WO2007104124A1 - Time of flight teat location system - Google Patents

Time of flight teat location system Download PDF

Info

Publication number
WO2007104124A1
WO2007104124A1 PCT/CA2006/001936 CA2006001936W WO2007104124A1 WO 2007104124 A1 WO2007104124 A1 WO 2007104124A1 CA 2006001936 W CA2006001936 W CA 2006001936W WO 2007104124 A1 WO2007104124 A1 WO 2007104124A1
Authority
WO
WIPO (PCT)
Prior art keywords
teats
location
teat
milking
pixels
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.)
Ceased
Application number
PCT/CA2006/001936
Other languages
French (fr)
Inventor
Leonard Metcalfe
Cor Maas
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.)
LMI Technologies Ltd
Original Assignee
LMI Technologies Ltd
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=38481161&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=WO2007104124(A1) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Application filed by LMI Technologies Ltd filed Critical LMI Technologies Ltd
Priority to EP06804778.6A priority Critical patent/EP1996010B2/en
Publication of WO2007104124A1 publication Critical patent/WO2007104124A1/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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

Definitions

  • This invention relates to the automated detection of the location of animal teats for the purpose of controlling automated milking apparatus.
  • the enclosure is typically mounted on a robot arm that is manipulated to obtain an unobstructed field of view of the various teats involved.
  • the robot arm must be engineered to accommodate the weight and size of the sensor.
  • the sensor seeks to image a relatively small area between the belly of the animal and the top of the milking cups. Given the size of the sensor housing, this provides a limited range of movement, which imposes a constraint on the quality of the images that can be obtained, particularly when one teat obstructs another.
  • Triangulation devices In order to attach the milking cups to the teats, it is critical to obtain the orientation and location of the tips of the teats in 3D space. Triangulation devices achieve this by using the robot arm to move them around and analyze the results from successive scans. But the animal and its teats are not stationary but rather are in motion during the scanning. This results in unreliable determination of the absolute location and orientation of the teats.
  • One means of accommodating the movement of the animal is to image the hind legs and to assume that the movement of the hind legs approximates the movement of the teats.
  • approach is of limited usefulness due to the limited depth of field of current optical triangulation systems.
  • Stereo imaging systems also face similar problems. Both cameras must image the same teat at the same time but the use of two cameras increases the risk of a teat being obscured by another at one of the cameras.
  • Ultrasonics-based sensing systems that are sometimes used in milking applications measure the time of flight of sound waves.
  • the footprint of the sound waves drastically limits spatial resolution.
  • the speed of sound is influenced by air temperature and humidity and airflow speeds, and echoing adds noise which must be accommodated in the processing of the image. It is an object of the present invention to provide a teat sensing system in an automated milking system that overcomes the aforementioned disadvantages and that is compact, easy to manipulate and effective.
  • the invention comprises the use of a light source and a two-dimensional array camera having a plurality of pixels that are capable of individually providing time of flight data in an automated milking system.
  • a two-dimensional array camera having a plurality of pixels that are capable of individually providing time of flight data in an automated milking system.
  • Such a system has the advantages of being very compact, very light and of not being subject to the same depth of field and obstruction limitation of other technologies used in milking applications.
  • the invention comprises the use, in an automated milking system having milking apparatus for extracting milk from a plurality of teats on a live animal, of a light source for illuminating the teats and a two-dimensional array camera having a plurality of pixels that are capable of individually providing time of flight data for capturing and delivering data for determining the location of the teats in three dimensions.
  • the invention comprises an automated milking system for extracting milk from a plurality of teats on a live animal, comprising movable apparatus adapted to receive instructions characterizing the location of at least one of the teats, to move to that location, to engage at least one of the teats for extracting milk therefrom, a light source for illuminating an area encompassing the several teats, a two-dimensional array camera having a plurality of pixels that are capable of individually providing time of flight data, and electronic means for capturing the output of the array and for delivering data characterizing the location of the teats.
  • the invention comprises a method for automatically milking at least one teat among a plurality of teats of a live animal comprising the steps of providing movable apparatus adapted to receive instructions characterizing the location of the teat, to move to that location and to engage the teat for extracting milk therefrom, using a light source to illuminate an area encompassing the plurality of teats, using a two-dimensional array camera having a plurality of pixels that are capable of individually providing time of flight data to capture an image of the teat, processing the image to provide three dimensional information characterizing the location of the teat, using the information to provide the instructions, and moving the apparatus to engage the teat.
  • Fig. 1 is a perspective view of the system of the preferred embodiment including a time of flight sensor imaging an udder, teats and a hind leg;
  • Fig. 2 is a schematic cross-sectional view of a sensor according to the preferred embodiment;
  • Fig. 3 is a two dimensional array according to the preferred embodiment of the invention.
  • Fig. 1 illustrates the preferred embodiment of the invention.
  • a sensor housing 10 is mounted on robot arm 12 for sensing the location and attitude of teats 14 on an udder 16.
  • the output of the sensor is used to control the application of the automated milking apparatus 18 that includes milking cups 20 that are also mounted on robot arm 12.
  • the milking apparatus is adapted to receive instructions characterizing the location of the teats, to move the robot arm to such location so as to engage the milking cups onto the teats.
  • Sensor housing 10 includes a modulated light source 22 for radiating throughout the field of view that encompasses the udder 16, the teats 14 and the hind legs 24 of the animal.
  • sensor housing 10 includes a camera 26, control, image capture and readout electronics 28 and suitable optics 30.
  • camera 26 consists of a two-dimensional array 32 of pixels 34, each of which can report time of flight data synchronized to the light source 22, as well as intensity. While relatively new, such cameras are available and are known to those skilled in the art of machine vision.
  • the image of a plurality of teats is captured on the two dimensional array 32 and rendered as a set of three dimensional data (using the time of flight information to determine range).
  • the resulting data is processed to accurately represent the location of the teats in three dimensions, once angular offset is factored in. This location information is then used to instruct the milking apparatus to move robot arm 12 such that milking cups 20 engage at least one teat 14.
  • the invention allows the sensor to image the milking cups and the teats in one field of view, without regard to their distances from the camera and without the need to scan the field of view. This simplifies robot guidance. Moreover, provided they are unobstructed, the hind legs can be imaged in the same field of view thereby allowing the movement of the animal to be tracked, and enabling more accurate application of the suction cups to the teats.
  • the calibration needed for the system of the invention is also reduced in comparison to triangulation systems.
  • the camera can image the milking cup openings and the teats in the same image, the location of the teats becomes a relative measurement in relation to the camera, further simplifying the attachment process, as no absolute position data necessarily need be exchanged between the sensor and the robot controller.
  • Sensor housing 10 may be very compact as the optical set up has a much smaller footprint than in triangulation systems.
  • the housing may be for example, 135 x 45 x 32 mm, also making it easy to manipulate robot arm 12 as necessary to obtain an unobstructed view of the teats. Within the limited space available between the belly of the animal and the tip of the milking cups, this provides an advantage over triangulation-based systems.
  • Time of flight sensing overcomes the depth of field problem associated with triangulation-based teat detection systems as it is no longer necessary for the teats to be scanned in order to achieve reliable location of the teats. As a result, less manipulation of the robot arm 12 is required and the location of multiple teats and of the hind legs at various distances and depths can reliably be achieved.

