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    Vision system for teat detection
    31.
    发明授权
    Vision system for teat detection 有权

    公开(公告)号：US10349615B2

    公开(公告)日：2019-07-16

    申请号：US15448914

    申请日：2017-03-03

    Applicant: Technologies Holdings Corp.

    Inventor： Mark A. Foresman ,  Bradley J. Prevost

    IPC: G06K9/00 ,  A01J5/007 ,  A01J5/017 ,  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 location of an expected teat position of a dairy livestock and to command the laser to perform two scans of the dairy livestock. The processor is further configured to determine whether a first teat is found in both of the scans, and if so, determine whether locations of the first teat in the two scans are within a predetermined distance of each other. The processor is further configured to, in response to determining that locations of the first teat in the two scans are within the predetermined distance of each other, command the robotic arm to move to a location corresponding to the location of the first teat and to command the robotic arm to attach a teat cup to the first teat.

    VISION SYSTEM WITH TEAT DETECTION
    33.
    发明申请
    VISION SYSTEM WITH TEAT DETECTION 审中-公开

    公开(公告)号：US20190180092A1

    公开(公告)日：2019-06-13

    申请号：US15947583

    申请日：2018-04-06

    Applicant: TECHNOLOGIES HOLDINGS CORP.

    Inventor： Mark A. Foresman ,  Richard B. Voigt

    IPC: G06K9/00 ,  A01J5/017 ,  H04N13/271 ,  G06K9/62

    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 position the robotic arm adjacent to the dairy livestock and acquire a 3D image using the 3D camera. The processor is further configured to identify a set of teat candidates within the 3D image and to filter the set of teat candidates based on one or more filtering rules. The processor is further configured to determine an aggregate teat candidate score for the consolidated set of teat candidates, compare the aggregate teat candidate score to a score threshold value, and update teat location information for the dairy livestock in response to determining the aggregate teat candidate score is greater than or equal to the score threshold value.

    Vision System for Teat Detection
    35.
    发明申请
    Vision System for Teat Detection 审中-公开

    公开(公告)号：US20180049396A1

    公开(公告)日：2018-02-22

    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

    IPC: A01J5/007 ,  A01J5/017 ,  G01B11/24 ,  B25J19/02

    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.

    Vision System for Teat Detection
    36.
    发明申请
    Vision System for Teat Detection 审中-公开

    公开(公告)号：US20180049392A1

    公开(公告)日：2018-02-22

    申请号：US15448761

    申请日：2017-03-03

    Applicant: Technologies Holdings Corp.

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

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

    CPC classification number: A01J5/007 ,  A01J5/017 ,  A01J5/0175

    Abstract: A system includes a robotic arm, a laser, and a processor. The processor is configured to determine whether a distance between a left and right teat of a dairy livestock is less than or equal to a predetermined distance, and if so, command the robotic arm to move to a scan location that is between the left and right teats. The processor is further configured to command the laser to perform a scan of the teats after the robotic arm is at the scan location and to determine whether the left and right teats are found in the scan. If both the left and right teats are found in the scan, the processor commands the robotic arm to attach a teat cup to either the left or right teat.

    Vision system with leg detection
    39.
    发明授权
    Vision system with leg detection 有权

    公开(公告)号：US09807972B1

    公开(公告)日：2017-11-07

    申请号：US15239477

    申请日：2016-08-17

    Applicant: Technologies Holdings Corp.

    Inventor： Mark A. Foresman ,  Bradley J. Prevost

    IPC: G06K9/00 ,  A01J5/007 ,  A01J5/017 ,  H04N13/02 ,  G06T7/00 ,  G06T7/60 ,  G06T1/00

    CPC classification number: A01J5/007 ,  A01J5/017 ,  A01J5/0175 ,  G06T1/0014 ,  G06T7/0081 ,  G06T7/60 ,  G06T2207/10004 ,  H04N13/204

    Abstract: A system that includes a three-dimensional (3D) camera configured to capture 3D images of a dairy livestock. The system further includes a memory operable to store a thigh gap detection rule set and a processor operably coupled to the 3D camera and the memory. The processor is configured to obtain the 3D image, to identify one or more regions within the 3D image comprising depth values greater than a depth value threshold, and to apply the thigh gap detection rule set to the one or more regions to identify a thigh gap region. The processor is further configured to demarcate an access region within the thigh gap region. The processor is configured to reduce the width of the access region by shifting a first vertical edge and a second vertical edge of the access region and to determine position information for the first vertical edge and the second vertical edge.

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