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11.发明授权公开(公告)号：US10111401B2
公开(公告)日：2018-10-30
申请号：US13449002
申请日：2012-04-17
摘要： In certain embodiments, 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 hind location of a first hind leg of a dairy livestock based at least in part on visual data captured by the three-dimensional camera and determine a second hind location of a second hind leg of the dairy livestock based at least in part on the visual data. The processor is further operable to determine a measurement, wherein the measurement is the distance between the first hind location and the second hind location. Additionally, the processor is operable to determine whether the measurement exceeds a minimum threshold.
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12.发明授权公开(公告)号：US08885891B2
公开(公告)日：2014-11-11
申请号：US13448913
申请日：2012-04-17
CPC分类号： A01J5/007 , A01J5/017 , A01J5/0175 , A01J7/00 , G06K9/6202 , G06T7/0004 , G06T7/73 , G06T2207/10028 , G06T2207/30128 , H04N5/2252 , H04N13/204
摘要： 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.
摘要翻译： 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。
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公开(公告)号：US08683946B2
公开(公告)日：2014-04-01
申请号：US13449162
申请日：2012-04-17
IPC分类号： A01J5/017
CPC分类号： A01J5/0175 , A01J5/007 , A01J7/00 , A01J7/025 , A01K1/12 , A01K13/003 , G05B15/02 , G05B2219/2661 , G05B2219/45113 , Y10S901/02 , Y10S901/40 , Y10S901/47
摘要： In certain embodiments, a robotic attacher retrieves 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 a first cup to the right front teat, a second cup to the left front teat, a third cup to the right rear teat, and a fourth cup to the left rear teat. In certain alternative embodiments, the robotic attacher retrieves cups from the left side of the equipment area, and 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.
摘要翻译： 在某些实施例中，机器人引导器从位于奶牛家畜后面的设备区域的右侧检索杯子，并将杯子依次附接到奶牛牲畜的奶嘴上。 该顺序包括将第一杯连接到右前乳头，将第二杯连接到左前乳头，将第三杯连接到右后奶头，将第四杯连接到左后奶头。 在某些替代实施例中，机器人附件从设备区域的左侧检索杯子，并且该顺序包括将第一杯子连接到左前乳头，将第二杯子连接到右前乳头，将第三杯子连接到左后奶嘴 ，第四杯到右后乳头。
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公开(公告)号：US20120275660A1
公开(公告)日：2012-11-01
申请号：US13448799
申请日：2012-04-17
IPC分类号： G06K9/40
CPC分类号： G06K9/0055 , A01J5/007 , A01J5/0175 , G06T7/136 , G06T7/73 , G06T2207/30128 , H04N5/30 , H04N9/04
摘要： In an exemplary embodiment, a system includes a camera and a processor communicatively coupled to the camera. The processor is operable to access visual data captured by the camera, wherein the visual data comprises an image of a dairy livestock and determine that an intensity measurement of a first portion of the visual data exceeds an intensity threshold. The processor is further operable to filter the first portion of the visual data in response to determining that the intensity measurement exceeds the threshold. The processor is also operable to determine a coordinate of a teat of the dairy livestock based at least in part upon the visual data, excluding filtered portions of the visual data
摘要翻译： 在示例性实施例中，系统包括相机和通信地耦合到相机的处理器。 处理器可操作以访问摄像机捕获的视觉数据，其中视觉数据包括奶牛家畜的图像，并且确定视觉数据的第一部分的强度测量值超过强度阈值。 响应于确定强度测量超过阈值，处理器还可操作以过滤视觉数据的第一部分。 处理器还可操作以至少部分地基于视觉数据来确定乳品牲畜的奶头的坐标，排除视觉数据的过滤部分
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公开(公告)号：US20120272915A1
公开(公告)日：2012-11-01
申请号：US13449056
申请日：2012-04-17
摘要： In certain embodiments, a milking box comprises a storage area comprising a retractable hose, a hose lift belt, a cup holder base, a cup holder, and a cup holder bracket. The retractable hose couples to a cup and suspends the cup in the storage area. The hose lift belt couples to the retractable hose and is operable to retract the retractable hose. The cup holder base defines an aperture through which the retractable hose is positioned. The cup holder comprises a rimmed structure adapted to hold an attachment end of the cup. The cup holder is coupled to the cup holder bracket. The cup holder bracket is operable to open and close such that when closed, the rimmed structure of the cup holder aligns with the attachment end of the cup that is suspended from the retractable hose.
