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公开(公告)号：EP2838348B1
公开(公告)日：2018-07-25
申请号：EP12719229.2
申请日：2012-04-27
发明人： HOFMAN, Henk , DE RUIJTER, Cor , KOEKOEK, Menno , STEINGRABER, Gary, C. , VAN DER SLUIS, Peter, Willem
CPC分类号： A01J7/04 , A01J5/0175
摘要： In certain embodiments, a system includes a first robotic device positioned proximate to a first milking stall of a rotary milking platform. The rotary milking platform has a plurality of milking stalls. The first robotic device is operable to prepare the teats of a first dairy livestock located in the first milking stall. The system also includes a second robotic device positioned proximate to a second milking stall of the rotary milking platform. The second robotic device is operable to attach a first milking device to the teats of a second dairy livestock located in the second milking stall. The system also includes a third robotic device proximate to a third milking stall of the rotary milking platform. The third robotic device is operable to attach a second milking device to the teats of a third dairy livestock located in the third milking stall. The system also includes a fourth robotic device positioned proximate to a fourth milking stall of the rotary milking platform. The fourth robotic device is operable to apply a sanitizing agent to the teats of a fourth dairy livestock located in the fourth milking stall subsequent to a removal of a third milking device from the teats of the fourth dairy livestock.
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公开(公告)号：EP3340783A1
公开(公告)日：2018-07-04
申请号：EP16762891.6
申请日：2016-07-19
申请人： Lely Patent N.V.
摘要： A system for milking a group of animals, in particular cows, comprises an accommodation space for the animals, and several fixed milking stations. The milking stations each comprise an opening for entry of the animal from the accommodation space. The system comprises an automatic milking system for automatic milking of animals in the milking stations. The milking system is configured to automatically milk the animal based on the milking animal fulfilling a predefined milking criterion. The system comprises no expulsion means and/or attraction means which can be activated by a control unit to give stimulus for the animal to leave said milking station. The system is also configured to allow animals to enter the milking stations irrespective of whether said animals fulfil the milking criterion.
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203.发明公开
公开(公告)号：EP3328188A1
公开(公告)日：2018-06-06
申请号：EP16738791.9
申请日：2016-07-14
IPC分类号： A01J5/017
CPC分类号： A01J5/0175
摘要： The invention relates to a method for automatically placing teat cups (7) onto teats of a milk-producing animal, in particular a cow, comprising the following steps: – producing a two-dimensional image of teats of the animal, wherein distance information is present for at least a plurality of pixels of the two-dimensional image; – evaluating the two-dimensional image and the distance information and establishing at least one position of at least one of the teats in a predetermined coordinate system; – determining a further position of further one of the teats on the basis of the at least one previously ascertained position using the stored relative position information relating to a relative position of the teats of the animal in relation to one another; and – applying one of the teat cups (7) to the further teat using the further position. The invention further relates to a device for automatically placing teat cups (7) onto teats of a milk-producing animal, in particular a cow, comprising a present process controller configured to carry out such a method, said process controller evaluating the information from the sensor and actuating the placement device.
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公开(公告)号：EP2907377B1
公开(公告)日：2018-04-25
申请号：EP15157468.8
申请日：2012-04-26
IPC分类号： A01J5/017
CPC分类号： A01J5/0175 , G06T7/246 , G06T2207/10016 , G06T2207/10028 , G06T2207/30241
摘要： In an exemplary embodiment, a system includes a first camera, a second camera, and a processor wherein the second camera has a higher resolution than the first camera. The processor is communicatively coupled to the first camera and the second camera and is operable to determine a center coordinate of an udder of a dairy livestock based at least in part upon visual data captured by the first camera. The processor is also operable to determine a position of a teat of the dairy livestock based at least in part upon the center coordinate and visual data captured by the second camera.
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公开(公告)号：EP2473025B1
公开(公告)日：2018-04-18
申请号：EP10747701.0
申请日：2010-08-09
申请人： Lely Patent N.V.
