DE69830472D1 - Sensorvorrichtung und verfahren zum ermitteln der lage eines objekts, insbesondere einer zitze eines zu melkenden tieres - Google Patents
Sensorvorrichtung und verfahren zum ermitteln der lage eines objekts, insbesondere einer zitze eines zu melkenden tieresInfo
- Publication number
- DE69830472D1 DE69830472D1 DE69830472T DE69830472T DE69830472D1 DE 69830472 D1 DE69830472 D1 DE 69830472D1 DE 69830472 T DE69830472 T DE 69830472T DE 69830472 T DE69830472 T DE 69830472T DE 69830472 D1 DE69830472 D1 DE 69830472D1
- Authority
- DE
- Germany
- Prior art keywords
- melted
- title
- animal
- determining
- sensor device
- 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 - Lifetime
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
-
- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C3/00—Measuring distances in line of sight; Optical rangefinders
- G01C3/10—Measuring distances in line of sight; Optical rangefinders using a parallactic triangle with variable angles and a base of fixed length in the observation station, e.g. in the instrument
-
- 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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
-
- 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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
-
- 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
-
- 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
- G01S17/42—Simultaneous measurement of distance and other co-ordinates
-
- 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
- G01S17/46—Indirect determination of position data
-
- 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
- G01S17/88—Lidar systems specially adapted for specific applications
-
- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
-
- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4811—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver
-
- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4811—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver
- G01S7/4812—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver transmitted and received beams following a coaxial path
-
- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4811—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver
- G01S7/4813—Housing arrangements
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Electromagnetism (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Husbandry (AREA)
- Environmental Sciences (AREA)
- Acoustics & Sound (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
NL1006804 | 1997-08-20 | ||
NL1006804A NL1006804C2 (nl) | 1997-08-20 | 1997-08-20 | Sensorinrichting, alsmede werkwijze voor het bepalen van de positie van een object, in het bijzonder een speen van een te melken dier. |
PCT/NL1998/000460 WO1999009430A2 (en) | 1997-08-20 | 1998-08-13 | A sensor apparatus, as well as a method of determining the position of an object, in particular a teat of an animal to be milked |
Publications (2)
Publication Number | Publication Date |
---|---|
DE69830472D1 true DE69830472D1 (de) | 2005-07-14 |
DE69830472T2 DE69830472T2 (de) | 2006-03-23 |
Family
ID=19765517
Family Applications (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE69841591T Expired - Lifetime DE69841591D1 (de) | 1997-08-20 | 1998-08-13 | Sensorvorrichtung sowie -verfahren zur Positionsbestimmung eines Objekts, im speziellen einer Zitze eines zu melkenden Tieres |
DE69830472T Expired - Lifetime DE69830472T2 (de) | 1997-08-20 | 1998-08-13 | Sensorvorrichtung und Verfahren zur Ermittlung der Position eines Objekts in einem Raum, insbesondere einer Zitze eines zu melkenden Tieres |
Family Applications Before (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE69841591T Expired - Lifetime DE69841591D1 (de) | 1997-08-20 | 1998-08-13 | Sensorvorrichtung sowie -verfahren zur Positionsbestimmung eines Objekts, im speziellen einer Zitze eines zu melkenden Tieres |
Country Status (8)
Country | Link |
---|---|
US (1) | US6118118A (de) |
EP (2) | EP1555544B1 (de) |
JP (1) | JP4368429B2 (de) |
DE (2) | DE69841591D1 (de) |
DK (2) | DK0951651T3 (de) |
ES (1) | ES2243003T3 (de) |
NL (1) | NL1006804C2 (de) |
WO (1) | WO1999009430A2 (de) |
Families Citing this family (46)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
