CA2799358C - Sensor array for locating an object in space - Google Patents

Sensor array for locating an object in space Download PDF

Info

Publication number
CA2799358C
CA2799358C CA2799358A CA2799358A CA2799358C CA 2799358 C CA2799358 C CA 2799358C CA 2799358 A CA2799358 A CA 2799358A CA 2799358 A CA2799358 A CA 2799358A CA 2799358 C CA2799358 C CA 2799358C
Authority
CA
Canada
Prior art keywords
array
space
detection
sensors
teat
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 - Fee Related
Application number
CA2799358A
Other languages
English (en)
French (fr)
Other versions
CA2799358A1 (en
Inventor
Aaron D. Carroll
Kristopher C. Hall
Benjamin D. Nibali
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Cgw Canada Inc
Original Assignee
Cgw Canada Inc
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 Cgw Canada Inc filed Critical Cgw Canada Inc
Publication of CA2799358A1 publication Critical patent/CA2799358A1/en
Application granted granted Critical
Publication of CA2799358C publication Critical patent/CA2799358C/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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
    • 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
    • A01J—MANUFACTURE OF DAIRY PRODUCTS
    • A01J5/00—Milking machines or devices
    • 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

Landscapes

  • Life Sciences & Earth Sciences (AREA)
  • Animal Husbandry (AREA)
  • Environmental Sciences (AREA)
  • Optical Radar Systems And Details Thereof (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Length Measuring Devices Characterised By Use Of Acoustic Means (AREA)
CA2799358A 2010-05-14 2011-05-13 Sensor array for locating an object in space Expired - Fee Related CA2799358C (en)

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
US34501110P 2010-05-14 2010-05-14
US61/345,011 2010-05-14
US35168710P 2010-06-04 2010-06-04
US61/351,687 2010-06-04
PCT/US2011/036524 WO2011143616A1 (en) 2010-05-14 2011-05-13 Sensor array for locating an object in space

Publications (2)

Publication Number Publication Date
CA2799358A1 CA2799358A1 (en) 2011-11-17
CA2799358C true CA2799358C (en) 2018-10-16

Family

ID=44914737

Family Applications (1)

Application Number Title Priority Date Filing Date
CA2799358A Expired - Fee Related CA2799358C (en) 2010-05-14 2011-05-13 Sensor array for locating an object in space

Country Status (8)

Country Link
US (1) US9119372B2 (enExample)
EP (1) EP2568800A1 (enExample)
JP (1) JP2013530392A (enExample)
KR (1) KR20130115093A (enExample)
AU (1) AU2011252843A1 (enExample)
CA (1) CA2799358C (enExample)
NZ (1) NZ603410A (enExample)
WO (1) WO2011143616A1 (enExample)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2011153510A1 (en) 2010-06-04 2011-12-08 Dairy Cheq Inc. Modular manipulation device
US10349613B2 (en) * 2016-08-17 2019-07-16 Technologies Holdings Corp. Vision system for teat detection
US10349615B2 (en) * 2016-08-17 2019-07-16 Technologies Holdings Corp. Vision system for teat detection
US10499609B2 (en) * 2016-08-17 2019-12-10 Technologies Holdings Corp. Vision system for teat detection
KR102044851B1 (ko) * 2018-06-29 2019-11-13 대한민국(농촌진흥청장) 유두인식장치가 부착된 착유컵 그립퍼

Family Cites Families (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SE428250B (sv) * 1979-05-31 1983-06-13 Bert Jonsson Fotoelektrisk anordning for avkenning av foremal
NL8502434A (nl) 1985-09-04 1987-04-01 Multinorm Bv Melkinrichting.
NL8503580A (nl) * 1985-12-27 1987-07-16 Multinorm Bv Systeem voor het besturen van een orgaan voor het volgen van een bewegend object.
EP0440313B1 (en) 1988-01-08 1997-12-10 Prolion B.V. Element for positioning an animal, terminal apparatus for an automatic milking system, and method for automatically milking an animal
NL8802332A (nl) * 1988-09-21 1990-04-17 Lely Nv C Van Der Inrichting voor het melken van een dier.
SE9503792D0 (sv) * 1995-10-27 1995-10-27 Tetra Laval Holdings & Finance Teat location for milking
NL1001912C2 (nl) * 1995-12-15 1997-06-17 Maasland Nv Inrichting voor het melken van dieren.
NL1004406C2 (nl) * 1996-08-01 1998-02-05 Maasland Nv Inrichting voor het automatisch melken van dieren.
NL1006804C2 (nl) * 1997-08-20 1999-02-23 Maasland Nv Sensorinrichting, alsmede werkwijze voor het bepalen van de positie van een object, in het bijzonder een speen van een te melken dier.
US7952511B1 (en) * 1999-04-07 2011-05-31 Geer James L Method and apparatus for the detection of objects using electromagnetic wave attenuation patterns
CA2383101C (en) * 2001-04-24 2010-03-16 Lely Enterprises Ag A device for determining the position of a teat of an animal
JP3772969B2 (ja) * 2001-10-16 2006-05-10 オムロン株式会社 車載用レーダ装置
DE10351714B4 (de) * 2003-11-05 2005-09-29 Eads Astrium Gmbh Vorrichtung zur optischen Erfassung eines entfernten Objekts
WO2011153510A1 (en) * 2010-06-04 2011-12-08 Dairy Cheq Inc. Modular manipulation device

Also Published As

Publication number Publication date
CA2799358A1 (en) 2011-11-17
US9119372B2 (en) 2015-09-01
WO2011143616A1 (en) 2011-11-17
EP2568800A1 (en) 2013-03-20
AU2011252843A1 (en) 2012-11-22
JP2013530392A (ja) 2013-07-25
US20130061806A1 (en) 2013-03-14
NZ603410A (en) 2013-09-27
KR20130115093A (ko) 2013-10-21

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Legal Events

Date Code Title Description
EEER Examination request

Effective date: 20160513

MKLA Lapsed

Effective date: 20220301

MKLA Lapsed

Effective date: 20200831