FIELD: agriculture robotics.
SUBSTANCE: vision systems used as feedback for positioning the working body of the milking robot manipulator. The method for detecting a milking robot is to determine the positions of the cow's teats using a camera. Moreover, a three-dimensional time-of-flight camera is used. The camera is installed on the body of the robot manipulator of the milking robot, the cow's udder is detected and all its points are recorded in the matrix Nobj[i,j], the matrix S[4,3] of the coordinates of the cow's teats in space relative to the three-dimensional time-of-flight camera is formed. The control action u is generated, which is fed into the driver control system of the robot manipulator of the milking robot.
EFFECT: reduction of amount of time spent on detecting the teats of the cow's udder, which increases the productivity of the milking robot as a whole.
1 cl, 1 dwg
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