NL1009663C2 (nl) * | 1998-07-06 | 2000-01-10 | Maasland Nv | Werkwijze en inrichting voor het desinfecteren van een melkinstallatie en/of een reinigingsinrichting voor de spenen van een dier. |
NL1009711C2 (nl) * | 1998-07-22 | 2000-01-25 | Prolion Bv | Inrichting en werkwijze voor het automatisch melken van dieren. |
SE514473C2 (sv) * | 1999-03-02 | 2001-02-26 | Alfa Laval Agri Ab | Skyddsanordning för en spenlokaliserare |
NL1012529C2 (nl) * | 1999-07-07 | 2001-01-09 | Lely Res Holding | Inrichting voor het melken van dieren, zoals koeien. |
CA2383101C (en) * | 2001-04-24 | 2010-03-16 | Lely Enterprises Ag | A device for determining the position of a teat of an animal |
US6729262B2 (en) * | 2002-10-04 | 2004-05-04 | Innovative Automation, Inc. | Live capture automated milking apparatus and method |
DE602004000749T2 (de) | 2003-09-30 | 2007-02-08 | Lely Enterprises Ag | Vorrichtung und Verfahren zum Melken eines milchgebenden Tieres |
NL1024935C2 (nl) | 2003-12-03 | 2005-06-06 | Lely Entpr Ag | Inrichting voor het melken van dieren. |
CA2539645C (en) * | 2006-03-15 | 2020-04-28 | Lmi Technologies Inc. | Time of flight teat location system |
NL1032435C2 (nl) | 2006-09-05 | 2008-03-06 | Maasland Nv | Inrichting voor het automatisch melken van een melkdier. |
US7408838B1 (en) * | 2007-01-22 | 2008-08-05 | Scale Master Technologies, Llc | Digitizing planimeter |
NL1033590C2 (nl) * | 2007-03-26 | 2008-09-29 | Maasland Nv | Onbemand voertuig voor het afgeven van voer aan een dier. |
NZ586159A (en) | 2008-01-22 | 2013-04-26 | Delaval Holding Ab | Usinf a 3D (threee dimensional) camera to locate udder of a milked mammal |
NL1035701C2 (nl) * | 2008-07-15 | 2010-01-18 | Lely Patent Nv | Melkdierbehandelingsinrichting. |
EP3281517A3 (de) | 2008-07-15 | 2018-04-25 | Lely Patent N.V. | Milchtierbehandlungssystem |
NL1036328C2 (nl) * | 2008-12-18 | 2010-06-21 | Lely Patent Nv | Systeem voor het aanbrengen van een speenbeker op een speen. |
CA2799358C (en) * | 2010-05-14 | 2018-10-16 | Promat Inc. | Sensor array for locating an object in space |
AU2011261264A1 (en) | 2010-06-04 | 2012-12-06 | Dairy Cheq Inc. | Modular manipulation device |
US9161511B2 (en) | 2010-07-06 | 2015-10-20 | Technologies Holdings Corp. | Automated rotary milking system |
US9149018B2 (en) | 2010-08-31 | 2015-10-06 | Technologies Holdings Corp. | System and method for determining whether to operate a robot in conjunction with a rotary milking platform based on detection of a milking claw |
US10111401B2 (en) | 2010-08-31 | 2018-10-30 | Technologies Holdings Corp. | System and method for determining whether to operate a robot in conjunction with a rotary parlor |
US8800487B2 (en) | 2010-08-31 | 2014-08-12 | Technologies Holdings Corp. | System and method for controlling the position of a robot carriage based on the position of a milking stall of an adjacent rotary milking platform |
US8720382B2 (en) | 2010-08-31 | 2014-05-13 | Technologies Holdings Corp. | Vision system for facilitating the automated application of disinfectant to the teats of dairy livestock |
JP5644437B2 (ja) * | 2010-12-03 | 2014-12-24 | 富士通株式会社 | 距離測定装置および距離測定方法 |
CN103228127A (zh) * | 2010-12-22 | 2013-07-31 | 利拉伐控股有限公司 | 用于保护光学检测装置不受污染的方法和设备 |
US9049843B2 (en) | 2011-04-28 | 2015-06-09 | Technologies Holdings Corp. | Milking box with a robotic attacher having a three-dimensional range of motion |
US10357015B2 (en) | 2011-04-28 | 2019-07-23 | Technologies Holdings Corp. | Robotic arm with double grabber and method of operation |
US8903129B2 (en) | 2011-04-28 | 2014-12-02 | Technologies Holdings Corp. | System and method for filtering data captured by a 2D camera |
US9681634B2 (en) | 2011-04-28 | 2017-06-20 | Technologies Holdings Corp. | System and method to determine a teat position using edge detection in rear images of a livestock from two cameras |
US8671885B2 (en) | 2011-04-28 | 2014-03-18 | Technologies Holdings Corp. | Vision system for robotic attacher |
US9215861B2 (en) | 2011-04-28 | 2015-12-22 | Technologies Holdings Corp. | Milking box with robotic attacher and backplane for tracking movements of a dairy animal |
US9357744B2 (en) | 2011-04-28 | 2016-06-07 | Technologies Holdings Corp. | Cleaning system for a milking box stall |
US9058657B2 (en) | 2011-04-28 | 2015-06-16 | Technologies Holdings Corp. | System and method for filtering data captured by a 3D camera |
