CA2898603C - Systeme de vision pour robot de pose - Google Patents
Systeme de vision pour robot de pose Download PDFInfo
- Publication number
- CA2898603C CA2898603C CA2898603A CA2898603A CA2898603C CA 2898603 C CA2898603 C CA 2898603C CA 2898603 A CA2898603 A CA 2898603A CA 2898603 A CA2898603 A CA 2898603A CA 2898603 C CA2898603 C CA 2898603C
- Authority
- CA
- Canada
- Prior art keywords
- controller
- teat
- pixels
- dairy
- 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
Links
- 238000001914 filtration Methods 0.000 claims abstract description 3
- 235000013365 dairy product Nutrition 0.000 claims description 344
- 244000144972 livestock Species 0.000 claims description 210
- 210000002445 nipple Anatomy 0.000 description 308
- 241000283690 Bos taurus Species 0.000 description 148
- 210000000481 breast Anatomy 0.000 description 121
- 238000000034 method Methods 0.000 description 56
- 210000003141 lower extremity Anatomy 0.000 description 45
- 238000005259 measurement Methods 0.000 description 44
- 230000000007 visual effect Effects 0.000 description 36
- 239000008267 milk Substances 0.000 description 23
- 235000013336 milk Nutrition 0.000 description 23
- 210000004080 milk Anatomy 0.000 description 23
- 230000000153 supplemental effect Effects 0.000 description 21
- 230000008569 process Effects 0.000 description 12
- 238000002360 preparation method Methods 0.000 description 9
- 238000006073 displacement reaction Methods 0.000 description 7
- 230000004044 response Effects 0.000 description 6
- 230000008901 benefit Effects 0.000 description 5
- 238000012545 processing Methods 0.000 description 5
- 230000010349 pulsation Effects 0.000 description 5
- 239000002699 waste material Substances 0.000 description 5
- 230000004075 alteration Effects 0.000 description 4
- 239000000463 material Substances 0.000 description 4
- 239000002184 metal Substances 0.000 description 4
- 238000012986 modification Methods 0.000 description 4
- 230000004048 modification Effects 0.000 description 4
- 238000000926 separation method Methods 0.000 description 4
- 238000006467 substitution reaction Methods 0.000 description 4
- 230000007704 transition Effects 0.000 description 4
- 238000013459 approach Methods 0.000 description 3
- 238000004891 communication Methods 0.000 description 3
- 239000000645 desinfectant Substances 0.000 description 3
- 210000003608 fece Anatomy 0.000 description 3
- 230000036541 health Effects 0.000 description 3
- 239000010871 livestock manure Substances 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 230000003247 decreasing effect Effects 0.000 description 2
- 241000030939 Bubalus bubalis Species 0.000 description 1
- 241000283707 Capra Species 0.000 description 1
- 206010061218 Inflammation Diseases 0.000 description 1
- 241001494479 Pecora Species 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 235000008429 bread Nutrition 0.000 description 1
- 210000000078 claw Anatomy 0.000 description 1
- 239000000356 contaminant Substances 0.000 description 1
- 238000003977 dairy farming Methods 0.000 description 1
- 230000000249 desinfective effect Effects 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000005802 health problem Effects 0.000 description 1
- 208000015181 infectious disease Diseases 0.000 description 1
- 230000004054 inflammatory process Effects 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 230000006651 lactation Effects 0.000 description 1
- 208000004396 mastitis Diseases 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000000284 resting effect Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 238000004659 sterilization and disinfection Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 210000000707 wrist Anatomy 0.000 description 1
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
Abstract
Un système comprenant : une caméra en trois dimensions; et un processeur couplé en communication avec la caméra en trois dimensions, le processeur pouvant fonctionner pour: analyser une pluralité de pixels voisins capturés par la caméra en trois dimensions; comparer les informations de profondeur de chacun des pixels voisins; déterminer que la profondeur d'au moins un pixel voisin est supérieure à un seuil de distance; et filtrer au moins un pixel voisin, dans lequel le filtrage d'au moins un pixel voisin comprend la détermination de l'emplacement de chacun des pixels voisins, à l'exclusion d'au moins un pixel voisin.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CA2924285A CA2924285C (fr) | 2011-04-28 | 2012-04-27 | Systeme de vision pour robot de pose |
