SE0400820D0 - 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 animal

Info

Publication number
SE0400820D0
SE0400820D0 SE0400820A SE0400820A SE0400820D0 SE 0400820 D0 SE0400820 D0 SE 0400820D0 SE 0400820 A SE0400820 A SE 0400820A SE 0400820 A SE0400820 A SE 0400820A SE 0400820 D0 SE0400820 D0 SE 0400820D0
Authority
SE
Sweden
Prior art keywords
teats
milking animal
teat
arrangement
determining positions
Prior art date
Application number
SE0400820A
Other languages
Swedish (sv)
Other versions
SE0400820L (en
SE528237C2 (en
Inventor
Maria Pettersson
Johan Andren Dinerf
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
Priority to SE0400820A priority Critical patent/SE528237C2/en
Publication of SE0400820D0 publication Critical patent/SE0400820D0/en
Priority to PCT/SE2005/000427 priority patent/WO2005094565A1/en
Priority to EP10174469A priority patent/EP2263448A3/en
Priority to US10/594,881 priority patent/US20080314324A1/en
Priority to EP12175051A priority patent/EP2526762A1/en
Priority to EP05722263A priority patent/EP1729562A1/en
Publication of SE0400820L publication Critical patent/SE0400820L/en
Publication of SE528237C2 publication Critical patent/SE528237C2/en
Priority to US12/662,430 priority patent/US8210122B2/en

Links

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—
    • G06T7/0075—
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/50—Depth or shape recovery
    • G06T7/55—Depth or shape recovery from multiple images
    • G06T7/593—Depth or shape recovery from multiple images from stereo images
    • H04N13/0239—
    • 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
    • H04N13/239—Image signal generators using stereoscopic image cameras using two 2D image sensors having a relative position equal to or related to the interocular distance

Landscapes

  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Animal Husbandry (AREA)
  • Environmental Sciences (AREA)
  • Multimedia (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.
SE0400820A 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 SE528237C2 (en)

Priority Applications (7)

Application Number Priority Date Filing Date Title
SE0400820A SE528237C2 (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
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
US10/594,881 US20080314324A1 (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
SE0400820A SE528237C2 (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
SE0400820D0 true SE0400820D0 (en) 2004-03-30
SE0400820L SE0400820L (en) 2005-10-01
SE528237C2 SE528237C2 (en) 2006-10-03

Family

ID=32105780

Family Applications (1)

Application Number Title Priority Date Filing Date
SE0400820A SE528237C2 (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) SE528237C2 (en)

Also Published As

Publication number Publication date
SE0400820L (en) 2005-10-01
SE528237C2 (en) 2006-10-03

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Legal Events

Date Code Title Description
NUG Patent has lapsed