DE69811667D1 - Vorrichtung und verfahren zur erkennung und bestimmung der position eines tierteils - Google Patents
Vorrichtung und verfahren zur erkennung und bestimmung der position eines tierteilsInfo
- Publication number
- DE69811667D1 DE69811667D1 DE69811667T DE69811667T DE69811667D1 DE 69811667 D1 DE69811667 D1 DE 69811667D1 DE 69811667 T DE69811667 T DE 69811667T DE 69811667 T DE69811667 T DE 69811667T DE 69811667 D1 DE69811667 D1 DE 69811667D1
- Authority
- DE
- Germany
- Prior art keywords
- detecting
- determining
- animal part
- animal
- 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.)
- Revoked
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
- G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
-
- 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
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/10—Image acquisition
- G06V10/12—Details of acquisition arrangements; Constructional details thereof
- G06V10/14—Optical characteristics of the device performing the acquisition or on the illumination arrangements
- G06V10/145—Illumination specially adapted for pattern recognition, e.g. using gratings
Landscapes
- Engineering & Computer Science (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Artificial Intelligence (AREA)
- Multimedia (AREA)
- Theoretical Computer Science (AREA)
- Animal Husbandry (AREA)
- Environmental Sciences (AREA)
- Length Measuring Devices By Optical Means (AREA)
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
SE9701547A SE9701547D0 (sv) | 1997-04-23 | 1997-04-23 | Apparatus and method for recognising and determining the positon of a part of an animal |
PCT/SE1998/000744 WO1998047348A1 (en) | 1997-04-23 | 1998-04-23 | Apparatus and method for recognising and determining the position of a part of an animal |
Publications (2)
Publication Number | Publication Date |
---|---|
DE69811667D1 true DE69811667D1 (de) | 2003-04-03 |
DE69811667T2 DE69811667T2 (de) | 2003-12-18 |
Family
ID=20406713
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE69811667T Revoked DE69811667T2 (de) | 1997-04-23 | 1998-04-23 | Vorrichtung und verfahren zur erkennung und bestimmung der position eines tierteils |
Country Status (8)
Country | Link |
---|---|
US (1) | US6234109B1 (de) |
EP (1) | EP0989800B1 (de) |
JP (1) | JP2001523095A (de) |
AU (1) | AU7096498A (de) |
DE (1) | DE69811667T2 (de) |
IL (1) | IL132167A (de) |
SE (1) | SE9701547D0 (de) |
WO (1) | WO1998047348A1 (de) |
Families Citing this family (43)
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 |
NL1010829C2 (nl) * | 1998-12-16 | 2000-06-19 | Prolion Bv | Inrichting en werkwijze voor het melken van dieren en een vervuilingsmeter. |
SE513749C2 (sv) * | 1999-01-15 | 2000-10-30 | Alfa Laval Agri Ab | Metod och anordning för positionering av spenkoppar på ett mjölkdjur |
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 |
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 |
DK1166625T3 (da) * | 2000-06-22 | 2006-02-20 | Delaval Holding Ab | Fremgangsmåde og anordning til behandling af patterne på et dyr |
WO2002092101A1 (en) * | 2001-05-15 | 2002-11-21 | Psychogenics Inc. | Systems and methods for monitoring behavior informatics |
IL150915A0 (en) * | 2002-07-25 | 2003-02-12 | Vet Tech Ltd | Imaging system and method for body condition evaluation |
US6729262B2 (en) * | 2002-10-04 | 2004-05-04 | Innovative Automation, Inc. | Live capture automated milking apparatus and method |
US7841300B2 (en) * | 2002-11-08 | 2010-11-30 | Biopar, LLC | System for uniquely identifying subjects from a target population |
GB0318733D0 (en) * | 2003-08-11 | 2003-09-10 | Icerobotics Ltd | Improvements in or relating to milking machines |
DE602004000749T2 (de) * | 2003-09-30 | 2007-02-08 | Lely Enterprises Ag | Vorrichtung und Verfahren zum Melken eines milchgebenden Tieres |
EP1729562A1 (de) * | 2004-03-30 | 2006-12-13 | DeLaval Holding AB | Anordnung und verfahren zur bestimmung von positionen der zitzen eines melktieres |
DE102006002794A1 (de) | 2006-01-20 | 2007-07-26 | Wash Tec Holding Gmbh | Verfahren und Vorrichtung zur Steuerung einer Fahrzeugwaschanlage |
CA2539645C (en) | 2006-03-15 | 2020-04-28 | Lmi Technologies Inc. | Time of flight teat location system |
NL1032435C2 (nl) * | 2006-09-05 | 2008-03-06 | Maasland Nv | Inrichting voor het automatisch melken van een melkdier. |
