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    Vision System for Leg Detection
    1.
    发明申请
    Vision System for Leg Detection 审中-公开

    公开(公告)号：US20200344972A1

    公开(公告)日：2020-11-05

    申请号：US16092333

    申请日：2017-08-17

    Applicant: Technologies Holdings Corp.

    Inventor： Mark A. Foresman ,  Bradley J. Prevost ,  Marijn Van Aart ,  Peter Willem Van Der Sluis ,  Alireza Janani

    IPC: A01J5/007 ,  A01J5/017 ,  G06K9/62 ,  H04N13/204 ,  H04N13/271 ,  G06K9/46 ,  G06K9/32 ,  G06K9/00 ,  G06T7/73

    Abstract: A leg (205) detection system comprising: a robotic arm (200) comprising a gripping portion (208) for holding a teat cup (203, 210) for attaching to a teat (1102, 1104, 1106, 1108, 203S, 203) of a dairy livestock (200, 202, 203); an imaging system coupled to the robotic arm (200) and configured to capture a first three-dimensional (3D) image (138, 2400, 2500) of a rearview of the dairy livestock (200, 202, 203) in a stall (402), the imaging system comprising a 3D camera (136, 138) or a laser (132), wherein each pixel of the first 3D image (138, 2400, 2500) is associated with a depth value; one or more memory (104) devices configured to store a reference (3D) 3D image (138, 2400, 2500) of the stall (402) without any dairy livestock (200, 202, 203); and a processor (102) communicatively coupled to the imaging system and the one or more memory (104) devices, the processor (102) configured to: access the first 3D image (138, 2400, 2500) and the reference (3D) 3D image (138, 2400, 2500); subtract the first 3D image (138, 2400, 2500) from the reference (3D) 3D image (138, 2400, 2500) to produce a second 3D image (138, 2400, 2500); perform morphological image (138, 2400, 2500) processing on the second 3D image (138, 2400, 2500) to produce a third 3D image (138, 2400, 2500); perform image (138, 2400, 2500) thresholding on the third 3D image (138, 2400, 2500) to produce a fourth 3D image (138, 2400, 2500); cluster (2616, 2618, 2626, 2628) data from the fourth 3D image (138, 2400, 2500); identify, using the clustered data from the fourth 3D image (138, 2400, 2500), one or more legs (205) of the dairy livestock (200, 202, 203); and provide instructions for movements of the robotic arm (200) to avoid the identified one or more legs (205) while attaching the teat cup (203, 210) to the teat (1102, 1104, 1106, 1108, 203S, 203) of the dairy livestock (200, 202, 203).

    Vision system with teat identification
    2.
    发明授权
    Vision system with teat identification 有权

    公开(公告)号：US10653101B2

    公开(公告)日：2020-05-19

    申请号：US15953258

    申请日：2018-04-13

    Applicant: Technologies Holdings Corp.

    Inventor： Mark A. Foresman ,  Bradley J. Prevost ,  Marinus P. Van Aart

    IPC: G06K9/00 ,  A01J5/007 ,  A01J5/017 ,  G06T7/136 ,  G06T7/73 ,  G06T7/33 ,  G06T7/11

    Abstract: A system that includes a robotic arm, a laser, a memory, and a processor. The processor is configured to position the laser adjacent to a dairy livestock and to modify teat location information for one or more teats of the dairy livestock based on a robot position offset between the dairy livestock and the robotic arm. The processor is further configured to generate a teat position associated with an unknown teat based on a scan of the dairy livestock and to determine a position distances between the teat position and teats of the dairy livestock. The processor is further configured to identify a teat of the dairy livestock with the smallest position distance, to associate a teat identifier for the unknown teat with the identified teat, and to store the association in the memory.

    Vision system with teat candidate identification
    3.
    发明授权
    Vision system with teat candidate identification 有权

    公开(公告)号：US10595498B2

    公开(公告)日：2020-03-24

    申请号：US15953185

    申请日：2018-04-13

    Applicant: Technologies Holdings Corp.

    Inventor： Mark A. Foresman ,  Bradley J. Prevost

    IPC: G06K9/00 ,  A01J5/007 ,  A01J5/017 ,  G06T1/00 ,  H04N13/204 ,  G06T7/136 ,  G06T7/11 ,  G06T7/73

    Abstract: A system that includes a robotic arm, a laser, a three-dimensional (3D) camera, and a processor. The processor is configured to send instructions to position the robotic arm adjacent to a dairy livestock, to send a signal that initiates scanning a portion of the dairy livestock, and to generate teat candidate position information based on the scan of the dairy livestock. The processor is further configured receive target teat information, identify a teat candidate within a teat location range of the target teat, and link the identified teat candidate with a teat identifier. The processor is further configured to send instructions to the robotic arm to move at least a portion of the robotic arm toward the target teat based on the teat candidate position information for the identified teat candidate that is linked with the teat identifier.

    Vision System with Teat Identification
    4.
    发明申请
    Vision System with Teat Identification 审中-公开

    公开(公告)号：US20180228114A1

    公开(公告)日：2018-08-16

    申请号：US15953258

    申请日：2018-04-13

    Applicant: Technologies Holdings Corp.