Landscapes

  • Life Sciences & Earth Sciences (AREA)
  • Animal Husbandry (AREA)
  • Environmental Sciences (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Photometry And Measurement Of Optical Pulse Characteristics (AREA)

Abstract

A teat location system for automated milking systems comprises a light projection source and a camera having a two dimensional array of pixels, each of which is capable of returning time of flight information as well as intensity. Depth of field limitations and the problem of overlapping teat images are thereby overcome or minimized.

Description

TITLE OF INVENTION
TIME OF FLIGHT TEAT LOCATION SYSTEM
FIELD OF THE INVENTION
This invention relates to the automated detection of the location of animal teats for the purpose of controlling automated milking apparatus.
BACKGROUND OF THE INVENTION
It is known in the field of automated milking to use optical sensors to determine the attitude and location in three dimensions of the teats in order to guide the milking apparatus. Laser-based optical triangulation sensors are used to image the teats and to derive their position in three dimensions. Light is projected into the field of view and the reflected light is imaged on a camera that lies in the projection plane. The optics as well as the light source are housed in a sensor enclosure, the size of which must accommodate the optics involved.
The enclosure is typically mounted on a robot arm that is manipulated to obtain an unobstructed field of view of the various teats involved. The robot arm must be engineered to accommodate the weight and size of the sensor. The sensor seeks to image a relatively small area between the belly of the animal and the top of the milking cups. Given the size of the sensor housing, this provides a limited range of movement, which imposes a constraint on the quality of the images that can be obtained, particularly when one teat obstructs another.
Two teats at different distances but whose images overlap may, depending on the angle of the camera, appear to be at the same distance. Manipulation of the camera to acquire images from several angles may be necessary to discriminate between teats in such cases. This is a significant problem. Moreover, either of the field of view or the projected light might be obstructed.
In addition to needing to obtain an unobstructed view of the various teats, when several teats are at both different distances and different angles from the sensor, inaccuracies may also arise in assessing the location of the teats by triangulation. Manipulation of the robot arm can partially compensate for this, but additional computation is required to accurately assess distance.
In order to attach the milking cups to the teats, it is critical to obtain the orientation and location of the tips of the teats in 3D space. Triangulation devices achieve this by using the robot arm to move them around and analyze the results from successive scans. But the animal and its teats are not stationary but rather are in motion during the scanning. This results in unreliable determination of the absolute location and orientation of the teats.
One means of accommodating the movement of the animal is to image the hind legs and to assume that the movement of the hind legs approximates the movement of the teats. However that approach is of limited usefulness due to the limited depth of field of current optical triangulation systems.
Stereo imaging systems also face similar problems. Both cameras must image the same teat at the same time but the use of two cameras increases the risk of a teat being obscured by another at one of the cameras.
Ultrasonics-based sensing systems that are sometimes used in milking applications measure the time of flight of sound waves. The footprint of the sound waves drastically limits spatial resolution. In addition, the speed of sound is influenced by air temperature and humidity and airflow speeds, and echoing adds noise which must be accommodated in the processing of the image. It is an object of the present invention to provide a teat sensing system in an automated milking system that overcomes the aforementioned disadvantages and that is compact, easy to manipulate and effective.
The objects of the invention will be better understood by reference to the detailed description of the preferred embodiment which follows.
SUMMARY OF THE INVENTION
According to one aspect, the invention comprises the use of a light source and a two-dimensional array camera having a plurality of pixels that are capable of individually providing time of flight data in an automated milking system. As a result, three dimensional data can be acquired from the imaged teats.
Such a system has the advantages of being very compact, very light and of not being subject to the same depth of field and obstruction limitation of other technologies used in milking applications.
In one of its aspects, the invention comprises the use, in an automated milking system having milking apparatus for extracting milk from a plurality of teats on a live animal, of a light source for illuminating the teats and a two-dimensional array camera having a plurality of pixels that are capable of individually providing time of flight data for capturing and delivering data for determining the location of the teats in three dimensions.
