公开(公告)号：US20080127896A1

公开(公告)日：2008-06-05

申请号：US11791525

申请日：2005-12-13

申请人： Tobjorn Petterson ,  Bohao Liao

发明人： Tobjorn Petterson ,  Bohao Liao

IPC分类号： A01J5/007

CPC分类号： A01J5/007

摘要： A method for controlling the milking by a milking machine comprises the steps of: (i) providing (41) different milking schemes, each of which being distinguished by a set of milking parameters, such as milking vacuum, high pulse vacuum, low pulse vacuum, pulse rate, and pulse length; (ii) controlling (43) the milking machine for the milking of a milking animal so that each of the different milking schemes is applied for at least one milking of the milking animal; (iii) for each of the milkings, recording (45) milk yield and/or milking time of the milking of the animal; (iv) evaluating (51) each of the milking schemes for milking the animal based on the recorded milk yield and/or milking time; and (v) selecting (53) one of the milking schemes based on the evaluation, and controlling (53) the milking machine during subsequent milkings of the animal so that they are performed according to the selected milking scheme.

摘要翻译： 用于通过挤奶机控制挤奶的方法包括以下步骤：（i）提供（41）不同的挤奶方案，每种挤奶方案通过一组挤奶参数来区分，例如挤奶真空，高脉冲真空，低脉冲真空 ，脉搏率和脉冲长度; （ii）控制（43）挤奶机用于挤奶动物的挤奶，使得每个不同的挤奶方案被应用于挤奶动物的至少一次挤奶; （iii）对于每个挤奶，记录（45）牛奶产量和/或动物挤奶的挤奶时间; （iv）基于记录的奶量和/或挤奶时间评估（51）每个挤奶方案以挤奶动物; 和（v）基于评估来选择（53）挤奶方案之一，并且在随后的动物挤奶期间控制（53）挤奶机，使得它们根据所选择的挤奶方案进行。

公开(公告)号：US09675253B2

公开(公告)日：2017-06-13

申请号：US14007508

申请日：2012-04-04

申请人： Susanne Granz ,  Kendra Kerrisk ,  Bohao Liao ,  Ron Mulder

发明人： Susanne Granz ,  Kendra Kerrisk ,  Bohao Liao ,  Ron Mulder

IPC分类号： A61D99/00 ,  A61B5/00 ,  A01K29/00 ,  A61B5/107

CPC分类号： A61B5/0073 ,  A01K29/00 ,  A61B5/1077 ,  A61B5/1079 ,  A61B5/4238 ,  A61D99/00

摘要： A method and arrangement for determining a gut fill level of the rumen of an animal uses a three-dimensional camera and an image processing system. The three-dimensional camera is located in a station, wherein the animal is forced to stand essentially still during recording of the three-dimensional image. The three-dimensional camera is located on the left side of the animal at a height above the rumen triangle of the animal, longitudinally in essence in level with the rumen triangle, and is directed downwards towards the rumen triangle during the image recording. The image processing system automatically determines a depth and/or volume of a convexity or concavity of the rumen triangle, and determines the gut fill level of the rumen of the animal based on the determined depth and/or volume.

公开(公告)号：US09635834B2

公开(公告)日：2017-05-02

申请号：US12812633

申请日：2009-01-16

申请人： Bohao Liao ,  Fulin Xiang

发明人： Bohao Liao ,  Fulin Xiang

IPC分类号： A01J5/017 ,  A01K1/12 ,  G01S5/16 ,  G01S11/12 ,  G01S17/89

CPC分类号： A01K1/126 ,  A01J5/017 ,  A01J5/0175 ,  A01K1/12 ,  G01S5/16 ,  G01S11/12 ,  G01S17/89

摘要： An arrangement, which is provided for determining the position of an animal, comprises a three-dimensional camera directed towards the animal and provided to record a three-dimensional image of the animal, and image processing means is provided for detecting the animal and determining its position in at least one spatial dimension based on the three-dimensional image of the animal. The image processing means may form a three-dimensional surface representation of a portion of the animal from the three-dimensional image of the animal, analyze the surface of the three-dimensional surface representation, and determine the position of the animal based on the analysis of the surface of the three-dimensional surface representation.

