DE69720798D1 - Vorrrichtung und verfahren zur erkennung und bestimmung der position eines tintenteils - Google Patents
Vorrrichtung und verfahren zur erkennung und bestimmung der position eines tintenteilsInfo
- Publication number
- DE69720798D1 DE69720798D1 DE69720798T DE69720798T DE69720798D1 DE 69720798 D1 DE69720798 D1 DE 69720798D1 DE 69720798 T DE69720798 T DE 69720798T DE 69720798 T DE69720798 T DE 69720798T DE 69720798 D1 DE69720798 D1 DE 69720798D1
- Authority
- DE
- Germany
- Prior art keywords
- detecting
- determining
- ink part
- ink
- 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 - Lifetime
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
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/42—Simultaneous measurement of distance and other co-ordinates
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/4802—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4811—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4811—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver
- G01S7/4813—Housing arrangements
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/87—Combinations of systems using electromagnetic waves other than radio waves
- G01S17/875—Combinations of systems using electromagnetic waves other than radio waves for determining attitude
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Electromagnetism (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Husbandry (AREA)
- Environmental Sciences (AREA)
- Length Measuring Devices By Optical Means (AREA)
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
SE9701231 | 1997-04-04 | ||
SE9701231A SE9701231D0 (sv) | 1997-04-04 | 1997-04-04 | Apparatus and method for recognising and determining the position of part of an animal |
PCT/SE1997/002194 WO1998044782A1 (en) | 1997-04-04 | 1997-12-19 | Apparatus and method for recognising and determining the position of a part of an animal |
Publications (3)
Publication Number | Publication Date |
---|---|
DE69720798D1 true DE69720798D1 (de) | 2003-05-15 |
DE69720798T2 DE69720798T2 (de) | 2004-03-11 |
DE69720798T3 DE69720798T3 (de) | 2010-07-08 |
Family
ID=20406431
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE69720798T Expired - Lifetime DE69720798T3 (de) | 1997-04-04 | 1997-12-19 | Vorrichtung und verfahren zur erkennung und bestimmung der position eines teils eines tieres |
Country Status (8)
Country | Link |
---|---|
US (1) | US6227142B1 (de) |
EP (1) | EP0975211B2 (de) |
JP (1) | JP3919825B2 (de) |
AU (1) | AU5506298A (de) |
DE (1) | DE69720798T3 (de) |
IL (1) | IL132194A (de) |
SE (1) | SE9701231D0 (de) |
WO (1) | WO1998044782A1 (de) |
Families Citing this family (39)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
SE9704779D0 (sv) * | 1997-12-19 | 1997-12-19 | Alfa Laval Agri Ab | A device for gripping an animal related means |
SE517179C2 (sv) * | 1998-07-24 | 2002-04-23 | Alfa Laval Agri Ab | Anordning och förfarande för att fastställa en plats för ett djurrelaterat organ |
SE517285C2 (sv) * | 1998-07-24 | 2002-05-21 | Delaval Holding Ab | Anordning för automatisk mjölkning av ett djur |
NL1010829C2 (nl) * | 1998-12-16 | 2000-06-19 | Prolion Bv | Inrichting en werkwijze voor het melken van dieren en een vervuilingsmeter. |
SE517052C2 (sv) * | 1999-09-15 | 2002-04-09 | Alfa Laval Agri Ab | Apparat och metod för spenkoppsapplicering med hjälp av två alternerande ljuskällor och en kamera |
DE29919989U1 (de) * | 1999-11-15 | 2000-02-17 | Leuze Electronic Gmbh + Co, 73277 Owen | Optoelektronische Vorrichtung |
SE0002720D0 (sv) * | 2000-07-19 | 2000-07-19 | Delaval Holding Ab | A method and an apparatus for examination of milking animals |
DE602004000749T2 (de) | 2003-09-30 | 2007-02-08 | Lely Enterprises Ag | Vorrichtung und Verfahren zum Melken eines milchgebenden Tieres |
NL1024522C2 (nl) * | 2003-10-13 | 2005-04-14 | Lely Entpr Ag | Melkbekerdrager. |
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. |
US9161511B2 (en) | 2010-07-06 | 2015-10-20 | Technologies Holdings Corp. | Automated rotary milking system |
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 |
US8707905B2 (en) | 2010-08-31 | 2014-04-29 | Technologies Holdings Corp. | Automated system for applying disinfectant to the teats of dairy livestock |
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 |
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 |
WO2012123944A1 (en) | 2011-03-17 | 2012-09-20 | Mirobot Ltd. | Human assisted milking robot and method |
WO2012123948A1 (en) * | 2011-03-17 | 2012-09-20 | Mirobot Ltd. | System and method for three dimensional teat modeling for use with a milking system |
US9058657B2 (en) | 2011-04-28 | 2015-06-16 | Technologies Holdings Corp. | System and method for filtering data captured by a 3D camera |
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 |
US9258975B2 (en) | 2011-04-28 | 2016-02-16 | Technologies Holdings Corp. | Milking box with robotic attacher and vision system |
