Visual Detection for Teat Cup Attachment in Milking Robots
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Solution Overview
Problem
Current dairy farm milking systems face challenges with sensor reliability due to exposure to dirt and physical contact, prolonged teat cup attachment times, and high costs, as well as inefficiencies in automatically locating teats for new animals.
Innovation Solution
A visual detection system using a robot arm with two visual detection devices - one on the arm and another for longitudinal positioning - allows for fast, precise, and reliable teat cup attachment by determining teat positions relative to the animal and the milking box, utilizing a two-dimensional camera for broader area coverage and lower detection frequency.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a sensor is used to sense the position of the rear plate, then the longitudinal position of the milking animal can be measured, but the sensor is exposed to dirt and physical contact which reduces reliability and may damage the sensor
Solution Approach 1:
The patent replaces the mechanical contact sensor with an optical detection system using a camera and image processing. The camera captures images of the milking animal, and software algorithms automatically identify and track the rear plate position, eliminating mechanical contact and improving reliability while maintaining measurement precision.
Solution Approach 2:
The patent introduces an image processing algorithm as an intermediary between the camera and the control system. The algorithm processes camera images to detect the rear plate position indirectly, avoiding direct sensor contact with the animal and reducing contamination risks.
2Extent of automation
If sequential movements of a scanning head are used to find teats, then automatic teaching can be achieved, but the number of correct teat cup attachments may be low
Solution Approach 1:
The patent transitions from one-dimensional sequential scanning to two-dimensional image analysis. The camera captures a broad view of the teats simultaneously, and image processing algorithms identify teat positions across the entire field of view, providing more comprehensive spatial information and improving attachment accuracy.
Solution Approach 2:
The patent performs preliminary identification of all teat positions using image processing before the milking process begins. This allows the system to pre-plan the attachment sequence and optimize the robot arm's movement path, improving both automation and precision.
3Adaptability or versatility
If four robot arms with detector means are used, then approximate positioning can be achieved, but the milking process may be prolonged
Solution Approach 1:
The patent performs preliminary teat position identification using image processing before the robot arm begins attachment operations. This pre-positioning allows the robot arm to move directly to each teat without unnecessary searching or adjustments, reducing the overall milking time while maintaining accurate positioning.
Solution Approach 2:
The patent creates a visual map or model of teat positions from camera images, which the control system uses to guide the robot arm. This digital representation allows for optimized movement planning and reduces the time needed for physical positioning and adjustment during the actual milking process.
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 approach significantly increases the number of correct teat cup attachments, reduces costs, and enhances system efficiency, safety, and user experience by enabling quick and accurate teat cup placement without manual intervention.
Implementation Method 1
A laser emitting laser light and a video camera provided to register laser light as reflected from the teats of the milking animal are mounted on the robot arm. By aid of a method known as laser triangulation, the positions of the teats can be calculated.
Data Source
Figure 1~2
Figure 3
AI summary
A visual detection arrangement is provided in a milking system (3) comprising a robot arm (15) for attaching a teat cup (11) to a teat of a milking animal (8), and a control device (19) for controlling the movement of the robot arm. The detection arrangement comprises first visual detection means (17) provided on the robot arm for repeatedly determining the teat position relative the robot arm and second visual detection means (21) directed towards the milking animal. The second visual detection means (21) is provided for detecting a position of the animal in a longitudinal direction (x), and the control device (19) is initially provided for controlling the movement of the robot arm based on information of the position of the teat of the animal relative the animal itself, and on the detected longitudinal position of the animal.