SE9701547D0 - Apparatus and method for recognising and determining the positon of a part of an animal - Google Patents

Apparatus and method for recognising and determining the positon of a part of an animal

Info

Publication number
SE9701547D0
SE9701547D0 SE9701547A SE9701547A SE9701547D0 SE 9701547 D0 SE9701547 D0 SE 9701547D0 SE 9701547 A SE9701547 A SE 9701547A SE 9701547 A SE9701547 A SE 9701547A SE 9701547 D0 SE9701547 D0 SE 9701547D0
Authority
SE
Sweden
Prior art keywords
animal
illuminated
recognizing
determining
light
Prior art date
Application number
SE9701547A
Other languages
English (en)
Swedish (sv)
Inventor
Lars Andersson
Mats Nilsson
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=20406713&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=SE9701547(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 SE9701547A priority Critical patent/SE9701547D0/xx
Publication of SE9701547D0 publication Critical patent/SE9701547D0/xx
Priority to IL13216798A priority patent/IL132167A/xx
Priority to AU70964/98A priority patent/AU7096498A/en
Priority to JP54561398A priority patent/JP2001523095A/ja
Priority to EP98917935A priority patent/EP0989800B1/en
Priority to PCT/SE1998/000744 priority patent/WO1998047348A1/en
Priority to DE69811667T priority patent/DE69811667T2/de
Priority to US09/403,127 priority patent/US6234109B1/en

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
    • G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
    • 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
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/10—Image acquisition
    • G06V10/12—Details of acquisition arrangements; Constructional details thereof
    • G06V10/14—Optical characteristics of the device performing the acquisition or on the illumination arrangements
    • G06V10/145—Illumination specially adapted for pattern recognition, e.g. using gratings

Landscapes

  • Engineering & Computer Science (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Artificial Intelligence (AREA)
  • Multimedia (AREA)
  • Theoretical Computer Science (AREA)
  • Animal Husbandry (AREA)
  • Environmental Sciences (AREA)
  • Length Measuring Devices By Optical Means (AREA)
SE9701547A 1997-04-23 1997-04-23 Apparatus and method for recognising and determining the positon of a part of an animal SE9701547D0 (sv)

Priority Applications (8)

Application Number Priority Date Filing Date Title
SE9701547A SE9701547D0 (sv) 1997-04-23 1997-04-23 Apparatus and method for recognising and determining the positon of a part of an animal
IL13216798A IL132167A (en) 1997-04-23 1998-04-23 Apparatus and method for recognising and determining the position of a part of an animal
AU70964/98A AU7096498A (en) 1997-04-23 1998-04-23 Apparatus and method for recognising and determining the position of a part of an animal
JP54561398A JP2001523095A (ja) 1997-04-23 1998-04-23 動物の一部位の位置を認識して決定するための装置と方法
EP98917935A EP0989800B1 (en) 1997-04-23 1998-04-23 Apparatus and method for recognising and determining the position of a part of an animal
PCT/SE1998/000744 WO1998047348A1 (en) 1997-04-23 1998-04-23 Apparatus and method for recognising and determining the position of a part of an animal
DE69811667T DE69811667T2 (de) 1997-04-23 1998-04-23 Vorrichtung und verfahren zur erkennung und bestimmung der position eines tierteils
US09/403,127 US6234109B1 (en) 1997-04-23 1998-04-23 Apparatus and method for recognizing and determining the position of a part of an animal

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
SE9701547A SE9701547D0 (sv) 1997-04-23 1997-04-23 Apparatus and method for recognising and determining the positon of a part of an animal

Publications (1)

Publication Number Publication Date
SE9701547D0 true SE9701547D0 (sv) 1997-04-23

Family

ID=20406713

Family Applications (1)

Application Number Title Priority Date Filing Date
SE9701547A SE9701547D0 (sv) 1997-04-23 1997-04-23 Apparatus and method for recognising and determining the positon of a part of an animal

Country Status (8)

Country Link
US (1) US6234109B1 (xx)
EP (1) EP0989800B1 (xx)
JP (1) JP2001523095A (xx)
AU (1) AU7096498A (xx)
DE (1) DE69811667T2 (xx)
IL (1) IL132167A (xx)
SE (1) SE9701547D0 (xx)
WO (1) WO1998047348A1 (xx)

Families Citing this family (43)

