Animal husbandry – Milkers – With automatic control
Patent
1997-09-16
1999-06-29
Swiatek, Robert P.
Animal husbandry
Milkers
With automatic control
119 1402, A01J 5007
Patent
active
059153318
DESCRIPTION:
BRIEF SUMMARY
FIELD OF THE INVENTION
The invention concerns a process for locating an object, in particular a teat of a cow, within an operational range by means of a sensor matrix of a milking robot.
BACKGROUND OF THE INVENTION
In connection with manipulating apparatus and robots, the sensor problem presents itself again and again, since sensors are the necessary prerequisite for locating, recognizing, or grasping objects by means of a robot or a manipulating arm. Normally a large multitude of different sensors is employed; thus, for example, ultrasonic sensors, electronic cameras, laser or radar sensors find application. Likewise, light barriers are used for locating objects and are especially effective when several light barriers work together in a light-barrier matrix. However, other sensors can also be combined in a matrix.
The position of an object within a light-barrier matrix can be determined relatively easily by checking which of the individual light barriers, or rather, light beams are interrupted by the object. Here, however, faulty readings can result when one or several of the light barriers are interrupted not by the object to be located, but rather by, for example, dirt. In a light barrier the dirt can cling, for example, to the light receptor or the light source. In both cases the light barrier is constantly interrupted.
The operational range of the sensor matrix of a milking robot is usually in the narrow sense the area surrounding the teats of a cow and in the broad sense a milking box in which a cow is to be milked. The sensor matrix is located in most cases on the end of a robot or manipulator arm in the vicinity of a holding device for teat cups. Thus, as a rule the sensor matrix is moved along with the robot or manipulator arm.
The problem forming the basis of the invention is to specify a process by which faulty readings due to a completely or partially soiled sensor matrix are avoided.
SUMMARY OF THE INVENTION
According to the invention, the solution to this problem consists in a process, of the type mentioned at the beginning, in which the location result gained with the help of the sensor matrix is checked for plausibility and, in the event of an implausible location result, a separate diagnostic step is carried out. For this testing of the plausibility several variants are imaginable: for example, when it is a matter of locating a closed object, such as is represented by, for example, the teat of a cow, only neighboring sensors of a sensor matrix may be simultaneously darkened, or rather interrupted, or activated. Every other reading can be explained only by a hole in the object to be located, but this object precisely does not have a hole: thus, a reading other than one in which only neighboring sensors are activated or neighboring light barriers are interrupted is not plausible. Often, sensor matrices are located on the end of a robot or manipulator arm. In such a case the sensor matrix can be moved back and forth during the locating, with the consequence that the object is regularly located outside the sensor matrix. During this, individual sensors may not be activated with regularity or the beam course of the light barriers may not be interrupted. If this is the case, however, then here too it is a matter of an implausible result. If such plausibility tests are carried out regularly during the location process also, then faulty readings attributable to, for example, a partially soiled light-barrier matrix can be detected and excluded from the further evaluation.
After a non-plausible reading has appeared, according to the invention a separate diagnostic step is carried out. This can consist, for example, in a simple self-test of a sensor unit, whose component part is the sensor matrix, and/or of a control computer for the sensor unit. If the sensor matrix is located on a movable robot or manipulator arm, then during the diagnostic step it can also be moved in a purposeful manner, in order, for example, to remove individual sensors or the collective sensor matrix so far from the obj
REFERENCES:
patent: 5379721 (1995-01-01), Dessing et al.
patent: 5479876 (1996-01-01), Street et al.
Artmann, Rudolf and Dieter Schillingmann, "Entwichlungsstand von Melkrobotern", Landtechnik, No. 12, pp. 437-440; 9 translution attatched.
Swiatek Robert P.
Westfalia Landtechnik GmbH
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