公开(公告)号：US20180049391A1

公开(公告)日：2018-02-22

申请号：US15282479

申请日：2016-09-30

Applicant: Technologies Holdings Corp.

Inventor： Mark A. Foresman ,  Peter Willem van der Sluis ,  Robert J. Godfrey

IPC: A01J5/007 ,  A01J5/017 ,  A01J7/00 ,  G06T7/00 ,  B25J9/16

CPC classification number: A01J5/007 ,  A01J5/0175 ,  A01J7/00 ,  B25J9/1697 ,  G05B2219/45113 ,  G06T7/004 ,  G06T7/70 ,  G06T2207/10028

Abstract: A system includes a robotic arm, an imaging device coupled to the robotic arm, a tail positioner coupled to the robotic arm, and a processor. The imaging device captures imaging data of a rearview of a dairy livestock through a field of view of the imaging device. The tail positioner is able to move from a down position to an up position. The processor is coupled to both the imaging device and the tail positioner and is configured to identify a tail of the dairy livestock within the imaging data captured by the imaging device and send one or more instructions to raise the tail positioner from the down position to the up position, thereby moving the tail out of the field of view of the imaging device.

公开(公告)号：US20170295744A1

公开(公告)日：2017-10-19

申请号：US15638497

申请日：2017-06-30

Applicant: TECHNOLOGIES HOLDINGS CORP

Inventor： Henk Hofman ,  Cor De Ruijter ,  Menno Koekoek ,  Peter Willem van der Sluis

IPC: A01J5/017 ,  A01J7/00 ,  A01J5/007 ,  A01K1/12 ,  A01K13/00 ,  G05B15/02 ,  A01J7/02

CPC classification number: A01J5/0175 ,  A01J5/007 ,  A01J7/00 ,  A01J7/025 ,  A01K1/12 ,  A01K13/003 ,  G05B15/02 ,  G05B2219/2661 ,  G05B2219/45113 ,  Y10S901/02 ,  Y10S901/40 ,  Y10S901/47

Abstract: A robotic attacher retrieves first and second cups from the right side of an equipment area located behind a dairy livestock and attaches the cups to the teats of the dairy livestock in sequence. The sequence comprises attaching the first cup to the right front teat and a second cup to the left front teat of the dairy livestock. The robotic attacher retrieves third and fourth cups from the right side of the equipment area and attaches the cups to the teats of the dairy livestock in sequence. The sequence comprises attaching the third cup to the right rear teat and the fourth cup to the left rear teat.

公开(公告)号：US20170245456A1

公开(公告)日：2017-08-31

申请号：US15597373

申请日：2017-05-17

Applicant: TECHNOLOGIES HOLDINGS CORP.

Inventor： Henk Hofman ,  Peter Willem van der Sluis ,  Ype Groensma

IPC: A01J7/04 ,  A01K13/00 ,  A01K29/00 ,  A01K1/12 ,  G06T7/00 ,  B25J11/00 ,  A01J5/003 ,  A01J5/007 ,  A01J5/017 ,  G06T1/00 ,  A01J7/00 ,  G06T7/73 ,  G06T7/13 ,  H04N7/18 ,  B25J9/00 ,  B25J9/16

CPC classification number: A01J7/04 ,  A01J5/003 ,  A01J5/007 ,  A01J5/0175 ,  A01J7/00 ,  A01K1/126 ,  A01K13/001 ,  A01K29/00 ,  B25J9/0027 ,  B25J9/0093 ,  B25J9/0096 ,  B25J9/1679 ,  B25J9/1684 ,  B25J9/1697 ,  B25J11/0045 ,  G05B19/042 ,  G05B2219/2661 ,  G05B2219/45113 ,  G06T1/0014 ,  G06T7/0004 ,  G06T7/13 ,  G06T7/73 ,  G06T7/74 ,  G06T2200/04 ,  G06T2207/10004 ,  G06T2207/10021 ,  G06T2207/10028 ,  H04N7/183 ,  Y10S901/02 ,  Y10S901/06 ,  Y10S901/07 ,  Y10S901/09 ,  Y10S901/41 ,  Y10S901/43 ,  Y10S901/47

Abstract: A system includes a controller and a robotic arm. The controller accesses an image signal of an udder of a dairy livestock, and determines a spray position by processing the accessed image signal to determine a tangent at the rear of the udder and a tangent at the bottom of the udder. The spray position is a position relative to the intersection of the two tangents. A robotic arm communicatively coupled to the controller positions a spray tool at the spray position.