In another aspect the invention comprises an automated milking system for extracting milk from a plurality of teats on a live animal, comprising movable apparatus adapted to receive instructions characterizing the location of at least one of the teats, to move to that location, to engage at least one of the teats for extracting milk therefrom, a light source for illuminating an area encompassing the several teats, a two-dimensional array camera having a plurality of pixels that are capable of individually providing time of flight data, and electronic means for capturing the output of the array and for delivering data characterizing the location of the teats.
In yet another aspect, the invention comprises a method for automatically milking at least one teat among a plurality of teats of a live animal comprising the steps of providing movable apparatus adapted to receive instructions characterizing the location of the teat, to move to that location and to engage the teat for extracting milk therefrom, using a light source to illuminate an area encompassing the plurality of teats, using a two-dimensional array camera having a plurality of pixels that are capable of individually providing time of flight data to capture an image of the teat, processing the image to provide three dimensional information characterizing the location of the teat, using the information to provide the instructions, and moving the apparatus to engage the teat.
The foregoing was intended as a broad summary only and of only some of the aspects of the invention. It was not intended to define the limits or requirements of the invention. Other aspects of the invention will be appreciated by reference to the detailed description of the preferred embodiment and to the claims.
BRIEF DESCRIPTION OF THE DRAWINGS
The invention will be described by reference to the detailed description of the preferred embodiment and to the drawings thereof in which:
Fig. 1 is a perspective view of the system of the preferred embodiment including a time of flight sensor imaging an udder, teats and a hind leg; Fig. 2 is a schematic cross-sectional view of a sensor according to the preferred embodiment; and,
Fig. 3 is a two dimensional array according to the preferred embodiment of the invention.
DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT
Fig. 1 illustrates the preferred embodiment of the invention. A sensor housing 10 is mounted on robot arm 12 for sensing the location and attitude of teats 14 on an udder 16. The output of the sensor is used to control the application of the automated milking apparatus 18 that includes milking cups 20 that are also mounted on robot arm 12. The milking apparatus is adapted to receive instructions characterizing the location of the teats, to move the robot arm to such location so as to engage the milking cups onto the teats.
Sensor housing 10 includes a modulated light source 22 for radiating throughout the field of view that encompasses the udder 16, the teats 14 and the hind legs 24 of the animal. Referring to Fig. 2, sensor housing 10 includes a camera 26, control, image capture and readout electronics 28 and suitable optics 30.
As illustrated schematically in Fig. 3, camera 26 consists of a two-dimensional array 32 of pixels 34, each of which can report time of flight data synchronized to the light source 22, as well as intensity. While relatively new, such cameras are available and are known to those skilled in the art of machine vision.
The image of a plurality of teats is captured on the two dimensional array 32 and rendered as a set of three dimensional data (using the time of flight information to determine range). The resulting data is processed to accurately represent the location of the teats in three dimensions, once angular offset is factored in. This location information is then used to instruct the milking apparatus to move robot arm 12 such that milking cups 20 engage at least one teat 14.
The invention allows the sensor to image the milking cups and the teats in one field of view, without regard to their distances from the camera and without the need to scan the field of view. This simplifies robot guidance. Moreover, provided they are unobstructed, the hind legs can be imaged in the same field of view thereby allowing the movement of the animal to be tracked, and enabling more accurate application of the suction cups to the teats.
The calibration needed for the system of the invention is also reduced in comparison to triangulation systems. As the camera can image the milking cup openings and the teats in the same image, the location of the teats becomes a relative measurement in relation to the camera, further simplifying the attachment process, as no absolute position data necessarily need be exchanged between the sensor and the robot controller.
Sensor housing 10 may be very compact as the optical set up has a much smaller footprint than in triangulation systems. The housing may be for example, 135 x 45 x 32 mm, also making it easy to manipulate robot arm 12 as necessary to obtain an unobstructed view of the teats. Within the limited space available between the belly of the animal and the tip of the milking cups, this provides an advantage over triangulation-based systems.
Time of flight sensing overcomes the depth of field problem associated with triangulation-based teat detection systems as it is no longer necessary for the teats to be scanned in order to achieve reliable location of the teats. As a result, less manipulation of the robot arm 12 is required and the location of multiple teats and of the hind legs at various distances and depths can reliably be achieved.
It will be appreciated that the preferred embodiment has been described for the purpose of illustrating the principles of the invention and variations to the preferred embodiment may be practised without departing from those principles as reflected herein and in the claims.

