SE517052C2 - Apparat och metod för spenkoppsapplicering med hjälp av två alternerande ljuskällor och en kamera - Google Patents

Apparat och metod för spenkoppsapplicering med hjälp av två alternerande ljuskällor och en kamera

Info

Publication number: SE517052C2
Authority: SE; Sweden
Prior art keywords: teat; light source; illuminating light; illumination; illuminating
Prior art date: 1999-09-15

Application number

SE9903283A

Other languages

English (en)

Swedish (sv)

Other versions

SE9903283D0 (sv

SE9903283L (sv

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.)

1999-09-15

Filing date

1999-09-15

Publication date

2002-04-09

Family has litigation

First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=20416986&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=SE517052(C2) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.

1999-09-15 Publication of SE9903283D0 publication Critical patent/SE9903283D0/xx

1999-09-15 Priority to SE9903283A priority Critical patent/SE517052C2/sv

1999-09-15 Application filed by Alfa Laval Agri Ab filed Critical Alfa Laval Agri Ab

2000-09-15 Priority to CA002381076A priority patent/CA2381076C/en

2000-09-15 Priority to PCT/SE2000/001791 priority patent/WO2001019172A1/en

2000-09-15 Priority to EP00964862A priority patent/EP1211928B1/de

2000-09-15 Priority to DK00964862T priority patent/DK1211928T3/da

2000-09-15 Priority to AU75683/00A priority patent/AU7568300A/en

2000-09-15 Priority to DE60012544T priority patent/DE60012544T2/de

2000-09-15 Priority to AT00964862T priority patent/ATE271768T1/de

2001-03-16 Publication of SE9903283L publication Critical patent/SE9903283L/xx

2002-04-09 Publication of SE517052C2 publication Critical patent/SE517052C2/sv

Links

238000000034 method Methods 0.000 title claims abstract description 24
241001465754 Metazoa Species 0.000 claims abstract description 26
238000005286 illumination Methods 0.000 claims description 29
210000000481 breast Anatomy 0.000 claims description 8
230000003287 optical effect Effects 0.000 claims description 8
230000000903 blocking effect Effects 0.000 claims description 7
235000013365 dairy product Nutrition 0.000 claims description 7
238000012545 processing Methods 0.000 abstract description 5
210000002445 nipple Anatomy 0.000 description 109
238000006243 chemical reaction Methods 0.000 description 7
238000009434 installation Methods 0.000 description 2
210000003484 anatomy Anatomy 0.000 description 1
238000013459 approach Methods 0.000 description 1
230000004397 blinking Effects 0.000 description 1
QVFWZNCVPCJQOP-UHFFFAOYSA-N chloralodol Chemical compound CC(O)(C)CC(C)OC(O)C(Cl)(Cl)Cl QVFWZNCVPCJQOP-UHFFFAOYSA-N 0.000 description 1
238000010586 diagram Methods 0.000 description 1
238000003780 insertion Methods 0.000 description 1
230000037431 insertion Effects 0.000 description 1
238000012544 monitoring process Methods 0.000 description 1
238000000926 separation method Methods 0.000 description 1

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

Landscapes

Life Sciences & Earth Sciences (AREA)
Animal Husbandry (AREA)
Environmental Sciences (AREA)
Length Measuring Devices By Optical Means (AREA)
Image Input (AREA)
Distillation Of Fermentation Liquor, Processing Of Alcohols, Vinegar And Beer (AREA)
Endoscopes (AREA)
Instruments For Viewing The Inside Of Hollow Bodies (AREA)
Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)

SE9903283A 1999-09-15 1999-09-15 Apparat och metod för spenkoppsapplicering med hjälp av två alternerande ljuskällor och en kamera SE517052C2 (sv)

Priority Applications (8)

Application Number	Priority Date	Filing Date	Title
SE9903283A SE517052C2 (sv)	1999-09-15	1999-09-15	Apparat och metod för spenkoppsapplicering med hjälp av två alternerande ljuskällor och en kamera
AT00964862T ATE271768T1 (de)	1999-09-15	2000-09-15	Vorrichtung und verfahren zum verbessern von ansetzung eines melkbechers, unter verwendung von beleuchtung und bildaufnahmemitteln
CA002381076A CA2381076C (en)	1999-09-15	2000-09-15	An apparatus and a method for improving teatcup attachment, by using illuminating and image capturing means
DE60012544T DE60012544T2 (de)	1999-09-15	2000-09-15	Vorrichtung und verfahren zum verbessern von ansetzung eines melkbechers, unter verwendung von beleuchtung und bildaufnahmemitteln
PCT/SE2000/001791 WO2001019172A1 (en)	1999-09-15	2000-09-15	An apparatus and a method for improving teatcup attachment, by using illuminating and image capturing means
EP00964862A EP1211928B1 (de)	1999-09-15	2000-09-15	Vorrichtung und verfahren zum verbessern von ansetzung eines melkbechers, unter verwendung von beleuchtung und bildaufnahmemitteln
DK00964862T DK1211928T3 (da)	1999-09-15	2000-09-15	Et apparat og en fremgangsmåde til forbedring af fastgörelse af pattekopper ved anvendelse af organer til belysning og billedfangst
AU75683/00A AU7568300A (en)	1999-09-15	2000-09-15	An apparatus and a method for improving teatcup attachment, by using illuminating and image capturing means

