-
公开(公告)号：US11832582B2
公开(公告)日：2023-12-05
申请号：US16092333
申请日：2017-08-17
Applicant: Technologies Holdings Corp.
Inventor： Mark A. Foresman , Bradley J. Prevost , Marijn Van Aart , Peter Willem van der Sluis , Alireza Janani
IPC: A01J5/00 , A01J5/007 , A01J5/017 , G06T7/73 , G06V10/25 , G06V10/44 , G06V10/50 , G06V10/75 , G06V20/10 , G06V20/64 , H04N13/204 , H04N13/271
CPC classification number: A01J5/007 , A01J5/017 , A01J5/0175 , G06T7/75 , G06V10/25 , G06V10/44 , G06V10/50 , G06V10/751 , G06V20/10 , G06V20/647 , H04N13/204 , H04N13/271 , G06T2207/10028 , G06T2207/30204 , G06V2201/06
Abstract: A leg (205) detection system comprising: a robotic arm (200) comprising a gripping portion (208) for holding a teat cup (203, 210) for attaching to a teat (1102, 1104, 1106, 1108, 203S, 203) of a dairy livestock (200, 202, 203); an imaging system coupled to the robotic arm (200) and configured to capture a first three-dimensional (3D) image (138, 2400, 2500) of a rearview of the dairy livestock (200, 202, 203) in a stall (402), the imaging system comprising a 3D camera (136, 138) or a laser (132), wherein each pixel of the first 3D image (138, 2400, 2500) is associated with a depth value; one or more memory (104) devices configured to store a reference (3D) 3D image (138, 2400, 2500) of the stall (402) without any dairy livestock (200, 202, 203); and a processor (102) communicatively coupled to the imaging system and the one or more memory (104) devices, the processor (102) configured to: access the first 3D image (138, 2400, 2500) and the reference (3D) 3D image (138, 2400, 2500); subtract the first 3D image (138, 2400, 2500) from the reference (3D) 3D image (138, 2400, 2500) to produce a second 3D image (138, 2400, 2500); perform morphological image (138, 2400, 2500) processing on the second 3D image (138, 2400, 2500) to produce a third 3D image (138, 2400, 2500); perform image (138, 2400, 2500) thresholding on the third 3D image (138, 2400, 2500) to produce a fourth 3D image (138, 2400, 2500); cluster (2616, 2618, 2626, 2628) data from the fourth 3D image (138, 2400, 2500); identify, using the clustered data from the fourth 3D image (138, 2400, 2500), one or more legs (205) of the dairy livestock (200, 202, 203); and provide instructions for movements of the robotic arm (200) to avoid the identified one or more legs (205) while attaching the teat cup (203, 210) to the teat (1102, 1104, 1106, 1108, 203S, 203) of the dairy livestock (200, 202, 203).
-
公开(公告)号：US10354388B2
公开(公告)日：2019-07-16
申请号：US15953218
申请日：2018-04-13
Applicant: Technologies Holdings Corp.
Inventor： Mark A. Foresman , Bradley J. Prevost
IPC: G06K9/00 , G06T7/00 , A01J7/00 , A01K29/00 , G06T7/11 , G06T1/00 , H04N13/204 , G06T7/13 , G06T7/33 , G06T7/73 , G06T7/50 , G06T7/12 , H04N13/271 , G06T7/194 , H04N13/00 , G06T7/181
Abstract: A system that includes a three-dimensional (3D) camera configured to capture a 3D image of a rearview of a dairy livestock in a stall and a processor. The processor is configured to obtain the 3D image, identify one or more regions within the 3D image comprising depth values greater than a depth value threshold, and s to identify a thigh gap region from the one or more regions. The processor is further configured to demarcate an access region within the thigh gap region and demarcate a tail detection region. The processor is further configured to identify one or more tail candidates within the tail detection region, to identify a tail candidate that corresponds with a tail model as the tail, and to determine position information for the tail.