Claims

1. In an automated milking system having milking apparatus for extracting milk from a plurality of teats on a live animal, use of a light source for illuminating said teats and a two-dimensional array camera having a plurality of pixels that are capable of individually providing time of flight data for capturing and delivering data for determining the location of said teats in three dimensions.
2. An automated milking system for extracting milk from a plurality of teats on a live animal, comprising:
movable apparatus adapted to receive instructions characterizing the location of at least one of said teats, to move to said location, to engage said at least one of said teats for extracting milk therefrom;
a light source for illuminating an area encompassing said plurality of teats;
a two-dimensional array camera having a plurality of pixels that are capable of individually providing time of flight data;
electronic means for capturing the output of said array and for delivering data characterizing said location.
3. A method for automatically milking at least one teat among a plurality of teats of a live animal comprising the steps of: providing movable apparatus adapted to receive instructions characterizing the location of said teat, to move to said location and to engage said teat for extracting milk therefrom;
using a light source to illuminate an area encompassing said plurality of teats;
using a two-dimensional array camera having a plurality of pixels that are capable of individually providing time of flight data to capture an image of said teat;
processing said image to provide three dimensional information characterizing said location;
using said information to provide said instructions; and
moving said apparatus to engage said teat.
PCT/CA2006/001936 2006-03-15 2006-11-22 Time of flight teat location system Ceased WO2007104124A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP06804778.6A EP1996010B2 (en) 2006-03-15 2006-11-22 Time of flight teat location system

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CA2539645A CA2539645C (en) 2006-03-15 2006-03-15 Time of flight teat location system
CA2,539,645 2006-03-15

Publications (1)

Publication Number Publication Date
WO2007104124A1 true WO2007104124A1 (en) 2007-09-20

Family

ID=38481161

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CA2006/001936 Ceased WO2007104124A1 (en) 2006-03-15 2006-11-22 Time of flight teat location system

Country Status (5)

Country Link
US (1) US7490576B2 (en)
EP (1) EP1996010B2 (en)
CA (2) CA3034793C (en)
RU (1) RU2415567C2 (en)
WO (1) WO2007104124A1 (en)

