Robot per a Munyida Automàtica (RMA)
English: In this project, different kind of milking systems that are used nowadays are studied from the conventional ones (without any automatization) to the robotic ones (partially or totally automatic). In this work they are presented not just from the technique point of view but also from the eco...
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| Tipo de recurso: | tesis de maestría |
| Fecha de publicación: | 2011 |
| País: | España |
| Institución: | Universitat Politècnica de Catalunya (UPC) |
| Repositorio: | UPCommons. Portal del coneixement obert de la UPC |
| Idioma: | catalán |
| OAI Identifier: | oai:upcommons.upc.edu:2099.1/13812 |
| Acceso en línea: | https://hdl.handle.net/2099.1/13812 |
| Access Level: | acceso abierto |
| Palabra clave: | Robot vision Robot Compunter vision Visión artificial Electrònica Visió artificial (Robòtica) Àrees temàtiques de la UPC::Informàtica::Robòtica |
| Sumario: | English: In this project, different kind of milking systems that are used nowadays are studied from the conventional ones (without any automatization) to the robotic ones (partially or totally automatic). In this work they are presented not just from the technique point of view but also from the economic one. Once that the systems are presented and a comparative is performed, the milking technique performed from the back is explained. This technique is expected to improve the conventional milking method that consist in milking the cow from the lateral. This method improves the milking speed since it minimize the movements that the machine needs in order to achieve the milking position. In order to verify the feasibility of this kind of milking method a prototype has been developed by means of computer vision, an electronic control and a start up system that is able to place the system according to the position of the udder from the animal. A real dimensions metallic structure has been built in order to hold the hole system. This structure is characterized by the three linear degrees of freedom that allows the system to move in the X, Y and Z axis. The movement in the different axis is performed through pneumatic cylinders that are controlled by pneumatic valves and a electronic control system responsible of processing the information from the vision system and the different distance sensors involved in the system positioning. The computer vision system is based in an EyeToy camera (that belongs to the PlayStation2) which provides a two dimension image. This image is analyzed with Matlab in order to identify the edges and the udder to eventually transfer the data to the electronic control. |
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