摘要： The present invention provides a teat treatment device, as well as an automatic milking device, a method and a teat cup therefor. The present invention cleans or otherwise treats a teat by repeatedly placing a teat cup on the teat and removing it therefrom again, wherein the upper side thereof, in particular segments with projections on the inner side, around the teat-receiving opening scrub the teat clean under frictional contact. Nozzles which can spray a jet of liquid on, in particular, the projections in the inactive position, can assist this treatment.
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206.发明公开METHOD AND ARRANGEMENT FOR PERFORMING TEAT RELATED OPERATIONS IN A ROTARY MILKING SYSTEM AND ROTARY MILKING SYSTEM 有权在旋转式奶制系统和旋转式制奶系统中进行与制酸有关的操作的方法和装置
公开(公告)号：EP3182821A1
公开(公告)日：2017-06-28
申请号：EP15767605.7
申请日：2015-08-20
申请人： DeLaval Holding AB
发明人： NILSSON, Mats , HÄLLMAN, Jonas , PERSSON, Henrik , PALEY, Martin
CPC分类号： A01J5/0175 , A01J5/007 , A01J7/04 , A01K1/126
摘要： A method for performing teat related operations in a rotary milking system during an operation condition when a capacity required for performing the operations with respect to the teats of the milking animals is higher than a robot's capacity, includes estimating a required capacity for performing the operations; planning a semi-automated teat related operation procedure based on the robot's capacity and the estimated required capacity, according to which procedure a first fraction of the operations with respect to the teats of the milking animals should be performed automatically by the robot in a first zone, and a second fraction of the operations with respect to the teats of the milking animals should be performed manually in a second zone adjacent to the first zone; and performing the operations with respect to the teats of the milking animals according to the planned semi-automated teat related operation procedure.
摘要翻译： 提供了一种用于在旋转式挤奶系统（11）中执行奶头相关操作的方法，所述旋转式挤奶系统（11）包括旋转平台（13），布置在其上的多个挤奶隔间（13a），每个挤奶隔间设置有奶杯（15） 在挤奶期间容纳挤奶动物（17）; 以及至少一个机器人（19），其具有用于在第一区域（C1）内对存在于所述旋转挤奶系统的挤奶隔间中的挤奶动物的奶头执行操作的能力，所述旋转平台每旋转一周就通过所述旋转平台 在操作条件期间，当对旋转挤奶系统中被挤奶的挤奶动物的奶嘴执行操作所需的容量高于所述至少一个机器人的容量时的操作条件期间，平台旋转。 估计在旋转式挤奶系统中对挤奶动物的奶嘴进行挤奶操作所需的容量。 基于所述至少一个机器人的容量和所估计的所需容量计划半自动化奶嘴相关操作过程，根据哪个过程，应该执行关于挤奶动物的奶头的操作的第一部分， 由所述至少一个机器人自动地控制第一区域，并且相对于挤奶动物的奶头的第二部分操作应该在位于所述第一区域（C1）附近的第二区域（C2）中手动执行。 最后，根据计划的半自动化奶嘴相关操作程序对挤奶动物的奶嘴进行操作。
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207.发明公开ARRANGEMENT AND METHOD FOR DETERMINING POSITIONS OF THE TEATS OF A MILKING ANIMAL 审中-公开ANORDNUNG UND VERFAHREN ZUR BESTIMMUNG VON POSITIONEN DER ZITZEN EINES MELKTIERES
公开(公告)号：EP2244556A4
公开(公告)日：2017-06-28
申请号：EP09704002
申请日：2009-01-16
申请人： DELAVAL HOLDING AB
发明人： AXELSSON THOMAS , HOLMGREN HANS , LIAO BOHAO
摘要： An arrangement, which is provided for determining the position of an animal, comprises a three-dimensional camera directed towards the animal and provided to record a three-dimensional image of the animal, and image processing means is provided for detecting the animal and determining its position in at least one spatial dimension based on the three-dimensional image of the animal. The image processing means may form a three-dimensional surface representation of a portion of the animal from the three-dimensional image of the animal, analyze the surface of the three-dimensional surface representation, and determine the position of the animal based on the analysis of the surface of the three-dimensional surface representation.