摘要翻译： 在某些实施例中，挤奶箱包括存储区域，该存储区域包括可伸缩软管，软管提升带，杯架底座，杯架和杯架支架。 可缩回的软管连接到杯子并将杯子悬挂在存储区域中。 软管提升带连接到可伸缩软管，并可操作以缩回可伸缩软管。 杯架基部限定了可缩回软管定位的孔。 杯架包括适于保持杯的附接端的边框结构。 杯架连接到杯架托架上。 杯架支架可操作以打开和关闭，使得当关闭时，杯架的边缘结构与从可伸缩软管悬挂的杯的附接端对齐。
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16.发明申请公开(公告)号：US20120210938A1
公开(公告)日：2012-08-23
申请号：US13448897
申请日：2012-04-17
摘要： A system includes a carriage track positioned adjacent to a rotary milking platform, a robot carriage mounted to the carriage track, and a controller. The controller is operable to receive both a first rotary encoder signal indicating a first rotational position of a milking stall of the rotary milking platform (corresponding to a starting linear position of the robot carriage) and a second rotary encoder signal indicating a second rotational position of the milking stall. The controller is further operable to determine, based on a difference between the first and second signals, a desired linear position of the robot carriage on the carriage track (a position corresponding to the second rotational position of the milking stall). The controller is further operable to communicate a position signal to a carriage actuator, the position signal causing the carriage actuator to move the robot carriage to the desired linear position.
摘要翻译： 系统包括邻近旋转挤奶平台定位的滑架轨道，安装到滑架轨道的机器人滑架和控制器。 控制器可操作以接收指示旋转挤奶平台的挤奶档位的第一旋转位置（对应于机器人滑架的起始线性位置）的第一旋转编码器信号和指示第二旋转编码器信号的第二旋转编码器信号， 挤奶摊。 控制器还可操作以基于第一和第二信号之间的差异来确定机器人滑架在滑架轨道上的期望线性位置（对应于挤奶档的第二旋转位置的位置）。 控制器还可操作以将位置信号传送到滑架致动器，该位置信号使滑架致动器将机器人滑架移动到期望的直线位置。
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17.发明申请System and Method for Determining Whether to Operate a Robot in Conjunction with a Rotary Parlor 审中-公开用于确定是否操作机器人与旋转客厅相关的系统和方法公开(公告)号：US20120200674A1
公开(公告)日：2012-08-09
申请号：US13449002
申请日：2012-04-17
CPC分类号： A01J7/04 , A01J5/0175 , A01K1/126
摘要： In certain embodiments, 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 hind location of a first hind leg of a dairy livestock based at least in part on visual data captured by the three-dimensional camera and determine a second hind location of a second hind leg of the dairy livestock based at least in part on the visual data. The processor is further operable to determine a measurement, wherein the measurement is the distance between the first hind location and the second hind location. Additionally, the processor is operable to determine whether the measurement exceeds a minimum threshold.
