SE9603990L - Procedures for the mechanical attachment of milk cups - Google Patents

Procedures for the mechanical attachment of milk cups

Info

Publication number
SE9603990L
SE9603990L SE9603990A SE9603990A SE9603990L SE 9603990 L SE9603990 L SE 9603990L SE 9603990 A SE9603990 A SE 9603990A SE 9603990 A SE9603990 A SE 9603990A SE 9603990 L SE9603990 L SE 9603990L
Authority
SE
Sweden
Prior art keywords
marking
procedures
light source
mechanical attachment
milk cups
Prior art date
Application number
SE9603990A
Other languages
Unknown language ( )
Swedish (sv)
Other versions
SE9603990D0 (en
SE511596C2 (en
Inventor
Phillipus P Kiestra
Original Assignee
Westfalia Separator Ag
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 Westfalia Separator Ag filed Critical Westfalia Separator Ag
Publication of SE9603990D0 publication Critical patent/SE9603990D0/en
Publication of SE9603990L publication Critical patent/SE9603990L/en
Publication of SE511596C2 publication Critical patent/SE511596C2/en

Links

Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
    • A01K11/00—Marking of animals
    • A01K11/006—Automatic identification systems for animals, e.g. electronic devices, transponders for animals
    • 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
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
    • A01K11/00—Marking of animals
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/20—Image signal generators
    • H04N13/204—Image signal generators using stereoscopic image cameras
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N2013/0074—Stereoscopic image analysis
    • H04N2013/0081—Depth or disparity estimation from stereoscopic image signals
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N2013/0074—Stereoscopic image analysis
    • H04N2013/0092—Image segmentation from stereoscopic image signals

Landscapes

  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Animal Husbandry (AREA)
  • Birds (AREA)
  • Zoology (AREA)
  • Biodiversity & Conservation Biology (AREA)
  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Manipulator (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)

Abstract

The method involves the suction (8) part and attachment (7) using a robot arm is assisted by at least one marking (6) provided at the udder of the animal being milked. The exact position of the teats is obtained from the position of the marking using a stereo camera (5) and light source (4). The marking is provided at the teat of the udder (2) in the form of a tattoo. A fluorescent colour material can be used for the marking of the teats (3). The marking is radiated by the light source, possibly an ultraviolet light source. The first milking operation is stored in the computer which controls the robot arm (9).
SE9603990A 1995-12-22 1996-11-01 Way to determine the position of teats with marking, camera and ultraviolet light SE511596C2 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE19548347A DE19548347A1 (en) 1995-12-22 1995-12-22 Mechanical automatic or robot method of application of milking suction attachment to udder teats of animal being milked

Publications (3)

Publication Number Publication Date
SE9603990D0 SE9603990D0 (en) 1996-11-01
SE9603990L true SE9603990L (en) 1997-06-23
SE511596C2 SE511596C2 (en) 1999-10-25

Family

ID=7781165

Family Applications (1)

Application Number Title Priority Date Filing Date
SE9603990A SE511596C2 (en) 1995-12-22 1996-11-01 Way to determine the position of teats with marking, camera and ultraviolet light

Country Status (3)

Country Link
DE (1) DE19548347A1 (en)
NL (1) NL1004756C2 (en)
SE (1) SE511596C2 (en)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SE9701231D0 (en) 1997-04-04 1997-04-04 Alfa Laval Agri Ab Apparatus and method for recognizing and determining the position of part of an animal
SE9704589D0 (en) † 1997-12-09 1997-12-09 Alfa Laval Agri Ab An apparatus and a method for monitoring an animal related space
NL1009632C2 (en) * 1998-07-13 2000-01-17 Gascoigne Melotte Bv Automated milking parlor for dairy cattle uses optical sensors to detect positions of teats and attach suction pipes, requires minimal human labor
SE512611C2 (en) * 1998-07-24 2000-04-10 Alfa Laval Agri Ab Apparatus for automatic application of a teat cup to an animal teat
EP1729562A1 (en) 2004-03-30 2006-12-13 DeLaval Holding AB Arrangement and method for determining positions of the teats of a milking animal

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DD258554A1 (en) * 1986-04-04 1988-07-27 Forschungszentrum F Mechanisie DEVICE FOR CONTROLLING THE POSITION OF FLEXIBLE ROBOTS TO MELKZEUGANSETZEN
DE3702465A1 (en) * 1987-01-28 1988-08-11 Duevelsdorf & Sohn Gmbh & Co K METHOD AND DEVICE FOR MILKING AND GGFS. FEEDING OF FREEDOMING, IDENTIFICATION-BASED COWS

Also Published As

Publication number Publication date
NL1004756C2 (en) 1998-09-01
SE9603990D0 (en) 1996-11-01
NL1004756A1 (en) 1997-06-24
DE19548347A1 (en) 1997-07-03
SE511596C2 (en) 1999-10-25

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