    Inventor： Mark A. Foresman ,  Bradley J. Prevost ,  Marinus P. Van Aart

    IPC: A01J5/007 ,  G06T1/00 ,  A01J5/017

    CPC classification number: A01J5/007 ,  A01J5/017 ,  G06T7/11 ,  G06T7/136 ,  G06T7/33 ,  G06T7/75 ,  G06T2207/10028

    Abstract: A system that includes a robotic arm, a laser, a memory, and a processor. The processor is configured to position the laser adjacent to a dairy livestock and to modify teat location information for one or more teats of the dairy livestock based on a robot position offset between the dairy livestock and the robotic arm. The processor is further configured to generate a teat position associated with an unknown teat based on a scan of the dairy livestock and to determine a position distances between the teat position and teats of the dairy livestock. The processor is further configured to identify a teat of the dairy livestock with the smallest position distance, to associate a teat identifier for the unknown teat with the identified teat, and to store the association in the memory.

    Vision System with Teat Identification
    6.
    发明申请
    Vision System with Teat Identification 有权

    公开(公告)号：US20180049388A1

    公开(公告)日：2018-02-22

    申请号：US15239526

    申请日：2016-08-17

    Applicant: Technologies Holdings Corp.

    Inventor： Mark A. Foresman ,  Bradley J. Prevost ,  Marinus P. Van Aart

    IPC: A01J5/007 ,  A01J5/017 ,  G06T1/00 ,  G06T7/00

    CPC classification number: A01J5/007 ,  A01J5/017 ,  G06T1/0014 ,  G06T7/0042 ,  G06T7/11 ,  G06T7/33 ,  G06T2207/10004

    Abstract: A system that includes a laser, a memory, and a processor. The processor is configured to receive a teat position associated with an unknown teat, determine a first position distance between the teat position and a first teat, determine a second position distance between the teat position and a second teat, determine a third position distance between the teat position and a third teat, and determine a fourth position distance between the teat position and a fourth teat. The processor is further configured to compare the first position distance, the second position distance, the third position distance, and the fourth position distance to determine a smallest position distance from the unknown teat, identify a teat of the dairy livestock corresponding with the smallest position distance, associate a teat identifier for the unknown teat with the identified teat, and store the association in the memory.

    Vision system for teat detection
    7.
    发明授权
    Vision system for teat detection 有权

    公开(公告)号：US10383305B1

    公开(公告)日：2019-08-20

    申请号：US16157673

    申请日：2018-10-11

    Applicant: Technologies Holdings Corp.

    Inventor： Mark A. Foresman ,  Bradley J. Prevost ,  Marijn Van Aart ,  Peter Willem van der Sluis ,  Alireza Janani

    IPC: A01J5/00 ,  A01J5/007 ,  A01J5/017 ,  A01K1/12 ,  A01J7/04 ,  A01K11/00 ,  A01J5/08

    Abstract: A leg (205) detection system comprising: a robotic arm (200) comprising a gripping portion (208) for holding a teat cup (203, 210) for attaching to a teat (1102, 1104, 1106, 1108, 2038, 203) of a diary livestock (200, 202, 203); an imaging system coupled to the robotic arm (200) and configured to capture a first three-dimensional (3D) image (138, 2400, 2500) of a rearview of the dairy livestock (200, 202, 203) in a stall (402), the imaging system comprising a 3D camera (136, 138) or a laser (132), wherein each pixel of the first 3D image (138, 2400, 2500) is associated with a depth value; one or more memory (104) devices configured to store a reference (3D) 3D image (138, 2400, 2500) of the stall (402) without any dairy livestock (200, 202, 203); and a processor (102) communicatively coupled to the imaging system and the one or more memory (104) devices, the processor (102) configured to: access the first 3D image (138, 2400, 2500) and the reference (3D) 3D image (138, 2400, 2500); subtract the first 3D image (138, 2400, 2500) from the reference (3D) 3D image (138, 2400, 2500) to produce a second 3D image (138, 2400, 2500); perform morphological image (138, 2400, 2500) processing on the second 3D image (138, 2400, 2500) to produce a third 3D image (138, 2400, 2500); perform image (138, 2400, 2500) thresholding on the third 3D image (138, 2400, 2500) to produce a fourth 3D image (138, 2400, 2500); cluster (2616, 2618, 2626, 2628) data from the fourth 3D image (138, 2400, 2500); identify, using the clustered data from the fourth 3D image (138, 2400, 2500) to avoid the identified one or more legs (205) while attaching the teat cup (203, 210) to the teat (1102, 1104, 1106, 1108, 203S, 203) of the dairy livestock (200, 202, 203).

    Vision system for teat detection
    8.
    发明授权
    Vision system for teat detection 有权

    公开(公告)号：US10349615B2

    公开(公告)日：2019-07-16

    申请号：US15448914

    申请日：2017-03-03

    Applicant: Technologies Holdings Corp.

    Inventor： Mark A. Foresman ,  Bradley J. Prevost

    IPC: G06K9/00 ,  A01J5/007 ,  A01J5/017 ,  G01B11/24

    Abstract: A system includes a robotic arm, a laser, and a processor. The processor is configured to command the robotic arm to move to a location of an expected teat position of a dairy livestock and to command the laser to perform two scans of the dairy livestock. The processor is further configured to determine whether a first teat is found in both of the scans, and if so, determine whether locations of the first teat in the two scans are within a predetermined distance of each other. The processor is further configured to, in response to determining that locations of the first teat in the two scans are within the predetermined distance of each other, command the robotic arm to move to a location corresponding to the location of the first teat and to command the robotic arm to attach a teat cup to the first teat.

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