-
公开(公告)号：US10306863B2
公开(公告)日：2019-06-04
申请号：US15204918
申请日：2016-07-07
Applicant: Technologies Holdings Corp.
Inventor： Mark A. Foresman , Bradley J. Prevost
Abstract: A robotic arm maneuvers a teat preparation cup and executes instructions from a robotic arm controller. The controller comprises an interface, a memory, and a processor. The processor instructs the sensor to perform a first scan. If the first scan discovers a first set of teats, the processor moves the robotic arm a first distance and instructs the sensor to perform a second scan. If the second scan discovers a second set of teats, the processor moves the robotic arm to a location under the first teat, and instructs the sensor to perform a third scan. The processor determines if the third scan discovers a third set of teats. If each of the first set, second set, and third set of discovered teats comprises the first teat, the processor instructs the robotic arm to attach the preparation cup to the first teat.
-
公开(公告)号：US10143177B2
公开(公告)日：2018-12-04
申请号：US15910461
申请日：2018-03-02
Applicant: Technologies Holdings Corp.
Inventor： Mark A. Foresman , Bradley J. Prevost
IPC: G06K9/00 , A01J5/007 , A01J5/017 , G06T7/00 , G06K9/62 , G06K9/46 , G06T7/50 , G06T7/13 , G06T7/246 , G06T7/33
Abstract: A system that includes a laser configured to generate a profile signal of at least a portion of a dairy livestock and a processor. The processor is configured to obtain the profile signal and detect one or more edge pair candidates in the profile signal, compare the complementary distance gradients of each of the one or more edge pair candidates to a minimum distance gradient length to be considered an edge pair, and identify an edge pair from among the one or more edge pair candidates as a teat candidate based on the comparison. The processor is further configured to determine position information for the teat candidate.
-
公开(公告)号：US20180228113A1
公开(公告)日：2018-08-16
申请号：US15953185
申请日：2018-04-13
Applicant: Technologies Holdings Corp.
Inventor： Mark A. Foresman , Bradley J. Prevost
IPC: A01J5/007 , A01J5/017 , H04N13/204 , G06T1/00
CPC classification number: A01J5/007 , A01J5/017 , A01J5/0175 , G06T1/0014 , G06T7/11 , G06T7/136 , G06T7/75 , G06T2207/10028 , H04N13/204
Abstract: A system that includes a robotic arm, a laser, a three-dimensional (3D) camera, and a processor. The processor is configured to send instructions to position the robotic arm adjacent to a dairy livestock, to send a signal that initiates scanning a portion of the dairy livestock, and to generate teat candidate position information based on the scan of the dairy livestock. The processor is further configured receive target teat information, identify a teat candidate within a teat location range of the target teat, and link the identified teat candidate with a teat identifier. The processor is further configured to send instructions to the robotic arm to move at least a portion of the robotic arm toward the target teat based on the teat candidate position information for the identified teat candidate that is linked with the teat identifier.
-
Patent Agency Ranking
公开(公告)号：US20180053302A1
公开(公告)日：2018-02-22
申请号：US15239425
申请日：2016-08-17
Applicant: Technologies Holdings Corp.
Inventor： Mark A. Foresman , Bradley J. Prevost
CPC classification number: G06T7/11 , A01J7/00 , A01K29/00 , G06T1/0014 , G06T7/0042 , G06T7/0081 , G06T7/0083 , G06T7/13 , G06T7/194 , G06T7/33 , G06T7/50 , G06T7/75 , G06T2200/04 , G06T2207/10012 , G06T2207/10028 , G06T2207/20136 , H04N13/204
Abstract: A system that includes a three-dimensional (3D) camera configured to capture a 3D image of a rearview of a dairy livestock in a stall, a memory, and a processor. The processor is configured to obtain the 3D image, identify one or more regions within the 3D image comprising depth values greater than a depth value threshold, and apply the thigh gap detection rule set to the one or more regions to identify a thigh gap region. The processor is further configured to demarcate an access region within the thigh gap region and demarcate a tail detection region. The processor is further configured to partition the 3D image within the tail detection region to generate a plurality of image depth planes, examine each of the plurality of image depth planes, and determine position information for the tail of the dairy livestock in response to identifying the tail of the dairy livestock.
