SE522443C2 - Förfarande och anordning för igenkänning och bestämning av en position och en robot inkluderande en sådan anordning - Google Patents

Förfarande och anordning för igenkänning och bestämning av en position och en robot inkluderande en sådan anordning

Info

Publication number
SE522443C2
SE522443C2 SE9901385A SE9901385A SE522443C2 SE 522443 C2 SE522443 C2 SE 522443C2 SE 9901385 A SE9901385 A SE 9901385A SE 9901385 A SE9901385 A SE 9901385A SE 522443 C2 SE522443 C2 SE 522443C2
Authority
SE
Sweden
Prior art keywords
teat
teats
animal
scanning head
scanning
Prior art date
Application number
SE9901385A
Other languages
English (en)
Swedish (sv)
Other versions
SE9901385D0 (sv
SE9901385L (sv
Inventor
Mats Nilsson
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 SE9901385A priority Critical patent/SE522443C2/sv
Publication of SE9901385D0 publication Critical patent/SE9901385D0/xx
Priority to CA002369804A priority patent/CA2369804C/fr
Priority to IL14603700A priority patent/IL146037A0/xx
Priority to AU44434/00A priority patent/AU4443400A/en
Priority to EP00925800A priority patent/EP1170987B1/fr
Priority to JP2000611748A priority patent/JP2002542459A/ja
Priority to US09/959,287 priority patent/US6532892B1/en
Priority to DE60009047T priority patent/DE60009047T2/de
Priority to PCT/SE2000/000652 priority patent/WO2000062602A1/fr
Publication of SE9901385L publication Critical patent/SE9901385L/xx
Priority to IL146037A priority patent/IL146037A/en
Publication of SE522443C2 publication Critical patent/SE522443C2/sv

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)
  • Image Processing (AREA)
  • Investigating Or Analysing Materials By Optical Means (AREA)
SE9901385A 1999-04-16 1999-04-19 Förfarande och anordning för igenkänning och bestämning av en position och en robot inkluderande en sådan anordning SE522443C2 (sv)

Priority Applications (10)

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 (fr) 1999-04-19 2000-04-05 Procede et appareil permettant de reconnaitre et de determiner une position et robot comprenant cet appareil
EP00925800A EP1170987B1 (fr) 1999-04-19 2000-04-05 Procede et appareil permettant de reconnaitre et de determiner une position et robot comprenant cet appareil
IL14603700A IL146037A0 (en) 1999-04-19 2000-04-05 Method and device for recognising and determining a position and robot including such an apparatus
AU44434/00A AU4443400A (en) 1999-04-19 2000-04-05 Method and apparatus for recognising and determining a position and robot including such an apparatus
CA002369804A CA2369804C (fr) 1999-04-19 2000-04-05 Procede et appareil permettant de reconnaitre et de determiner une position et robot comprenant cet appareil
JP2000611748A JP2002542459A (ja) 1999-04-19 2000-04-05 位置を認識および求める方法と装置、およびそのような装置を含むロボット
US09/959,287 US6532892B1 (en) 1999-04-16 2000-04-05 Method and apparatus for recognizing and determining a position and robot including such an apparatus
DE60009047T DE60009047T2 (de) 1999-04-19 2000-04-05 Verfahren und vorrichtung zur erkennung und bestimmung einer position und robot mit dieser vorrichtung
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

Applications Claiming Priority (1)

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

Publications (3)

Publication Number Publication Date
SE9901385D0 SE9901385D0 (sv) 1999-04-19
SE9901385L SE9901385L (sv) 2000-10-20
SE522443C2 true SE522443C2 (sv) 2004-02-10

Family

ID=20415261

Family Applications (1)

Application Number Title Priority Date Filing Date
SE9901385A SE522443C2 (sv) 1999-04-16 1999-04-19 Förfarande och anordning för igenkänning och bestämning av en position och en robot inkluderande en sådan anordning

Country Status (9)

