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公开(公告)号：US10143179B2
公开(公告)日：2018-12-04
申请号：US14663072
申请日：2015-03-19
Applicant: TECHNOLOGIES HOLDINGS, CORP.
Inventor： Henk Hofman , Cor de Ruijter , Menno Koekoek , Peter Willem van der Sluis
Abstract: A robotic attacher comprises a main arm, a supplemental arm coupled to the main arm, and a gripping portion coupled to the supplemental arm. The supplemental arm moves in an x-direction and a y-direction. The gripping portion moves in a first z-direction in relation to the supplemental arm. The gripping portion also moves in a second z-direction opposite the first z-direction in relation to the supplemental arm.
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12.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
Applicant: Henk Hofman , Cor de Ruijter , Menno Koekoek , Peter Willem van der Sluis
Inventor： Henk Hofman , Cor de Ruijter , Menno Koekoek , Peter Willem van der Sluis
Abstract: 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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公开(公告)号：US09807972B1
公开(公告)日：2017-11-07
申请号：US15239477
申请日：2016-08-17
Applicant: Technologies Holdings Corp.
Inventor： Mark A. Foresman , Bradley J. Prevost
CPC classification number: A01J5/007 , A01J5/017 , A01J5/0175 , G06T1/0014 , G06T7/0081 , G06T7/60 , G06T2207/10004 , H04N13/204
Abstract: A system that includes a three-dimensional (3D) camera configured to capture 3D images of a dairy livestock. The system further includes a memory operable to store a thigh gap detection rule set and a processor operably coupled to the 3D camera and the memory. The processor is configured to obtain the 3D image, to identify one or more regions within the 3D image comprising depth values greater than a depth value threshold, and to 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. The processor is configured to reduce the width of the access region by shifting a first vertical edge and a second vertical edge of the access region and to determine position information for the first vertical edge and the second vertical edge.
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14.发明授权公开(公告)号：US09763424B1
公开(公告)日：2017-09-19
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: A01K7/04 , A01J7/04 , B25J9/16 , 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
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.
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公开(公告)号：US09686960B2
公开(公告)日：2017-06-27
申请号：US15333301
申请日：2016-10-25
Applicant: TECHNOLOGIES HOLDINGS CORP.
Inventor： Henk Hofman , Peter Willem van der Sluis , Ype Groensma
IPC: A01J5/01 , A01J5/017 , A01J5/003 , A01K1/00 , A01K1/12 , A01J5/00 , 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 , 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 robotic attacher comprises a gripping portion, a vision system positioned on a first surface of the gripping portion, and at least one nozzle positioned on a second surface of the gripping portion. The gripping portion is rotates about a longitudinal axis such that during a first time, the vision system is positioned generally on the top of the gripping portion, and during a second time, the nozzle is positioned generally on the top of the gripping portion.
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Patent Agency Ranking
公开(公告)号：US09582871B2
公开(公告)日：2017-02-28
申请号：US14842874
申请日：2015-09-02
Applicant: Technologies Holdings Corp.
Inventor： Henk Hofman , Cor de Ruijter , Menno Koekoek , Peter Willem van der Sluis
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 comprises a three-dimensional camera that captures an image of a dairy livestock and a processor communicatively coupled to the three-dimensional camera. The processor accesses a first pixel having a first depth location, a second pixel having a second depth location, and a third pixel having a third depth location. The processor determines that the second pixel is an outlier among the first pixel and the third pixel based upon the first depth location, the second depth location, and the third depth location, and discards the second pixel from the image based at least in part upon the determination.
Abstract translation: 用于处理图像的系统包括捕获奶牛家畜的图像的三维照相机和通信地耦合到三维照相机的处理器。 处理器访问具有第一深度位置的第一像素，具有第二深度位置的第二像素和具有第三深度位置的第三像素。 处理器基于第一深度位置，第二深度位置和第三深度位置确定第二像素是第一像素和第三像素中的异常值，并且至少部分地基于来自图像的第二像素丢弃 决心。
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17.发明申请Double-Gripper For the Application of Teat Cups to an Animal to be Milked, Rinse Cup for this and Milking Machine Provided Therewith, and a Method for Milking 有权用于将奶杯应用于被挤压的动物的双夹爪，为此提供的冲洗杯和挤奶机以及挤奶方法公开(公告)号：US20170049068A1
公开(公告)日：2017-02-23
申请号：US15307877
申请日：2015-05-04
Applicant: Technologies Holdings Corp.
Inventor： Hendrik Hofman , Peter van der Sluis
CPC classification number: A01J5/0175 , A01J7/04 , B25J11/0045 , B25J15/0052 , B25J15/0616 , F16B1/00 , F16B2001/0035 , Y10S901/40
Abstract: This invention is related to a double grab, its rinsing cup and milking machine provided therewith, and the method for automatically applying teat cups to the teats of an udder of an animal to be milked. The double grab according to the invention includes: —a first housing part provided with a first magnet designed to hold a first teat cup; —a second housing part, installed substantially in a horizontal plane next to the first housing part, provided with a second magnet designed to hold a second teat cup; —whereby each housing part is provided with separate pivoting means that can be activated and is designed to make the related housing part pivot around a pivoting axis which in use, extends substantially in a horizontal direction, substantially in a widthwise direction of the arm.