Cited By (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2008030085A1 (en) * 2006-09-05 2008-03-13 Maasland N.V. Method of controlling a milking implement, a software program for and an implement performing the method
EP1933168A1 (en) * 2006-12-15 2008-06-18 Maasland N.V. Implement for automatically milking an animal
WO2009093965A1 (en) 2008-01-22 2009-07-30 Delaval Holding Ab Arrangement and method for determining positions of the teats of a milking animal
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
DE102008035384A1 (en) 2008-07-29 2010-02-04 Gea Westfaliasurge Gmbh Method and device for applying a teat cup to a teat of an animal
WO2010008274A3 (en) * 2008-07-15 2010-04-22 Lely Patent N.V. Dairy animal treatment system
US8807080B2 (en) 2006-09-05 2014-08-19 Maasland N.V. Implement for automatically milking a dairy animal
US8944004B2 (en) 2008-12-22 2015-02-03 Delaval Holding Ab Detection arrangement and method
WO2017016887A1 (en) 2015-07-28 2017-02-02 Gea Farm Technologies Gmbh Method and device for automatically placing teat cups onto teats of a milk-producing animal
US9766263B2 (en) 2010-04-30 2017-09-19 Icerobotics Ltd Apparatus and method for detecting disease in dairy animals
WO2018007242A1 (en) 2016-07-08 2018-01-11 Gea Farm Technologies Gmbh Method and device for automatically placing milking cups onto the teats of a milk-producing animal
RU2795709C1 (en) * 2022-12-21 2023-05-11 федеральное государственное бюджетное образовательное учреждение высшего образования "Национальный исследовательский университет "МЭИ" (ФГБОУ ВО "НИУ "МЭИ") Milking robot detection method
EP3685659B1 (en) 2019-01-24 2023-06-07 Technologies Holdings Corporation Vision system with teat detection
CZ309824B6 (en) * 2022-09-07 2023-11-08 Agrosoft Tábor, S.R.O. A device for automation of milking parlours with manual operation of milking machines

Families Citing this family (33)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CA3034793C (en) 2006-03-15 2023-01-03 Gea Farm Technologies Gmbh Time of flight teat location system
US20080273760A1 (en) * 2007-05-04 2008-11-06 Leonard Metcalfe Method and apparatus for livestock assessment
DE102007036294A1 (en) * 2007-07-31 2009-02-05 Gea Westfaliasurge Gmbh Apparatus and method for providing information about animals when passing through an animal passage
US8373109B2 (en) * 2008-04-09 2013-02-12 Lely Patent N.V. Teat detection device and method therewith in a milking device
WO2010020457A1 (en) * 2008-08-19 2010-02-25 Delaval Holding Ab Arrangement and method for controlling a movable robot arm
GB0819604D0 (en) * 2008-10-25 2008-12-03 Green Source Automation Llc Milking apparatus and process
EP2369911B1 (en) * 2008-11-26 2016-01-06 DeLaval Holding AB Handling of teat cups
NL1036328C2 (en) * 2008-12-18 2010-06-21 Lely Patent Nv SYSTEM FOR FITTING A TOOTH CUP ON A TOOT.
WO2010139602A2 (en) * 2009-06-05 2010-12-09 Delaval Holding Ab Safety system
US8849616B2 (en) * 2009-08-04 2014-09-30 Microsoft Corporation Method and system for noise simulation analysis useable with systems including time-of-flight depth systems
WO2011031210A1 (en) * 2009-09-08 2011-03-17 Delaval Holding Ab Arrangement and method for determining positions of the teats of a milking animal
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
EP2685811B1 (en) 2011-03-17 2016-03-02 Mirobot Ltd. System and method for three dimensional teat modeling for use with a milking system
US9848575B2 (en) 2011-03-17 2017-12-26 Mirobot Ltd. Human assisted milking robot and method
GB2489668A (en) 2011-03-28 2012-10-10 Delaval Holding Ab A method and apparatus for locating the teats of an animal
US9258975B2 (en) * 2011-04-28 2016-02-16 Technologies Holdings Corp. Milking box with robotic attacher and vision system
US9107378B2 (en) * 2011-04-28 2015-08-18 Technologies Holdings Corp. Milking box with robotic attacher
EP2701493B2 (en) 2011-04-28 2023-08-23 Technologies Holdings Corp. Vision system for robotic attacher
US9107379B2 (en) * 2011-04-28 2015-08-18 Technologies Holdings Corp. Arrangement of milking box stalls
US8671885B2 (en) * 2011-04-28 2014-03-18 Technologies Holdings Corp. Vision system for robotic attacher
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
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
CA2874120C (en) * 2012-06-12 2020-07-14 Delaval Holding Ab Arrangement and method for a milking system
NL2010213C2 (en) * 2013-01-31 2014-08-04 Lely Patent Nv Camera system, animal related system therewith, and method to create 3d camera images.
US11002854B2 (en) 2013-03-13 2021-05-11 Cognex Corporation Lens assembly with integrated feedback loop and time-of-flight sensor
US10712529B2 (en) 2013-03-13 2020-07-14 Cognex Corporation Lens assembly with integrated feedback loop for focus adjustment
WO2015084247A1 (en) 2013-12-05 2015-06-11 Delaval Holding Ab Time-of-flight camera system, robot milking system comprising a time-of-flight camera system and method of operating a time-of-flight camera system
DE202014005891U1 (en) * 2014-07-22 2015-10-27 Csb-System Ag Device for optical sex recognition of a slaughter pig
US10349615B2 (en) * 2016-08-17 2019-07-16 Technologies Holdings Corp. Vision system for teat detection
US10499609B2 (en) * 2016-08-17 2019-12-10 Technologies Holdings Corp. Vision system for teat detection
US10349613B2 (en) * 2016-08-17 2019-07-16 Technologies Holdings Corp. Vision system for teat detection
US9807971B1 (en) * 2016-08-17 2017-11-07 Technologies Holdings Corp. Vision system with automatic teat detection
NL2022442B1 (en) * 2019-01-24 2020-01-07 Lely Patent Nv Position determining device