US8683946B2 (en) | 2011-04-28 | 2014-04-01 | Technologies Holdings Corp. | System and method of attaching cups to a dairy animal |
US9107378B2 (en) | 2011-04-28 | 2015-08-18 | Technologies Holdings Corp. | Milking box with robotic attacher |
US9265227B2 (en) | 2011-04-28 | 2016-02-23 | Technologies Holdings Corp. | System and method for improved attachment of a cup to a dairy animal |
US9107379B2 (en) | 2011-04-28 | 2015-08-18 | Technologies Holdings Corp. | Arrangement of milking box stalls |
US9258975B2 (en) | 2011-04-28 | 2016-02-16 | Technologies Holdings Corp. | Milking box with robotic attacher and vision system |
US8885891B2 (en) | 2011-04-28 | 2014-11-11 | Technologies Holdings Corp. | System and method for analyzing data captured by a three-dimensional camera |
US10127446B2 (en) | 2011-04-28 | 2018-11-13 | Technologies Holdings Corp. | System and method for filtering data captured by a 2D camera |
US9161512B2 (en) | 2011-04-28 | 2015-10-20 | Technologies Holdings Corp. | Milking box with robotic attacher comprising an arm that pivots, rotates, and grips |
US9043988B2 (en) | 2011-04-28 | 2015-06-02 | Technologies Holdings Corp. | Milking box with storage area for teat cups |
US8746176B2 (en) | 2011-04-28 | 2014-06-10 | Technologies Holdings Corp. | System and method of attaching a cup to a dairy animal according to a sequence |
JP5853838B2 (ja) * | 2011-07-12 | 2016-02-09 | 株式会社デンソー | 車載レーザレーダ装置 |
DE102013012789A1 (de) * | 2013-07-31 | 2015-02-05 | Valeo Schalter Und Sensoren Gmbh | Abtastende optoelektronische Detektionseinrichtung und Kraftfahrzeug mit einer solchen Detektionseinrichtung |
DE102015013710A1 (de) * | 2015-10-23 | 2017-04-27 | Wabco Gmbh | Sensoreinrichtung zur Erfassung von Umgebungsinformationen |
Family Cites Families (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3515486A (en) * | 1967-11-22 | 1970-06-02 | Atomic Energy Commission | Optical ranging device |
DE2208559A1 (de) * | 1972-02-23 | 1973-08-30 | Sick Erwin | Anordnung zur bestimmung des ortes eines fliegenden gegenstandes |
GB2176668B (en) * | 1985-05-28 | 1989-08-02 | Plessey Co Plc | Improvements relating to electric vehicle traction systems. |
NL8502434A (nl) * | 1985-09-04 | 1987-04-01 | Multinorm Bv | Melkinrichting. |
NL8802332A (nl) * | 1988-09-21 | 1990-04-17 | Lely Nv C Van Der | Inrichting voor het melken van een dier. |
KR940024704A (ko) * | 1993-04-08 | 1994-11-18 | 제임스 에이.에더 | 주사 광학 레인지파인더 |
EP0669753A3 (de) * | 1994-02-28 | 1995-12-20 | Minolta Co Ltd | Vorrichtung zur Bildreproduktion. |
DE19530281C2 (de) * | 1995-08-17 | 1999-01-07 | Johann Hipp | Vorrichtung zum optischen Erfassen von Hindernissen vor Fahrzeugen |
NL1001912C2 (nl) * | 1995-12-15 | 1997-06-17 | Maasland Nv | Inrichting voor het melken van dieren. |
-
1997
- 1997-08-20 NL NL1006804A patent/NL1006804C2/nl not_active IP Right Cessation
-
1998
- 1998-08-13 ES ES98939019T patent/ES2243003T3/es not_active Expired - Lifetime
- 1998-08-13 JP JP51305399A patent/JP4368429B2/ja not_active Expired - Fee Related
- 1998-08-13 EP EP05075286A patent/EP1555544B1/de not_active Expired - Lifetime
- 1998-08-13 DE DE69841591T patent/DE69841591D1/de not_active Expired - Lifetime
- 1998-08-13 DK DK98939019T patent/DK0951651T3/da active
- 1998-08-13 DE DE69830472T patent/DE69830472T2/de not_active Expired - Lifetime
- 1998-08-13 WO PCT/NL1998/000460 patent/WO1999009430A2/en active IP Right Grant
- 1998-08-13 DK DK05075286.4T patent/DK1555544T3/da active
- 1998-08-13 EP EP98939019A patent/EP0951651B1/de not_active Expired - Lifetime
-
1999
- 1999-04-19 US US09/299,105 patent/US6118118A/en not_active Expired - Lifetime
Also Published As
Publication number | Publication date |
---|---|
DK0951651T3 (da) | 2005-10-10 |
JP2001504944A (ja) | 2001-04-10 |
ES2243003T3 (es) | 2005-11-16 |
NL1006804C2 (nl) | 1999-02-23 |
JP4368429B2 (ja) | 2009-11-18 |
DE69830472T2 (de) | 2006-03-23 |
EP0951651A1 (de) | 1999-10-27 |
US6118118A (en) | 2000-09-12 |
WO1999009430A2 (en) | 1999-02-25 |
WO1999009430A3 (en) | 1999-06-24 |
EP1555544A2 (de) | 2005-07-20 |
EP1555544A3 (de) | 2005-08-03 |
EP0951651B1 (de) | 2005-06-08 |
DE69841591D1 (de) | 2010-05-12 |
EP1555544B1 (de) | 2010-03-31 |
DK1555544T3 (da) | 2010-06-07 |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
8364 | No opposition during term of opposition |