CPC A01J 5/007 (2013.01) [A01J 5/017 (2013.01); A01J 5/0175 (2013.01); G06T 7/75 (2017.01); G06V 10/25 (2022.01); G06V 10/44 (2022.01); G06V 10/50 (2022.01); G06V 10/751 (2022.01); G06V 20/10 (2022.01); G06V 20/647 (2022.01); H04N 13/204 (2018.05); H04N 13/271 (2018.05); G06T 2207/10028 (2013.01); G06T 2207/30204 (2013.01); G06V 2201/06 (2022.01)] | 20 Claims |
1. A leg detection system comprising:
a robotic arm comprising a gripping portion for holding a teat cup for attaching to a teat of a dairy livestock;
an imaging system coupled to the robotic arm and configured to capture a first three-dimensional (3D) image of a stall with a rearview of the dairy livestock in the stall, the imaging system comprising a 3D camera or a laser, wherein each pixel of the first 3D image is associated with a depth value;
one or more memory devices configured to store a reference 3D image of the stall without any dairy livestock; and
a processor communicatively coupled to the imaging system and the one or more memory devices, the processor configured to:
access the first 3D image and the reference 3D image;
subtract the first 3D image from the reference 3D image to produce a second 3D image of the rearview of the dairy livestock;
perform morphological image processing on the second 3D image to produce a third 3D image;
perform image thresholding on the third 3D image to produce a fourth 3D image;
cluster data from the fourth 3D image;
identify, using the clustered data from the fourth 3D image, one or more legs of the dairy livestock; and
provide instructions for movements of the robotic arm to avoid the identified one or more legs while attaching the teat cup to the teat of the dairy livestock.
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