公开(公告)号：US20180049397A1

公开(公告)日：2018-02-22

申请号：US15448821

申请日：2017-03-03

Applicant: Technologies Holdings Corp.

Inventor： Mark A. Foresman ,  Marijn Van Anart ,  Peter Willem van der Sluis

IPC: A01J5/017 ,  B25J9/16 ,  B25J11/00 ,  B25J19/02 ,  A01J5/007 ,  A01K1/12

CPC classification number: A01J5/0175 ,  A01J5/007 ,  A01K1/12 ,  B25J9/1697 ,  B25J19/022

Abstract: A system includes a robotic arm, a laser, and a processor. The processor is configured to determine whether a first teat of a diary livestock is found in a first scan of the dairy livestock by the laser, and if so, command the robotic arm to move to a location corresponding to the location of the first teat. The processor is further configured to increment a counter associated with the first teat and then determine whether the counter equals a predetermined number. If the counter equals the predetermined number, the processor commands the robotic arm to attach a teat cup to the first teat. If the counter does not equal the predetermined number, the processor determines whether the first teat is found in a second scan by the laser. If the first teat is found in the second scan, the processor commands the robotic arm to attach the teat cup to the first teat.

公开(公告)号：US20180049393A1

公开(公告)日：2018-02-22

申请号：US15448854

申请日：2017-03-03

Applicant: Technologies Holdings Corp.

Inventor： Mark A. Foresman ,  Marijn Van Anart

IPC: A01J5/007 ,  A01J5/017 ,  G01B11/24

CPC classification number: A01J5/007 ,  A01J5/0175 ,  G01B11/24

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.

公开(公告)号：US20180049391A1

公开(公告)日：2018-02-22

申请号：US15282479

申请日：2016-09-30

Applicant: Technologies Holdings Corp.

Inventor： Mark A. Foresman ,  Peter Willem van der Sluis ,  Robert J. Godfrey

IPC: A01J5/007 ,  A01J5/017 ,  A01J7/00 ,  G06T7/00 ,  B25J9/16

CPC classification number: A01J5/007 ,  A01J5/0175 ,  A01J7/00 ,  B25J9/1697 ,  G05B2219/45113 ,  G06T7/004 ,  G06T7/70 ,  G06T2207/10028

Abstract: A system includes a robotic arm, an imaging device coupled to the robotic arm, a tail positioner coupled to the robotic arm, and a processor. The imaging device captures imaging data of a rearview of a dairy livestock through a field of view of the imaging device. The tail positioner is able to move from a down position to an up position. The processor is coupled to both the imaging device and the tail positioner and is configured to identify a tail of the dairy livestock within the imaging data captured by the imaging device and send one or more instructions to raise the tail positioner from the down position to the up position, thereby moving the tail out of the field of view of the imaging device.

公开(公告)号：US20180049388A1

公开(公告)日：2018-02-22

申请号：US15239526

申请日：2016-08-17

Applicant: Technologies Holdings Corp.

Inventor： Mark A. Foresman ,  Bradley J. Prevost ,  Marinus P. Van Aart

IPC: A01J5/007 ,  A01J5/017 ,  G06T1/00 ,  G06T7/00

CPC classification number: A01J5/007 ,  A01J5/017 ,  G06T1/0014 ,  G06T7/0042 ,  G06T7/11 ,  G06T7/33 ,  G06T2207/10004

Abstract: A system that includes a laser, a memory, and a processor. The processor is configured to receive a teat position associated with an unknown teat, determine a first position distance between the teat position and a first teat, determine a second position distance between the teat position and a second teat, determine a third position distance between the teat position and a third teat, and determine a fourth position distance between the teat position and a fourth teat. The processor is further configured to compare the first position distance, the second position distance, the third position distance, and the fourth position distance to determine a smallest position distance from the unknown teat, identify a teat of the dairy livestock corresponding with the smallest position distance, associate a teat identifier for the unknown teat with the identified teat, and store the association in the memory.

