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1. 发明公开

EP2526762A1 Arrangement and method for determining positions of the teats of a milking animal 审中-公开
标题翻译： Anordnung und Verfahren zum Bestimmten der Positionen der Zitzen eines Milchtiers
公开(公告)号：EP2526762A1
公开(公告)日：2012-11-28
申请号：EP12175051.7
申请日：2005-03-23
申请人： DeLaval Holding AB
发明人： Von Post, Maria , Andrén Dinerf, Johan
IPC分类号： A01J5/017 , G06T7/00
CPC分类号： A01J5/0175 , G06T7/593 , G06T7/73 , G06T7/85 , G06T2207/10021 , G06T2207/30108
摘要： 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.
摘要翻译：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。

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