CAMERA SYSTEM, ANIMAL RELATED SYSTEM THEREWITH, AND METHOD TO CREATE 3D CAMERA IMAGES

• US 20150342139A1
• Filed: 01/14/2014
• Published: 12/03/2015
• Est. Priority Date: 01/31/2013
• Status: Active Grant

• Current Assignee: Lely Patent N.V. (Lely)
• Original Assignee: Lely Patent N.V. (Lely)
• Inventors: SAVILLE, Kate
• Granted Patent: US 10,426,127 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: A01J 5/017 Automatic attaching or detaching of clusters
• CPC Class Codes: A01J 5/0175 Attaching of clusters
• CPC Class Codes: G01B 11/2545 with one projection direction and several detection directions, e.g. stereo
• CPC Class Codes: H04N 13/239 using two 2D image sensors having a relative position equal to or related to the interocular distance H04N13/243 takes precedence
• CPC Class Codes: H04N 13/254 in combination with electromagnetic radiation sources for illuminating objects
• CPC Class Codes: H04N 13/296 Synchronisation thereof; Control thereof
• CPC Class Codes: H04N 23/56 provided with illuminating means

Abstract

A camera system, an animal related system therewith, and a method for creating a 3D image of an object, the camera device including a 3D camera device to capture images of the object, a processing device to determine a 3D image from the captured images, and a mover device to move at least a part of the 3D camera device with a reciprocating movement. Providing a movement to the camera device provides a less noisy and more accurate 3D image of the object, in particular in a case of a soiled camera device.

Claims

1-16. -16. (canceled)

17. A camera system configured to create 3D images of an object, comprising:

a 3D camera device to capture images of the object; and

a processing device operatively connected to the 3D camera device and arranged to determine a 3D image from the captured images;

wherein the 3D camera device comprises at least two components, a first component comprising a first 2D receiver arranged to capture images of the object, and a second component comprising at least one of;

a second 2D receiver arranged to capture images of the object, and

an illuminating unit configured to project light on the object;

a mover device configured to move at least one of the components with a reciprocating movement during capturing of images, or with a translating movement.

18. The camera system of claim 17, wherein the second component comprises an illuminating unit configured to project a light pattern on the object, and wherein the first component is arranged to capture images of the object including a reflected light pattern.

19. The camera system of claim 17, wherein the second component comprises a second 2D receiver, and wherein the processing unit is arranged to determine the 3D image by comparing the images from the first 2D receiver with the images from the second 2D receiver.

20. The camera system of claim 17, wherein the mover device is configured to move the first component and the second component simultaneously with a same reciprocating movement, and move the 3D camera device as a whole with the reciprocating movement.

21. The camera system of claim 17, wherein the processing device comprises a data input to receive movement data of the reciprocating movement, and wherein the processing device is configured to determine the 3D image from the captured images and the movement data.

22. The camera system of claim 17, wherein a direction of the reciprocating movement is substantially perpendicular to a projecting direction of the illuminating unit and/or a capturing direction of the first or second 2D receiver.

23. The camera system of claim 17, wherein an amplitude of the reciprocating movement is below 5 mm, or below 2 mm, and/or wherein a frequency of the reciprocating movement is within a range of 0.25-20 Hz, or within a range of 0.5-5 Hz.

24. The camera system of claim 17, wherein the mover device comprises an inactive state in which the mover device does not move at least one of the at least two components with a reciprocating movement, and an active state in which the mover device moves at least one of the at least two components with a reciprocating movement, and wherein the camera system is configured to bring the mover device from the inactive state to the active state when the position of the object cannot be properly identified with the camera system when the mover device is in the inactive state.

25. The camera system of claim 17, wherein the mover device comprises:

a support to movably support at least one of the at least two components, or the 3D camera device as a whole, to allow movement of the at least one of the at least two components, or the 3D camera device as a whole, in a direction of the reciprocating movement, and

a mover element configured to move the at least one of the at least two components, or the 3D camera device as a whole, in the reciprocating movement.

26. The camera system of claim 19, wherein the mover element is a pusher configured to periodically push the at least one of the at least two components, or the 3D camera device as a whole, in the direction of the reciprocating movement.

27. The camera system of claim 17, wherein the object is an animal or a part of an animal, or a back part or teat of a cow.

28. An animal related system with an animal related space arranged to accommodate an animal, or a dairy animal, the system comprising:

an animal related device that is arranged to perform an animal related action on the animal when present in the animal related space;

a device controller with a camera system according to claim 17, wherein the device controller is arranged to control the animal related device for performing the animal related action on the basis of the 3D image as determined by the camera system.

29. The animal related system of claim 28, wherein the animal related device comprises a milking robot or a teat treatment device.

30. A method for obtaining a 3D image of an object, by the camera system according to claim 17, the method comprising:

capturing by a 3D camera device of the camera system images of the object;

processing by the processing device of the camera system the captured images to determine a 3D image of the object; and

moving at least one of the at least two components of the 3D camera device, or the 3D camera device as a whole, with a reciprocating movement during the capturing, or with a translating movement.

31. The method of claim 30, wherein the moving comprises moving the at least two components of the 3D camera device simultaneously with the same reciprocating movement and/or the method comprising determining the 3D image of the object from the captured images taking into account the reciprocating movement of the at least two components of the 3D camera device.

32. The method of claim 31, wherein the 3D image is used for determining a position of an animal or a part of an animal, or a back part or teat of a cow.