摘要翻译： 在某些实施例中，系统包括三维相机和通信地耦合到三维相机的处理器。 处理器可操作以至少部分地基于由三维摄像机捕获的视觉数据来确定奶牛家畜的第一后腿的第一后部位置，并且基于所述乳制品牲畜的第二后腿确定第二后部位置 至少部分在视觉数据上。 处理器还可操作以确定测量，其中测量是第一后部位置与第二后部位置之间的距离。 另外，处理器可操作以确定测量是否超过最小阈值。
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18.发明授权System and method for determining whether to operate a robot in conjunction with a rotary milking platform based on detection of a milking claw 有权用于基于检测到挤奶爪来确定是否与旋转挤奶平台一起操作机器人的系统和方法公开(公告)号：US09149018B2
公开(公告)日：2015-10-06
申请号：US13448929
申请日：2012-04-17
CPC分类号： A01J5/007 , A01J5/017 , A01J5/0175 , A01J7/04 , A01K1/126
摘要： In certain embodiments, a system includes a robotic arm. The robotic arm is operable to extend between the legs of a dairy livestock located in a milking stall of a rotary milking platform. The system also includes a controller communicatively coupled to the robotic arm. The controller is operable to determine whether a milking claw is attached to the teats of the dairy livestock. The controller is also operable to control the robotic arm to extend between the legs of the dairy livestock based at least in part on whether the milking claw is attached.
摘要翻译： 在某些实施例中，系统包括机器臂。 机器人手臂可操作以在位于旋转挤奶平台的挤奶档位中的乳品牲畜的腿之间延伸。 该系统还包括通信地耦合到机器人臂的控制器。 控制器可操作以确定挤奶爪是否附着到乳制牲畜的乳头。 所述控制器还可操作以至少部分地基于所述挤奶爪是否附接来控制所述机器人臂在所述乳品牲畜的腿之间延伸。
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公开(公告)号：US09107379B2
公开(公告)日：2015-08-18
申请号：US13451248
申请日：2012-04-19
CPC分类号： A01K1/12 , A01J5/00 , A01J5/007 , A01J5/0175
摘要： In certain embodiments, a system includes a first milking box stall of a size sufficient to accommodate a dairy livestock. The system also includes an equipment portion located adjacent to the first milking box stall. The equipment portion houses a robotic attacher. The system also includes a second milking box stall of a size sufficient to accommodate a dairy livestock. The second milking box stall is located adjacent to the equipment portion. The robotic attacher is configured to service both the first milking box stall and the second milking box stall by extending between the rear legs of a dairy livestock located within either stall in order to attach milking equipment to the dairy livestock.
摘要翻译： 在某些实施例中，系统包括足以容纳奶牛家畜的尺寸的第一挤奶箱档位。 该系统还包括位于第一挤奶箱档位附近的设备部分。 设备部分容纳一名机器人护卫员。 该系统还包括尺寸足以容纳奶牛家畜的第二个挤奶箱档位。 第二个挤奶箱的档位位于设备部分附近。 机器人附件被配置为通过在位于两个档位之间的乳品牲畜的后腿之间延伸来服务第一挤奶箱档和第二挤奶箱档位，以便将挤奶设备连接到奶牛家畜。
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公开(公告)号：US08903129B2
公开(公告)日：2014-12-02
申请号：US13448799
申请日：2012-04-17
CPC分类号： G06K9/0055 , A01J5/007 , A01J5/0175 , G06T7/136 , G06T7/73 , G06T2207/30128 , H04N5/30 , H04N9/04
摘要： In an exemplary embodiment, a system includes a camera and a processor communicatively coupled to the camera. The processor is operable to access visual data captured by the camera, wherein the visual data comprises an image of a dairy livestock and determine that an intensity measurement of a first portion of the visual data exceeds an intensity threshold. The processor is further operable to filter the first portion of the visual data in response to determining that the intensity measurement exceeds the threshold. The processor is also operable to determine a coordinate of a teat of the dairy livestock based at least in part upon the visual data, excluding filtered portions of the visual data.
摘要翻译： 在示例性实施例中，系统包括相机和通信地耦合到相机的处理器。 处理器可操作以访问摄像机捕获的视觉数据，其中视觉数据包括奶牛家畜的图像，并且确定视觉数据的第一部分的强度测量值超过强度阈值。 响应于确定强度测量超过阈值，处理器还可操作以过滤视觉数据的第一部分。 处理器还可操作以至少部分地基于视觉数据（不包括视觉数据的过滤部分）来确定乳品牲畜的奶头的坐标。
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