公开(公告)号：US09684956B2

公开(公告)日：2017-06-20

申请号：US13132107

申请日：2009-11-03

申请人： Bohao Liao ,  Marilyn Krukowski

发明人： Bohao Liao ,  Marilyn Krukowski

IPC分类号： H04N13/02 ,  G06T7/00 ,  A01K29/00 ,  G06T7/41 ,  G06T7/40

CPC分类号： G06T7/0012 ,  A01K29/00 ,  A01K29/005 ,  G06T7/40 ,  G06T7/41 ,  G06T2200/04 ,  G06T2207/10028 ,  G06T2207/20036 ,  G06T2207/30004

摘要： An arrangement for determining a body condition score of an animal comprises a three-dimensional camera system directed towards the animal and provided for recording at least one three-dimensional image of the animal; and an image processing device connected to the three-dimensional camera system and provided for forming a three-dimensional surface representation of a portion of the animal from the three- dimensional image recorded by the three-dimensional camera system; for statistically analyzing the surface of the three-dimensional surface representation; and for determining the body condition score of the animal based on the statistically analyzed surface of the three-dimensional surface representation.

公开(公告)号：US20140180130A1

公开(公告)日：2014-06-26

申请号：US14007508

申请日：2012-04-04

申请人： Susanne Granz ,  Kendra Kerrisk ,  Bohao Liao ,  Ron Mulder

发明人： Susanne Granz ,  Kendra Kerrisk ,  Bohao Liao ,  Ron Mulder

IPC分类号： A61B5/00 ,  A61D99/00

CPC分类号： A61B5/0073 ,  A01K29/00 ,  A61B5/1077 ,  A61B5/1079 ,  A61B5/4238 ,  A61D99/00

摘要： A method and arrangement for determining a gut fill level of the rumen of an animal uses a three-dimensional camera and an image processing system. The three-dimensional camera is located in a station, wherein the animal is forced to stand essentially still during recording of the three-dimensional image. The three-dimensional camera is located on the left side of the animal at a height above the rumen triangle of the animal, longitudinally in essence in level with the rumen triangle, and is directed downwards towards the rumen triangle during the image recording. The image processing system automatically determines a depth and/or volume of a convexity or concavity of the rumen triangle, and determines the gut fill level of the rumen of the animal based on the determined depth and/or volume.

摘要翻译： 用于确定动物的瘤胃的肠液填充水平的方法和装置使用三维照相机和图像处理系统。 三维摄像机位于站中，其中在记录三维图像期间，动物被迫基本静止。 三维摄像机位于动物的左侧，高度位于动物的瘤胃三角形上方，纵向本质上与瘤胃三角形水平相对，并在图像记录期间向下朝向瘤胃三角形。 图像处理系统自动确定瘤胃三角形的凸度或凹度的深度和/或体积，并且基于确定的深度和/或体积确定动物的瘤胃的肠内填充水平。

公开(公告)号：US20100289649A1

公开(公告)日：2010-11-18

申请号：US12812635

申请日：2009-01-16

申请人： Hans Holmgren ,  Thomas Axelsson ,  Bohao Liao

发明人： Hans Holmgren ,  Thomas Axelsson ,  Bohao Liao

IPC分类号： G08B23/00 ,  H04N13/02 ,  A01J5/007

CPC分类号： A01K1/126 ,  A01J5/017 ,  A01J5/0175 ,  A01K1/12 ,  G01S5/16 ,  G01S11/12 ,  G01S17/89

摘要： An arrangement is provided for attaching teat cups to teats of a milking animal in a rotary milking system having a milking stall for housing the milking animal during milking. The arrangement comprises a three-dimensional camera configured to be directed towards the udder of the milking animal in the milking stall and to repeatedly record three-dimensional images of the udder of the milking animal in real time. The three-dimensional camera is further configured to be directed towards the teat cups located in a magazine and to repeatedly record three-dimensional images of the teat cups in real time. The arrangement also includes an image processing device configured to repeatedly detect the teats of the milking animal and determine the positions of the teats in three spatial dimensions based on said repeatedly recorded three-dimensional images of the teats. The image processing device is also configured to repeatedly detect the plurality of teat cups and determine the positions of the teat cups in three spatial dimensions based on said repeatedly recorded three-dimensional images of the teat cups located in the magazine. The arrangement also includes a control device configured to control a robot arm, based on the determined positions of the teats of the milking animal and the determined positions of the teat cups, to automatically attach at least one teat cup to at least one teat of the milking animal in the milking stall.