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5020477A (en) * 1988-01-08 1991-06-04 Multinorm B.V. Automatic milking device and method of operation thereof
EP0880889A2 (en) * 1997-05-30 1998-12-02 Maasland N.V. An implement for milking animals
US6118118A (en) * 1997-08-20 2000-09-12 Maasland N.V. Sensor apparatus and method to scan separate overlapping space volumes to locate object therein
WO2002082201A1 (en) * 2001-04-04 2002-10-17 Instro Precision Limited Image analysis apparatus
EP1460453A1 (en) * 2003-03-19 2004-09-22 C.R.F. Società Consortile per Azioni Three-dimension vision system
EP1537775A1 (en) * 2003-12-03 2005-06-08 Lely Enterprises AG A device for milking animals and a method for this purpose
EP1537774A1 (en) * 2003-12-03 2005-06-08 Lely Enterprises AG A device for milking animals

Family Cites Families (28)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
NL8502434A (en) * 1985-09-04 1987-04-01 Multinorm Bv MILK MACHINE.
FR2595197B1 (en) 1986-03-07 1988-11-18 Cemagref AUTOMATIC MILKING INSTALLATION
NL9200639A (en) 1992-04-06 1993-11-01 Lely Nv C Van Der DEVICE FOR AUTOMATIC MILKING OF ANIMALS.
US5412420A (en) 1992-10-26 1995-05-02 Pheno Imaging, Inc. Three-dimensional phenotypic measuring system for animals
NL9500006A (en) 1995-01-02 1996-08-01 Gascoigne Melotte Bv Method and device for positioning teat cups.
US5979359A (en) * 1995-10-27 1999-11-09 Alfa Laval Agri Ab Analysis of color tone in images for use in animal breeding
SE9503792D0 (en) 1995-10-27 1995-10-27 Tetra Laval Holdings & Finance Teat location for milking
SE9603054D0 (en) * 1996-08-22 1996-08-22 Tetra Laval Holdings & Finance An arrangement for and a method of performing an animal-related action
AU6862198A (en) 1997-04-04 1998-10-30 Alfa Laval Agri Ab Method and apparatus for generating image information when carrying out animal related operations
SE9701231D0 (en) 1997-04-04 1997-04-04 Alfa Laval Agri Ab Apparatus and method for recognizing and determining the position of part of an animal
SE9701547D0 (en) 1997-04-23 1997-04-23 Alfa Laval Agri Ab Apparatus and method for recognizing and determining the positon of a part of an animal
SE9702628D0 (en) * 1997-07-07 1997-07-07 Alfa Laval Agri Ab An animal related apparatus
RU2143800C1 (en) * 1997-10-15 2000-01-10 Лаборатория биотехнических систем Института прикладной механики Уральского отделения РАН Teat cup orienting apparatus
SE512611C2 (en) 1998-07-24 2000-04-10 Alfa Laval Agri Ab Apparatus for automatic application of a teat cup to an animal teat
SE9802923L (en) 1998-08-31 2000-03-01 Alfa Laval Agri Ab Method and apparatus for locating an animal's teats
SE522443C2 (en) * 1999-04-19 2004-02-10 Delaval Holding Ab Method and apparatus for recognizing and determining a position and a robot including such a device
US6323942B1 (en) 1999-04-30 2001-11-27 Canesta, Inc. CMOS-compatible three-dimensional image sensor IC
SE517052C2 (en) 1999-09-15 2002-04-09 Alfa Laval Agri Ab Apparatus and method for teat cup application using two alternating light sources and a camera
SE0000153L (en) 2000-01-19 2001-07-20 Delaval Holding Ab A method and apparatus for locating the teats of a dairy animal
NL1015559C2 (en) 2000-06-28 2002-01-02 Idento Electronics Bv Milk system with three-dimensional imaging.
SE0002720D0 (en) * 2000-07-19 2000-07-19 Delaval Holding Ab A method and apparatus for examining milking animals
US6974373B2 (en) * 2002-08-02 2005-12-13 Geissler Technologies, Llc Apparatus and methods for the volumetric and dimensional measurement of livestock
SE524587C2 (en) * 2003-02-18 2004-08-31 Delaval Holding Ab Method and apparatus for counting somatic cells or small drops of fat in milk
GB0318733D0 (en) 2003-08-11 2003-09-10 Icerobotics Ltd Improvements in or relating to milking machines
NL1024402C2 (en) * 2003-09-30 2005-03-31 Lely Entpr Ag Device and method for applying a fluid to a teat of a dairy animal.
NL1024522C2 (en) 2003-10-13 2005-04-14 Lely Entpr Ag Teat cup carrier.
EP2263448A3 (en) 2004-03-30 2012-07-18 DeLaval Holding AB Arrangement and method for determining positions of the teats of a milking animal
CA3034793C (en) 2006-03-15 2023-01-03 Gea Farm Technologies Gmbh Time of flight teat location system

