公开(公告)号：US09648843B2

公开(公告)日：2017-05-16

申请号：US15381403

申请日：2016-12-16

Applicant: Technologies Holdings Corp.

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

IPC: A01J7/04 ,  B25J9/16 ,  B25J9/00 ,  A01J5/003 ,  A01J5/007 ,  A01J5/017 ,  A01K1/12 ,  A01K13/00 ,  G06T1/00 ,  G06T7/73

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 method for operating a robotic arm, comprises determining a speed of rotation of a rotary milking platform, the rotary milking platform having a stall for a dairy livestock. The method continues by moving a carriage along a track positioned adjacent to the rotary milking platform at a rate that is based at least in part upon the determined speed of rotation of the rotary milking platform, wherein the carriage moves independently of the rotary milking platform and in a direction corresponding to a direction of rotation of the rotary milking platform. The method continues by extending a robotic arm that is coupled to the carriage between the legs of the dairy livestock, wherein the robotic arm remains extended between the legs of the dairy livestock for a period of time as the stall rotates adjacent to the robotic arm. The method concludes by retracting the robotic arm from between the legs of the dairy livestock as the stall rotates adjacent to the robotic arm.

公开(公告)号：US09648839B2

公开(公告)日：2017-05-16

申请号：US14842034

申请日：2015-09-01

Applicant: Technologies Holdings Corp.

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

IPC: A01J7/04 ,  A01J5/007 ,  A01J5/017 ,  A01K1/12

CPC classification number: A01J5/007 ,  A01J5/017 ,  A01J5/0175 ,  A01J7/04 ,  A01K1/126

Abstract: A system comprises a robotic arm operable to extend between the legs of a dairy livestock located in a milking stall of a rotary milking platform, a camera operable to generate an image signal corresponding to a rear of the dairy livestock, and a controller communicatively coupled to the robotic arm and the camera. The controller determines whether a milking claw is attached to the teats of the dairy livestock by receiving the image signal generated by the camera and processing the image signal. If it is determined based on the image signal that the milking claw is not attached, the controller controls the robotic arm to extend between the legs of the dairy livestock. If it is determined based on the image signal that the milking claw is attached, the controller controls the robotic arm not to extend between the legs of the dairy livestock.

公开(公告)号：US20170116726A1

公开(公告)日：2017-04-27

申请号：US15401234

申请日：2017-01-09

Applicant: Technologies Holdings Corp.

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

IPC: G06T7/00 ,  G06T7/593 ,  G06T7/70 ,  A01K29/00 ,  G06K9/52 ,  A01J5/017 ,  A01J5/007 ,  H04N13/02 ,  G06T7/20

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 includes a three-dimensional camera that captures an image of a dairy livestock, wherein the image comprises a plurality of adjacent pixels, each pixel associated with a depth location. The system further includes a processor communicatively coupled to the three-dimensional camera. The processor determines that the depth locations of a first portion of the adjacent pixels fluctuate beyond a predetermined threshold over time, and discards the first portion of the adjacent pixels from the image based at least in part upon the determination.

公开(公告)号：US20170094935A1

公开(公告)日：2017-04-06

申请号：US15381403

申请日：2016-12-16

Applicant: Technologies Holdings Corp.

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

IPC: A01J7/04 ,  B25J9/00 ,  A01K13/00 ,  A01J5/007 ,  A01J5/017 ,  A01K1/12 ,  B25J9/16 ,  A01J5/003

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 method for operating a robotic arm, comprises determining a speed of rotation of a rotary milking platform, the rotary milking platform having a stall for a dairy livestock. The method continues by moving a carriage along a track positioned adjacent to the rotary milking platform at a rate that is based at least in part upon the determined speed of rotation of the rotary milking platform, wherein the carriage moves independently of the rotary milking platform and in a direction corresponding to a direction of rotation of the rotary milking platform. The method continues by extending a robotic arm that is coupled to the carriage between the legs of the dairy livestock, wherein the robotic arm remains extended between the legs of the dairy livestock for a period of time as the stall rotates adjacent to the robotic arm. The method concludes by retracting the robotic arm from between the legs of the dairy livestock as the stall rotates adjacent to the robotic arm.

