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AU6862198A - Method and apparatus for generating image information when carrying out animal related operations - Google Patents

Method and apparatus for generating image information when carrying out animal related operations

Info

Publication number
AU6862198A
AU6862198A AU68621/98A AU6862198A AU6862198A AU 6862198 A AU6862198 A AU 6862198A AU 68621/98 A AU68621/98 A AU 68621/98A AU 6862198 A AU6862198 A AU 6862198A AU 6862198 A AU6862198 A AU 6862198A
Authority
AU
Australia
Prior art keywords
carrying
image information
generating image
related operations
out animal
Prior art date
Legal status (The legal status 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 status listed.)
Abandoned
Application number
AU68621/98A
Inventor
Uzi Birk
Jan Stein
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
DeLaval International AB
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
Priority claimed from SE9701238A external-priority patent/SE9701238D0/en
Priority claimed from SE9701237A external-priority patent/SE9701237D0/en
Priority claimed from SE9701236A external-priority patent/SE9701236D0/en
Priority claimed from SE9701235A external-priority patent/SE9701235D0/en
Application filed by Alfa Laval Agri AB filed Critical Alfa Laval Agri AB
Publication of AU6862198A publication Critical patent/AU6862198A/en
Abandoned legal-status Critical Current

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
    • G01B11/2545—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 with one projection direction and several detection directions, e.g. stereo
    • 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
    • G06T7/571—Depth or shape recovery from multiple images from focus
    • 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
    • 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
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/20—Image signal generators
    • H04N13/204—Image signal generators using stereoscopic image cameras
    • H04N13/239—Image signal generators using stereoscopic image cameras using two 2D image sensors having a relative position equal to or related to the interocular distance
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45113—Animal handling, milking robot
    • 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
    • G06T2207/10—Image acquisition modality
    • G06T2207/10004—Still image; Photographic image
    • G06T2207/10012—Stereo images
    • 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
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N2013/0074—Stereoscopic image analysis
    • H04N2013/0081—Depth or disparity estimation from stereoscopic image signals
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N2013/0074—Stereoscopic image analysis
    • H04N2013/0092—Image segmentation from stereoscopic image signals

Landscapes

  • Engineering & Computer Science (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Husbandry (AREA)
  • Environmental Sciences (AREA)
  • Length Measuring Devices By Optical Means (AREA)
AU68621/98A 1997-04-04 1998-04-03 Method and apparatus for generating image information when carrying out animal related operations Abandoned AU6862198A (en)

Applications Claiming Priority (9)

Application Number Priority Date Filing Date Title
SE9701238A SE9701238D0 (en) 1997-04-04 1997-04-04 Method and apparatus for generating image information when carrying out animal related operations
SE9701237A SE9701237D0 (en) 1997-04-04 1997-04-04 Method and apparatus for generating image information when carrying out animal related operations
SE9701236A SE9701236D0 (en) 1997-04-04 1997-04-04 Method and apparatus for generating image information when carrying out animal related operations
SE9701235 1997-04-04
SE9701235A SE9701235D0 (en) 1997-04-04 1997-04-04 Method and apparatus for generating image information when carrying out animal related operations
SE9701236 1997-04-04
SE9701238 1997-04-04
SE9701237 1997-04-04
PCT/SE1998/000615 WO1998045808A1 (en) 1997-04-04 1998-04-03 Method and apparatus for generating image information when carrying out animal related operations

Publications (1)

Publication Number Publication Date
AU6862198A true AU6862198A (en) 1998-10-30

Family

ID=27484796

Family Applications (1)

Application Number Title Priority Date Filing Date
AU68621/98A Abandoned AU6862198A (en) 1997-04-04 1998-04-03 Method and apparatus for generating image information when carrying out animal related operations

Country Status (2)

Country Link
AU (1) AU6862198A (en)
WO (1) WO1998045808A1 (en)

Families Citing this family (47)

