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1. 发明申请

WO2010023122A2 ARRANGEMENT AND METHOD FOR DETERMINING POSITIONS OF THE TEATS OF A MILKING ANIMAL 审中-公开
标题翻译：确定奶类动物种群位置的安排和方法
公开(公告)号：WO2010023122A2
公开(公告)日：2010-03-04
申请号：PCT/EP2009/060583
申请日：2009-08-14
申请人： DELAVAL HOLDING AB , LIAO, Bohao , BIRK, Uzi , HÄLLSTIG, Emil
发明人： LIAO, Bohao , BIRK, Uzi , HÄLLSTIG, Emil
IPC分类号： G06T7/00 , A01J5/00
CPC分类号： A01J5/0175 , G06T7/593
摘要： An arrangement is provided for determining positions of the teats of a milking animal (8) in a milking system (3) comprising a milking stall (5) for housing the milking animal during milking, a movable robot arm (15) for automatically attaching teat cups (11) to the teats of the milking animal in the milking stall, and a control device (19) for controlling the movement of the robot arm based on determined positions of the teats of the milking animal. The arrangement comprises an active wavefront sampling camera (21) directed towards the udder of the milking animal in the milking stall, wherein the active wavefront sampling camera is provided to repeatedly record images of the udder of the milking animal; and image processing means (22) provided for repeatedly forming three-dimensional images from the images recorded by said active wavefront sampling camera; and for detecting the teats of the milking animal and determining their positions in all three spatial dimensions based on the repeatedly formed three-dimensional images.
摘要翻译：提供了一种用于确定挤奶系统（3）中的挤奶动物（8）的奶嘴的位置的装置，所述挤奶系统包括用于在挤奶期间容纳挤奶动物的挤奶隔间（5），可移动的机器人用于将挤奶杯（11）自动地附接到挤奶隔间中的挤奶动物的奶嘴上的臂（15）;以及用于基于挤奶动物的奶头的确定位置来控制机器人臂的移动的控制装置（19）。该装置包括朝向挤奶动物的挤奶动物的乳房的有源波前采样照相机（21），其中提供有源波前采样照相机以重复记录挤奶动物的乳房的图像; 和图像处理装置（22），用于从由所述有源波前采样相机记录的图像重复形成三维图像; 并用于检测挤奶动物的奶头并基于重复形成的三维图像确定它们在所有三个空间维度中的位置。

2. 发明申请

WO2010023121A2 ARRANGEMENT AND METHOD FOR DETERMINING POSITIONS OF THE TEATS OF A MILKING ANIMAL 审中-公开
标题翻译：确定奶类动物种群位置的安排和方法
公开(公告)号：WO2010023121A2
公开(公告)日：2010-03-04
申请号：PCT/EP2009/060581
申请日：2009-08-14
申请人： DELAVAL HOLDING AB , LIAO, Bohao , BIRK, Uzi , HÄLLSTIG, Emil
发明人： LIAO, Bohao , BIRK, Uzi , HÄLLSTIG, Emil
IPC分类号： G06T7/00 , A01J5/00
CPC分类号： A01J5/0175 , G06T7/593
摘要： An arrangement for determining positions of the teats of a milking animal (8) is provided in a milking system (3) including a robot arm (15) for automatically attaching teat cups (11) to the teats of a milking animal and a control device for controlling the movement of the robot arm based on determined positions of the teats of the milking animal. The arrangement comprises a light source and speckle generating arrangement (12, 13), a camera pair (21), and image processing means (22). The light source and speckle generating arrangement is provided for illuminating the udder of the milking animal by light having a speckle pattern. The camera pair is provided to repeatedly record image pairs of the udder of the milking animal while being illuminated by the light having the speckle pattern. The image processing means is provided for repeatedly detecting the teats of the milking animal and determining their positions by a stereoscopic calculation method based on the repeatedly recorded image pairs.
摘要翻译：在包括机械手（15）的挤奶系统（3）中提供用于确定挤奶动物（8）的奶嘴的位置的布置，用于将奶杯（11）自动地附接到奶嘴根据挤奶动物的奶头的确定位置控制挤奶动物和用于控制机器人手臂的移动的控制装置。该装置包括光源和散斑生成装置（12,13），相机对（21）和图像处理装置（22）。提供光源和散斑产生装置用于通过具有散斑图案的光照亮挤奶动物的乳房。摄像机对提供用于在被具有散斑图案的光照亮的同时重复记录挤奶动物的乳房的图像对。图像处理装置用于重复检测挤奶动物的奶头并基于重复记录的图像对通过立体计算方法确定它们的位置。

3. 发明申请

WO2012002904A1 DEVICE AND METHOD FOR DETECTION OF ABNORMAL SPATIAL STATES OF A HUMAN BODY 审中-公开
标题翻译：用于检测人体异常空间状态的装置和方法
公开(公告)号：WO2012002904A1
公开(公告)日：2012-01-05
申请号：PCT/SE2011/050901
申请日：2011-07-04
申请人： FOTONIC I NORDEN AB , HÄLLSTIG, Emil
发明人： HÄLLSTIG, Emil
IPC分类号： G08B21/02 , G01S17/89
CPC分类号： G01S17/89 , G01S7/4802 , G01S17/88 , G08B21/043 , G08B21/0469
摘要： The present invention relates to a method and device (100) for privacy- preserving non-invasive detection of an abnormal spatial state of a human body within a predefined space. The device (100) comprises an illumination unit (110), a sensor (130), a processing unit (140) and a memory unit ( 150), The illumination unit (1 10) is configured to emit light into the predefined space within a predetermined wavelength range and modulation scheme and the sensor (130) is configured to receive a reflected signal from the predefined space as a response to the emitted light and to convert variations in the reflected signal into a snapshot (170) representing a distance image of the predefined space. The processing unit (140) is adapted and configured to detect if a human body (50) is present in the predefined space and if detected identify and monitor a least one reference point (805) of the human body and trigger an alarm device (30) if the pattern of the at least one monitored reference point (805) is indicative of the human body (50) experiencing an abnormal spatial state.
摘要翻译：本发明涉及一种用于在预定义空间内保护对人体异常空间状态的非侵入式检测的方法和装置（100）。所述设备（100）包括照明单元（110），传感器（130），处理单元（140）和存储单元（150）。照明单元（110）被配置为将光发射到预定波长范围和调制方案，并且所述传感器（130）被配置为接收来自所述预定空间的反射信号作为对所发射的光的响应，并且将所述反射信号中的变化转换成表示距离图像的距离图像的快照（170）预定义的空间。处理单元（140）适于和配置为检测人体（50）是否存在于预定空间中，并且如果检测到，识别并监视人体的至少一个参考点（805）并触发报警装置（30 ），如果所述至少一个被监测参考点（805）的图案指示经历异常空间状态的人体（50）。

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