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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：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：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：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
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.
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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
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.
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Patent Agency Ranking
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
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.
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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
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.
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公开(公告)号：US10817970B2
公开(公告)日：2020-10-27
申请号：US16256558
申请日：2019-01-24
Applicant: TECHNOLOGIES HOLDINGS CORP.
Inventor： Mark A. Foresman , Richard B. Voigt
IPC: G06K9/00 , G06T1/00 , A01J7/00 , B25J13/08 , B25J19/04 , G06T7/12 , G06T7/13 , G06T7/55 , G06T7/521 , G06T7/73 , G06T7/11 , A01J5/007 , A01J5/017
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 acquire a 3D image and identify a teat of the dairy livestock within the 3D image. The processor is further configured to determine a distance between a portion of a robotic arm and an approach vector for the teat, to compare the distance between the portion of the robotic arm and the approach vector for the teat and the attachment range threshold value, and to send instructions to the robotic arm based on the comparison.
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公开(公告)号：US10477827B2
公开(公告)日：2019-11-19
申请号：US15455382
申请日：2017-03-10
Applicant: Technologies Holdings Corp.
Inventor： Mark A. Foresman , Alireza Janani , Peter Willem van der Sluis , Robert J. Godfrey
Abstract: A system includes a robotic arm, a laser, and a processor. The processor is configured to determine that a teat cup is to be attached to a front teat of a dairy livestock, and in response, determine an amount of separation between the front teat and a rear teat. The processor is further configured to calculate, if the amount of separation between the front and rear teats is greater than or equal to a predetermined distance, an updated front teat position based on the amount of separation between the front and rear teats and command the robotic arm to move to the updated front teat position. The processor is further configure to determine whether the front teat is found in a scan of the dairy livestock by the laser, and if so, command the robotic arm to attach the teat cup to the front teat.
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公开(公告)号：US10383305B1
公开(公告)日：2019-08-20
申请号：US16157673
申请日：2018-10-11
Applicant: Technologies Holdings Corp.
Inventor： Mark A. Foresman , Bradley J. Prevost , Marijn Van Aart , Peter Willem van der Sluis , Alireza Janani
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, 2038, 203) of a diary 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) 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).
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