Journal of Biosystems Engineering

Korean Society for Agricultural Machinery (한국농업기계학회)
권호 표지
DOI QR코드

DOI QR Code

A Stereo-Vision System for 3D Position Recognition of Cow Teats on Robot Milking System

로봇 착유시스템의 3차원 유두위치인식을 위한 스테레오비젼 시스템

  • Kim, Woong (Dept. of Bio-Industrial Mechanic Engineering, Kong-Ju University) ;
  • Min, Byeong-Ro (Dept. of Bio-Mechatronic Engineering, Sung-Kyun-Kwan University) ;
  • Lee, Dea-Weon (Dept. of Bio-Mechatronic Engineering, Sung-Kyun-Kwan University)
  • Published : 2007.02.25
Download PDF
⟨ Previous Next ⟩

Abstract

A stereo vision system was developed for robot milking system (RMS) using two monochromatic cameras. An algorithm for inverse perspective transformation was developed for the 3-D information acquisition of all teats. To verify performance of the algorithm in the stereo vision system, indoor tests were carried out using a test-board and model teats. A real cow and a model cow were used to measure distance errors. The maximum distance errors of test-board, model teats and real teats were 0.5 mm, 4.9 mm and 6 mm, respectively. The average distance errors of model teats and real teats were 2.9 mm and 4.43 mm, respectively. Therefore, it was concluded that this algorithm was sufficient for the RMS to be applied.

Keywords

References

  1. Kim, W. and D. W. Lee. 2005a. Development of teat-cups attachment module for milking robot system. J. of Biosystems Engineering 30(3):179-184. (In Korean) https://doi.org/10.5307/JBE.2005.30.3.179
  2. Kim, W, and D. W. Lee. 2005b. Image processing for recognition of cow teats and selection of a NIR filter for milking robot system. J. of Bio-systems Engineering 30(5): 299-305. (In Korean) https://doi.org/10.5307/JBE.2005.30.5.299
  3. Klungel, G. H., B. A. Slaghuis and H. Hogeveen. 2000. The effect of the introduction of automatic milking on milk quality. J. Dairy Sci. 83:1998-2003 https://doi.org/10.3168/jds.S0022-0302(00)75077-6
  4. Kwon, D. J., W. Kim and D. W. Lee. 2002. Position analysis of cow teats for teat-cup attachment system on robotic milking system. J. of Livestock Housing and Environment 8(3): 159-164. (In Korean)
  5. Lee, S. H., K. J. Choi and B. K. Yu. 1998. Research trends and their perspectives in milking robot. J. of Biosystems Engineering 23(6):641-647. (In Korean)
  6. Lee, Y. J. and D. I. Chang. 1999. Basic study for the development of teat cup handling system operated by a robot. Proceedings of the Korean Society for Agricultural Machinery Conference 4(2): 159-164. (In Korean)
  7. Pomies, D. and J. Bony. 2000. Comparison of hygienic quality of milk collected with a milking robot vs. with a conventional milking parlor. Proceedings of the International Symposium Robotic Milking pp. 122-123
  8. Rossing, W. and P. H. Hogewerf. 1997. State of the art of automatic milking systems. J. of Computers and Electronics in Agriculture 17(1):1-17 https://doi.org/10.1016/S0168-1699(96)01229-X
  9. 新出 陽三, 松田 從三. 1994. 窄乳ロボットと酪農, 酪農綜合硏究所. 北海道. (In Japanese)