US 2022/0015326 A1Published application

Tool-pickup system, method, computer program and non-volatile data carrier

AssigneeDeLaval Holding AB

InventorAndreas ERIKSSON

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Abstract

Tools in an automatic milking arrangement are picked up by using a robotic arm (110). The robotic arm (110) moves a camera (130) to an origin location (PC) from which the camera (130) registers three-dimensional image data (Dimg3D) of at least one tool (141, 142, 143, 144). The three-dimensional image data is processed using an image-based object identification algorithm to identify objects in the form of the tools and hoses (152). In response to identifying at least one tool, a respective tool position (PT1, PT3, PT4) is determined for each identified tool based on the origin location (PC) and the three-dimensional image data. Then, a grip device (115) is exclusively controlled to the one or more of the respective tool positions (PT1, PT3, PT4) to perform a pick-up operation. Thus, futile attempts to pick-up non-existing or blocked tools can be avoided.

Claims21

Dependent claims

A tool-pickup system for an automatic milking arrangement, the tool-pickup system comprising:

a robotic arm (110) provided with a grip device (115) configured to pick up tools (141, 142, 143, 144), and a camera (130) configured to register three-dimensional image data (Dimg3D);
and
a control unit (120) operatively connected to the robotic arm, the control unit (120) configured to:
control the robotic arm (110) to move the camera (130) to an origin location (PC) from which at least one tool of the tools (141, 142, 143, 144) is expected to be visible within a view field (VF) of the camera (130),
obtain three-dimensional image data (Dimg3D) registered by the camera (130) at the origin location (PC),
process the three-dimensional image data (Dimg3D) using an image-based object identification algorithm to identify objects in a form of the tools (141, 143, 144) and/or hoses (152), and
in response to identifying at least one of the tools (141, 143, 144):
i) determine a respective tool position (PT1, PT3, PT4) for each identified tool (141, 143, 144) based on the origin location (PC) and the three-dimensional image data (Dimg3D), and
ii) exclusively control the grip device (115) to one or more of the respective tool positions (PT1, PT3, PT4) to perform a pick-up operation.

6 more elements

A method for picking up tools in an automatic milking arrangement, the method comprising:

controlling a robotic arm (110) to move a camera (130) arranged on the robotic arm (110) to an origin location (PC) from which at least one tool of the tools (141, 142, 143, 144) is expected to be visible within a view field (VF) of the camera (130);
using the camera (13) to register three-dimensional image data (Dimg3D) within the view field (VF) of the camera (130);
obtaining the three-dimensional image data (Dimg3D) registered by the camera (130) at the origin location (PC);
processing the three-dimensional image data (Dimg3D) using an image-based object identification algorithm to identify objects in a form of tools (141, 143, 144) and/or hoses (152), and
in response to identifying at least one tool of the tools (141, 143, 144):
i) determining a respective tool position (PT1, PT3, PT4) for each identified tool (141, 143, 144) based on the origin location (PC) and the three-dimensional image data (Dimg3D), and
ii) exclusively controlling a grip device (115) on the robotic arm (110) to one or more of the respective tool positions (PT1, PT3, PT4) to perform a pick-up operation of each respective identified tool (141, 143, 144).

4 more elements

Dependencies are inferred from the claim text.

Facts

Application: 17/290,704Filed 28 Oct 2019
Priority: SE 1800211-31 Nov 2018
Published: 20 Jan 2022
Term ends: Not estimatedThe source records don’t support an estimate.

Classification27 codes

A01J 5/007
Milking machines or devices: monitoring milking processes; Control or regulation of milking machines
A01J 5/0175
Automatic attaching or detaching of clusters: attaching of clusters
A01J 7/02
Accessories for milking machines or devices: for cleaning or sanitising milking machines or devices
B25J 9/1697
Characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor…:…