DE69606059D1 - Zitzenlokalisation zum melken - Google Patents

Zitzenlokalisation zum melken

Info

Publication number
DE69606059D1
DE69606059D1 DE69606059T DE69606059T DE69606059D1 DE 69606059 D1 DE69606059 D1 DE 69606059D1 DE 69606059 T DE69606059 T DE 69606059T DE 69606059 T DE69606059 T DE 69606059T DE 69606059 D1 DE69606059 D1 DE 69606059D1
Authority
DE
Germany
Prior art keywords
milking
teat
localization
teat localization
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
DE69606059T
Other languages
English (en)
Other versions
DE69606059T2 (de
Inventor
Christopher Hall
Robert Lee
Susan Spencer
John Street
Jan Stein
Benny Oernerfors
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
DeLaval Holding AB
Original Assignee
Alfa Laval Agri AB
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Family has litigation
First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=20399990&utm_source=***_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=DE69606059(D1) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Application filed by Alfa Laval Agri AB filed Critical Alfa Laval Agri AB
Publication of DE69606059D1 publication Critical patent/DE69606059D1/de
Application granted granted Critical
Publication of DE69606059T2 publication Critical patent/DE69606059T2/de
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01J—MANUFACTURE OF DAIRY PRODUCTS
    • A01J5/00—Milking machines or devices
    • A01J5/017—Automatic attaching or detaching of clusters
    • A01J5/0175—Attaching of clusters
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras

Landscapes

  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Animal Husbandry (AREA)
  • Environmental Sciences (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)
DE69606059T 1995-10-27 1996-10-28 Zitzenlokalisation zum melken Expired - Fee Related DE69606059T2 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
SE9503792A SE9503792D0 (sv) 1995-10-27 1995-10-27 Teat location for milking
PCT/SE1996/001381 WO1997015900A1 (en) 1995-10-27 1996-10-28 Teat location for milking

Publications (2)

Publication Number Publication Date
DE69606059D1 true DE69606059D1 (de) 2000-02-10
DE69606059T2 DE69606059T2 (de) 2000-08-03

Family

ID=20399990

Family Applications (1)

Application Number Title Priority Date Filing Date
DE69606059T Expired - Fee Related DE69606059T2 (de) 1995-10-27 1996-10-28 Zitzenlokalisation zum melken

Country Status (7)

Country Link
US (1) US5934220A (de)
EP (1) EP0858640B1 (de)
JP (1) JP3916255B2 (de)
DE (1) DE69606059T2 (de)
IL (1) IL123985A (de)
SE (1) SE9503792D0 (de)
WO (1) WO1997015900A1 (de)

Families Citing this family (92)