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SE0002720D0 (en) * 2000-07-19 2000-07-19 Delaval Holding Ab A method and apparatus for examining milking animals
SE0103614D0 (en) * 2001-10-31 2001-10-31 Delaval Holding Ab A method for performing milking operations and performing aftertreatment operations
GB0318733D0 (en) 2003-08-11 2003-09-10 Icerobotics Ltd Improvements in or relating to milking machines
NL1024934C2 (en) * 2003-12-03 2005-06-07 Lely Entpr Ag Device for milking animals and method therefor.
EP2263448A3 (en) * 2004-03-30 2012-07-18 DeLaval Holding AB Arrangement and method for determining positions of the teats of a milking animal
EP1612509A1 (en) * 2004-07-01 2006-01-04 Sick IVP AB Optical profilometer
CA3034793C (en) 2006-03-15 2023-01-03 Gea Farm Technologies Gmbh Time of flight teat location system
SE530339C2 (en) * 2006-07-13 2008-05-06 Delaval Holding Ab An apparatus and method for recognizing and determining a position
EP3281517A3 (en) * 2008-07-15 2018-04-25 Lely Patent N.V. Dairy animal treatment system
NL1035701C2 (en) * 2008-07-15 2010-01-18 Lely Patent Nv Dairy animal i.e. cow, treatment system, has pair of three-dimensional sensors including image fields whose central lines diverge and enclose view angle that is smaller than maximum angle of view of image fields in horizontal plane
WO2010023121A2 (en) * 2008-08-29 2010-03-04 Delaval Holding Ab Arrangement and method for determining positions of the teats of a milking animal
WO2010023122A2 (en) * 2008-08-29 2010-03-04 Delaval Holding Ab Arrangement and method for determining positions of the teats of a milking animal
NL1035935C (en) * 2008-09-15 2010-03-16 Lely Patent Nv SYSTEM FOR INSERTING A WEATHER CUP.
RU2521509C2 (en) 2008-12-22 2014-06-27 Делаваль Холдинг Аб Detection circuit and method
KR20100080704A (en) * 2009-01-02 2010-07-12 삼성전자주식회사 Method and apparatus for obtaining image data
NZ605483A (en) 2010-06-14 2015-08-28 Milfos Internat Ltd Improved milking apparatus and system
US9161511B2 (en) 2010-07-06 2015-10-20 Technologies Holdings Corp. Automated rotary milking system
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
US8707905B2 (en) 2010-08-31 2014-04-29 Technologies Holdings Corp. Automated system for applying disinfectant to the teats of dairy livestock
NL1038363C2 (en) * 2010-11-05 2011-09-06 Lely Patent Nv AUTOMATIC MILK DEVICE WITH CAMERA CONTROL.
CN103228127A (en) 2010-12-22 2013-07-31 利拉伐控股有限公司 Method and apparatus for protecting an optical detection device from contamination
US8683946B2 (en) 2011-04-28 2014-04-01 Technologies Holdings Corp. System and method of attaching cups to a dairy animal
US9357744B2 (en) 2011-04-28 2016-06-07 Technologies Holdings Corp. Cleaning system for a milking box stall
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
US10127446B2 (en) 2011-04-28 2018-11-13 Technologies Holdings Corp. System and method for filtering data captured by a 2D camera
DK3202255T3 (en) * 2011-04-28 2020-07-06 Technologies Holdings Corp MILK BOX WITH CLEANING SYSTEM
US9107379B2 (en) 2011-04-28 2015-08-18 Technologies Holdings Corp. Arrangement of milking box stalls
US9161512B2 (en) 2011-04-28 2015-10-20 Technologies Holdings Corp. Milking box with robotic attacher comprising an arm that pivots, rotates, and grips
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
US9258975B2 (en) 2011-04-28 2016-02-16 Technologies Holdings Corp. Milking box with robotic attacher and vision system
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
US10357015B2 (en) 2011-04-28 2019-07-23 Technologies Holdings Corp. Robotic arm with double grabber and method of operation
US9058657B2 (en) 2011-04-28 2015-06-16 Technologies Holdings Corp. System and method for filtering data captured by a 3D camera
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
US8903129B2 (en) 2011-04-28 2014-12-02 Technologies Holdings Corp. System and method for filtering data captured by a 2D 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
US8885891B2 (en) 2011-04-28 2014-11-11 Technologies Holdings Corp. System and method for analyzing data captured by a three-dimensional camera
US9049843B2 (en) 2011-04-28 2015-06-09 Technologies Holdings Corp. Milking box with a robotic attacher having a three-dimensional range of motion
WO2013187821A1 (en) 2012-06-12 2013-12-19 Delaval Holding Ab Arrangement and method for a milking system
US10817970B2 (en) * 2016-08-17 2020-10-27 Technologies Holdings Corp. Vision system with teat detection
RU185290U1 (en) * 2017-08-28 2018-11-29 Федеральное государственное бюджетное образовательное учреждение высшего образования "Ивановская государственная сельскохозяйственная академия имени Д.К. Беляева" Device for positioning the manipulator of robotic plants for pre-milking the udder and milking
EP3873200B1 (en) 2018-11-01 2022-11-09 DeLaval Holding AB Tool-positioning system and method, rotary milking platform and computer program
CN114303958B (en) * 2022-01-04 2022-12-02 安徽理工大学 Spacing-adjustable double-claw milking robot based on hybrid mechanism

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US4584704A (en) * 1984-03-01 1986-04-22 Bran Ferren Spatial imaging system
FR2595197B1 (en) * 1986-03-07 1988-11-18 Cemagref AUTOMATIC MILKING INSTALLATION
DE3742867C3 (en) * 1987-12-17 1998-04-09 Fraunhofer Ges Forschung Device for joining elements into corresponding receiving elements of an object
US5231678A (en) * 1989-11-15 1993-07-27 Ezel, Inc. Configuration recognition system calculating a three-dimensional distance to an object by detecting cross points projected on the object

Also Published As

Publication number Publication date
WO1998045808A1 (en) 1998-10-15

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