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1. WO2020091668 - TOOL-POSITIONING SYSTEM AND METHOD, ROTARY MILKING PLATFORM, COMPUTER PROGRAM AND NON-VOLATILE DATA CARRIER

Publication Number WO/2020/091668
Publication Date 07.05.2020
International Application No. PCT/SE2019/051070
International Filing Date 28.10.2019
IPC
A01J 5/017 2006.01
AHUMAN NECESSITIES
01AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
JMANUFACTURE OF DAIRY PRODUCTS
5Milking machines or devices
017Automatic attaching or detaching of clusters
B23Q 3/155 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
QDETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL, CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
3Devices holding, supporting, or positioning, work or tools, of a kind normally removable from the machine
155Arrangements for automatic insertion or removal of tools
B25J 9/16 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
G06T 7/70 2017.01
GPHYSICS
06COMPUTING; CALCULATING OR COUNTING
TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
7Image analysis
70Determining position or orientation of objects or cameras
CPC
A01J 5/017
AHUMAN NECESSITIES
01AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
JMANUFACTURE OF DAIRY PRODUCTS
5Milking machines or devices
017Automatic attaching or detaching of clusters
A01J 5/0175
AHUMAN NECESSITIES
01AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
JMANUFACTURE OF DAIRY PRODUCTS
5Milking machines or devices
017Automatic attaching or detaching of clusters
0175Attaching of clusters
B25J 9/1697
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
1694characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
1697Vision controlled systems
G05B 2219/45113
GPHYSICS
05CONTROLLING; REGULATING
BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
2219Program-control systems
30Nc systems
45Nc applications
45113Animal handling, milking robot
G06T 2207/10028
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
2207Indexing scheme for image analysis or image enhancement
10Image acquisition modality
10028Range image; Depth image; 3D point clouds
G06T 2207/30164
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
2207Indexing scheme for image analysis or image enhancement
30Subject of image; Context of image processing
30108Industrial image inspection
30164Workpiece; Machine component
Applicants
  • DELAVAL HOLDING AB [SE]/[SE]
Inventors
  • ERIKSSON, Andreas
Agents
  • LILLIEHORN, Tobias
Priority Data
1800212-101.11.2018SE
Publication Language English (EN)
Filing Language English (EN)
Designated States
Title
(EN) TOOL-POSITIONING SYSTEM AND METHOD, ROTARY MILKING PLATFORM, COMPUTER PROGRAM AND NON-VOLATILE DATA CARRIER
(FR) SYSTÈME ET PROCÉDÉ DE POSITIONNEMENT D'OUTIL, PLATE-FORME DE TRAITE ROTATIVE, PROGRAMME INFORMATIQUE ET SUPPORT DE DONNÉES NON VOLATIL
Abstract
(EN)
The positions of the tools (141, 142, 143, 144) in an automatic milking arrangement are determined by registering, via a camera (130) at an origin location (PC), three-dimensional image data (Dimg3D) representing the tools (141, 142, 143, 144) whose positions are to be determined. Using an algorithm involving matching the image data (Dimg3D) against reference data, tool candidates (TC1, TC2, TC3, TC4) are identified in the three-dimensional image data (Dimg3D). A respective position (PT1, PT2, PT3, PT4) is calculated for the tools (141, 142, 143, 144) based on the origin location (PC) and data expressing respective distances from the origin location (PC) to each of the identified tool candidates (TC1, TC2, TC3, TC4). It is presumed that the tools (141, 142, 143, 144) are arranged according to a spatially even distribution relative to one another. Therefore, any tool candidate (TC2) is disregarded, which is detected at such a position that the position for the candidate (TC2) deviates from the spatially even distribution.
(FR)
L'invention concerne les positions des outils (141, 142, 143, 144) dans un agencement de traite automatique, qui sont déterminées en enregistrant, par l'intermédiaire d'une caméra (130) à un emplacement d'origine (PC), les données d'image tridimensionnelle (Dimg3D) représentant les outils (141, 142, 143, 144) dont les positions doivent être déterminées. À l'aide d'un algorithme impliquant la mise en correspondance des données d'image (Dimg3D) par rapport aux données de référence, des positions candidates (TC1, TC2, TC3, TC4) d'outils sont identifiées dans les données d'image tridimensionnelle (Dimg3D). Une position respective (PT1, PT2, PT3, PT4) est calculée pour les outils (141, 142, 143, 144) sur la base de l'emplacement d'origine (PC) et des données exprimant les distances respectives à partir de l'emplacement d'origine (PC) vers chacune des positions candidates (TC1, TC2, TC3, TC4) d'outils identifiées. Il est supposé que les outils (141, 142, 143, 144) sont agencés selon une répartition uniforme dans l'espace les uns par rapport aux autres. Par conséquent, toute position candidate (TC2) d'outil est ignorée, si elle est détectée à une position telle que la position pour le candidat (TC2) s'écarte par rapport à la répartition uniforme dans l'espace.
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