-
公开(公告)号：US20180007859A1
公开(公告)日：2018-01-11
申请号：US15204918
申请日：2016-07-07
Applicant: Technologies Holdings Corp.
Inventor： Mark A. Foresman , Bradley J. Prevost
CPC classification number: A01J5/0175 , A01J5/007 , G05B2219/45113
Abstract: A robotic arm maneuvers a teat preparation cup and executes instructions from a robotic arm controller. The controller comprises an interface, a memory, and a processor. The processor instructs the sensor to perform a first scan. If the first scan discovers a first set of teats, the processor moves the robotic arm a first distance and instructs the sensor to perform a second scan. If the second scan discovers a second set of teats, the processor moves the robotic arm to a location under the first teat, and instructs the sensor to perform a third scan. The processor determines if the third scan discovers a third set of teats. If each of the first set, second set, and third set of discovered teats comprises the first teat, the processor instructs the robotic arm to attach the preparation cup to the first teat.
-
公开(公告)号：US10653101B2
公开(公告)日：2020-05-19
申请号：US15953258
申请日：2018-04-13
Applicant: Technologies Holdings Corp.
Inventor： Mark A. Foresman , Bradley J. Prevost , Marinus P. Van Aart
Abstract: A system that includes a robotic arm, a laser, a memory, and a processor. The processor is configured to position the laser adjacent to a dairy livestock and to modify teat location information for one or more teats of the dairy livestock based on a robot position offset between the dairy livestock and the robotic arm. The processor is further configured to generate a teat position associated with an unknown teat based on a scan of the dairy livestock and to determine a position distances between the teat position and teats of the dairy livestock. The processor is further configured to identify a teat of the dairy livestock with the smallest position distance, to associate a teat identifier for the unknown teat with the identified teat, and to store the association in the memory.
-
公开(公告)号：US10595498B2
公开(公告)日：2020-03-24
申请号：US15953185
申请日：2018-04-13
Applicant: Technologies Holdings Corp.
Inventor： Mark A. Foresman , Bradley J. Prevost
Abstract: A system that includes a robotic arm, a laser, a three-dimensional (3D) camera, and a processor. The processor is configured to send instructions to position the robotic arm adjacent to a dairy livestock, to send a signal that initiates scanning a portion of the dairy livestock, and to generate teat candidate position information based on the scan of the dairy livestock. The processor is further configured receive target teat information, identify a teat candidate within a teat location range of the target teat, and link the identified teat candidate with a teat identifier. The processor is further configured to send instructions to the robotic arm to move at least a portion of the robotic arm toward the target teat based on the teat candidate position information for the identified teat candidate that is linked with the teat identifier.
-
公开(公告)号：US10558855B2
公开(公告)日：2020-02-11
申请号：US15947583
申请日：2018-04-06
Applicant: TECHNOLOGIES HOLDINGS CORP.
Inventor： Mark A. Foresman , Richard B. Voigt
IPC: G06K9/00 , A01J5/017 , H04N13/271 , G06K9/62
Abstract: A vision system that includes a robotic arm and a three-dimensional (3D) camera operably coupled to a processor. The processor is configured to position the robotic arm adjacent to the dairy livestock and acquire a 3D image using the 3D camera. The processor is further configured to identify a set of teat candidates within the 3D image and to filter the set of teat candidates based on one or more filtering rules. The processor is further configured to determine an aggregate teat candidate score for the consolidated set of teat candidates, compare the aggregate teat candidate score to a score threshold value, and update teat location information for the dairy livestock in response to determining the aggregate teat candidate score is greater than or equal to the score threshold value.
-
-
-
-
-
-
-
-
-
Search Results
39
records
(took 0.031 seconds)
