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公开(公告)号：US20220222802A1
公开(公告)日：2022-07-14
申请号：US17610922
申请日：2020-05-06
Applicant: DELAVAL HOLDING AB
Inventor： Erik OSCARSSON
IPC: G06T7/00 , G06T7/38 , G06T7/73 , G06V10/62 , G06V10/70 , A01J5/007 , A01J5/017 , A01K1/12 , B25J9/16
Abstract: A rotating platform having a plurality of stalls is provided, each of the stalls being configured to house a respective animal during milking. The stalls are separated from one another by delimiting structures. A camera registers three-dimensional image data of the rotating platform within a field of view. A controller receives the image data that has been registered while the rotating platform completes at least one full revolution around its rotation axis. The controller processes the image data to derive a set of key features of the rotating platform, and then stores the set of key features in a data storage, which is configured to make the set of key features available for use at a later point in time.
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公开(公告)号：US20220215502A1
公开(公告)日：2022-07-07
申请号：US17610870
申请日：2020-05-06
Applicant: DELAVAL HOLDING AB
Inventor： Erik OSCARSSON
Abstract: A camera registers three-dimensional image data representing a milking location for a milk-producing animal standing with its hind legs facing the camera, where the image data are processed to identify an udder of the animal, and subsequently a tail detection process is applied to the image data to identify a tail of the animal, where upon identification of the tail, the tail is excluded from being regarded as a teat when providing a decision basis for controlling a robotic arm that performs at least one action relating to a milk-producing animal. The tail detection process involves searching for an elongated object extending in a general direction being perpendicular to a floor surface of the rotating platform upon which the animal is standing and at a shorter distance from the camera than any surface element of the identified udder.
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公开(公告)号：US20220210997A1
公开(公告)日：2022-07-07
申请号：US17610875
申请日：2020-05-06
Applicant: DELAVAL HOLDING AB
Inventor： Erik OSCARSSON
Abstract: A system and method for providing a decision basis for controlling a robotic arm to perform at least one action relating to a milk-producing animal, wherein a camera registers three-dimensional image data of a milking location that includes a reference object and a rotating platform upon which an animal stands with its hind legs facing the camera, and a control unit checks if an entry window for a robotic arm can be found in the image data by searching for the reference object in the image data, and if the reference object is found the control unit searches for an acceptable obstacle-free volume in the image data, this volume being located within an allowed space relative to the reference object.
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