公开(公告)号：US09603342B2

公开(公告)日：2017-03-28

申请号：US14590046

申请日：2015-01-06

Applicant: Technologies Holdings Corp.

Inventor： Parimal G. Rajkondawar ,  Roger K. Erdman ,  David A. Johnson ,  William S. Nelson ,  Paul D. Thompson

IPC: A01K29/00 ,  A61B5/11 ,  A01K11/00 ,  A61D17/00

CPC classification number: A01K29/005 ,  A01K11/006 ,  A01K11/008 ,  A61B5/1118 ,  A61D17/002 ,  A61D17/004

Abstract: A method for health monitoring comprises electronically receiving location information for a dairy livestock that is generated by a plurality of identification devices positioned in a pen that operate in conjunction with a tag worn by the dairy livestock. The method stores the location information associated with the dairy livestock, the location information comprising a location of the dairy livestock within the pen at each of a plurality of times during a first time period. The method determines, based on at least a portion of the stored location information, a turn index parameter indicating a number of times the particular dairy livestock reverses direction during the first time period. The method determines whether the particular dairy livestock is likely to be in estrus based at least in part upon whether the determined turn index parameter is in excess of a baseline turn index parameter by more than a predefined amount.

公开(公告)号：US09578867B2

公开(公告)日：2017-02-28

申请号：US15130308

申请日：2016-04-15

Applicant: TECHNOLOGIES HOLDINGS CORP.

Inventor： Timothy S. O'Brien ,  Eric P. Camenga

IPC: F25B3/00 ,  A01M1/20 ,  A01M1/24 ,  E04B1/72 ,  F24H3/00 ,  F24H9/00 ,  F25B30/02 ,  F25B49/02 ,  F28D1/02 ,  F28D1/047

CPC classification number: A01M1/2094 ,  A01M1/24 ,  E04B1/72 ,  F24H3/002 ,  F24H9/0057 ,  F25B3/00 ,  F25B30/02 ,  F25B49/022 ,  F25B2400/01 ,  F25B2600/025 ,  F25B2700/2103 ,  F28D1/024 ,  F28D1/0472

Abstract: A system for killing pests in an affected area of a structure comprises a heat pump unit placed within an affected area and a thermostatic control. The heat pump unit is configured to receive a flow of water from a faucet, and generate heated air by transferring heat from the flow of water, the heated air being emitted into the affected area in order to raise the temperature of the affected area to a target temperature greater than 120 degrees Fahrenheit. The thermostatic control is configured to monitor a temperature of a flow of water as it is received by the heat pump, monitor a temperature of air, and automatically cease operation of the heat pump when the temperature of the flow of water is above a predefined limit.

Abstract translation: 用于杀死结构的受影响区域中的害虫的系统包括放置在受影响区域内的热泵单元和恒温控制。 热泵单元被配置为从水龙头接收水流，并且通过从水流传递热量来产生加热的空气，加热的空气被排放到受影响的区域中，以将受影响的区域的温度升高到 目标温度大于120华氏度。 恒温控制器被配置为监测由热泵接收的水流的温度，监测空气的温度，并且当水流的温度高于预定的极限时自动停止热泵的运行 。

公开(公告)号：US20160374305A1

公开(公告)日：2016-12-29

申请号：US15257998

申请日：2016-09-07

Applicant: TECHNOLOGIES HOLDINGS CORP.

