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公开(公告)号：US07246571B2
公开(公告)日：2007-07-24
申请号：US10952889
申请日：2004-09-30
申请人： Karel Van Den Berg , Eduard Lodewijk Meijer , Cornelis Antonius Maria Snijders , Geert Cornelis Steen
发明人： Karel Van Den Berg , Eduard Lodewijk Meijer , Cornelis Antonius Maria Snijders , Geert Cornelis Steen
CPC分类号： A01J5/0175 , A01J7/04
摘要： A device for determining the teat positions of a dairy animal after milking. The device is provided with at least one position-measuring device for determining a position of a teat prior to the milking of the dairy animal and for emitting a position signal corresponding to the teat position. The position-measuring device generates individual teat position signals and a control unit determines on the basis of the teat position signals determined before the milking, planes of symmetry extending substantially parallel to the teats. The expected positions are calculated with respect to the planes of symmetry.
摘要翻译： 一种用于在挤奶后确定乳制品动物的乳头位置的装置。 该装置设置有至少一个位置测量装置，用于确定奶牛在挤奶之前的位置的位置，并且用于发出对应于奶头位置的位置信号。 位置测量装置产生单独的奶嘴位置信号，并且控制单元基于在挤奶之前确定的奶头位置信号来确定对称平面基本平行于奶头。 相对于对称平面计算预期位置。
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公开(公告)号：US20070137578A1
公开(公告)日：2007-06-21
申请号：US11639180
申请日：2006-12-15
申请人： Karel Van Den Berg
发明人： Karel Van Den Berg
IPC分类号： A01J5/007
CPC分类号： A01K1/12 , A01K15/003 , A01K15/02
摘要： A method of milking an animal involves admitting the animal into a milking box and expelling the animal from the milking box, the milking box comprising a connecting device, such as a robot arm, for automatically connecting a teat cup to a teat of the animal. The step of expelling the animal from the milking box is carried out using the robot arm. An installation for milking an animal is also described, the installation being provided with a milking box for the animal; a robot arm for automatically connecting a teat cup to a teat of the animal; and a device for expelling the animal from the milking box. The device for expelling the animal from the milking box comprises part of the robot arm.
摘要翻译： 挤奶动物的方法包括将动物进入挤奶箱并从挤奶箱排出动物，挤奶箱包括用于将奶杯自动连接到动物的乳头的连接装置，例如机器人手臂。 使用机器人臂进行从挤奶箱排出动物的步骤。 还描述了用于挤奶动物的装置，该装置设置有用于动物的挤奶箱; 用于将奶杯自动连接到动物的乳头的机器人手臂; 以及从挤奶箱排出动物的装置。 从挤奶箱排出动物的装置包括机器人手臂的一部分。
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33.发明申请Fluid-applying device and a method of applying a fluid to a teat of a dairy animal 有权流体施加装置和将流体施加到乳制动物的乳头的方法公开(公告)号：US20050066903A1
公开(公告)日：2005-03-31
申请号：US10952888
申请日：2004-09-30
CPC分类号： A01J7/04 , A01J5/0175
摘要： A fluid-applying device for applying a fluid to a teat of a dairy animal. The fluid-applying device comprises a fluid detector for determining a fluid application pattern of the fluid on the teat of the dairy animal. The fluid detector comprises a computer loaded with comparing software for comparing the determined fluid application pattern with a previously stored reference criterion, for emitting a comparison signal which is indicative of the comparison result, and for determining the teat length, the tip of the teat, and the fluid application distance, measured from the tip of the teat, over which the fluid has been applied to the teat, and for emitting a fluid signal comprising data in relation to the determined fluid application distance. The reference criterion may be a threshold distance with which the determined fluid application distance is compared.
