METHOD AND DEVICE FOR CONTACTLESS SCANNING OF BIOLOGICAL OBJECTS Russian patent published in 2022 - IPC A01J5/17 

FIELD: agriculture.

SUBSTANCE: invention relates to agriculture. A device for non-contact determination of cow udder nipples, characterized in that it includes an optical sensor 1 for obtaining a three-dimensional image of the nipples, a manipulator 5 and a control unit 8 for processing a three-dimensional image of the nipples, while the optical sensor 1 is mounted on a rotary mechanism 2, which is fixed to the boom 3, while the boom 3 is attached with the other end by a rotary mechanism 4 to the manipulator 5. A method for non-contact determination of cow udder nipples using the device described above is that, using an optical sensor 1, a three-dimensional image of the nipples is obtained, transmitted to the control unit 8, three-dimensional images are processed and the boundaries of at least one nipple 7 are found, the rest of the nipples are determined, three-dimensional images are filtered from noise, the vertical and horizontal edges of the nipples are found, the inclination angles of the nipples, the distances between the nipples are determined, the coordinates of the lower point of the nipples are calculated, the sections of the three-dimensional image are filtered and the coordinates of the tips of the nipples are transmitted to the control unit 8, it differs in that the control unit 8 signals a change in the position of the optical sensor 1 by activating the rotary mechanism 2 of the optical sensor, and by moving the boom 3 by activating the rotary mechanism 4 determines its actual position, and also normalizes the angle of the three-dimensional image with respect to the optical sensor 1.

EFFECT: invention makes it possible to increase the efficiency of determining the coordinates of the tips of the nipples of the udder of a dairy cow, reduce the number of unsuccessful attempts to determine the coordinates of the tips of the nipples and speed up the milking process.

2 cl, 4 dwg