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Development of teat sensing system for automated milking

Ben Azouz, Aymen (2009) Development of teat sensing system for automated milking. Master of Engineering thesis, Dublin City University.

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Robotic application of milking cups to the udder of a cow in a rotary high capacity group milking system is a major challenge in automated milking. Application time and reliability are the main constraints. Manual application by an operator of a rotary carousel is of the order of 10 seconds and 100% reliable. In existing non-rotary milking machines, the cups are applied to each teat individually and the process can take up to two minutes. In order to achieve a more rapid simultaneous application of the four cups, the three dimensional locations of the four teats must be known in real time. In this thesis, a multimodal vision system combining optical stereovision and thermal imaging is developed. The overall system is evaluated from the point of view of accuracy and robustness. Laboratory tests have shown that stereovision can rapidly locate teat three dimensional position coordinates, however robust identification of the teats is required. It is shown that this may be achieved using thermal imaging to isolate teats from background objects due to their elevated temperature profile. Further development is necessary to overcome specific situations such as overlapping teats.

Item Type:Thesis (Master of Engineering)
Date of Award:November 2009
Supervisor(s):Esmonde, Harry and Corcoran, Brian
Uncontrolled Keywords:automated milking; teat sensing;
Subjects:Engineering > Mechanical engineering
Computer Science > Image processing
DCU Faculties and Centres:DCU Faculties and Schools > Faculty of Engineering and Computing > School of Mechanical and Manufacturing Engineering
Use License:This item is licensed under a Creative Commons Attribution-NonCommercial-No Derivative Works 3.0 License. View License
ID Code:14834
Deposited On:18 Nov 2009 10:54 by Harold Esmonde. Last Modified 12 Jan 2017 12:20

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