摘要翻译： 一种用于将流体施加到乳制品动物的乳头的流体施加装置。 流体施加装置包括用于确定乳制动物乳头上的流体的流体应用模式的流体检测器。 流体检测器包括一个装有比较软件的计算机，用于将确定的流体应用模式与先前存储的参考标准进行比较，用于发出指示比较结果的比较信号，以及用于确定奶头长度， 以及从乳头的尖端测量的液体施加距离，流体已经施加到乳头上，并且用于发射包括与确定的流体施加距离相关的数据的流体信号。 参考标准可以是与所确定的流体施加距离进行比较的阈值距离。
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公开(公告)号：US08646410B2
公开(公告)日：2014-02-11
申请号：US13015610
申请日：2011-01-28
申请人： Karel Van Den Berg
发明人： Karel Van Den Berg
CPC分类号： A01J5/0175 , A01J5/044 , A01K1/12 , A01K1/126
摘要： A device for milking an animal, such as a cow, includes an animal standing area to be occupied by the animal to be milked in a particular milking position and a robot device with a robot arm assembly for applying to and/or removing teat cups from the respective teats of the udder of the animal. The robot arm assembly has a holder for teat cups at a distal end. At a proximal end, the robot arm assembly is suspended from a support so as to extend downwards therefrom and is rotatable with respect thereto about a first center line which has a vertical direction component, wherein, in use, the first center line intersects the floor of the animal standing area.
摘要翻译： 用于挤奶动物（例如牛）的装置包括要在特定挤奶位置被挤奶的动物占据的动物站立区域和具有用于施加到和/或去除奶杯的机器人臂组件的机器人装置 动物乳房的各个乳头。 机器人臂组件具有用于在远端的奶杯的保持器。 在近端，机器人臂组件从支撑件悬挂以便从其延伸，并且可相对于其绕第一中心线旋转，该第一中心线具有垂直方向分量，其中，在使用中，第一中心线与地板相交 的动物站立区域。
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公开(公告)号：US20130239898A1
公开(公告)日：2013-09-19
申请号：US13988587
申请日：2011-11-07
CPC分类号： A01J5/0175 , A01J5/007
摘要： There is provided a method and system for connecting a teat cup (4) to a first teat (1) of an udder (3). In connecting, a first reference position (10) on the first teat (1) is taken for connecting, until that reference position (10) is covered by the teat cup (4), or is otherwise no longer observed. Then, a further reference position (11) on the udder is taken for tracking movements by the dairy animal. Thus the optimum reference position (10) is used for connecting, while when this optimum position is no longer available, a further reference position (11) is taken.
摘要翻译： 提供了一种用于将奶杯（4）连接到乳房（3）的第一乳头（1）的方法和系统。 在连接中，取第一奶头（1）上的第一参考位置（10）用于连接，直到该参考位置（10）被奶杯（4）覆盖，否则将不再被观察到。 然后，采取乳房上的进一步参考位置（11）来跟踪奶牛的动作。 因此，最佳基准位置（10）用于连接，而当该最佳位置不再可用时，进一步参考位置（11）。
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公开(公告)号：US08528143B2
公开(公告)日：2013-09-10
申请号：US13211344
申请日：2011-08-17
IPC分类号： A47L11/00
CPC分类号： A01K1/01 , A01K1/0128
摘要： The present invention relates to an unmanned self-propelled and self-steering device for removing manure present on a floor, including a manure slide with a sliding wall which, when viewed in the customary direction of travel of the device, forms a first contact surface for manure present on the floor, and comprising a drive device for the travelling over the floor, wherein the drive device comprises a rotatingly driven drive which is in driving engagement with the floor during operation and which is located in front of the sliding wall.
摘要翻译： 本发明涉及一种用于去除地板上存在的粪便的无人自行式和自动转向装置，包括具有滑动壁的粪便滑动件，当沿装置的常规行进方向观察时，该装置形成第一接触表面 用于在地板上存在的粪便，并且包括用于在地板上行进的驱动装置，其中驱动装置包括旋转驱动的驱动器，其在操作期间与地板驱动接合并且位于滑动壁的前面。
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37.发明授权Installation for supplying liquid feed to an animal and an autonomously displaceable vehicle for use in such an installation 有权用于向动物提供液体饲料的安装和用于这种安装的自主移动的车辆公开(公告)号：US08316799B2
公开(公告)日：2012-11-27
申请号：US13072902
申请日：2011-03-28
申请人： Karel Van Den Berg
发明人： Karel Van Den Berg
CPC分类号： A01K5/0266 , A01K9/00
摘要： An installation for supplying liquid feed to an animal, such as a calf. The installation comprises one or more feed loading places and one or more feed unloading places, and one or more vehicles that are autonomously displaceable, controlled by a microprocessor or the like, between one or more feed loading places and one or more feed unloading places, each vehicle comprising a drinking nozzle, such as a flexible teat, which is movably mounted relative to the remaining part of the displaceable vehicle, and a height adjusting device for adjusting a height of the drinking nozzle.
