公开(公告)号：US09271471B2

公开(公告)日：2016-03-01

申请号：US14507964

申请日：2014-10-07

Applicant: Technologies Holdings Corp.

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

IPC: G06K9/00 ,  H04N13/02 ,  A01J5/007 ,  A01J5/017 ,  G06T7/00 ,  A01J7/00 ,  G06K9/62

CPC classification number: A01J5/007 ,  A01J5/017 ,  A01J5/0175 ,  A01J7/00 ,  G06K9/6202 ,  G06T7/0004 ,  G06T7/73 ,  G06T2207/10028 ,  G06T2207/30128 ,  H04N5/2252 ,  H04N13/204

Abstract: In an exemplary embodiment, a system includes a three-dimensional camera and a processor communicatively coupled to the three-dimensional camera. The processor is operable to determine a first edge of a dairy livestock, determine a second edge of the dairy livestock, determine a third edge of the dairy livestock, and determine a fourth edge of the dairy livestock.

Abstract translation: 在示例性实施例中，系统包括三维相机和通信地耦合到三维相机的处理器。 处理器可操作以确定奶牛家畜的第一边缘，确定奶牛家畜的第二边缘，确定奶牛家畜的第三边缘，并且确定奶牛家畜的第四边缘。

公开(公告)号：US20150379324A1

公开(公告)日：2015-12-31

申请号：US14843219

申请日：2015-09-02

Applicant: Technologies Holdings Corp.

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

IPC: G06K9/00 ,  A01J5/017 ,  G06T7/00 ,  A01K29/00

CPC classification number: G06K9/0055 ,  A01J5/007 ,  A01J5/0175 ,  A01K29/005 ,  G06K9/00362 ,  G06K9/00664 ,  G06T5/002 ,  G06T7/136 ,  G06T7/73 ,  G06T2207/10028 ,  G06T2207/30128

Abstract: A system comprises a memory operable to store first light intensity information for a first pixel of an image that includes a dairy livestock, and second light intensity information for a second pixel of the image, wherein the second pixel is adjacent to the first pixel. The system further comprises a processor communicatively coupled to the memory and operable to determine that a difference between the first light intensity information and the second light intensity information exceeds a threshold, and discard one of the first pixel or the second pixel from the image.

Abstract translation: 一种系统包括：存储器，其可操作以存储包括奶牛家畜的图像的第一像素的第一光强度信息，以及用于所述图像的第二像素的第二光强度信息，其中所述第二像素与所述第一像素相邻。 该系统还包括通信地耦合到存储器并且可操作以确定第一光强度信息和第二光强度信息之间的差异超过阈值并且从图像中丢弃第一像素或第二像素中的一个的处理器。

公开(公告)号：US20150181829A1

公开(公告)日：2015-07-02

申请号：US14644784

申请日：2015-03-11

Applicant: TECHNOLOGIES HOLDINGS CORP.

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

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

Abstract: An apparatus comprises a cup holder bracket and a cup holder. The cup holder bracket comprises a hinge that allows the cup holder bracket to pivot between a substantially horizontal position when closed to a substantially vertical position when opened. The cup holder is coupled to the cup holder bracket and comprises a rimmed structure configured to hold an attachment end of a cup when the cup holder bracket is closed.

Abstract translation: 一种装置包括杯架支架和杯架。 杯架支架包括铰链，其允许杯架支架在打开时关闭到基本垂直位置时的基本水平位置之间枢转。 杯保持器联接到杯架支架并且包括边框结构，该框架构造构造成当杯托架关闭时保持杯的附接端。

公开(公告)号：US20140318471A1

公开(公告)日：2014-10-30

申请号：US14329655

申请日：2014-07-11

Applicant: TECHNOLOGIES HOLDINGS CORP.

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

IPC: A01J7/04

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。

公开(公告)号：US20140318470A1

公开(公告)日：2014-10-30

申请号：US14329548

申请日：2014-07-11

Applicant: Technologies Holdings Corp.

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

IPC: A01J7/04

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, and remains extended between the legs of the dairy livestock as the stall rotates adjacent to the robotic arm.

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，并且随着失速与机器人手臂相邻旋转而保持在奶牛家畜的腿之间延伸。

公开(公告)号：US20140172164A1

公开(公告)日：2014-06-19

申请号：US14186604

申请日：2014-02-21

Applicant: TECHNOLOGIES HOLDINGS CORP.

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

IPC: A01J7/04 ,  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 method for applying a substance to the teats of a dairy livestock comprises extending a robotic arm between the legs of a dairy livestock positioned in a stall. The method continues by rotating a linear member of a spray tool about an axis that is perpendicular to the robotic arm, wherein the linear member has a perimeter that lies within an outer perimeter of the robotic arm when the robotic arm extends between the hind legs of the dairy livestock. The method continues by discharging a substance as the linear member rotates.

Abstract translation: 将物质施加到乳制牲畜的乳头的方法包括将机器人手臂放置在位于档位中的乳品牲畜的腿之间。 该方法通过围绕垂直于机器人臂的轴线旋转喷射工具的线性构件而继续，其中当机器人手臂在后部腿之间延伸时，线性构件具有位于机器人臂的外周边内的周边 奶牛家畜。 当线性构件旋转时，该方法继续通过排出物质。

公开(公告)号：US20140165916A1

公开(公告)日：2014-06-19

申请号：US14184206

申请日：2014-02-19

Applicant: TECHNOLOGIES HOLDINGS CORP.

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

IPC: 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 cups from the left 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 a first cup to the left front teat, a second cup to the right front teat, a third cup to the left rear teat, and a fourth cup to the right rear teat.

Abstract translation: 机器人服务员从位于奶牛家畜后面的设备区域的左侧检索杯子，并将杯子依次连接到奶牛家畜的奶嘴上。 该顺序包括将第一杯连接到左前乳头，向右前乳头的第二杯，向左后奶头的第三杯，向右后奶头连接第四杯。

公开(公告)号：US20140158052A1

公开(公告)日：2014-06-12

申请号：US14178750

申请日：2014-02-12

Applicant: TECHNOLOGIES HOLDINGS CORP.

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

IPC: A01J5/00

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 box and a robotic attacher. The milking box has a stall to accommodate a dairy livestock. 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箱和一个机器人装置。 挤奶箱有一个摊位可容纳一个奶牛家畜。 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。

公开(公告)号：US20140147016A1

公开(公告)日：2014-05-29

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

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。