摘要翻译： 提供了一种布置，用于将挤奶杯连接到具有用于在挤奶期间容纳挤奶动物的挤奶档位的旋转挤奶系统中的挤奶动物的奶头。 该装置包括：三维照相机，被配置为指向挤奶档中的挤奶动物的乳房，并且实时地重复记录挤奶动物的乳房的三维图像。 三维摄像机进一步被构造成指向位于盒中的奶杯，并且实时地重复记录奶头杯的三维图像。 该装置还包括图像处理装置，其被配置为基于所述重复记录的乳头的三维图像，重复地检测挤奶动物的乳头并确定三个空间维度中的乳头的位置。 图像处理装置还被配置为基于位于盒中的乳头杯的所述重复记录的三维图像重复地检测多个奶头杯并确定三分之一空间尺寸的奶杯的位置。 该装置还包括控制装置，其被配置为基于所确定的挤奶动物的乳头的位置和确定的奶杯的位置来控制机器人手臂，以将至少一个奶杯自动附接到至少一个奶头 在挤奶摊位挤奶动物。

公开(公告)号：US06476574B1

公开(公告)日：2002-11-05

申请号：US09763526

申请日：2001-02-26

申请人： Mats Nilsson ,  Bohao Liao

发明人： Mats Nilsson ,  Bohao Liao

IPC分类号： B25J918

CPC分类号： G05B19/311 ,  A01J5/0175 ,  G05B2219/40228 ,  G05B2219/45113 ,  Y02P90/265

摘要： A method and device (1) for controlling the movement of a movable part such as a robot arm (3) in a milking robot (1). A control (7) controls the movement of the arm (3) from an actual position (Pxa, Pya, Pza) to a desired position (Pxd, Pyd, Pzd) A detector (45, 47, 49) detects the actual position of the robot arm (3) and transmits signals corresponding to the actual position to the control (7). The predicted position (Pxp, Pyp, PyP), that the robot arm (3) will pass through as it moves from the actual position to the desired position our model (S). The control (7) makes a comparison (S) of the actual positions of the arm (3) against to the predicted positions, and the movement of the robot arm (3) is modified if its actual position at any time differs by more than a predetermined amount from the predicted position at the same time.

摘要翻译： 一种用于控制在挤奶机器人（1）中的诸如机器人手臂（3）的可移动部件的运动的方法和装置（1）。 控制器（7）控制臂（3）从实际位置（Pxa，Pya，Pza）到期望位置（Pxd，Pyd，Pzd）的移动。检测器（45,47,49）检测到 所述机器人臂（3）将与所述实际位置对应的信号发送到所述控制装置（7）。 当机器人臂（3）从实际位置移动到期望位置时，机器人手臂（3）将穿过的预测位置（Pxp，Pyp，PyP），我们的模型（S）。 控制器（7）对臂（3）的实际位置与预测位置进行比较（S），并且如果机器人手臂（3）的实际位置在任何时间的差异大于 与预测位置相同的预定量。

公开(公告)号：US08624744B2

公开(公告)日：2014-01-07

申请号：US12812635

申请日：2009-01-16

申请人： Hans Holmgren ,  Thomas Axelsson ,  Bohao Liao

发明人： Hans Holmgren ,  Thomas Axelsson ,  Bohao Liao

IPC分类号： G08B21/00

CPC分类号： A01K1/126 ,  A01J5/017 ,  A01J5/0175 ,  A01K1/12 ,  G01S5/16 ,  G01S11/12 ,  G01S17/89

摘要： An arrangement is provided for attaching teat cups to teats of a milking animal in a rotary milking system having a milking stall for housing the milking animal during milking. The arrangement comprises a three-dimensional camera configured to be directed towards the udder of the milking animal in the milking stall and to repeatedly record three-dimensional images of the udder of the milking animal in real time. The three-dimensional camera is further configured to be directed towards the teat cups located in a magazine and to repeatedly record three-dimensional images of the teat cups in real time. The arrangement also includes an image processing device configured to repeatedly detect the teats of the milking animal and determine the positions of the teats in three spatial dimensions based on said repeatedly recorded three-dimensional images of the teats. The image processing device is also configured to repeatedly detect the plurality of teat cups and determine the positions of the teat cups in three spatial dimensions based on said repeatedly recorded three-dimensional images of the teat cups located in the magazine. The arrangement also includes a control device configured to control a robot arm, based on the determined positions of the teats of the milking animal and the determined positions of the teat cups, to automatically attach at least one teat cup to at least one teat of the milking animal in the milking stall.

