improved, but the operator cannot see if the grip device is at the desired position
Solution Approach 1:
The patent introduces an intermediary automated vision system that acts as a mediator between the operator and the tool positioning process. The camera system captures images of tool positions and the image processing algorithm verifies whether the grip device is correctly positioned, providing accurate position verification without requiring the operator to be in close proximity. This maintains operator safety while ensuring position accuracy through automated visual feedback
Data Source
AI summary
The positions of the tools in an automatic milking arrangement 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 are arranged according to a spatially even distribution relative to one another. Therefore, any tool candidate is disregarded, which is detected at such a position that the position for the candidate deviates from the spatially even distribution.