Abstract translation: 本发明涉及一种双抓斗，其冲洗杯和提供其的挤奶机，以及用于将奶杯自动应用于要挤奶的动物乳房的乳头的方法。 根据本发明的双抓斗包括： - 第一壳体部分，设置有设计成保持第一奶杯的第一磁体; - 第二壳体部分，其基本上安装在靠近所述第一壳体部分的水平面中，设置有设计成保持第二奶杯的第二磁体; - 每个壳体部分设置有单独的枢转装置，其可以被启动并且被设计成使相关的壳体部分围绕枢转轴线枢转，所述枢转轴线在使用中基本上在水平方向上延伸，基本上在臂的宽度方向上延伸。
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公开(公告)号：US09504224B2
公开(公告)日：2016-11-29
申请号：US15068718
申请日：2016-03-14
Applicant: TECHNOLOGIES HOLDINGS CORP.
Inventor： Henk Hofman , Peter Willem van der Sluis , Ype Groensma
IPC: A01J5/00 , A01J5/007 , A01J5/003 , A01K1/00 , A01J5/017 , A01K1/12 , A01J7/04 , A01J7/00 , B25J13/08 , B25J19/02 , A01J9/00 , A01J7/02 , A01K5/02 , H04N5/247 , A01J5/06 , G06T7/00 , A01J5/013 , A01K5/00 , A01K11/00
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 robotic attacher comprises a main arm, a supplemental arm coupled to the main arm, and a gripping portion coupled to the supplemental arm. The gripping portion comprises at least one nozzle and is operable to rotate such that during a first time, the nozzle is positioned away from the top of the gripping portion, and during a second time, the nozzle is positioned generally on the top of the gripping portion.
Abstract translation: 机器人附件包括主臂，联接到主臂的辅助臂和联接到辅助臂的抓握部分。 所述夹持部分包括至少一个喷嘴并且可操作以旋转，使得在第一时间期间，所述喷嘴定位成远离所述夹持部分的顶部，并且在第二时间期间，所述喷嘴大致位于所述抓握部的顶部 一部分。
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19.发明授权Milking box with robotic attacher comprising an arm that pivots, rotates, and grips 有权具有机器人护理者的挤奶箱包括枢转，旋转和夹持的臂公开(公告)号：US09491924B2
公开(公告)日：2016-11-15
申请号：US14842906
申请日：2015-09-02
Applicant: TECHNOLOGIES HOLDINGS CORP.
Inventor： Henk Hofman , Cor de Ruijter , Menno Koekoek , Peter Willem van der Sluis
CPC classification number: A01J5/0175 , A01K1/12 , B25J9/04 , B25J9/045 , B25J9/104 , Y10S901/14 , Y10S901/19 , Y10S901/21 , Y10S901/29 , Y10S901/31
Abstract: An apparatus comprises a milking box having a stall to accommodate a dairy livestock and a robotic attacher. The robotic attacher comprises a main arm that is suspended vertically from a rail of the milking box, and a supplemental arm that is coupled to and extends horizontally from the main arm along a longitudinal axis. The supplemental arm comprises a pivot assembly that pivots a gripping portion around a vertical axis that is substantially parallel to the main arm of the robotic attacher, in a direction transverse to the longitudinal direction of the supplemental arm.
Abstract translation: 一种装置包括具有用于容纳奶牛家畜的摊位的挤奶箱和机器人配件。 所述机器人附件包括从所述挤奶箱的轨道垂直悬挂的主臂，以及辅助臂，所述辅助臂沿着纵向轴线与所述主臂联接并水平延伸。 补充臂包括枢转组件，该枢转组件沿着与辅助臂的纵向方向横切的方向围绕基本上平行于机器人附件的主臂的垂直轴线枢转抓握部分。
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20.发明申请Cleaning Device for Cleaning Teats of an Animal for Milking, Milking Machine Provided Therewith and Method Therefor 审中-公开用于挤奶的动物清洁剂的清洁装置，及其提供的挤奶机及其方法公开(公告)号：US20160309674A1
公开(公告)日：2016-10-27
申请号：US15100220
申请日：2014-07-21
Applicant: Technologies Holdings Corp.
Inventor： Peter Willem van der Sluis
Abstract: The present invention relates to a cleaning device (4) for cleaning and pretreating teats of an animal for milking, milking machine (2) provided therewith and method therefor. The cleaning device according to the invention comprises: • a frame (52) provided with an arm (6); • a cleaning head arranged on the arm and provided with a rotatable holder (12) on which one or more rotatable cleaning elements (14) are provided; and • moving means (48, 50, 56) connected to the frame for displacing the cleaning head relative to the teats such that the teats are cleanable using the cleaning elements.
Abstract translation: 本发明涉及一种用于清洁和预处理挤奶动物的奶头的清洁装置（4），其中提供的挤奶机（2）及其方法。 根据本发明的清洁装置包括：•设置有臂（6）的框架（52）; •清洁头，布置在臂上并设置有可旋转的保持器（12），一个或多个可旋转的清洁元件（14）设置在该保持器上; 以及•移动装置（48,50,56），其连接到所述框架，用于相对于所述奶嘴移动所述清洁头，使得所述奶嘴可以使用所述清洁元件来清洁。
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