SE9701231D0 - Apparatus and method for recognising and determining the position of part of an animal - Google Patents

Apparatus and method for recognising and determining the position of part of an animal

Info

Publication number
SE9701231D0
SE9701231D0 SE9701231A SE9701231A SE9701231D0 SE 9701231 D0 SE9701231 D0 SE 9701231D0 SE 9701231 A SE9701231 A SE 9701231A SE 9701231 A SE9701231 A SE 9701231A SE 9701231 D0 SE9701231 D0 SE 9701231D0
Authority
SE
Sweden
Prior art keywords
illuminated
animal
image signal
image
recognizing
Prior art date
Application number
SE9701231A
Other languages
English (en)
Swedish (sv)
Inventor
Uzi Birk
Original Assignee
Alfa Laval Agri 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
Family has litigation
First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=20406431&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=SE9701231(D0) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Application filed by Alfa Laval Agri Ab filed Critical Alfa Laval Agri Ab
Priority to SE9701231A priority Critical patent/SE9701231D0/xx
Publication of SE9701231D0 publication Critical patent/SE9701231D0/xx
Priority to DE69720798T priority patent/DE69720798T3/de
Priority to JP54265398A priority patent/JP3919825B2/ja
Priority to IL13219497A priority patent/IL132194A/en
Priority to AU55062/98A priority patent/AU5506298A/en
Priority to EP97951413A priority patent/EP0975211B2/de
Priority to US09/402,216 priority patent/US6227142B1/en
Priority to PCT/SE1997/002194 priority patent/WO1998044782A1/en

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
    • 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
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • 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
    • G01S7/4802—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
    • 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
    • G01S7/4813—Housing arrangements
    • 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
    • G01S17/87—Combinations of systems using electromagnetic waves other than radio waves
    • G01S17/875—Combinations of systems using electromagnetic waves other than radio waves for determining attitude
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Electromagnetism (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Husbandry (AREA)
  • Environmental Sciences (AREA)
  • Length Measuring Devices By Optical Means (AREA)
SE9701231A 1997-04-04 1997-04-04 Apparatus and method for recognising and determining the position of part of an animal SE9701231D0 (sv)

Priority Applications (8)

Application Number Priority Date Filing Date Title
SE9701231A SE9701231D0 (sv) 1997-04-04 1997-04-04 Apparatus and method for recognising and determining the position of part of an animal
DE69720798T DE69720798T3 (de) 1997-04-04 1997-12-19 Vorrichtung und verfahren zur erkennung und bestimmung der position eines teils eines tieres
JP54265398A JP3919825B2 (ja) 1997-04-04 1997-12-19 動物の部位の位置を認識して決定するための装置と方法
IL13219497A IL132194A (en) 1997-04-04 1997-12-19 A device and method for identifying and determining the location of a particular part of an animal
AU55062/98A AU5506298A (en) 1997-04-04 1997-12-19 Apparatus and method for recognising and determining the position of a part of an animal
EP97951413A EP0975211B2 (de) 1997-04-04 1997-12-19 Vorrrichtung und verfahren zur erkennung und bestimmung der position eines tintenteils
US09/402,216 US6227142B1 (en) 1997-04-04 1997-12-19 Apparatus and method for recognizing and determining the position of a part of an animal
PCT/SE1997/002194 WO1998044782A1 (en) 1997-04-04 1997-12-19 Apparatus and method for recognising and determining the position of a part of an animal

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
SE9701231A SE9701231D0 (sv) 1997-04-04 1997-04-04 Apparatus and method for recognising and determining the position of part of an animal

Publications (1)

Publication Number Publication Date
SE9701231D0 true SE9701231D0 (sv) 1997-04-04

Family

ID=20406431

Family Applications (1)

Application Number Title Priority Date Filing Date
SE9701231A SE9701231D0 (sv) 1997-04-04 1997-04-04 Apparatus and method for recognising and determining the position of part of an animal

Country Status (8)

Country Link
US (1) US6227142B1 (de)
EP (1) EP0975211B2 (de)
JP (1) JP3919825B2 (de)
AU (1) AU5506298A (de)
DE (1) DE69720798T3 (de)
IL (1) IL132194A (de)
SE (1) SE9701231D0 (de)
WO (1) WO1998044782A1 (de)