公开(公告)号：US09686959B2

公开(公告)日：2017-06-27

申请号：US15135608

申请日：2016-04-22

Applicant: TECHNOLOGIES HOLDINGS CORP.

Inventor： Henk Hofman ,  Peter Willem van der Sluis ,  Ype Groensma

IPC: A01J5/00 ,  A01J5/017 ,  A01J5/003 ,  A01K1/00 ,  A01K1/12 ,  A01J7/04 ,  A01J5/007 ,  A01J7/00 ,  B25J13/08 ,  B25J19/02 ,  A01J9/00 ,  A01J7/02 ,  A01K5/02 ,  H04N5/247 ,  A01J5/06 ,  A01J5/013 ,  A01K5/00 ,  A01K11/00 ,  G06K9/00 ,  H04N13/02 ,  G06T7/70 ,  A01J5/01 ,  G06T1/00

CPC classification number: A01J5/00 ,  A01J5/003 ,  A01J5/007 ,  A01J5/01 ,  A01J5/013 ,  A01J5/017 ,  A01J5/0175 ,  A01J5/04 ,  A01J5/06 ,  A01J7/00 ,  A01J7/025 ,  A01J7/04 ,  A01J9/00 ,  A01K1/0023 ,  A01K1/0029 ,  A01K1/12 ,  A01K5/00 ,  A01K5/02 ,  A01K11/006 ,  B25J13/08 ,  B25J19/023 ,  G05B2219/45113 ,  G06K9/00362 ,  G06T1/0014 ,  G06T7/70 ,  H04N5/247 ,  H04N13/204 ,  Y10S901/02 ,  Y10S901/47

Abstract: A system includes a milking stall to accommodate a dairy livestock and a robotic attacher. The robotic attacher extends under the dairy livestock and comprises a nozzle. The robotic attacher is operable to rotate such that, during a first operation, the nozzle is positioned generally on the bottom of the robotic attacher, and during a second operation, the nozzle is positioned generally on the top of the robotic attacher.

公开(公告)号：US09648843B2

公开(公告)日：2017-05-16

申请号：US15381403

申请日：2016-12-16

Applicant: Technologies Holdings Corp.

Inventor： Henk Hofman ,  Peter Willem van der Sluis ,  Ype Groensma

IPC: A01J7/04 ,  B25J9/16 ,  B25J9/00 ,  A01J5/003 ,  A01J5/007 ,  A01J5/017 ,  A01K1/12 ,  A01K13/00 ,  G06T1/00 ,  G06T7/73

CPC classification number: A01J7/04 ,  A01J5/003 ,  A01J5/007 ,  A01J5/0175 ,  A01J7/00 ,  A01K1/126 ,  A01K13/001 ,  A01K29/00 ,  B25J9/0027 ,  B25J9/0093 ,  B25J9/0096 ,  B25J9/1679 ,  B25J9/1684 ,  B25J9/1697 ,  B25J11/0045 ,  G05B19/042 ,  G05B2219/2661 ,  G05B2219/45113 ,  G06T1/0014 ,  G06T7/0004 ,  G06T7/13 ,  G06T7/73 ,  G06T7/74 ,  G06T2200/04 ,  G06T2207/10004 ,  G06T2207/10021 ,  G06T2207/10028 ,  H04N7/183 ,  Y10S901/02 ,  Y10S901/06 ,  Y10S901/07 ,  Y10S901/09 ,  Y10S901/41 ,  Y10S901/43 ,  Y10S901/47