* Cited by examiner, † Cited by third party
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SE9503793D0 (sv) * 1995-10-27 1995-10-27 Tetra Laval Holdings & Finance An apparatus for moving an animal related means and a method therefor
SE9603054D0 (sv) * 1996-08-22 1996-08-22 Tetra Laval Holdings & Finance An arrangement for and a method of performing an animal-related action
NL1004922C2 (nl) * 1996-12-31 1998-07-01 Prolion Bv Inrichting en werkwijze voor het melken van dieren.
SE9701231D0 (sv) * 1997-04-04 1997-04-04 Alfa Laval Agri Ab Apparatus and method for recognising and determining the position of part of an animal
SE9701547D0 (sv) * 1997-04-23 1997-04-23 Alfa Laval Agri Ab Apparatus and method for recognising and determining the positon of a part of an animal
SE9702628D0 (sv) * 1997-07-07 1997-07-07 Alfa Laval Agri Ab An animal related apparatus
SE9704518D0 (sv) * 1997-12-04 1997-12-04 Alfa Laval Agri Ab Teat cleaning brush
SE9704779D0 (sv) * 1997-12-19 1997-12-19 Alfa Laval Agri Ab A device for gripping an animal related means
NL1008673C2 (nl) * 1998-03-23 1999-09-24 Maasland Nv Inrichting en werkwijze voor het reinigen en/of desinfecteren van een speen van een dier.
NL1009632C2 (nl) * 1998-07-13 2000-01-17 Gascoigne Melotte Bv Automatische melkinrichting met lichtsensor.
SE512611C2 (sv) * 1998-07-24 2000-04-10 Alfa Laval Agri Ab Anordning för automatisk applicering av en spenkopp på ett djurs spene
SE9802920L (sv) * 1998-08-31 2000-03-01 Alfa Laval Agri Ab Anordning för övervakning av en djurrelaterad volym
SE9802919L (sv) * 1998-08-31 2000-03-01 Alfa Laval Agri Ab Anordning och förfarande för övervakning av ett djurrelaterat område
SE9802923L (sv) * 1998-08-31 2000-03-01 Alfa Laval Agri Ab Förfarande och anordning för lokalisering av ett djurs spenar
SE514473C2 (sv) * 1999-03-02 2001-02-26 Alfa Laval Agri Ab Skyddsanordning för en spenlokaliserare
SE522443C2 (sv) * 1999-04-19 2004-02-10 Delaval Holding Ab Förfarande och anordning för igenkänning och bestämning av en position och en robot inkluderande en sådan anordning
GB9911935D0 (en) * 1999-05-21 1999-07-21 British Broadcasting Corp Tracking of moving objects
SE0000153L (sv) * 2000-01-19 2001-07-20 Delaval Holding Ab En metod och en apparat för att lokalisera spenarna hos ett mjölkdjur
ATE310382T1 (de) * 2000-06-22 2005-12-15 Delaval Holding Ab Verfahren und vorrichtung zur behandlung der zitze eines tieres
SE0002720D0 (sv) * 2000-07-19 2000-07-19 Delaval Holding Ab A method and an apparatus for examination of milking animals
DK1253440T3 (da) * 2001-04-24 2011-08-15 Lely Entpr Ag Indretning til at bestemme positionen af en pattekop på et dyr
US6729262B2 (en) * 2002-10-04 2004-05-04 Innovative Automation, Inc. Live capture automated milking apparatus and method
US6935270B2 (en) * 2003-08-29 2005-08-30 Delaval, Inc. Milking and application teat cup, system, and method
ATE324032T1 (de) * 2003-09-30 2006-05-15 Lely Entpr Ag Vorrichtung und verfahren zum melken eines milchtieres
NL1024522C2 (nl) * 2003-10-13 2005-04-14 Lely Entpr Ag Melkbekerdrager.
US20080314324A1 (en) * 2004-03-30 2008-12-25 Delaval Holding Ab Arrangement and Method for Determining Positions of the Teats of a Milking Animal
US8342125B2 (en) 2004-06-12 2013-01-01 Gea Farm Technologies, Inc. Safety valve for an automatic dairy animal milker unit backflusher and teat dip applicator
US8025029B2 (en) 2004-06-12 2011-09-27 Gea Farm Technologies, Inc. Automatic dairy animal milker unit backflusher and teat dip applicator system and method
US8033247B2 (en) * 2004-06-12 2011-10-11 Gea Farm Technologies, Inc. Automatic dairy animal milker unit backflusher and teat dip applicator system and method
US8117989B2 (en) 2008-06-27 2012-02-21 Gea Farm Technologies, Inc. Milk tube dome with flow controller
US10874084B2 (en) 2004-06-12 2020-12-29 Gea Farm Technologies, Inc. Safety valve for a dairy system component
US7895972B2 (en) * 2005-10-24 2011-03-01 Delaval Holding Ab Arrangement and method for visual detection in a milking system
CA2539645C (en) 2006-03-15 2020-04-28 Lmi Technologies Inc. Time of flight teat location system
SE530339C2 (sv) 2006-07-13 2008-05-06 Delaval Holding Ab En apparat och förfarande för att igenkänna och bestämma en position
NL1034502C2 (nl) * 2007-10-12 2009-04-15 Lely Patent Nv Melkinrichting.
AU2009224053B2 (en) * 2008-03-11 2014-11-27 Scott Technology Nz Limited A robot milking arm and a method of attaching milking cups
NZ566631A (en) 2008-03-11 2011-04-29 Scott Milktech Ltd A robotic milking system and a method of attaching milking cups
US8373109B2 (en) * 2008-04-09 2013-02-12 Lely Patent N.V. Teat detection device and method therewith in a milking device
EP2111750A1 (de) * 2008-04-25 2009-10-28 Lely Patent N.V. Verfahren zur Durchführung eines tierbezogenen Vorgangs und Gerät zur Durchführung des Verfahrens
CA2916303A1 (en) * 2008-07-15 2010-01-21 Lely Patent N.V. Dairy animal treatment system
GB0819604D0 (en) * 2008-10-25 2008-12-03 Green Source Automation Llc Milking apparatus and process
EP2355652B2 (de) * 2008-11-10 2021-03-17 GEA Farm Technologies GmbH Verfahren und Vorrichtung zum automatischen inkontaktbringen eines Fluids mit den Zitzen eines Tieres
US11723341B2 (en) 2009-09-04 2023-08-15 Gea Farm Technologies, Inc. Safety valve for an automated milker unit backflushing and teat dip applicator system
US8770146B2 (en) 2009-09-04 2014-07-08 Gea Farm Technologies, Inc. Methods and apparatus for applying teat dip to a dairy animal
DK2515632T3 (en) 2009-12-24 2017-02-27 Farm Improvements Ltd FLUID DELIVERY DEVICE
