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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
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。
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102.发明授权Vision system for facilitating the automated application of disinfectant to the teats of dairy livestock 有权视觉系统，用于促进消毒剂自动应用于乳制品牲畜的奶嘴公开(公告)号：US09516854B2
公开(公告)日：2016-12-13
申请号：US14169677
申请日：2014-01-31
Applicant: Technologies Holdings Corp.
Inventor： Henk Hofman , Peter Willem van der Sluis , Ype Groensma
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 determining a spray position for a spray tool includes accessing an image signal generated by a camera, the image signal corresponding to at least an udder of a dairy livestock. The method further includes processing the accessed image signal to determine a tangent to the rear and a tangent to the bottom of the udder of the dairy livestock. The method concludes by determining a spray position from which a spray tool may apply disinfectant to the teats of the dairy livestock, wherein the spray position is a position relative to the intersection of the two tangents.
Abstract translation: 一种用于确定喷雾工具的喷射位置的方法包括：访问由照相机产生的图像信号，所述图像信号对应于乳品牲畜的至少一个乳房。 该方法还包括处理所访问的图像信号以确定后方的切线和乳品牲畜的乳房底部的切线。 该方法通过确定喷雾位置来确定喷雾位置，该喷雾工具可以将消毒剂施加到乳制牲畜的乳头，其中喷雾位置是相对于两个切线的交点的位置。
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103.发明申请公开(公告)号：US20160353700A1
公开(公告)日：2016-12-08
申请号：US15240289
申请日：2016-08-18
Applicant: TECHNOLOGIES HOLDINGS CORP.
Inventor： Henk Hofman , Cor de Ruijter , Menno Koekoek , Peter Willem van der Sluis
Abstract: A system includes a linear carriage track positioned adjacent to a rotary milking platform, a robot carriage positioned on the carriage track such that the robot carriage may move along the carriage track from a first linear position to a second linear position, and a controller. The controller determines a movement of a milking stall of the rotary milking platform from a first rotational position to a second rotational position. The controller further determines the second linear position of the robot carriage on the carriage track corresponding to the movement of the milking stall of the rotary milking platform. The controller also communicates a position signal to a carriage actuator coupled to the robot carriage and the carriage track. The position signal causes the carriage actuator to move the robot carriage along the carriage track from the first linear position to the second linear position in conjunction with the movement of the rotary milking platform.
Abstract translation: 系统包括邻近旋转挤奶平台定位的线性滑架轨道，位于滑架轨道上的机器人滑架，使得机器人滑架可沿着滑架轨道从第一线性位置移动到第二线性位置，以及控制器。 控制器确定旋转挤奶平台的挤奶失速从第一旋转位置移动到第二旋转位置。 所述控制器进一步确定所述滑架轨道上的所述机器人滑架对应于所述旋转挤奶平台的挤奶档的运动的第二线性位置。 控制器还将位置信号传递给耦合到机器人托架和托架轨道的托架致动器。 位置信号使托架致动器结合旋转挤奶平台的运动，将托架履带沿托架轨道从第一直线位置移动到第二直线位置。
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104.发明授权Vision system for facilitating the automated application of disinfectant to the teats of dairy livestock 有权视觉系统，用于促进消毒剂自动应用于乳制品牲畜的奶嘴公开(公告)号：US09480238B2
公开(公告)日：2016-11-01
申请号：US14182162
申请日：2014-02-17
Applicant: TECHNOLOGIES HOLDINGS CORP.
Inventor： Henk Hofman , Peter Willem van der Sluis , Ype Groensma
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 comprises determining a tangent to the rear of an udder of a dairy livestock, and determining a tangent to the bottom of the udder of the dairy livestock. The method continues by determining a position relative to the intersection of the two tangents, and extending a robot arm to the determined position.
Abstract translation: 一种方法包括确定乳品牲畜的乳房的后方的切线，以及确定乳品牲畜乳房底部的切线。 该方法通过确定相对于两个切线的交点的位置来继续，并且将机器人臂延伸到确定的位置。
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105.发明授权公开(公告)号：US09439392B2
公开(公告)日：2016-09-13
申请号：US14329655
申请日：2014-07-11
Applicant: TECHNOLOGIES HOLDINGS CORP.
Inventor： Henk Hofman , Peter Willem van der Sluis , Ype Groensma
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 controller and a robotic arm. The controller receives an indication that a stall of a rotary milking platform in which a dairy livestock is located has moved into an area adjacent a robotic arm that is detached from the rotary milking platform. The controller also determines whether a milking cluster is attached to the dairy livestock. The robotic arm is communicatively coupled to the controller and extends between the legs of the dairy livestock if the controller determines that the milking cluster is not attached to the dairy livestock. The robotic arm does not extend between the legs of the dairy livestock if the controller determines that the milking cluster is attached to the dairy livestock.
Abstract translation: 用于操作机器人手臂的系统包括控制器和机器臂。 控制器接收指示，其中奶牛家畜所在的旋转挤奶平台的失速已经移动到与旋转挤奶平台分离的机器人手臂附近的区域中。 控制器还确定挤奶集群是否连接到奶牛家畜。 如果控制器确定挤奶组不连接到奶牛家畜，则机器人手臂通信地耦合到控制器并且在奶牛家畜的腿之间延伸。 如果控制器确定挤奶集群连接到奶牛家畜，则机器臂不会延伸到奶牛家畜的腿部之间。
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Patent Agency Ranking
106.发明授权公开(公告)号：US09433184B2
公开(公告)日：2016-09-06
申请号：US14260585
申请日：2014-04-24
Applicant: Technologies Holdings Corp.