摘要翻译： 提供用于确定动物位置的装置包括指向动物并提供用于记录动物的三维图像的三维照相机，并且提供图像处理装置用于检测动物并确定其动物 基于动物的三维图像在至少一个空间维度中定位。 图像处理装置可以根据动物的三维图像形成动物的一部分的三维表面表示，分析三维表面表示的表面，并基于分析确定动物的位置 的三维表面表示的表面。
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208.发明公开ARRANGEMENT AND METHOD FOR DETERMINING THE POSITION OF AN ANIMAL 审中-公开ANORDNUNG UND VERFAHREN ZUR BESTIMMUNG DER POSITION EINES TIERES
公开(公告)号：EP2244555A4
公开(公告)日：2017-05-10
申请号：EP09703583
申请日：2009-01-16
申请人： DELAVAL HOLDING AB
发明人： LIAO BOHAO , XIANG FULIN
摘要： An arrangement, which is provided for determining the position of an animal, comprises a three-dimensional camera directed towards the animal and provided to record a three-dimensional image of the animal, and image processing means is provided for detecting the animal and determining its position in at least one spatial dimension based on the three-dimensional image of the animal. The image processing means may form a three-dimensional surface representation of a portion of the animal from the three-dimensional image of the animal, analyze the surface of the three-dimensional surface representation, and determine the position of the animal based on the analysis of the surface of the three-dimensional surface representation.
摘要翻译： 提供用于确定动物位置的装置包括指向动物并提供用于记录动物的三维图像的三维照相机，并且提供图像处理装置用于检测动物并确定其动物 基于动物的三维图像在至少一个空间维度中定位。 图像处理装置可以根据动物的三维图像形成动物的一部分的三维表面表示，分析三维表面表示的表面，并基于分析确定动物的位置 的三维表面表示的表面。
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公开(公告)号：EP2701494B1
公开(公告)日：2017-03-29
申请号：EP12719210.2
申请日：2012-04-26
CPC分类号： A01J5/0175 , A01J7/02
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公开(公告)号：EP2953448B1
公开(公告)日：2017-03-22
申请号：EP14706136.0
申请日：2014-02-05
申请人： DeLaval Holding AB
CPC分类号： A01J7/04 , A01J5/0175
摘要： An automatic teat treatment method and apparatus uses a control system and an associated robot apparatus with an arm that carries a treatment apparatus, to establish a treatment operation start time and establish the presence of an animal at a treatment location, and then (i) initiate detection of a spatial teat position of a first teat, (ii) register the spatial position, (iii) derive a dedicated teat-treating action, (iv) carry out the teat-treating action, and (v) successively repeat the initiating, registering, deriving, and treating steps once in respect of each teat until all teats are treated, where, when after the start time, a predefined point in time is passed before any of the preceding steps is completed, the method is interrupted and a default treating action for treating all remaining untreated teats is derived and carried out by the treatment apparatus and thereafter the robot arm is retracted.
摘要翻译： 一种自动奶嘴处理方法和设备使用带有臂的控制系统和相关的机器人设备，该臂携带处理设备，建立处理操作开始时间并在处理位置建立动物的存在，然后（i）启动 （ii）注册空间位置，（iii）导出专用的奶头处理动作，（iv）执行奶头处理动作，以及（v）连续地重复初始的奶头位置， 注册，导出和处理关于每个奶嘴一次的步骤，直到对所有奶嘴进行处理，其中，在开始时间之后，在任何前述步骤完成之前通过预定时间点，则该方法被中断，并且默认 处理所有其余的未经处理的奶头的治疗动作由治疗设备导出和执行，此后机器人手臂缩回。
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