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公开(公告)号：US10349618B2
公开(公告)日：2019-07-16
申请号：US16206839
申请日：2018-11-30
Applicant: TECHNOLOGIES HOLDINGS CORP.
Inventor： Henk Hofman , Cor de Ruijter , Menno Koekoek , Peter Willem van der Sluis
Abstract: A method includes housing a dairy livestock in a stall portion of a milking box and retrieving, by a robotic attacher, a cup. For each of a plurality of teats of a dairy livestock, the method further uses the robotic arm to perform the steps of attaching the cup to the teat, detaching the cup from the teat, and maintaining the cup within the stall portion of the milking box from the time that the cup is attached to the first teat of the dairy livestock through the time that the cup is attached to a last teat of the dairy livestock. The method concludes by retracting the cup into an equipment area of the milking box after detaching the cup from the last teat of the dairy livestock.
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公开(公告)号：US10349613B2
公开(公告)日：2019-07-16
申请号：US15448854
申请日：2017-03-03
Applicant: Technologies Holdings Corp.
Inventor： Mark A. Foresman , Marijn Van Anart
Abstract: A system includes a robotic arm, a laser, and a processor. The processor is configured to command the robotic arm to move to a first location corresponding to an expected teat position of a first teat. The processor is further configured to determine whether the first teat is found in a first scan by the laser, and if so, command the robotic arm to move to a second location corresponding to the location in the scan. The processor is further configured to determine whether the first teat is found in a second scan by the laser, and if so, determine whether the first teat is within a predetermined distance from a current location of the robotic arm. If the first teat is within the predetermined distance from the current location of the robotic arm, the processor commands the robotic arm to attach a teat cup to the first teat.
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公开(公告)号：US10127446B2
公开(公告)日：2018-11-13
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
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.
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公开(公告)号：US20180228114A1
公开(公告)日：2018-08-16
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
CPC classification number: A01J5/007 , A01J5/017 , G06T7/11 , G06T7/136 , G06T7/33 , G06T7/75 , G06T2207/10028
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.
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公开(公告)号：US09980458B2
公开(公告)日：2018-05-29
申请号：US15240289
申请日：2016-08-18
Applicant: TECHNOLOGIES HOLDINGS CORP.
Inventor： Henk Hofman , Cor de Ruijter , Menno Koekoek , Peter Willem van der Sluis
Abstract: A system includes a linear carriage track positioned adjacent to a rotary milking platform, a robot carriage positioned on the carriage track such that the robot carriage may move along the carriage track from a first linear position to a second linear position, and a controller. The controller determines a movement of a milking stall of the rotary milking platform from a first rotational position to a second rotational position. The controller further determines the second linear position of the robot carriage on the carriage track corresponding to the movement of the milking stall of the rotary milking platform. The controller also communicates a position signal to a carriage actuator coupled to the robot carriage and the carriage track. The position signal causes the carriage actuator to move the robot carriage along the carriage track from the first linear position to the second linear position in conjunction with the movement of the rotary milking platform.
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Patent Agency Ranking
公开(公告)号：US09961874B2
公开(公告)日：2018-05-08
申请号：US15715923
申请日：2017-09-26
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 test 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.
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公开(公告)号：US20180103605A1
公开(公告)日：2018-04-19
申请号：US15841467
申请日：2017-12-14
Applicant: Technologies Holdings Corp.
Inventor： Henk Hofman , Peter Willem van der Sluis , Ype Groensma
Abstract: A method for applying disinfectant to the teats of a dairy livestock includes determining that a stall of a rotary milking platform housing a dairy livestock is located adjacent to a track that has a carriage carrying a robotic arm. The method continues by communicating a first signal that causes operation of a first actuator such that the carriage moves along the track in relation to the rotary milking platform and independent of any physical coupling between the carriage and the rotary milking platform and in a direction corresponding to a direction of rotation of the rotary milking platform. The method concludes by communicating one or more additional signals that causes operation of one or more actuators of the robotic arm such that at least a portion of the robotic arm extends between the hind legs of a dairy livestock.
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公开(公告)号：US09936670B2
公开(公告)日：2018-04-10
申请号：US15239559
申请日：2016-08-17
Applicant: Technologies Holdings Corp.
Inventor： Mark A. Foresman , Bradley J. Prevost
CPC classification number: A01J5/007 , A01J5/017 , G06K9/00362 , G06K9/46 , G06K9/6215 , G06K9/623 , G06T7/001 , G06T7/0044 , G06T7/0046 , G06T7/0057 , G06T7/0085 , G06T7/13 , G06T7/251 , G06T7/33 , G06T7/50 , G06T2207/10028 , G06T2207/30204
Abstract: A system that includes a laser configured to generate a profile signal of at least a portion of a dairy livestock, a memory operable to store a teat detection rule set, 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 one or more edge pairs from among the one or more edge pair candidates based on the comparison. The processor is further configured to apply the teat detection rule set to the one or more edge pairs to identify one or more teat candidates from among the one or more edge pairs and determine position information for the one or more teat candidates.
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公开(公告)号：US20180092327A1
公开(公告)日：2018-04-05
申请号：US15831616
申请日：2017-12-05
Applicant: Technologies Holdings Corp.
Inventor： Ejvind D. Hansen , Joergen Frederiksen
Abstract: A system includes a cylinder and a piston that moves within the cylinder from a retracted position to an extended position. A vacuum port facilitates application of a vacuum pressure to the cylinder that results in a vacuum force being applied to the piston, which causes the piston to move toward a top end of the cylinder to the retracted position. A spring member applies a spring force to the piston when the piston is in the retracted position. The spring force offsets at least a portion of the vacuum force. A sensor generates a displacement signal in response to detecting movement of the piston from the retracted position toward the extended position. A control unit receives the displacement signal generated by the sensor and generates a valve control signal to be communicated to a valve located on a vacuum line connecting a vacuum source to the vacuum port.
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公开(公告)号：US20180064062A1
公开(公告)日：2018-03-08
申请号：US15810774
申请日：2017-11-13
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 an equipment portion and a plurality of milking box stalls arranged adjacent to the equipment portion. Each of the milking box stalls is of a size sufficient to accommodate a dairy livestock. The system further includes a robotic attacher housed in the equipment portion and configured to service each of the plurality of milking box stalls at different times. The robotic attacher has a gripping portion with a spray nozzle. The gripping portion is operable to rotate around a longitudinal axis such that during a milking operation the spray nozzle is positioned on the bottom of the gripping portion, and after the milking operation the spray nozzle is positioned on the top of the gripping portion.
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