SE9603990L - Procedures for the mechanical attachment of milk cups - Google Patents
Procedures for the mechanical attachment of milk cupsInfo
- 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
Links
- 238000000034 method Methods 0.000 title abstract 2
- 239000008267 milk Substances 0.000 title 1
- 210000004080 milk Anatomy 0.000 title 1
- 235000013336 milk Nutrition 0.000 title 1
- 210000002445 nipple Anatomy 0.000 abstract 3
- 210000000481 breast Anatomy 0.000 abstract 2
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).
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)
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)
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 |
-
1995
- 1995-12-22 DE DE19548347A patent/DE19548347A1/en not_active Ceased
-
1996
- 1996-11-01 SE SE9603990A patent/SE511596C2/en not_active IP Right Cessation
- 1996-12-12 NL NL1004756A patent/NL1004756C2/en not_active IP Right Cessation
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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Legal Events
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---|---|---|---|
NUG | Patent has lapsed |
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