SYSTEM AND COMPUTER-IMPLEMENTED METHOD FOR DETERMINING AN OFFSET FOR A MILKING TOOL IN AN AUTOMATIC MILKING MACHINE, COMPUTER PROGRAM AND NON-VOLATILE DATA CARRIER
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United States of America Patent
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Issued Date -
Jul 6, 2023
app pub date -
May 4, 2021
filing date -
May 6, 2020
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Abstract
An offset for a first milking tool in a tool carrier of an automatic milking machine is determined as a spatial vector between a tool reference position (TRP) and an estimated actual position (TAP) of the milking tool. A three-dimensional image data is registered that represents a teat (T) during attachment to and/or detachment from the milking tool. The image data is processed by searching, within a search zone, for a predefined part (MP) of the teat (T) while the teat (T) is attached to the milking tool. Provided that the predefined part (MP) fulfills a measurement criterion, a distance (doff) is calculated between a specific point of the predefined part (MP) and the tool reference position (TRP). The offset is then determined based on the calculated distance (doff).
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