Teat Locating Sensor Using CMOS Camera and Hough Transform
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Solution Overview
Problem
Existing teat location systems in robotic milking machines are expensive, slow, unreliable, and prone to mechanical failure, and camera-based systems struggle with robustness in farm environments and varying teat appearances.
Innovation Solution
A teat locating sensor using a combination of image capturing means, edge detection, and feature detection algorithms, including a Canny edge detector and Hough transform, with filtering mechanisms to remove noise and erroneous observations, utilizing a CMOS video camera for real-time teat location mapping.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If laser based teat location systems are used, then measurement precision is improved, but device complexity and cost increase
Solution Approach 1:
The patent replaces complex mechanical and optical systems (laser sources, structured light projectors) with a simple CMOS camera-based optical system. The camera captures images that are then processed using image analysis algorithms to detect teat features, eliminating the need for expensive and complex laser-based illumination and detection hardware while maintaining measurement precision.
2Measurement precision
If ultrasonic transmitters and receivers are used, then measurement precision is improved, but device complexity and reliability worsen
Solution Approach 1:
The patent replaces ultrasonic transmitters and receivers with a passive optical imaging system using a CMOS camera. This eliminates moving parts and complex electronic components associated with ultrasonic generation and detection, resulting in a more reliable system with no mechanical failure points while maintaining the ability to accurately detect teat position through image analysis.
3Measurement precision
If camera based systems with multiple images are used, then measurement precision is improved, but processing time increases
Solution Approach 1:
The patent processes only the most relevant features from captured images rather than performing exhaustive analysis of all image data. By focusing computational resources on detecting key teat features (edges, contours, characteristic patterns) and using filtering algorithms to eliminate unnecessary processing, the system achieves accurate 3D location while minimizing processing time and computational load.
4Ease of manufacture
If conventional camera systems are used, then cost is reduced, but robustness to environmental variations worsens
Solution Approach 1:
The patent employs image processing algorithms that are specifically designed to be invariant to common farm environment variations. These include techniques to compensate for changes in lighting conditions, handle different teat appearances and orientations, and filter out noise from the challenging farm environment. This allows a simple, low-cost CMOS camera system to achieve robust and reliable teat detection despite environmental variations.
Data Source
AI summary
A teat locating sensor for use in farming equipment such as robotic milking machines and teat disinfection units. One or more cameras capture an image of the udder. The captured image is processed by applying an edge detector to provide an edge image. A Hough transform is applied for detecting edges using semi-circles and near vertical forms. A feature detector then matches these to provide teat ends and teat sides and thus produces a teat location map. Colour or monochrome cameras can be used and a 2D or 3D map can be generated. Filtering is described to improve the accuracy if required.