WO2010023121A3 - 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 Download PDF

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Publication number
WO2010023121A3
WO2010023121A3 PCT/EP2009/060581 EP2009060581W WO2010023121A3 WO 2010023121 A3 WO2010023121 A3 WO 2010023121A3 EP 2009060581 W EP2009060581 W EP 2009060581W WO 2010023121 A3 WO2010023121 A3 WO 2010023121A3
Authority
WO
WIPO (PCT)
Prior art keywords
milking animal
teats
arrangement
milking
positions
Prior art date
Application number
PCT/EP2009/060581
Other languages
French (fr)
Other versions
WO2010023121A2 (en
Inventor
Bohao Liao
Uzi Birk
Emil HÄLLSTIG
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
Publication of WO2010023121A2 publication Critical patent/WO2010023121A2/en
Publication of WO2010023121A3 publication Critical patent/WO2010023121A3/en

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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
    • G06T7/50—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

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)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

An arrangement for determining positions of the teats of a milking animal (8) is provided in a milking system (3) including a robot arm (15) for automatically attaching teat cups (11) to the teats of a milking animal and a control device for controlling the movement of the robot arm based on determined positions of the teats of the milking animal. The arrangement comprises a light source and speckle generating arrangement (12, 13), a camera pair (21), and image processing means (22). The light source and speckle generating arrangement is provided for illuminating the udder of the milking animal by light having a speckle pattern. The camera pair is provided to repeatedly record image pairs of the udder of the milking animal while being illuminated by the light having the speckle pattern. The image processing means is provided for repeatedly detecting the teats of the milking animal and determining their positions by a stereoscopic calculation method based on the repeatedly recorded image pairs.
PCT/EP2009/060581 2008-08-29 2009-08-14 Arrangement and method for determining positions of the teats of a milking animal WO2010023121A2 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
SE0801863 2008-08-29
SE0801863-2 2008-08-29

Publications (2)

Publication Number Publication Date
WO2010023121A2 WO2010023121A2 (en) 2010-03-04
WO2010023121A3 true WO2010023121A3 (en) 2010-12-16

Family

ID=41722010

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2009/060581 WO2010023121A2 (en) 2008-08-29 2009-08-14 Arrangement and method for determining positions of the teats of a milking animal

Country Status (1)

Country Link
WO (1) WO2010023121A2 (en)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102012102915A1 (en) 2012-04-03 2013-10-10 Gea Farm Technologies Gmbh Method and device for optically determining a position and / or orientation of an object in space
CN107950402B (en) * 2017-11-29 2020-10-30 北京伟景智能科技有限公司 Automatic control method of milking device based on binocular vision

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SU1737754A1 (en) * 1990-01-09 1992-05-30 Ленинградский Институт Авиационного Приборостроения Device for measurement of coordinates of object
SU1777728A1 (en) * 1990-07-12 1992-11-30 Inst Mash Im A A Blagonravova Automated milking plant
US5412420A (en) * 1992-10-26 1995-05-02 Pheno Imaging, Inc. Three-dimensional phenotypic measuring system for animals
RU2065573C1 (en) * 1993-04-16 1996-08-20 Александр Павлович Парфенов Tv camera for stereogrammetric videorecording of images of objects
WO1998045808A1 (en) * 1997-04-04 1998-10-15 Alfa Laval Agri Ab Method and apparatus for generating image information when carrying out animal related operations
WO2001067039A1 (en) * 2000-03-07 2001-09-13 Pheno Imaging, Inc. Three-dimensional measuring system for animals using structured light
US20050136819A1 (en) * 2002-08-02 2005-06-23 Kriesel Marshall S. Apparatus and methods for the volumetric and dimensional measurement of livestock

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SU1737754A1 (en) * 1990-01-09 1992-05-30 Ленинградский Институт Авиационного Приборостроения Device for measurement of coordinates of object
SU1777728A1 (en) * 1990-07-12 1992-11-30 Inst Mash Im A A Blagonravova Automated milking plant
US5412420A (en) * 1992-10-26 1995-05-02 Pheno Imaging, Inc. Three-dimensional phenotypic measuring system for animals
RU2065573C1 (en) * 1993-04-16 1996-08-20 Александр Павлович Парфенов Tv camera for stereogrammetric videorecording of images of objects
WO1998045808A1 (en) * 1997-04-04 1998-10-15 Alfa Laval Agri Ab Method and apparatus for generating image information when carrying out animal related operations
WO2001067039A1 (en) * 2000-03-07 2001-09-13 Pheno Imaging, Inc. Three-dimensional measuring system for animals using structured light
US20050136819A1 (en) * 2002-08-02 2005-06-23 Kriesel Marshall S. Apparatus and methods for the volumetric and dimensional measurement of livestock

Non-Patent Citations (3)

* Cited by examiner, † Cited by third party
Title
BOGUSLAW CYGANEK, J. PAUL SIEBERT: "An Introduction to 3D Computer Vision Techniques and Algorithms", 2009, XP002603902 *
HIDEO MINAGAWA: "Surface area, volume, and projected area of Japanese-Short-horn cattle measured by stereo photogrammetry using non-metric cameras", J. AGRIC. METEOROL., vol. 50, no. 1, 1994, pages 17 - 22, XP002603903 *
MALASSIOTIS S ET AL: "A face and gesture recognition system based on an active stereo sensor", PROC. 2001 INT. CONF. ON IMAGEE PROCESSING; [INTERNATIONAL CONFERENCE ON IMAGE PROCESSING], THESSALONIKI, GREECE LNKD- DOI:10.1109/ICIP.2001.958283, vol. 3, 7 October 2001 (2001-10-07), pages 955 - 958, XP010563510, ISBN: 978-0-7803-6725-8 *

Also Published As

Publication number Publication date
WO2010023121A2 (en) 2010-03-04

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