Milker

Motivation for an autonomous milking ongoing robot (AMOR)

An autonomous system results in the following dis-/advantages:

• + Indepence (no more need to be there to milk morning and evening, 7days/week)
• - Machine service increases
• + Technical knowledge increases, hence perhaps some other good robot ideas may evolve.
• + Cows/Goats/Sheep can decide themselves when to get milked.
• + Concentrated feed can be delivered automatically and according to milk delivered.
• - Animals' possible illness not realized early enough. => Action taken too late. => Animal could die.
• - Gathering at Milking robot leaves behind a lot of unusable muddy terrain at entrance (doors in general).
• - Higher complexity in separation of milk for calves, though of course possible.
• + Driving out and in of cattle no longer necessary as animals can get milked outside.
• + Less material required (much shorter vacuum and milk tubes as compared to conventional non-automated distributed [at cow/goat..] milking)
• ... and several others.

An ongoing system results in the following (dis-)advantages:

• - Higher complexity.
• + Independance of any external supplies.

   ** Water (difficult)
   ** Power
   ** Food (difficult)

• - Redundancy of susceptible subsystems (Electronics, in general: The more complex the system the higher the vulnerability).
• + Less cabling, water pipe laying and bundled maintenance (as you can wait for enough minor errors to accumulate before taking the system apart).
• ... and several others.

High Level Overview

Under constant change.

Separation in Subproblems & Technological Difficulties

Our AMOR consists of several submodules:

• MECHANICAL CONSTRUCTION
  • - Difficult to be robust, lightweight (for truck to lift) & cheap the same time.
  • + Rain serves as a water supply and natural (ecologic) washing.
• VACUUM SYSTEM
  • - Difficult to be flexible in frequency (provide user settings) and keep it simple at the same time.
  • + Could be used for several other functionality than milking (doors, ...). => No hydraulics needed.
  • Note: As the robotic manipulator should be flexible anyway, compressible air/vacuum could serve this purpose, too - stays the problem of vulnerability to leakage.
  • Vacuum pumps.
• STORAGE CONSTRUCTION
  • Milk
  • Food
  • Water
  • Energy
  • Database for animals milk (amount, properties, ...)
  • Database for organization of the cow's fertile cycle, ...
• SENSORICS
  • Milk properties (flow rate, derivations of that, TODO)
  • Robotic manipulator (3D camera, washing mechanism)
  • Animal within milking construction => Door states.
• ELECTRONICS
  • Control of Doors.
  • Control of Feeding (derived from amount of milk), but also accept some user constraints (lower / upper bounds for each type of food respectively).
  • Control of Robotic manipulator (joints, gripper).
  • Collection & storage of the stored animal & product data.
• SOFTWARE
  • Microcontroller programs capable of controlling at least two AMOR system blocks (stacked next to each other).
  • compare ELECTRONICS.

REVISIONS & POWER SYSTEM

Power system 100 kW inverter is planned for late August or early September, the AMOR power system & basic prototype for Autumn. [1]

DISCUSSION

Feel free to post critiques or technical stuff here - alternatively use the forum, even though currently I think it's much easier and more on focus to discuss here directly - or under tab "talk". --Jan

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• .. Category: -OSEG 400 - Bereich Technologie