Abstract: A method for operating a robotic arm, comprises determining a speed of rotation of a rotary milking platform, the rotary milking platform having a stall for a dairy livestock. The method continues by moving a carriage along a track positioned adjacent to the rotary milking platform at a rate that is based at least in part upon the determined speed of rotation of the rotary milking platform, wherein the carriage moves independently of the rotary milking platform and in a direction corresponding to a direction of rotation of the rotary milking platform. The method continues by extending a robotic arm that is coupled to the carriage between the legs of the dairy livestock, wherein the robotic arm remains extended between the legs of the dairy livestock for a period of time as the stall rotates adjacent to the robotic arm. The method concludes by retracting the robotic arm from between the legs of the dairy livestock as the stall rotates adjacent to the robotic arm.

公开(公告)号：US20170094935A1

公开(公告)日：2017-04-06

申请号：US15381403

申请日：2016-12-16

Applicant: Technologies Holdings Corp.

Inventor： Henk Hofman ,  Peter Willem Van der Sluis ,  Ype Groensma

IPC: A01J7/04 ,  B25J9/00 ,  A01K13/00 ,  A01J5/007 ,  A01J5/017 ,  A01K1/12 ,  B25J9/16 ,  A01J5/003

CPC classification number: A01J7/04 ,  A01J5/003 ,  A01J5/007 ,  A01J5/0175 ,  A01J7/00 ,  A01K1/126 ,  A01K13/001 ,  A01K29/00 ,  B25J9/0027 ,  B25J9/0093 ,  B25J9/0096 ,  B25J9/1679 ,  B25J9/1684 ,  B25J9/1697 ,  B25J11/0045 ,  G05B19/042 ,  G05B2219/2661 ,  G05B2219/45113 ,  G06T1/0014 ,  G06T7/0004 ,  G06T7/13 ,  G06T7/73 ,  G06T7/74 ,  G06T2200/04 ,  G06T2207/10004 ,  G06T2207/10021 ,  G06T2207/10028 ,  H04N7/183 ,  Y10S901/02 ,  Y10S901/06 ,  Y10S901/07 ,  Y10S901/09 ,  Y10S901/41 ,  Y10S901/43 ,  Y10S901/47

Abstract: A method for operating a robotic arm, comprises determining a speed of rotation of a rotary milking platform, the rotary milking platform having a stall for a dairy livestock. The method continues by moving a carriage along a track positioned adjacent to the rotary milking platform at a rate that is based at least in part upon the determined speed of rotation of the rotary milking platform, wherein the carriage moves independently of the rotary milking platform and in a direction corresponding to a direction of rotation of the rotary milking platform. The method continues by extending a robotic arm that is coupled to the carriage between the legs of the dairy livestock, wherein the robotic arm remains extended between the legs of the dairy livestock for a period of time as the stall rotates adjacent to the robotic arm. The method concludes by retracting the robotic arm from between the legs of the dairy livestock as the stall rotates adjacent to the robotic arm.

公开(公告)号：US09560831B2

公开(公告)日：2017-02-07

申请号：US14642126

申请日：2015-03-09

Applicant: LELY PATENT N.V.

Inventor： Gerard Mostert

IPC: A01J7/02 ,  F16K49/00 ,  A01J5/04 ,  F16L11/12 ,  F16L11/22 ,  A01J5/00 ,  A01J7/00 ,  A01J11/00 ,  F16L9/18

CPC classification number: A01J7/02 ,  A01J5/00 ,  A01J5/044 ,  A01J7/00 ,  A01J7/022 ,  A01J11/00 ,  F16L9/18 ,  F16L11/12 ,  F16L11/22 ,  Y10T137/0318 ,  Y10T137/0419 ,  Y10T137/4259 ,  Y10T137/6416 ,  Y10T137/6579

Abstract: The invention relates to a conduit for transferring milk. The conduit is provided with at least one flexible wall, which divides the conduit into at least one milk duct and at least one secondary duct. The milk duct and the at least one secondary duct extend along a longitudinal axis of the conduit, it being possible for the at least one milk duct to be substantially emptied by pressing through filling the at least one secondary duct.

