IL146037A0 - Method and device for recognising and determining a position and robot including such an apparatus - Google Patents

Method and device for recognising and determining a position and robot including such an apparatus

Info

Publication number
IL146037A0
IL146037A0 IL14603700A IL14603700A IL146037A0 IL 146037 A0 IL146037 A0 IL 146037A0 IL 14603700 A IL14603700 A IL 14603700A IL 14603700 A IL14603700 A IL 14603700A IL 146037 A0 IL146037 A0 IL 146037A0
Authority
IL
Israel
Prior art keywords
recognising
determining
robot including
robot
Prior art date
Application number
IL14603700A
Other languages
English (en)
Original Assignee
Delaval Holding Ab
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 Delaval Holding Ab filed Critical Delaval Holding Ab
Publication of IL146037A0 publication Critical patent/IL146037A0/xx

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
    • G06T7/70—Determining position or orientation of objects or cameras
    • 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
    • G06T2207/30004—Biomedical image processing

Landscapes

  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Animal Husbandry (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Environmental Sciences (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Image Analysis (AREA)
  • Manipulator (AREA)
  • Investigating Or Analysing Materials By Optical Means (AREA)
  • Image Processing (AREA)
IL14603700A 1999-04-19 2000-04-05 Method and device for recognising and determining a position and robot including such an apparatus IL146037A0 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
SE9901385A SE522443C2 (sv) 1999-04-19 1999-04-19 Förfarande och anordning för igenkänning och bestämning av en position och en robot inkluderande en sådan anordning
PCT/SE2000/000652 WO2000062602A1 (en) 1999-04-19 2000-04-05 Method and apparatus for recognising and determining a position and robot including such an apparatus

Publications (1)

Publication Number Publication Date
IL146037A0 true IL146037A0 (en) 2002-07-25

Family

ID=20415261

Family Applications (2)

Application Number Title Priority Date Filing Date
IL14603700A IL146037A0 (en) 1999-04-19 2000-04-05 Method and device for recognising and determining a position and robot including such an apparatus
IL146037A IL146037A (en) 1999-04-19 2001-10-18 Method and device for distinguishing and determining a location and a robot that includes such a device

Family Applications After (1)

Application Number Title Priority Date Filing Date
IL146037A IL146037A (en) 1999-04-19 2001-10-18 Method and device for distinguishing and determining a location and a robot that includes such a device

Country Status (9)

Country Link
US (1) US6532892B1 (xx)
EP (1) EP1170987B1 (xx)
JP (1) JP2002542459A (xx)
AU (1) AU4443400A (xx)
CA (1) CA2369804C (xx)
DE (1) DE60009047T2 (xx)
IL (2) IL146037A0 (xx)
SE (1) SE522443C2 (xx)
WO (1) WO2000062602A1 (xx)

