Teat Cup Attachment Using Matrix Sensor Phase Difference
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Solution Overview
Problem
Existing automatic milking systems for dairy animals, such as cows, face reliability issues when moving the robot arm with teat cups to the teat due to incomplete or distorted three-dimensional imaging, which can lead to inaccurate positioning and increased chances of error.
Innovation Solution
A sensor system using a matrix of receivers to determine phase differences in electromagnetic radiation, allowing for the creation of a complete three-dimensional image of the teat without scanning, enabling more accurate positioning and orientation of teat cups, and eliminating the need to move the robot arm for image composition.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a scanning sensor system is used to obtain three-dimensional information, then the system can determine teat position, but the imaging process is time-consuming and distorted by animal movements
Solution Approach 1:
The sensor system is divided into multiple receivers arranged in a matrix array, each independently measuring distance to different points on the teat simultaneously. This segmentation of the sensing function allows parallel data acquisition from multiple spatial locations, eliminating the need for sequential scanning and enabling instantaneous three-dimensional reconstruction.
Solution Approach 2:
The invention transitions from one-dimensional linear scanning to a two-dimensional matrix arrangement of receivers. This dimensional expansion allows simultaneous measurement across multiple spatial coordinates, creating a complete three-dimensional image in a single snapshot rather than through sequential line-by-line scanning.
2Loss of information
If the robot arm is moved to compose complete images, then three-dimensional information is obtained, but positioning reliability decreases due to movement errors
Solution Approach 1:
The invention replaces the mechanical scanning approach (moving robot arm) with a static matrix array of receivers. Instead of mechanically positioning a single sensor to scan through space, multiple sensors are fixed in a matrix configuration, eliminating mechanical movement errors while capturing complete three-dimensional spatial information simultaneously.
Solution Approach 2:
The matrix of receivers is pre-positioned in optimal locations before the measurement process begins. This preliminary arrangement ensures that all necessary spatial points are covered simultaneously, eliminating the need for subsequent movement or repositioning during image composition and thereby preventing movement-induced positioning errors.
3Adaptability or versatility
If multiple separate sensors are used for different functions, then comprehensive monitoring is achieved, but device complexity increases
Solution Approach 1:
The matrix of receivers serves multiple functions simultaneously: it provides three-dimensional spatial mapping, monitors teat position and orientation, detects animal movements, and enables navigation guidance. This multi-functional capability eliminates the need for separate sensor systems for each function, reducing overall system complexity while maintaining comprehensive monitoring.
Solution Approach 2:
The invention combines multiple sensing functions into a single integrated matrix receiver system. Instead of using separate sensors for spatial mapping, position detection, and movement monitoring, all these functions are merged into one unified matrix array that captures complete spatial information simultaneously, thereby simplifying the overall device architecture.
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
This solution enhances the reliability of teat cup attachment and navigation, reduces the risk of touching the animal's legs, and allows for efficient cleaning and milk production assessment, while saving on separate sensors by providing a comprehensive view of the animal for milking and cleaning processes.
Implementation Method 1
a radiation source for emitting electromagnetic radiation, in particular light, a receiver for receiving electromagnetic radiation onto the received
Implementation Method 2
The sensor control unit is further designed to determine for each of the receivers a phase difference between the emitted and the reflected electromagnetic radiation in order to calculate distances from the sensor to a plurality of points on the dairy animal
Data Source
AI summary
An implement for automatically milking a dairy animal, such as a cow, comprises a milking parlour, a sensor for observing a teat, and a milking robot for automatically attaching a teat cup to the teat. The milking robot comprises a robot control that is connected to the sensor. The sensor comprises a radiation source for emitting light, a receiver for receiving electromagnetic radiation reflected from the dairy animal, a lens, and sensor control unit. The sensor comprises a matrix with a plurality of rows and a plurality of columns of receivers. The sensor control unit is designed to determine for each of the receivers a phase difference between the emitted and the reflected electromagnetic radiation in order to calculate the distance from the sensor to a plurality of points on the part to be observed of the dairy animal.