SE9802923L - Method and apparatus for locating an animal's teats - Google Patents

Method and apparatus for locating an animal's teats

Info

Publication number
SE9802923L
SE9802923L SE9802923A SE9802923A SE9802923L SE 9802923 L SE9802923 L SE 9802923L SE 9802923 A SE9802923 A SE 9802923A SE 9802923 A SE9802923 A SE 9802923A SE 9802923 L SE9802923 L SE 9802923L
Authority
SE
Sweden
Prior art keywords
captured images
support
teat
light
disturbing
Prior art date
Application number
SE9802923A
Other languages
Unknown language ( )
Swedish (sv)
Other versions
SE9802923D0 (en
Inventor
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
Application filed by Alfa Laval Agri Ab filed Critical Alfa Laval Agri Ab
Priority to SE9802923A priority Critical patent/SE9802923L/en
Publication of SE9802923D0 publication Critical patent/SE9802923D0/en
Priority to PCT/SE1999/001490 priority patent/WO2000011935A1/en
Priority to AU58932/99A priority patent/AU5893299A/en
Publication of SE9802923L publication Critical patent/SE9802923L/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
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T5/00—Image enhancement or restoration
    • G06T5/50—Image enhancement or restoration using two or more images, e.g. averaging or subtraction

Landscapes

  • Life Sciences & Earth Sciences (AREA)
  • Animal Husbandry (AREA)
  • Environmental Sciences (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Investigating Or Analysing Materials By Optical Means (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

The present invention relates to a method and apparatus for guiding an apparatus support towards at least one teat of a milk animal comprising moving the support (32) to a position where an udder is expected to be viewed; illuminating (33) a region expected to contain at least one udder with a source of structural light from the support; and viewing captured images (34) from said support by viewing the region with an image capturing device. According to the invention, said illuminating light is alternately turned on (33) and off (35) for elimination of disturbing reflections from the captured images, said captured images (34, 36) being of two types, one type when illuminated having disturbing as well as true light reflections, and another type when light is turned off having disturbing reflections only, said captured images being analysed (37) by forming the difference between said two types of captured images resulting in a difference image, said difference image being analysed (38) to identify possible teat candidates, one of which being selected as a target teat, the position of said target teat is determined for homing (43) of said support and any supported apparatus to said target teat.
SE9802923A 1998-08-31 1998-08-31 Method and apparatus for locating an animal's teats SE9802923L (en)

Priority Applications (3)

Application Number Priority Date Filing Date Title
SE9802923A SE9802923L (en) 1998-08-31 1998-08-31 Method and apparatus for locating an animal's teats
PCT/SE1999/001490 WO2000011935A1 (en) 1998-08-31 1999-08-31 A method and an apparatus for locating the teats of an animal
AU58932/99A AU5893299A (en) 1998-08-31 1999-08-31 A method and an apparatus for locating the teats of an animal

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
SE9802923A SE9802923L (en) 1998-08-31 1998-08-31 Method and apparatus for locating an animal's teats

Publications (2)

Publication Number Publication Date
SE9802923D0 SE9802923D0 (en) 1998-08-31
SE9802923L true SE9802923L (en) 2000-03-01

Family

ID=20412421

Family Applications (1)

Application Number Title Priority Date Filing Date
SE9802923A SE9802923L (en) 1998-08-31 1998-08-31 Method and apparatus for locating an animal's teats

Country Status (3)

Country Link
AU (1) AU5893299A (en)
SE (1) SE9802923L (en)
WO (1) WO2000011935A1 (en)

Families Citing this family (30)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SE0000153L (en) * 2000-01-19 2001-07-20 Delaval Holding Ab A method and apparatus for locating the teats of a dairy animal
GB2366862B (en) * 2000-09-14 2004-09-22 Autoliv Dev Improvements in or relating to a camera arrangement
SE0004741D0 (en) * 2000-12-21 2000-12-21 Smart Eye Ab Image capturing device with reflex reduction
WO2003055297A1 (en) * 2001-12-28 2003-07-10 Idento Electronics B.V. Method and apparatus for detection of teats
GB0305715D0 (en) * 2003-03-13 2003-04-16 Roke Manor Research Camera illumination system
CA3034793C (en) 2006-03-15 2023-01-03 Gea Farm Technologies Gmbh Time of flight teat location system
NL2004271C2 (en) * 2010-02-19 2011-08-23 Rotec Special Projects B V Automatic milking machine and method for milking animals automatically.
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
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
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
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
US8683946B2 (en) 2011-04-28 2014-04-01 Technologies Holdings Corp. System and method of attaching cups to a dairy animal
US9043988B2 (en) 2011-04-28 2015-06-02 Technologies Holdings Corp. Milking box with storage area for teat cups
US9258975B2 (en) 2011-04-28 2016-02-16 Technologies Holdings Corp. Milking box with robotic attacher and vision system
US8671885B2 (en) 2011-04-28 2014-03-18 Technologies Holdings Corp. Vision system for robotic attacher
US10127446B2 (en) 2011-04-28 2018-11-13 Technologies Holdings Corp. System and method for filtering data captured by a 2D camera
US9161512B2 (en) 2011-04-28 2015-10-20 Technologies Holdings Corp. Milking box with robotic attacher comprising an arm that pivots, rotates, and grips
US9058657B2 (en) 2011-04-28 2015-06-16 Technologies Holdings Corp. System and method for filtering data captured by a 3D camera
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
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
US9265227B2 (en) 2011-04-28 2016-02-23 Technologies Holdings Corp. System and method for improved attachment of a cup to a dairy animal
US10357015B2 (en) 2011-04-28 2019-07-23 Technologies Holdings Corp. Robotic arm with double grabber and method of operation
US9049843B2 (en) 2011-04-28 2015-06-09 Technologies Holdings Corp. Milking box with a robotic attacher having a three-dimensional range of motion
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
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
US9357744B2 (en) 2011-04-28 2016-06-07 Technologies Holdings Corp. Cleaning system for a milking box stall

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS63164690A (en) * 1986-12-26 1988-07-08 Nachi Fujikoshi Corp Visual equipment
US5631976A (en) * 1994-04-29 1997-05-20 International Business Machines Corporation Object imaging system
SE9503792D0 (en) * 1995-10-27 1995-10-27 Tetra Laval Holdings & Finance Teat location for milking

Also Published As

Publication number Publication date
WO2000011935A1 (en) 2000-03-09
AU5893299A (en) 2000-03-21
SE9802923D0 (en) 1998-08-31

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