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5020477A (en) * 1988-01-08 1991-06-04 Multinorm B.V. Automatic milking device and method of operation thereof
EP0880889A2 (en) * 1997-05-30 1998-12-02 Maasland N.V. An implement for milking animals
US6118118A (en) * 1997-08-20 2000-09-12 Maasland N.V. Sensor apparatus and method to scan separate overlapping space volumes to locate object therein
WO2002082201A1 (en) * 2001-04-04 2002-10-17 Instro Precision Limited Image analysis apparatus
EP1460453A1 (en) * 2003-03-19 2004-09-22 C.R.F. Società Consortile per Azioni Three-dimension vision system
EP1537775A1 (en) * 2003-12-03 2005-06-08 Lely Enterprises AG A device for milking animals and a method for this purpose
EP1537774A1 (en) * 2003-12-03 2005-06-08 Lely Enterprises AG A device for milking animals

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of EP1996010A1 *

Cited By (33)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8286583B2 (en) 2006-09-05 2012-10-16 Maasland N.V. Method of controlling a milking implement, a software program for and an implement performing the method
US10750712B2 (en) 2006-09-05 2020-08-25 Maasland N.V. Implement for automatically milking a dairy animal
US10743512B2 (en) 2006-09-05 2020-08-18 Maasland N.V. Implement for automatically milking a dairy animal
US10039259B2 (en) 2006-09-05 2018-08-07 Maasland N.V. Implement for automatically milking a dairy animal
WO2008030085A1 (en) * 2006-09-05 2008-03-13 Maasland N.V. Method of controlling a milking implement, a software program for and an implement performing the method
US8807080B2 (en) 2006-09-05 2014-08-19 Maasland N.V. Implement for automatically milking a dairy animal
AU2007293811B2 (en) * 2006-09-05 2013-07-11 Maasland N.V. Method of controlling a milking implement, a software program for and an implement performing the method
EP1933168A1 (en) * 2006-12-15 2008-06-18 Maasland N.V. Implement for automatically milking an animal
EP2244556A4 (en) * 2008-01-22 2017-06-28 DeLaval Holding AB Arrangement and method for determining positions of the teats of a milking animal
EP2244556B1 (en) * 2008-01-22 2019-07-24 DeLaval Holding AB Arrangement and method for determining positions of the teats of a milking animal
US8624744B2 (en) 2008-01-22 2014-01-07 Delaval Holding Ab Arrangement and method for determining positions of the teats of a milking animal
WO2009093965A1 (en) 2008-01-22 2009-07-30 Delaval Holding Ab Arrangement and method for determining positions of the teats of a milking animal
WO2009093967A1 (en) * 2008-01-22 2009-07-30 Delaval Holding Ab Arrangement and method for determining the position of an animal
EP3281517A2 (en) 2008-07-15 2018-02-14 Lely Patent N.V. Dairy animal treatment system
WO2010008274A3 (en) * 2008-07-15 2010-04-22 Lely Patent N.V. Dairy animal treatment system
AU2009271840B2 (en) * 2008-07-15 2014-02-06 Lely Patent N.V. Dairy animal treatment system
EP3461328A1 (en) 2008-07-15 2019-04-03 Lely Patent N.V. Dairy animal treatment system
EP2312936B1 (en) 2008-07-15 2017-09-06 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
EP3281517A3 (en) * 2008-07-15 2018-04-25 Lely Patent N.V. Dairy animal treatment system
WO2010012625A3 (en) * 2008-07-29 2010-06-10 Gea Westfaliasurge Gmbh Method and apparatus for positioning a milking cup on a teat of an animal
DE102008035384A1 (en) 2008-07-29 2010-02-04 Gea Westfaliasurge Gmbh Method and device for applying a teat cup to a teat of an animal
US8944004B2 (en) 2008-12-22 2015-02-03 Delaval Holding Ab Detection arrangement and method
US10761107B2 (en) 2010-04-30 2020-09-01 Icerobotics Ltd Apparatus and method for detecting disease in dairy animals
US9766263B2 (en) 2010-04-30 2017-09-19 Icerobotics Ltd Apparatus and method for detecting disease in dairy animals
WO2017016887A1 (en) 2015-07-28 2017-02-02 Gea Farm Technologies Gmbh Method and device for automatically placing teat cups onto teats of a milk-producing animal
DE102015112308A1 (en) 2015-07-28 2017-02-02 Gea Farm Technologies Gmbh Method and device for automatically applying milking cups to teats of a dairy animal
EP3328188B1 (en) 2015-07-28 2021-05-19 GEA Farm Technologies GmbH Method and device for automatically placing teat cups onto teats of a milk-producing animal
DE102016112596A1 (en) 2016-07-08 2018-01-11 Gea Farm Technologies Gmbh Method and device for automatically applying milking cups to teats of a dairy animal
WO2018007242A1 (en) 2016-07-08 2018-01-11 Gea Farm Technologies Gmbh Method and device for automatically placing milking cups onto the teats of a milk-producing animal
EP3685659B1 (en) 2019-01-24 2023-06-07 Technologies Holdings Corporation Vision system with teat detection
CZ309824B6 (en) * 2022-09-07 2023-11-08 Agrosoft Tábor, S.R.O. A device for automation of milking parlours with manual operation of milking machines
RU2795709C1 (en) * 2022-12-21 2023-05-11 федеральное государственное бюджетное образовательное учреждение высшего образования "Национальный исследовательский университет "МЭИ" (ФГБОУ ВО "НИУ "МЭИ") Milking robot detection method