Abstract translation: 本发明涉及一种用于转移牛奶的导管。 导管设置有至少一个柔性壁，其将导管分成至少一个乳管和至少一个次管。 所述牛奶管道和所述至少一个次级管道沿着所述导管的纵向轴线延伸，所述至少一个乳管道可以通过对所述至少一个次管道进行挤压而被基本上排空。

公开(公告)号：US09549530B2

公开(公告)日：2017-01-24

申请号：US13578089

申请日：2011-02-09

Applicant: Edmond Patrick Harty, Sr. ,  Edmond Patrick Harty, Jr. ,  John Harty

Inventor： Edmond Patrick Harty, Sr. ,  Edmond Patrick Harty, Jr. ,  John Harty

IPC: A01J7/00 ,  A01J5/017 ,  A01J7/02 ,  A01J7/04 ,  A01K1/12 ,  A01J5/003

CPC classification number: A01J5/0175 ,  A01J5/003 ,  A01J7/00 ,  A01J7/025 ,  A01J7/04 ,  A01K1/126

Abstract: A rotary milking platform (1) comprises a plurality of apparatus, each of which comprises a platform (11) which forms a segment of the rotary platform (1). The platforms (11) define respective animal accommodating locations (3) for animals to be milked. A communicating opening (20) in each platform (11) is closed by a pair of closure plates (25) which are pivotal upwardly into an open state for separating the hind legs of an animal. A carriage (14) which is slideably carried beneath the platform (11) of each apparatus (10) in the directions of the arrows A and B. A teat cup carrier (15) is pivotally mounted in the carriage (14) of each apparatus (10) and is pivotal from a first state with teat cups (16) in the carrier (15) in a protective state extending horizontally and a second state with the teat cups (16) in a ready state extending vertically upwardly and ready for manual placement onto the teats of an animal. The carriage (14) is urgeable into a first position with the teat cup carrier (15) in the first state and with the teat cups (16) sealably engaged in plug elements (45) which include jetters (47) for use in rinsing and washing the milking system. The carriage (14) is moveable from the first position to a second position with the teat cup carrier (15) substantially aligned with the udder of an animal so that when the teat cup carrier (15) is urged into the second state, the teat cups (16) can be manually urged upwardly by hand and attached to the teat of the animal.

Abstract translation: 旋转挤奶平台（1）包括多个装置，每个装置包括形成旋转平台（1）的一段的平台（11）。 平台（11）限定用于要挤奶的动物的相应动物容纳位置（3）。 每个平台（11）中的连通开口（20）由一对闭合板（25）封闭，所述一对封闭板（25）向上枢转成打开状态以分离动物的后腿。 一个托架（14），其可沿着箭头A和B的方向可滑动地承载在每个装置（10）的平台（11）的下面。奶杯托架（15）可枢转地安装在每个装置的托架（14）中 （10），并且以处于水平延伸的保护状态的托架（15）中的奶杯（16）从第一状态枢转，并且第二状态与奶杯（16）处于准备状态，垂直向上延伸并准备手动 放置在动物的乳头上。 托架（14）可以推动到第一位置，奶杯杯架（15）处于第一状态，并且奶杯（16）可密封地接合在包括用于冲洗的喷射器（47）的插塞元件（45）中，并且 清洗挤奶系统。 托架（14）可以从第一位置移动到第二位置，奶杯杯架（15）基本上与动物的乳房对齐，使得当奶杯杯架（15）被推入第二状态时，奶头 杯子（16）可以手动地向上推动并附着在动物的乳头上。

公开(公告)号：US20160374305A1

公开(公告)日：2016-12-29

申请号：US15257998

申请日：2016-09-07

Applicant: TECHNOLOGIES HOLDINGS CORP.