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 |
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 |
US8707905B2 (en) | 2010-08-31 | 2014-04-29 | Technologies Holdings Corp. | Automated system for applying 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 |
RU2013133457A (ru) * | 2010-12-22 | 2015-01-27 | Делаваль Холдинг Аб | Способ и устройство защиты оптического устройства обнаружения от загрязнения |
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 |
US9107379B2 (en) | 2011-04-28 | 2015-08-18 | Technologies Holdings Corp. | Arrangement of milking box stalls |
US9107378B2 (en) | 2011-04-28 | 2015-08-18 | Technologies Holdings Corp. | Milking box with robotic attacher |
US8671885B2 (en) | 2011-04-28 | 2014-03-18 | Technologies Holdings Corp. | Vision system for robotic attacher |
US9049843B2 (en) | 2011-04-28 | 2015-06-09 | Technologies Holdings Corp. | Milking box with a robotic attacher having a three-dimensional range of motion |
US9357744B2 (en) * | 2011-04-28 | 2016-06-07 | Technologies Holdings Corp. | Cleaning system for a milking box stall |
US10357015B2 (en) | 2011-04-28 | 2019-07-23 | Technologies Holdings Corp. | Robotic arm with double grabber and method of operation |
US10127446B2 (en) | 2011-04-28 | 2018-11-13 | Technologies Holdings Corp. | System and method for filtering data captured by a 2D camera |
US9043988B2 (en) | 2011-04-28 | 2015-06-02 | Technologies Holdings Corp. | Milking box with storage area for teat cups |
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 |
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 |
US9258975B2 (en) | 2011-04-28 | 2016-02-16 | Technologies Holdings Corp. | Milking box with robotic attacher and vision system |
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 |
US9265227B2 (en) | 2011-04-28 | 2016-02-23 | Technologies Holdings Corp. | System and method for improved attachment of a cup to a dairy animal |
US8683946B2 (en) | 2011-04-28 | 2014-04-01 | Technologies Holdings Corp. | System and method of attaching cups to 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 |
US9058657B2 (en) | 2011-04-28 | 2015-06-16 | Technologies Holdings Corp. | System and method for filtering data captured by a 3D camera |
CN115281095B (zh) * | 2022-05-30 | 2024-03-29 | 北京工业大学 | 一种基于激光图像识别的挤奶装置及方法 |
Family Cites Families (12)
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 |
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. |
IT1247949B (it) * | 1991-05-20 | 1995-01-05 | Felice Farina | Apparecchiatura per il lavaggio automatico di capezzoli di bovini o altri animali da latte |
US5483441A (en) | 1991-08-30 | 1996-01-09 | Uniform Scanner Data Analysis, Inc. | System for animal evaluation through image acquisition |
GB2261069B (en) * | 1991-10-30 | 1995-11-01 | Nippon Denso Co | High speed picking system for stacked parts |
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. |
NL9500296A (nl) * | 1995-02-16 | 1996-10-01 | Greefs Wagen Carrosserie | Werkwijze en inrichting voor het verpakken van land- en tuinbouwprodukten. |
SE9503792D0 (sv) * | 1995-10-27 | 1995-10-27 | Tetra Laval Holdings & Finance | Teat location for milking |
-
1997
- 1997-04-23 SE SE9701547A patent/SE9701547D0/xx unknown
-
1998
- 1998-04-23 US US09/403,127 patent/US6234109B1/en not_active Expired - Fee Related
- 1998-04-23 WO PCT/SE1998/000744 patent/WO1998047348A1/en not_active Application Discontinuation
- 1998-04-23 JP JP54561398A patent/JP2001523095A/ja not_active Withdrawn
- 1998-04-23 IL IL13216798A patent/IL132167A/xx not_active IP Right Cessation
- 1998-04-23 AU AU70964/98A patent/AU7096498A/en not_active Abandoned
- 1998-04-23 EP EP98917935A patent/EP0989800B1/de not_active Revoked
- 1998-04-23 DE DE69811667T patent/DE69811667T2/de not_active Revoked
Also Published As
Publication number | Publication date |
---|---|
IL132167A (en) | 2003-04-10 |
US6234109B1 (en) | 2001-05-22 |
EP0989800A1 (de) | 2000-04-05 |
EP0989800B1 (de) | 2003-02-26 |
WO1998047348A1 (en) | 1998-10-29 |
IL132167A0 (en) | 2001-03-19 |
SE9701547D0 (sv) | 1997-04-23 |
JP2001523095A (ja) | 2001-11-20 |
AU7096498A (en) | 1998-11-13 |
DE69811667T2 (de) | 2003-12-18 |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
8363 | Opposition against the patent | ||
8331 | Complete revocation |