Abstract: A method for calibrating a set of extrinsic parameters of a camera mounted on a vehicle is disclosed. The method includes: obtaining a sequence of images, wherein each image depicts a portion of a surrounding environment of the vehicle determining a set of feature points in the sequence of images; determining an area representing a sky in the sequence of images; removing a subset of feature points belonging to the area representing the sky, thereby forming an updated set of feature points; determining a first motion trajectory of the vehicle based on the updated set of feature points; obtaining a second motion trajectory of the vehicle which is based on motion data obtained from other sensors of the vehicle; and calibrating the camera by adjusting the set of extrinsic parameters of the camera based on a difference between the first motion trajectory and the second motion trajectory.

Abstract: A method for calibrating a set of extrinsic parameters of a camera mounted on a vehicle is disclosed. The method includes: obtaining a sequence of images, wherein each image depicts a portion of a surrounding environment of the vehicle determining a set of feature points in the sequence of images; determining an area representing a sky in the sequence of images; removing a subset of feature points belonging to the area representing the sky, thereby forming an updated set of feature points; determining a first motion trajectory of the vehicle based on the updated set of feature points; obtaining a second motion trajectory of the vehicle which is based on motion data obtained from other sensors of the vehicle; and calibrating the camera by adjusting the set of extrinsic parameters of the camera based on a difference between the first motion trajectory and the second motion trajectory.

Abstract: The milking apparatus includes a cluster (4) connected to a retraction line (10), and a cylinder (11) having a piston (13) being movable between first and second end positions. The piston acts on the retraction line to move the cluster to a retracted rest position when moved to the second end position, and to permit the cluster to be moved to an active milking position when the piston is in the first end position. A switch device (30) may alternate between a first state and a second state. The retraction line permits the switch device to change from the first state to the second state when a movement of the cluster from the retracted rest position is initiated. The switch device initiates in the second state supply of a pressurized medium to the cylinder to force the piston to the first end position.

Abstract: The milking apparatus includes a cluster (4) connected to a retraction line (10), and a cylinder (11) having a piston (13) being movable between first and second end positions. The piston acts on the retraction line to move the cluster to a retracted rest position when moved to the second end position, and to permit the cluster to be moved to an active milking position when the piston is in the first end position. A switch device (30) may alternate between a first state and a second state. The retraction line permits the switch device to change from the first state to the second state when a movement of the cluster from the retracted rest position is initiated. The switch device initiates in the second state supply of a pressurized medium to the cylinder to force the piston to the first end position.

Abstract: A cartridge and a teatcup to be attached to the teat of an animal to be milked are disclosed. The cartridge includes an elongated sleeve, having an upper end section and a lower end section, and a teatcup liner pre-mounted in the elongated sleeve. The teatcup liner includes an upper end portion located at the upper end section, a lower end portion located at the lower end section, and a barrel portion extending between the upper and lower end portions. The barrel portion has a polygonal cross-sectional shape defining a plurality of corner portions and a plurality of side portions. The elongated sleeve includes a primary locking member. The teatcup liner includes a primary complementary locking member. The two locking members engage each other to prevent rotation of the teatcup liner in relation to the elongated sleeve.

Abstract: A teatcup and a cartridge insertable into a connector of the teatcup to be attached to the teat of an animal to be milked are disclosed. The cartridge includes an elongated sleeve, having an upper end section and a lower end section, and a teatcup liner pre-mounted in the elongated sleeve. The teatcup liner includes an upper end portion located at the upper end section, a lower end portion located at the lower end section, and a barrel portion extending between the upper end portion and the lower end portion. The elongated sleeve includes three separate primary hook members provided circumferentially after each other on an outer surface of the elongated sleeve. Each primary hook member has a lower slide surface sloping upwardly and outwardly, and an upper hook surface extending inwardly.

Abstract: A teatcup and a cartridge insertable into a connector of the teatcup to be attached to the teat of an animal to be milked are disclosed. The cartridge includes an elongated sleeve, having an upper end section and a lower end section, and a teatcup liner pre-mounted in the elongated sleeve. The teatcup liner includes an upper end portion located at the upper end section, a lower end portion located at the lower end section, and a barrel portion extending between the upper end portion and the lower end portion. The elongated sleeve includes three separate primary hook members provided circumferentially after each other on an outer surface of the elongated sleeve. Each primary hook member has a lower slide surface sloping upwardly and outwardly, and an upper hook surface extending inwardly.

Abstract: A cartridge and a teatcup to be attached to the teat of an animal to be milked are disclosed. The cartridge includes an elongated sleeve, having an upper end section and a lower end section, and a teatcup liner pre-mounted in the elongated sleeve. The teatcup liner includes an upper end portion located at the upper end section, a lower end portion located at the lower end section, and a barrel portion extending between the upper and lower end portions. The barrel portion has a polygonal cross-sectional shape defining a plurality of corner portions and a plurality of side portions. The elongated sleeve includes a primary locking member. The teatcup liner includes a primary complementary locking member. The two locking members engage each other to prevent rotation of the teatcup liner in relation to the elongated sleeve.