摘要翻译： 提供了一种布置，用于将挤奶杯连接到具有用于在挤奶期间容纳挤奶动物的挤奶档位的旋转挤奶系统中的挤奶动物的奶头。 该装置包括：三维照相机，被配置为指向挤奶档中的挤奶动物的乳房，并且实时地重复记录挤奶动物的乳房的三维图像。 三维摄像机进一步被构造成指向位于盒中的奶杯，并且实时地重复记录奶头杯的三维图像。 该装置还包括图像处理装置，其被配置为基于所述重复记录的乳头的三维图像，重复地检测挤奶动物的乳头并确定三个空间维度中的乳头的位置。 图像处理装置还被配置为基于位于盒中的乳头杯的所述重复记录的三维图像重复地检测多个奶头杯并确定三分之一空间尺寸的奶杯的位置。 该装置还包括控制装置，其被配置为基于所确定的挤奶动物的乳头的位置和确定的奶杯的位置来控制机器人手臂，以将至少一个奶杯自动附接到至少一个奶头 在挤奶摊位挤奶动物。

公开(公告)号：US20110279650A1

公开(公告)日：2011-11-17

申请号：US13132107

申请日：2009-11-03

申请人： Bohao Liao ,  Marilyn Krukowski

发明人： Bohao Liao ,  Marilyn Krukowski

IPC分类号： H04N13/02

CPC分类号： G06T7/0012 ,  A01K29/00 ,  A01K29/005 ,  G06T7/40 ,  G06T7/41 ,  G06T2200/04 ,  G06T2207/10028 ,  G06T2207/20036 ,  G06T2207/30004

摘要： An arrangement for determining a body condition score of an animal comprises a three-dimensional camera system directed towards the animal and provided for recording at least one three-dimensional image of the animal; and an image processing device connected to the three-dimensional camera system and provided for forming a three-dimensional surface representation of a portion of the animal from the three-dimensional image recorded by the three-dimensional camera system; for statistically analyzing the surface of the three-dimensional surface representation; and for determining the body condition score of the animal based on the statistically analyzed surface of the three-dimensional surface representation.

摘要翻译： 用于确定动物的身体状况得分的装置包括针对动物并被提供用于记录动物的至少一个三维图像的三维相机系统; 以及图像处理装置，其连接到所述三维照相机系统，并且被提供用于从由所述三维照相机系统记录的三维图像形成所述动物的一部分的三维表面表示; 用于统计分析三维表面表面的表面; 并且用于基于三维表面表示的统计分析的表面来确定动物的身体状况得分。

公开(公告)号：US20100288198A1

公开(公告)日：2010-11-18

申请号：US12812633

申请日：2009-01-16

申请人： Bohao Liao ,  Fulin Xiang

发明人： Bohao Liao ,  Fulin Xiang

IPC分类号： A01J5/007 ,  H04N13/02 ,  A01J5/017 ,  A01J5/003

CPC分类号： A01K1/126 ,  A01J5/017 ,  A01J5/0175 ,  A01K1/12 ,  G01S5/16 ,  G01S11/12 ,  G01S17/89

摘要： An arrangement, which is provided for determining the position of an animal, comprises a three-dimensional camera directed towards the animal and provided to record a three-dimensional image of the animal, and image processing means is provided for detecting the animal and determining its position in at least one spatial dimension based on the three-dimensional image of the animal. The image processing means may form a three-dimensional surface representation of a portion of the animal from the three-dimensional image of the animal, analyze the surface of the three-dimensional surface representation, and determine the position of the animal based on the analysis of the surface of the three-dimensional surface representation.

摘要翻译： 提供用于确定动物位置的装置包括指向动物并被提供以记录动物的三维图像的三维照相机，并且提供图像处理装置用于检测动物并确定其动物 基于动物的三维图像在至少一个空间维度中的位置。 图像处理装置可以从动物的三维图像形成动物的一部分的三维表面表示，分析三维表面表示的表面，并且基于分析来确定动物的位置 的三维表面表面的表面。