* 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
NL1010829C2 (nl) * 1998-12-16 2000-06-19 Prolion Bv Inrichting en werkwijze voor het melken van dieren en een vervuilingsmeter.
SE513749C2 (sv) * 1999-01-15 2000-10-30 Alfa Laval Agri Ab Metod och anordning för positionering av spenkoppar på ett mjölkdjur
SE514473C2 (sv) * 1999-03-02 2001-02-26 Alfa Laval Agri Ab Skyddsanordning för en spenlokaliserare
SE522443C2 (sv) 1999-04-19 2004-02-10 Delaval Holding Ab Förfarande och anordning för igenkänning och bestämning av en position och en robot inkluderande en sådan anordning
GB9911935D0 (en) * 1999-05-21 1999-07-21 British Broadcasting Corp Tracking of moving objects
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
ATE310382T1 (de) * 2000-06-22 2005-12-15 Delaval Holding Ab Verfahren und vorrichtung zur behandlung der zitze eines tieres
JP2004532475A (ja) * 2001-05-15 2004-10-21 サイコジェニックス・インコーポレーテッド 行動情報工学を監視するシステムおよび方法
IL150915A0 (en) * 2002-07-25 2003-02-12 Vet Tech Ltd Imaging system and method for body condition evaluation
US6729262B2 (en) * 2002-10-04 2004-05-04 Innovative Automation, Inc. Live capture automated milking apparatus and method
US7841300B2 (en) 2002-11-08 2010-11-30 Biopar, LLC System for uniquely identifying subjects from a target population
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
EP2263448A3 (en) * 2004-03-30 2012-07-18 DeLaval Holding AB Arrangement and method for determining positions of the teats of a milking animal
DE102006002794A1 (de) 2006-01-20 2007-07-26 Wash Tec Holding Gmbh Verfahren und Vorrichtung zur Steuerung einer Fahrzeugwaschanlage
CA2539645C (en) 2006-03-15 2020-04-28 Lmi Technologies Inc. Time of flight teat location system
NL1032435C2 (nl) * 2006-09-05 2008-03-06 Maasland Nv Inrichting voor het automatisch melken van een melkdier.
US9161511B2 (en) 2010-07-06 2015-10-20 Technologies Holdings Corp. Automated rotary milking system
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
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
CN103228127A (zh) * 2010-12-22 2013-07-31 利拉伐控股有限公司 用于保护光学检测装置不受污染的方法和设备
US8683946B2 (en) 2011-04-28 2014-04-01 Technologies Holdings Corp. System and method of attaching cups to a dairy animal
US10127446B2 (en) 2011-04-28 2018-11-13 Technologies Holdings Corp. System and method for filtering data captured by a 2D camera
US10357015B2 (en) 2011-04-28 2019-07-23 Technologies Holdings Corp. Robotic arm with double grabber and method of operation
US8671885B2 (en) 2011-04-28 2014-03-18 Technologies Holdings Corp. Vision system for robotic attacher
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
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
US9258975B2 (en) 2011-04-28 2016-02-16 Technologies Holdings Corp. Milking box with robotic attacher and vision system
US9049843B2 (en) 2011-04-28 2015-06-09 Technologies Holdings Corp. Milking box with a robotic attacher having a three-dimensional range of motion
US9043988B2 (en) 2011-04-28 2015-06-02 Technologies Holdings Corp. Milking box with storage area for teat cups
US9161512B2 (en) 2011-04-28 2015-10-20 Technologies Holdings Corp. Milking box with robotic attacher comprising an arm that pivots, rotates, and grips
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
US9265227B2 (en) 2011-04-28 2016-02-23 Technologies Holdings Corp. System and method for improved attachment of a cup to a dairy animal
US9107378B2 (en) 2011-04-28 2015-08-18 Technologies Holdings Corp. Milking box with robotic attacher
US9357744B2 (en) 2011-04-28 2016-06-07 Technologies Holdings Corp. Cleaning system for a milking box stall
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
US8903129B2 (en) 2011-04-28 2014-12-02 Technologies Holdings Corp. System and method for filtering data captured by a 2D camera
CN115281095B (zh) * 2022-05-30 2024-03-29 北京工业大学 一种基于激光图像识别的挤奶装置及方法

Family Cites Families (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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.
FR2595197B1 (fr) * 1986-03-07 1988-11-18 Cemagref Installation de traite automatique
DE68928724T2 (de) * 1988-01-08 1998-11-05 Prolion Bv Verfahren und Robotsystem zum Suchen eines bewegenden Objekts
NL8802332A (nl) * 1988-09-21 1990-04-17 Lely Nv C Van Der Inrichting voor het melken van een dier.
IT1247949B (it) * 1991-05-20 1995-01-05 Felice Farina Apparecchiatura per il lavaggio automatico di capezzoli di bovini o altri animali da latte
US5483441A (en) * 1991-08-30 1996-01-09 Uniform Scanner Data Analysis, Inc. System for animal evaluation through image acquisition
GB2261069B (en) 1991-10-30 1995-11-01 Nippon Denso Co High speed picking system for stacked parts
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.
NL9500296A (nl) * 1995-02-16 1996-10-01 Greefs Wagen Carrosserie Werkwijze en inrichting voor het verpakken van land- en tuinbouwprodukten.
SE9503792D0 (sv) * 1995-10-27 1995-10-27 Tetra Laval Holdings & Finance Teat location for milking

Also Published As

Publication number Publication date
WO1998047348A1 (en) 1998-10-29
JP2001523095A (ja) 2001-11-20
IL132167A0 (en) 2001-03-19
DE69811667T2 (de) 2003-12-18
US6234109B1 (en) 2001-05-22
IL132167A (en) 2003-04-10
EP0989800B1 (en) 2003-02-26
EP0989800A1 (en) 2000-04-05
DE69811667D1 (de) 2003-04-03
AU7096498A (en) 1998-11-13

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