| CA2923918A CA2923918C (fr) | 2011-04-28 | 2012-04-27 | Systeme de traite robotique |
Applications Claiming Priority (13)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US13/095,994 US8671885B2 (en) | 2011-04-28 | 2011-04-28 | Vision system for robotic attacher |
| US13/095,994 | 2011-04-28 | ||
| 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 US8885891B2 (en) | 2011-04-28 | 2012-04-17 | System and method for analyzing data captured by a three-dimensional camera |
| US13/448,571 US8489448B2 (en) | 2005-02-24 | 2012-04-17 | System, method and program to estimate cost of distributing software |
| US13/448,799 US8903129B2 (en) | 2011-04-28 | 2012-04-17 | System and method for filtering data captured by a 2D camera |
| US13/448,873 | 2012-04-17 | ||
| US13/448,913 | 2012-04-17 | ||
| US13/448,751 | 2012-04-17 | ||
| US13/448,840 | 2012-04-17 | ||
| US13/448,799 | 2012-04-17 | ||
| US13/448,840 US9058657B2 (en) | 2011-04-28 | 2012-04-17 | System and method for filtering data captured by a 3D camera |
| CA2849212A CA2849212C (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 |
|---|---|---|---|
| CA2849212A Division CA2849212C (fr) | 2011-04-28 | 2012-04-27 | Systeme de vision pour robot de pose |
Related Child Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA2924285A Division CA2924285C (fr) | 2011-04-28 | 2012-04-27 | Systeme de vision pour robot de pose |
| CA2923918A Division CA2923918C (fr) | 2011-04-28 | 2012-04-27 | Systeme de traite robotique |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CA2898603A1 CA2898603A1 (fr) | 2012-07-06 |
| CA2898603C true CA2898603C (fr) | 2016-06-07 |
Family
ID=53837003
Family Applications (3)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA2923918A Expired - Fee Related CA2923918C (fr) | 2011-04-28 | 2012-04-27 | Systeme de traite robotique |
| CA2898603A Expired - Fee Related CA2898603C (fr) | 2011-04-28 | 2012-04-27 | Systeme de vision pour robot de pose |
| CA2924285A Expired - Fee Related CA2924285C (fr) | 2011-04-28 | 2012-04-27 | Systeme de vision pour robot de pose |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA2923918A Expired - Fee Related CA2923918C (fr) | 2011-04-28 | 2012-04-27 | Systeme de traite robotique |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA2924285A Expired - Fee Related CA2924285C (fr) | 2011-04-28 | 2012-04-27 | Systeme de vision pour robot de pose |
Country Status (1)
| Country | Link |
|---|---|
| CA (3) | CA2923918C (fr) |
-
2012
- 2012-04-27 CA CA2923918A patent/CA2923918C/fr not_active Expired - Fee Related
- 2012-04-27 CA CA2898603A patent/CA2898603C/fr not_active Expired - Fee Related
- 2012-04-27 CA CA2924285A patent/CA2924285C/fr not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CA2924285C (fr) | 2017-05-23 |
| CA2923918C (fr) | 2016-09-13 |
| CA2898603A1 (fr) | 2012-07-06 |
| CA2923918A1 (fr) | 2012-07-06 |
| CA2924285A1 (fr) | 2012-07-06 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10327415B2 (en) | System and method for improved attachment of a cup to a dairy animal | |
| US9737040B2 (en) | System and method for analyzing data captured by a three-dimensional camera | |
| US10373306B2 (en) | System and method for filtering data captured by a 3D camera | |
| US10303939B2 (en) | System and method for filtering data captured by a 2D camera | |
| EP2701493B1 (fr) | Système de vision pour dispositif d'attachement robotique | |
| US9171208B2 (en) | System and method for filtering data captured by a 2D camera | |
| US9681634B2 (en) | System and method to determine a teat position using edge detection in rear images of a livestock from two cameras | |
| CA2849212C (fr) | Systeme de vision pour robot de pose | |
| CA2898603C (fr) | Systeme de vision pour robot de pose |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| EEER | Examination request |
Effective date: 20150728 |
|
| MKLA | Lapsed |
Effective date: 20220427 |