Inventor： Henk Hofman , Peter Willem van der Sluis , Ype Groensma
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 applying disinfectant to the teats of a dairy livestock, comprises receiving a trigger signal indicating that a stall of a rotary milking platform housing a dairy livestock is located adjacent to a track, the track having a carriage carrying a robotic arm mounted thereto. The method continues by communicating a first signal to a first actuator coupled to the track and the carriage, the first signal causing operation of the first actuator such that the carriage moves along the track in relation to the rotary milking platform. The method concludes by communicating one or more additional signals to one or more actuators of the robotic arm, the one or more additional signals causing operation of the one or more actuators of the robotic arm such that at least a portion of the robotic arm extends between the hind legs of a dairy livestock.
Abstract translation: 一种将消毒剂施加到奶牛家畜的乳头的方法，包括接收一个触发信号，指示容纳奶牛类牲畜的旋转式挤奶平台的失速位于轨道附近，该轨道具有一个带有安装在其上的机器手臂的托架。 该方法继续通过将第一信号传递到耦合到轨道和托架的第一致动器，第一信号引起第一致动器的操作，使得滑架相对于旋转挤奶平台沿着轨道移动。 该方法的结论是将一个或多个附加信号传递到机器人臂的一个或多个致动器，所述一个或多个附加信号引起机器人臂的一个或多个致动器的操作，使得机器人手臂的至少一部分在 奶牛家畜的后腿。
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公开(公告)号：US20160235030A1
公开(公告)日：2016-08-18
申请号：US15135608
申请日：2016-04-22
Applicant: TECHNOLOGIES HOLDINGS CORP.
Inventor： Henk Hofman , Peter Willem van der Sluis , Ype Groensma
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.
Abstract translation: 一个系统包括一个挤奶摊位，以容纳一个奶牛家畜和一个机器人护理员。 机器人护理员在奶牛家畜身下延伸，并包括喷嘴。 机器人附件可操作以旋转，使得在第一操作期间，喷嘴通常定位在机器人附件的底部上，并且在第二操作期间，喷嘴通常定位在机器人附件的顶部。
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公开(公告)号：US20160235027A1
公开(公告)日：2016-08-18
申请号：US15135695
申请日：2016-04-22
Applicant: TECHNOLOGIES HOLDINGS CORP.
Inventor： Henk Hofman , Peter Willem van der Sluis , Ype Groensma
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 method comprises extending a robotic attacher under a dairy livestock positioned in a milking stall, wherein the robotic attacher comprises a nozzle that is positioned generally on the bottom of the robotic attacher during a first operation. The method further comprises rotating the robotic attacher during a second operation such that the nozzle is positioned generally on the top of the robotic attacher.
Abstract translation: 一种方法包括将机器人接头延伸到位于挤奶摊位内的奶牛家畜下，其中机器人接头包括在第一操作期间通常定位在机器人附件的底部上的喷嘴。 该方法还包括在第二操作期间旋转机器人附件，使得喷嘴通常位于机器人附件的顶部。
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109.发明授权Milking box with robotic attacher, vision system, and vision system cleaning device 有权具有机器人护理者，视力系统和视觉系统清洁装置的挤奶箱公开(公告)号：US09374976B2
公开(公告)日：2016-06-28
申请号：US14940851
申请日：2015-11-13
Applicant: TECHNOLOGIES HOLDINGS CORP.
Inventor： Henk Hofman , Cor de Ruijter , Menno Koekoek , Peter Willem van der Sluis
CPC classification number: A01J5/007 , A01J5/00 , A01J5/0175 , A01J7/02 , A01K1/12 , B25J19/023 , H04N5/2252 , H04N5/2253 , H04N13/204 , H04N13/239
Abstract: A system includes a robotic attacher comprising a main arm and a supplemental arm operable to extend into a stall portion of a milking box. A camera couples to the supplemental arm. The supplemental arm comprises a camera-facing nozzle operable to spray the camera with a cleanser.
Abstract translation: 一种系统包括机器人护理器，其包括主臂和可操作以延伸到挤奶箱的失速部分中的辅助臂。 相机与辅助臂相连。 补充臂包括可操作以用清洁剂喷洒相机的照相机面向喷嘴。
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110.发明申请公开(公告)号：US20160037747A1
公开(公告)日：2016-02-11
申请号：US14922725
申请日：2015-10-26
Applicant: TECHNOLOGIES HOLDINGS CORP.
Inventor： Henk Hofman , Cor de Ruijter , Menno Koekoek , Peter Willem van der Sluis
Abstract: A system includes a carriage track positioned adjacent to a rotary milking platform, a robot carriage positioned on the carriage track such that the robot carriage may move along the carriage track, and a controller. The controller determines a movement of a milking stall of the rotary milking platform from a first rotational position to a second rotational position. The controller further determines a position of the robot carriage on the carriage track corresponding to the movement of the milking stall of the rotary milking platform. The controller also communicates a position signal to a carriage actuator coupled to the robot carriage and the carriage track. The position signal causes the carriage actuator to move the robot carriage along the carriage track to the determined position in conjunction with the movement of the rotary milking platform.
Abstract translation: 系统包括邻近旋转挤奶平台定位的托架轨道，位于托架轨道上的机器人托架，使得机器人托架可沿托架轨道移动，以及控制器。 控制器确定旋转挤奶平台的挤奶失速从第一旋转位置移动到第二旋转位置。 控制器进一步确定机器人滑架在滑架轨道上对应于旋转挤奶平台的挤奶档的移动的位置。 控制器还将位置信号传递给耦合到机器人托架和托架轨道的托架致动器。 位置信号使得滑架致动器将机器人滑架沿滑架轨道移动到与旋转挤奶平台的移动相结合的确定位置。
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