US20120097107A1 (en) 2010-02-22 2012-04-26 Gea Farm Technologies, Inc. Dairy animal milking preparation system and methods
US8925483B2 (en) 2010-02-22 2015-01-06 Gea Farm Technologies, Inc. Dairy harvesting facility with milk line protection system and methods
KR20130115093A (ko) * 2010-05-14 2013-10-21 데어리 체크, 인코포레이티드. 공간상에서 물체의 위치를 결정하기 위한 센서 어레이
EP2575434A1 (de) 2010-06-04 2013-04-10 Dairy Cheq, Inc. Modulare manipulationsvorrichtung
US9161511B2 (en) 2010-07-06 2015-10-20 Technologies Holdings Corp. Automated rotary milking system
US10111401B2 (en) 2010-08-31 2018-10-30 Technologies Holdings Corp. System and method for determining whether to operate a robot in conjunction with a rotary parlor
US8720382B2 (en) 2010-08-31 2014-05-13 Technologies Holdings Corp. Vision system for facilitating the automated application of disinfectant to the teats of dairy livestock
US9149018B2 (en) 2010-08-31 2015-10-06 Technologies Holdings Corp. System and method for determining whether to operate a robot in conjunction with a rotary milking platform based on detection of a milking claw
US8800487B2 (en) 2010-08-31 2014-08-12 Technologies Holdings Corp. System and method for controlling the position of a robot carriage based on the position of a milking stall of an adjacent rotary milking platform
NL1038458C2 (en) * 2010-12-17 2012-06-19 Lely Patent Nv Dairy animal treatment system.
WO2012123944A1 (en) 2011-03-17 2012-09-20 Mirobot Ltd. Human assisted milking robot and method
US8794181B2 (en) 2011-03-17 2014-08-05 Mirobot Ltd. System and method for three dimensional teat modeling for use with a milking system
US9043988B2 (en) 2011-04-28 2015-06-02 Technologies Holdings Corp. Milking box with storage area for teat cups
US10357015B2 (en) 2011-04-28 2019-07-23 Technologies Holdings Corp. Robotic arm with double grabber and method of operation
US9357744B2 (en) 2011-04-28 2016-06-07 Technologies Holdings Corp. Cleaning system for a milking box stall
US9107378B2 (en) 2011-04-28 2015-08-18 Technologies Holdings Corp. Milking box with robotic attacher
US9215861B2 (en) 2011-04-28 2015-12-22 Technologies Holdings Corp. Milking box with robotic attacher and backplane for tracking movements of a dairy animal
US8903129B2 (en) 2011-04-28 2014-12-02 Technologies Holdings Corp. System and method for filtering data captured by a 2D camera
US9681634B2 (en) 2011-04-28 2017-06-20 Technologies Holdings Corp. System and method to determine a teat position using edge detection in rear images of a livestock from two cameras
US8683946B2 (en) 2011-04-28 2014-04-01 Technologies Holdings Corp. System and method of attaching cups to a dairy animal
US8746176B2 (en) 2011-04-28 2014-06-10 Technologies Holdings Corp. System and method of attaching a cup to a dairy animal according to a sequence
US9107379B2 (en) 2011-04-28 2015-08-18 Technologies Holdings Corp. Arrangement of milking box stalls
US9265227B2 (en) 2011-04-28 2016-02-23 Technologies Holdings Corp. System and method for improved attachment of a cup to a dairy animal
US9049843B2 (en) 2011-04-28 2015-06-09 Technologies Holdings Corp. Milking box with a robotic attacher having a three-dimensional range of motion
US10127446B2 (en) 2011-04-28 2018-11-13 Technologies Holdings Corp. System and method for filtering data captured by a 2D camera
US9258975B2 (en) 2011-04-28 2016-02-16 Technologies Holdings Corp. Milking box with robotic attacher and vision system
US8671885B2 (en) 2011-04-28 2014-03-18 Technologies Holdings Corp. Vision system for robotic attacher
US9058657B2 (en) 2011-04-28 2015-06-16 Technologies Holdings Corp. System and method for filtering data captured by a 3D camera
US9161512B2 (en) 2011-04-28 2015-10-20 Technologies Holdings Corp. Milking box with robotic attacher comprising an arm that pivots, rotates, and grips
US8885891B2 (en) 2011-04-28 2014-11-11 Technologies Holdings Corp. System and method for analyzing data captured by a three-dimensional camera
US9526224B2 (en) 2013-12-20 2016-12-27 Gea Farm Technologies Gmbh Safety valve device
DE102013114595A1 (de) 2013-12-20 2015-06-25 Gea Farm Technologies Gmbh Sicherheitsventil
DE102016108300A1 (de) 2016-05-04 2017-11-09 Gea Farm Technologies Gmbh Sicherheitsventil
US9936670B2 (en) * 2016-08-17 2018-04-10 Technologies Holdings Corp. Vision system with teat detection
US9980457B2 (en) * 2016-08-17 2018-05-29 Technologies Holdings Corp. Vision system with teat candidate identification
US10349613B2 (en) * 2016-08-17 2019-07-16 Technologies Holdings Corp. Vision system for teat detection
US10499607B2 (en) 2016-08-17 2019-12-10 Technologies Holdings Corp. Vision system for teat detection
US10349614B2 (en) * 2016-08-17 2019-07-16 Technologies Holdings Corp. Vision system for teat detection
US10817970B2 (en) 2016-08-17 2020-10-27 Technologies Holdings Corp. Vision system with teat detection
US9974278B2 (en) * 2016-08-17 2018-05-22 Technologies Holdings Corp. Vision system with teat identification
US10477827B2 (en) 2016-08-17 2019-11-19 Technologies Holdings Corp. Vision system for teat detection
US9807971B1 (en) 2016-08-17 2017-11-07 Technologies Holdings Corp. Vision system with automatic teat detection
US10558855B2 (en) * 2016-08-17 2020-02-11 Technologies Holdings Corp. Vision system with teat detection
US10349615B2 (en) * 2016-08-17 2019-07-16 Technologies Holdings Corp. Vision system for teat detection
US10499609B2 (en) * 2016-08-17 2019-12-10 Technologies Holdings Corp. Vision system for teat detection
DE102017111885B4 (de) * 2017-05-31 2019-06-27 Sick Ag Verfahren und System zum Überwachen einer Maschine
WO2019090044A1 (en) 2017-11-03 2019-05-09 Gea Farm Technologies, Inc. Automated teat dip fluid manifold