US9107379B2 (en) | 2011-04-28 | 2015-08-18 | Technologies Holdings Corp. | Arrangement of milking box stalls |
US8885891B2 (en) | 2011-04-28 | 2014-11-11 | Technologies Holdings Corp. | System and method for analyzing data captured by a three-dimensional camera |
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 |
US9049843B2 (en) | 2011-04-28 | 2015-06-09 | Technologies Holdings Corp. | Milking box with a robotic attacher having a three-dimensional range of motion |
EP3202255B2 (de) * | 2011-04-28 | 2023-08-16 | Technologies Holdings Corp. | Melkbox mit reinigungssystem |
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 |
US8671885B2 (en) | 2011-04-28 | 2014-03-18 | Technologies Holdings Corp. | Vision system for robotic attacher |
US10127446B2 (en) | 2011-04-28 | 2018-11-13 | Technologies Holdings Corp. | System and method for filtering data captured by a 2D camera |
US10357015B2 (en) | 2011-04-28 | 2019-07-23 | Technologies Holdings Corp. | Robotic arm with double grabber and method of operation |
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 |
US9161512B2 (en) | 2011-04-28 | 2015-10-20 | Technologies Holdings Corp. | Milking box with robotic attacher comprising an arm that pivots, rotates, and grips |
US9265227B2 (en) | 2011-04-28 | 2016-02-23 | Technologies Holdings Corp. | System and method for improved attachment of a cup to a dairy animal |
US9043988B2 (en) | 2011-04-28 | 2015-06-02 | Technologies Holdings Corp. | Milking box with storage area for teat cups |
US8903129B2 (en) | 2011-04-28 | 2014-12-02 | Technologies Holdings Corp. | System and method for filtering data captured by a 2D camera |
US8683946B2 (en) | 2011-04-28 | 2014-04-01 | Technologies Holdings Corp. | System and method of attaching cups to a dairy animal |
US10349614B2 (en) * | 2016-08-17 | 2019-07-16 | Technologies Holdings Corp. | Vision system for teat detection |
Family Cites Families (17)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
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 |
DE3702465A1 (de) | 1987-01-28 | 1988-08-11 | Duevelsdorf & Sohn Gmbh & Co K | Verfahren und vorrichtung zum melken und ggfs. fuettern von freilaufenden, identifizierungsmittel tragenden kuehen |
DE3775773D1 (de) † | 1987-09-08 | 1992-02-13 | Cemagref | Automatische melkmaschine. |
EP0323875A3 (de) * | 1988-01-08 | 1989-11-15 | Prolion B.V. | Ultraschaldetektor, Verfahren zum Suchen eines bewegten Objekts, Ultraschallsensoreinheit, Vorrichtung zum Positionieren eines Tieres, Terminal für ein automatisches Melksystem und Verfahren zum automatischen Melken eines Tieres |
NL8802332A (nl) * | 1988-09-21 | 1990-04-17 | Lely Nv C Van Der | Inrichting voor het melken van een dier. |
US5046353A (en) † | 1989-01-26 | 1991-09-10 | Tracer Research Corporation | Underground pipe leak detection system |
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 |
US5412420A (en) † | 1992-10-26 | 1995-05-02 | Pheno Imaging, Inc. | Three-dimensional phenotypic measuring system for animals |
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. |
US5615003A (en) † | 1994-11-29 | 1997-03-25 | Hermary; Alexander T. | Electromagnetic profile scanner |
NL9500006A (nl) † | 1995-01-02 | 1996-08-01 | Gascoigne Melotte Bv | Werkwijze en inrichting voor het positioneren van speenbekers. |
SE9503792D0 (sv) * | 1995-10-27 | 1995-10-27 | Tetra Laval Holdings & Finance | Teat location for milking |
DE19548347A1 (de) * | 1995-12-22 | 1997-07-03 | Westfalia Separator Ag | Verfahren zum maschinellen Ansetzen von Melkbechern |
-
1997
- 1997-04-04 SE SE9701231A patent/SE9701231D0/xx unknown
- 1997-12-19 DE DE69720798T patent/DE69720798T3/de not_active Expired - Lifetime
- 1997-12-19 IL IL13219497A patent/IL132194A/en not_active IP Right Cessation
- 1997-12-19 JP JP54265398A patent/JP3919825B2/ja not_active Expired - Fee Related
- 1997-12-19 AU AU55062/98A patent/AU5506298A/en not_active Abandoned
- 1997-12-19 US US09/402,216 patent/US6227142B1/en not_active Expired - Lifetime
- 1997-12-19 EP EP97951413A patent/EP0975211B2/de not_active Expired - Lifetime
- 1997-12-19 WO PCT/SE1997/002194 patent/WO1998044782A1/en active IP Right Grant
Also Published As
Publication number | Publication date |
---|---|
EP0975211B1 (de) | 2003-04-09 |
EP0975211B2 (de) | 2010-01-27 |
DE69720798T3 (de) | 2010-07-08 |
DE69720798T2 (de) | 2004-03-11 |
JP3919825B2 (ja) | 2007-05-30 |
US6227142B1 (en) | 2001-05-08 |
EP0975211A1 (de) | 2000-02-02 |
IL132194A (en) | 2002-09-12 |
IL132194A0 (en) | 2001-03-19 |
WO1998044782A1 (en) | 1998-10-15 |
JP2001519661A (ja) | 2001-10-23 |
SE9701231D0 (sv) | 1997-04-04 |
AU5506298A (en) | 1998-10-30 |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
8327 | Change in the person/name/address of the patent owner |
Owner name: DELAVAL HOLDING AB, TUMBA, SE |
|
8363 | Opposition against the patent | ||
8366 | Restricted maintained after opposition proceedings |