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公开(公告)号：US09980460B2
公开(公告)日：2018-05-29
申请号：US15333836
申请日：2016-10-25
Applicant: Technologies Holdings Corp.
Inventor： Henk Hofman , Cor de Ruijter , Menno Koekoek , Peter Willem van der Sluis
CPC classification number: A01J5/0175 , A01J5/003 , A01J5/007 , G06T1/0014 , G06T7/73
Abstract: A system comprises a robotic arm, camera, and a controller. The camera is positioned on a surface of the robotic arm and emits a laser signal at an upward, non-zero angle relative to a longitudinal axis of the robotic arm. The controller instructs the robotic arm to grip a milking cup, and determines a position of a teat of the dairy livestock based at least in part upon the non-zero angle of the laser signal emitted by the camera. The controller instructs the robotic arm to move the milking cup towards the determined position of the teat between the hind legs of the dairy livestock from the rear, release the milking cup in response to the milking cup being attached to the teat. move in an upward direction towards an udder of the dairy livestock in conjunction with the robotic arm releasing the milking cup, and to move away from the teat.
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公开(公告)号：US09737048B2
公开(公告)日：2017-08-22
申请号：US14963314
申请日：2015-12-09
Applicant: TECHNOLOGIES HOLDINGS CORP.
Inventor： Henk Hofman , Cor de Ruijter , Menno Koekoek , Michael A. Mills , Peter Willem van der Sluis
CPC classification number: A01K1/12 , A01J5/00 , A01J5/007 , A01J5/0175
Abstract: A system includes includes a first milking box stall of a size sufficient to accommodate a first dairy livestock and a second milking box stall of a size sufficient to accommodate a second dairy livestock. The first and second milking box stalls face opposite directions. An equipment portion is located between the first milking box stall and the second milking box stall. A robotic attacher is housed in the equipment portion and configured to service both stalls at different times.
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公开(公告)号：US09737042B2
公开(公告)日：2017-08-22
申请号：US15257952
申请日：2016-09-07
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 located behind a dairy livestock and 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 left front teat, the right front teat, the right rear teat, and the left rear teat.
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公开(公告)号：US09648840B2
公开(公告)日：2017-05-16
申请号：US15137058
申请日：2016-04-25
Applicant: TECHNOLOGIES HOLDINGS CORP.
Inventor： Henk Hofman , Cor de Ruijter , Menno Koekoek , Peter 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 milking robot comprises a robotic arm, a camera coupled to the robotic arm, a camera-facing nozzle coupled to the robotic arm, and a controller. The robotic arm extends in a longitudinal direction between the hind legs and from the rear of a dairy livestock located in a milking stall. The camera-facing nozzle sprays a protective layer of the camera with a cleanser. The controller communicates a signal instructing the camera-facing nozzle to spray the camera with cleanser.
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15.发明申请SYSTEM AND METHOD OF ATTACHING A CUP TO A DAIRY ANIMAL ACCORDING TO A SEQUENCE 审中-公开根据序列将杯子连接到奶类动物的系统和方法公开(公告)号：US20170006818A1
公开(公告)日：2017-01-12
申请号：US15274213
申请日：2016-09-23
Applicant: TECHNOLOGIES HOLDINGS CORP.
Inventor： Henk Hofman , Cor de Ruijter , Menno Koekoek , Peter Willem van der Sluis
CPC classification number: A01J5/0175 , A01J5/00 , A01J5/007 , A01J5/017 , A01J7/04 , A01K1/12 , A01K13/001
Abstract: A system includes a robotic arm positioned in an equipment area of a milking box that includes a stall portion housing a dairy livestock with four teats. The robotic arm retrieves a cup, and for a plurality of teats of the dairy livestock, the robotic arm attaches the cup to a teat, detaches the cup from the teat, and maintains the cup within the stall portion of the milking box from the time that the cup is attached to a first teat of the dairy livestock through the time that the cup is attached to a last teat of the dairy livestock. The cup is retracted into the equipment portion of the milking box after it is detached from the last teat of the dairy livestock.
Abstract translation: 系统包括定位在挤奶箱的设备区域中的机器人手臂，该机器人手臂包括用四个奶头容纳乳制牲畜的档位部分。 机器手臂取出杯子，并且对于奶牛家畜的多个奶头，机器人手臂将杯子连接到奶头上，将杯子从奶头中分离出来，并将杯子保持在挤奶箱的失速部分内 杯子连接到奶牛家畜的第一个奶头，直到杯子连接到奶牛的最后一个奶嘴的时候。 在从奶瓶的最后一个奶头脱离之后，杯子被缩回到挤奶箱的设备部分中。
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Patent Agency Ranking
公开(公告)号：US09485955B2
公开(公告)日：2016-11-08
申请号：US15099510
申请日：2016-04-14
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 the right side of an equipment area located behind a dairy livestock and 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 left front teat, the right front teat, the right rear teat, and the left 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右侧检索准备杯，并将准备杯依次附着并分离到奶牛家畜的奶嘴上。 该顺序包括将准备杯连接到左前乳头，右前乳头，右后乳头和左后乳头。
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公开(公告)号：US20160235029A1
公开(公告)日：2016-08-18
申请号：US15137058
申请日：2016-04-25
Applicant: TECHNOLOGIES HOLDINGS CORP.