Inventor： Henk Hofman ,  Peter Willem van der Sluis ,  Ype Groensma

IPC: A01J7/04 ,  A01J5/017 ,  A01J7/00 ,  A01J5/007 ,  A01K13/00 ,  A01K1/12

CPC classification number: A01J7/04 ,  A01J5/003 ,  A01J5/007 ,  A01J5/0175 ,  A01J7/00 ,  A01K1/126 ,  A01K13/001 ,  A01K29/00 ,  B25J9/0027 ,  B25J9/0093 ,  B25J9/0096 ,  B25J9/1679 ,  B25J9/1684 ,  B25J9/1697 ,  B25J11/0045 ,  G05B19/042 ,  G05B2219/2661 ,  G05B2219/45113 ,  G06T1/0014 ,  G06T7/0004 ,  G06T7/13 ,  G06T7/73 ,  G06T7/74 ,  G06T2200/04 ,  G06T2207/10004 ,  G06T2207/10021 ,  G06T2207/10028 ,  H04N7/183 ,  Y10S901/02 ,  Y10S901/06 ,  Y10S901/07 ,  Y10S901/09 ,  Y10S901/41 ,  Y10S901/43 ,  Y10S901/47

Abstract: A system for operating a robotic arm comprises a carriage and a robotic arm. The carriage is mounted on a track adjacent to a rotary milking platform having a substantially circular perimeter and a stall for a dairy livestock. The carriage moves along a substantially straight portion of the track tangent to and outside the perimeter of the rotary milking platform at a rate based at least in part upon a speed of rotation of the rotary milking platform. The carriage moves in a direction corresponding to the direction of rotation of the rotary milking platform and such movement of the carriage is independent of any physical coupling between the carriage and the rotary milking platform. The robotic arm extends between the legs of the dairy livestock.

Abstract translation: 用于操作机器人臂的系统包括滑架和机器臂。 托架安装在与具有基本上圆形周边的旋转挤奶平台相邻的轨道上，并且用于奶制牲畜的档位。 滑架沿着至少部分地基于旋转挤奶平台的旋转速度的速度沿着轨道的基本上直的部分切线到旋转挤奶平台的周边和外侧。 滑架在与旋转挤奶平台的旋转方向相对应的方向上移动，并且滑架的这种移动与托架和旋转挤奶平台之间的任何物理联接无关。 机器手臂在奶牛家畜的腿之间延伸。

公开(公告)号：US20160360722A1

公开(公告)日：2016-12-15

申请号：US15245254

申请日：2016-08-24

Applicant: TECHNOLOGIES HOLDINGS CORP

Inventor： Henk Hofman ,  Cor de Ruijter ,  Menno Koekoek ,  Peter Willem van der Sluis

IPC: A01J5/007 ,  A01J7/02 ,  A01J7/00 ,  A01K1/12 ,  A01J5/017

CPC classification number: A01J5/0175 ,  A01J5/007 ,  A01J7/00 ,  A01J7/025 ,  A01K1/12 ,  A01K13/003 ,  G05B15/02 ,  G05B2219/2661 ,  G05B2219/45113 ,  Y10S901/02 ,  Y10S901/40 ,  Y10S901/47

Abstract: A robotic attacher retrieves a preparation cup from an equipment area of a milking box located behind a dairy livestock. The robotic attacher attaches and detaches the preparation cup to the teats of the dairy livestock in sequence. The sequence comprises attaching and detaching the preparation cup to the right front teat, the left front teat, the left rear teat, and the right rear teat.

Abstract translation: 机器人服务员从位于奶牛家畜后面的挤奶箱的设备区域取出准备杯。 机器人服务员将准备杯依次附加到乳制品牲畜的奶嘴上。 序列包括将准备杯连接到右前乳头，左前乳头，左后乳头和右后乳头。