公开(公告)号：US09706745B2

公开(公告)日：2017-07-18

申请号：US15238898

申请日：2016-08-17

Applicant: TECHNOLOGIES HOLDINGS CORP.

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

IPC: A01J5/00 ,  A01J5/017 ,  A01J5/007 ,  A01K1/12 ,  G06T7/00 ,  H04N13/02 ,  G06T7/73 ,  G06T7/77

CPC classification number: A01J5/0175 ,  A01J5/007 ,  A01J5/017 ,  A01K1/12 ,  G06T7/001 ,  G06T7/74 ,  G06T7/77 ,  G06T2207/10012 ,  H04N13/204

Abstract: A system includes a robotic arm on which at least one camera is attached. It further includes a memory and a controller communicatively coupled to the memory. The memory stores historical information associated with a dairy livestock. The historical information include a previously-determined location of a teat of the dairy livestock. The controller moves the camera on the robotic arm toward the previously-determined location of the teat. The camera generates an image of the teat of the dairy livestock from a position to which it is moved, and the controller determines a current location of the teat of the dairy livestock based at least in part on the image.

公开(公告)号：US09648841B2

公开(公告)日：2017-05-16

申请号：US15095632

申请日：2016-04-11

Applicant: TECHNOLOGIES HOLDINGS CORP.

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

IPC: A01J7/02 ,  A01K1/12

CPC classification number: A01J7/025 ,  A01J7/022 ,  A01K1/12

Abstract: In certain embodiments, a system comprises a milk collecting system, a teat cup holder, and a cleansing hose system. The milk collecting system comprises a teat cup, a milk collector, and a milking hose system connecting the teat cup to the milk collector. The teat cup holder stores the teat cup of the milk collecting system such that a nozzle of the teat cup holder substantially aligns with an opening of the teat cup. The cleansing hose system connects the nozzle of the teat cup holder to one or more cleanser sources and operable to backwash at least a portion of the milk collecting system by injecting a cleanser from one or more of the cleanser sources through the nozzle and into the teat cup.

公开(公告)号：US20170112086A1

公开(公告)日：2017-04-27

申请号：US15397939

申请日：2017-01-04

Applicant: Technologies Holdings Corp.

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

IPC: A01J7/04 ,  B25J9/00 ,  B25J9/16 ,  H04N7/18 ,  A01J5/003 ,  A01J5/007 ,  A01K13/00 ,  A01K1/12 ,  B25J11/00

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: In certain embodiments, a system for applying disinfectant to the teats of a dairy livestock includes a carriage mounted on a track, the carriage operable to translate laterally along the track. The system further includes a robotic arm including a first member pivotally attached to the carriage such that the first member may rotate about a point of attachment to the carriage, a second member pivotally attached to the first member such that the second member may rotate about a point of attachment to the first member, and a spray tool member pivotally attached to the second member such that the spray tool member may rotate about a point of attachment to the second member. The robotic arm further includes a spray tool attached to the spray tool member. The system further includes a controller operable to cause at least a portion of the robotic arm to extend between the hind legs of a dairy livestock such that the spray tool is located at a spray position from which the spray tool may discharge an amount of disinfectant to the teats of the dairy livestock.

公开(公告)号：US09615537B2

公开(公告)日：2017-04-11

申请号：US15136460

申请日：2016-04-22

Applicant: TECHNOLOGIES HOLDINGS CORP

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

IPC: A01J5/007 ,  A01K1/12 ,  A01J5/017 ,  A01K1/01 ,  A01K5/02 ,  A01K11/00

CPC classification number: A01J5/007 ,  A01J5/0175 ,  A01K1/01 ,  A01K1/0103 ,  A01K1/12 ,  A01K5/02 ,  A01K11/006 ,  G05B2219/45094

Abstract: A milking box comprises a stall portion having a longitudinal axis. A backplane is positioned in the stall portion and moves toward the rear of the stall portion along the longitudinal axis in response to pressure applied, and toward the front of the stall portion in response to pressure removed. A robotic attacher extends from the rear of the stall portion and between the hind legs of a dairy livestock. A controller determines the position of the backplane relative to the rear of the stall portion and determines a positional offset that increases as the dairy livestock moves toward the front of the stall and decreases as it moves toward the rear of the stall. The controller further communicates a signal to move the robotic attacher along the longitudinal axis. The amount of movement is determined at least in part according to the positional offset.

公开(公告)号：US20170079235A1

公开(公告)日：2017-03-23

申请号：US15370571

申请日：2016-12-06

Applicant: TECHNOLOGIES HOLDINGS CORP.

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

IPC: A01J7/04 ,  B25J9/16 ,  A01J5/007 ,  A01K13/00 ,  A01K1/12 ,  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 spray tool coupled to a robotic arm that extends between the legs of dairy livestock, comprises a linear member and a plurality of spray nozzles. The linear member rotates about an axis that is perpendicular to the robotic arm, and has a perimeter that lies within an outer perimeter of the robotic arm when the robotic arm extends between the legs of a dairy livestock. The plurality of spray nozzles are coupled to the linear member.