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FR2408300A1 (fr) * 1977-11-12 1979-06-08 Akermann David Procede et appareil pour la traite des vaches
NL8600076A (nl) * 1986-01-16 1987-08-17 Lely Nv C Van Der Werkwijze en inrichting voor het melken van een dier.
FR2595197B1 (fr) * 1986-03-07 1988-11-18 Cemagref Installation de traite automatique
GB8616501D0 (en) * 1986-07-07 1986-08-13 British Res Agricult Eng Electrostatic sprayer
DE3775773D1 (de) * 1987-09-08 1992-02-13 Cemagref Automatische melkmaschine.
EP0439239B1 (de) * 1988-01-08 1998-07-01 Prolion B.V. Verfahren und Robotsystem zum Suchen eines bewegenden Objekts
NL8802332A (nl) * 1988-09-21 1990-04-17 Lely Nv C Van Der Inrichting voor het melken van een dier.
DE4113700A1 (de) * 1991-04-26 1992-10-29 Dieter Dipl Ing Schillingmann Verfahren zum automatischen melken von in melkboxen stehenden milchkuehen, sowie melkbox, roboter und melkmodul zur durchfuehrung dieses verfahrens
IT1247949B (it) * 1991-05-20 1995-01-05 Felice Farina Apparecchiatura per il lavaggio automatico di capezzoli di bovini o altri animali da latte
NL9401113A (nl) * 1994-07-04 1996-02-01 Maasland Nv Constructie met een inrichting voor het automatisch melken van dieren.
NL9401681A (nl) * 1994-10-12 1996-05-01 Maasland Nv Werkwijze en inrichting voor het automatisch melken van dieren, zoals koeien.
NL1001912C2 (nl) * 1995-12-15 1997-06-17 Maasland Nv Inrichting voor het melken van dieren.

Also Published As

Publication number Publication date
SE9503792D0 (sv) 1995-10-27
JP3916255B2 (ja) 2007-05-16
DE69606059T2 (de) 2000-08-03
JPH11513573A (ja) 1999-11-24
IL123985A (en) 2001-09-13
EP0858640A1 (de) 1998-08-19
EP0858640B1 (de) 2000-01-05
WO1997015900A1 (en) 1997-05-01
US5934220A (en) 1999-08-10

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Legal Events

Date Code Title Description
8363 Opposition against the patent
8327 Change in the person/name/address of the patent owner

Owner name: DELAVAL HOLDING AB, TUMBA, SE

8365 Fully valid after opposition proceedings
8339 Ceased/non-payment of the annual fee