Applications Claiming Priority (1)

Application Number	Priority Date	Filing Date	Title
SE9903283A SE517052C2 (sv)	1999-09-15	1999-09-15	Apparat och metod för spenkoppsapplicering med hjälp av två alternerande ljuskällor och en kamera

Publications (3)

Publication Number	Publication Date
SE9903283D0 SE9903283D0 (sv)	1999-09-15
SE9903283L SE9903283L (sv)	2001-03-16
SE517052C2 true SE517052C2 (sv)	2002-04-09

Family

ID=20416986

Family Applications (1)

Application Number	Title	Priority Date	Filing Date
SE9903283A SE517052C2 (sv)	1999-09-15	1999-09-15	Apparat och metod för spenkoppsapplicering med hjälp av två alternerande ljuskällor och en kamera

Country Status (8)

Country	Link
EP (1)	EP1211928B1 (de)
AT (1)	ATE271768T1 (de)
AU (1)	AU7568300A (de)
CA (1)	CA2381076C (de)
DE (1)	DE60012544T2 (de)
DK (1)	DK1211928T3 (de)
SE (1)	SE517052C2 (de)
WO (1)	WO2001019172A1 (de)

Families Citing this family (35)

* Cited by examiner, † Cited by third party
Publication number	Priority date	Publication date	Assignee	Title
SE0002720D0 (sv) *	2000-07-19	2000-07-19	Delaval Holding Ab	A method and an apparatus for examination of milking animals
WO2003055297A1 (en) *	2001-12-28	2003-07-10	Idento Electronics B.V.	Method and apparatus for detection of teats
GB0318733D0 (en)	2003-08-11	2003-09-10	Icerobotics Ltd	Improvements in or relating to milking machines
DE102006010723A1 (de)	2006-03-08	2007-09-13	Knorr-Bremse Systeme für Schienenfahrzeuge GmbH	Kompressoranordnung
CA3034793C (en)	2006-03-15	2023-01-03	Gea Farm Technologies Gmbh	Time of flight teat location system
CA2728085C (en)	2008-07-15	2016-04-19	Lely Patent N.V.	Dairy animal treatment system
DE102008035384A1 (de) *	2008-07-29	2010-02-04	Gea Westfaliasurge Gmbh	Verfahren und Vorrichtung zum Ansetzen eines Melkbechers an eine Zitze eines Tieres
EP2369911B1 (de)	2008-11-26	2016-01-06	DeLaval Holding AB	Handhabung von Zitzenbechern
US9161511B2 (en)	2010-07-06	2015-10-20	Technologies Holdings Corp.	Automated rotary milking system
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
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
CA2822181C (en)	2010-12-22	2018-07-31	Delaval Holding Ab	Method and apparatus for protecting an optical detection device from contamination
US8671885B2 (en)	2011-04-28	2014-03-18	Technologies Holdings Corp.	Vision system for robotic attacher
US9049843B2 (en)	2011-04-28	2015-06-09	Technologies Holdings Corp.	Milking box with a robotic attacher having a three-dimensional range of motion
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
US9265227B2 (en)	2011-04-28	2016-02-23	Technologies Holdings Corp.	System and method for improved attachment of a cup to a dairy animal
US9043988B2 (en)	2011-04-28	2015-06-02	Technologies Holdings Corp.	Milking box with storage area for teat cups
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
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
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
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
US9357744B2 (en)	2011-04-28	2016-06-07	Technologies Holdings Corp.	Cleaning system for a milking box stall
US8903129B2 (en)	2011-04-28	2014-12-02	Technologies Holdings Corp.	System and method for filtering data captured by a 2D camera
US8885891B2 (en)	2011-04-28	2014-11-11	Technologies Holdings Corp.	System and method for analyzing data captured by a three-dimensional camera
US8683946B2 (en)	2011-04-28	2014-04-01	Technologies Holdings Corp.	System and method of attaching cups to a dairy animal
US9107378B2 (en)	2011-04-28	2015-08-18	Technologies Holdings Corp.	Milking box with robotic attacher
DE102016112596A1 (de) *	2016-07-08	2018-01-11	Gea Farm Technologies Gmbh	Verfahren und Vorrichtung zum automatischen Ansetzen von Melkbechern an Zitzen eines milchgebenden Tieres
WO2018038674A1 (en) *	2016-08-25	2018-03-01	Delaval Holding Ab	Portable apparatus and method for classifying teats with respect to size measures
EP3685659B1 (de)	2019-01-24	2023-06-07	Technologies Holdings Corporation	Sichtsystem mit zitzenerkennung