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

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ATE324032T1 (de) 2003-09-30 2006-05-15 Lely Entpr Ag Vorrichtung und verfahren zum melken eines milchtieres
NL1024522C2 (nl) * 2003-10-13 2005-04-14 Lely Entpr Ag Melkbekerdrager.
US7895972B2 (en) * 2005-10-24 2011-03-01 Delaval Holding Ab Arrangement and method for visual detection in a milking system
CA3034793C (fr) 2006-03-15 2023-01-03 Gea Farm Technologies Gmbh Duree de deplacement de systeme de localisation de mamelle
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
US9357749B2 (en) 2010-01-29 2016-06-07 Gea Houle Inc. Rotary milking station, kit for assembling the same, and methods of assembling and operating associated thereto
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
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
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
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
US8671885B2 (en) 2011-04-28 2014-03-18 Technologies Holdings Corp. Vision system for robotic attacher
US9058657B2 (en) 2011-04-28 2015-06-16 Technologies Holdings Corp. System and method for filtering data captured by a 3D camera
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
US9107379B2 (en) 2011-04-28 2015-08-18 Technologies Holdings Corp. Arrangement of milking box stalls
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
US9161512B2 (en) 2011-04-28 2015-10-20 Technologies Holdings Corp. Milking box with robotic attacher comprising an arm that pivots, rotates, and grips
US9049843B2 (en) 2011-04-28 2015-06-09 Technologies Holdings Corp. Milking box with a robotic attacher having a three-dimensional range of motion
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
US9107378B2 (en) 2011-04-28 2015-08-18 Technologies Holdings Corp. Milking box with robotic attacher
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
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
US9357744B2 (en) 2011-04-28 2016-06-07 Technologies Holdings Corp. Cleaning system for a milking box stall
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
US8683946B2 (en) 2011-04-28 2014-04-01 Technologies Holdings Corp. System and method of attaching cups to a dairy animal
CA2895495C (fr) * 2013-02-06 2020-12-22 Delaval Holding Ab Procede et appareil de traitement de pis
RU2622375C2 (ru) * 2013-03-13 2017-06-14 Медела Холдинг Аг Система и способ управления запасами грудного молока
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
US10817970B2 (en) 2016-08-17 2020-10-27 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
US10558855B2 (en) * 2016-08-17 2020-02-11 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
US10349613B2 (en) * 2016-08-17 2019-07-16 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
US10499607B2 (en) 2016-08-17 2019-12-10 Technologies Holdings Corp. Vision system for teat detection
WO2018057840A1 (fr) 2016-09-22 2018-03-29 Src, Inc. Procédés et systèmes d'identification biométrique de produits laitiers d'animaux à l'aide d'une reconnaissance de motifs de veines
US10653102B2 (en) * 2018-01-31 2020-05-19 Technologies Holdings Corp. Robotic arm

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Publication number Priority date Publication date Assignee Title
EP0323875A3 (fr) 1988-01-08 1989-11-15 Prolion B.V. Détecteur ultrason, procédé pour détecter un objet mobile, unité de détecteur ultrason, élément à positionner un animal, appareil terminal pour un systèm de traite automatique et procédé de traite automatique d'un animal
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
SE9503792D0 (sv) * 1995-10-27 1995-10-27 Tetra Laval Holdings & Finance Teat location for milking
SE9503793D0 (sv) * 1995-10-27 1995-10-27 Tetra Laval Holdings & Finance An apparatus for moving an animal related means and a method therefor
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
AU4443400A (en) 2000-11-02
CA2369804A1 (fr) 2000-10-26
SE9901385D0 (sv) 1999-04-19
US6532892B1 (en) 2003-03-18
DE60009047T2 (de) 2004-10-21
EP1170987B1 (fr) 2004-03-17
IL146037A0 (en) 2002-07-25
IL146037A (en) 2007-02-11
EP1170987A1 (fr) 2002-01-16
JP2002542459A (ja) 2002-12-10
WO2000062602A1 (fr) 2000-10-26
SE9901385L (sv) 2000-10-20
DE60009047D1 (de) 2004-04-22
CA2369804C (fr) 2008-01-29

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