Families Citing this family (39)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SE9704779D0 (sv) * 1997-12-19 1997-12-19 Alfa Laval Agri Ab A device for gripping an animal related means
SE517285C2 (sv) * 1998-07-24 2002-05-21 Delaval Holding Ab Anordning för automatisk mjölkning av ett djur
SE517179C2 (sv) * 1998-07-24 2002-04-23 Alfa Laval Agri Ab Anordning och förfarande för att fastställa en plats för ett djurrelaterat organ
NL1010829C2 (nl) * 1998-12-16 2000-06-19 Prolion Bv Inrichting en werkwijze voor het melken van dieren en een vervuilingsmeter.
SE517052C2 (sv) * 1999-09-15 2002-04-09 Alfa Laval Agri Ab Apparat och metod för spenkoppsapplicering med hjälp av två alternerande ljuskällor och en kamera
DE29919989U1 (de) * 1999-11-15 2000-02-17 Leuze Electronic Gmbh + Co, 73277 Owen Optoelektronische Vorrichtung
SE0002720D0 (sv) * 2000-07-19 2000-07-19 Delaval Holding Ab A method and an apparatus for examination of milking animals
DK1520468T3 (da) * 2003-09-30 2006-08-21 Lely Entpr Ag Indretning og fremgangsmåde til malkning af et malkedyr
NL1024522C2 (nl) * 2003-10-13 2005-04-14 Lely Entpr Ag Melkbekerdrager.
CA2539645C (en) 2006-03-15 2020-04-28 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
NL1034502C2 (nl) * 2007-10-12 2009-04-15 Lely Patent Nv Melkinrichting.
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
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
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
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
WO2012123944A1 (en) 2011-03-17 2012-09-20 Mirobot Ltd. Human assisted milking robot and method
US8794181B2 (en) 2011-03-17 2014-08-05 Mirobot Ltd. System and method for three dimensional teat modeling for use with a milking system
US8683946B2 (en) 2011-04-28 2014-04-01 Technologies Holdings Corp. System and method of attaching cups to a dairy animal
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
US8671885B2 (en) 2011-04-28 2014-03-18 Technologies Holdings Corp. Vision system for robotic attacher
WO2012149099A1 (en) * 2011-04-28 2012-11-01 Technologies Holdings Corp. Milking box with robotic attacher
US10357015B2 (en) 2011-04-28 2019-07-23 Technologies Holdings Corp. Robotic arm with double grabber and method of operation
US10127446B2 (en) 2011-04-28 2018-11-13 Technologies Holdings Corp. System and method for filtering data captured by a 2D camera
US9107378B2 (en) * 2011-04-28 2015-08-18 Technologies Holdings Corp. Milking box with robotic attacher
US9107379B2 (en) 2011-04-28 2015-08-18 Technologies Holdings Corp. Arrangement of milking box stalls
US9049843B2 (en) 2011-04-28 2015-06-09 Technologies Holdings Corp. Milking box with a robotic attacher having a three-dimensional range of motion
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
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
US9161512B2 (en) 2011-04-28 2015-10-20 Technologies Holdings Corp. Milking box with robotic attacher comprising an arm that pivots, rotates, and grips
US9357744B2 (en) 2011-04-28 2016-06-07 Technologies Holdings Corp. Cleaning system for a milking box stall
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
US9058657B2 (en) 2011-04-28 2015-06-16 Technologies Holdings Corp. System and method for filtering data captured by a 3D camera
US9258975B2 (en) 2011-04-28 2016-02-16 Technologies Holdings Corp. Milking box with robotic attacher and vision system
US9043988B2 (en) 2011-04-28 2015-06-02 Technologies Holdings Corp. Milking box with storage area for teat cups
US10349614B2 (en) * 2016-08-17 2019-07-16 Technologies Holdings Corp. Vision system for teat detection

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FR2408300A1 (fr) * 1977-11-12 1979-06-08 Akermann David Procede et appareil pour la traite des vaches
NL8600076A (nl) * 1986-01-16 1987-08-17 Lely Nv C Van Der Werkwijze en inrichting voor het melken van een dier.
EP0306579B1 (de) † 1987-09-08 1992-01-02 Centre National Du Machinisme Agricole, Du Genie Rural, Des Eaux Et Des Forets (Cemagref) Automatische Melkmaschine
FR2595197B1 (fr) 1986-03-07 1988-11-18 Cemagref Installation de traite automatique
DE3702465A1 (de) * 1987-01-28 1988-08-11 Duevelsdorf & Sohn Gmbh & Co K Verfahren und vorrichtung zum melken und ggfs. fuettern von freilaufenden, identifizierungsmittel tragenden kuehen
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.
US5046353A (en) † 1989-01-26 1991-09-10 Tracer Research Corporation Underground pipe leak detection system
DE4113700A1 (de) 1991-04-26 1992-10-29 Dieter Dipl Ing Schillingmann Verfahren zum automatischen melken von in melkboxen stehenden milchkuehen, sowie melkbox, roboter und melkmodul zur durchfuehrung dieses verfahrens
IT1247949B (it) * 1991-05-20 1995-01-05 Felice Farina Apparecchiatura per il lavaggio automatico di capezzoli di bovini o altri animali da latte
US5412420A (en) † 1992-10-26 1995-05-02 Pheno Imaging, Inc. Three-dimensional phenotypic measuring system for animals
NL9401113A (nl) * 1994-07-04 1996-02-01 Maasland Nv Constructie met een inrichting voor het automatisch melken van dieren.
NL9401681A (nl) * 1994-10-12 1996-05-01 Maasland Nv Werkwijze en inrichting voor het automatisch melken van dieren, zoals koeien.
US5615003A (en) † 1994-11-29 1997-03-25 Hermary; Alexander T. Electromagnetic profile scanner
NL9500006A (nl) † 1995-01-02 1996-08-01 Gascoigne Melotte Bv Werkwijze en inrichting voor het positioneren van speenbekers.
SE9503792D0 (sv) * 1995-10-27 1995-10-27 Tetra Laval Holdings & Finance Teat location for milking
DE19548347A1 (de) 1995-12-22 1997-07-03 Westfalia Separator Ag Verfahren zum maschinellen Ansetzen von Melkbechern

Also Published As

Publication number Publication date
EP0975211A1 (de) 2000-02-02
US6227142B1 (en) 2001-05-08
JP3919825B2 (ja) 2007-05-30
IL132194A (en) 2002-09-12
IL132194A0 (en) 2001-03-19
WO1998044782A1 (en) 1998-10-15
DE69720798T2 (de) 2004-03-11
AU5506298A (en) 1998-10-30
JP2001519661A (ja) 2001-10-23
EP0975211B1 (de) 2003-04-09
DE69720798D1 (de) 2003-05-15
EP0975211B2 (de) 2010-01-27
DE69720798T3 (de) 2010-07-08

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