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    • 4. 发明公开
    • Arrangement and method for determining positions of the teats of a milking animal
    • Anordnung und Verfahren zum Bestimmten der Positionen der Zitzen eines Milchtiers
    • EP2526762A1
    • 2012-11-28
    • EP12175051.7
    • 2005-03-23
    • DeLaval Holding AB
    • Von Post, MariaAndrén Dinerf, Johan
    • A01J5/017G06T7/00
    • A01J5/0175G06T7/593G06T7/73G06T7/85G06T2207/10021G06T2207/30108
    • An arrangement for determining positions of the teats of an animal is provided in a robot-based milking system. The arrangement comprises a camera pair directed towards the teats of the animal for repeatedly recording pairs of images, and an image processing device for repeatedly detecting the teats of the animal and determining their positions by a stereoscopic calculation method based on the recorded pairs of images. The cameras of the camera pair are arranged vertically one above the other and the image processing device is provided, for each teat and for each pair of images, to define the position of the lower tip of the teat contour in the pair of images as conjugate points for said stereoscopic calculation, and to find said conjugate points along a substantially vertical epipolar line.
    • 在基于机器人的挤奶系统中提供了用于确定动物的乳头的位置的装置。 该装置包括针对动物的乳头的相机对,用于重复记录图像对;以及图像处理装置,用于重复地检测动物的乳头,并且基于所记录的图像对通过立体计算方法确定它们的位置。 照相机对的照相机一个在另一个上垂直排列,并且为每个奶头和每对图像提供图像处理装置,以将一对图像中的乳头轮廓的下端的位置定义为共轭 用于所述立体计算的点,并且沿着基本垂直的核线找到所述共轭点。
    • 9. 发明公开
    • Antenna device and portable radio communication device comprising such an antenna device
    • Antennenvorrichtung und tragbare Funkkommunikationsvorrichtung mit einer solchen Antennenvorrichtung
    • EP2270925A1
    • 2011-01-05
    • EP09008751.1
    • 2009-07-03
    • Laird Technologies AB
    • Irmscher, StefanBraun, ChristianBäckman, Johan
    • H01Q9/04
    • H01Q9/0407H01Q9/0421H01Q9/0442
    • The present invention relates to an antenna device for a portable radio communication device operable in at least a first high-frequency band and a second low-frequency band. The antenna device comprises: an on-ground radiating element (2) having at least a first port (3) for feeding of the first high-frequency band and a second port (4) for feeding of the second low-frequency band; first selecting means (7) connected to the first port, and second selecting means (8) connected to the second port; the first selecting means is configured to open-end (P1) the first port and the second selecting means is configured to connect the second port to a second matching network (P6, P7, P8) through which the second low-frequency band is fed (10), when the antenna device operates in the second low-frequency band; and the second selecting means is configured to ground (P5) the second port and the first selecting means is configured to connect the first port to a first matching network (P2, P3, P4) through which the first high-frequency band is fed (9), when the antenna device operates in the first high-frequency band.
    • 本发明涉及一种在至少第一高频带和第二低频带中可操作的便携式无线通信装置的天线装置。 天线装置包括:地面上的辐射元件(2),其具有用于馈送第一高频带的至少第一端口(3)和用于馈送第二低频带的第二端口(4) 连接到第一端口的第一选择装置(7)和连接到第二端口的第二选择装置(8) 第一选择装置被配置为将第一端口开路(P1),并且第二选择装置被配置为将第二端口连接到第二匹配网络(P6,P7,P8),通过该第二匹配网络馈送第二低频带 (10),当天线装置在第二低频带工作时; 并且第二选择装置被配置为将第二端口接地(P5),并且第一选择装置被配置为将第一端口连接到馈送第一高频带的第一匹配网络(P2,P3,P4) 如图9所示,当天线装置在第一高频带工作时。
    • 10. 发明公开
    • Arrangement and method for determining positions of the teats of a milking animal
    • Anordnung und Verfahren zum Bestimmen der Positionen der Zitzen eines Milchtiers
    • EP2263448A2
    • 2010-12-22
    • EP10174469.6
    • 2005-03-23
    • DeLaval Holding AB
    • Pettersson, MariaAndrén Dinerf, Johan
    • A01J5/017
    • A01J5/0175G06T7/593G06T7/73G06T7/85G06T2207/10021G06T2207/30108
    • An arrangement for determining positions of the teats of a milking animal is provided in a milking system comprising a robot arm for automatically attaching teat cups to the teats of a milking animal when being located in a position to be milked, and a control device for controlling the movement of the robot arm based on determined positions of the teats of the milking animal. A first camera pair is directed towards the teats of the milking animal when being located in the position to be milked, wherein the first camera pair is provided to repeatedly record pairs of images, and an image processing device repeatedly detects the teats of the milking animal and determines their positions by a stereoscopic calculation method based on the repeatedly recorded pairs of images. The first camera pair is mounted below the teats of, and behind, the milking animal when being located in the position to be milked so that the first camera pair is directed diagonally upwards towards the teats of the milking animal when being located in the position to be milked.
    • 一种用于确定挤奶动物的乳头位置的装置被提供在挤奶系统中,该挤奶系统包括机器人手臂,用于当定位在挤奶位置时将挤奶杯自动地连接到挤奶动物的乳头;以及控制装置, 基于挤奶动物的乳头的确定位置的机器人手臂的运动。 当位于挤奶的位置时,第一相机对指向挤奶动物的乳头,其中提供第一相机对以重复记录图像对,并且图像处理装置重复地检测挤奶动物的乳头 并且通过基于重复记录的图像对的立体计算方法来确定它们的位置。 当位于挤奶的位置时,第一相机对安装在挤奶动物的奶头下方和后方,使得第一相机对在被定位在挤压位置时朝向挤奶动物的奶嘴向对角地定向 被挤奶