公开(公告)号：US12083689B2

公开(公告)日：2024-09-10

申请号：US17290709

申请日：2019-10-28

Applicant: DELAVAL HOLDING AB

Inventor： Andreas Eriksson

IPC: B25J9/16 ,  G06T7/73

CPC classification number: B25J9/1697 ,  G06T7/74

Abstract: In picking up tools in an automatic milking arrangement, the positions of the tools are determined by registering, via a camera at an origin location, three-dimensional image data representing the tools whose positions are to be determined. Using an algorithm involving matching the image data against reference data, tool candidates are identified in the three-dimensional image data. A respective position is calculated for the tools based on the origin location and data expressing respective distances from the origin location to each of the identified tool candidates. It is presumed that the tools have predefined locations relative to one another. Therefore, any second tool candidate is disregarded, which is detected at a separation distance from a first tool candidate when the separation distance exceeds a first threshold distance in relation to the predefined relative locations.

公开(公告)号：US11882812B2

公开(公告)日：2024-01-30

申请号：US17290712

申请日：2019-10-28

Applicant: DELAVAL HOLDING AB

Inventor： Andreas Eriksson

IPC: G06T7/70 ,  A01K1/12 ,  G06T7/73 ,  A01J5/017 ,  B25J9/16 ,  B25J15/00 ,  B25J15/04

CPC classification number: A01K1/126 ,  A01J5/017 ,  B25J9/1697 ,  B25J15/0052 ,  B25J15/0491 ,  G06T7/74 ,  G05B2219/45113 ,  G06T2207/10028 ,  G06T2207/30164

Abstract: The positions of the tools in an automatic milking arrangement are determined by registering, via a camera at an origin location, three-dimensional image data representing the tools whose positions are to be determined. Using an algorithm involving matching the image data against reference data, tool candidates are identified in the three-dimensional image data. A respective position is calculated for the tools based on the origin location and data expressing respective distances from the origin location to each of the identified tool candidates. It is presumed that the tools are arranged according to a spatially even distribution relative to one another. Therefore, any tool candidate is disregarded, which is detected at such a position that the position for the candidate deviates from the spatially even distribution.

公开(公告)号：US11991982B2

公开(公告)日：2024-05-28

申请号：US17290704

申请日：2019-10-28

Applicant: DELAVAL HOLDING AB

Inventor： Andreas Eriksson

IPC: A01J5/007 ,  A01J7/02 ,  B25J9/16 ,  B25J11/00 ,  B25J13/08 ,  G06T1/00 ,  G06T7/00 ,  G06T7/30 ,  G06T7/70 ,  G06V20/10 ,  G06V20/64 ,  G08B21/18 ,  H04N13/207 ,  H04N23/695 ,  B25J15/00

CPC classification number: A01J5/007 ,  A01J7/02 ,  B25J9/1697 ,  B25J11/0045 ,  B25J13/08 ,  G06T1/0014 ,  G06T7/0008 ,  G06T7/30 ,  G06T7/70 ,  G06V20/10 ,  G06V20/64 ,  G08B21/18 ,  H04N13/207 ,  H04N23/695 ,  B25J15/0052 ,  G06T2207/30164

Abstract: Tools in an automatic milking arrangement are picked up by using a robotic arm (110). The robotic arm (110) moves a camera (130) to an origin location (PC) from which the camera (130) registers three-dimensional image data (Dimg3D) of at least one tool (141, 142, 143, 144). The three-dimensional image data is processed using an image-based object identification algorithm to identify objects in the form of the tools and hoses (152). In response to identifying at least one tool, a respective tool position (PT1, PT3, PT4) is determined for each identified tool based on the origin location (PC) and the three-dimensional image data. Then, a grip device (115) is exclusively controlled to the one or more of the respective tool positions (PT1, PT3, PT4) to perform a pick-up operation. Thus, futile attempts to pick-up non-existing or blocked tools can be avoided.