Method and apparatus for recognising and determining a...

A - Human Necessities – 01 – J

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A01J 5/017 (2006.01) G06T 7/00 (2006.01)

Patent

CA 2369804

A method for recognising and determining the position of at least one teat of a milking animal, including the steps: moving a scanning head including a light source to a region containing the teat or teats, capturing at least one image formed by said light, evaluating the image or images so as to determine if each image describes said teat or teats. The scanning head (1) is moved to a fixed initial position (A) in the room which is under the animal and clearly in front of an udder and thereby the teats of all known relevant animals, thereafter the scanning head is moved in determined steps (A - J) under the animal: upwards towards the animal, downwards, backwards towards the udder, upwards, downwards etc., while carrying out the scanning procedure. The invention also concerns an apparatus carrying out the process and a milking robot including such an apparatus.

La présente invention concerne un procédé permettant de reconnaître et de déterminer la position d'au moins une mamelle d'un animal laitier, qui consiste à: déplacer une tête de balayage comprenant une source lumineuse dirigée vers une région contenant la ou les mamelles, capturer au moins une image formée par cette lumière, évaluer l'image ou les images de façon à déterminer si chaque image décrit la ou les mamelles. On déplace la tête de balayage (1) à une position (A) initiale fixée dans la pièce, sous l'animal et franchement en face d'un pis, et par là même, des mamelles de tout animal pertinent connu. La tête de balayage est ensuite déplacée sous l'animal selon des étapes définies (A-J): En haut vers l'animal, en bas, en arrière vers le pis, en haut, en bas etc., tout en réalisant la procédure de balayage. Cette invention concerne aussi un appareil permettant de mettre en oeuvre ce processus et un robot pour la traite comprenant cet appareil.

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