公开(公告)号：US20150107518A1

公开(公告)日：2015-04-23

申请号：US14402711

申请日：2013-03-15

Applicant: DELAVAL HOLDING AB

Inventor： Dorota Anglart ,  Mikael Kallman ,  Sten Mellberg

IPC: A01J5/017 ,  G06T7/00 ,  A01J5/003 ,  A01K29/00 ,  A01J5/007 ,  A01J7/00

CPC classification number: A01J5/0175 ,  A01J5/003 ,  A01J5/007 ,  A01J7/00 ,  A01K29/005 ,  G06T7/0004

Abstract: A combined teat position and breeding rating determining arrangement for a milking system having a milking stall, a movable robot arm for automatically attaching teat cups to the teats of the 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 includes a three-dimensional camera directed towards the udder of the milking animal that repeatedly records three-dimensional images of the udder, and a processing unit that repeatedly detects the udder or teats of the milking animal, determines their positions based on the recorded three-dimensional images, automatically determines the shapes of the udder or teats based on the repeatedly recorded three-dimensional images, and automatically calculates a breeding rating based on the determined shapes of the udder or teats of the milking animal.

Abstract translation: 用于具有挤奶档位的挤奶系统的组合乳头位置和育种评级确定装置，用于将挤奶杯自动连接到挤奶动物的乳头的可移动机器人手臂，以及用于根据确定的控制装置控制机器人手臂的运动 挤奶动物的乳头位置。 该装置包括针对挤奶动物的乳房的三维照相机，其重复地记录乳房的三维图像，以及重复检测挤奶动物的乳房或乳头的处理单元，基于记录的乳头状态确定其位置 三维图像基于重复记录的三维图像自动确定乳房或乳头的形状，并且基于确定的挤奶动物的乳头或乳头的形状自动计算育种评级。

公开(公告)号：US09510553B2

公开(公告)日：2016-12-06

申请号：US14402711

申请日：2013-03-15

Applicant: DELAVAL HOLDING AB

Inventor： Dorota Anglart ,  Mikael Kallman ,  Sten Mellberg

IPC: A01J3/00 ,  A01J5/00 ,  A01J5/017 ,  A01J5/007 ,  A01J5/003 ,  A01J7/00 ,  A01K29/00 ,  G06T7/00

CPC classification number: A01J5/0175 ,  A01J5/003 ,  A01J5/007 ,  A01J7/00 ,  A01K29/005 ,  G06T7/0004

Abstract: A combined teat position and breeding rating determining arrangement for a milking system having a milking stall, a movable robot arm for automatically attaching teat cups to the teats of the 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 includes a three-dimensional camera directed towards the udder of the milking animal that repeatedly records three-dimensional images of the udder, and a processing unit that repeatedly detects the udder or teats of the milking animal, determines their positions based on the recorded three-dimensional images, automatically determines the shapes of the udder or teats based on the repeatedly recorded three-dimensional images, and automatically calculates a breeding rating based on the determined shapes of the udder or teats of the milking animal.

Abstract translation: 用于具有挤奶档位的挤奶系统的组合乳头位置和育种评级确定装置，用于将挤奶杯自动连接到挤奶动物的乳头的可移动机器人手臂，以及用于根据确定的控制装置控制机器人手臂的运动 挤奶动物的乳头位置。 该装置包括针对挤奶动物的乳房的三维照相机，其重复地记录乳房的三维图像，以及重复检测挤奶动物的乳房或乳头的处理单元，基于记录的乳头状态确定其位置 三维图像基于重复记录的三维图像自动确定乳房或乳头的形状，并且基于确定的挤奶动物的乳头或乳头的形状自动计算育种评级。