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number	Priority date	Publication date	Assignee	Title
NL8802332A (nl) *	1988-09-21	1990-04-17	Lely Nv C Van Der	Inrichting voor het melken van een dier.
SE9701231D0 (sv) *	1997-04-04	1997-04-04	Alfa Laval Agri Ab	Apparatus and method for recognising and determining the position of part of an animal
SE9701547D0 (sv) *	1997-04-23	1997-04-23	Alfa Laval Agri Ab	Apparatus and method for recognising and determining the positon of a part of an animal
SE9704779D0 (sv) *	1997-12-19	1997-12-19	Alfa Laval Agri Ab	A device for gripping an animal related means

1999
- 1999-09-15 SE SE9903283A patent/SE517052C2/sv not_active IP Right Cessation
2000
- 2000-09-15 WO PCT/SE2000/001791 patent/WO2001019172A1/en not_active Ceased
- 2000-09-15 EP EP00964862A patent/EP1211928B1/de not_active Revoked
- 2000-09-15 AT AT00964862T patent/ATE271768T1/de not_active IP Right Cessation
- 2000-09-15 DK DK00964862T patent/DK1211928T3/da active
- 2000-09-15 CA CA002381076A patent/CA2381076C/en not_active Expired - Lifetime
- 2000-09-15 AU AU75683/00A patent/AU7568300A/en not_active Abandoned
- 2000-09-15 DE DE60012544T patent/DE60012544T2/de not_active Revoked

Also Published As

Publication number	Publication date
ATE271768T1 (de)	2004-08-15
DE60012544D1 (de)	2004-09-02
DE60012544T2 (de)	2005-08-04
AU7568300A (en)	2001-04-17
EP1211928A1 (de)	2002-06-12
CA2381076C (en)	2009-04-07
WO2001019172A1 (en)	2001-03-22
SE9903283D0 (sv)	1999-09-15
SE9903283L (sv)	2001-03-16
DK1211928T3 (da)	2004-12-06
CA2381076A1 (en)	2001-03-22
EP1211928B1 (de)	2004-07-28

Legal Events

Date	Code	Title	Description
2019-10-29	NUG	Patent has lapsed

Publication	Publication Date	Title
SE517052C2 (sv)	2002-04-09	Apparat och metod för spenkoppsapplicering med hjälp av två alternerande ljuskällor och en kamera
EP0993655B1 (de)	2004-06-16	Vorrichtung für tiere
US6227142B1 (en)	2001-05-08	Apparatus and method for recognizing and determining the position of a part of an animal
JP3916255B2 (ja)	2007-05-16	搾乳装置支持体を案内する方法及び装置
US6234109B1 (en)	2001-05-22	Apparatus and method for recognizing and determining the position of a part of an animal
US6532892B1 (en)	2003-03-18	Method and apparatus for recognizing and determining a position and robot including such an apparatus
US6211958B1 (en)	2001-04-03	Electronic component mounting apparatus
EP1460892B1 (de)	2015-07-15	Verfahren und vorrichtung zur detektion von zitzen
EP2098107B1 (de)	2014-02-19	Komponentenerkennungsvorrichtung, oberflächenmontagevorrichtung und komponenteninspektionsvorrichtung
KR20010033900A (ko)	2001-04-25	스테레오 비젼 라인스캔 센서를 갖는 전자 조립 장치
WO2000011935A1 (en)	2000-03-09	A method and an apparatus for locating the teats of an animal
WO2000004765A1 (en)	2000-02-03	A device for automatically attaching a teatcup onto a teat of an animal
EP1038266A1 (de)	2000-09-27	Vorrichtung zum greifen von tierkörperteilen
US7581313B2 (en)	2009-09-01	Component mounting method and mounter
US20020047994A1 (en)	2002-04-25	Ophthalmic apparatus
EP2323476A1 (de)	2011-05-25	System zur verbindung eines zitzenbechers
CN205580380U (zh)	2016-09-14	一种适用于测量复杂结构的测量系统
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JPH06138379A (ja)	1994-05-20	視線検出装置付きカメラ
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CN105819220A (zh)	2016-08-03	一种用于视觉成像测量系统的自动上下料组件
JPH08153997A (ja)	1996-06-11	電子部品観察装置及び電子部品観察方法