公开(公告)号：US20170295744A1

公开(公告)日：2017-10-19

申请号：US15638497

申请日：2017-06-30

Applicant: TECHNOLOGIES HOLDINGS CORP

Inventor： Henk Hofman ,  Cor De Ruijter ,  Menno Koekoek ,  Peter Willem van der Sluis

IPC: A01J5/017 ,  A01J7/00 ,  A01J5/007 ,  A01K1/12 ,  A01K13/00 ,  G05B15/02 ,  A01J7/02

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 first and second 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 the first cup to the right front teat and a second cup to the left front teat of the dairy livestock. The robotic attacher retrieves third and fourth cups from the right side of the equipment area and attaches the cups to the teats of the dairy livestock in sequence. The sequence comprises attaching the third cup to the right rear teat and the fourth cup to the left rear teat.

公开(公告)号：US20170251623A1

公开(公告)日：2017-09-07

申请号：US15603532

申请日：2017-05-24

Applicant: Technologies Holdings Corp.

Inventor： Ejvind D. Hansen ,  Joergen Frederiksen

IPC: A01J5/017 ,  A01J5/007

CPC classification number: A01J5/017 ,  A01J5/007

Abstract: A method comprises receiving a displacement signal generated by a sensor, the displacement signal generated by the sensor in response to detecting movement of a piston from a retracted position in a cylinder toward an extended position in the cylinder. The method further comprises generating, in response to receiving the displacement signal, a valve control signal to be communicated to a valve located on a vacuum line connecting a vacuum source to a vacuum port of the cylinder. The valve control signal causes the valve to move from a first position in which a vacuum pressure is applied to the cylinder via the vacuum port to a second position in which atmospheric pressure is applied to the cylinder via the vacuum port.

公开(公告)号：US20170245456A1

公开(公告)日：2017-08-31

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: A01J7/04 ,  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 ,  B25J9/16

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.

公开(公告)号：US20170215370A1

公开(公告)日：2017-08-03

申请号：US15009297

申请日：2016-01-28

Applicant: Technologies Holdings Corp.

Inventor： Bradley A. Schaller ,  Robert J. Godfrey

IPC: A01J5/02

CPC classification number: A01J5/02 ,  A01J5/08

Abstract: A milking cup comprising a body having a top portion and a bottom portion. The top portion has a first lip formed thereon and the bottom portion has a second lip formed thereon. The first lip and the second lip are separated by a distance. The milking cup further comprises a rotating shell positioned between and secured by the first lip and the second lip, wherein the rotating shell encircles the body and is operable to rotate around the body independently of the movement of the other portions of the body. The rotating shell has a length that corresponds to the distance between the first lip and the second lip.

公开(公告)号：US09686959B2

公开(公告)日：2017-06-27

申请号：US15135608

申请日：2016-04-22

Applicant: TECHNOLOGIES HOLDINGS CORP.

Inventor： Henk Hofman ,  Peter Willem van der Sluis ,  Ype Groensma

IPC: A01J5/00 ,  A01J5/017 ,  A01J5/003 ,  A01K1/00 ,  A01K1/12 ,  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 ,  A01J5/01 ,  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 system includes a milking stall to accommodate a dairy livestock and a robotic attacher. The robotic attacher extends under the dairy livestock and comprises a nozzle. The robotic attacher is operable to rotate such that, during a first operation, the nozzle is positioned generally on the bottom of the robotic attacher, and during a second operation, the nozzle is positioned generally on the top of the robotic attacher.

公开(公告)号：US09681637B2

公开(公告)日：2017-06-20

申请号：US15068842

申请日：2016-03-14

Applicant: Technologies Holdings Corp.

Inventor： James D. Siddell

IPC: A01K1/00 ,  A01K1/12

CPC classification number: A01K1/0029 ,  A01K1/12 ,  A01K1/126

Abstract: A crowd gate control system includes a holding pen for dairy livestock, wherein the holding pen is adjacent to an entrance to a milking parlor. The system further includes a crowd gate positioned at a side of the holding pen. The crowd gate moves in relation to the entrance to the milking parlor. A controller is initiates a first mode of operation of the crowd gate prior to the crowd gate reaching the entrance to the milking parlor. The first mode of operation is a pre-forward reverse step. The crowd gate moves away from the entrance to the milking parlor prior to initiating movement towards the entrance.