Families Citing this family (48)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
AU2002354341A1 (en) * 2001-12-28 2003-07-15 Idento Electronics B.V. Method and apparatus for detection of teats
US6729262B2 (en) * 2002-10-04 2004-05-04 Innovative Automation, Inc. Live capture automated milking apparatus and method
GB0318733D0 (en) * 2003-08-11 2003-09-10 Icerobotics Ltd Improvements in or relating to milking machines
DE602004000749T2 (de) 2003-09-30 2007-02-08 Lely Enterprises Ag Vorrichtung und Verfahren zum Melken eines milchgebenden Tieres
NL1024522C2 (nl) * 2003-10-13 2005-04-14 Lely Entpr Ag Melkbekerdrager.
WO2007050012A1 (en) * 2005-10-24 2007-05-03 Delaval Holding Ab Arrangement and method for visual detection in a milking system
CA3034793C (en) * 2006-03-15 2023-01-03 Gea Farm Technologies Gmbh Time of flight teat location system
SE530339C2 (sv) * 2006-07-13 2008-05-06 Delaval Holding Ab En apparat och förfarande för att igenkänna och bestämma en position
NL1034596C2 (nl) 2007-10-30 2009-05-06 Lely Patent Nv Werkwijze en inrichting voor het aankoppelen van een speenbeker.
DE102008035384A1 (de) * 2008-07-29 2010-02-04 Gea Westfaliasurge Gmbh Verfahren und Vorrichtung zum Ansetzen eines Melkbechers an eine Zitze eines Tieres
RU2551565C2 (ru) 2010-01-29 2015-05-27 Геа Хоул Инк. Вращающаяся доильная станция, комплект для ее монтажа и способы ее монтажа и эксплуатации
US9161511B2 (en) 2010-07-06 2015-10-20 Technologies Holdings Corp. Automated rotary milking system
US8707905B2 (en) 2010-08-31 2014-04-29 Technologies Holdings Corp. Automated system for applying disinfectant to the teats of dairy livestock
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
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
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
US8683946B2 (en) * 2011-04-28 2014-04-01 Technologies Holdings Corp. System and method of attaching cups to 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
US8671885B2 (en) 2011-04-28 2014-03-18 Technologies Holdings Corp. Vision system for robotic attacher
US9043988B2 (en) 2011-04-28 2015-06-02 Technologies Holdings Corp. Milking box with storage area for teat cups
US8885891B2 (en) 2011-04-28 2014-11-11 Technologies Holdings Corp. System and method for analyzing data captured by a three-dimensional camera
US9265227B2 (en) 2011-04-28 2016-02-23 Technologies Holdings Corp. System and method for improved attachment of a cup to a dairy animal
US8903129B2 (en) 2011-04-28 2014-12-02 Technologies Holdings Corp. System and method for filtering data captured by a 2D camera
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
US9258975B2 (en) 2011-04-28 2016-02-16 Technologies Holdings Corp. Milking box with robotic attacher and vision system
US10127446B2 (en) 2011-04-28 2018-11-13 Technologies Holdings Corp. System and method for filtering data captured by a 2D camera
US9049843B2 (en) 2011-04-28 2015-06-09 Technologies Holdings Corp. Milking box with a robotic attacher having a three-dimensional range of motion
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
US10357015B2 (en) 2011-04-28 2019-07-23 Technologies Holdings Corp. Robotic arm with double grabber and method of operation
US9107379B2 (en) 2011-04-28 2015-08-18 Technologies Holdings Corp. Arrangement of milking box stalls
US9161512B2 (en) 2011-04-28 2015-10-20 Technologies Holdings Corp. Milking box with robotic attacher comprising an arm that pivots, rotates, and grips
US9107378B2 (en) 2011-04-28 2015-08-18 Technologies Holdings Corp. Milking box with robotic attacher
WO2014142728A1 (en) * 2013-02-06 2014-09-18 Delaval Holding Ab Teat treatment method and apparatus
EP2973374B1 (en) 2013-03-13 2020-08-05 Medela Holding AG System and method for managing a supply of breast milk
DE102015112308A1 (de) 2015-07-28 2017-02-02 Gea Farm Technologies Gmbh Verfahren und Vorrichtung zum automatischen Ansetzen von Melkbechern an Zitzen eines milchgebenden Tieres
US10349613B2 (en) * 2016-08-17 2019-07-16 Technologies Holdings Corp. Vision system for teat detection
US10817970B2 (en) 2016-08-17 2020-10-27 Technologies Holdings Corp. Vision system with teat detection
US10477827B2 (en) 2016-08-17 2019-11-19 Technologies Holdings Corp. Vision system for teat detection
US9936670B2 (en) * 2016-08-17 2018-04-10 Technologies Holdings Corp. Vision system with teat detection
US10499609B2 (en) * 2016-08-17 2019-12-10 Technologies Holdings Corp. Vision system for teat detection
US10349615B2 (en) * 2016-08-17 2019-07-16 Technologies Holdings Corp. Vision system for teat detection
US10499607B2 (en) 2016-08-17 2019-12-10 Technologies Holdings Corp. Vision system for teat detection
US9807971B1 (en) 2016-08-17 2017-11-07 Technologies Holdings Corp. Vision system with automatic teat detection
US10558855B2 (en) * 2016-08-17 2020-02-11 Technologies Holdings Corp. Vision system with teat detection
US10474791B2 (en) 2016-09-22 2019-11-12 Acumen Detection, Inc. Methods and systems for biometric identification of dairy animals using vein pattern recognition
US10653102B2 (en) * 2018-01-31 2020-05-19 Technologies Holdings Corp. Robotic arm

Family Cites Families (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE68928489T2 (de) 1988-01-08 1998-04-02 Prolion Bv Vorrichtung zum Positionieren eines Tieres, Terminal für ein automatisches Melksystem und Verfahren zum automatischen Melken eines Tieres
NL8802332A (nl) * 1988-09-21 1990-04-17 Lely Nv C Van Der Inrichting voor het melken van een dier.
NL9401113A (nl) 1994-07-04 1996-02-01 Maasland Nv Constructie met een inrichting voor het automatisch melken van dieren.
NL9500006A (nl) 1995-01-02 1996-08-01 Gascoigne Melotte Bv Werkwijze en inrichting voor het positioneren van speenbekers.
DE19523676A1 (de) * 1995-07-03 1997-01-16 Duevelsdorf & Sohn Gmbh & Co K Verfahren zum Orten eines Objektes
SE9503793D0 (sv) * 1995-10-27 1995-10-27 Tetra Laval Holdings & Finance An apparatus for moving an animal related means and a method therefor
SE9503792D0 (sv) * 1995-10-27 1995-10-27 Tetra Laval Holdings & Finance Teat location for milking
SE9603054D0 (sv) * 1996-08-22 1996-08-22 Tetra Laval Holdings & Finance An arrangement for and a method of performing an animal-related action
SE9701547D0 (sv) * 1997-04-23 1997-04-23 Alfa Laval Agri Ab Apparatus and method for recognising and determining the positon of a part of an animal
SE9702628D0 (sv) * 1997-07-07 1997-07-07 Alfa Laval Agri Ab An animal related apparatus
SE9704779D0 (sv) 1997-12-19 1997-12-19 Alfa Laval Agri Ab A device for gripping an animal related means

Also Published As

Publication number Publication date
EP1170987A1 (en) 2002-01-16
DE60009047T2 (de) 2004-10-21
AU4443400A (en) 2000-11-02
IL146037A (en) 2007-02-11
CA2369804C (en) 2008-01-29
WO2000062602A1 (en) 2000-10-26
EP1170987B1 (en) 2004-03-17
JP2002542459A (ja) 2002-12-10
SE9901385L (sv) 2000-10-20
DE60009047D1 (de) 2004-04-22
SE9901385D0 (sv) 1999-04-19
US6532892B1 (en) 2003-03-18
SE522443C2 (sv) 2004-02-10
CA2369804A1 (en) 2000-10-26

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