CA2849212C - Systeme de vision pour robot de pose - Google Patents

Systeme de vision pour robot de pose Download PDF

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Publication number
CA2849212C
CA2849212C CA2849212A CA2849212A CA2849212C CA 2849212 C CA2849212 C CA 2849212C CA 2849212 A CA2849212 A CA 2849212A CA 2849212 A CA2849212 A CA 2849212A CA 2849212 C CA2849212 C CA 2849212C
Authority
CA
Canada
Prior art keywords
controller
teat
dairy
dairy livestock
location
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
CA2849212A
Other languages
English (en)
Other versions
CA2849212A1 (fr
Inventor
Henk Hofman
Cor De Ruijter
Menno Koekoek
Peter Willem Van Der Sluis
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.)
Technologies Holdings Corp
Original Assignee
Technologies Holdings Corp
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
Priority claimed from US13/095,994 external-priority patent/US8671885B2/en
Priority claimed from US13/448,571 external-priority patent/US8489448B2/en
Priority claimed from US13/448,873 external-priority patent/US9265227B2/en
Priority claimed from US13/448,913 external-priority patent/US8885891B2/en
Priority claimed from US13/448,840 external-priority patent/US9058657B2/en
Priority claimed from US13/448,799 external-priority patent/US8903129B2/en
Priority to CA2898603A priority Critical patent/CA2898603C/fr
Application filed by Technologies Holdings Corp filed Critical Technologies Holdings Corp
Priority claimed from CA2775395A external-priority patent/CA2775395C/fr
Publication of CA2849212A1 publication Critical patent/CA2849212A1/fr
Publication of CA2849212C publication Critical patent/CA2849212C/fr
Application granted granted Critical
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
    • A01J5/0175—Attaching of clusters
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion
    • G06T7/246—Analysis of motion using feature-based methods, e.g. the tracking of corners or segments
    • 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
    • G06T2207/10—Image acquisition modality
    • G06T2207/10016—Video; Image sequence
    • 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
    • G06T2207/10—Image acquisition modality
    • G06T2207/10028—Range image; Depth image; 3D point clouds
    • 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
    • G06T2207/30241—Trajectory

Abstract

Un système comprend : une mémoire; un processeur couplé de manière communicative à la mémoire; le processeur utilisable pour : accéder à une image dun troupeau laitier; détecter quune mesure dintensité lumineuse dun pixel dans limage excède un seuil dintensité lumineuse; rejeter le pixel en réponse à la détermination que la mesure de lintensité lumineuse excède le seuil; et détermination de lemplacement dune mamelle du troupeau laitier en fonction de limage, excluant le pixel rejeté.
CA2849212A 2011-04-28 2012-04-27 Systeme de vision pour robot de pose Expired - Fee Related CA2849212C (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CA2898603A CA2898603C (fr) 2011-04-28 2012-04-27 Systeme de vision pour robot de pose

Applications Claiming Priority (13)

Application Number Priority Date Filing Date Title
US13/095,994 2011-04-28
US13/095,994 US8671885B2 (en) 2011-04-28 2011-04-28 Vision system for robotic attacher
US13/448,873 US9265227B2 (en) 2011-04-28 2012-04-17 System and method for improved attachment of a cup to a dairy animal
US13/448,913 2012-04-17
US13/448,913 US8885891B2 (en) 2011-04-28 2012-04-17 System and method for analyzing data captured by a three-dimensional camera
US13/448,840 US9058657B2 (en) 2011-04-28 2012-04-17 System and method for filtering data captured by a 3D camera
US13/448,840 2012-04-17
US13/448,751 2012-04-17
US13/448,799 2012-04-17
US13/448,571 US8489448B2 (en) 2005-02-24 2012-04-17 System, method and program to estimate cost of distributing software
US13/448,873 2012-04-17
US13/448,799 US8903129B2 (en) 2011-04-28 2012-04-17 System and method for filtering data captured by a 2D camera
CA2775395A CA2775395C (fr) 2011-04-28 2012-04-27 Systeme de vision pour robot de pose

Related Parent Applications (1)

Application Number Title Priority Date Filing Date
CA2775395A Division CA2775395C (fr) 2011-04-28 2012-04-27 Systeme de vision pour robot de pose

Related Child Applications (1)

Application Number Title Priority Date Filing Date
CA2898603A Division CA2898603C (fr) 2011-04-28 2012-04-27 Systeme de vision pour robot de pose

Publications (2)

Publication Number Publication Date
CA2849212A1 CA2849212A1 (fr) 2012-07-06
CA2849212C true CA2849212C (fr) 2015-10-13

Family

ID=54325091

Family Applications (1)

Application Number Title Priority Date Filing Date
CA2849212A Expired - Fee Related CA2849212C (fr) 2011-04-28 2012-04-27 Systeme de vision pour robot de pose

Country Status (1)

Country Link
CA (1) CA2849212C (fr)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10724861B2 (en) * 2015-08-03 2020-07-28 Commonwealth Scientific And Industrial Research Organisation Monitoring systems and methods
GB2548341A (en) * 2016-03-10 2017-09-20 Moog Bv Movement tracking and simulation device and method

Also Published As

Publication number Publication date
CA2849212A1 (fr) 2012-07-06

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Legal Events

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EEER Examination request

Effective date: 20140416

MKLA Lapsed

Effective date: 20220427