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

IPC: A01J7/04 ,  A01J5/017 ,  A01J7/00 ,  A01J5/007 ,  A01K13/00 ,  A01K1/12

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 for operating a robotic arm comprises a carriage and a robotic arm. The carriage is mounted on a track adjacent to a rotary milking platform having a substantially circular perimeter and a stall for a dairy livestock. The carriage moves along a substantially straight portion of the track tangent to and outside the perimeter of the rotary milking platform at a rate based at least in part upon a speed of rotation of the rotary milking platform. The carriage moves in a direction corresponding to the direction of rotation of the rotary milking platform and such movement of the carriage is independent of any physical coupling between the carriage and the rotary milking platform. The robotic arm extends between the legs of the dairy livestock.

Abstract translation: 用于操作机器人臂的系统包括滑架和机器臂。 托架安装在与具有基本上圆形周边的旋转挤奶平台相邻的轨道上，并且用于奶制牲畜的档位。 滑架沿着至少部分地基于旋转挤奶平台的旋转速度的速度沿着轨道的基本上直的部分切线到旋转挤奶平台的周边和外侧。 滑架在与旋转挤奶平台的旋转方向相对应的方向上移动，并且滑架的这种移动与托架和旋转挤奶平台之间的任何物理联接无关。 机器手臂在奶牛家畜的腿之间延伸。

公开(公告)号：US20160360722A1

公开(公告)日：2016-12-15

申请号：US15245254

申请日：2016-08-24

Applicant: TECHNOLOGIES HOLDINGS CORP

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

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

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 of a milking box located behind a dairy livestock. The robotic attacher 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 right front teat, the left front teat, the left rear teat, and the right rear teat.

Abstract translation: 机器人服务员从位于奶牛家畜后面的挤奶箱的设备区域取出准备杯。 机器人服务员将准备杯依次附加到乳制品牲畜的奶嘴上。 序列包括将准备杯连接到右前乳头，左前乳头，左后乳头和右后乳头。

公开(公告)号：US09516854B2

公开(公告)日：2016-12-13

申请号：US14169677

申请日：2014-01-31

Applicant: Technologies Holdings Corp.

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

IPC: A01J7/04 ,  G06T7/00 ,  A01K13/00 ,  B25J9/16 ,  A01K29/00

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 method for determining a spray position for a spray tool includes accessing an image signal generated by a camera, the image signal corresponding to at least an udder of a dairy livestock. The method further includes processing the accessed image signal to determine a tangent to the rear and a tangent to the bottom of the udder of the dairy livestock. The method concludes by determining a spray position from which a spray tool may apply disinfectant to the teats of the dairy livestock, wherein the spray position is a position relative to the intersection of the two tangents.

Abstract translation: 一种用于确定喷雾工具的喷射位置的方法包括：访问由照相机产生的图像信号，所述图像信号对应于乳品牲畜的至少一个乳房。 该方法还包括处理所访问的图像信号以确定后方的切线和乳品牲畜的乳房底部的切线。 该方法通过确定喷雾位置来确定喷雾位置，该喷雾工具可以将消毒剂施加到乳制牲畜的乳头，其中喷雾位置是相对于两个切线的交点的位置。

公开(公告)号：US20160353700A1

公开(公告)日：2016-12-08

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

IPC: A01J5/007 ,  A01J7/04 ,  A01J5/017 ,  A01K1/12

CPC classification number: A01J5/007 ,  A01J5/003 ,  A01J5/017 ,  A01J5/0175 ,  A01J7/04 ,  A01K1/126

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.

Abstract translation: 系统包括邻近旋转挤奶平台定位的线性滑架轨道，位于滑架轨道上的机器人滑架，使得机器人滑架可沿着滑架轨道从第一线性位置移动到第二线性位置，以及控制器。 控制器确定旋转挤奶平台的挤奶失速从第一旋转位置移动到第二旋转位置。 所述控制器进一步确定所述滑架轨道上的所述机器人滑架对应于所述旋转挤奶平台的挤奶档的运动的第二线性位置。 控制器还将位置信号传递给耦合到机器人托架和托架轨道的托架致动器。 位置信号使托架致动器结合旋转挤奶平台的运动，将托架履带沿托架轨道从第一直线位置移动到第二直线位置。