SE0400819D0 - Arrangement and method for determining positions of the teats of a milking animal - Google Patents
Arrangement and method for determining positions of the teats of a milking animalInfo
- Publication number
- SE0400819D0 SE0400819D0 SE0400819A SE0400819A SE0400819D0 SE 0400819 D0 SE0400819 D0 SE 0400819D0 SE 0400819 A SE0400819 A SE 0400819A SE 0400819 A SE0400819 A SE 0400819A SE 0400819 D0 SE0400819 D0 SE 0400819D0
- Authority
- SE
- Sweden
- Prior art keywords
- teats
- milking animal
- teat
- arrangement
- determining positions
- Prior art date
Links
- 210000002445 nipple Anatomy 0.000 title abstract 9
- 238000000034 method Methods 0.000 title abstract 2
- 238000001454 recorded image Methods 0.000 abstract 1
Classifications
-
- 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
- G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
- G06T7/74—Determining position or orientation of objects or cameras using feature-based methods involving reference images or patches
-
- 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
-
- G06T7/0044—
-
- G06T7/2086—
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/20—Analysis of motion
- G06T7/285—Analysis of motion using a sequence of stereo image pairs
-
- H04N13/0203—
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/204—Image signal generators using stereoscopic image cameras
Landscapes
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Multimedia (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Animal Husbandry (AREA)
- Environmental Sciences (AREA)
- Signal Processing (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Image Analysis (AREA)
Abstract
A pair of cameras (23) record images of the teats of the milking animal. An image processor detects teats of the milking animal and to determine absolute position of the teat based on recorded images. The position of the teat relative to a robot arm (15) is determined, when fixing a teat cup to the teat using the robot arm such that position of the teat is set more than the absolute position. : An independent claim is also included for determination method of positions of teats of milking animal.
Priority Applications (7)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
SE0400819A SE527840C2 (en) | 2004-03-30 | 2004-03-30 | Teat position determining arrangement for use in milking system, includes image processor to determine position of teat of milking animal relative to robot arm, when fixing teat cup to teat |
US10/594,881 US20080314324A1 (en) | 2004-03-30 | 2005-03-23 | Arrangement and Method for Determining Positions of the Teats of a Milking Animal |
PCT/SE2005/000427 WO2005094565A1 (en) | 2004-03-30 | 2005-03-23 | Arrangement and method for determining positions of the teats of a milking animal |
EP10174469A EP2263448A3 (en) | 2004-03-30 | 2005-03-23 | Arrangement and method for determining positions of the teats of a milking animal |
EP12175051A EP2526762A1 (en) | 2004-03-30 | 2005-03-23 | Arrangement and method for determining positions of the teats of a milking animal |
EP05722263A EP1729562A1 (en) | 2004-03-30 | 2005-03-23 | Arrangement and method for determining positions of the teats of a milking animal |
US12/662,430 US8210122B2 (en) | 2004-03-30 | 2010-04-16 | Arrangement and method for determining positions of the teats of a milking animal |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
SE0400819A SE527840C2 (en) | 2004-03-30 | 2004-03-30 | Teat position determining arrangement for use in milking system, includes image processor to determine position of teat of milking animal relative to robot arm, when fixing teat cup to teat |
Publications (3)
Publication Number | Publication Date |
---|---|
SE0400819D0 true SE0400819D0 (en) | 2004-03-30 |
SE0400819L SE0400819L (en) | 2005-10-01 |
SE527840C2 SE527840C2 (en) | 2006-06-20 |
Family
ID=32105779
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
SE0400819A SE527840C2 (en) | 2004-03-30 | 2004-03-30 | Teat position determining arrangement for use in milking system, includes image processor to determine position of teat of milking animal relative to robot arm, when fixing teat cup to teat |
Country Status (1)
Country | Link |
---|---|
SE (1) | SE527840C2 (en) |
-
2004
- 2004-03-30 SE SE0400819A patent/SE527840C2/en not_active IP Right Cessation
Also Published As
Publication number | Publication date |
---|---|
SE0400819L (en) | 2005-10-01 |
SE527840C2 (en) | 2006-06-20 |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
NUG | Patent has lapsed |