Inventor： Henk Hofman , Cor de Ruijter , Menno Koekoek , Peter 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 milking robot comprises a robotic arm, a camera coupled to the robotic arm, a camera-facing nozzle coupled to the robotic arm, and a controller. The robotic arm extends in a longitudinal direction between the hind legs and from the rear of a dairy livestock located in a milking stall. The camera-facing nozzle sprays a protective layer of the camera with a cleanser. The controller communicates a signal instructing the camera-facing nozzle to spray the camera with cleanser.
Abstract translation: 挤奶机器人包括机器手臂，耦合到机器臂的照相机，耦合到机器人臂的面向摄像头的喷嘴和控制器。 机器手臂在后腿之间的纵向方向上延伸，并且位于位于挤奶摊位中的乳品牲畜的后部。 相机的喷嘴用清洁剂喷射相机的保护层。 控制器传达一个信号，指示面向照相机的喷嘴将相机用清洁剂喷洒。
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公开(公告)号：US20160219827A1
公开(公告)日：2016-08-04
申请号：US15095632
申请日：2016-04-11
Applicant: TECHNOLOGIES HOLDINGS CORP.
Inventor： Henk Hofman , Cor de Ruijter , Menno Koekoek , Peter Willem van der Sluis
Abstract: In certain embodiments, a system comprises a milk collecting system, a teat cup holder, and a cleansing hose system. The milk collecting system comprises a teat cup, a milk collector, and a milking hose system connecting the teat cup to the milk collector. The teat cup holder stores the teat cup of the milk collecting system such that a nozzle of the teat cup holder substantially aligns with an opening of the teat cup. The cleansing hose system connects the nozzle of the teat cup holder to one or more cleanser sources and operable to backwash at least a portion of the milk collecting system by injecting a cleanser from one or more of the cleanser sources through the nozzle and into the teat cup.
Abstract translation: 在某些实施方案中，系统包括牛奶收集系统，奶杯杯保持器和清洁软管系统。 该奶收集系统包括一个奶杯，一个收集收集器和一个挤奶软管系统，将乳头杯与奶收集器相连。 奶杯杯架存储了乳汁收集系统的奶杯，使得奶头杯保持器的喷嘴基本上与奶杯的开口对准。 清洁软管系统将奶杯杯保持器的喷嘴连接到一个或多个清洁剂源，并且可操作以通过从一个或多个清洁剂源通过喷嘴注入清洁剂并进入奶嘴来反洗洗涤至少一部分乳汁收集系统 杯子。
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公开(公告)号：US20160219826A1
公开(公告)日：2016-08-04
申请号：US15099510
申请日：2016-04-14
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 the right side of an equipment area located behind a dairy livestock and 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 left front teat, the right front teat, the right rear teat, and the left 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右侧检索准备杯，并将准备杯依次附着并分离到奶牛家畜的奶嘴上。 该顺序包括将准备杯连接到左前乳头，右前乳头，右后乳头和左后乳头。
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20.发明申请SYSTEM AND METHOD FOR ANALYZING DATA CAPTURED BY A THREE-DIMENSIONAL CAMERA 有权用于分析由三维摄像机捕获的数据的系统和方法公开(公告)号：US20160066529A1
公开(公告)日：2016-03-10
申请号：US14941830
申请日：2015-11-16
Applicant: TECHNOLOGIES HOLDINGS CORP.
Inventor： Henk Hofman , Cor de Ruijter , Menno Koekoek , Peter Willem van der Sluis
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: 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 and second edge of a dairy livestock. The first edge includes an inner portion of a first hind leg and a first portion of an udder of the dairy livestock. The second edge includes an inner portion of a second hind leg and a second portion of the udder of the dairy livestock. The processor calculates a reference point associated with the udder of the dairy livestock based at least in part upon the first edge and the second edge. A robotic attacher moves toward the udder of the dairy livestock based at least in part upon the calculated reference point.
Abstract translation: 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和第二边缘。 第一边缘包括第一后腿的内部部分和乳品牲畜的乳房的第一部分。 第二边缘包括第二后腿的内部部分和乳制牲畜的乳房的第二部分。 所述处理器至少部分地基于所述第一边缘和所述第二边缘来计算与所述乳制品牲畜的乳房相关联的参考点。 至少部分地基于所计算的参考点，机器人护理员朝向乳品牲畜的乳房移动。
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