摘要翻译： 用于向动物（例如小牛）供应液体饲料的装置。 该装置包括一个或多个进料装载位置和一个或多个进料卸载位置，以及一个或多个可由微处理器等控制的一个或多个载体，位于一个或多个进料装载位置和一个或多个进料卸载位置之间， 每个车辆包括相对于可移动车辆的剩余部分可移动地安装的诸如柔性乳头的饮用喷嘴和用于调节饮用喷嘴的高度的高度调节装置。
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38.发明授权Method of controlling a milking implement, a software program for and an implement performing the method 有权控制挤奶工具的方法，执行该方法的软件程序和工具公开(公告)号：US08286583B2
公开(公告)日：2012-10-16
申请号：US12440020
申请日：2007-08-28
申请人： Karel Van Den Berg
发明人： Karel Van Den Berg
IPC分类号： A01J5/007
CPC分类号： A01J5/0175 , A01J5/007 , A01J5/0075 , A01J5/01 , A01J5/08
摘要： A method of controlling a milking implement for automatically milking a dairy animal with an udder, such as a cow, which milking implement includes a camera and a teat cup. More particularly, the method includes attaching the teat cup to a teat of the udder, followed by producing by the camera an image of at least a part of the udder and of at least a part of the teat cup, making an analysis of the image of the udder with the teat cup, and performing at least one control action by the milking implement, based on the analysis.
摘要翻译： 一种控制挤奶工具的方法，用于使用乳房（例如牛）自动挤奶乳制动物，挤奶工具包括照相机和奶杯。 更具体地，该方法包括将奶杯连接到乳房的乳头，随后由相机产生乳房的至少一部分和乳头杯的至少一部分的图像，从而对图像进行分析 根据分析，通过挤奶杯对乳房进行至少一个控制动作。
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公开(公告)号：US08281744B2
公开(公告)日：2012-10-09
申请号：US11958400
申请日：2007-12-18
申请人： Karel Van Den Berg
发明人： Karel Van Den Berg
IPC分类号： A01J5/00
CPC分类号： A01J5/003 , A01J5/0175 , A01J7/025
摘要： An autonomous mobile milking implement having a frame with, a sub-frame which is adjustable in height and which has at least one teat cup holder and a teat cup movable relative thereto. The teat cup holder is tiltable, via a tilting mechanism coupled to the teat cup holder and the frame between a substantially vertical position and a second partially inverted position. The milking implement protects the teat cups against contamination and is capable of storing them in a compact manner.
摘要翻译： 一种具有框架的自主移动挤奶器具，其具有高度可调节的子框架，并且具有至少一个奶杯杯架和可相对于其移动的奶头杯。 奶杯杯架可经由倾斜机构倾斜，所述倾斜机构联接到奶杯杯架和框架处于基本垂直位置和第二部分倒置位置之间。 挤奶工具保护乳头杯免受污染，并且能够以紧凑的方式存储它们。
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公开(公告)号：US20100077960A1
公开(公告)日：2010-04-01
申请号：US12444415
申请日：2007-10-02
摘要： A system for demarcating an area comprises a movable demarcating element, and a control system for determining the magnitude and/or the moment of a next move of the movable demarcating element. The system furthermore comprises one or more observation devices for observing an entity near the movable demarcating element, such as a position of a dairy animal or an amount of grass in the area. The observation devices are operatively connected to the control system for transmitting a signal from the observation means to the control system. The control system is designed to receive and process the signal from the observation means to determine the magnitude and/or the moment of the next move of the movable demarcating element.
摘要翻译： 用于划定区域的系统包括可移动分界元件和用于确定可移动分界元件的下一次移动的大小和/或力矩的控制系统。 该系统还包括用于观察可移动分界元件附近的实体的一个或多个观察装置，例如乳制动物的位置或该区域中的草量。 观察装置可操作地连接到控制系统，用于将来自观察装置的信号传输到控制系统。 控制系统被设计成接收和处理来自观察装置的信号以确定可移动分界元件的下一次移动的幅度和/或力矩。
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