SE0000153L - A method and apparatus for locating the teats of a dairy animal - Google Patents

A method and apparatus for locating the teats of a dairy animal

Info

Publication number
SE0000153L
SE0000153L SE0000153A SE0000153A SE0000153L SE 0000153 L SE0000153 L SE 0000153L SE 0000153 A SE0000153 A SE 0000153A SE 0000153 A SE0000153 A SE 0000153A SE 0000153 L SE0000153 L SE 0000153L
Authority
SE
Sweden
Prior art keywords
sources
light
image
teats
locating
Prior art date
Application number
SE0000153A
Other languages
Swedish (sv)
Other versions
SE0000153D0 (en
Inventor
Hans Martin Sjoelund
Sven Aake Svensson
Original Assignee
Delaval Holding 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
Application filed by Delaval Holding Ab filed Critical Delaval Holding Ab
Priority to SE0000153A priority Critical patent/SE0000153L/en
Publication of SE0000153D0 publication Critical patent/SE0000153D0/en
Priority to PCT/SE2001/000083 priority patent/WO2001052633A1/en
Priority to AU2001228983A priority patent/AU2001228983A1/en
Publication of SE0000153L publication Critical patent/SE0000153L/en

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
    • G06T7/50—Depth or shape recovery
    • G06T7/55—Depth or shape recovery from multiple images
    • G06T7/586—Depth or shape recovery from multiple images from multiple light sources, e.g. photometric stereo
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30004—Biomedical image processing
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30108—Industrial image inspection
    • G06T2207/30128—Food products

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)
  • Catching Or Destruction (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

The present invention relates to an apparatus support guide arrangement, where a support (16) carries sources of light (12, 13), adapted to illuminate at least two areas on at least one teat, and is associated with an image capturing device (14) arranged to view the teat and to capture images thereof and to provide image signals to an image interpreting means. According to the invention a control device is arranged to turn on and off said sources of light (12, 13; 21) alternatingly, the sources of light (12, 13) being placed so that the teats are illuminated from different angles in relation to the image capturing device, and the image interpreting means being arranged to use the differences created by the illumination of said sources of light (12, 13) to produce a difference image. The present invention further relates to a method for the operation of the arrangement.
SE0000153A 2000-01-19 2000-01-19 A method and apparatus for locating the teats of a dairy animal SE0000153L (en)

Priority Applications (3)

Application Number Priority Date Filing Date Title
SE0000153A SE0000153L (en) 2000-01-19 2000-01-19 A method and apparatus for locating the teats of a dairy animal
PCT/SE2001/000083 WO2001052633A1 (en) 2000-01-19 2001-01-18 A method and an apparatus for locating the teats of an animal
AU2001228983A AU2001228983A1 (en) 2000-01-19 2001-01-18 A method and an apparatus for locating the teats of an animal

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
SE0000153A SE0000153L (en) 2000-01-19 2000-01-19 A method and apparatus for locating the teats of a dairy animal

Publications (2)

Publication Number Publication Date
SE0000153D0 SE0000153D0 (en) 2000-01-19
SE0000153L true SE0000153L (en) 2001-07-20

Family

ID=20278152

Family Applications (1)

Application Number Title Priority Date Filing Date
SE0000153A SE0000153L (en) 2000-01-19 2000-01-19 A method and apparatus for locating the teats of a dairy animal

Country Status (3)

Country Link
AU (1) AU2001228983A1 (en)
SE (1) SE0000153L (en)
WO (1) WO2001052633A1 (en)

Families Citing this family (26)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1460892B1 (en) * 2001-12-28 2015-07-15 Idento Electronics B.V. Method and apparatus for detection of teats
EP1729562A1 (en) 2004-03-30 2006-12-13 DeLaval Holding AB Arrangement and method for determining positions of the teats of a milking animal
CA2539645C (en) 2006-03-15 2020-04-28 Lmi Technologies Inc. Time of flight teat location system
US9161511B2 (en) 2010-07-06 2015-10-20 Technologies Holdings Corp. Automated rotary milking system
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
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
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
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
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
US8885891B2 (en) 2011-04-28 2014-11-11 Technologies Holdings Corp. System and method for analyzing data captured by a three-dimensional 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
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
US9357744B2 (en) 2011-04-28 2016-06-07 Technologies Holdings Corp. Cleaning system for a milking box stall
US9058657B2 (en) 2011-04-28 2015-06-16 Technologies Holdings Corp. System and method for filtering data captured by a 3D camera
US8903129B2 (en) 2011-04-28 2014-12-02 Technologies Holdings Corp. System and method for filtering data captured by a 2D camera
US9107379B2 (en) 2011-04-28 2015-08-18 Technologies Holdings Corp. Arrangement of milking box stalls
US8671885B2 (en) 2011-04-28 2014-03-18 Technologies Holdings Corp. Vision system for robotic attacher
US9107378B2 (en) 2011-04-28 2015-08-18 Technologies Holdings Corp. Milking box with 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
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
US9265227B2 (en) 2011-04-28 2016-02-23 Technologies Holdings Corp. System and method for improved attachment of a cup to a dairy animal
US9258975B2 (en) 2011-04-28 2016-02-16 Technologies Holdings Corp. Milking box with robotic attacher and vision system
US8683946B2 (en) 2011-04-28 2014-04-01 Technologies Holdings Corp. System and method of attaching cups to a dairy animal

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5631976A (en) * 1994-04-29 1997-05-20 International Business Machines Corporation Object imaging system
SE9503792D0 (en) * 1995-10-27 1995-10-27 Tetra Laval Holdings & Finance Teat location for milking
SE9802923L (en) * 1998-08-31 2000-03-01 Alfa Laval Agri Ab Method and apparatus for locating an animal's teats

Also Published As

Publication number Publication date
WO2001052633A1 (en) 2001-07-26
AU2001228983A1 (en) 2001-07-31
SE0000153D0 (en) 2000-01-19

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Legal Events

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NUG Patent has lapsed