Automated Teat Treatment Robot with Optical Detection and Time-Window Control
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Solution Overview
Problem
Existing teat treatment systems in dairy farming, particularly in automated milking installations, face inefficiencies due to the need for rapid operation and accurate targeting of treatment fluids, which can lead to delays and increased consumption of treatment fluids, especially when sophisticated detection equipment is used, causing delays in milking processes and reduced throughput.
Innovation Solution
A method and apparatus utilizing a robot with a control system and imaging apparatus for precise detection and treatment of teats, allowing for swift and accurate application of treatment fluids without relying on stored animal data, and implementing a default treatment action if detection is incomplete, ensuring timely completion of teat treatment within a defined time window.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If sophisticated detection equipment (image analysis cameras) is used to accurately locate teats, then measurement precision of teat position is improved, but device complexity and time consumption increase, causing delays in milking operations
Solution Approach 1:
The patent uses optical imaging (camera) to create a visual copy/image of the teat structure, allowing the system to analyze and detect teat positions without physical contact or complex mechanical detection equipment. The image processing system extracts position information from the visual copy, resolving the contradiction between accuracy and complexity.
Solution Approach 2:
The patent replaces complex mechanical detection systems with an optical-based image analysis system. Instead of using mechanical sensors or physical probes to locate teats, the system uses cameras and image processing algorithms to detect teat positions, significantly reducing device complexity while maintaining or improving measurement precision.
2Measurement precision
If sophisticated detection equipment with image analysis is used to detect teat positions, then measurement precision is improved, but loss of time increases due to processing delays
Solution Approach 1:
The patent performs image capture and preliminary processing in advance, preparing the visual data before treatment is needed. The system continuously monitors and pre-processes images of the udder region, so when treatment is required, the position data is already available or can be quickly retrieved, reducing the time penalty associated with high-precision detection.
Solution Approach 2:
The patent implements a time-based interruption mechanism that allows the system to skip incomplete detection cycles and proceed with treatment using available data. If teat position detection is not completed within a predetermined time window, the system interrupts the detection process and moves to the next animal, preventing time delays from propagating through the entire milking operation.
3Ease of operation
If uniform fluid application procedure is applied to all animals, then ease of operation is improved, but loss of substance increases due to unnecessary fluid consumption
Solution Approach 1:
The patent applies treatment fluid locally to each detected teat based on its precise position determined through image analysis. Instead of uniformly spraying the entire udder region, the system targets each teat individually with fluid applied only where needed. This resolves the contradiction by maintaining operational simplicity through automated targeting while minimizing fluid consumption through precise local application.
Solution Approach 2:
The patent uses partial action by applying treatment fluid to only the necessary portions (individual teats) rather than the entire udder surface. The system determines the minimum required treatment area based on detected teat positions and applies fluid only to those specific locations, reducing overall fluid consumption while maintaining effective treatment of all relevant areas.
4Productivity
If rapid teat treatment is performed to maintain platform speed, then productivity is improved, but manufacturing precision of treatment application deteriorates
Solution Approach 1:
The patent replaces mechanical positioning systems with optical-based image guidance for treatment application. The camera system continuously tracks teat positions, and the treatment device follows the visual data in real-time. This substitution allows rapid treatment application without sacrificing precision, as the optical system can quickly adapt to teat position changes without the inertia and mechanical complexity of traditional positioning systems.
Solution Approach 2:
The patent implements a dynamic treatment application system that continuously adapts to changing teat positions during the milking process. The image analysis system operates in real-time, tracking teat movement and adjusting treatment application accordingly. This dynamic approach maintains high precision even during rapid operations, as the system can respond to position changes faster than static or mechanically rigid systems.
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 solution enables accurate, swift, and efficient teat treatment with reduced fluid consumption, minimizing delays in milking operations and optimizing the use of automated milking installations by ensuring treatment is completed within a required time frame.
Implementation Method 1
initiating automatic detection of the spatial teat position of a first one z1 of said teats of said individual animal at said pre- or post-treatment location
Data Source
AI summary
An automatic teat treatment method and apparatus uses a control system and an associated robot apparatus with an arm that carries a treatment apparatus, to establish a treatment operation start time and establish the presence of an animal at a treatment location, and then (i) initiate detection of a spatial teat position of a first teat, (ii) register the spatial position, (iii) derive a dedicated teat-treating action, (iv) carry out the teat-treating action, and (v) successively repeat the initiating, registering, deriving, and treating steps once in respect of each teat until all teats are treated, where, when after the start time, a predefined point in time is passed before any of the preceding steps is completed, the method is interrupted and a default treating action for treating all remaining untreated teats is derived and carried out by the treatment apparatus and thereafter the robot arm is retracted.