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：US09648839B2

公开(公告)日：2017-05-16

申请号：US14842034

申请日：2015-09-01

Applicant: Technologies Holdings Corp.

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

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

CPC classification number: A01J5/007 ,  A01J5/017 ,  A01J5/0175 ,  A01J7/04 ,  A01K1/126

Abstract: A system comprises a robotic arm operable to extend between the legs of a dairy livestock located in a milking stall of a rotary milking platform, a camera operable to generate an image signal corresponding to a rear of the dairy livestock, and a controller communicatively coupled to the robotic arm and the camera. The controller determines whether a milking claw is attached to the teats of the dairy livestock by receiving the image signal generated by the camera and processing the image signal. If it is determined based on the image signal that the milking claw is not attached, the controller controls the robotic arm to extend between the legs of the dairy livestock. If it is determined based on the image signal that the milking claw is attached, the controller controls the robotic arm not to extend between the legs of the dairy livestock.

公开(公告)号：US20170116726A1

公开(公告)日：2017-04-27

申请号：US15401234

申请日：2017-01-09

Applicant: Technologies Holdings Corp.

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

IPC: G06T7/00 ,  G06T7/593 ,  G06T7/70 ,  A01K29/00 ,  G06K9/52 ,  A01J5/017 ,  A01J5/007 ,  H04N13/02 ,  G06T7/20

CPC classification number: G06T7/0004 ,  A01J5/007 ,  A01J5/0175 ,  A01K29/005 ,  G06K9/52 ,  G06T7/20 ,  G06T7/593 ,  G06T7/70 ,  G06T2207/10028 ,  G06T2207/30108 ,  G06T2207/30128 ,  H04N7/18 ,  H04N7/183 ,  H04N13/204 ,  H04N13/271 ,  H04N2013/0081

Abstract: A system for processing an image includes a three-dimensional camera that captures an image of a dairy livestock, wherein the image comprises a plurality of adjacent pixels, each pixel associated with a depth location. The system further includes a processor communicatively coupled to the three-dimensional camera. The processor determines that the depth locations of a first portion of the adjacent pixels fluctuate beyond a predetermined threshold over time, and discards the first portion of the adjacent pixels from the image based at least in part upon the determination.

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。

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

IPC: A01J7/04 ,  G06T7/00 ,  A01K13/00 ,  B25J9/16 ,  A01K29/00

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。