Also Published As

Publication number Publication date
US20070215052A1 (en) 2007-09-20
CA2539645A1 (en) 2007-09-15
RU2008140696A (en) 2010-04-20
EP1996010B2 (en) 2024-05-22
RU2415567C2 (en) 2011-04-10
EP1996010A1 (en) 2008-12-03
CA3034793A1 (en) 2007-09-15
EP1996010A4 (en) 2014-10-08
CA3034793C (en) 2023-01-03
US7490576B2 (en) 2009-02-17
CA2539645C (en) 2020-04-28
EP1996010B1 (en) 2018-11-07

Similar Documents

Publication Publication Date Title
CA2539645C (en) Time of flight teat location system
US20260104254A1 (en) Dual-resolution 3d scanner and method of using
US9046360B2 (en) System and method of acquiring three dimensional coordinates using multiple coordinate measurement devices
EP3537380B1 (en) Coordinate calibration between two-dimensional coordinate system and three-dimensional coordinate system
US9576368B2 (en) Method and device for optically determining a position and/or orientation of an object in space using a two dimensional image to generate three dimensional information
US20060196432A1 (en) Improvements in or related to milking machines
US20140132729A1 (en) Method and apparatus for camera-based 3d flaw tracking system
EA031929B1 (en) Apparatus and method for three dimensional surface measurement
CN105190235A (en) Compensation of a structured light scanner that is tracked in six degrees-of-freedom
JP2001249007A5 (en)
WO2010020457A1 (en) Arrangement and method for controlling a movable robot arm
JPH11166818A (en) Calibration method and calibration device for three-dimensional shape measuring device
JP2019049467A (en) Distance measurement system and distance measurement method
JP2007508557A (en) Device for scanning three-dimensional objects
US12039792B2 (en) Position-determining device
CN115087843A (en) Three-dimensional measuring device for generating three-dimensional point position information
WO2010023122A2 (en) Arrangement and method for determining positions of the teats of a milking animal
JP3638569B2 (en) 3D measuring device
JP4918675B2 (en) 3D coordinate measurement method
WO2011031210A1 (en) Arrangement and method for determining positions of the teats of a milking animal
CN120712456A (en) Optical data processing device, optical data processing method, and optical data processing program
Xu An automated, vision-guided teatcup attachment system for dairy cows

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 06804778

Country of ref document: EP

Kind code of ref document: A1

DPE2 Request for preliminary examination filed before expiration of 19th month from priority date (pct application filed from 20040101)
NENP Non-entry into the national phase

Ref country code: DE

WWE Wipo information: entry into national phase

Ref document number: 2006804778

Country of ref document: EP

ENP Entry into the national phase

Ref document number: 2008140696

Country of ref document: RU

Kind code of ref document: A