公开(公告)号：US20170006819A1

公开(公告)日：2017-01-12

申请号：US15273929

申请日：2016-09-23

Applicant: TECHNOLOGIES HOLDINGS CORP.

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

IPC: A01J7/04 ,  A01K1/12 ,  A01K29/00 ,  G06T7/00 ,  A01J5/003 ,  B25J9/16 ,  B25J11/00 ,  A01K13/00 ,  A01J5/007

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 camera, a controller and a robotic arm. The camera generates an image of an udder of a dairy livestock. The controller determines a position of the udder of the dairy livestock based at least in part upon the image. The controller further determines a spray position based at least in part upon the determined position of the udder of the dairy livestock. Determining the spray position includes processing the accessed image 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. The robotic arm is communicatively coupled to the controller and positions a spray tool at the spray position.

Abstract translation: 系统包括摄像机，控制器和机器臂。 相机产生一个乳品家畜的图像。 控制器至少部分地基于图像来确定乳品牲畜的乳房的位置。 控制器至少部分地基于确定的乳制品牲畜的位置确定喷射位置。 确定喷雾位置包括处理所访问的图像以确定乳房后面的切线和乳房底部的切线。 喷雾位置是相对于两个切线的交点的位置。 机器人手臂通信地联接到控制器并且将喷雾工具定位在喷射位置。

公开(公告)号：US20170000074A1

公开(公告)日：2017-01-05

申请号：US15100248

申请日：2014-03-06

Applicant: TECHNOLOGIES HOLDINGS CORP.

Inventor： Raymond Roger Berghuis ,  Henk Hofman

IPC: A01J5/017

CPC classification number: A01J5/0175

Abstract: The present invention relates to a gripper (2), robot arm (4) and milking machine provided therewith, and method for arranging teat cups (6, 8) in automatic manner on teats of an udder of an animal for milking. The gripper according to the invention comprises: —a fixation part (10, 12) for holding at least one teat cup; and—transport means (14, 16) for positioning the teat cup in the gripper relative to the at least one fixation part.

Abstract translation: 本发明涉及一种夹具（2），机器人手臂（4）和设有其的挤奶机，以及用于自动地将奶头杯（6,8）布置在用于挤奶的动物乳房的乳头上的方法。 根据本发明的夹具包括： - 用于保持至少一个奶杯的固定部分（10,12）; （14,16），用于相对于至少一个固定部分将奶杯定位在夹持器中。

公开(公告)号：US09510554B2

公开(公告)日：2016-12-06

申请号：US14992138

申请日：2016-01-11

Applicant: Technologies Holdings Corp.

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

IPC: A01J5/007 ,  A01J5/017 ,  A01J5/003

CPC classification number: A01J5/0175 ,  A01J5/003 ,  A01J5/007 ,  G06T1/0014 ,  G06T7/73

Abstract: In an exemplary embodiment, a system includes a milking cup, a pulsating device coupled to the milking cup, a robotic arm comprising a gripper, and a controller communicatively coupled to the robotic arm and the pulsating device. The controller is operable to instruct the gripper of the robotic arm to grip the milking cup, instruct the robotic arm to move the milking cup proximate to a teat of a dairy livestock, and instruct the robotic arm to move the milking cup towards the teat. The controller is further operable to instruct the pulsating device to apply pressure to the milking cup before attaching the milking cup to the teat and instruct the gripper of the robotic arm to release the milking cup.

Abstract translation: 在示例性实施例中，系统包括挤奶杯，联接到挤奶杯的脉动装置，包括夹持器的机器人手臂以及通信地联接到机器臂和脉动装置的控制器。 控制器可操作地指示机器人臂的夹持器夹紧挤奶杯，指示机器人臂将挤奶杯移动到靠近奶牛家畜的乳头，并且指示机器人臂将挤奶杯移动到奶头。 控制器还可操作以指示脉动装置在将挤奶杯连接到奶头之前向挤奶杯施加压力，并且指示机器人臂的夹持器释放挤奶杯。

公开(公告)号：US20160330927A1

公开(公告)日：2016-11-17

申请号：US15218601

申请日：2016-07-25

Applicant: TECHNOLOGIES HOLDINGS CORP.

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

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

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 cups from the left 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 a first cup to the left front teat, a second cup to the right front teat, a third cup to the left rear teat, and a fourth cup to the right rear teat.

Abstract translation: 机器人服务员从位于奶牛家畜后面的设备区域的左侧检索杯子，并将杯子依次连接到奶牛家畜的奶嘴上。 该顺序包括将第一杯连接到左前乳头，向右前乳头的第二杯，向左后奶头的第三杯，向右后奶头连接第四杯。

公开(公告)号：US09468188B2

公开(公告)日：2016-10-18

申请号：US15097509

申请日：2016-04-13

Applicant: TECHNOLOGIES HOLDINGS CORP

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

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

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 the left side of an equipment area located behind a dairy livestock and 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设备区域的左侧检索准备杯，并将准备杯依次附着并分离到奶牛家畜的奶嘴上。 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。